A High-Precision Target Localization Method for UAV Electro-Optical Pods Based on Ranging Intersection and Elevation Constraints

WANG Heng; WU Dingcheng; XUE Xueyong; ZHANG Junan; WANG Jin; WU Luo

doi:10.12382/bgxb.2026.0309

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A High-Precision Target Localization Method for UAV Electro-Optical Pods Based on Ranging Intersection and Elevation Constraints

更新时间：2026-08-20

- A High-Precision Target Localization Method for UAV Electro-Optical Pods Based on Ranging Intersection and Elevation Constraints
- Acta Armamentarii (2026)
- 作者机构：
  
  1.中国北方工业有限公司, 北京 100053；211111
  2.北方信息控制研究院集团有限公司, 江苏南京
- 作者简介：
- 基金信息：
- DOI：10.12382/bgxb.2026.0309
  CLC： TJ301
- Received：07 April 2026，
  
  Revised：2026-08-17，
  
  Accepted：16 July 2026，
- 稿件说明：
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WANG Heng, WU Dingcheng, XUE Xueyong, et al. A High-Precision Target Localization Method for UAV Electro-Optical Pods Based on Ranging Intersection and Elevation Constraints[J/OL]. Acta Armamentarii, 2026.
DOI：

WANG Heng, WU Dingcheng, XUE Xueyong, et al. A High-Precision Target Localization Method for UAV Electro-Optical Pods Based on Ranging Intersection and Elevation Constraints[J/OL]. Acta Armamentarii, 2026. DOI： 10.12382/bgxb.2026.0309.

摘要

针对无人机远距离目标定位过程中测距交会解算易受观测几何退化影响、定位误差随距离发散的问题，提出一种附加高程约束的无人机距离交汇目标高精度定位方法。该方法在构建几何测距模型的基础上，引入IGG-III抗差估计以抑制测距粗差的影响，并通过高程物理约束限制解算空间的非物理解，从模型层面改善垂直方向的可观性。实验结果表明，在测距误差较小且几何条件良好的情况下，最小二乘方法与IGG-III抗差估计方法均可获得米级定位结果；然而在远距离、几何退化条件下，两种方法均出现高程方向发散，定位精度显著下降。实验结果表明，该方法有效克服了传统测角定位中误差随距离线性发散的缺陷。在3km观测距离下，传统测距测角法的定位误差达29.32m，而本文提出的方法将定位误差显著降低至3.79m，精度提升约87%。结果验证了本文方法在远距离侦察场景下，能够利用测距信息和物理约束实现目标的高精度抗差定位。

Abstract

To address the issues of error divergence with increasing distance and susceptibility to geometric degradation in traditional UAV long-range target localization

this paper proposes a ranging-based target localization method with additional elevation constraints. First

a geometric ranging model is constructed based on multi-point observations. To mitigate the impact of laser ranging outliers

the IGG-III robust estimation algorithm is introduced. Furthermore

physical elevation constraints are applied to restrict non-physical solutions (such as mirror solutions) in the solution space

thereby fundamentally improving observability in the vertical direction. Experimental results demonstrate that while traditional methods suffer from significant accuracy degradation at long distances

the proposed method maintains robust performance. Specifically

comparative analysis shows that at an observation distance of 3 km

the traditional range-angle method yields a positioning error of 29.32 m due to angle error amplification. In contrast

the proposed method effectively eliminates vertical divergence and maintains a stable 3D positioning accuracy of 3.79 m

achieving an accuracy improvement of approximately 87%. These results verify that introducing elevation constraints significantly enhances the stability and precision of UAV target localization in long-range observation environments.

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Keywords

references

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