Multi-source fusion navigation method and system based on relative navigation information

The invention discloses a multi-source fusion navigation method and system based on relative navigation information, which fully utilizes navigation information in a navigation system, fuses own absolute navigation information with relative positioning information of other nodes, realizes the effect of getting twofold results with half the effort, improves the individual and overall navigation precision in a complex environment, and improves the navigation efficiency. Compared with a scene with a single navigation source, the accuracy and robustness of navigation are improved; inertial navigation and satellites are adopted as a combined navigation main body frame, other available navigation equipment is combined, combined navigation is carried out to obtain preliminary navigation information, meanwhile, a distance measuring sensor and a direction finding sensor are used for obtaining relative positions and angles, and finally all navigation information is displayed on a terminal in real time; the method is no