CN113820660A - Autonomous positioning method for real-time mapping based on micro-space electromagnetic characteristics - Google Patents
Autonomous positioning method for real-time mapping based on micro-space electromagnetic characteristics Download PDFInfo
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Abstract
The invention discloses an autonomous positioning method for real-time mapping based on micro-space electromagnetic characteristics, and belongs to the technical field of navigation positioning. Which comprises the following steps: mounting a plurality of antennas on the positioning object; the positioning object keeps a static state, and the input parameter set of each antenna is detected based on a time threshold to form a micro-space mapping parameter subset; performing prediction calculation on the distribution of the electromagnetic parameters in the micro-space; the positioning object starts to move; determining the validity of the mapping point according to the Euclidean distance matching confidence threshold; calculating according to the multipoint mapping to obtain spatial coordinate matrixes of the multi-antenna coordinates at different moments; and acquiring a corresponding motion vector of any antenna in the discrete time domain mapping observation process, and integrating the motion vector to obtain a positioning value. The method has high applicability to the application environment with complex and jumping electromagnetic parameters, and has important significance for implementing emergency disaster relief, tunnel traffic and other applications in the application scene of non-cooperative space.
Description
Technical Field
The invention belongs to the technical field of navigation positioning, and particularly relates to an autonomous positioning method for real-time map building based on micro-space electromagnetic characteristics.
Background
In application scenarios such as emergency disaster relief and tunnel traffic, it is necessary to ensure that positioning objects such as operators and unmanned systems can acquire continuous and autonomous positioning information in underground, indoor and other non-cooperative spaces without wireless positioning infrastructure but with radio signals. The currently disclosed method includes a dead reckoning (PDR) technology using inertial devices and motion characteristics of positioning objects, a real-time mapping and positioning (SLAM) technology based on a visual sensor, a wireless network positioning technology temporarily constructing multiple reference points, and the like, which can solve the positioning requirements under specific application conditions, but is not ideal in practicability for application scenes requiring rapid investment, insufficient illumination, severe radio multipath and non-line-of-sight observation, uneven motion characteristics of positioning objects, and the like, which are the basic characteristics of most of extreme application scenes such as indoor and underground after-disaster, natural caverns, spaces with a large amount of metal materials, and the like, so that a high autonomous positioning method in the extreme application scenes is required as a backup guarantee means.
Disclosure of Invention
The invention aims to provide an autonomous positioning method for real-time mapping based on micro-space electromagnetic characteristics. The method can be applied to non-cooperative space, particularly underground, indoor and other spaces which need quick investment, are insufficient in illumination, are serious in radio multipath and non-line-of-sight observation, are uneven in motion characteristics of the positioning object, do not have wireless positioning infrastructure but have wireless signals, and can ensure that positioning objects such as operators, unmanned systems and the like can obtain positioning information.
In order to achieve the purpose, the invention adopts the technical scheme that:
an autonomous positioning method based on micro-space electromagnetic feature real-time mapping comprises the following steps:
(1) installing a plurality of radio receiving antennas with the same characteristics on a positioning object, wherein an intersection exists between a micro space enclosed by taking the plurality of radio receiving antennas as vertexes and a potential motion vector axis of the positioning object; establishing relative space relation matrix among multiple antennae through measurement
Wherein [ x ]i,yi,zi]The position of the phase center of the ith antenna in a relative coordinate system is shown, and n is the total number of the antennas;
(2) each antenna is provided with an independent receiving channel, the same clock source is adopted to provide a uniform time-frequency reference for the plurality of receiving channels, and the receiving channels can output frequency spectrums, intensities, carrier phase change rates and other parameters reflecting environmental electromagnetic characteristics, wherein the frequency spectrums, the intensities, the carrier phase change rates and the other parameters are acquired by observing an environmental electromagnetic field; marking k observation parameters output by the ith antenna at the time t as a set
Ti(t)＝{α1,α2,…αk}
By Ti(t,αk) Representing the parameter alpha observed by the i-th antennak(ii) a Alpha with the same subscript in different antenna observation parameter setskElectromagnetic characteristic parameters representing the same meaning;
