无人机多目标纯方位无源几何定位

Unmanned Aerial Vehicle Multi-Target Pure-ly Azimuth Passive Geometric Positioning

摘要: 当多架无人机在空中按编队要求进行有序飞行时，有源定位存在电磁波的干扰会导致定位不准确的问题，所以无源定位的运用起到关键作用。本文针对无人机集群在多目标纯方位无源定位方法进行研究，主要利用matlab软件编程，并采用蒙特卡罗模拟的方法，建立定位模型与领导者–跟随者模型等方案。进一步合理运用图论原理和一致性算法，从而得出无人机的最佳定位效果。实际场景中，无人机的俯仰角会对领导跟随模型有影响，在模型的评价中将引入俯仰角这一参数，从而对模型扩展到三维进行展望。本文对于无人机的无源定位方式进行探究，在未来的无人机定位技术发展中具有参考价值。

Abstract: When multiple UAVs fly orderly in formation, they need to receive electromagnetic wave instruc-tions from other UAVs to maintain the unity of the whole formation. In the process of transmitting and receiving signals, electromagnetic wave interference will lead to a series of problems. The UAV team should minimize electromagnetic disturbance when flying, so the application of passive posi-tioning plays a key role. In this paper, the multi-target azimuth-only passive positioning method of UAV cluster is studied, mainly using matlab software programming and Monte Carlo simulation method, the establishment of positioning model and leader-follower model and other schemes. Then, we reasonably use the principle of graph theory and consistency algorithm to get the best po-sitioning effect of UAV. In the actual scene, the pitch Angle of UAV will have an impact on the lead-er-following model. In the evaluation of the model, the pitch Angle will be introduced as a parame-ter, so as to extend the model to three dimensions for prospect. This paper explores the passive po-sitioning method of UAV, which has reference value in the future development of UAV positioning technology.