Abstract
In order to maintain the formation, the position of Drones cluster can be adjusted by the method of azimuth-only passive positioning. In this paper, the circular formation is taken as an example. Firstly, when the coordinate information of Drones at the center of the circle and around the circle is known, the coordinates of other Drones are solved according to the Angle signal. By using polar coordinate programming, the Angle between different Drone lines is calculated, and using this information as known information, the nonlinear equations are solved by inverse derivation of their own coordinates. Secondly, in order to determine that at least several Drones need to transmit signals to realize effective positioning of all Drones in the circular formation, this paper concludes that only three Drones at most are needed to realize azimuth-only passive positioning based on the established model.
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