UAV cluster adjustment strategy based on passive pure azimuth
Hao Huang, Weiqiao Chen · 2023
This paper focuses on the pure orientation passive localization problem in UAV cluster control. UAV cluster control in circular and conical formations is studied from shallow to deep using geometric relations. Firstly, the sine theorem is used to construct the relevant system of equations, and the polar coordinate localization model of the target to be measured is derived by solving the system of equations. Then two UAVs with unknown numbers but accurate positions are added, and the corresponding system of equations is constructed by evolving the two-point rendezvous localization method into the triangulation localization method, and the effective localization coordinates are solved by the least squares method to find the effective localization of the point to be measured. Finally, the corresponding UAV initial position is given, and the corresponding UAV position adjustment strategy is given according to the analysis of the flight distribution of UAVs in circular and conical formations.