{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,25]],"date-time":"2026-06-25T18:34:39Z","timestamp":1782412479216,"version":"3.54.5"},"reference-count":25,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2017,1,6]],"date-time":"2017-01-06T00:00:00Z","timestamp":1483660800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>To address the limitation of the existing UAV (unmanned aerial vehicles) photoelectric localization method used for moving objects, this paper proposes an improved two-UAV intersection localization system based on airborne optoelectronic platforms by using the crossed-angle localization method of photoelectric theodolites for reference. This paper introduces the makeup and operating principle of intersection localization system, creates auxiliary coordinate systems, transforms the LOS (line of sight, from the UAV to the target) vectors into homogeneous coordinates, and establishes a two-UAV intersection localization model. In this paper, the influence of the positional relationship between UAVs and the target on localization accuracy has been studied in detail to obtain an ideal measuring position and the optimal localization position where the optimal intersection angle is 72.6318\u00b0. The result shows that, given the optimal position, the localization root mean square error (RMS) will be 25.0235 m when the target is 5 km away from UAV baselines. Finally, the influence of modified adaptive Kalman filtering on localization results is analyzed, and an appropriate filtering model is established to reduce the localization RMS error to 15.7983 m. Finally, An outfield experiment was carried out and obtained the optimal results:      \u03c3 B  = 1.63 \u00d7   10   \u2212 4     ( \u00b0 )    ,      \u03c3 L  = 1.35 \u00d7   10   \u2212 4     ( \u00b0 )    ,      \u03c3 H  = 15.8   ( m )    ,      \u03c3  s u m   = 27.6   ( m )    , where      \u03c3 B      represents the longitude error,      \u03c3 L      represents the latitude error,      \u03c3 H      represents the altitude error, and      \u03c3  s u m       represents the error radius.<\/jats:p>","DOI":"10.3390\/s17010098","type":"journal-article","created":{"date-parts":[[2017,1,6]],"date-time":"2017-01-06T10:08:12Z","timestamp":1483697292000},"page":"98","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":39,"title":["Two-UAV Intersection Localization System Based on the Airborne Optoelectronic Platform"],"prefix":"10.3390","volume":"17","author":[{"given":"Guanbing","family":"Bai","sequence":"first","affiliation":[{"name":"Chinese Academy of Science, Changchun Institute of Optics Fine Mechanics and Physics, Key Laboratory of Airborne Optical Imaging and Measurement, #3888 Dongnanhu Road, Changchun 130033, China"},{"name":"University of Chinese Academy of Sciences, #19 Yuquan Road, Beijing 100049, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jinghong","family":"Liu","sequence":"additional","affiliation":[{"name":"Chinese Academy of Science, Changchun Institute of Optics Fine Mechanics and Physics, Key Laboratory of Airborne Optical Imaging and Measurement, #3888 Dongnanhu Road, Changchun 130033, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yueming","family":"Song","sequence":"additional","affiliation":[{"name":"Chinese Academy of Science, Changchun Institute of Optics Fine Mechanics and Physics, Key Laboratory of Airborne Optical Imaging and Measurement, #3888 Dongnanhu Road, Changchun 130033, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yujia","family":"Zuo","sequence":"additional","affiliation":[{"name":"Chinese Academy of Science, Changchun Institute of Optics Fine Mechanics and Physics, Key Laboratory of Airborne Optical Imaging and Measurement, #3888 Dongnanhu Road, Changchun 130033, China"},{"name":"University of Chinese Academy of Sciences, #19 Yuquan Road, Beijing 100049, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2017,1,6]]},"reference":[{"key":"ref_1","unstructured":"Eric, J.S. (2013, January 12\u201314). Geo-Pointing and Threat Location Techniques for Airborne Border Surveillance. Proceedings of the IEEE International Conference on Technologies for Homeland Security (HST), Waltham, MA, USA."},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Gao, F., Ma, X., Gu, J., and Li, Y. (2014, January 18\u201321). An Active Target Localization with Moncular Vision. Proceedings of the IEEE International Conference on Control & Automation (ICCA), Taichung, Taiwan.","DOI":"10.1109\/ICCA.2014.6871125"},{"key":"ref_3","unstructured":"Su, L., and Hao, Q. (2010, January 22\u201324). Study on Intersection Measurement and Error Analysis. Proceedings of the IEEE International Conference on Computer Application and System Modeling (ICCASM), Taiyuan, China."},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Liu, L., and Liu, L. (2006, January 26). Intersection Measuring System of Trajectory Camera with Long Narrow Photosensitive Surface. Proceedings of the Society of Photo-Optical Instrumentation Engineers (SPIE), Beijing, China.","DOI":"10.1117\/12.668387"},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Hu, T. (2015, January 19\u201320). Double UAV Cooperative Localization and Remote Location Error Analysis. Proceedings of the 5th International Conference on Advanced Design and Manufacturing Engineering, Shenzhen, China.","DOI":"10.2991\/icadme-15.2015.16"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"105","DOI":"10.1016\/j.ast.2012.07.002","article-title":"Cooperative localization between small UAVs using a combination of heterogeneous sensors","volume":"27","author":"Lee","year":"2013","journal-title":"Aerosp. Sci. Technol."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"521","DOI":"10.2514\/1.44013","article-title":"Vision-Based Geolocation Tracking System for Uninhabited Aerial Vehicles","volume":"33","author":"Campbell","year":"2010","journal-title":"J. Guid. Control Dyn."