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The wide use of cooperative missions using multiple unmanned platforms has made relative distance information an essential factor for cooperative positioning and formation control. Reducing the range error effectively in real time has become the main technical challenge. We present a new method to deal with ranging errors based on the distance increment (DI). The DI calculated by dead reckoning is used to smooth the DI obtained by the cooperative positioning, and the smoothed DI is then used to detect and estimate the non-line-of-sight (NLOS) error as well as to smooth the observed values containing random noise in the filtering process. Simulation and experimental results show that the relative accuracy of NLOS estimation is 8.17%, with the maximum random error reduced by 40.27%. The algorithm weakens the influence of NLOS and random errors on the measurement distance, thus improving the relative distance precision and enhancing the stability and reliability of cooperative positioning.

A Distance Increment Smoothing Method and Its Application on the Detection of NLOS in the Cooperative Positioning