Optimization method on single radiation source and INS localization of UAV by geometric projection

To achieve self-positioning of unmanned aerial vehicles (UAVs) during motion, this paper proposes a geometric projection method for UAV flight along a straight line, from which the yaw angle is derived. Subsequently, the nonlinear least squares (NLS) method is employed to optimize the pseudo-measurement of the yaw after clutter elimination, followed by an error analysis. The simulation results show that the optimized pseudo-measurement is superior to the unoptimized pseudo-measurement in terms of error convergence speed and ultimate error, and verifies the effectiveness of the proposed algorithm.