Unmanned cluster relative positioning method in denial environment

The invention discloses an unmanned cluster relative positioning method in a denial environment, and belongs to the technical field of unmanned system navigation positioning. According to the method, the problems of noise filtering and missing value estimation of the observation distance matrix are converted into a low-rank optimization problem, and the problem is solved by using the Lagrangian multiplier method based on eigenvalue scaling, so that the optimal distance matrix estimation is obtained, and the subsequent topology perception and relative positioning calculation precision is greatly improved. The invention provides the topology perception and relative positioning method with high precision and strong robustness for the unmanned cluster, and the method has important significance for constructing the spatial configuration perception control capability and cooperative positioning capability of the unmanned cluster in a satellite denial environment. 本发明公开了一种拒止环境下无人集群相对定位方法，属于无人系统导航定位技术领域。本发明首先将观测距离矩阵的