Method and apparatus for the cooperative localization of transmitters and/or receivers on a mobile body

A method of cooperative location of a plurality of nodes possessed by a first mobile body comprising several nodes for the transmission and/or reception of a signal by wireless means, the method comprising, for at least one first node from among the said nodes, a step of measurements of distances separating the said first node from second nodes by using the said wireless means, each of the said second nodes being possessed by one of the following distinct type entities, by choice:

• the first mobile body,
• a remote fixed apparatus situated within transmission range of the said mobile body,
• a second mobile body, remote and situated within transmission range of the first mobile body, at least two nodes from among all the said second nodes used to perform the said distance measurements being possessed by two entities of distinct types and/or by the said second mobile body, the method comprising a step of utilizing the said measurements to locate at least the said first node at least in relation to a subset of the said second nodes, the method furthermore comprising a step of locating at least one other of the said nodes possessed by the body by utilizing at least one measurement of distance separating this other node from a third node, it being possible for this third node to be the said first node.