Bee colony drone formation ultraviolet non-ranging positioning method

The premise of completing the mission is the precise positioning between the internal machines of the bee colony formation, and the wireless solar blind ultraviolet communication is a stable and secret communication method in the harsh battlefield environment. The existing ultraviolet light localization methods are all based on ranging, but the Distance Measuring Equipment is usually not portable and consumes a lot of power when used, so it is not suitable for a single drone with a small size and limited carrying capacity. In this paper, a non-ranging wireless solar blind ultraviolet localization algorithm is proposed for the above problems. The communication model in the formation of drones is analyzed and proposed, using the received optical power between the drones in the formation, an estimate of the relative position between the drones is achieved. After calculation and analysis, the relative position information with less error can be provided by this method in the bee colony formation while using wireless ultraviolet communication.