Multi-agent close-range combat moving target cooperative positioning method

The invention discloses a multi-agent close-range combat moving target cooperative positioning method based on error state Kalman filtering. An agent cluster self-positioning module, an agent cluster target positioning module and a cluster cooperative positioning information fusion module are included. The method has the main innovation points that 1, a factor graph model architecture is adopted, and accurate self-positioning of the agent cluster can be independently realized under the conditions of satellite denial and partial node failure; 2, plug-and-play is realized, an accurate resolving coordinate can be obtained according to a resolving equation as long as at least one agent keeps effective observation on a target, and when environmental interference is weakened, the agent of which observation is recovered can be added into the agent network again for collaborative positioning information fusion; and 3, the missile can accurately strike the target only through information of an internal communication l