Keywords
RTK
Pixhawk 6C
MAVLink
Submitted : 2025-07-08
Accepted : 2025-07-23
Published : 2025-08-07
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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