The invention discloses an unmanned aerial vehicle high-precision positioning method based on TDOA and
FDOA, wherein the method comprises the following steps: receiving a TDOA measurement value and anFDOA measurement value through a receiving
station in space, and enabling the TDOA measurement value and the
FDOA measurement value to be equivalent to a distance difference measurement value and a distance difference change
rate measurement value; performing joint
estimation on the position coordinates of the receiving
station to construct a to-be-estimated vector; constructing expressions between the corresponding distance difference measurement value, the distance difference change
rate measurement value and the receiving
station position measurement value and the to-be-estimated vector; solving a nonlinear weighted least square optimization model of a cost
error function; solving an optimal closed-
form solution of the to-be-estimated vector through Taylor series joint iteration; and obtaining the position and speed of the target when an iteration termination condition is satisfied. According to the method, the position coordinates of the receiving station are subjected to joint iterative
estimation, so that the influence of the
position error of the receiving station on the positioning precision is reduced; and a more accurate iterative initial value is provided by utilizing positioning error correction, and the target positioning precision is improved while the convergence is ensured and the convergence speed is improved.