A method, device, equipment and medium for bearing-only passive location of a UAV cluster

Abstract

The application discloses a kind of unmanned aerial vehicle cluster's pure bearing passive location method, device, equipment and medium, the method includes: when unmanned aerial vehicle cluster is carried out to carry out formation flight, passive receiving signal unmanned aerial vehicle receives the position signal sent by three position fixed and signal transmitting unmanned aerial vehicle;Determine the angle information between each signal transmitting unmanned aerial vehicle and passive receiving signal unmanned aerial vehicle;According to the position coordinates and angle information of each signal transmitting unmanned aerial vehicle, determine two circumscribed circles;Using the circumscribed circle in the plane and the relationship of triangle side angle, obtain unmanned aerial vehicle positioning model, and the passive receiving signal unmanned aerial vehicle is positioned by unmanned aerial vehicle positioning model, and obtains positioning result.Due to the unmanned aerial vehicle pure bearing passive location of the application, according to the angle information between signal transmitting unmanned aerial vehicle and passive receiving signal unmanned aerial vehicle, each other confirms unmanned aerial vehicle positioning model, improves the accuracy of unmanned aerial vehicle positioning, and reduces the complexity of positioning calculation.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a passive azimuth positioning method, apparatus, equipment, and medium for UAV swarms. Background Technology

[0002] Currently, drone swarming is a novel swarming method. When performing formation flight demonstrations, it's crucial to minimize the emission of electromagnetic waves to avoid interference from external electromagnetic fields; in other words, drones should maintain electromagnetic silence as much as possible during flight. If a drone's position deviates during flight, a passive azimuth positioning method can be used to adjust its formation. This involves selecting a few drones in the swarm to emit electromagnetic waves to the other drones. The passively receiving drones can then extract directional information from the received signals to determine their own positioning. Passive azimuth positioning reduces external interference to the drone swarm and improves the accuracy of drone positioning.

[0003] However, current passive positioning methods based on AOA (Optical Aspect-Oriented Alignment) have many problems. For example, due to the multipath effect during signal propagation—that is, the signal undergoes reflection and refraction during propagation, causing changes in the signal's arrival time and direction—there is more than one path for the signal to reach the receiving station, which may limit the positioning accuracy in practical applications. Furthermore, when UAVs track targets, multiple phase measurements and signal processing are required in real time. To improve the efficiency of UAV swarm formation and reduce the energy consumption of UAV swarm movement, collaborative target allocation and trajectory planning for multiple UAVs based on AOA positioning are necessary. Existing solutions for multi-UAV AOA-based positioning have high computational complexity and require significant computational resources.

[0004] Therefore, there is an urgent need for a pure azimuth passive positioning method for UAV swarms that can effectively improve the accuracy of UAV positioning and reduce the complexity of UAV positioning calculations. Summary of the Invention

[0005] The main objective of this invention is to provide a passive, azimuth-based positioning method, apparatus, device, and medium for unmanned aerial vehicle (UAV) swarms, aiming to solve the technical problem of how to effectively improve the accuracy of UAV positioning and reduce the complexity of UAV positioning calculations.

[0006] To achieve the above objectives, the present invention provides a passive azimuth positioning method for a swarm of unmanned aerial vehicles (UAVs), the method comprising the following steps:

[0007] When a drone swarm is performing formation flight, the passively receiving drone receives position signals from three fixed-position drones that are transmitting signals.

[0008] By analyzing the position signals, the angle information between each of the drones that transmit signals and the drones that passively receive signals is determined;

[0009] Based on the position coordinates of each of the UAVs that transmit signals and the angle information, two circumscribed circles are determined. The two circumscribed circles have two intersection points. One intersection point is the coordinates of one of the UAVs that transmits signals, and the other intersection point is the coordinates of the UAV that passively receives signals.

[0010] By utilizing the relationship between the circumcircle and the sides and angles of the triangle in the plane, a UAV positioning model is obtained, and the UAV passively receiving signals is located using the UAV positioning model to obtain the positioning result.

[0011] Optionally, the step of receiving position signals from three fixed-position, signal-transmitting drones when the drone swarm is performing formation flight includes:

[0012] When a drone swarm is performing formation flight, three drones with fixed positions and transmitting signals are selected. The positional relationship between the three drones with fixed positions and transmitting signals is a fixed triangle shape.