(3) the positioning object sets a time threshold eta according to the space and the self activity characteristicstMeaning the maximum time that elapses between multiple antennas to reach the absolute position of each other;
(4) when the positioning object needs to be positioned, firstly keeping a static state, and detecting each antenna input parameter set Ti(t) at ηtFor observing the quasi-static quantity contained in the time period, marking as a subset
Then extracting observation parameters with difference in value from the subsets of n antennas to form a micro-space mapping parameter subset D (t) { alpha }1,α2,…αr}; if D (t) is an empty set, reporting that the positioning is not available currently, and trying again by changing the static position of the positioning object;
(5) if D (t) is not an empty set, taking the matrix A or multi-antenna space coordinates obtained by other means as multi-antenna initialization coordinates B (t) and taking the multi-antenna position as a micro surrounded by vertexesThe space is defined as U (t), and the distribution of D (t) in U (t) is predicted and calculated by taking any point [ x ] in the micro space under the relative coordinate systeme,ye,ze]Parameter αrAn estimate of e D (t) of
In the formula, the function f (-) is an interpolation fitting coefficient set according to the space vector relation; thereby obtaining the distribution state W (t, e, alpha) of D (t) in the micro-space U (t)r)e∈U(t),αrE, D (t), recording instantaneous distribution state data and continuously updating to realize real-time mapping of the electromagnetic characteristics of the micro-space;
(6) the positioning object starts to move, the antenna behind the motion direction enters the micro space surrounded by the multiple antennas at the last moment, and the observation parameter set T of the positioning object at T + delta T is extractedi{ α in (t + Δ t)1,α2,…αrAnd calculate the sum W (t, e, α)r) The minimum weighted Euclidean distance of the feature value sets of each spatial point:
in the formula, betajSetting confidence weight values according to different electromagnetic characteristic parameter characteristics;
obtaining the space point corresponding to the minimum weighted Euclidean distance in U (t)
(7) Setting Euclidean distance matching confidence threshold etasIf, if
Exceed threshold etasRe-executing the step (6); if the space point is within the threshold, the space point is considered to be
Is valid, consider that antenna i is in U (t) at time t + Δ t
The position of (a);
(8) at the time of t + delta t, when at least two antenna nodes exist for the positioning object moving in a plane or at least three antenna nodes exist for the positioning object moving in a three-dimensional mode, and effective mapping points exist in U (t), the positioning object is considered to be positioned continuously, otherwise, the step (6) is executed again; in the case of continuous positioning, the method is based on the space coordinate [ x ] of the antenna node in the relative coordinate system at the time ti,yi,zi]And the coordinates of the mapped point at time t + Δ t
Calculating a space coordinate rotation and translation matrix under the condition that the relative space relationship between the antennas is unchanged through a coordinate conversion algorithm, further obtaining a space coordinate matrix of the multiple antennas at the t + delta t moment under the condition that the origin and the three-axis direction of the relative coordinate system of the positioning object are fixed, and taking the space coordinate matrix as an update value B (t + delta t) of B (t) in the step (5);
(9) calculating a motion vector from the coordinate of any antenna node i in B (t) to the corresponding coordinate in B (t + delta t), and taking the motion vector as a space motion vector l from t to t + delta ti(t,t+Δt)；
(10) And (5) repeating the steps (5) to (9), obtaining a space motion vector of any antenna node on a discrete time domain, integrating the space motion vector, and obtaining a positioning value of the antenna node installed on the positioning object after the initialization of the positioning object is completed and the motion of the antenna node is started, wherein a coordinate system of the positioning value is consistent with a coordinate system of a multi-antenna initialization coordinate B (t).
Compared with the prior art, the invention has the following beneficial effects:
1. the invention does not need to construct a wireless positioning network ensuring the line-of-sight measurement in a non-cooperative space.
The existing electromagnetic field in an application environment is sensed and mapped in real time through multiple antennas, and positioning calculation is realized by using the mapping relation between the sensing parameters of the antennas and the mapping relation in real time in the moving process.
2. The invention has higher applicability to the application environment with complex jump of electromagnetic parameters.
For an application space with a large amount of metal or narrow space, the electromagnetic parameters have rapid jumping characteristics in the process of short-distance movement, so that the traditional method based on cooperative spread spectrum signal carrier observation has frequent loop unlocking and positioning interruption, and a micro-space-based real-time mapping mode utilizes the characteristics of rapid change of the electromagnetic parameters in the application space and has better adaptive force.
