Unmanned aerial vehicle passive positioning technology based on cross-location and target splitting

Abstract

In order to ensure that the UAV fleet can maintain maximum electromagnetic silence and minimise the emission of UAV electromagnetic signals during formation flight, a theoretical method of pure azimuth passive positioning can be used to optimise their relative positions. This paper analyses different formation situations of UAVs and presents the best solution for pure azimuth passive positioning of UAVs in formation flight and the corresponding positions. The paper first establishes polar coordinates based on known orientation information. It uses the sine theorem for triangles in the plane and the joint cubic equations to obtain the final result. It then uses triangulation to verify the accuracy of the specific location of the UAV by solving a least squares problem. Using the idea of cross-location, two intersecting trajectories are constructed and their intersection is used to improve the specific position of the UAV. Due to the bias in the position of the location of the signal sent by the UAV, this paper uses of the idea of target segmentation to split the target into multiple sub-targets and implement them separately. This is done in order to avoid the need for more UAVs to send their signal while adjusting the UAV position, making the Drones evenly spaced around a circumference.