The reconnaissance mode with the cooperation of two unmanned aerial vehicles (UAVs) equipped with airborne visual tracking platforms is a common practice for localizing a target. Apart from the random noises from sensors, the localization performance is much dependent on their cooperative trajectories. In our previous work, we have proposed a cooperative trajectory generating method that proves better than EKF based method. In this letter, an improved online trajectory generating method is proposed to enhance the previous one. First, the least square estimation method has been replaced with a geometric-optimization based estimation method, which can obtain a better estimation performance than the least square method proposed in our previous work; second, in the trajectory optimization phase, the position error caused by estimation method is also considered, which can further improve the optimization performance of the next way points of the two UAVs. The improved method can well be applied to the two-UAV trajectory planning for corporative target localization, and the simulation results confirm that the improved method achieves an obviously better localization performance than our previous method and the EKF-based method.

Unmanned aerial vehicle (UAV) communication has drawn rising interest recently with the distinctive gains brought by its inherent mobility. In this paper, we investigate the throughput maximization problem in UAV-enabled uplink communication, where multiple ground nodes communicate with a UAV while a group of ground jammers send jamming signals to jam the communications between UAV and the ground nodes. In contrast to the previous works that only considering UAV's transmit power allocation and two-dimension (2D) trajectory design, the ground nodes' transmit power allocation and scheduling along with the UAV's three-dimensional (3D) trajectory design are jointly optimized. The formulated throughput maximization problem is a mixed-integer non-convex programme that hard to be solved in general. Thus, we propose an iterative algorithm to make the problem trackable by applying the block coordinate descent and successive convex optimization techniques. Simulation results show that our proposed algorithm outperforms the benchmark methods that improving the throughput of the system significantly.