Research on Bearings-only Passive Location Based on UAV Formation Flight

Aiming at the problem of UAV positioning, this paper firstly distributes the formation UAVs evenly on the circumference, and the numbers of the UAVs transmitting signals are known and there is no deviation in their positions, so that the positions of three UAVs transmitting signals on the circumference can be determined. The polar coordinate system is established to solve the problem. In each case, the simultaneous equations are listed according to the sine theorem of the triangle, and finally the positioning model of the UAV receiving the signal can be established. Next, the triangulation positioning method is adopted, and three of the four emitting points are randomly selected for triangulation positioning. Finally, it is found that there is a positional relationship between the emitting points with unknown numbers. Four positioning circles are calculated by the least square method, and the intersection of any two positioning circles is the position of the receiving point. Finally, through computer simulation, the above modeling is simulated and the error curve is calculated, and an optimal adjustment scheme of UAV is obtained.