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Collaborative positioning system and method based on node motion state constraint

A technology of cooperative positioning and state constraints, applied in the field of navigation, can solve the problems of fast node speed, long communication distance, poor positioning accuracy, etc., and achieve the effect of improving positioning accuracy, prediction accuracy and stability.

Active Publication Date: 2018-06-08
ZHEJIANG UNIV
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In addition, the communication distance between nodes is long, and the node speed is relatively fast. When using the traditional cooperative positioning method to locate each node in the UAV network, the positioning accuracy is poor, and the positioning results are easy to diverge.

Method used

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  • Collaborative positioning system and method based on node motion state constraint
  • Collaborative positioning system and method based on node motion state constraint
  • Collaborative positioning system and method based on node motion state constraint

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Embodiment

[0042] Take the extended Kalman filter algorithm as the node's motion state constraint, and use the parameterized confidence propagation algorithm to fuse the relative distance information of the node as an example. Set in a UAV network, there are 18 UAVs, of which 8 UAVs can locate themselves through GPS. There is a certain error in the position estimation information obtained through GPS, and other UAVs cannot complete it. Self-positioning, all drone nodes are randomly distributed in the range of 5000m×5000m. Due to the limitation of distance and power consumption and the occlusion of obstacles, each node can only communicate with some nodes in the network. The relative distance information between nodes can be obtained through the communication link, and the movement speed of each node is 40m / s. Around, acceleration is 1~2m / s 2 Between, the communication radius of the node is 1400m. The error standard deviation of the position obtained by GPS of the reference node is 5m, an...

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Abstract

The invention provides a collaborative positioning system and method based on node motion state constraint. All nodes in the network are positioned through position information of nodes with self-positioning information and relative distance information of nodes. According to the collaborative positioning algorithm, first, state information of nodes are predicted based on motion state constraint of the nodes; then, relative distance information of the nodes are fused based on all prior information, so as to obtain observation information of node positions; and finally, the predicted information is modified by using the observation information of the node positions, so as to obtain posterior estimate of the node state. According to the method, the position information of the node is predicted by using node motion state constraint, so that the node position is predicted more accurately, and the node is positioned more precisely; when the node speed is high or the network connectivity ispoor, the method is more stable than traditional positioning methods.

Description

Technical field [0001] The invention belongs to the field of navigation, and is a cooperative positioning system and method based on node motion state constraints. Background technique [0002] UAVs have received more and more attention in recent years and can be used in various applications such as monitoring, surveying and mapping, and crop protection. Under normal circumstances, the performance and robustness of the unmanned system can be improved through the cooperation of multiple drones. For this cooperative system, node location information is very important. At present, GPS is widely used in node positioning. However, under harsh environmental conditions, such as urban canyons, forests, and strong signal interference environments, GPS signals are susceptible to interference. At this time, the position information provided by GPS differs greatly from the real position, which makes the performance of the GPS positioning system Greatly reduced. The cooperative positioning...

Claims

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Application Information

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IPC IPC(8): H04B17/391H04W4/029
CPCH04B17/3913H04W4/027
Inventor 范程飞李立言赵民建许笑笑
Owner ZHEJIANG UNIV
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