Multi-base-station cooperative positioning method, system and terminal based on base station position error optimization

The invention belongs to the technical field of radio positioning, and discloses a multi-base-station cooperative positioning method based on base station position error optimization. The method comprises the following steps: rewriting received signals of multiple base stations into a matrix; the method comprises the following steps: describing a multi-base station cooperative positioning problem as an optimization problem, determining a linear equation of a target straight line between a target signal source and a base station origin, rewriting the linear equation as a direction vector, and solving the optimization problem by adopting least square based on the direction vector and an orthogonalization operator to obtain an optimal solution expression; determining a positioning error caused by the position error according to the position error of the base station in the direction vector perpendicular to the direction vector; and calculating a weighting coefficient corresponding to the position error, and reso