Two-UAV Intersection Localization System Based on the Airborne Optoelectronic Platform

Abstract

To address the limitation of the existing UAV (unmanned aerial vehicles) photoelectric localization method used for moving objects, this paper proposes an improved two-UAV intersection localization system based on airborne optoelectronic platforms by using the crossed-angle localization method of photoelectric theodolites for reference. This paper introduces the makeup and operating principle of intersection localization system, creates auxiliary coordinate systems, transforms the LOS (line of sight, from the UAV to the target) vectors into homogeneous coordinates, and establishes a two-UAV intersection localization model. In this paper, the influence of the positional relationship between UAVs and the target on localization accuracy has been studied in detail to obtain an ideal measuring position and the optimal localization position where the optimal intersection angle is 72.6318°. The result shows that, given the optimal position, the localization root mean square error (RMS) will be 25.0235 m when the target is 5 km away from UAV baselines. Finally, the influence of modified adaptive Kalman filtering on localization results is analyzed, and an appropriate filtering model is established to reduce the localization RMS error to 15.7983 m. Finally, An outfield experiment was carried out and obtained the optimal results: ${\sigma }_B=1.63\times {10}^{-4}(°)$ , ${\sigma }_L=1.35\times {10}^{-4}(°)$ , ${\sigma }_H=15.8(m)$ , ${\sigma }_{sum}=27.6(m)$ , where ${\sigma }_B$ represents the longitude error, ${\sigma }_L$ represents the latitude error, ${\sigma }_H$ represents the altitude error, and ${\sigma }_{sum}$ represents the error radius.