CN107884781B - Tracking and ranging method for double unmanned aerial vehicles - Google Patents

Tracking and ranging method for double unmanned aerial vehicles Download PDF

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CN107884781B
CN107884781B CN201711083451.6A CN201711083451A CN107884781B CN 107884781 B CN107884781 B CN 107884781B CN 201711083451 A CN201711083451 A CN 201711083451A CN 107884781 B CN107884781 B CN 107884781B
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CN107884781A (en
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陈�峰
刘芊
张宇
高文龙
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Beijing Institute of Electronic System Engineering
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/66—Tracking systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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Abstract

The invention discloses a double-unmanned-aerial-vehicle tracking distance measuring method, wherein two unmanned aerial vehicles loaded with photoelectric tracking equipment simultaneously track a target, the direction value and the pitching value of a sight line are transmitted to a ground control system, and the control system calculates to obtain the coordinate of the target by using a space analytic algorithm. According to the double-unmanned-aerial-vehicle tracking and ranging method, the double unmanned aerial vehicles are used for simultaneously tracking the target, the position of the target in the three-dimensional space is obtained through a space analysis algorithm, and the problems that the ranging distance is short and power supply is needed in the process of positioning the target space by using the laser echo ranging method are solved.

Description

Tracking and ranging method for double unmanned aerial vehicles
Technical Field
The invention relates to the technical field of space resolution tracking and ranging, in particular to a tracking and ranging method for double unmanned aerial vehicles.
Background
The development of unmanned aerial vehicles has been extremely rapid in recent years. Civil rotor unmanned aerial vehicle is let fly away and is retrieved portably, and the low price can carry photoelectric tracking equipment (like the TV tracker) and navigation positioning equipment, installs laser rangefinder equipment additional back rotor unmanned aerial vehicle can be to space target tracking range finding, confirms target spatial position. However, be subject to rotor unmanned aerial vehicle's load capacity, rotor unmanned aerial vehicle is hardly loaded onto to the great middle and long-range laser rangefinder equipment of weight, this great restriction rotor unmanned aerial vehicle's target tracking distance.
Disclosure of Invention
In order to solve the problems that the distance measurement distance is short and power supply is needed in the process of positioning a target space by a laser echo distance measurement method, the invention provides a double-unmanned aerial vehicle tracking distance measurement method.
In order to achieve the purpose, the invention adopts the following technical scheme:
a double-unmanned aerial vehicle tracking and ranging method is characterized in that two unmanned aerial vehicles loaded with photoelectric tracking equipment simultaneously track a target, the direction value and the pitching value of a sight line are transmitted to a ground control system, and the control system calculates the coordinates of the target by using a space analysis algorithm.
Specifically, the calculation process of the control system comprises the following steps:
1) obtaining the azimuth value and the pitch value of the sight lines of the two unmanned aerial vehicles in a tracking state, finding a point which is away from the unmanned aerial vehicle by a unit distance on the sight line, and solving a three-dimensional coordinate of the point under an unmanned aerial vehicle body coordinate system;
Figure BDA0001459523020000011
wherein epsilonTSAnd βTSIs the azimuth value and the pitch value, X, of the unmanned aerial vehicle's sight line, respectivelyTS、YTS、ZTSRespectively is the coordinate of a point of a unit distance under an unmanned aerial vehicle body coordinate system;
2) converting the coordinates of the points of the unit distance from an unmanned aerial vehicle body coordinate system to an unmanned aerial vehicle geographic coordinate system;
the unmanned aerial vehicle converts the coordinates under an unmanned aerial vehicle body coordinate system (WZ) obtained by the photoelectric tracking equipment into an unmanned aerial vehicle geographic coordinate system;
