Underwater target state collaborative estimation method based on detection configuration

The invention discloses an underwater target state collaborative estimation method based on a detection configuration, relates to the technical field of underwater unmanned vehicle formation control and target state estimation, and aims to solve the problem that in the prior art, a large positioning error exists when a single submarine continuously sails underwater for a long time. According to the cooperative estimation method formed by the submarine and the multiple underwater unmanned vehicle nodes, the submarine sends the control instruction to enable all the UUVs to complete the expected formation, all the UUVs conduct cooperative estimation on the enemy target through azimuth measurement information, effective estimation of the underwater dynamic target state is achieved, and the underwater dynamic target state is effectively estimated. And necessary conditions are provided for the cooperative system to complete underwater tasks. According to the method, a centralized communication topological structure