A UAV Formation Positioning and Adjustment Strategy Based on Geometric Algorithm

The formation control of unmanned aerial vehicle (UAV) has a wide range of practical applications such as military reconnaissance and aerial photography. However, there is significant difficulty in controlling the formation shape of the UAV fleet. Existing positioning methods have certain drawbacks in terms of positioning accuracy and interference. To solve the problem of maintaining formation of unmanned aerial vehicle swarm under electromagnetic silence while performing formation flight, we propose a geometric algorithm-based strategy for the UAV formation keeping and adjustment. This strategy utilizes the position and orientation information of the UAVs to accurately calculate the position of each UAV, and dynamically adjusts the position and speed of each UAV in the formation to ensure the overall motion planning and execution of the formation. Firstly, the cross-positioning method is used to construct the trajectory cross-positioning. Based on the uniqueness principle, the minimum number of UAVs required to locate the position of other UAVs is determined. Then, the triangulation positioning method is used to construct a UAV triangulation positioning model, realizing accurate positioning of unmanned aerial vehicles. The simulation results based on MATLAB shows that this strategy is feasible and practical, and the UAV swarm can effectively maintain the formation under the geometric algorithm-based positioning.