In a word, the invention provides a positioning mode which can be rapidly applied in an extreme application scene, has strong environmental adaptability and high autonomy. A plurality of receiving antennas with a determined relative spatial relationship are installed on positioning objects such as operating personnel and unmanned systems, electromagnetic characteristic parameters sensed by the antennas are utilized to build a map in real time for electromagnetic characteristic parameter distribution in a micro space surrounded by the antennas, when the positioning objects move, a matching relationship between the electromagnetic parameters sensed by the antennas and the electromagnetic characteristics of the micro space is built in real time, the moving distance and the moving direction of the positioning objects at continuous moments are obtained, and positioning is achieved through an integral mode.
Drawings
Fig. 1 is a flowchart of an autonomous positioning method in an embodiment of the present invention.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
An autonomous positioning method based on micro-space electromagnetic feature real-time mapping comprises the following steps:
(1) installing a plurality of radio receiving antennas with the same characteristics on a positioning object, wherein the installation positions and the orientations of the antennas are selected to enable the electromagnetic reflection on the surface of the positioning object and the disturbance of the electromagnetic radiation of the positioning object on the parameters of received signals to be within an acceptable range, or enable the receiving characteristics of different antennas on the electromagnetic signals of a preset frequency band to be approximately consistent when the different antennas are at the same absolute space position through parameter correction; meanwhile, the intersection of the micro space surrounded by multiple antennas as vertexes and the potential motion vector axis of the positioning object is ensured; establishing relative space relation matrix among multiple antennae through measurement
In the formula [ xi,yi,zi]Indicating the position of the phase center of the ith antenna in a relative coordinate system;
(2) each antenna is provided with an independent receiving channel, the same clock source is adopted to provide uniform time-frequency reference for the multiple receiving channels, the receiving channels can output frequency spectrum, intensity, carrier phase change rate and other parameters reflecting environmental electromagnetic characteristics acquired by environmental electromagnetic field observation, and k observation parameters output by the ith antenna at the moment t are marked as a set
Ti(t)＝{α1,α2,…αk}
By Ti(t,αk) Representing the parameter alpha observed by the i-th antennak. Alpha with the same subscript in different antenna observation parameter setskElectromagnetic characteristic parameters representing the same meaning;
(3) the positioning object sets a time threshold eta according to the space and the self activity characteristicstThe maximum time that the multiple antennas reach the absolute positions of each other is defined as the maximum time, and the ratio of the maximum value of the relative distance of the multiple antennas to the minimum speed of the positioning object in the motion state can be taken;
(4) when the positioning object needs to be positioned, firstly keeping a static state, and detecting each antenna input parameter set Ti(t) at ηtFor observing the quasi-static quantity contained in the time period, marking as a subset
Then extracting observation parameters with difference in numerical value from the subsets of n antennas to form a micro-space mappingParameter subset d (t) ═ α1,α2,…αr}; if D (t) is an empty set, reporting that the positioning is not available currently, and trying again by changing the static position of the positioning object;
(5) if D (t) is not an empty set, taking the matrix A or multi-antenna space coordinates obtained by other means as multi-antenna initialization coordinates B (t), defining a micro space surrounded by multi-antenna positions as vertexes as U (t), and carrying out prediction calculation on the distribution of D (t) in U (t), wherein the calculation method is that any point [ x ] in the micro space is taken under a relative coordinate systeme,ye,ze]Parameter αrAn estimate of e D (t) of
The function f (-) in the formula is an interpolation fitting coefficient set according to the space vector relation. Thereby obtaining the distribution state W (t, e, alpha) of D (t) in the micro-space U (t)r)e∈U(t),αrE, D (t), recording instantaneous distribution state data and continuously updating to realize real-time mapping of the electromagnetic characteristics of the micro-space;
(6) the positioning object starts to move, the antenna behind the motion direction enters the micro space surrounded by the multiple antennas at the last moment, and the observation parameter set T of the positioning object at T + delta T is extractedi{ α in (t + Δ t)1,α2,…αrAnd calculate the sum W (t, e, α)r) The minimum weighted Euclidean distance of the feature value sets of each spatial point position is obtained to obtain the spatial point corresponding to the minimum value in U (t)
