UAV swarm positioning and scheduling method from the perspective of pure orientation passive positioning

With the development of control science and computer science, the commercial application of UAV technology has become more and more mature. UAV positioning and UAV formation scheduling have become important issues in current research. Pure azimuth passive positioning provides a solution to solve the above problems. In this paper, the author discusses the positioning and swarm formation scheduling of UAVs based only on azimuth information. The following three issues were discussed separately in the paper: the minimum number of signal source UAV sorties when a single UAV is positioned; how the UAV can determine its own position under the guidance of three known-location signal source UAVs; how to carry out large- scale inter-UAV position sharing between each other and batch scheduling while maintaining the number of signals source UA Vs is 3. All in all, the author solves the position sharing and formation scheduling between UAVs when all UAVs only know the positions of three UAVs at the beginning, only three UAVs transmit signals at most and the information gotten by each UAV is only the azimuth information. The advantages and prospects of the method is to reduces the number of sensors on UAVs and reduce manufacturing cost