Cooperative positioning of UAV internet of things based on optimization algorithm

Unmanned Aerial Vehicle (UAV) Internet of things have been widely used in military and civilian fields such as rescue, disaster relief, urban planning. Positioning service is the core technology for UAVs to perform various tasks. However, the UAV may be attacked by external conditions, resulting in its inability to obtain self-location information during mission. For the positioning problem of UAV signal interference, this paper proposes a cooperative positioning of UAV based on optimization algorithm. In order to solve the difficulty of UAV positioning, we propose the following solutions. Firstly, we construct different numbers of beacon nodes by using the flight information of UAVs in different cycles. Secondly, the unknown number of the positioning to be solved of the UAV is reduced to improve the accuracy and speed of the subsequent optimization algorithm. Thirdly, A multi-objective optimization model is established of the UAV motion parameters under inequality constraints. And we utilize a penalty function to convert the optimization model into a minimal value solution problem under no constraints. Finally, the positioning results of each UAV are obtained by the optimization algorithm.