In the formula betajSetting confidence weight values according to different electromagnetic characteristic parameter characteristics;
(7) setting Euclidean distance matching confidence threshold etasIf, if
Exceed threshold etasRe-executing the step (6); within the threshold, the space point is considered to be
Is valid, consider that antenna i is in U (t) at time t + Δ t
The position of (a);
(8) at the time of t + delta t, when at least two antenna nodes exist for the positioning object moving in a plane or at least three antenna nodes exist for the positioning object moving in a three-dimensional mode, and effective mapping points exist in U (t), the positioning object is considered to be positioned continuously, otherwise, the step (6) is executed again; under the condition of continuous positioning, according to the space coordinate [ x ] of the antenna node under the relative coordinate system of the time ti,yi,zi]And the coordinates of the mapped point at time t + Δ t
Calculating a space coordinate rotation and translation matrix under the condition that the relative space relation among the antennas is unchanged through a space vector transformation (SVD) algorithm and the like, further obtaining a space coordinate matrix of the multi-antenna at the time of t + delta t under the condition that the origin and the three-axis direction of the relative coordinate system of the positioning object are unchanged, and using the space coordinate matrix as an updated value B (t + delta t) of B (t) in the step (5);
(9) calculating a motion vector from the coordinate of any antenna node i in B (t) to the corresponding coordinate in B (t + delta t), and taking the motion vector as a space motion vector l from t to t + delta ti(t,t+Δt)；
(10) And (5) repeating the steps (5) to (9), obtaining a space motion vector of any antenna node i in a discrete time domain, integrating the space motion vector to obtain a positioning value of the antenna node i installed on the positioning object after the initialization of the positioning object is completed and the motion of the antenna node i is started, wherein a coordinate system of the positioning value is consistent with a coordinate system of a multi-antenna initialization coordinate B (t).
FIG. 1 is a flow chart of an autonomous positioning method based on micro-space electromagnetic feature real-time mapping. The method can be applied to non-cooperative space, particularly underground, indoor and other spaces which need quick investment, are insufficient in illumination, are serious in radio multipath and non-line-of-sight observation, are uneven in motion characteristics of the positioning object, do not have wireless positioning infrastructure but have wireless signals, and can ensure that positioning objects such as operators, unmanned systems and the like can obtain positioning information. Here, the implementation steps are described in detail by taking an example of how a multi-rotor unmanned aerial vehicle realizes formation flight in an indoor or underground scene:
(1) installing a plurality of radio receiving antennas with the same characteristics on the unmanned aerial vehicle, wherein the installation positions and the orientations of the antennas are selected to enable the electromagnetic reflection on the surface of the unmanned aerial vehicle and the disturbance of the electromagnetic radiation of the unmanned aerial vehicle to the parameters of received signals to be within an acceptable range, or enable the receiving characteristics of different antennas to be approximately consistent to the electromagnetic signals of a preset frequency band when the antennas are at the same absolute spatial position through parameter correction; meanwhile, the intersection of the micro space surrounded by multiple antennas as vertexes and the potential motion vector axis of the positioning object is ensured; establishing relative space relation matrix among multiple antennae through measurement
In the formula [ xi,yi,zi]Indicating the position of the phase center of the ith antenna in a relative coordinate system;
(2) each antenna is provided with an independent receiving channel, the same clock source is adopted to provide uniform time-frequency reference for the multiple receiving channels, the receiving channels can output frequency spectrum, intensity, carrier phase change rate and other parameters reflecting environmental electromagnetic characteristics acquired by environmental electromagnetic field observation, and k observation parameters output by the ith antenna at the moment t are marked as a set
Ti(t)＝{α1,α2,…αk}
By Ti(t,αk) Representing the parameter alpha observed by the i-th antennak. Having the same subscript in different sets of antenna observation parametersαkElectromagnetic characteristic parameters representing the same meaning;
(3) the unmanned aerial vehicle sets a time threshold eta according to the space and the activity characteristics of the unmanned aerial vehicletThe maximum time that the multiple antennas reach the absolute positions of the multiple antennas is defined, and the ratio of the maximum value of the relative distance of the multiple antennas to the minimum speed of the unmanned aerial vehicle in the motion state can be taken;
