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Volume 10,Issue 7

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7 August 2025
Design of a High-Precision Positioning System for UAV Formation Based on RTK
Jiangwei Zhao ,  Haoman Gu ,  Zhiqing Zhou
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1 School of Information Engineering, Pingdingshan University, Pingdingshan 467000, Henan, China,
2 Yaoshan Laboratory, Henan Provincial Key Laboratory, Pingdingshan 467000, Henan, China,
JERA 2025 , 9(4), 78–86; https://doi.org/10.26689/jera.v9i4.11442
© 2025 by the Authors. Licensee Whioce Publishing, Singapore. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution 4.0 International License ( https://creativecommons.org/licenses/by/4.0/ )
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Abstract

For the high-precision positioning requirements of UAV formation cooperative operation, a distributed control system based on RTK technology is proposed in this paper. By using the U-blox F9P GNSS module to build an RTK base station/mobile terminal, combined with Pixhawk 6C flight control and MAVESP8266 communication module, centimeter-level (< 2 cm) positioning accuracy is achieved. The system adopts the “centralized planning distributed execution” architecture, transmits RTCM differential data and MAVLink messages through the UDP protocol, and integrates ROS to realize status information subscription. Experiments show that the system can effectively support large area surveying and mapping and other complex tasks, and significantly improve the autonomy and reliability of formation operations.

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