Figure BDA0001459523020000021
in the formula XGWZ、YGWZ、ZGWZIs the coordinate of a unit distance point under the geographic coordinate system of the unmanned aerial vehicle, XTS、YTS、ZTSThe position coordinates of a unit distance point under an unmanned aerial vehicle body coordinate system;
φWZthe course angle of the unmanned aerial vehicle;
Figure BDA0001459523020000026
is the pitch angle of the unmanned aerial vehicle;
γWZis the tilt angle of the drone;
3) converting the coordinates of the unmanned aerial vehicle in the geodetic coordinate system into a geocentric rectangular coordinate system;
the coordinates of the unmanned plane position in the geodetic coordinate system are (L, B, H), and the coordinates in the geocentric rectangular coordinate system are (x)GX0,yGX,zGX0) And the conversion relationship between the two is as follows:
Figure BDA0001459523020000022
the geodetic coordinate system uses the WGS-84 geodetic coordinate system and is expressed by (L, B, H);
the origin is the intersection point of the Greenwich mean line and the equator of the earth;
l is the geodetic longitude;
b is the geodetic latitude;
h is the normal distance, i.e. height, measured from the reference ellipsoid; the longitude and the latitude are calculated by taking radian as a unit, and the height is calculated by taking meter as a unit;
the general basic parameters adopted by the WGS-84 geodetic coordinate system ellipsoid are as follows: ellipsoid major semiaxis: a is 6378137 m; ellipsoid minor semi-axis: b is 6356752.3142 m; ellipsoid oblateness:
Figure BDA0001459523020000023
first eccentricity squared:
Figure BDA0001459523020000024
Figure BDA0001459523020000025
in the formula, N is the curvature radius of the prime mover located position; a is an ellipsoid long semi-axis; e is the first eccentricity;
4) converting the coordinates of the points of the unit distance under the geographic coordinate system of the unmanned aerial vehicle into a geocentric rectangular coordinate system;
Figure BDA0001459523020000031
in the formula (L)0,B0) -longitude and latitude of the drone geographic coordinate system origin in the geodetic coordinate system;
(XGX0,YGX0,ZGX0) The origin of the geographic coordinate system of the unmanned aerial vehicle is the position coordinate of the unmanned aerial vehicle under the geocentric rectangular coordinate system;
(XGX,YGX,ZGX) -the position coordinates of the points of unit distance under the earth's center rectangular coordinate system;
(XGWZ,YGWZ,ZGWZ) -point position coordinates in unit distance under the unmanned aerial vehicle geographical coordinate system;
5) judging the parallel, non-planar and intersecting conditions of the sight lines of the two unmanned aerial vehicles in the space;
according to the coordinates (x) of the unmanned aerial vehicle in the step 3) in the earth center rectangular coordinate systemGX0,yGX0,zGX0) And the coordinates (X) of the rectangular coordinates of the point of unit distance in the step 4) in the geocentric coordinate systemGX,YGX,ZGX) Obtaining unit vectors v10 and v20 of the two sight lines and a connecting line vector t of the two unmanned planes by using a vector space method;
judging the parallel, different and intersecting conditions of the sight lines of the two unmanned aerial vehicles in the space according to v10, v20 and t:
6) if the judgment result of the step 5) is intersection, the intersection point coordinate of the two straight lines is obtained and is the target coordinate;
7) if the judgment result of the step 5) is a non-coplanar, the shortest distance between the two sight lines and the coordinates of the closest point of the two sight lines at the distance are obtained; the coordinate of the middle point of the two closest points is the target coordinate;
8) and solving the distance between the target and the unmanned aerial vehicle according to the target coordinate.
More specifically, step 5) judges the parallel, different and intersected conditions of the sight lines of the two unmanned aerial vehicles in the space according to v10, v20 and t:
parallel: v10 xv 20 ═ 0;
different surfaces: (t, v10, v20) rank ≠ 0 of determinant;
intersecting: (t, v10, v20) the rank of the determinant is 0, and v10 × v20 ≠ 0.
More specifically, the calculation process of the target coordinates in step 6) is:
|v1|＝|t|sinJ/sinA＝|t||t×v20|/|t|/|v10×v20|＝|t×v20|/|v10×v20|；
|v2|＝|t×v10|/|v10×v20|；
the target coordinates are obtained from v1 or v 2.