[0013] The passively receiving drone receives the position signals emitted by the transmitting drones.

[0014] Optionally, the step of determining the angle information between the UAV transmitting the signal and the UAV passively receiving the signal by analyzing the position signal includes:

[0015] Assume that the three drones transmitting the signal are numbered A, B and C, respectively, and the drone passively receiving the signal is numbered D, with the target position of drone D being O.

[0016] A polar coordinate system is established based on the angle information between the UAV that transmits the signal and the UAV that passively receives the signal. The polar coordinate system has UAV A as the origin and the line AB connecting UAV A and UAV B is the positive polar direction of the polar coordinate system.

[0017] The position signal is analyzed based on the polar coordinate system to determine the angle information between the UAV that transmits the signal and the UAV that passively receives the signal.

[0018] Optionally, the step of analyzing the position signal according to the polar coordinate system to determine the angle information between each of the transmitting UAVs and the passively receiving UAVs includes:

[0019] Based on the analysis of the position signal using the polar coordinate system, the polar coordinates of the target position O are obtained as (r0, θ0), the polar coordinates of the UAV D are (ρ, θ' + θ0), and the polar coordinates of the UAV A are (r0, θ' + θ0). A ,θ A The polar coordinates of the UAV B are (r B ,θ B The polar coordinates of UAV C are (r C ,θ C );

[0020] Based on the polar coordinates of the UAV that transmits the signal and the UAV that passively receives the signal, calculate the angle information between the UAV that transmits the signal and the UAV that passively receives the signal.

[0021] Assuming ∠ADB = α and ∠ADC = β, then in ΔADB, according to the triangle cosine theorem, we can obtain the cosine values ​​of α and β;

[0022] In ΔDAO, the cosine value of ∠DAO is obtained according to the triangle cosine theorem. The formula for calculating the cosine value of ∠DAO is:

[0023]

[0024] The formula for calculating the cosine value of ∠DAO is rearranged to obtain ρ. 2 -2ρ0ρcosθ′+ρ0 2 -r 2 =0;

[0025] In ΔADB, according to the triangle sine theorem, we obtain...

[0026] Optionally, after the step of analyzing the position signal according to the polar coordinate system and determining the angle information between each of the transmitting UAVs and the passively receiving UAVs, the method further includes:

[0027] Draw a perpendicular line from the UAV D to AB, intersecting AB at point E. Based on the relationship between polar coordinates and orthogonal rectangular coordinates, the rectangular coordinates of point E are obtained as (ρcos(θ′+θ0), ρsin(θ′+θ0)).

[0028] Based on the rectangular coordinates of point E, obtain the lengths of AE and DE;

[0029] In ΔBDE, the length of DB is obtained based on the inequality of the three sides of a right triangle. The formula for calculating the length of DB is:

[0030]

[0031] Based on the formula for calculating the length of DB, a first formula is obtained, which is:

[0032]

[0033] In ΔACD, according to the triangle sine theorem, we obtain the second formula, which is:

[0034]

[0035] Optionally, the step of obtaining the cosine values ​​of α and β in ΔADB according to the triangle cosine theorem includes:

[0036] In ΔADB, according to the triangle cosine theorem, the cosine values ​​of α and β are calculated. The formulas for calculating the cosine value of α and the cosine value of β are as follows:

[0037]

[0038]

[0039] Accordingly, after the step of obtaining the cosine values ​​of α and β in ΔADB according to the triangle cosine theorem, the method further includes:

[0040] Based on the formulas for calculating the cosine value of α and the formulas for calculating the cosine value of β, the third and fourth formulas are obtained.

