CN104677354B - Static target locating method combining mobile node speed information and target azimuth information - Google Patents

Static target locating method combining mobile node speed information and target azimuth information Download PDF

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Publication number
CN104677354B
CN104677354B CN201410809200.1A CN201410809200A CN104677354B CN 104677354 B CN104677354 B CN 104677354B CN 201410809200 A CN201410809200 A CN 201410809200A CN 104677354 B CN104677354 B CN 104677354B
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Prior art keywords
mobile node
information
static object
velocity
target
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CN201410809200.1A
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CN104677354A (en
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林志赟
林澈
颜钢锋
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Zhejiang University ZJU
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Zhejiang University ZJU
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)

Abstract

The invention discloses a static target locating method combining mobile node speed information and target azimuth information. The method comprises the following steps: deploying a mobile node in a preset area for a static target to be located; and perform iterative computation on location information of the static target relative to the mobile node according to the preset sampling period and initial location, wherein each iterative calculation comprises the following operations: obtaining the speed information of the mobile node and the azimuth information of the static target, and calculating the location information of the static target relative to the mobile node according to the obtained speed information and azimuth information. By adopting the iterative calculation formula as a linear system, the static target locating method disclosed by the invention has the advantages of global optimum and exponential convergence and can be used for guaranteeing the final certain convergence.

