Fig. 1. Schematic diagram of UAV patrol and detection

Fig. 2. Schematic diagram of positioning method

Fig. 3. NLOS UV single-scatter propagation model

Fig. 4. Discharge ultraviolet detection model

Fig. 5. Relationship between UAV vertical detection position and path loss

Fig. 6. Relationship between UAV horizontal detection position and path loss

Fig. 7. Effect of rotation angle of photomultiplier tube on path loss

Fig. 8. Schematic diagram of experimental scheme

Fig. 9. Effect of detection distance on voltage

Fig. 10. Relationship between the maximum power and angle at different detection positions

Fig. 11. Known discharge power compared with the estimated power

Fig. 12. Positioning result

Fig. 13. Positioning error