},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Pachter, M., Ceccarelli, N., and Chandler, P.R. (2007, January 12\u201314). Vision-Based Target Geo-location Using Camera Equipped MAVs. Proceedings of the 46th IEEE Conference on Decision and Control, New Orleans, LA, USA.","DOI":"10.1109\/CDC.2007.4434038"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"361","DOI":"10.1007\/s10846-006-9088-7","article-title":"Vision-based Target Geo-location using a Fixed-wing Miniature Air Vehicle","volume":"47","author":"Barber","year":"2006","journal-title":"J. Intell. Robot. Syst."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"564","DOI":"10.2514\/1.49059","article-title":"Decentralized Geolocation and Bias Estimation for Uninhabited Aerial Vehicles with Articulating Cameras","volume":"34","author":"Whitacre","year":"2011","journal-title":"J. Guid. Control Dyn."},{"key":"ref_11","unstructured":"William, W. (2010). Cooperative Geolocation Using UAVs with Gimballing Camera Sensors with Extensions for Communication Loss and Sensor Bias Estimation. [Ph.D. Thesis, Cornell University]."},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Campbell, M., and Whitacre, W. (2009, January 10\u201313). Cooperative Geolocation and Sensor Bias Estimation for UAVs with Articulating Cameras. Proceedings of the AIAA Guidance, Navigation, and Control Conference, Chicago, IL, USA.","DOI":"10.2514\/6.2009-6220"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"297","DOI":"10.2514\/1.31896","article-title":"Vision-Based Target Geolocation Using Micro Air Vehicles","volume":"31","author":"Pachter","year":"2008","journal-title":"J. Guid. Control Dyn."},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Liu, F., Du, R., and Jia, H. (2015, January 15\u201317). An Effective Algorithm for Location and Trackingthe Ground Target Based on Near Space Vehicle. Proceedings of the 12th International Conference on Fuzzy Systems and Knowledge Discovery (FSKD), Zhangjiajie, China.","DOI":"10.1109\/FSKD.2015.7382344"},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"333","DOI":"10.5194\/isprsarchives-XL-1-W5-333-2015","article-title":"Pricise Target Geolocation Based on Integeration of Thermal Video Imagery and RTK GPS in UAVs","volume":"41","author":"Hosseinpoor","year":"2015","journal-title":"Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"243","DOI":"10.5194\/isprs-archives-XLI-B6-243-2016","article-title":"Pricise Target Geolocation and Tracking Based on UAV Video Imagery","volume":"XLI-B6","author":"Hosseinpoor","year":"2016","journal-title":"Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci."},{"key":"ref_17","doi-asserted-by":"crossref","unstructured":"Conte, G., Hempel, M., Rudol, P., Lundstrom, D., Duranti, S., Wzorek, M., and Doherty, P. (2008, January 18\u201321). High Accuracy Ground Target Geo-location Using Autonomous Micro Aerial Vehicle Platforms. Proceedings of the AIAA Guidance, Navigation and Control Conference and Exhibit, Honolulu, HI, USA.","DOI":"10.2514\/6.2008-6668"},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"1028","DOI":"10.2514\/1.32810","article-title":"Sensitivity of Cooperative Target Geolocalization to Orbit Coordination","volume":"31","author":"Frew","year":"2008","journal-title":"J. Guid. Control Dyn."},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Ross, J., Geiger, B., Sinsley, G., Horn, J., Long, L., and Niessner, A. (2008, January 18\u201321). Vision-based Target Geolocation and Optimal Surveillance on an Unmanned Aerial Vehicle. Proceedings of the AIAA Guidance, Navigation, and Control Conference, Honolulu, HI, USA.","DOI":"10.2514\/6.2008-7448"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"1391","DOI":"10.1109\/TAES.2008.4667717","article-title":"Vision-Based Real-Time Target Localization for Single-Antenna GPS-Guided UAV","volume":"44","author":"Sohn","year":"2008","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"key":"ref_21","unstructured":"Cheng, X., Daqing, H., and Wei, H. (2015, January 3\u20135). High Precision Passive Target Localization Based on Airborne Electro-optical Payload. Proceedings of the 14th International Conference on Optical Communications and Networks (ICOCN), Nanjing, China."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"59","DOI":"10.1007\/978-3-642-55146-8_5","article-title":"Vision Based Mobile Target Geo-localization and Target Discrimination Using Bayes Detection Theory","volume":"104","author":"Sharma","year":"2014","journal-title":"Distrib. Auton. Robot. Syst."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"657","DOI":"10.1002\/asjc.846","article-title":"Active Cooperative Observation of a 3D Moving Target Using Two Dynamical Monocular Vision Sensors","volume":"16","author":"Sharma","year":"2014","journal-title":"Asian J. Control"},{"key":"ref_24","unstructured":"Deng, B., Xiong, J., and Xia, C. (2012, January 24\u201326). The Observability Analysis of Aerial Moving Target Location Based on Dual-Satellite Geolocation System. Proceedings of the International Conference on Computer Science and Information Processing, Xi\u2019an, China."},{"key":"ref_25","unstructured":"Choi, J.H., Lee, D., and Bang, H. (2011, January 6\u20138). Tracking an Unknown Moving Target from UAV. Proceedings of the 5th International Conference on Automation, Robotics and Applications, Wellington, New Zealand."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/17\/1\/98\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T18:25:37Z","timestamp":1760207137000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/17\/1\/98"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,1,6]]},"references-count":25,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2017,1]]}},"alternative-id":["s17010098"],"URL":"https:\/\/doi.org\/10.3390\/s17010098","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,1,6]]}}}