More specifically, the calculation process of the target coordinates in step 7) is:
cross-multiplying v10 and v20 to obtain a common vertical vector n, multiplying n and v10 to obtain a normal vector of a plane formed by the common vertical vector and the v20, and obtaining a plane equation by the normal vector and one of the unmanned aerial vehicle position points; obtaining an intersection point by a simultaneous plane equation and a second unmanned aerial vehicle sight line equation; the intersection point of the sight line of the first unmanned aerial vehicle and the plane (n, v20) can be obtained in the same way; and (5) taking the midpoint B of the two intersection points to obtain a target coordinate.
The invention has the advantages of
The double-unmanned-aerial-vehicle tracking and ranging method provided by the invention uses the double unmanned aerial vehicles to simultaneously track the target, and the position of the target in the three-dimensional space is obtained through a space analysis algorithm. The problems that the distance measurement distance is short and power supply is needed in the process of positioning the target space by using the laser echo distance measurement method are solved.
Drawings
Fig. 1 is a diagram of the intersection situation of the sight spaces of two unmanned aerial vehicles.
Detailed Description
The present invention is described in detail below by way of examples, it should be noted that the examples are only for the purpose of further illustration, and are not to be construed as limiting the scope of the present invention, and that those skilled in the art can make insubstantial modifications and adaptations to the invention in light of the above teachings. The embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
At a certain moment, when the two unmanned aerial vehicles finish tracking the target, the unmanned aerial vehicles can transmit back the direction value and the pitching value of the sight line of the unmanned aerial vehicles under the coordinate system of the unmanned aerial vehicle body. The sight is necessarily pointed to the target by the unmanned aerial vehicle, so the intersection point of the two sights is the target.
The space analysis method for the intersection of the sight lines can obtain the space coordinates of the target by calculating the intersection point of the sight lines of the two unmanned aerial vehicles.
In order to complete the tracking and ranging of the double unmanned aerial vehicles, the invention provides a novel tracking and ranging method of a double unmanned aerial vehicle platform. First, two unmanned aerial vehicle sight lines are regarded as two straight lines.
Three possibilities of parallelism, intersection and non-coplanar exist for two straight lines in three-dimensional space. When two unmanned aerial vehicles carry out target tracking range finding, two sight should intersect theoretically. Due to the introduction of tracking point, gaze angle measurement, target position and attitude measurement errors, it should generally be out of plane. If the two sight lines intersect, the intersection point is the position of the target; if the sight lines are not in the same plane, the shortest distance connection line of the two sight lines is obtained, and the midpoint of the shortest distance connection line is used as the target position. As shown in fig. 1, W and J are the positions of two drones, point a is the position of the armed helicopter in the case of intersection of the lines of sight, and point B is the target position in the case of an out-of-plane view.
The method for tracking and ranging the double unmanned aerial vehicles comprises the following specific steps:
1) obtaining the azimuth value and the pitch value of the sight lines of the two unmanned planes W and J in the tracking state, finding a point which is away from the unmanned plane by a unit distance on the sight line, and solving the three-dimensional coordinate of the point in the unmanned plane body coordinate system;
Figure BDA0001459523020000051
wherein epsilonTSAnd βTSIs the azimuth value and the pitch value, X, of the unmanned aerial vehicle's sight line, respectivelyTS、YTS、ZTSRespectively, the coordinates of the points of unit distance under the coordinate system of the unmanned aerial vehicle body.
2) Converting the coordinates of the points of the unit distance from an unmanned aerial vehicle body coordinate system to an unmanned aerial vehicle geographic coordinate system;
and the unmanned aerial vehicle converts the coordinates of a unit distance point under an unmanned aerial vehicle body coordinate system (WZ) obtained by the photoelectric tracking equipment into an unmanned aerial vehicle geographical coordinate system (GWZ).
