Optimal position estimation method based on momentum acceleration differential evolution

The invention discloses an optimal position estimation method based on momentum acceleration differential evolution, and the method comprises the following steps: (1) obtaining required distance measurement and RTK coordinate data through employing UWB and RTK wireless distance measurement technologies, and building a complete TOA positioning model according to the distance measurement and RTK coordinate data; (2) pitch angle information obtained by PDOA equipment is utilized, the position of a PDOA arrival angle has spatial distinction degree, and the spatial distinction degree serves as a TOA nonlinear equation set to add constraint conditions; (3) solving an optimal solution of the nonlinear equation set by using an improved differential evolution algorithm; the method comprises initial value selection based on a least square method, a gradient updating strategy based on momentum acceleration and a search direction updating strategy based on historical information, and adopts a wireless distance measuremen