Method and device for determining position information of auxiliary subsystem in distributed cooperative system

The invention discloses a method and device for determining position information of an auxiliary subsystem in a distributed cooperative system. The method comprises the following steps: positions of subsystems and calibration devices are fixed; first position information and second position information of a main calibration system device and an auxiliary calibration system device are obtained, and third position information of the auxiliary calibration system device in a coordinate system corresponding to the main calibration system device is determined; fourth position information of an auxiliary subsystem device in a coordinate system corresponding to the auxiliary calibration system device is determined; fifth position information of the auxiliary subsystem device in the coordinate system corresponding to the main calibration system device is determined; sixth position information of a main subsystem device in the coordinate system corresponding to the main calibration system device is determined; position information of an auxiliary subsystem in a coordinate system corresponding to a main subsystem is determined. The method and device for determining position information of the auxiliary subsystem in the distributed cooperative system can help solve a problem that error of obtained position information of the auxiliary subsystem relevant to the main subsystem is large because subsystem position centers and corresponding position centers of the calibration devices are superposed by default in technologies of the prior art.