CN113820660B - Autonomous positioning method based on micro-space electromagnetic characteristic real-time mapping - Google Patents
Autonomous positioning method based on micro-space electromagnetic characteristic real-time mapping Download PDFInfo
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Abstract
The invention discloses an autonomous positioning method based on real-time mapping of micro-space electromagnetic characteristics, and belongs to the technical field of navigation positioning. Which comprises the following steps: mounting a plurality of antennas on a positioning object; the positioning object keeps a static state, and input parameter sets of all antennas are detected based on a time threshold to form a micro-space map building parameter subset; carrying out predictive calculation on electromagnetic parameter distribution in a micro space; the positioning object starts to move; determining the validity of the mapping points according to the Euclidean distance matching confidence threshold; calculating according to the multi-point mapping to obtain a space coordinate matrix of the multi-antenna coordinates at different moments; and obtaining 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 application degree to the application environment of complex jump of electromagnetic parameters, and has important significance for solving the application problems of emergency disaster relief, tunnel traffic and the like under 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 based on real-time mapping of micro-space electromagnetic characteristics.
Background
In the application scenarios of emergency disaster relief, tunnel traffic and the like, continuous and autonomous positioning information can be acquired by positioning objects such as operators, unmanned systems and the like in non-cooperative spaces such as underground, indoor and the like without wireless positioning infrastructure and with radio signals. The currently disclosed methods include dead reckoning (PDR) technology using inertial devices and motion characteristics of a positioning object, instant mapping and positioning (SLAM) technology based on visual sensors, wireless network positioning technology for temporarily constructing multiple reference points, etc., which can solve positioning requirements under specific application conditions, but are not ideal for application scenes requiring conditions such as rapid investment, insufficient illumination, serious radio multipath and non-line-of-sight observation, uneven motion characteristics of the positioning object, etc., which are basic characteristics of extreme application scenes such as indoor and underground, natural mountain holes, space with a large amount of metal materials, etc., in most post-disaster environments, and therefore, a highly 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, and particularly needs to be applied to the space such as underground, indoor and the like which are required to be rapidly input, insufficient in illumination, serious in radio multipath and non-line-of-sight observation, nonuniform in movement characteristics of a positioning object, and have no wireless positioning infrastructure but wireless signals, so that positioning information can be acquired by positioning objects such as operators, unmanned systems and the like.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
an autonomous positioning method for real-time mapping based on micro-space electromagnetic features comprises the following steps:
(1) A plurality of radio receiving antennas with the same characteristics are arranged on a positioning object, and a micro space surrounded by the plurality of radio receiving antennas serving as vertexes is intersected with a potential motion vector axis of the positioning object; establishing a matrix of relative spatial relationships between multiple antennas by measurement
In the formula, [ x ] i ,y i ,z i ]Representing the position of the phase center of the ith antenna in the relative coordinate system, n being the total number of antennas;
(2) Each antenna is provided with an independent receiving channel, a uniform time-frequency reference is provided for a plurality of receiving channels by adopting the same clock source, and the receiving channels can output frequency spectrums, intensities, carrier phase change rates and other parameters reflecting the electromagnetic characteristics of the environment, which are obtained by the observation of the electromagnetic field of the environment; marking k observation parameters output by the ith antenna at time t as a set
T i (t)＝{α 1 ,α 2 ,…α k }
By T i (t,α k ) Representing the parameter alpha observed by the ith antenna k The method comprises the steps of carrying out a first treatment on the surface of the Alpha with the same subscript in different antenna observation parameter sets k Electromagnetic characteristic parameters representing the same meaning;
