TOAs/FOAs closed-type cooperative positioning method under condition that time-frequency synchronization error exists between sensors at transmitting end and receiving end

The invention discloses a TOAs/FOAs closed-type cooperative positioning method under the condition that a time-frequency synchronization error exists in a sensor at a transmitting end and a sensor at a receiving end, and provides a TOAs/FOAs cooperative positioning mode facing multiple radiation sources for a positioning scene that the sensor at the transmitting end and the sensor at the receiving end have the time-frequency synchronization error. Closed-form solutions of multi-radiation-source position parameters, multi-radiation-source speed parameters, time domain synchronization error parameters and frequency domain synchronization error parameters can be given at the same time. The method has relatively high calculation efficiency, not only can effectively suppress the influence of time-frequency synchronization errors of the sensors at the transmitting end and the receiving end, but also can obtain relatively high cooperative gain. 本发明公开了一种收发两端传感器存在时频同步误差条件下的TOAs/FOAs闭式协同定位方法，该方法针对收发两端传感器存在时频同步误差的定位场景，提