Abstract
The performance of passive target localization is affected by the positions of unmanned aerial vehicles (UAVs) at a large scale. In this paper, to improve resource utilization efficiency and localization accuracy, the node selection problem and the path optimization problem are jointly investigated. Firstly, the target passive localization model is established and the Chan-based time difference of arrival (TDOA) localization method is introduced. Then, the Cramer-Rao lower bound (CRLB) for Chan-TDOA localization is derived, and the problems of node selection and path optimization are formulated. Secondly, a CRLB-based node selection method is proposed to properly divide the UAVs into several groups, localizing different targets, and a CRLB-based path optimization method is proposed to search for the optimal UAV position configuration at each time step. The proposed path optimization method also effectively handles no-fly-zone (NFZ) constraints, ensuring operational safety while maintaining optimal target tracking performance. Also, to improve the efficiency of path optimization, particle swarm algorithm (PSO) is applied to accelerate the searching process. Finally, numerical simulations are performed to verify the validity and effectiveness of the proposed methods in this paper.