A Geometric Algebra and Particle Swarm optimization Based Approach for Bearing-Only Passive Localization of Unmanned Aerial Vehicle Formations

With the development of UAV technology, UAV is more and more widely used in various occasions. Aiming at the bearing-only passive location problem of UAV formation, a method based on geometric algebra and particle swarm optimization is proposed in this paper. First of all, under the condition that the positions of two UAVs and the center of the circle are known, through the transformation between polar coordinates and two-dimensional Cartesian coordinates in analytic geometry, an equation is established to solve the position coordinates of UAV receiving signals. Then, the particle swarm optimization algorithm is used to construct the adaptive function, iteratively reduce the value of the adaptive function, and get the optimal position coordinates of the received signal UAV. Finally, considering the unknown number of UAV transmitting signal, a method of judging UAV number by angle is proposed.