(3) The positioning object sets a time threshold eta according to the space and the activity characteristics of the positioning object t Meaning the maximum time that it takes for 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 an input parameter set T of each antenna i (t) is in eta t The quasi-static quantity contained in the observation time period is recorded as a subsetThen extracting the observation parameters with difference in values from the subsets of n antennas to form a micro-space mapping parameter subset D (t) = { alpha 1 ,α 2 ,…α r -a }; if D (t) is an empty set, reporting that the positioning object is currently unavailable, and attempting again by changing the static position of the positioning object;
(5) If D (t) is not an empty set, taking a matrix A or multi-antenna space coordinates acquired 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 predictive 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 in a relative coordinate system e ,y e ,z e ]Parameter alpha r The estimate of E D (t) is
Wherein, the function f (·) is an interpolation fitting coefficient set according to the space vector relation; thereby obtaining the D (t) distribution state W (t, e, alpha) in the micro space U (t) r )e∈U(t),α r E, D (t), recording instantaneous distribution state data and continuously updating, and realizing real-time mapping of micro-space electromagnetic characteristics;
(6) The positioning object starts to move, the antenna at the rear of the movement direction enters a micro space surrounded by multiple antennas at the previous moment, and the observation parameter set T of the positioning object at t+delta T is extracted i { alpha } in (t+Δt) 1 ,α 2 ,…α r And calculates the sum W (t, e, alpha) r ) Minimum weighted euclidean distance of each spatial point feature value set:
wherein beta is j Confidence weight values set for the characteristics according to different electromagnetic characteristic parameters;
acquiring a spatial point corresponding to the minimum weighted Euclidean distance in U (t)
(7) Setting Euclidean distance matching confidence threshold eta s If (if)Exceeding a threshold eta s Re-executing step (6); if within the threshold, we consider to be spatial point +.>Is effective, it is considered that antenna i is in U (t) at time t+Δt +.>Is a position of (2);
(8) At the time t+delta t, when at least two antenna nodes exist for a planar moving positioning object or at least three effective mapping points exist for three antenna nodes in U (t), continuous positioning is considered, otherwise, the step (6) is executed again; in the case of continuous positioning, according to the relative coordinate system of the antenna node at the time tSpace coordinates x of (x) i ,y i ,z i ]And mapping coordinates of the point at time t+ΔtCalculating a space coordinate rotation and translation matrix under the condition that the relative space relation among the antennas is unchanged by a coordinate conversion algorithm, so as to obtain a space coordinate matrix of multiple antennas at the time of t+delta t under the condition that the origin and the triaxial direction of a relative coordinate system of a positioning object are fixed, and taking 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 coordinates of any antenna node i in B (t) to the corresponding coordinates in B (t+delta t), and taking the motion vector as a space motion vector l from t to t+delta t moment i (t,t+Δt)；
(10) Repeating the steps (5) to (9) to obtain a space movement vector of any antenna node in a discrete time domain, integrating the space movement vector to obtain a positioning value of the antenna node installed on the positioning object after the antenna node is initialized from the positioning object and starts to move, wherein a coordinate system where the positioning value is located is consistent with a coordinate system where the multi-antenna initialization coordinate B (t) is located.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention does not need to construct a wireless positioning network for ensuring the line-of-sight measurement in a non-cooperative space.
The existing electromagnetic field in the application environment is sensed and mapped in real time through multiple antennas, and positioning calculation is realized by utilizing the mapping relation between antenna sensing parameters and the mapped in real time in the moving process, so that the existing electromagnetic field in the environment is positioned and utilized, and a wireless positioning network which is necessary to ensure line-of-sight measurement is not required to be established.
2. The invention has higher application degree for the application environment of complex jump of electromagnetic parameters.
For application spaces with a large amount of metals or narrow space, the electromagnetic parameters have the characteristic of rapid jump in the process of short-distance movement, so that the traditional method based on collaborative spread spectrum signal carrier observation has frequent loop lock losing and positioning interruption, and the mode based on micro-space real-time mapping just utilizes the characteristic of rapid change of the electromagnetic field parameters in the application spaces, thereby having better adaptive force.
