Research on Cooperative Navigation Method of Cluster UAV Based on Target-driven

Unmanned aerial vehicle (UAV) clusters, with their low cost, large scale, and high autonomy, are widely used in combat missions such as airspace confrontation, penetration reconnaissance, and situation construction. However, existing research focuses mainly on the field of cooperative control of UAV clusters in single-target scenarios, without fully considering the cooperative navigation problem of UAV clusters driven by actual complex environments. To address this issue, this paper proposes a target-driven cooperative navigation method for UAV clusters. First, a target-driven configuration change model for UAV clusters is constructed based on the iterative least squares. On this basis, a cooperative navigation node optimization strategy based on the criterion of geometric dilution of precision (GDOP) is established, and an online estimation and compensation of UAV state under target-driven strategy is achieved by designing a cooperative navigation filter based on relative distance constraints and optimal spatial configuration under target-driven strategy. Simulation results show that the proposed method can achieve spatial configuration transformation according to the target-driven changes of UAV clusters, and improve the overall positioning performance of UAV clusters based on the optimal spatial configuration under target-driven strategy.