Figure BDA0001459523020000052
In the formula XGWZ、YGWZ、ZGWZThe coordinates of the unit distance point under the unmanned aerial vehicle geographic coordinate system;
XTS、YTS、ZTSthe position coordinates of a unit distance point under an unmanned aerial vehicle body coordinate system;
course angle (phi) of unmanned planeWZ): unmanned planeProjection of longitudinal axis in horizontal plane and unmanned aerial vehicle geographic coordinate system OxGWZIncluded angle of axis, unmanned aerial vehicle longitudinal axis leaving OxGWZThe shaft rotates counterclockwise to be positive;
unmanned aerial vehicle's angle of pitch
Figure BDA0001459523020000054
The included angle between the longitudinal axis of the unmanned aerial vehicle and the horizontal plane is positive when the longitudinal axis of the unmanned aerial vehicle upwards leaves the horizontal plane;
unmanned plane's angle of inclination (gamma)WZ): the vertical reference surface of unmanned aerial vehicle and the contained angle between the plumb plane of crossing the unmanned aerial vehicle axis of ordinates, look in the unmanned aerial vehicle direction, and the left side is higher than the right side and is just.
3) Converting the coordinates of the unmanned aerial vehicle in the geodetic coordinate system into a geocentric rectangular coordinate system;
the coordinates of the unmanned plane position in the geodetic coordinate system are (L, B, H), and the coordinates in the geocentric rectangular coordinate system are (x)GX0,yGX,zGX0) And the conversion relationship between the two is as follows:
Figure BDA0001459523020000053
the geodetic coordinate system is expressed by (L, B, H) using the WGS-84 geodetic coordinate system.
Origin-the intersection of the greenwich meridian and the earth's equator;
l-geodetic longitude;
b-geodetic latitude;
h-distance (height) from the normal measured from the reference ellipsoid.
The general basic parameters adopted by the WGS-84 geodetic coordinate system ellipsoid are as follows:
ellipsoid major semiaxis: a is 6378137 m;
ellipsoid minor semi-axis: b is 6356752.3142 m;
ellipsoid oblateness:
Figure BDA0001459523020000061
first eccentricity squared:
Figure BDA0001459523020000062
Figure BDA0001459523020000063
in the formula, N is the curvature radius of the prime circle at the position of the unmanned aerial vehicle;
a-ellipsoid major semi-axis;
e-first eccentricity;
(L, B, H) -longitude, latitude and altitude under the geodetic coordinate system, wherein the longitude and latitude are calculated by taking radian as a unit, and the altitude is calculated by taking meter as a unit.
4) Converting the coordinates of the points of the unit distance under a geographic coordinate system (GWZ) of the unmanned aerial vehicle into a rectangular coordinate system (GX) of the earth center;
Figure BDA0001459523020000064
in the formula (L)0,B0) -longitude and latitude of the drone geographic coordinate system origin in the geodetic coordinate system;
(XGX0,YGX0,ZGX0) The origin of the geographic coordinate system of the unmanned aerial vehicle is the position coordinate of the unmanned aerial vehicle under the geocentric rectangular coordinate system;
(XGX,YGX,ZGX) -the position coordinates of the points of unit distance under the earth's center rectangular coordinate system;
(XGWZ,YGWZ,ZGWZ) -point position coordinates per unit distance in the geographical coordinate system of the drone.
5) Judging the parallel, non-planar and intersecting conditions of the sight lines of the two unmanned aerial vehicles in the space;
according to the coordinates (x) of the unmanned aerial vehicle in the step 3) in the earth center rectangular coordinate systemGX0,yGX0,zGX0) And the coordinates (X) of the rectangular coordinates of the point of unit distance in the step 4) in the geocentric coordinate systemGX,YGX,ZGX) Obtaining a list of two lines of sight using a method of vector spaceThe bit vectors v10, v20 and the two drone join line vector are t (wj).
Judge the parallel, the antarafacial and the crossing condition in space of two unmanned aerial vehicle sightlines:
parallel: v10 xv 20 ═ 0;
different surfaces: (t, v10, v20) rank ≠ 0 of determinant;
intersecting: (t, v10, v20) the rank of the determinant is 0, and v10 × v20 ≠ 0.
