Research on Effective Positioning and Adjustment Scheme Based on Circular UAV Formation

This article investigates the effective positioning and adjustment of circular drone formations. Firstly, based on the passive reception signal positioning model, an effective positioning model was established, and the number of drones that meet the effective positioning requirements was solved through traversal algorithm. The results indicate that when there is no deviation in the position of the drone transmitting the signal, at least one drone is needed to transmit the signal in addition to the two known drones to achieve effective positioning. Furthermore, this article establishes a formation adjustment model for unmanned aerial vehicles, derives the overall adjustment model and multiple adjustment models through the polar coordinate system point distance formula and cosine theorem, and uses greedy algorithm to solve the adjustment plan. Finally, the effectiveness of the model was verified through Matlab simulation, and the adjusted drone position had a small error compared to the ideal position, indicating that the model can accurately achieve drone formation adjustment with high accuracy and stability.