CN111487583A - Wireless enhanced positioning method for moving target under data fusion - Google Patents

Wireless enhanced positioning method for moving target under data fusion Download PDF

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CN111487583A
CN111487583A CN202010428705.9A CN202010428705A CN111487583A CN 111487583 A CN111487583 A CN 111487583A CN 202010428705 A CN202010428705 A CN 202010428705A CN 111487583 A CN111487583 A CN 111487583A
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wireless
moving target
target
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辛改芳
朱俊
裴志坚
唐静
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Changzhou College of Information Technology CCIT
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0257—Hybrid positioning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination

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Abstract

The invention discloses a wireless enhanced positioning method of a moving target under data fusion, which comprises the steps of carrying out wireless node position configuration based on wireless node energy consumption balance and constructing a wireless network; the method comprises the steps that a moving target receives wireless signals with different amplitudes from related wireless nodes in a wireless network at a preset position; the mobile target receives wireless signals with different amplitudes from related wireless nodes in the wireless network at a position similar to the topological structure at the preset position; performing data fusion on all wireless signals; obtaining a mobile target position measurement equation based on the fused data; and (4) estimating the position of the moving target by combining a state equation of the moving target and a position measurement equation of the moving target, and finishing wireless enhanced positioning of the moving target under data fusion. The invention is based on wireless distance measurement and wireless positioning, has the characteristic of distributed non-accumulative error and provides a foundation for high-precision positioning service of a mobile target.

Description

Wireless enhanced positioning method for moving target under data fusion
Technical Field
The invention belongs to the technical field of wireless positioning, and particularly relates to a wireless enhanced positioning method for a moving target under data fusion.
Background
The dynamic positioning technique for moving targets has received much attention from researchers because it can specify what is happening at what position. In industrial production, the mobile target positioning technology is the basis for realizing the high-efficiency production of the autonomous mobile machine group in a factory production workshop, and can autonomously track the real-time position of a mobile target. In personnel monitoring, the target positioning technology can help to count the number of personnel, analyze and optimize personnel procedures of the autonomous mobile cluster and draw the movement track of the personnel. Along with the gradual severe application environment of mobile target positioning, and the multi-machine cooperation task of the mobile target positioning is gradually complicated, such as multi-machine operation, factory logistics, intelligent scheduling and the like, the requirement on the positioning precision of the mobile target is continuously improved, and the positioning precision is required to have stronger stability in the global range.
The current mobile target positioning technology mainly comprises various modes such as satellite positioning, wireless positioning, inertial navigation, odometer, visual positioning and the like. The installation of a satellite receiver for a moving object in an open environment outdoors or in the air enables the moving position of the moving object to be obtained in real time and becomes a mature and reliable solution. The multi-machine cooperation task of the moving target exists in an indoor or factory closed environment, and satellite signals are shielded and satellite navigation cannot be carried out, so that the requirement that the moving target obtains accurate and stable position parameters in a positioning area cannot be met. Along with the penetration of a sensor network and an information processing technology in the field of mobile target positioning, the wireless sensor network integrates the advantages of intellectualization, networking, distribution and the like, realizes target positioning by adopting the wireless sensor network through wireless signal-ranging, and can realize tasks such as information acquisition, data processing, fusion calculation, position tracking and the like on a mobile target under the condition of weakening the interference of a wireless signal to a complex dynamic and static obstacle in the moving process of the mobile target.
In order to adapt to more complex application environments and implement multi-target combined operation on a moving target accurately and steadily around the application requirements of a moving target group based on position services, the moving target can move to a preset target according to functional requirements, a moving target accurate positioning system can be constructed by utilizing the distributed positioning characteristics of a wireless sensor network, and the real-time motion conditions of all moving targets dispersed in a positioning area are transmitted to a monitoring center to enhance the distributed positioning performance of the moving targets.
Disclosure of Invention
Aiming at the problems, the invention provides a wireless enhanced positioning method for a moving target under data fusion, which can improve the wireless positioning precision of the moving target.