[0041] The third formula is:

[0042]

[0043] The fourth formula is:

[0044]

[0045] Optionally, the step of obtaining the UAV positioning model using the relationship between the circumcircle and the sides and angles of the triangle in the plane includes:

[0046] Based on the relationship between the circumcircle and the sides and angles of the triangle in the plane, an initial UAV positioning model is obtained according to the first formula, the second formula, the third formula, and the fourth formula. The initial UAV positioning model is as follows:

[0047]

[0048] The initial UAV positioning model is processed to obtain a processed initial UAV positioning model, which is as follows:

[0049]

[0050] A new polar coordinate system is established with the target location O as the origin and AO as the polar coordinate axis to obtain the UAV positioning model. The positioning coordinates of the UAV D are (r, θ), and the UAV positioning model is as follows:

[0051]

[0052] Furthermore, to achieve the above objectives, the present invention also proposes a passive azimuth positioning device for a drone swarm, the device comprising:

[0053] The signal receiving module is used to receive position signals from three fixed-position drones that are transmitting signals when the drone swarm is performing formation flight.

[0054] The signal analysis module is used to determine the angle information between the UAV that transmits the signal and the UAV that passively receives the signal by analyzing the position signal;

[0055] The data determination module is used to determine two circumscribed circles based on the position coordinates of each of the UAVs that transmit signals and the angle information. The two circumscribed circles have two intersection points. One intersection point is the coordinates of one of the UAVs that transmits signals, and the other intersection point is the coordinates of the UAV that passively receives signals.

[0056] The target positioning module is used to obtain a UAV positioning model by utilizing the geometric relationship between the circumcircle and the triangle in the plane, and to locate the UAV that passively receives signals by using the UAV positioning model to obtain the positioning result.

[0057] Furthermore, to achieve the above objectives, the present invention also proposes a passive azimuth positioning device for a drone swarm, the device comprising: a memory, a processor, and a passive azimuth positioning program for a drone swarm stored in the memory and executable on the processor, the passive azimuth positioning program for a drone swarm being configured to implement the steps of the passive azimuth positioning method for a drone swarm as described above.

[0058] Furthermore, to achieve the above objectives, the present invention also proposes a medium storing a passive azimuth localization program for a drone swarm, wherein when the passive azimuth localization program for the drone swarm is executed by a processor, it implements the steps of the passive azimuth localization method for a drone swarm as described above.

[0059] This invention, during formation flying in a drone swarm, involves a passively receiving drone receiving position signals from three fixed-position, signal-transmitting drones. By analyzing these position signals, the angular information between each signal-transmitting drone and the passively receiving drone is determined. Based on the position coordinates of each signal-transmitting drone and the angular information, two circumcircles are defined, intersecting at two points: one intersection point represents the coordinates of one signal-transmitting drone, and the other intersection point represents the coordinates of the passively receiving drone. Utilizing the relationships between the circumcircles and the sides and angles of a triangle in a plane, a drone positioning model is obtained. This model is then used to locate the passively receiving drone, yielding a positioning result. Because this invention utilizes pure azimuth passive positioning, a single passively receiving drone simultaneously receives position signals from multiple signal-transmitting drones. The angular information between the signal-transmitting and passively receiving drones is cross-referenced to obtain the drone positioning model. Compared to existing technologies, this invention effectively improves the accuracy of drone positioning and reduces the complexity of drone positioning calculations. Attached Figure Description

[0060] Figure 1 This is a schematic diagram of the structure of a passive azimuth positioning device for a drone swarm in the hardware operating environment involved in the embodiments of the present invention.

[0061] Figure 2 This is a flowchart illustrating the passive azimuth positioning method for UAV swarms according to the present invention.

[0062] Figure 3 This is a schematic diagram illustrating the positioning principle of the pure azimuth passive positioning method for UAV swarms of the present invention.

[0063] Figure 4 This is a schematic diagram of a planar geometric model of the pure azimuth passive positioning method for UAV swarms according to the present invention;

[0064] Figure 5 This is a structural block diagram of the passive azimuth positioning device for UAV swarms according to the present invention.

[0065] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0066] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0067] Reference Figure 1 , Figure 1 This is a schematic diagram of the structure of a passive azimuth positioning device for a drone swarm in the hardware operating environment of an embodiment of the present invention.

[0068] like Figure 1 As shown, the passive azimuth positioning device of this UAV swarm may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be high-speed random access memory (RAM) or stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0069] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on a purely azimuth-passive positioning device for a drone swarm, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0070] like Figure 1 As shown, the memory 1005, which serves as a medium, may include an operating system, a network communication module, a user interface module, and a passive azimuth positioning program for a drone swarm.

