Dual Aircraft Cooperative Cross Positioning Method for Ground Remote Control Signal Source

The rapid development of consumer UAV has brought many conveniences to national production and life, but the increasingly frequent incidents of ‘Black Flying’ unmanned aerial vehicle (UAV) seriously threaten social stability and national security. In order to capture the operator of ‘Black Flying’ UAV, this paper presents a cross-location method of ground remote controller signal source with the angle of arrival (AOA) as prior information. This method designs a cooperative flight strategy based on double-station UAV airborne detection platform, and builds a mathematical model of cross-positioning error based on this strategy, thus improving the traditional cross-positioning algorithm. The verification results show that the proposed algorithm can successfully locate the signal source of the ground remote controller. Compared with the traditional method, it also effectively reduces the influence of systematic error and random error on the location results. When the angle measurement error is 5 degrees, the location accuracy is about 3 meters.