With the rapid development of Unmanned Aerial Vehicle (UAV) technology, UAV swarms are used for emergency tasks in various scenarios such as area detection, fire rescue, logistics, and transportation. However, for complex scenarios, UAV swarms are prone to environmental interference that damages their equipment or disrupts their communication links, affecting the normal execution of tasks. In this paper, an information–communication interdependent network model is designed for the vulnerability analysis of UAV swarm networks with emergency tasks. Firstly, from the perspective of network functions of a UAV swarm, we introduce the theory of interdependent networks to abstract the relationship between the UAV swarm’s communication network and its information network, where the communication network represents its communication topology and the information network is related to the function of each UAV individual in the UAV swarm. Then, the vulnerability of the UAV swarm is analyzed according to the relationship between network construction costs and network connectivity under environmental interference. Finally, the effectiveness of the vulnerability analysis method is verified through simulation.

With the increasing complexity of environments and the diversity of task chains, individual unmanned aerial vehicles (UAVs) often struggle to satisfy the demands of task chains, including load capacity improvement, information perception, and information procession. In complex task chains involving various UAVs, such as area reconnaissance and fire rescue, any attack on critical UAVs can greatly disrupt the execution of the entire task chain by causing equipment damage or connectivity disruption. To ensure network resilience post attack, identifying vulnerable nodes in the UAV network becomes crucial. In this paper, a Vulnerability-based Topology Reconstruction Mechanism (VUTRM) is proposed to rank the importance of nodes in task chains and formulate a topology reconstruction. It consists of two parts: the first part is a Multi-metric Node Vulnerability Assessment Algorithm (MENVAL) used to rank the importance of nodes in task chains, and the second part is a Node Importance-based Topology Reconstruction Algorithm (NITRA) used to reconstruct the UAV network with the obtained node ranking. Finally, simulations carried out with simulation software demonstrate that our proposed method accurately identifies network vulnerabilities and promptly implements effective reconstruction measures to minimize network damage.

In UAV target localization, the accuracy of time delay estimation is the key to high-precision positioning. However, under low signal-to-noise ratio (SNR), time delay estimation suffers from serious secondary peak interference and low accuracy, which degrades the positioning accuracy. This paper proposes an improved time delay estimation algorithm based on generalized quadratic cross-correlation. By introducing exponential operations and Hilbert difference operation, suppressing noise interference, and sharpening the peaks of the signal correlation function, the algorithm improves the estimation accuracy. Through simulation experiments comparing with the generalized cross-correlation and quadratic correlation algorithms, the results show that the improved algorithm enhances the peak of the cross-correlation function, improves the accuracy of estimation, and exhibits better anti-noise performance in low SNR environments, providing a new approach for high-precision time delay estimation in complex signal environments.

To address the degradation of localization accuracy caused by insufficient robustness of filter parameters and inefficient multi-trajectory data fusion in dynamic environments, this paper proposes a Kalman filter-based localization calibration method optimized by reinforcement learning and information matrix fusion (RL-IMKF). An Actor-Critic reinforcement learning network is designed to adaptively adjust the state covariance matrix, enhancing the Kalman filter’s adaptability to environmental changes. Meanwhile, a multi-trajectory information matrix fusion strategy is introduced, which aggregates multiple trajectories in the information domain via weighted inverse covariance matrices to suppress error propagation and improve system consistency. Experiments using both simulated and real-world sensor data demonstrate that the proposed method outperforms traditional extended Kalman filter approaches in terms of localization accuracy and stability, providing a novel solution for cooperative localization calibration of Unmanned Aerial Vehicle (UAV) swarms in dynamic environments.

Aiming at the problem of reduced positioning accuracy of unmanned swarm navigation systems due to dynamic abrupt noise in a complex electromagnetic environment, this paper proposes an adaptive Kalman filtering positioning and calibration method based on dynamic mutation perception and collaborative correction. This method optimizes the performance of Kalman filtering by monitoring the mutation of acceleration and velocity in real time, designing a dynamic threshold detection mechanism, adaptively adjusting the covariance matrix, and using multidimensional scaling analysis to calculate the similarity of trajectories and collaboratively correct the current state. The experiment uses simulation and real scene data and compares algorithms such as the traditional extended Kalman filter to verify the effectiveness of the proposed method, providing an effective solution for the collaborative positioning of an unmanned swarm under complex electromagnetic interference.

To address the degradation in localization accuracy caused by insufficient robustness of filter parameters and inefficient multi-trajectory data fusion in dynamic environments, this paper proposes a Kalman filter-based localization calibration method optimized by reinforcement learning and information matrix fusion (RL-IMKF). An actor–critic reinforcement learning network is designed to adaptively adjust the state covariance matrix, enhancing the Kalman filter’s adaptability to environmental changes. Meanwhile, a multi-trajectory information matrix fusion strategy is introduced, which aggregates multiple trajectories in the information domain via weighted inverse covariance matrices to suppress error propagation and improve system consistency. Experiments using both simulated and real-world sensor data demonstrate that the proposed method outperforms traditional extended Kalman filter approaches in terms of localization accuracy and stability, providing a novel solution for cooperative localization calibration of unmanned aerial vehicle (UAV) swarms in dynamic environments.