Research on UAV Formation Localization Based on Pure Bearing Passive Localization Model and Gradient Descent Algorithm

UAV swarm formation flight is a technology with wide application prospects, where real-time localization of drones within formations is crucial for formation control. This paper proposes a localization method based on pure bearing passive measurements, establishing localization models under circular and conical formations, and designing algorithms for formation adjustment and spatial localization. Leveraging azimuth measurements between drones and the geometric characteristics of formations, the method achieves precise localization of drones within formations. Simulation results demonstrate that the proposed method meets formation control requirements while effectively reducing communication overhead and computational complexity, offering an efficient solution for UAV swarm formation flight.