Unmanned aerial vehicle (UAV) is becoming increasingly important in modern civilian and military applications. However, its novel use cases is bottlenecked by conventional satellite and terrestrial localization technologies, and calling for complementary solutions. Multi-UAV mutual positioning can be a potential answer, but its accuracy and security are challenged by inaccurate and/or malicious measurements. This paper proposes a novel, robust, and secure approach to address these issues.

翻译：无人机在现代民用和军事应用中的重要性日益凸显。然而，其新型应用场景受限于传统卫星和地面定位技术，亟需互补性解决方案。多无人机互定位可作为潜在应对手段，但测量误差与恶意攻击会严重影响其精度与安全性。本文针对上述问题提出一种新颖、鲁棒且安全的解决方法。