In this paper, we propose an algorithm for minimizing the amount of iterative computation in a system in which a communication relay UAV autonomously maneuvers to an optimal relay location. Existing autonomous maneuvering systems use the classical time difference of arrival (TDOA) or time of arrival (TOA) localization technique. Fundamentally, these techniques have a problem of excessive regression calculations. We utilize the geometric features of the pseudorange information of the TOA and the minimax center to solve the problem of TOA computational complexity. Numerous simulations were performed with MATLAB for performance verification, and simulation results showed that the least squares regression of TOA could be reduced by half, while maintaining similar performance accuracy.
