TDOA positioning method for multiple unmanned aerial vehicle targets under receiver position errors

The invention provides a TDOA positioning method for multiple unmanned aerial vehicle targets under receiver position errors, and the method comprises the steps: presetting one radiation source on each unmanned aerial vehicle: S1, capturing signals of N radiation sources through M receivers, extracting corresponding TDOA measurement information, and constructing an RD measurement equation; S2, introducing an auxiliary variable as an introduced auxiliary parameter, performing nonlinear transformation on the RD measurement equation, and constructing a linear estimation equation of the auxiliaryvariable theta; proposing a new linearization method to perform nonlinear transformation on the RD measurement equation according to the function relationship between the auxiliary parameters and theradiation source position in the auxiliary variables, and constructing a linear estimation equation of the radiation source position u; and S3, obtaining a positioning result estimation value of the radiation source target by