(4) when the unmanned aerial vehicle needs to be positioned, the unmanned aerial vehicle firstly keeps a static state, and each antenna input parameter set T is detectedi(t) at ηtFor observing the quasi-static quantity contained in the time period, marking as a subset
Then extracting observation parameters with difference in value from the subsets of n antennas to form a micro-space mapping parameter subset D (t) { alpha }1,α2,…αr}; if D (t) is an empty set, reporting that the positioning is not available currently, and trying again by changing the static position of the positioning object;
(5) if D (t) is not an empty set, taking the matrix A or multi-antenna space coordinates obtained by other means as multi-antenna initialization coordinates B (t), defining a micro space surrounded by multi-antenna positions as vertexes as U (t), and carrying out prediction calculation on the distribution of D (t) in U (t), wherein the calculation method is that any point [ x ] in the micro space is taken under a relative coordinate systeme,ye,ze]Parameter αrAn estimate of e D (t) of
The function f (-) in the formula is an interpolation fitting coefficient set according to the space vector relation. Thereby obtaining the distribution state W (t, e, alpha) of D (t) in the micro-space U (t)r)e∈U(t),αrE, D (t), recording instantaneous distribution state data and continuously updating to realize real-time mapping of the electromagnetic characteristics of the micro-space;
(6) the unmanned aerial vehicle starts to move, and the antenna behind the motion direction enters the last moment for a plurality of daysExtracting the micro space formed by the lines and observing the parameter set T at T + delta Ti{ α in (t + Δ t)1,α2,…αrAnd calculate the sum W (t, e, α)r) The minimum weighted Euclidean distance of the feature value sets of each spatial point position is obtained to obtain the spatial point corresponding to the minimum value in U (t)
In the formula betajSetting confidence weight values according to different electromagnetic characteristic parameter characteristics;
(7) setting Euclidean distance matching confidence threshold etasIf, if
Exceed threshold etasRe-executing the step (6); within the threshold, the space point is considered to be
Is valid, consider that antenna i is in U (t) at time t + Δ t
The position of (a);
(8) at the moment of t + delta t, when at least two antenna nodes exist for the unmanned aerial vehicle moving on the fixed-height plane or at least three antenna nodes exist for the unmanned aerial vehicle moving in three dimensions, and effective mapping points exist in U (t), the unmanned aerial vehicle is considered to be continuously positioned, otherwise, the step (6) is executed again; under the condition of continuous positioning, according to the space coordinate [ x ] of the antenna node under the relative coordinate system of the time ti,yi,zi]And the coordinates of the mapped point at time t + Δ t
Calculating the space under the condition that the relative space relationship among the antennas is not changed by using a coordinate conversion algorithm such as SVD (singular value decomposition)Rotating and translating the coordinate matrix to obtain a space coordinate matrix of the multiple antennas at the t + delta t moment under the condition that the origin and the three-axis direction of the unmanned aerial vehicle relative to a coordinate system are fixed, and taking the space coordinate matrix as an update value B (t + delta t) of B (t) in the step (5);
(9) calculating a motion vector from the coordinate of any antenna node i in B (t) to the corresponding coordinate in B (t + delta t), and taking the motion vector as a space motion vector l from t to t + delta ti(t,t+Δt)；
(10) And (5) repeating the steps (5) to (9), obtaining a space motion vector of any antenna node i in a discrete time domain, integrating the space motion vector to obtain a positioning value of the antenna node i installed on the unmanned aerial vehicle after the antenna node i completes initialization from a positioning object and starts to move, wherein a coordinate system of the positioning value is consistent with a coordinate system of a multi-antenna initialization coordinate B (t).
In a word, the invention does not need to construct a wireless positioning network for ensuring the sight distance measurement in a non-cooperative space, has high applicability to the application environment with complex jump of electromagnetic parameters, can be applied to weak illumination and no illumination conditions, is suitable for the application scene of the non-cooperative space, and is particularly suitable for underground and indoor applications which need quick investment, insufficient illumination, serious radio multipath and non-sight distance observation, uneven motion characteristics of a positioning object, no wireless positioning infrastructure and wireless signals.
The method can be applied to non-cooperative space, particularly underground, indoor and other spaces which need quick investment, are insufficient in illumination, are serious in radio multipath and non-line-of-sight observation, are uneven in motion characteristics of the positioning object, do not have wireless positioning infrastructure but have wireless signals, and can ensure that positioning objects such as operators, unmanned systems and the like can obtain positioning information.
