The invention discloses a
mobile relay auxiliary target positioning method based on semi-definite
programming optimization, which relates to the technical field of high-precision positioning and mainly comprises the following steps: after a
signal transmitted by a sensor in a positioning period is forwarded to a target through a
mobile relay, the target reflects the
signal and reversely returns the
signal to the corresponding sensor through the same signal link; extracting the time
delay of signal propagation and the measured value of the
angle of arrival; reconstructing the time
delay measurement model into a distance conversion model, and obtaining a
linearization expression of the
angle of arrival; constructing a constraint weighted least square problem including the position and speed of the
mobile relay and the distance offset through a joint distance conversion model and a
linearization expression; an auxiliary variable is added and finally converted into a semi-definite
programming problem, and a preliminary
estimation value is solved; and constructing a joint refined weighted least square problem based on the initial
estimation value, and solving a final
estimation value. According to the method, the target and the
relay state are decoupled, and the positioning precision is improved by combining an SDP optimization
algorithm with a combined refining process.