In a word, the invention provides a positioning mode which can be rapidly applied in an extreme application scene, has strong environment adaptability and is highly autonomous. The method comprises the steps of installing a plurality of receiving antennas with determined relative spatial relations on a positioning object such as an operator, an unmanned system and the like, carrying out real-time mapping on electromagnetic characteristic parameter distribution in a micro space surrounded by multiple antennas by utilizing electromagnetic characteristic parameters perceived by each antenna, acquiring a moving distance and a moving direction of the positioning object at continuous moments by virtue of a matching relation between the electromagnetic parameters perceived by the antennas and the electromagnetic characteristic real-time mapping of the micro space when the positioning object moves, and realizing positioning by virtue of an integral mode.
Drawings
Fig. 1 is a flow chart of an autonomous positioning method in an embodiment of the invention.
Detailed Description
The invention is further described below with reference to the drawings and detailed description.
An autonomous positioning method for real-time mapping based on micro-space electromagnetic features 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 on the receiving signal parameters to be within an acceptable range, or enable the receiving characteristics of the electromagnetic signals of the different antennas in the same absolute space position to be approximately consistent through parameter correction; meanwhile, intersection between a micro space surrounded by multiple antennas serving as vertexes and a potential motion vector axis of a positioning object is ensured; establishing a matrix of relative spatial relationships between multiple antennas by measurement
In [ x ] i ,y i ,z i ]Representing the position of the phase center of the i-th antenna in the relative coordinate system;
(2) Each antenna has independent receiving channels, and provides unified time-frequency reference for multiple receiving channels by adopting the same clock source, the receiving channels can output frequency spectrum, intensity, carrier phase change rate and other parameters reflecting the electromagnetic characteristics of the environment obtained by the observation of the electromagnetic field of the environment, and k observation parameters output by the ith antenna at the moment t are marked as a set
T i (t)＝{α 1 ,α 2 ,…α k }
By T i (t,α k ) Representing the parameter alpha observed by the ith antenna k . Alpha with the same subscript in different antenna observation parameter sets k Electromagnetic characteristic parameters representing the same meaning;
(3) The positioning object sets a time threshold eta according to the space and the activity characteristics of the positioning object t The maximum time that the multiple antennas reach the absolute positions of the multiple antennas can be the ratio of the maximum value of the relative distances of the multiple antennas to the minimum rate of the positioning object in a motion state;
(4) When the positioning object needs to be positioned, firstly keeping a static state, and detecting an input parameter set T of each antenna i (t) is in eta t The quasi-static quantity contained in the observation time period is recorded as a subsetThen extracting the observation parameters with difference in values from the subsets of n antennas to form a micro-space mapping parameter subset D (t) = { alpha 1 ,α 2 ,…α r -a }; if D (t) is an empty set, reporting that the positioning is not currently available, and attempting again by changing the static position of the positioning object;
(5) If D (t) is not an empty set, taking a matrix A or multi-antenna space coordinates acquired 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 predictive 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 in a relative coordinate system e ,y e ,z e ]Parameter alpha r ∈D(t)Is estimated as (1)
Wherein the function f (·) is an interpolation fitting coefficient set according to the space vector relation. Thereby obtaining the D (t) distribution state W (t, e, alpha) in the micro space U (t) r )e∈U(t),α r E, D (t), recording instantaneous distribution state data and continuously updating, and realizing real-time mapping of micro-space electromagnetic characteristics;
(6) The positioning object starts to move, the antenna at the rear of the movement direction enters a micro space surrounded by multiple antennas at the previous moment, and the observation parameter set T of the positioning object at t+delta T is extracted i { alpha } in (t+Δt) 1 ,α 2 ,…α r And calculates the sum W (t, e, alpha) r ) The minimum weighted Euclidean distance of each spatial point feature value set in the plurality of spatial point feature value sets is obtained, and the spatial point corresponding to the minimum value in U (t) is obtained
