Unmanned aerial vehicle cluster information geometric fusion positioning method based on low earth orbit satellites

The invention relates to the field of satellite electronic navigation, and provides an unmanned aerial vehicle cluster information geometric fusion positioning method based on a low-orbit satellite, and the method specifically comprises the following steps: 1, constructing an unmanned aerial vehicle cluster positioning system model based on the low-orbit satellite, and obtaining low-orbit satellite positioning results of all unmanned aerial vehicles and a three-dimensional covariance matrix of the low-orbit satellite positioning results; 2, distance measurement and direction measurement information between the unmanned aerial vehicles is obtained, and a relative positioning result of the cooperative positioning unmanned aerial vehicle on the to-be-positioned unmanned aerial vehicle and a three-dimensional covariance matrix of the relative positioning result are calculated; and step 3, constructing an unmanned aerial vehicle cluster information geometric fusion positioning model, fusing the positioning result