Unmanned aerial vehicle and localization method for unmanned aerial vehicle

A localization method for an unmanned aerial vehicle, the unmanned aerial vehicle comprising:

• a first ultra-wide band node;
• and a second ultra-wide band node, wherein the first ultra-wide band node and the second ultra-wide band node are arranged on the unmanned aerial vehicle at positions offset from one another, the method comprising:
• receiving signals at the first ultra-wide band node and the second ultra-wide band node from a plurality of anchor nodes located within an environment;
• and
• calculating an estimated global pose state of the unmanned aerial vehicle, the estimated global pose state indicating a location and orientation of the unmanned aerial vehicle relative to the plurality of anchor nodes in the environment based on the signals, wherein the estimated global pose state is calculated using ultra-wide band data comprising distance measurements between ranging ultra-wide band nodes and anchor nodes from the plurality of anchor nodes, positions of the anchor nodes in the environment and positions of the ranging ultra-wide band nodes on the unmanned aerial vehicle, the ranging ultra-wide band nodes being the first ultra-wide band node and the second ultra-wide band node.