Multi-base-station positioning method, system and terminal based on angle measurement precision weighting

The invention belongs to the technical field of wireless signal source positioning, and discloses a multi-unmanned aerial vehicle cooperative positioning method based on angle measurement error weighted optimization. The method includes determining the position of an unmanned aerial vehicle antenna relative to an unmanned aerial vehicle body coordinate system; constructing a relative coordinate of the target signal source, calculating a receiving signal of the unmanned aerial vehicle antenna based on a transmitting signal of the target signal source, and rewriting the receiving signal into a matrix form; determining a straight line between the target and the origin of the base station, representing a linear equation by using the received signal and the estimated azimuth angle of the target, rewriting the linear equation into a direction vector, and determining an angle measurement error and a target positioning error caused by the received noise; a weighting coefficient is constructed based on an angle measur