防撞定位算法对于无人机集群的安全飞行至关重要。针对紫外线通信范围广、抗干扰能力强的优点,提出了一种基于无线紫外线通信的无人机集群防撞定位算法。首先,构建了非视距(NLOS)通信模型,并提出了基于接收信号强度的无线紫外测距算法;然后,构建无线紫外线信标通信模型,并通过四节点定位算法实现了无人机的三维(3D)定位;最后,采用向量共享法实现多架无人机之间的有效避撞。仿真结果表明:当两架无人机之间的距离为200 m时,测距精度可达到1.1 m;当参考节点超过6个时,3D空间定位精度趋于稳定,约为97%;向量共享法能够有效实现无人机集群的防撞。

The collision avoidance positioning algorithm is very important for unmanned aerial vehicle (UAV) group safety. Aiming at the advantages of wide rage and strong anti-interference ability of ultraviolet communication, a collision avoidance location algorithm for UAV group based on wireless ultraviolet communication is proposed. First, a non-line-of-sight (NLOS) communication model is constructed, and a wireless ultraviolet ranging algorithm based on the received signal strength is proposed. Second, a wireless UV beacon communication model is constructed, and the 3D positioning of the UAV is realized through a four-node positioning algorithm. Finally, a vector sharing method is used to achieve effective collision avoidance between multiple UAVs. Simulation results show that when the distance between two UAVs is 200 m, the range accuracy can reach 1.1 m; when there are more than six reference nodes, the 3D spatial positioning accuracy tends to be stable at approximately 97%. Therefore, the vector sharing method can effectively realize the collision avoidance of UAV group.