Description

Position with reference to the static object of mobile node velocity information and target bearing angle information Method
Technical field
The present invention relates to movable sensor technical field, and in particular to one kind combines mobile node velocity information and target side The static object localization method of azimuth angle information.
Background technology
In numerous applications such as search and rescue, signal source detection, the positional information that can determine target is one vital It is crucial.However, the scene of oneself position cannot be positioned for disoperative target and target source itself, other are just had to rely on Object is to realization of goal relative positioning.
Assume in the region that a specific GPS cannot be used, there is mobile node and a static object, movable joint Point can in real time obtain the metrical information to target, while the correlation measurement information of itself can be directly obtained.Our purpose It is a kind of method of design so that mobile node can orient coordinate of the target under itself coordinate system.
Current metering system is consisted essentially of：Arriving signal intensity (RSSI), arrival time (TOA), reaching time-difference And angle of arrival (AOA) (TDOA).Because distance measurement method needs active transmission data, and also need to the change of range measurement Rate information, Comparatively speaking, angular surveying belongs to passive measurement, and without using the rate of change information of measured value.In addition, In the research of localization method, the research for entering Mobile state positioning using mobile node seems non-relative to the research that static node is positioned It is often rare.Therefore, research combines the object localization method of mobile node itself velocity information and target azimuth measurement information, Positioning field has great importance.
In the patent application " the target angle finding position fixing method based on convex combination " of Publication No. CN103630874A, disclose A kind of method using angular surveying to be positioned to target, however it is necessary that using multiple anchor nodes and assuming target in anchor In the convex closure of node, high cost, realize that condition is harsh.In addition, in many situations (for example under water), for mobile node Speech, not only GPS cannot be used, and even the direction in earth's magnetic field also is difficult to obtain, in this patent, it is assumed that GPS is equal with global coordinate system Cannot obtain, further highlight the broad applicability of this method.
The content of the invention
For the deficiencies in the prior art, the present invention proposes one kind and combines mobile node velocity information and azimuth of target letter The static object localization method of breath, the method for the present invention is due to using linear iterative method, it is ensured that Global Exponential is received Holding back property.
The static object localization method of a kind of combination mobile node velocity information and target bearing angle information, including following step Suddenly：
Step 1, for static object to be positioned, disposes a mobile node in predeterminable area；
Step 2, according to default sampling period and initial position position of the static object relative to mobile node is iterated to calculate Confidence ceases, and proceeds as follows during iterative calculation every time：
Itself velocity information of the mobile node and the azimuth information of static object are obtained, and according to the speed for obtaining Information and azimuth information calculate positional information of the static object relative to mobile node.
Predeterminable area can according to practical situations, as long as can gather be arrangement mobile node can collect it is quiet The azimuth information of state target.
The azimuth information of collection static object can have various test, such as utilize the signal direction of the launch, light transmitting Principle etc., by installing camera on the mobile node in the present invention, is gathered by camera.
Positional information in the present invention be static object relative to mobile node under the local coordinate system of mobile node Position coordinates, needs according to mobile node model specification local coordinate system in practical application.
In iterative process, set initial position message as (0,0), forbidden, in the iterative process after, with The number of times of iterative calculation increases, and the difference between actual position information when the initial value of setting and every time positioning gradually drops It is low.Generally at 100～200 times afterwards, the positional information that obtains of positioning and actual position information can restrain that (i.e. measuring and calculation is obtained Positional information it is identical with actual position information), the result for hereafter iterating to calculate is the actual position information at current time.
After positional information of the static object relative to mobile node is obtained, it is possible to use the positional information is further counter to be pushed away The position of mobile node.
Preferably, described mobile node model is single wheel vehicle model.
Itself velocity information of the mobile node includes the velocity magnitude and angular velocity of rotation of itself.
Further preferably, the azimuth information of described static object includes static object relative to mobile node speed The angle in direction.
Can easily determine the linear speed of itself and the rotation of mobile node by adopting single wheel vehicle model in the present invention Tarnsition velocity, and, using the directions such as electronic compass measure device, greatly save positioning cost without the need in addition.
In addition, when being single wheel vehicle model, directly using the direction of motion (velocity attitude) of wheelbarrow as the x of local coordinate system Axle, using the direction of vertical x-axis as y-axis, using mobile node center as the origin of coordinates.
Because the motion state of mobile node in calculating process can change, corresponding local coordinate system also can be with change. But due to only needing to know angle of the static object relative to mobile node direction of advance in whole process, the angle is It is relative, therefore the change of local coordinate system do not interfere with whole iterative process and impacts, therefore, need not obtain in the present invention Mobile node velocity attitude, and the coordinate system conversion of complexity are taken, calculating process is enormously simplify, locating speed is improve.
The setting in sampling period is directly connected to the duration of the accuracy of last positioning result and positioning.It is heretofore described Sampling period be 0.02～08s, preferably, the described sampling period be 0.05s.In practical application, can according to should The cycle is adopted with the movement velocity setting of demand, and mobile target.
Preferably, kth+1 time iterates to calculate the positional information of the static object that obtains relative to mobile nodeFor：
Wherein,
K is the number of times of iterative calculation, and T is the sampling period,The static object obtained for kth time iterative calculation relative to The positional information of mobile node, υ (k) for mobile node linear speed, ω (k) for mobile node angular velocity of rotation, α (k) For static object relative to mobile node velocity attitude angle.
Compared with prior art, the invention has the advantages that：
(1) the use of iterative calculation formula is linear system, relative to existing location algorithm, with global optimum and refers to The advantage of number convergence, it is ensured that final certain；
(2) calculate every time in iterative process and all resurvey data, and then according to default initial bit confidence Breath is constantly corrected, and then obtains the precise position information of static object to be positioned.
Description of the drawings
Fig. 1 is the movement locus and static object position relation schematic diagram of mobile node；
Fig. 2 is evaluated error and the graph of a relation for iterating to calculate number of times in this example；
Fig. 3 is the overlap schematic diagram of estimate and actual value track in this example.
Specific embodiment
Below in conjunction with specific embodiments and the drawings, the present invention is described in further detail.
The combination mobile node velocity information of the present embodiment and the static object localization method of target bearing angle information, including Following steps：
Step 1, for static object to be positioned, disposes a mobile node in predeterminable area；
The mobile node model of the present embodiment is single wheel vehicle model, and corresponding local coordinate system is the speed of single wheel vehicle model Direction is x-axis, and y-axis is vertical with x-axis.
Step 2, according to default sampling period (being 0.05s in the present embodiment) and initial position iterative calculation static object Relative to the positional information of mobile node, until the number of times of iterative calculation stops when reaching the amount threshold of setting, and with last Result of calculation once is used as positioning result：
Proceed as follows during iterative calculation every time：
Itself velocity information of mobile node and the azimuth information of static object are obtained, and according to the velocity information for obtaining Positional information of the static object relative to mobile node is calculated with azimuth information.
Itself velocity information of the mobile node of the present embodiment includes the linear speed and angular velocity of rotation of itself.Static mesh Target azimuth information includes angle of the static object relative to mobile node velocity attitude.
The linear speed (size) of mobile node itself is obtained using velocity sensor measurement in the present embodiment, anglec of rotation speed Degree (size) is calculated according to the speed difference of left side and right side wheels in single wheel vehicle model.
Static object is gathered relative to the angle of mobile node velocity attitude by installing camera on the mobile node Arrive.
Positional information of the static object that wherein+1 iterative calculation of kth is obtained relative to mobile nodeFor：
Wherein,
K is the number of times of iterative calculation, and T is the sampling period,The static object obtained for kth time iterative calculation relative to The positional information of mobile node, υ (k) for mobile node linear speed, ω (k) for mobile node angular velocity of rotation, α (k) For static object relative to mobile node velocity attitude angle.
The position relationship of mobile node and static object is as shown in figure 1, static object and mobile node exist in the present embodiment Size for 7 × 8 region in, in the movement locus such as Fig. 1 of mobile node shown in curve, pgK () is mobile node in global seat The following absolute position of mark system, Start is starting point, it can be seen that its movement locus is similar to ellipse.
For the movement locus shown in Fig. 1, easily determine that target is that satisfaction can location condition under mobile node coordinate.
Fig. 2 represents evaluated error of the static object to mobile node relative coordinate (positional information)With repeatedly For calculation times variation diagram.As can be seen that the localization method has exponential convergence property, evaluated error has Exponential Convergence Matter, iterations evaluated error at 100 times or so can be stablized in 0 relatively small neighbourhood, and convergence rate is very fast.
Fig. 3 represents that kth time iterates to calculate the estimate for obtaining when iterative calculation number of times reaches certain value(change For calculated positional information) Complete Convergence goes to above actual value p (k) (actual position information).
Above-described specific embodiment has been described in detail to technical scheme and beneficial effect, Ying Li Solution is to the foregoing is only presently most preferred embodiment of the invention, is not limited to the present invention, all principle models in the present invention Interior done any modification, supplement and equivalent etc. are enclosed, be should be included within the scope of the present invention.