Claims (1)
1. An autonomous positioning method based on micro-space electromagnetic feature real-time mapping is characterized by comprising the following steps:
(1) installing a plurality of radio receiving antennas with the same characteristics on a positioning object, wherein an intersection exists between a micro space enclosed by taking the plurality of radio receiving antennas as vertexes and a potential motion vector axis of the positioning object; establishing relative space relation matrix among multiple antennae through measurement
Wherein [ x ]i,yi,zi]The position of the phase center of the ith antenna in a relative coordinate system is shown, and n is the total number of the antennas;
(2) each antenna is provided with an independent receiving channel, the same clock source is adopted to provide a uniform time-frequency reference for the plurality of receiving channels, and the receiving channels can output frequency spectrums, intensities, carrier phase change rates and other parameters reflecting environmental electromagnetic characteristics, wherein the frequency spectrums, the intensities, the carrier phase change rates and the other parameters are acquired by observing an environmental electromagnetic field; marking k observation parameters output by the ith antenna at the time t as a set
Ti(t)＝{α1,α2,…αk}
By Ti(t,αk) Representing the parameter alpha observed by the i-th antennak(ii) a Alpha with the same subscript in different antenna observation parameter setskElectromagnetic characteristic parameters representing the same meaning;
(3) the positioning object sets a time threshold eta according to the space and the self activity characteristicstMeaning the maximum time that elapses between multiple antennas to reach the absolute position of each other;
(4) when the positioning object needs to be positioned, firstly keeping a static state, and detecting each antenna input parameter set Ti(t) at ηtFor observing the quasi-static quantity contained in the time period, marking as a subset
Then extracting observation parameters with difference in value from the subsets of n antennas to form a micro-space mapping parameter subset D (t) { alpha }1,α2,…αr}; if D (t) is an empty set, reporting that the positioning is not available currently, and trying again by changing the static position of the positioning object;
(5) if D (t) is not empty set, the matrix A is put throughTaking the multi-antenna space coordinate obtained by other means as a multi-antenna initialization coordinate B (t), defining a micro space surrounded by the multi-antenna position as a vertex as U (t), and carrying out prediction calculation on the distribution of D (t) in U (t), wherein the calculation method is that any point [ x ] in the micro space is taken under a relative coordinate systeme,ye,ze]Parameter αrAn estimate of e D (t) of
In the formula, the function f (-) is an interpolation fitting coefficient set according to the space vector relation; thereby obtaining the distribution state W (t, e, alpha) of D (t) in the micro-space U (t)r)e∈U(t),αrE, D (t), recording instantaneous distribution state data and continuously updating to realize real-time mapping of the electromagnetic characteristics of the micro-space;
(6) the positioning object starts to move, the antenna behind the motion direction enters the micro space surrounded by the multiple antennas at the last moment, and the observation parameter set T of the positioning object at T + delta T is extractedi{ α in (t + Δ t)1,α2,…αrAnd calculate the sum W (t, e, α)r) The minimum weighted Euclidean distance of the feature value sets of each spatial point:
in the formula, betajSetting confidence weight values according to different electromagnetic characteristic parameter characteristics;
obtaining the space point corresponding to the minimum weighted Euclidean distance in U (t)
(7) Setting Euclidean distance matching confidence threshold etasIf, if
Exceed threshold etasRe-executing the step (6); if the space point is within the threshold, the space point is considered to be
Is valid, consider that antenna i is in U (t) at time t + Δ t
The position of (a);
(8) at the time of t + delta t, when at least two antenna nodes exist for the positioning object moving in a plane or at least three antenna nodes exist for the positioning object moving in a three-dimensional mode, and effective mapping points exist in U (t), the positioning object is considered to be positioned continuously, otherwise, the step (6) is executed again; in the case of continuous positioning, the method is based on the space coordinate [ x ] of the antenna node in the relative coordinate system at the time ti,yi,zi]And the coordinates of the mapped point at time t + Δ t
Calculating a space coordinate rotation and translation matrix under the condition that the relative space relationship between the antennas is unchanged through a coordinate conversion algorithm, further obtaining a space coordinate matrix of the multiple antennas at the t + delta t moment under the condition that the origin and the three-axis direction of the relative coordinate system of the positioning object are fixed, and taking the space coordinate matrix as an update value B (t + delta t) of B (t) in the step (5);
(9) calculating a motion vector from the coordinate of any antenna node i in B (t) to the corresponding coordinate in B (t + delta t), and taking the motion vector as a space motion vector l from t to t + delta ti(t,t+Δt)；
(10) And (5) repeating the steps (5) to (9), obtaining a space motion vector of any antenna node on a discrete time domain, integrating the space motion vector, and obtaining a positioning value of the antenna node installed on the positioning object after the initialization of the positioning object is completed and the motion of the antenna node is started, wherein a coordinate system of the positioning value is consistent with a coordinate system of a multi-antenna initialization coordinate B (t).
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