[0071] exist Figure 1 In the passive azimuth positioning device of the UAV swarm shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and memory 1005 in the passive azimuth positioning device of the UAV swarm of the present invention can be set in the passive azimuth positioning device of the UAV swarm. The passive azimuth positioning device of the UAV swarm calls the passive azimuth positioning program of the UAV swarm stored in the memory 1005 through the processor 1001 and executes the passive azimuth positioning method of the UAV swarm provided in the embodiment of the present invention.

[0072] This invention provides a passive azimuth localization method for unmanned aerial vehicle (UAV) swarms, referring to... Figure 2 , Figure 2This is a flowchart illustrating the passive azimuth positioning method for UAV swarms according to the present invention. The passive azimuth positioning method for UAV swarms includes the following steps:

[0073] Step S10: When the drone swarm is performing formation flight, the passive signal receiving drone receives the position signals emitted by three drones with fixed positions and transmitting signals.

[0074] It should be noted that the executing entity in this embodiment can be a computer server device with data processing, network communication, and program execution functions, such as a server, tablet computer, or personal computer, or an electronic device capable of performing the above functions, such as a passive azimuth positioning device for a drone swarm. The following uses a passive azimuth positioning device for a drone swarm as an example to illustrate this embodiment and the following embodiments.

[0075] In a specific implementation, when a drone swarm is performing formation flight, three drones with fixed positions and transmitting signals are selected. The positional relationship between the three drones with fixed positions and transmitting signals is a fixed-point triangle shape. The drone that passively receives signals receives the position signals emitted by each of the drones that transmit signals.

[0076] Step S20: By analyzing the position signals, determine the angle information between each of the UAVs that transmit signals and the UAVs that passively receive signals.

[0077] It should be noted that the three UAVs transmitting signals can be numbered A, B and C respectively, the UAV passively receiving signals can be numbered D, and the target position of UAV D is O; a polar coordinate system is established based on the angle information between each of the UAVs transmitting signals and the UAV passively receiving signals.

[0078] For example, refer to Figure 4 , Figure 4 This is a schematic diagram of the planar geometric model of the pure azimuth passive positioning method for UAV swarms of the present invention. D is on a circle with center O and radius r. The angle formed by OD and AO is θ0. The polar coordinate system has UAV A as the origin. The line AB connecting UAV A and UAV B is the positive polar direction of the polar coordinate system. The position signal is analyzed according to the polar coordinate system to determine the angle information between each UAV that transmits the signal and the UAV that passively receives the signal.

[0079] It should be noted that the position signal can be analyzed based on the polar coordinate system. Assuming the polar coordinates of the target position O are (r0, θ0), the polar coordinates of the UAV D are (ρ, θ' + θ0), and the polar coordinates of the UAV A are (r... A ,θ AThe polar coordinates of the UAV B are (r B ,θ B The polar coordinates of UAV C are (r C ,θ C Based on the polar coordinates of the UAV that transmits the signal and the UAV that passively receives the signal, calculate the angle information between the UAV that transmits the signal and the UAV that passively receives the signal.

[0080] Assuming ∠ADB = α and ∠ADC = β, then in ΔADB, according to the triangle cosine theorem, the cosine values ​​of α and β are obtained. The formulas for calculating the cosine value of α and the formulas for calculating the cosine value of β are respectively;

[0081]

[0082]

[0083] In ΔDAO, by the Law of Cosines of Triangles, the cosine value of ∠DAO can be obtained. The formula for calculating the cosine value of ∠DAO is:

[0084]

[0085] The formula for calculating the cosine value of ∠DAO is simplified to obtain:

[0086] ρ 2 -2ρ0ρcosθ′+ρ0 2 -r 2 =0 (3)

[0087] In ΔADB, according to the triangle sine theorem, we obtain:

[0088]

[0089] It should be noted that after the step of analyzing the position signal according to the polar coordinate system and determining the angle information between each of the transmitting UAVs and the passively receiving UAVs, the method further includes:

[0090] Step S201: Draw a perpendicular line from the UAV D to AB, intersecting AB at point E. Based on the relationship between polar coordinates and orthogonal rectangular coordinates, obtain the rectangular coordinates of point E as (ρcos(θ′+θ0), ρsin(θ′+θ0)).

