Abstract
The slight deviation of some plane positions of the Unmanned Aerial Vehicle (UAV) cluster in the formation flight is caused by force majeure factors. To maintain the UAV formation, the silent mode is defined, that is, the UAV thin line flight. The circular formation model and the UAV bearing adjustment model of the conical cluster UAV positioning are established. The UAV position can be adjusted, and the UAV formation can be adjusted into a circular formation and a conical formation.
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