In order to achieve the technical purpose and achieve the technical effects, the invention is realized by the following technical scheme:
a wireless enhanced positioning method for a moving target under data fusion comprises the following steps:
wireless node position configuration is carried out based on wireless node energy consumption balance, and a wireless network is constructed;
the method comprises the steps that a moving target receives wireless signals with different amplitudes from related wireless nodes in a wireless network at a preset position;
the mobile target receives wireless signals with different amplitudes from related wireless nodes in the wireless network at a position similar to the topological structure at the preset position;
performing data fusion on all wireless signals;
obtaining a mobile target position measurement equation based on the fused data;
and (4) estimating the position of the moving target by combining a state equation of the moving target and a position measurement equation of the moving target, and finishing wireless enhanced positioning of the moving target under data fusion.
Optionally, the wireless node location configuration based on wireless node energy consumption balancing includes:
targeting each wireless node to consume similar energy per unit time;
and adjusting the transmission distance of each wireless node based on the data volume of the wireless nodes at different positions, so that the survival time of each single wireless node is consistent, and the optimal survival time of the whole wireless network is realized.
Alternatively, the calculation formula for a single wireless node consuming similar energy per unit time is:
Econ(SNi)＝et(ktrs)+et(d,ktrs,α)+er(krev)
wherein E iscon(SNi) Indicating that the ith wireless node in the wireless network consumes similar energy per unit time, SNiRepresenting the ith wireless node in the wireless network, et(ktrs) Indicating wireless node to transmit data ktrsTime circuit power consumption, er(krev) Indicating reception of data k by a wireless noderevTime circuit power consumption, et(d,ktrsα) represents the transmission data k with the attenuation coefficient αtrsAnd a transmission distance d between nodesiThe associated energy consumption.
Optionally, the moving target operates at the preset position L ocwReceiving m node wireless signals
Figure BDA0002499703700000021
The mobile target operates at a topologically similar position L ocvReceiving m-node wireless signals
Figure BDA0002499703700000022
The data fusion of all wireless signals includes:
calculated at preset position L ocwPosition L oc similar to topologyvCorrelation coefficient ρ (S) of radio signalw,Sv)；
Calculating the maximum correlation coefficient to obtain two groups of wireless signals, and obtaining the wireless signals capable of representing the position of the moving target;
comparing the radio signal correlation coefficient rho (S)w,Sv) Selecting two groups of wireless signals with large correlation coefficient and endowing the wireless signals with different fusion coefficients lambdawAnd 1-lambdaw；
Obtaining a fused wireless signal S based on the two groups of wireless signalsI＝[SwSv][λw1-λw]T。
Optionally, the estimating the position of the moving target by combining the state equation of the moving target and the measurement equation of the position of the moving target includes the following steps:
and combining the state equation and the position measurement equation of the moving target, and obtaining the position of the moving target by adopting Kalman filtering.
Optionally, the state equation of the moving target is:
Figure BDA0002499703700000031
wherein the content of the first and second substances,
Figure RE-GDA0002531971060000032
representing kinematic parameters of coordinates of moving objects at time t, xk,yk,zkWhich represents the position of the moving object,
Figure RE-GDA0002531971060000033
which is indicative of the speed of the moving object,
Figure RE-GDA0002531971060000034
representing the acceleration, u, of a moving objectkMeaning that the process noise satisfies zero-mean gaussian noise,
Figure RE-GDA0002531971060000035
a transfer function representing a state of motion.
Optionally, the moving target position measurement equation is:
Figure BDA0002499703700000036
wherein v iskRepresents zero mean Gaussian noise, [ x ]o,yo,zo]Three-dimensional coordinates representing a wireless node; [ x ] ofk,yk,zk]Indicating the moving target location.
Optionally, the step of estimating the position of the moving target further comprises:
and adopting inequality constraint to carry out error elimination on the estimated moving target position.
