Non-linear Weighted Least Squares Cooperative Localization Based on Multi Radar/Infrared

For the problems of passive localization of targets by multiple azimuths only between infrared sensors and large detection errors of radar sensors, the paper proposes a nonlinear weighted least squares cooperative localization algorithm based on multiple radar/infrared. The algorithm first constructs a composite localization model with a combination of multiple radar and infrared sensors, then set up a nonlinear weighted least squares localization optimization model based on the statistical properties of the measurement mistake, and solves the localization by Gauss-Newton iterative method. The numerical simulation results show that themethod can obtain highly accurate target localization values by fusing multiple information such as angle and distance.