Unmanned aerial vehicle cluster near-field beam forming method and system based on Kalman filtering

The invention provides an unmanned aerial vehicle cluster near-field beam forming method and system based on Kalman filtering, and belongs to the field of unmanned aerial vehicle cluster near-field beam forming, and the method comprises the steps: constructing an array receiving signal phase error model under a near-field condition; an array receiving signal phase error model is simplified by performing Taylor expansion on a measured value of a receiving signal phase of an unmanned aerial vehicle cluster array and a phase value calculated according to an array element position navigation measured value at an ideal position of the unmanned aerial vehicle cluster array; constructing a phase difference state equation and a measurement equation of the unmanned aerial vehicle cluster; filtering the simplified array receiving signal phase error model by adopting Kalman filtering, and predicting the residual phase of the receiving signal; and calculating an estimated value of the array receiving signal by using the