Pure azimuth passive localization in attempted formation flight of UAVs under different constraints

Abstract

Each UAV in a UAV formation has its own team number and maintains the same relative position to the rest of the UAVs during the formation flight. The UAV cluster needs to choose a suitable formation shape, a suitable navigator and an excellent position adjustment scheme to ensure flexible maintenance of the cluster formation in various complex environments. In this paper, on the basis of maintaining circular formation, the flight positioning model of UAVs passively receiving signals is established when signals are transmitted by the central UAV and two other UAVs and the position of the UAV transmitting signals is not deviated and the number is known, and the position of the remaining UAVs is deviated; on the basis of maintaining circular formation, a certain position UAV receives signals FY00 and FY01 as transmitting signals when it is also On the basis of maintaining circular formation, when all UAVs deviate from their positions, how to reasonably and accurately develop a UAV position adjustment plan to ensure that each time the number FY00, FY01 and any maximum of two remaining UAVs are selected to transmit signals, the remaining UAVs can adjust their positions according to the agreed direction information received The UAV will adjust its position according to the agreed direction information received.