Multi-UAV Factor Graph Colocation Algorithm

To tackle the difficulty and high cost of UAV positioning in a 5G disaster environment, this study proposes multi-UAV coordinated algorithm based on factor graph (MUAV-FGC). A model is designed for master-slave UAVs. In process, influence speed heading errors accuracy was analyzed, expected variance values variables were used as information transmitted between factors. The error cooperative derived graph. multiple drones improved. simulation results show that, compared with traditional extended Kalman filter (EKF) algorithm, proposed MUAV-FGC reduces mean root square by approximately 18.86% 17.54%, respectively, thus proving its effectiveness.