Optionally, the performing error elimination on the estimated moving target position by using inequality constraint includes the following steps:
using the boundary of the structure in the positioning area as a constraint condition, wherein the maximum boundary c of the moving target operationmaxIs [ x ]max,ymax,zmax]TMinimum boundary of moving object operation cminIs [ x ]min,ymin,zmin]T；
Using the maximum boundary cmaxAnd the minimum boundary cminEstablishing a primary estimation value [ x ] of the position of a moving targetk,yk,zk]TSo that the abscissa of the position of the moving object satisfies xmin≤xk≤xmaxOrdinate satisfies ymin≤yk≤ymaxHeight coordinate satisfying zmin≤zk≤zmax。
Compared with the prior art, the invention has the beneficial effects that:
the method carries out wireless enhanced positioning on the moving target by taking network construction, signal ranging, positioning calculation and positioning enhancement as a main line. In the construction of the network, the optimal network survival time is taken as an objective function to carry out wireless network configuration; in the signal distance measurement process, the mobile target and the wireless node receive different wireless signals at different geometric positions, correlation analysis is adopted to represent the similarity of wireless signal amplitudes between similar geometric distances, and two groups of wireless signals with the maximum correlation are fused to measure the distance between the mobile target and the wireless node; establishing a position measurement equation and a state equation to carry out primary position estimation on the moving target based on the wireless ranging value, the kinematics characteristic and the noise estimation; moving uncertainty of the moving target and interference of wireless signals are carried out, inequality constraint is adopted to carry out error positioning and filtering of the moving target, uncertainty of positioning measurement information of a wireless sensor network is weakened, and moving target positioning accuracy under data fusion is improved. The invention is based on wireless distance measurement and wireless positioning, has the characteristic of distributed non-accumulative error and provides a foundation for high-precision positioning service of a mobile target.
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In order that the present invention may be more readily and clearly understood, reference is now made to the following detailed description of the invention taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a diagram of a wireless enhanced positioning structure of a mobile target under data fusion according to the present invention;
FIG. 2 is a schematic diagram of mobile target wireless signal correlation under data fusion according to the present invention;
fig. 3 is a diagram of a mobile target wireless enhanced positioning solution under data fusion according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the scope of the invention.
The following detailed description of the principles of the invention is provided in connection with the accompanying drawings.
The invention provides a wireless enhanced positioning method of a moving target under data fusion, which comprises the following steps as shown in figures 1-3:
wireless node position configuration is carried out based on wireless node energy consumption balance, and a wireless network is constructed;
the method comprises the steps that a moving target receives wireless signals with different amplitudes from related wireless nodes in a wireless network at a preset position;
the mobile target receives wireless signals with different amplitudes from related wireless nodes in the wireless network at a position similar to the topological structure at the preset position;
performing data fusion on all wireless signals;
obtaining a mobile target position measurement equation based on the fused data;
and (4) estimating the position of the moving target by combining a state equation of the moving target and a position measurement equation of the moving target, and finishing wireless enhanced positioning of the moving target under data fusion.
In the distributed positioning of the wireless network moving target, the wireless network coverage deployment can influence the survival time of the wireless network, thereby influencing the positioning precision and reliability of the moving target. Therefore, in a specific embodiment of the present invention, the performing of the wireless node location configuration based on the wireless node energy consumption balance is to perform three-dimensional deployment of the wireless nodes based on the wireless network lifetime as an objective function and based on the energy consumption of the wireless nodes at different locations, and specifically includes the following operations:
targeting each wireless node to consume similar energy per unit time; the calculation formula for a single wireless node consuming similar energy per unit time is:
Econ(SNi)＝et(ktrs)+et(d,ktrs,α)+er(krev)
wherein E iscon(SNi) Indicating that the ith wireless node in the wireless network consumes similar energy per unit time, SNiRepresenting the ith wireless node in the wireless network, et(ktrs) Indicating wireless node to transmit data ktrsTime circuit power consumption, er(krev) Indicating reception of data k by a wireless noderevTime circuit power consumption, et(d,ktrsα) represents the transmission data k with the attenuation coefficient αtrsAnd a transmission distance d between nodesiThe associated energy consumption.
