Bearing-Only Three-UAV Cooperative Target Localization with Adaptive Weighting and Configuration Optimization

This paper addresses bearing-only three-dimensional target localization using three cooperative UAVs under observation inconsistency and degraded geometry. A weighted point-to-line least-squares localization model is established to fuse multiple line-of-sight (LOS) observations derived from image measurements, camera calibration, and UAV poses. To handle unreliable measurements without ground truth, a reliability assessment mechanism is developed by combining geometric stability indicators with observation consistency metrics, enabling weak geometry and abnormal observations to be identified online. Based on this assessment, an adaptive optimization framework is introduced to perform residual-driven adaptive weighting and configuration optimization, thereby suppressing unreliable LOS measurements and improving the conditioning of cooperative geometry. Simulation results under four representative scenarios show that the proposed method consistently improves localization accuracy and robustness. The mean localization error is reduced from 0.545 m to 0.260 m under abnormal observations, from 0.355 m to 0.081 m under degraded geometry, and from 0.711 m to 0.280 m when both effects occur simultaneously. Statistical evaluations including RMSE, standard deviation, maximum error, confidence intervals, and box-plot analysis further demonstrate that the proposed framework effectively reduces error dispersion and improves robustness.