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The position adjustment of unmanned aerial vehicles (UAVs) in formation flight is of great significance in various fields such as military defense and maritime surveillance. Although the existing active positioning technology for UAVs has been developed relatively well, it is highly susceptible to exposing position information. To solve this problem, the paper presents a position adjustment model for bearing-only passive positioning UAVs based on the greedy criterion, which adjusts the position by the received angle information and the geometric properties of the formation. For circular formations that can perceive height information: Firstly, determine the center and radius of the circle. Secondly, UAVs are arranged in a circle line through equal circumferential angles of the same chord and received angular information. Finally, distribute them evenly. For conical formations that cannot perceive height information: Firstly, convert three dimensions into two dimensions. Secondly, adjust the position of UAVs on the peripheral equilateral triangle. Finally, repeat the previous steps to adjust the position of the tapered interior UAVs. It needs 26 pieces of angle information after at most 15 adjustments to complete the circular formation; the conical formation can be adjusted up to 39 times, requiring 63 pieces of angle information. The fewer the required adjustments, the higher the accuracy.
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