Research on Passive Localization in Circular Formation Flight of UAVs with Simulated Annealing Optimization Based on Triangulation and Greedy Strategy

In addressing the challenges of passive localization and adjustment strategies during circular formation flight of unmanned aerial vehicles (UAVs), this paper proposes a pure azimuthal passive localization model based on triangulation and greedy strategy. The model initially converts precise angle signals into accurate azimuthal information, conducts deviation analysis on the positions, and then employs a greedy strategy for fine-tuning. The simulated annealing approach is utilized to continually evaluate the position using azimuthal information obtained through angle signal conversion, optimizing the position during the fine-tuning process. Ultimately, the paper achieves uniform positioning of UAVs along the circumference, realizing precise localization of unmanned aerial vehicles. The study uses a scenario involving 10 UAVs as an example, discussing all possible situations based on the proposed model. Finally, simulation experiments conducted in Matlab validate the feasibility and robustness of the proposed model.