Aircraft cluster collaborative target positioning rapid joint optimization method based on passive radar angle measurement

The invention discloses an aircraft cluster collaborative target positioning rapid joint optimization method based on passive radar angle measurement. The method comprises an angle smoothing module, a constraint construction module, a joint initialization module and a target positioning joint optimization module. The main innovation points of the invention lie in that: 1, the noise fluctuation is effectively reduced by adopting the sliding window filtering preprocessing of the passive radar angle measurement data; 2, providing a multi-source information fusion scheme based on loose coupling joint optimization, and constructing a joint optimization model to synchronously estimate a missile-target relative displacement vector and a missile-target line angle of each node; and 3, aiming at the characteristic that the aircraft cluster only carries out cooperative direction finding on the target, optimizing the missile-target distance through a joint initialization module, and carrying out secondary optimization on