Adjusting the transmission distance of each wireless node based on the data volume of the wireless nodes at different positions, so that the survival time of each single wireless node is consistent, and the optimal survival time of the whole wireless network is realized, wherein the wireless nodes adopt a multi-hop routing mode in the wireless communication process; due to the fact that buildings and equipment exist in the operation area, non-line-of-sight influence is easily caused to wireless communication, the wireless nodes in the operation area are covered in a three-dimensional mode by comprehensively considering the energy efficiency and the non-line-of-sight influence of the wireless nodes.
In a specific implementation manner of the embodiment of the present invention, the multi-source wireless signal fusion can enhance the wireless ranging performance, collect wireless signals between a wireless node and a moving target, perform correlation analysis on nonlinear wireless signals based on wireless signals with similar geometric distances in network topology, and select two groups of wireless signals with the largest correlation for fusion in consideration of the wireless signal sequence distribution rule in a communication range, specifically:
when the transmission power and the mode are similar in the communication process of the wireless nodes, the adjacent wireless mobile nodes obtain similar geometric distance, the amplitude of the signals received from the wireless nodes is similar, and the mapping relation between the position space and the signal space existswReceiving m node wireless signals
Figure BDA0002499703700000051
The mobile target operates at a topologically similar position L ocvReceiving m-node wireless signals
Figure BDA0002499703700000052
Calculated at preset position L ocwPosition L oc similar to topologyvCorrelation coefficient ρ (S) of radio signalw,Sv)；
The wireless signals are easily interfered by environmental noise and sensor noise, the wireless ranging performance can be enhanced by multi-wireless signal fusion, two groups of wireless signals are obtained by calculating the maximum correlation coefficient, and the wireless signals capable of representing the position of a moving target are obtained;
comparing the radio signal correlation coefficient rho (S)w,Sv) Selecting two groups of wireless signals with large correlation coefficient and endowing the wireless signals with different fusion coefficients lambdawAnd 1-lambdaw；
Obtaining a fused wireless signal S based on the two groups of wireless signalsI＝[SwSv][λw1-λw]T。
In a specific embodiment of the present invention, a moving area of a moving target is used as a positioning subspace, a position solution state equation is established by analyzing the kinematic characteristics of the moving target and combining with process noise distribution, a position solution measurement equation is established by combining a wireless node and a wireless signal ranging value of the moving target and measuring noise distribution, and a primary estimation of the position of the moving target under a wireless network is obtained by iterative estimation, which specifically comprises the following steps:
the moving target has dynamic characteristics and kinematic characteristics in the running process, and the kinematic parameters of the coordinates of the moving target at the moment t are
Figure BDA0002499703700000053
Process noise satisfying zero mean gaussian noise ukThe transfer function of the motion state is
Figure BDA0002499703700000054
The equation of state for moving the target at time t +1 can be expressed as
Figure BDA0002499703700000055
On the premise of establishing a moving target state equation, a measuring equation of the moving target needs to be established according to the wireless sensor network ranging value and the wireless node initial coordinate. The mobile target receives m wireless node signals, the position of the mobile target can be calculated by only three wireless nodes and the signals of the mobile target, and a measurement equation between the mobile target containing the ranging error and the wireless nodes is constructed based on the signal amplitude of the difference between the mobile target and the wireless nodes. Wireless node SNiHas three-dimensional coordinates of a ═ xo,yo,zo]TThe measured noise satisfies the zero mean value of the Gaussian noise vk, wireless node SNiThe wireless signal between the mobile object represents the geometric distance and the location parameter [ x ] of the mobile objectk,yk,zk]A measurement equation can be established
Figure RE-GDA0002531971060000061
And based on the state equation and the measurement equation of the moving target, positioning output of the moving target is obtained by adopting Kalman filtering.
Example 2
Considering that the positioning output is uncertain caused by a wireless signal fusion process and a wireless positioning calculation process, the wireless positioning of the moving target can have wrong positioning in a partial area, combining the movement of the moving target in a bounded geometric area, establishing inequality constraint by using a positioning area boundary extreme value, and weakening the wrong positioning caused by uncertainty by reducing the position calculation feasible region of the moving target, thereby obtaining the wireless enhanced positioning output of the moving target under data fusion. Based on example 1, the inventive example differs from example 1 in that:
after the step of estimating the position of the moving target, the method further comprises the following steps:
and adopting inequality constraint to carry out error elimination on the estimated moving target position.
