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In this paper, passive source localization of time-difference-of-arrival (TDOA) is investigated using a swarm of UAVs. First, the measurement model with a parameter dependent variance is introduced. The Cramer-Rao low bound(CRLB) is calculated with parameter dependent of the incoming measurements. Then a method for optimizing UAVs trajectories based on CRLB(More)
Research on conflict resolution in aircraft swarms is the basis of effective operation. Swarms conflict resolution can be regarded as a motion problem between two certain points. In order to solve this problem, the motion process of UAVs can be decomposed into several parts when considering the performance of UAVs. Firstly, the basic motion model was(More)
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