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Adaptive Measurement Selection for Scalable Distributed Graph Optimization in Multi-UAV Relative Positioning

Chengsong Xiong

Chengsong Xiong

Department of Precision Instrument, Tsinghua UniversityBeijing, China
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Xiong, Chengsong
 e 
Zheng You

Zheng You

Department of Precision Instrument, Tsinghua UniversityBeijing, China
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You, Zheng
  
28 ago 2025
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Pubblicato online: 28 ago 2025
Pagine: 190 - 199
Ricevuto: 02 mar 2025
Accettato: 25 lug 2025
DOI: https://doi.org/10.2478/msr-2025-0023
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© 2025 Chengsong Xiong et al., published by Sciendo
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Fig. 1.

Schematic diagram of relative positioning for UAV swarm. (a) Positioning based on external anchors. (b) Anchor-free relative positioning. (c) The influence of formation on positioning accuracy.
Schematic diagram of relative positioning for UAV swarm. (a) Positioning based on external anchors. (b) Anchor-free relative positioning. (c) The influence of formation on positioning accuracy.

Fig. 2.

The DGO scheme for UAV swarm.
The DGO scheme for UAV swarm.

Fig. 3.

UAV swarms used in the simulations. (a) 12-UAV swarm. (b) 24-UAV swarm. (c) 36-UAV swarm. (d) 100-UAV swarm.
UAV swarms used in the simulations. (a) 12-UAV swarm. (b) 24-UAV swarm. (c) 36-UAV swarm. (d) 100-UAV swarm.

Fig. 4.

The flight trajectory of the swarm.
The flight trajectory of the swarm.

Fig. 5.

Relative positioning error variations with respect to No across four methods. (a) Error curves for the 12-UAV swarm. (b) Error curves for the 24-UAV swarm. (c) Error curves for the 36-UAV swarm. (d) Error curves for the 100-UAV swarm.
Relative positioning error variations with respect to No across four methods. (a) Error curves for the 12-UAV swarm. (b) Error curves for the 24-UAV swarm. (c) Error curves for the 36-UAV swarm. (d) Error curves for the 100-UAV swarm.

Fig. 6.

The variation of computation time per step with No.
The variation of computation time per step with No.

Fig. 7.

Relative positioning error for four methods in the 100-UAV swarm under different sensing conditions. (a) No = 4. (b) No = 6. (c) No = 8. (d) No = 10.
Relative positioning error for four methods in the 100-UAV swarm under different sensing conditions. (a) No = 4. (b) No = 6. (c) No = 8. (d) No = 10.

Fig. 8.

Dynamic formation reconfiguration. (a) Transformation from rectangle formation to circular formation. (b) Transformation from circular formation to V-formation.
Dynamic formation reconfiguration. (a) Transformation from rectangle formation to circular formation. (b) Transformation from circular formation to V-formation.

Fig. 9.

Error curves in topology reconfiguration simulation.
Error curves in topology reconfiguration simulation.

The statistical metrics of the relative positioning methods_

Method MAE (m) STD (m) MAX (m)
State estimation 1.605 0.365 2.606
CGO 0.718 0.200 1.276
DF 0.818 0.179 1.286
Fi-max 0.803 0.206 1.410
Fi-random 0.720 0.213 1.340
Fi-min 0.599 0.169 1.163
Lingua:
Inglese
Frequenza di pubblicazione:
6 volte all'anno
Argomenti della rivista:
Ingegneria, Elettrotecnica, Ingegneria dell'automazione, metrologia e collaudo
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