Beta in j Confidence weight values set for the characteristics according to different electromagnetic characteristic parameters;
(7) Setting Euclidean distance matching confidence threshold eta s If (if)Exceeding a threshold eta s Re-executing step (6); within the threshold then consider to be spatial point +.>Is effective, it is considered that antenna i is in U (t) at time t+Δt +.>Is a position of (2);
(8) At the time t+delta t, when at least two antenna nodes exist for a planar moving positioning object or at least three effective mapping points exist for three antenna nodes in U (t), the positioning object is considered to be continuously positioned, otherwise, the step (6) is executed again; in the continuous positioning, according to the space coordinate [ x ] of the antenna node under the relative coordinate system at the moment t i ,y i ,z i ]And mapping coordinates of the point at time t+ΔtCalculating a space coordinate rotation and translation matrix under the condition that the relative space relation among the antennas is unchanged by using a coordinate conversion algorithm such as SVD (singular value decomposition) and the like, so as to obtain a space coordinate matrix of multiple antennas at the moment of t+delta t under the condition that the origin and the triaxial direction of a relative coordinate system of a positioning object are fixed, and taking 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 coordinates of any antenna node i in B (t) to the corresponding coordinates in B (t+delta t), and taking the motion vector as a space motion vector l from t to t+delta t moment i (t,t+Δt)；
(10) Repeating the steps (5) to (9) to obtain a space movement vector of any antenna node i on a discrete time domain, and integrating the space movement vector to obtain a positioning value of the antenna node i installed on the positioning object after the antenna node i finishes initialization from the positioning object and starts moving, wherein a coordinate system where the positioning value is located is consistent with a coordinate system where a multi-antenna initialization coordinate B (t) is located.
FIG. 1 is a flow chart of an autonomous positioning method based on real-time mapping of micro-space electromagnetic features. The method can be applied to non-cooperative space, and particularly needs to be applied to the space such as underground, indoor and the like which are required to be rapidly input, insufficient in illumination, serious in radio multipath and non-line-of-sight observation, nonuniform in movement characteristics of a positioning object, and have no wireless positioning infrastructure but wireless signals, so that positioning information can be acquired by positioning objects such as operators, unmanned systems and the like. The implementation steps are described in detail in the case of implementing formation flying behavior of the multi-rotor unmanned aerial vehicle 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 electromagnetic reflection on the surface of the unmanned aerial vehicle and disturbance of electromagnetic radiation of the unmanned aerial vehicle on parameters of received signals to be within an acceptable range, or enable the receiving characteristics of different antennas on electromagnetic signals of a preset frequency range to be approximately consistent when the different antennas are at the same absolute space position through parameter correction; meanwhile, intersection between a micro space surrounded by multiple antennas serving as vertexes and a potential motion vector axis of a positioning object is ensured; establishing a matrix of relative spatial relationships between multiple antennas by measurement
In [ x ] i ,y i ,z i ]Representing the position of the phase center of the i-th antenna in the relative coordinate system;
(2) Each antenna has independent receiving channels, and provides unified time-frequency reference for multiple receiving channels by adopting the same clock source, the receiving channels can output frequency spectrum, intensity, carrier phase change rate and other parameters reflecting the electromagnetic characteristics of the environment obtained by the observation of the electromagnetic field of the environment, and k observation parameters output by the ith antenna at the moment t are marked as a set
T i (t)＝{α 1 ,α 2 ,…α k }
By T i (t,α k ) Representing the parameter alpha observed by the ith antenna k . Alpha with the same subscript in different antenna observation parameter sets k Electromagnetic 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 vehicle t The maximum time that the multiple antennas reach the absolute positions of the multiple antennas can be the ratio of the maximum value of the relative distances of the multiple antennas to the minimum rate of the unmanned aerial vehicle in a motion state;
