A Cooperative Target Localization Method Based on UAV Aerial Images

Abstract

A passive localization algorithm based on UAV aerial images and Angle of Arrival (AOA) is proposed to solve the target passive localization problem. In this paper, the images are captured using fixed-focus shooting. A target localization factor is defined to eliminate the effect of focal length and simplify calculations. To synchronize the positions of multiple UAVs, a dynamic navigation coordinate system is defined with the leader at its center. The target positioning factor is calculated based on image information and azimuth elements within the UAV photoelectric reconnaissance device. The covariance equation is used to derive AOA, which is then used to obtain the target coordinate value by solving the joint UAV swarm positional information. The accuracy of the positioning algorithm is verified by actual aerial images. Based on this, an error model is established, the calculation method of the co-localization PDOP is given, and the correctness of the error model is verified through the simulation of the Monte Carlo statistical method. At the end of the article, the trackless Kalman filter algorithm is designed to improve positioning accuracy, and the simulation analysis is performed on the stationary and moving states of the target. The experimental results show that the algorithm can significantly improve the target positioning accuracy and ensure stable tracking of the target.

Keywords

• UAVs
• co-localization
• error analysis
• cubature Kalman filter