Factor graph-based unmanned ship cluster geomagnetic matching cooperative positioning method

The invention relates to the field of ship integrated navigation, and provides a geomagnetic matching cooperative positioning method based on a factor graph, and the method specifically comprises the following steps: 1, constructing an unmanned ship cluster cooperative positioning network, and enabling each unmanned ship in a cluster to be a to-be-positioned node with position ambiguity; 2, at a certain moment k, positioning each node to be positioned by adopting a co-positioning strategy based on a factor graph; and 3, taking the positioning obtained in the step 2 as respective track points of the unmanned surface vehicles, performing geomagnetic matching on the track points based on an ICCP algorithm, and obtaining the accurate positions of the unmanned surface vehicles at the moment k. The method does not need a GPS signal, does not depend on inertial navigation, and can effectively solve the problems that the GPS is liable to be interfered under a complex sea surface condition, so that wrong navigation in