(4) When the unmanned aerial vehicle needs to be positioned, the unmanned aerial vehicle is firstly kept in a static state, and each antenna input parameter set T is detected i (t) is in eta t The quasi-static quantity contained in the observation time period is recorded as a subsetThen extracting the observation parameters with difference in values from the subsets of n antennas to form a micro-space mapping parameter subset D (t) = { alpha 1 ,α 2 ,…α r -a }; if D (t) is an empty set, reporting that the positioning is not currently available, and attempting again by changing the static position of the positioning object;
(5) If D (t) is not an empty set, taking a matrix A or multi-antenna space coordinates acquired 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 predictive 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 in a relative coordinate system e ,y e ,z e ]Parameter alpha r The estimate of E D (t) is
Wherein the function f (·) is an interpolation fitting coefficient set according to the space vector relation. Thereby obtaining the D (t) distribution state W (t, e, alpha) in the micro space U (t) r )e∈U(t),α r E, D (t), recording instantaneous distribution state data and continuously updating, and realizing real-time mapping of micro-space electromagnetic characteristics;
(6) The unmanned aerial vehicle starts to move, the antenna at the rear of the movement direction enters a micro space surrounded by multiple antennas at the previous moment, and the observation parameter set T of the unmanned aerial vehicle at t+delta T is extracted i { alpha } in (t+Δt) 1 ,α 2 ,…α r And calculates the sum W (t, e, alpha) r ) The minimum weighted Euclidean distance of each spatial point feature value set in the plurality of spatial point feature value sets is obtained, and the spatial point corresponding to the minimum value in U (t) is obtained
Beta in j Confidence weight values set for the characteristics according to different electromagnetic characteristic parameters;
(7) Setting Euclidean distance matching confidence threshold eta s If (if)Exceeding a threshold eta s Re-executing step (6); within the threshold then consider to be spatial point +.>Is effective, it is considered that antenna i is in U (t) at time t+Δt +.>Is a position of (2);
(8) At the time 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, effective mapping points exist in U (t), continuous positioning can be considered, otherwise, the step (6) is executed again; in the continuous positioning, according to the space coordinate [ x ] of the antenna node under the relative coordinate system at the moment t i ,y i ,z i ]And mapping coordinates of the point at time t+ΔtCalculating a space coordinate rotation and translation matrix under the condition that the relative space relation among the antennas is unchanged by using a SVD (singular value decomposition) and other coordinate conversion algorithms, so as to obtain a space coordinate matrix of multiple antennas at the moment of t+delta t under the condition that the origin and triaxial direction of the relative coordinate system of the unmanned aerial vehicle are fixed, and taking 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 coordinates of any antenna node i in B (t) to the corresponding coordinates in B (t+delta t), and taking the motion vector as a space motion vector l from t to t+delta t moment i (t,t+Δt)；
(10) And (3) repeating the steps (5) to (9) to obtain a space movement vector of any antenna node i on a discrete time domain, and integrating the space movement vector to obtain a positioning value of the antenna node i installed on the unmanned aerial vehicle after the antenna node i finishes initialization from a positioning object and starts moving, wherein a coordinate system where the positioning value is located is consistent with a coordinate system where a multi-antenna initialization coordinate B (t) is located.
In a word, the invention does not need to construct a wireless positioning network for ensuring line-of-sight measurement in a non-cooperative space, has high application degree to the application environment of complex jump of electromagnetic parameters, can be applied to weak illumination and no illumination condition, is suitable for non-cooperative space application scenes, and is particularly suitable for underground, indoor and other applications which need rapid investment, insufficient illumination, serious radio multipath and non-line-of-sight observation, uneven movement characteristics of positioning objects, no wireless positioning infrastructure, wireless signals and the like.
The method can be applied to non-cooperative space, and particularly needs to be applied to the space such as underground, indoor and the like which are required to be rapidly input, insufficient in illumination, serious in radio multipath and non-line-of-sight observation, nonuniform in movement characteristics of a positioning object, and have no wireless positioning infrastructure but wireless signals, so that positioning information can be acquired by positioning objects such as operators, unmanned systems and the like.
