UAV formation method based on triposition positioning model

Abstract

With the development of technology, UAV formation gradually appears in people's view. During the formation process, the UAV can obtain height information through its own perception, thus, the UAV formation problem is downscaled and the UAV is localised. In this paper, the position coordinates of the UAV are obtained through the Triposition positioning algorithm, using geometric relations, after which the UAV is distributed on a circle by adjusting the edges, and later the UAV is adjusted to the ideal position by adjusting the angle. The experimental results ultimately show that the algorithm is robust under large angular errors and can be better combined to become a signal localisation system in larger UAV formations, thus maintaining the operational capability and stability of communication transmissions in large UAV formations.