The present application provides a single-
station collaborative node positioning method and
system based on multipath spatiotemporal information, which relates to the field of anchorless collaborative positioning. The method includes: receiving known signals emitted by a target point through a stationary antenna and a rotating antenna to obtain the multipath
signal of the target point; obtaining the angle information of the multipath
signal based on a dual-antenna unambiguous collaborative node orientation detection method; obtaining a predicted target point based on the angle information; extracting time
delay information based on the multipath
signal and the known signal received by the stationary antenna; constructing a hyperbolic equation, combining the angle information and the time
delay information, to determine the optimal target point, and complete the positioning of the collaborative node in a line-of-
sight scenario. Based on multipath detection technology, the present invention combines the spatiotemporal information contained in the prior building
layout and the multipath components to construct a single-
station, anchorless collaborative node positioning method in a line-of-
sight scenario to further reduce
system complexity and construction costs.