Online Trajectory Planning Method for Improving Collaborative Localization Accuracy in UAV Swarm

High-precision target cooperative positioning is a prerequisite for UAV combat missions. In this paper, the Geometric dilution of precision is used as the evaluation index of target cooperative positioning accuracy, and the optimization of target positioning is achieved through online path planning. Based on the Angle of Arrival model, the positioning accuracy is analyzed to determine the accuracy influencing factors of target cooperative positioning. Considering flight performance constraints, communication capabilities and mission constraints, the online trajectory planning problem is transformed into an optimal control problem, and an online trajectory planning algorithm for multiple UAVs is given. The simulation results show that the accuracy of the target positioning results obtained by using the online trajectory planning method given in this paper is higher than that of the pre-planned flight trajectory, which verifies the effectiveness of the method given in this paper.