Алгоритм навігації групи сільськогосподарських БПЛА за відсутності GPS

The use of unmanned aerial vehicles (UAVs) is rapidly expanding, which is driven by a shift in focus from single UAVs to utilizing swarms of UAVs for increased efficiency. These swarms can be employed in various applications, such as agricultural surveys and irrigation. The objective of this research was to develop a navigation algorithm for a group of agricultural UAVs in the absence of GPS (or its bad quality) to maintain a stable formation during group movement. That problem has been formalized. Possible methods for representing the graph formed by the UAV group in two-dimensional Euclidean space using a base triangle method to create a relative coordinate system have been considered. The method of multilateration was used to determine the coordinates of the remaining vertices of the graph on the plane and to improve the accuracy of local positioning accordingly. Initial practical experiments have demonstrated the effectiveness of the proposed approach.