6) If the judgment result of the step 5) is intersection, the intersection point of the two straight lines is solved;
from the triangular sine theorem we can derive:
|t|/sinA＝|v1|/sinJ＝|v2|/sinW；
since t, v10 ═ v1/| v1|, v20 ═ v2/| v2 |:
sinA＝|v1×v2|/(|v1||v2|)＝|v10×v20|；
sinJ＝|t×v2|/(|t||v2|)＝|t/|t|×v2/|v2||＝|t×v20|/|t|；
sinW＝|v1×t|/(|v1||t|)＝|v1/|v1|×t/|t||＝|v10×t|/|t|；
the following can be obtained: | v1| | sinJ/sinA | | | t × v20|/| t |/| v10 × v20| | | t × v20|/| v10 × v20 |;
|v2|＝|t×v10|/|v10×v20|；
the coordinates of the point A can be obtained by both v1 and v2, and only one of the coordinates needs to be obtained.
7) If the judgment result of the step 5) is a non-coplanar, the shortest distance between the two sight lines and the coordinates of the closest point of the two sight lines at the distance are obtained;
cross-multiplying v10 and v20 to obtain a common vertical vector n, multiplying n and v10 to obtain a normal vector of a plane formed by the common vertical vector and the v20, and obtaining a plane equation by the normal vector and the first unmanned machine W position point; solving an intersection point by a simultaneous plane equation and a J sight line equation of the second unmanned aerial vehicle; in the same way, the intersection of the line of sight of the first unmanned machine W and the (n, v20) plane can be determined. And (5) taking the midpoint B of the two intersection points to obtain a target coordinate.
8) And solving the distance between the target and the unmanned aerial vehicle according to the target coordinate.
It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the scope of the present invention.

Claims (4)

1. A double-unmanned aerial vehicle tracking distance measuring method is characterized in that two unmanned aerial vehicles loaded with photoelectric tracking equipment simultaneously track a target, the direction value and the pitching value of a sight line are transmitted to a ground control system, and the control system calculates the coordinates of the target by using a space analytic algorithm; wherein the content of the first and second substances,
the calculation process of the control system comprises the following steps:
1) obtaining the azimuth value and the pitch value of the sight lines of the two unmanned aerial vehicles in a tracking state, finding a point which is away from the unmanned aerial vehicle by a unit distance on the sight line, and solving a three-dimensional coordinate of the point under an unmanned aerial vehicle body coordinate system;
Figure FDA0002251348440000011
wherein epsilonTSAnd βTSIs the azimuth value and the pitch value, X, of the unmanned aerial vehicle's sight line, respectivelyTS、YTS、ZTSRespectively is the coordinate of a point of a unit distance under an unmanned aerial vehicle body coordinate system;
2) converting the coordinates of the points of the unit distance from an unmanned aerial vehicle body coordinate system to an unmanned aerial vehicle geographic coordinate system;
the unmanned aerial vehicle converts the coordinates under the unmanned aerial vehicle body coordinate system WZ obtained by the photoelectric tracking equipment into the unmanned aerial vehicle geographic coordinate system;
Figure FDA0002251348440000012
in the formula XGWZ、YGWZ、ZGWZIs the coordinate of a unit distance point under the geographic coordinate system of the unmanned aerial vehicle, XTS、YTS、ZTSThe position coordinates of a unit distance point under an unmanned aerial vehicle body coordinate system;
φWZcomprises the following steps: a course angle of the unmanned aerial vehicle;
θWZcomprises the following steps: the pitch angle of the unmanned aerial vehicle;
γWZcomprises the following steps: the tilt angle of the drone;
3) converting the coordinates of the unmanned aerial vehicle in the geodetic coordinate system into a geocentric rectangular coordinate system;
the coordinates of the unmanned plane position in the geodetic coordinate system are (L, B, H), and the coordinates in the geocentric rectangular coordinate system are (x)GX0,yGX,zGX0) And the conversion relationship between the two is as follows:
Figure FDA0002251348440000021
the geodetic coordinate system uses the WGS-84 geodetic coordinate system and is expressed by (L, B, H);
the origin is the intersection point of the Greenwich mean line and the equator of the earth;
l is the geodetic longitude;
b is the geodetic latitude;
h is the normal distance, i.e. height, measured from the reference ellipsoid; the longitude and the latitude are calculated by taking radian as a unit, and the height is calculated by taking meter as a unit;
