Research on bearing-only positioning and dynamic adjustment of UAV based on azimuth angle

Abstract

With the development of UAV application technology, multi-UAV cooperative operation has been applied to all walks of life, and the application of UAV bearing-only passive location technology also has an important impact. Based on the experimental data provided by the 2022 National College Students' Mathematical Contest in Modeling, this paper locates and adjusts the UAV with slight deviation on the circumference through the azimuth information. By using the geometric relationship between UAVs and the loop algorithm to define the small step size and distance threshold, the micro-dynamic adjustment model is established. Firstly, two UAVs, No.00 and No.01, are selected as the UAVs transmitting information on the center and circumference of the circle, respectively, to locate and adjust the adjacent UAVs. After that, an adjusted UAV adjacent to the UAV to be adjusted is added as the information UAV. At each time, the No.00 and No.01 and an adjusted UAV adjacent to the UAV to be adjusted are selected as the launch information UAV. The radial distance is adjusted first and then the circumferential distance is adjusted, and the positioning information is known in real time according to the direction angle. In this way, the UAV on the circumference is uniformly distributed on the circumference, and finally reaches the ideal position.