Research on Precise Localization and Cooperative Control of UAV Formation Flight Based on Passive Bearing-Only Localization

This paper addresses the critical challenge of achieving precise localization and cooperative control in UAV formation flight under conditions of limited communication and significant electromagnetic interference. The primary objective is to develop and validate a robust computational model and algorithm that ensure accurate UAV positioning while minimizing electromagnetic emissions to enhance anti-jamming capabilities. The proposed model leverages passive bearing-only localization methods, utilizing directional information from neighboring UAVs to determine positions accurately. This approach reduces the need for active signal transmissions, thereby maintaining electromagnetic silence and mitigating the risks associated with jamming and interception. Key components of the model include azimuth angle calculations and the classification of various positioning scenarios within circular UAV formations. Tailored strategies are developed for each scenario, focusing on maintaining the geometric stability of the UAV formation and optimizing position adjustments. Simulation experiments validate the effectiveness of the proposed methods by analyzing positioning errors under different geometric configurations. The results demonstrate that the model significantly improves operational efficiency and positioning accuracy in constrained communication environments. By integrating these methodologies into practical UAV systems, the study aims to enhance the overall effectiveness and reliability of UAV deployments in a wide range of challenging environments, contributing to the broader field of UAV navigation and control.