Autonomous landing of an UAV on a mobile platform is currently one of the most explored research areas. It emerges as a powerful solution in many sophisticated civil and military applications where human intervention is not always available or sufficiently responsive. Examples of this are continuous flight tasks or long distances to be covered, where mobile charging stations are needed. It is therefore clear that in all these operations the position accuracy of both UAV and mobile platform is of vital importance. This thesis examines the development of an autonomous landing system based on ultrawide-band ranging sensors. A pose estimation filter and a robust control algorithm are proposed, enabling precise tracking and autonomous landing both on the stationary or moving platform.