Optionally, the performing error elimination on the estimated moving target position by using inequality constraint includes the following steps:
using the boundary of the structure in the positioning area as a constraint condition, wherein the maximum boundary c of the moving target operationmaxIs [ x ]max,ymax,zmax]TMinimum boundary of moving object operation cminIs [ x ]min,ymin,zmin]T；
And reducing the feasible domain of the mobile target positioning calculation by utilizing the constraint conditions, and obtaining the accurate distributed position of the mobile target. Specifically, the method comprises the following steps: using the maximum boundary cmaxAnd the minimum boundary cminEstablishing a primary estimation value [ x ] of the position of a moving targetk,yk,zk]TSo that the abscissa of the position of the moving object satisfies xmin≤xk≤xmaxOrdinate satisfies ymin≤yk≤ymaxHeight coordinate satisfying zmin≤zk≤zmaxTherefore, the constraint relation between the primary position estimation value of the moving target and the bounded geometric boundary is utilized, the uncertainty of the positioning measurement information of the wireless sensor network is weakened, and the distributed positioning precision of the moving target under the wireless data fusion is improved.
In summary, the following steps: in the invention, a moving target moves along a set track in a positioning area, the survival time of a wireless network influences the positioning reliability of the moving target, wireless nodes are effectively deployed according to the energy of the wireless nodes under the condition of meeting the requirements of full coverage and full communication, and the wireless nodes and the moving target construct the wireless network in the positioning area in a wireless communication mode; when the moving target moves to enable different wireless signals to be generated with the wireless nodes at different positions, two groups of wireless signals with the maximum correlation are fused to calculate to obtain the geometric distance between the moving target and the wireless nodes; establishing a resolving equation between the moving target and the wireless node based on the wireless distance measurement value of the node, the three-dimensional coordinate of the wireless node and the motion characteristic of the moving target, and realizing one-time estimation of the position of the moving target; in the wireless positioning resolving process, environmental interference, wireless signal ranging noise, positioning resolving algorithm and the like exist to influence the positioning accuracy of the mobile target, and the geometric boundary constraint condition is considered to further reduce the positioning resolving feasible region so as to enhance the wireless positioning accuracy of the mobile target. The wireless enhanced positioning of the moving target under data fusion is carried out through wireless sensor network construction, wireless signal-distance measurement, moving target distributed positioning calculation and moving target positioning enhancement under multiple constraints.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and their equivalents.

Claims (9)

1. A wireless enhanced positioning method for a moving target under data fusion is characterized by comprising the following steps:
wireless node position configuration is carried out based on wireless node energy consumption balance, and a wireless network is constructed;
the method comprises the steps that a moving target receives wireless signals with different amplitudes from related wireless nodes in a wireless network at a preset position;
the mobile target receives wireless signals with different amplitudes from related wireless nodes in the wireless network at a position similar to the topological structure at the preset position;
performing data fusion on all wireless signals;
obtaining a mobile target position measurement equation based on the fused data;
and (4) estimating the position of the moving target by combining a state equation of the moving target and a position measurement equation of the moving target, and finishing wireless enhanced positioning of the moving target under data fusion.
2. The method for wireless enhanced positioning of a mobile target under data fusion according to claim 1, wherein the wireless node position configuration based on wireless node energy consumption balance comprises the following steps:
targeting each wireless node to consume similar energy per unit time;
and adjusting the transmission distance of each wireless node based on the data volume of the wireless nodes at different positions, so that the survival standard time of each single wireless node is consistent, and the optimal survival time of the whole wireless network is realized.
