To address the issue of difference estimates from multi-source sensors in distributed cooperative passive localization and tracking, this paper proposes a distributed consensus algorithm based on fast covariance intersection. First, a multi-sensor temporal alignment model is constructed using Taylor formula and adaptive density clustering theory to resolve temporal asynchrony caused by multi-source asynchronous sampling. Subsequently, each sensor performs local estimation by integrating information contributions from neighboring sensors. Next, a theoretical relationship between the iteration number and the consensus error is derived based on a given steady-state consensus error, ensuring that the information group converges to consensus within a finite number of iterations. On this basis, each sensor only needs to perform one global fast covariance intersection to complete information fusion, significantly improving the efficiency and accuracy of fusion. Finally, the algorithm is applied to a multi-source distributed collaborative passive positioning system. Simulation results demonstrate that the proposed method can effectively achieve consensus fusion positioning within a finite number of iterations while simultaneously completing temporal alignment.

For the problem of cooperative strike against multiple maneuvering targets, in order to improve the detection efficiency of multi-missile systems, this paper proposes a Group Cooperative Midcourse Guidance Law (GCMGL) for heterogeneous missile formation with optimal detection efficiency. Firstly, considering the adverse impact of target maneuvering on the guidance system, a Super-Twisting Disturbance Observer (STDO) is introduced to estimate target acceleration. Secondly, to avoid chattering in the system, a reaching law is combined with the design of the midcourse guidance law and cooperative detection control law for the leader missiles. This approach provides reference information for follower missiles and forms an optimal detection formation. Then, to achieve cooperative engagement of targets by follower missiles in groups, a group consensus protocol is introduced in the Line-of-Sight (LOS) direction to design the GCMGL. Simultaneously, in the direction normal to the LOS, when follower missiles cannot obtain the LOS angle combination information from the leader missiles, a distributed extended state observer is introduced to estimate it. Finally, a time-varying LOS angle Formation Tracking Midcourse Guidance Law (FTMGL) is designed based on this estimated information. The guidance law’s stability is validated using Lyapunov theory, and simulation experiments are performed to confirm its effectiveness and advantages.