Research on Purely Azimuthal Passive Localization of Drone Clusters Based on Triangulation Intersection Model and Random Deviation Experiment

This paper presents a study on the precise positioning of a drone cluster using the Triangulation Intersection Model and Random Deviation Experiment. Initially, a mathematical model is constructed to accurately locate drones with deviations, utilizing three known non-deviated signal-emitting drones as well as other drones as passive receivers. By applying the methods of Triangulation and Triangulation of Three Circles, the mathematical model determines the coordinates of the drones to be located based on the received angle and distance information from the signal-emitting drones. Furthermore, the study evaluates the effectiveness of the positioning approach under the assumption of a specified deviation range.