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: σB = 1.63 × 10−4 (°), σL = 1.35 × 10−4 (°), σH = 15.8 (m), σsum = 27.6 (m), where σB represents the longitude error, σL represents the latitude error, σH represents the altitude error, and σsum represents the error radius.
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机译：为了解决现有的无人机用于运动物体的光电定位方法的局限性，本文提出了一种改进的基于机载光电平台的两无人机交叉口定位系统，并以光电经纬仪的交叉角定位方法为参考。 。本文介绍了交叉口定位系统的组成和工作原理，创建了辅助坐标系，将LOS（视线，从无人机到目标）矢量转换为同构坐标，并建立了两个UAV交叉口定位模型。本文详细研究了无人机与目标之间的位置关系对定位精度的影响，获得了理想的测量位置和最佳交点角为72.6318°的最佳定位位置。结果表明，在最佳位置的情况下，当目标距无人机基线5公里时，定位均方根误差（RMS）将为25.0235 m。最后，分析了改进的自适应卡尔曼滤波对定位结果的影响，建立了合适的滤波模型，将定位RMS误差减小到15.7983 m。最后，进行了野外实验并获得了最佳结果：σB= 1.63×10 -4 （°），σL= 1.35×10 -4 （°）， σH= 15.8（m），σsum= 27.6（m），其中σB代表经度误差，σL代表纬度误差，σ H 代表海拔高度误差，< em>σ s u m 表示误差半径。
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