Relative positioning method for multiple unmanned aerial vehicles

According to the multi-unmanned aerial vehicle-oriented relative positioning method provided by the invention, a fusion strategy based on consistency is designed to fuse indirect estimation about a target obtained from neighbor nodes and direct estimation of the target by itself, and direct positioning and indirect positioning can be effectively fused by the method; therefore, the unmanned aerial vehicle which cannot directly measure the target can determine the position of the target with the help of the neighbor. The invention provides a discrete time observer based on distance and angle-of-arrival sampling by adopting a relative positioning method based on distance and angle-of-arrival aiming at the conditions that the dependence of infrastructure is very strong and the positioning precision is seriously influenced by the precision of the infrastructure. The observer can realize the positioning of the adjacent unmanned aerial vehicles only by interacting the speed, the angle of arrival and the distance of