【摘要】 针对无人机集群在遂行编队飞行过程中如何保持编队队形的问题,采用纯方位无源定位算法构建定位模型,探讨如何依据队形特点自适应调节,并将该方案推广到其他队形场景.以较规则和简易的圆形无人机编队场景为切入点,在已知部分无人机位置信息和编号的前提下,建立基于纯方位无源定位模型.在实际场景中,大部分无人机的位置会因为设备或其他原因导致偏差,因此需要探讨自适应调整方案.最后,将圆形无人机编队场景的相关方案推广到锥形无人机编队场景.更多还原

【Abstract】 This paper discusses how to maintain formation of unmanned aerial vehicle(UAV) cluster in the process of formation flying, how to build a suitable location model using bearing-only passive location algorithm, and how to automatically adjust according to formation characteristics and extend this scheme to other formation scenarios. Taking the relatively regular and simple round UAV formation scene as the starting point, the passive location model based on bearing-only is established on the premise that the position information and number of some UAVs are known; Further relaxing the conditions,this paper explores how to effectively implement the positioning scheme; In addition, in the actual scene, the position of most UAVs is biased due to equipment or other reasons, and the adaptive adjustment scheme is discussed. The relevant schemes of circular UAV formation scenario are extended to conical UAV formation scenario.更多还原