[0091] Step S202: Obtain the lengths of AE and DE based on the rectangular coordinates of point E.

[0092] |AE|=|ρcos(θ′+θ0)|;

[0093] |DE|=|ρsin(θ′+θ0)|.

[0094] In ΔBDE, the length of DB is obtained based on the inequality of the three sides of a right triangle. The formula for calculating the length of DB is:

[0095]

[0096] Based on the formula for calculating the length of DB, the first formula is obtained, namely formula (6).

[0097] In the specific implementation, substituting equation (5) into equation (4) yields the first formula, which is:

[0098]

[0099] Similarly, in ΔACD, according to the triangle sine theorem, we obtain the second formula, which is:

[0100]

[0101] It needs to be explained that when lines |AD| and |CB| are perpendicular, since angles α and ∠BD′A(α′) are supplementary, and angles β and ∠CD′A(β′) are supplementary, the sine values ​​of α and α′ are equal, and the sine values ​​of β and β′ are equal. This results in two pairs of circles with the same radius being possible to construct. However, the coordinates of the intersection points of these two pairs of circles are not the same, leading to two solutions. To avoid this situation, further constraints need to be placed on ΔADC and ΔADB.

[0102] In a specific implementation, after the step of obtaining the cosine values ​​of α and β in ΔADB according to the triangle cosine theorem, it further includes:

[0103] Based on the formulas for calculating the cosine value of α and the formulas for calculating the cosine value of β, the third and fourth formulas are obtained.

[0104] The third formula is:

[0105]

[0106] The fourth formula is:

[0107]

[0108] Step S30: Based on the position coordinates of each of the UAVs that transmit signals and the angle information, determine two circumscribed circles. The two circumscribed circles have two intersection points. One intersection point is the coordinates of one of the UAVs that transmits signals, and the other intersection point is the coordinates of the UAV that passively receives signals.

[0109] For example, refer to Figure 3 , Figure 3 This is a schematic diagram illustrating the positioning principle of the passive azimuth positioning method for a drone swarm according to the present invention. The passively receiving drone D can measure the included angles of its three sides using the coordinates of the three transmitting drones. Given the known coordinates of the three transmitting drones, two circumcircles can be constructed, intersecting at two points. One intersection point represents the coordinates of the transmitting drone; excluding the transmitting drone, the other intersection point represents the coordinates of the receiving drone D. Therefore, under this assumption, positioning can be achieved using only the geometric relationship between the two circles. This also proves that, under this assumption, at least three transmitting drones are required for positioning.

[0110] Step S40: Using the relationship between the circumcircle and the sides and angles of the triangle in the plane, obtain the UAV positioning model, and use the UAV positioning model to locate the UAV that passively receives the signal to obtain the positioning result.

[0111] Based on the relationship between the circumcircle and the sides and angles of the triangle in the plane, an initial UAV positioning model is obtained according to the first formula, the second formula, the third formula, and the fourth formula. The initial UAV positioning model is as follows:

[0112]

[0113] The initial UAV positioning model is processed to obtain a processed initial UAV positioning model, which is as follows:

[0114]

[0115] A new polar coordinate system is established with the target location O as the origin and AO as the polar coordinate axis to obtain the UAV positioning model. The positioning coordinates of the UAV D are (r, θ), and the UAV positioning model is as follows:

[0116]

[0117] It should be understood that since a drone that passively receives signals can independently receive signals emitted by a drone that transmits signals and extract angle information for real-time calculations, a drone that transmits signals can be used to locate multiple drones that receive signals, and each drone that receives signals can complete its positioning independently, which means it has real-time and parallel capabilities.

[0118] It should be noted that, using simulation software, the coordinates of the three launching drones and the target point were fixed, with parameters ρ0 = 5.30 and ρ B =9.55, ρ C =6.13, θ0 = 30.91°, θ C= 71.64°. Changing the relative position of the passively receiving UAV D, in a coordinate system with O as the origin and AO as the polar axis, the receiving angles α and β, calculated using the UAV positioning model, give the receiving UAV D's positioning coordinates as D(r,θ). It can be understood that the simulation test cases include seven scenarios: the passively receiving UAV is located inside ΔABC, to the left of ΔABC, to the right of ΔABC, below ΔABC, to the upper left of ΔABC, to the lower left of ΔABC, and to the lower right of ΔABC.

