Unmanned aerial vehicle high-precision positioning method based on TDOA and FDOA

The invention discloses an unmanned aerial vehicle high-precision positioning method based on TDOA and FDOA, wherein the method comprises the following steps: receiving a TDOA measurement value and anFDOA measurement value through a receiving station in space, and enabling the TDOA measurement value and the FDOA measurement value to be equivalent to a distance difference measurement value and a distance difference change rate measurement value; performing joint estimation on the position coordinates of the receiving station to construct a to-be-estimated vector; constructing expressions between the corresponding distance difference measurement value, the distance difference change rate measurement value and the receiving station position measurement value and the to-be-estimated vector; solving a nonlinear weighted least square optimization model of a cost error function; solving an optimal closed-form solution of the to-be-estimated vector through Taylor series joint iteration; and obtaining the position and