the general basic parameters adopted by the WGS-84 geodetic coordinate system ellipsoid are as follows: ellipsoid major semiaxis: a is 6378137 m; ellipsoid minor semi-axis: b is 6356752.3142 m; ellipsoid oblateness:
Figure FDA0002251348440000022
first eccentricity squared:
Figure FDA0002251348440000023
Figure FDA0002251348440000024
in the formula, N is the curvature radius of the prime mover located position; a is an ellipsoid long semi-axis; e is the first eccentricity;
4) converting the coordinates of the points of the unit distance under the geographic coordinate system of the unmanned aerial vehicle into a geocentric rectangular coordinate system;
Figure FDA0002251348440000025
in the formula (L)0,B0) Comprises the following steps: longitude and latitude of the origin of the unmanned aerial vehicle geographic coordinate system in the geodetic coordinate system;
(XGX0,YGX0,ZGX0) Comprises the following steps: the origin of the geographic coordinate system of the unmanned aerial vehicle is the position coordinate of the unmanned aerial vehicle under the geocentric rectangular coordinate system;
(XGX,YGX,ZGX) Comprises the following steps: the position coordinates of points in unit distance under the geocentric rectangular coordinate system;
(XGWZ,YGWZ,ZGWZ) Comprises the following steps: the position coordinates of the point in unit distance under the unmanned aerial vehicle geographic coordinate system;
5) judging the parallel, non-planar and intersecting conditions of the sight lines of the two unmanned aerial vehicles in the space;
according to the coordinates (x) of the unmanned aerial vehicle in the step 3) in the earth center rectangular coordinate systemGX0,yGX0,zGX0) And the coordinates (X) of the rectangular coordinates of the point of unit distance in the step 4) in the geocentric coordinate systemGX,YGX,ZGX) Obtaining unit vectors v10 and v20 of the two sight lines and a connecting line vector t of the two unmanned planes by using a vector space method;
judging the parallel, different and intersecting conditions of the sight lines of the two unmanned aerial vehicles in the space according to v10, v20 and t:
6) if the judgment result of the step 5) is intersection, the intersection point coordinate of the two straight lines is obtained and is the target coordinate;
7) if the judgment result of the step 5) is a non-coplanar, the shortest distance between the two sight lines and the coordinates of the closest point of the two sight lines at the distance are obtained; the coordinate of the middle point of the two closest points is the target coordinate;
8) and solving the distance between the target and the unmanned aerial vehicle according to the target coordinate.
2. The twin unmanned aerial vehicle tracking ranging method as claimed in claim 1, wherein in step 5), the parallel, the out-of-plane and the intersection of the two unmanned aerial vehicle sight lines in the space are judged according to v10, v20 and t:
parallel: v10 xv 20 ═ 0;
different surfaces: (t, v10, v20) rank ≠ 0 of determinant;
intersecting: (t, v10, v20) the rank of the determinant is 0, and v10 × v20 ≠ 0.
3. The twin unmanned aerial vehicle tracking ranging method according to claim 1, wherein the target coordinates in step 6) are calculated by:
|v1|＝|t|sinJ/sinA＝|t||t×v20|/|t|/|v10×v20|＝|t×v20|/|v10×v20|；
|v2|＝|t×v10|/|v10×v20|；
obtaining target coordinates through v1 or v 2;
wherein, J is one of them unmanned aerial vehicle's in two unmanned aerial vehicles position, and A is the crossing position of two unmanned aerial vehicle's sight, and a triangle-shaped is constituteed to two unmanned aerial vehicle's position and the crossing position of sight, three points.
4. The twin unmanned aerial vehicle tracking ranging method according to claim 1, wherein the target coordinates in step 7) are calculated by:
cross-multiplying v10 and v20 to obtain a common vertical vector n, multiplying n and v10 to obtain a normal vector of a plane formed by the common vertical vector and the v20, and obtaining a plane equation by the normal vector and one of the unmanned aerial vehicle position points; obtaining an intersection point by a simultaneous plane equation and a second unmanned aerial vehicle sight line equation; the intersection point of the sight line of the first unmanned aerial vehicle and the plane (n, v20) can be obtained in the same way; and (5) taking the midpoint B of the two intersection points to obtain a target coordinate.
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