[0119] Table 1 Simulation Results

[0120]

[0121] The simulation results show that the positioning coordinates of the passively receiving UAV are very close to the actual coordinates, which demonstrates the accuracy of the UAV positioning model.

[0122] This application describes a method where, during formation flying in a drone swarm, a passively receiving drone receives position signals from three fixed-position drones that are transmitting signals. By analyzing these position signals, the angle information between each transmitting drone and the passively receiving drone is determined. Based on the position coordinates of each transmitting drone and the angle information, two circumcircles are defined, intersecting at two points: one intersection point represents the coordinates of one transmitting drone, and the other intersection point represents the coordinates of the passively receiving drone. Using the relationships between the circumcircles and the sides and angles of a triangle in a plane, a drone positioning model is obtained. This model is then used to locate the passively receiving drone, yielding a positioning result. Because this application utilizes pure azimuth passive positioning, a single passively receiving drone simultaneously receives position signals from multiple transmitting drones. The angle information between the transmitting and passively receiving drones is used to cross-reference these signals to obtain a positioning model. Compared to existing technologies, this application effectively improves the accuracy of drone positioning and reduces the complexity of drone positioning calculations.

[0123] Furthermore, this embodiment of the invention also proposes a medium storing a passive azimuth localization program for a drone swarm. When the passive azimuth localization program for the drone swarm is executed by a processor, it implements the steps of the passive azimuth localization method for a drone swarm as described above.

[0124] Reference Figure 5 , Figure 5This is a structural block diagram of the passive azimuth positioning device for UAV swarms according to the present invention.

[0125] like Figure 5 As shown, the passive azimuth positioning device for UAV swarm proposed in this embodiment of the invention includes: a signal receiving module 501, a signal analysis module 502, a data determination module 503, and a target positioning module 504.

[0126] The signal receiving module 501 is used to receive position signals from three fixed-position drones that transmit signals when the drone swarm is performing formation flight.

[0127] The signal analysis module 502 is used to determine the angle information between the UAV that transmits the signal and the UAV that passively receives the signal by analyzing the position signal;

[0128] The data determination module 503 is used to determine two circumscribed circles based on the position coordinates of each of the transmitting drones and the angle information. The two circumscribed circles have two intersection points. One intersection point is the coordinates of one of the transmitting drones, and the other intersection point is the coordinates of the passively receiving drone.

[0129] The target positioning module 504 is used to obtain a UAV positioning model by utilizing the geometric relationship between the circumcircle and the triangle in the plane, and to locate the UAV that passively receives the signal by using the UAV positioning model to obtain the positioning result.

[0130] This device, during formation flying of a drone swarm, involves a passively receiving drone receiving position signals from three fixed-position transmitting drones. By analyzing these position signals, the device determines the angle information between each transmitting drone and the passively receiving drone. Based on the position coordinates of each transmitting drone and the angle information, two circumcircles are defined, intersecting at two points: one intersection point represents the coordinates of one transmitting drone, and the other represents the coordinates of the passively receiving drone. Utilizing the relationships between the circumcircles and the sides and angles of a triangle in a plane, a drone positioning model is obtained. This model is then used to locate the passively receiving drone, yielding a positioning result. Because this device employs pure azimuth passive positioning, a single passively receiving drone simultaneously receives position signals from multiple transmitting drones. By cross-referencing the angle information between the transmitting and passively receiving drones, a drone positioning model is obtained. Compared to existing technologies, this device effectively improves the accuracy of drone positioning and reduces the complexity of drone positioning calculations.

[0131] Other embodiments or specific implementations of the pure azimuth passive positioning device for UAV swarms of the present invention can be referred to the above-described method embodiments, and will not be repeated here.

