Geometric model-based positioning of UAVs when their position deviates

When positioning a UAV, the number of electrical signals sent outwards needs to be reduced in order to protect the system from interference by other electromagnetic wave signals. When considering three UAVs transmitting signals in an unbiased position and a UAV receiving signals in a slightly deviated circumference, this paper establishes a non-linear system of equations based on a geometric derivation that determines the circle equation from the centre of the circle coordinates and then associates two circle equations to obtain the position of the UAV receiving signals. Considering a more general situation, this paper establishes a single-objective optimisation model to calculate that in any case, only three UAVs are needed to achieve the positioning of all UAVs.