Distributed array collaborative direct positioning method for multiple narrowband signal moving radiation sources

The invention discloses a distributed array collaborative direct positioning method for a plurality of narrowband signal moving radiation sources, which comprises the following steps of: mounting array antennas on a plurality of observation stations, arranging the observation stations in a distributed manner, dividing the observation stations into a plurality of groups according to the distance of geographic space, and dividing the observation stations in a network communication distance into one group; internal nodes of each group of observation stations perform two-way time information interaction between neighbor nodes, so that the time of the observation stations in the group is synchronous, clock skew exists between the observation stations in different groups, each group of main observation stations synthesizes a multi-station space-time observation vector, and space-time noise subspace data obtained through calculation is transmitted to a central station; and the central station directly (jointly) esti