[0132] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0133] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0134] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a medium (such as read-only memory / random access memory, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0135] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A passive, azimuth-based localization method for a swarm of unmanned aerial vehicles (UAVs), characterized in that, The method includes the following steps: When a drone swarm is performing formation flight, the passively receiving drone receives position signals from three fixed-position drones that are transmitting signals. By analyzing the position signals, the angle information between each of the drones that transmit signals and the drones that passively receive signals is determined; Based on the position coordinates of each of the UAVs that transmit signals and the angle information, two circumscribed circles are determined. The two circumscribed circles have two intersection points. One intersection point is the coordinates of one of the UAVs that transmits signals, and the other intersection point is the coordinates of the UAV that passively receives signals. Using the relationship between the circumcircle and the sides and angles of the triangle in the plane, a UAV positioning model is obtained, and the UAV passively receiving signals is located using the UAV positioning model to obtain the positioning result; The step of determining the angle information between the UAV transmitting the signal and the UAV passively receiving the signal by analyzing the position signal includes: Assume that the three drones transmitting the signal are numbered A, B and C, respectively, and the drone passively receiving the signal is numbered D, with the target position of drone D being O. A polar coordinate system is established based on the angle information between the UAV that transmits the signal and the UAV that passively receives the signal. The polar coordinate system has UAV A as the origin and the line AB connecting UAV A and UAV B is the positive polar direction of the polar coordinate system. The position signal is analyzed based on the polar coordinate system to determine the angle information between the UAV that transmits the signal and the UAV that passively receives the signal; The step of analyzing the position signal according to the polar coordinate system to determine the angle information between each of the transmitting UAVs and the passively receiving UAVs includes: Analyzing the position signal using the polar coordinate system, the polar coordinates of the target position O are obtained as follows: The polar coordinates of the UAV D are The polar coordinates of the drone A are The polar coordinates of the drone B are The polar coordinates of drone C are ; Based on the polar coordinates of the UAV that transmits the signal and the UAV that passively receives the signal, calculate the angle information between the UAV that transmits the signal and the UAV that passively receives the signal. Assumption , Then in In ADB, according to the triangle cosine theorem, we obtain... , The cosine value; exist In DAO, the triangle cosine theorem is obtained. The cosine value, the The formula for calculating the cosine value is: ； The The formula for calculating the cosine value is reorganized to obtain... ; exist In ADB, according to the triangle sine theorem, we obtain... ; After the step of analyzing the position signal according to the polar coordinate system to determine the angle information between each of the transmitting UAVs and the passively receiving UAVs, the method further includes: Draw a perpendicular line from the UAV D to AB, intersecting AB at point E. Based on the relationship between polar coordinates and orthogonal rectangular coordinates, the rectangular coordinates of point E are obtained as follows: ; Based on the rectangular coordinates of point E, obtain the lengths of AE and DE; exist In BDE, the length of DB is obtained based on the triangular relationship of a right triangle. The formula for calculating the length of DB is: ； Based on the formula for calculating the length of DB, a first formula is obtained, which is: ； exist In ACD, according to the triangle sine theorem, we obtain the second formula, which is: ； The above In ADB, according to the triangle cosine theorem, we obtain... , The steps to find the cosine value include: exist In ADB, based on the triangle cosine theorem, calculate... , The cosine value, the calculation Cosine value formula and calculation The formulas for the cosine values ​​are as follows: ； ； Accordingly, the above in In ADB, according to the triangle cosine theorem, we obtain... , After the steps for finding the cosine value, the following steps are also included: According to the calculation The formula for the cosine value and the calculation The cosine value formula is rearranged to obtain the third and fourth formulas; The third formula is: ； The fourth formula is: 。 2. The passive azimuth positioning method for UAV swarms as described in claim 1, characterized in that, The step of receiving position signals from three fixed-position, signal-transmitting drones during formation flight in a drone swarm includes: When a drone swarm is performing formation flight, three drones with fixed positions and transmitting signals are selected. The positional relationship between the three drones with fixed positions and transmitting signals is a fixed-point triangle shape. The passively receiving drone receives the position signals emitted by the transmitting drones.

