在多无人机(UAV)协同定位地面固定辐射源的应用环境中,为了提高多机基于时差的定位精度,提出一种改进的基于约束总体最小二乘(CTLS)的时差定位方法和一种基于结构总体最小范数(STLN)的时差定位方法.证明了这两种方法具有相同的定位精度,但STLN方法的计算性能优于改进的CTLS方法.仿真结果表明,所提出的方法具有较高的定位精度,受观测点定位误差影响更小. In the application environment of multi-UAV co-location ground-fixed radiation source, in order to improve the positioning accuracy of multi-machine based on time difference, an improved time difference positioning method based on constrained total least squares (CTLS) The time-difference positioning method based on the global minimum norm of structure (STLN) proved that the two methods have the same positioning accuracy, but the computational performance of STLN method is better than the improved CTLS method.The simulation results show that the proposed method has a higher The positioning accuracy is less affected by the positioning error of the observation point.