Bearing-only passive formation control for UAVs cluster: a case study of a 10-UAV circular formation

Jiayou Liang; Ruiyi Zhang; Shuaijie Zhao

doi:10.1117/12.2685934

28 July 2023 Bearing-only passive formation control for UAVs cluster: a case study of a 10-UAV circular formation

Jiayou Liang, Ruiyi Zhang, Shuaijie Zhao

Proceedings Volume 12756, 3rd International Conference on Applied Mathematics, Modelling, and Intelligent Computing (CAMMIC 2023); 127564P (2023) https://doi.org/10.1117/12.2685934
Event: 2023 3rd International Conference on Applied Mathematics, Modelling and Intelligent Computing (CAMMIC 2023), 2023, Tangshan, China

Abstract

In this paper, the adjustment model of ten UAV circular formation is established. Since the UAV cluster needs to avoid external interference as much as possible when conducting formation flight, electromagnetic silence is the limiting condition. Based on the method of bearing-only passive positioning, this paper constructs a geometric model to calculate the deviation degree of UAV, and uses the Angle difference method to define the deviation range, and the maximum deviation degree of the formation that can be adjusted. It then uses two UAVs in a standard position and one that is slightly offset to emit as few signals as possible for each adjustment. Finally, iteration algorithm is used to correct the location of the offset UAV.

Citation Download Citation

Jiayou Liang, Ruiyi Zhang, and Shuaijie Zhao "Bearing-only passive formation control for UAVs cluster: a case study of a 10-UAV circular formation", Proc. SPIE 12756, 3rd International Conference on Applied Mathematics, Modelling, and Intelligent Computing (CAMMIC 2023), 127564P (28 July 2023); https://doi.org/10.1117/12.2685934

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