3. The pure azimuth passive positioning method for UAV swarms as described in claim 1, characterized in that, The step of obtaining the UAV positioning model by utilizing the relationship between the circumcircle and the sides and angles of the triangle in the plane includes: Based on the relationship between the circumcircle and the sides and angles of the triangle in the plane, an initial UAV positioning model is obtained according to the first formula, the second formula, the third formula, and the fourth formula. The initial UAV positioning model is as follows: ； The initial UAV positioning model is processed to obtain a processed initial UAV positioning model, which is as follows: ； A new polar coordinate system is established with the target location O as the origin and AO as the polar coordinate axis to obtain the UAV positioning model. The positioning coordinates of the UAV D are: The drone positioning model is as follows: 。 4. A passive azimuth positioning device for a drone swarm, characterized in that, The device includes: The signal receiving module is used to receive position signals from three fixed-position drones that are transmitting signals when the drone swarm is performing formation flight. The signal analysis module is used to determine the angle information between the UAV that transmits the signal and the UAV that passively receives the signal by analyzing the position signal; The data determination module is used to determine two circumscribed circles based on the position coordinates of each of the UAVs that transmit signals and the angle information. The two circumscribed circles have two intersection points. One intersection point is the coordinates of one of the UAVs that transmits signals, and the other intersection point is the coordinates of the UAV that passively receives signals. The target positioning module is used to obtain a UAV positioning model by utilizing the geometric relationship between the circumcircle and the triangle in the plane, and to locate the UAV that passively receives signals by using the UAV positioning model to obtain the positioning result; The signal analysis module is also used to assume that the three UAVs transmitting the signal are numbered A, B and C respectively, the UAV passively receiving the signal is numbered D, and the target position of UAV D is O. A polar coordinate system is established based on the angle information between each of the UAVs that transmit signals and the UAVs that passively receive signals. The polar coordinate system has UAV A as the origin and the line AB connecting UAV A and UAV B as the positive polar direction. The position signals are analyzed based on the polar coordinate system to determine the angle information between each of the UAVs that transmit signals and the UAVs that passively receive signals. The information analysis module is further configured to analyze the position signal according to the polar coordinate system to obtain the polar coordinates of the target position O. The polar coordinates of the UAV D are The polar coordinates of the drone A are The polar coordinates of the drone B are The polar coordinates of drone C are Based on the polar coordinates of the UAVs transmitting signals and the UAVs passively receiving signals, calculate the angle information between the UAVs transmitting signals and the UAVs passively receiving signals; assuming... , Then in In ADB, according to the triangle cosine theorem, we obtain... , The cosine value; in In DAO, the triangle cosine theorem is obtained. The cosine value, the The formula for calculating the cosine value is: ； The The formula for calculating the cosine value is reorganized to obtain... ;exist In ADB, according to the triangle sine theorem, we obtain... ; The formula construction module is used to draw a perpendicular line from the UAV D to AB, intersecting AB at point E. Based on the relationship between polar coordinates and orthogonal rectangular coordinates, the rectangular coordinates of point E are obtained as follows: Based on the rectangular coordinates of point E, obtain the lengths of AE and DE; In BDE, the length of DB is obtained based on the triangular relationship of a right triangle. The formula for calculating the length of DB is: ； Based on the formula for calculating the length of DB, a first formula is obtained, which is: ； exist In ACD, according to the triangle sine theorem, we obtain the second formula, which is: ； The formula building module is also used in In ADB, based on the triangle cosine theorem, calculate... , The cosine value, the calculation Cosine value formula and calculation The formulas for the cosine values ​​are as follows: ； ； The formula organization module is used to organize the formulas according to the calculations. The formula for the cosine value and the calculation The cosine value formula is rearranged to obtain the third and fourth formulas; The third formula is: ； The fourth formula is: 。 5. A passive azimuth positioning device for a drone swarm, characterized in that, The device includes: a memory, a processor, and a passive azimuth localization program for a drone swarm stored in the memory and executable on the processor, the passive azimuth localization program for the drone swarm being configured to implement the steps of the passive azimuth localization method for a drone swarm as described in any one of claims 1 to 3.

6. A medium, characterized in that, The medium stores a passive azimuth localization program for a drone swarm. When the processor executes the passive azimuth localization program for the drone swarm, it implements the steps of the passive azimuth localization method for a drone swarm as described in any one of claims 1 to 3.

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