3. The method of claim 2, wherein the calculation formula of the similar energy consumed by the single wireless node per unit time is as follows:
Econ(SNi)＝et(ktrs)+et(d,ktrs,α)+er(krev)
wherein E iscon(SNi) Indicating that the ith wireless node in the wireless network consumes similar energy per unit time, SNiRepresenting the ith wireless node in the wireless network, et(ktrs) Indicating wireless node to transmit data ktrsTime circuit power consumption, er(krev) Indicating reception of data k by a wireless noderevTime circuit power consumption, et(d,ktrsα) representation and attenuation coefficient α, transmissionData ktrsAnd a transmission distance d between nodesiThe associated energy consumption.
4. The method as claimed in claim 1, wherein the mobile object operates at a predetermined location L ocwReceiving m node wireless signals
Figure RE-FDA0002531971050000011
The mobile target operates at a topologically similar position L ocvReceiving m-node wireless signals
Figure RE-FDA0002531971050000012
The data fusion of all wireless signals includes:
calculated at preset position L ocwPosition L oc similar to topologyvCorrelation coefficient ρ (S) of radio signalw,Sv)；
Calculating the maximum correlation coefficient to obtain two groups of wireless signals, and obtaining the wireless signals capable of representing the position of the moving target;
comparing the radio signal correlation coefficient rho (S)w,Sv) Selecting two groups of wireless signals with large correlation coefficient and endowing the wireless signals with different fusion coefficients lambdawAnd 1-lambdaw；
Obtaining a fused wireless signal S based on the two groups of wireless signalsI＝[SwSv][λw1-λw]T。
5. The method for enhancing the wireless positioning of the mobile target under the data fusion of claim 1, wherein the estimating the position of the mobile target by combining the state equation of the mobile target and the measurement equation of the position of the mobile target comprises the following steps:
and combining the state equation and the position measurement equation of the moving target, and obtaining the position of the moving target by adopting Kalman filtering.
6. The method for wirelessly enhancing the positioning of the mobile object under the data fusion as claimed in claim 1, wherein the equation of state of the mobile object is:
Figure RE-FDA0002531971050000021
wherein the content of the first and second substances,
Figure RE-FDA0002531971050000022
representing kinematic parameters of coordinates of moving objects at time t, xk,yk,zkWhich represents the position of the moving object,
Figure RE-FDA0002531971050000023
which is indicative of the speed of the moving object,
Figure RE-FDA0002531971050000024
representing the acceleration, u, of a moving objectkMeaning that the process noise satisfies zero-mean gaussian noise,
Figure RE-FDA0002531971050000025
a transfer function representing a state of motion.
7. The method for enhancing the location of the mobile object under the data fusion as claimed in claim 1, wherein: the mobile target position measurement equation is as follows:
Figure RE-FDA0002531971050000026
wherein v iskRepresents zero mean Gaussian noise, [ x ]o,yo,zo]Three-dimensional coordinates representing a wireless node; [ x ] ofk,yk,zk]Indicating the moving target location.
8. The method for wireless enhanced positioning of a mobile target under data fusion according to claim 1, wherein the step of estimating the position of the mobile target further comprises:
and adopting inequality constraint to carry out error elimination on the estimated moving target position.
9. The method according to claim 8, wherein the method for performing error elimination on the estimated position of the moving target by using inequality constraints comprises the following steps:
using the boundary of the structure in the positioning area as a constraint condition, wherein the maximum boundary c of the moving target operationmaxIs [ x ]max,ymax,zmax]TMinimum boundary of moving object operation cminIs [ x ]min,ymin,zmin]T；
Using the maximum boundary cmaxAnd the minimum boundary cminEstablishing a primary estimation value [ x ] of the position of a moving targetk,yk,zk]TSo that the abscissa of the position of the moving object satisfies xmin≤xk≤xmaxOrdinate satisfies ymin≤yk≤ymaxHeight coordinate satisfying zmin≤zk≤zmax。
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114126043A (en) * 2021-11-23 2022-03-01 江苏科技大学 Moving target distributed positioning method under network topology optimization

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114126043A (en) * 2021-11-23 2022-03-01 江苏科技大学 Moving target distributed positioning method under network topology optimization
CN114126043B (en) * 2021-11-23 2023-09-19 江苏科技大学 Moving target distributed positioning method under network topology optimization

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