Selected aspects of UAV group flight trajectory modeling

In this work, we present the methodology for creating a model of the movement of five flying UAVs that fly in a set formation. The movement of the UAV is modeled in the geocentric coordinate system (ECEF - Earth-Centered, Earth-Fixed). Such models are suitable for planning the movement of several UAVs when monitoring the terrain of interest or searching for objects. The methodology of creating models includes the creation of algorithms for the movement of five UAVs in the selected coordinate system and the selected assembly. The flight trajectories of five UAVs were formed by a straight flight section and several curvilinear flight sections. UAVs were assumed to fly in formations with a designated group leader. Also, the flight parameters of the UAV wm be similar to those of the General Atomics MQ - 9 Reaper type UAV, while the flight height wm be constant. In the presented work, we present one of the possible approaches to the creation of UAV movement models in a specified assembly. Flight simulations of five UAVs were performed using Matlab software.