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Academic Journal of Computing & Information Science, 2024, 7(2); doi: 10.25236/AJCIS.2024.070214.

Research on the autonomous cooperative positioning scheme of UAV formation


Sisi Zheng

Corresponding Author:
Sisi Zheng

School of Mathematics and Statistics, Southwest University, Chongqing, 400715, China


In recent years, drones have been widely used. The method of autonomous cooperative positioning of multiple drones to complete tasks is also widely used in various fields, such as search and rescue, surveillance, military missions, and so on. Based on this, this paper constructs a two-dimensional planar cone formation composed of a group of UAVs from the point of view of a circular geometric positioning model. This paper breaks this formation into a combination of  regular hexagon drone formation and analyzes the regular hexagon UAV formation. Firstly, the signals emitted by FY00, FY01, and a known numbered drone are used to predict the position of the remaining drones. Then, the model is extended and expanded to predict the position of the remaining drones by constructing the electromagnetic signals emitted by FY00, FY01, and three unknown numbered drones. On this basis, considering the problem of poor electromagnetic signal reception caused by attitude deviation caused by body motion of UAV in real life, the PID algorithm is used in this paper to correct relative position and relative speed, and further improve the geometric autonomous cooperative positioning model of UAV in daily life. The results show that the study of UAV formation based on a geometric model has the advantages of intuitiveness, mathematical controllability, and simplification, which are helpful in understanding, analyzing, and solving formation-related problems.


UAV, geometric autonomous cooperative positioning model, Regular hexagon formation, PID control algorithm

Cite This Paper

Sisi Zheng. Research on the autonomous cooperative positioning scheme of UAV formation. Academic Journal of Computing & Information Science (2024), Vol. 7, Issue 2: 102-108. https://doi.org/10.25236/AJCIS.2024.070214.


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