Recent advancements in sensor technology have allowed unmanned aerial vehicles (UAVs) to function as sensing devices in cooperative aerial communication networks, offering novel solutions in applications of environment inspection, disaster detection and search and rescue operations. Towards this trend, the efficient deployment and coordination of UAV networks is of vital importance. Generating controlled experimental conditions to implement and evaluate different approaches in this context can be impractical and costly and thus the solution of modelling is often preferred. This paper introduces a tracking model in which multirotor UAVs, equipped with received signal strength indicator (RSSI) sensors, are organized in a swarm and cooperate to approximate and trail a moving target. The proposed algorithm is able to offer autonomous tracking in large scale environments, by utilising just the strength of the communication signal emitted by a radio frequency transmitter carried by the target. A model of the proposed algorithm is created, and its performance is thoroughly evaluated in a specialized simulator developed in the Processing IDE. Results demonstrate the increased tracking efficiency of the proposed solution compared to a trilateration method.

传感器技术的最新进展已使无人驾驶飞机（UAV）可以用作协作空中通信网络中的传感设备，为环境检查，灾难检测以及搜索和救援行动的应用提供了新颖的解决方案。朝着这一趋势，无人机网络的有效部署和协调至关重要。在这种情况下，生成受控的实验条件以实施和评估不同的方法可能不切实际且成本很高，因此通常首选建模解决方案。本文介绍了一种跟踪模型，在该模型中，装备有接收信号强度指示器（RSSI）传感器的多旋翼无人机被组织成一个群，并协同逼近和跟踪移动目标。通过仅利用目标携带的射频发射器发射的通信信号的强度，所提出的算法能够在大规模环境中提供自主跟踪。创建了所提出算法的模型，并在Processing IDE中开发的专用模拟器中对其性能进行了全面评估。结果表明，与三边测量法相比，该解决方案的跟踪效率有所提高。