Optimization of UAV formation positioning accuracy based on double circle crossing method

This paper delves into the optimization of positioning accuracy for Unmanned Aerial Vehicles (UAVs) in a circular formation. The study commences by establishing a polar coordinate system leveraging the positions of two reference UAVs, FY00 and FY01, whose locations are presumed to be stable and error-free. Utilizing the triangulation method within this coordinate system, we determine the positions of the remaining UAVs based on the direction information received from signal transmissions. Under the premise that positional deviations are confined to a range of ±5°, we employ an exhaustive method to discern the correlation between interval numbers and direction information. This approach facilitates the precise positioning of UAVs, despite minor location discrepancies. Subsequently, an iterative adjustment scheme is introduced to refine the distribution of UAVs along a circular path. Through a series of iterative computations, the UAVs are adjusted to achieve an even distribution, with the positioning error maintained within an acceptable margin of approximately 3 meters. The methodology integrates mathematical modeling with computational simulations, demonstrating the efficacy of the double circle crossing method in enhancing the accuracy of UAV formation positioning. The paper concludes with the validation of the proposed models through Matlab simulations, confirming the potential for practical application in optimizing UAV formation positioning tasks.