UAV Formation Trajectory Planning for Reconnaissance and Positioning Missions

A formation UAV radar track optimization method is proposed to address the problem of low positioning accuracy caused by the use of pre-defined tracks in traditional UAV formation for joint reconnaissance and positioning missions. The method first calculates the CRLB to characterize the operative reconnaissance positioning performance of the UAV formation, and then constructs a multi-UAV cooperative trajectory planning method that includes threat area avoidance and airborne radar view restriction for the purpose of optimizing the reconnaissance positioning performance, and solves the obtained optimization model using a particle swarm algorithm. The simulation results show that the proposed method significantly improves the reconnaissance and positioning accuracy of formation UAV for multiple targets.