Self-positioning method and device for unmanned aerial vehicle swarm

Abstract

The invention discloses an unmanned aerial vehicle swarm self-positioning method and device, and the method comprises the steps: building a direction vector of an unmanned aerial vehicle swarm according to a distributed antenna array MIMO system model of the unmanned aerial vehicle swarm, building a receiving signal model of the unmanned aerial vehicle swarm, setting a reference antenna of each unmanned aerial vehicle, decomposing the direction vector of the unmanned aerial vehicle swarm into direction vectors of a plurality of antennas of each unmanned aerial vehicle and direction vectors of reference antennas of a plurality of unmanned aerial vehicles; carrying out the eigenvalue decomposition on a covariance matrix of a received signal model of the unmanned aerial vehicle swarm, and determining the arrival angle information of a user sending signal; solving the direction vectors of the reference antennas of the plurality of unmanned aerial vehicles according to the arrival angle information of the signals sent by the user, and establishing an optimization model of the bee colony position parameters of the unmanned aerial vehicles; based on the LS algorithm, solving the optimization model of the position parameters of the unmanned aerial vehicle swarm, and determining the position parameters of the multiple unmanned aerial vehicles. According to the invention, the positioning precision of the unmanned aerial vehicle swarm can be improved.

Description

technical field [0001] The invention relates to the field of communication technology, in particular to a method and device for self-positioning of drone swarms. Background technique [0002] In recent years, drone communications have proven their worth in a wide variety of military and civilian applications. However, due to the limitations of volume, self-supply, flight environment and other factors, there are some bottlenecks in communication and practicability of a single UAV system. [0003] In order to meet the challenges of complex tasks and harsh environments, UAV swarms have become an important part of UAV cooperative communication. The UAV swarm consists of several small UAVs arranged in some form to meet the requirements of various tasks, such as communicating with cooperative base stations and users, and detecting whether there is an enemy aircraft within a specific range. The drones in a drone swarm are small devices with less expensive and fewer antennas, so t...

AI Technical Summary

Problems solved by technology

Since the relative position of the UAV in the UAV swarm is very small or even less than one meter, the accuracy of GPS cannot meet the needs of UAV swarm positioning

[0006] For the above problems, no effective solutions have been proposed so far

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