Claims (5)

1. the static object localization method of a kind of combination mobile node velocity information and target bearing angle information, it is characterised in that Comprise the steps：
Step 1, for static object to be positioned, disposes a mobile node in predeterminable area；
Step 2, believes according to default sampling period and initial position iterative calculation static object relative to the position of mobile node Breath, proceeds as follows every time during iterative calculation：
Positional information of the static object that+1 iterative calculation of kth is obtained relative to mobile nodeFor：
Wherein,
A ( k ) = 0 ω ( k ) - ω ( k ) 0 ,
K is the number of times of iterative calculation, and T is the sampling period,For kth time the static object for obtaining is iterated to calculate relative to movement The positional information of node, v (k) is the linear speed of mobile node, and ω (k) is the angular velocity of rotation of mobile node, and α (k) is quiet Angle of the state target relative to mobile node velocity attitude.
2. as claimed in claim 1 with reference to mobile node velocity information and the static object positioning side of target bearing angle information Method, it is characterised in that described mobile node model is single wheel vehicle model.
3. as claimed in claim 1 with reference to mobile node velocity information and the static object positioning side of target bearing angle information Method, it is characterised in that itself velocity information of the mobile node includes the linear speed and angular velocity of rotation of itself.
4. as claimed in claim 1 with reference to mobile node velocity information and the static object positioning side of target bearing angle information Method, it is characterised in that the azimuth information of described static object includes static object relative to mobile node velocity attitude Angle.
5. as claimed in claim 1 with reference to mobile node velocity information and the static object positioning side of target bearing angle information Method, it is characterised in that the described sampling period is 0.02～0.08s.
CN201410809200.1A 2014-12-22 2014-12-22 Static target locating method combining mobile node speed information and target azimuth information Expired - Fee Related CN104677354B (en)

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