The invention relates to a two AIS (
automatic identification system) reference point-based ship self-organization cooperative localization method and belongs to the ship localization and navigation field. According to the two AIS (
automatic identification system) reference point-based ship self-organization cooperative localization method, steps such as localization mode discrimination,
information data preparation,
self organization coordination, localization equation solving and localization
information sharing are adopted, and the above processes are repeated, ship-
shore and ship collaborative information is constantly updated, so that the
dynamic localization of all cooperative ships in a cooperative ship
station group can be realized; under a condition that only two AIS
shore stations are adopted as localization reference points, and traditional
ranging and localization requirements are not satisfied, based on self-organization coordination between ships and stations, the shearing of
ranging information between ships and shores as well as between ships can be realized, and the self-organization localization of cooperative ship stations can be realized; and extra AIS
shore stations are not required to be adopted, the self-organization cooperative localization of coastal ships can be realized, and therefore, the application range of an AIS
ranging and
localization system can be greatly extended.