Passive location of UAV based on Angle-of-Arrival and polar coordinates

When the UAV fly in formation, in order to avoid outside interference, they need to emit as few electromagnetic waves as possible, i.e., it is especially important to choose a suitable positioning method, which should accurately locate the position of each UAV while emitting as few signals as possible and make position adjustment, so that the UAV formation is neat and beautiful. In the three UAV whose positions are known to transmit signals without deviation, including UAV FY00, FY01, and FY02, this paper first locates the orientation of the UAV through the AOA model, and then adopts the multiplicative arc angle external circle method to establish the external circle determined by FY00 and FY01 as the host, and then determines the precise angle of the remaining two UAV on the external circle by the orientation angle conveyed by the signals they transmit Finally, without changing the azimuth angle, the error of the radius is reduced as much as possible by moving to the drone located at the center of the circle, and the angle between all the drones is calculated with a double loop to find a target drone corresponding to the two drones with the smallest deviation from the axis of symmetry, so that its angle is equal to the calculated angle value until the deviation of the drone is small enough (accurate to 10
^-5
), the final positioning of the UAV can be obtained.