Cooperative Positioning (CP) is considered to be a promising method for close formation flight, which can fully exploit the navigation information in a network. This work proposes a new CP framework based on relative position estimation and optimized belief propagation (BP), aiming to enhance the absolute positioning accuracy for low-cost UAVs. Relative estimation is used to augment the BP estimation, which can fully exploit the onboard sensors. For BP, it is widely used as a CP estimator. This work proposes an optimized BP based on vectorized message passing and message evaluation, which can make an effective balance between computational load and estimation accuracy. Simulation results show that the proposed CP framework has better estimation accuracy than traditional CP methods, and has lower computational load than the best existing non-parametric BP (NBP) method with equivalent accuracy.

合作定位（CP）被认为是近距离编队飞行的一种有前途的方法，可以充分利用网络中的导航信息。这项工作提出了一个基于相对位置估计和优化的置信传播（BP）的新CP框架，旨在提高低成本无人机的绝对定位精度。相对估计用于增强BP估计，可以充分利用车载传感器。对于BP，它被广泛用作CP估计器。这项工作提出了一种基于矢量化消息传递和消息评估的优化BP，它可以在计算负载和估计精度之间取得有效的平衡。仿真结果表明，提出的CP框架比传统的CP方法具有更好的估计精度，