针对机群协同编队导航定位问题,通过分析机群协同编队的特点,建立了编队成员的相对运动模型并引入视觉观测信息,提出了一种基于相对导航的机群联合组网定位方法,理论分析及仿真结果均表明了联合定位结果能达到机群中各成员惯导位置输出的平均水平,有效地减缓了编队系统的定位误差发散速度。 According to the characteristics of fleet coordinated formation, this paper establishes the relative motion model of formation members and introduces the visual observation information. Based on the relative navigation, this paper proposes a method of locating cluster based on network, theoretical analysis and simulation results Both of them show that the result of joint positioning can reach the average level of the output of inertial navigation of all members in the cluster and effectively slow down the divergence of positioning error in formation.