Multi-unmanned aerial vehicle cooperative distance and direction finding method

The invention provides a multi-unmanned aerial vehicle cooperative distance and direction finding method, and the method comprises the steps: constructing a distance matrix between unmanned aerial vehicles, solving the distance matrix of the unmanned aerial vehicles through a multi-dimensional scale analysis method, obtaining the relative positions between the unmanned aerial vehicles, and obtaining the absolute positions between the unmanned aerial vehicles through coordinate transformation. According to the method, the direction finding precision among the unmanned aerial vehicles can be remarkably improved, and the overall positioning accuracy and the cooperative work effect of the unmanned aerial vehicle group are remarkably improved. 本发明提供了一种多无人机协同测距测向方法，通过构造无人机之间的距离矩阵，利用多维尺度分析方法解算无人机的距离矩阵，得到无人机之间相对位置，之后通过坐标变换，得到无人机之间绝对位置，从而解算出各无人机之间的俯仰角和方位角，本方法能够显著提升各无人机之间的测向精度，显著提升无人机群的整体定位准确度和协同工作效果。