A UAV Cooperative Formation Capability Evaluation Method

Aiming at the problem that there is no unified and comprehensive formation capability evaluation method in the field of UAV cooperative formation. A UAV cooperative formation capability evaluation method based on the l-l description method of UAV formation is proposed. This method proposes the l-l-l three-dimensional UAV formation description method, expands the l-l UAV formation description method to three-dimensional space. This evaluation method converts the position information of the UAV swarms from the world coordinate system to the formation coordinate system, so that the evaluation process can get rid of the geographic space. At the same time, only the position information of the UAV swarm is required to comprehensively evaluate the cooperative formation capability of the UAV swarm, evaluation indicators include formation time, formation hold, formation support, formation error, formation density, formation time mutual interference probability density, formation space mutual interference density, etc.