Research on UAV formation positioning based on passive positioning

In this paper, passive positioning technology in UAV formation is studied, and how to achieve effective positioning through signal transmission when UAV deviates is analyzed. The research shows that when four UAVs with transmitting signals are deployed, the positioning accuracy of feature point FY08 is very high, indicating that the positioning of UAVs can be effectively realized by setting four signal transmitting UAVs (including two new UAVs) when the location is unknown.In a typical formation of ten drones, nine are evenly distributed around the circumference, with the central drone being the FY00. By building a passive reception model, this paper discusses how to use the signals of FY00 and two other UAVs for positioning. When the drone deviates and receives signals from FY00, FY01 and another unknown drone, up to three drones are required to transmit signals to ensure effective positioning.The positioning model is derived by cosine law, and the linear distance between the deviating drone and the center drone is solved by geometry and sine theorem. Finally, the advantages of four signal transmitting UAVs in positioning accuracy were verified by measuring deviation and variance, and a conclusion was drawn that effective positioning of UAVs was achieved by signal transmitting under the condition of deviation.