Claims (1)
1. An autonomous positioning method for real-time mapping based on micro-space electromagnetic characteristics is characterized by comprising the following steps:
(1) A plurality of radio receiving antennas with the same characteristics are arranged on a positioning object, and a micro space surrounded by the plurality of radio receiving antennas serving as vertexes is intersected with a potential motion vector axis of the positioning object; establishing a matrix of relative spatial relationships between multiple antennas by measurement
In the formula, [ x ] i ,y i ,z i ]Representing the position of the phase center of the ith antenna in the relative coordinate system, n being the total number of antennas;
(2) Each antenna is provided with an independent receiving channel, a uniform time-frequency reference is provided for a plurality of receiving channels by adopting the same clock source, and the receiving channels can output frequency spectrums, intensities, carrier phase change rates and other parameters reflecting the electromagnetic characteristics of the environment, which are obtained by the observation of the electromagnetic field of the environment; marking k observation parameters output by the ith antenna at time t as a set
T i (t)＝{α 1 ,α 2 ,…α k }
By T i (t,α k ) Representing the parameter alpha observed by the ith antenna k The method comprises the steps of carrying out a first treatment on the surface of the Alpha with the same subscript in different antenna observation parameter sets k Electromagnetic characteristic parameters representing the same meaning;
(3) The positioning object sets a time threshold eta according to the space and the activity characteristics of the positioning object t Meaning the maximum time that it takes for 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 an input parameter set T of each antenna i (t) is in eta t The quasi-static quantity contained in the observation time period is recorded as a subsetThen extracting the observation parameters with difference in values from the subsets of n antennas to form a micro-space mapping parameter subset D (t) = { alpha 1 ,α 2 ,…α r -a }; if D (t) is an empty set, reporting that the positioning object is currently unavailable, and attempting again by changing the static position of the positioning object;
(5) If D (t) is not an empty set, taking a matrix A or multi-antenna space coordinates acquired 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 predictive 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 in a relative coordinate system e ,y e ,z e ]Parameter alpha r The estimate of E D (t) is
Wherein, the function f (·) is an interpolation fitting coefficient set according to the space vector relation; thereby obtaining the D (t) distribution state W (t, e, alpha) in the micro space U (t) r )e∈U(t),α r E, D (t), recording instantaneous distribution state data and continuously updating, and realizing real-time mapping of micro-space electromagnetic characteristics;
(6) The positioning object starts to move, the antenna at the rear of the movement direction enters a micro space surrounded by multiple antennas at the previous moment, and the observation parameter set T of the positioning object at t+delta T is extracted i { alpha } in (t+Δt) 1 ,α 2 ,…α r And calculates the sum W (t, e, alpha) r ) Minimum weighted euclidean distance of each spatial point feature value set:
wherein beta is j Confidence weight values set for the characteristics according to different electromagnetic characteristic parameters;
acquiring a spatial point corresponding to the minimum weighted Euclidean distance in U (t)
(7) Setting Euclidean distance matching confidence threshold eta s If (if)Exceeding a threshold eta s Re-executing step (6); if within the threshold, we consider to be spatial point +.>Is effective, it is considered that antenna i is in U (t) at time t+Δt +.>Is a position of (2);
(8) At time t+Δt, there are at least two antenna nodes or three-dimensional movements for the planar moving positioning objectWhen at least three antenna nodes exist in the dynamic positioning object and effective mapping points exist in the U (t), the dynamic positioning object can be continuously positioned, otherwise, the step (6) is re-executed; in the case of continuous positioning, the spatial coordinates x of the antenna node in the relative coordinate system at time t are determined i ,y i ,z i ]And mapping coordinates of the point at time t+ΔtCalculating a space coordinate rotation and translation matrix under the condition that the relative space relation among the antennas is unchanged by a coordinate conversion algorithm, so as to obtain a space coordinate matrix of multiple antennas at the time of t+delta t under the condition that the origin and the triaxial direction of a relative coordinate system of a positioning object are fixed, and taking 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 coordinates of any antenna node i in B (t) to the corresponding coordinates in B (t+delta t), and taking the motion vector as a space motion vector l from t to t+delta t moment i (t,t+Δt)；
(10) Repeating the steps (5) to (9) to obtain a space movement vector of any antenna node in a discrete time domain, integrating the space movement vector to obtain a positioning value of the antenna node installed on the positioning object after the antenna node is initialized from the positioning object and starts to move, wherein a coordinate system where the positioning value is located is consistent with a coordinate system where the multi-antenna initialization coordinate B (t) is located.
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