The invention provides a single-
station cooperative node positioning method and
system based on multipath spatio-
temporal information, and relates to the field of anchor-free cooperative localization, and the method comprises the steps: receiving a known
signal transmitted by a target point through a static antenna and a rotating antenna, and obtaining a multipath
signal of the target point; the method comprises the following steps: obtaining angle information of a multipath
signal based on a dual-antenna non-fuzzy cooperation node orientation detection method; obtaining a prediction target point according to the angle information; time
delay information is extracted based on the multipath signals received by the static antenna and the known signals; and constructing a hyperbolic equation, determining an optimal target point in combination with angle information and time
delay information, and completing positioning of the cooperative node in the
sight distance scene. According to the invention, on the basis of a multipath detection technology, a prior building
layout and spatio-
temporal information contained in multipath components are combined, and a single-
station anchor-point-assisted cooperative node positioning method is constructed in a
sight distance scene, so that the
system complexity and the construction cost are further reduced.