Cross-unmanned-platform cooperative positioning method based on relative reference

The invention provides a cross-unmanned-platform cooperative positioning method based on a relative reference, and overcomes the defect that an existing cooperative positioning method can only be used under the condition that a messenger platform senses all mobile platforms. According to the invention, a mobile platform with an image capturing function and a pose feedback function is utilized; a new cooperative positioning framework is provided; the method includes the following steps: 1) carrying out messenger platform positioning and constructing a measurement graph model; 2) carrying out position measurement on a mobile platform based on information in the step 1); 3) collecting data measured in the step 2); 4) carrying out coordinate system position prediction and relative position prediction by using the data collected in the step 3); 5) determining an estimation error between the indirect measurement mobile platforms by using the position prediction information in the step 4); and 6) determining the pos