UAV Formation Positioning Model Based on Plane Geometry Analysis
Zhixin He, Zhilong Lyu, Xiaomei Dong · 2023
UAV positioning plays an important role in the problem of UAV formation scheduling. With the increasing demand for UAVs, the concept of UAV formation has been proposed in recent years, which has higher working efficiency and better working ability. Therefore, the positioning of each UAV in UAV formation is particularly important. In this paper, two problems are analyzed. First, when the serial number of three UAVs transmitting signals is given, their positions in the UAV group are determined according to the direction information of the UAVs receiving signals. Second, when the number of UAV transmitting the signal is unknown, the minimum number of additional UAVs to locate the unknown UAU is obtained. For the first problem, an angle change determination model based on plane geometry analysis is constructed. The qualitative deviation of UAV relative to its own standard position is determined through the size relationship between the three angles received by UAV in real time and its own standard angle. Additionally, considering the error in practical application and the need for precise coordinates of UAVs, a fast-positioning model based on the geometric structure of equal chords and equal angles is then proposed, which may quickly calculate the current coordinates of UAVs. For the second problem, two models are constructed, namely the relative position determination model based on cosine theorem and the relative position determination model based on data comparison. The first model requires less calculation but requires larger number of additional UAVs and the second type requires more complicated calculation and requires smaller number of additional UAVs.