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Single anchor node network cooperative positioning method under inertial navigation assistance

A co-location and node network technology, applied in positioning, navigation, mapping and navigation, etc., can solve problems such as reducing maintenance difficulty, reducing the number of anchor nodes, and the inability of single-anchor node wireless sensor network systems to locate, and reducing the need for anchor nodes. The effect of the required number of nodes

Active Publication Date: 2022-02-11
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

The invention establishes a single-anchor node network cooperative positioning algorithm model assisted by inertial navigation and combines the sum product algorithm, which solves the problem that the single-anchor node wireless sensor network system cannot be positioned, greatly reduces the number of anchor nodes deployed, and reduces the difficulty of maintenance

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  • Single anchor node network cooperative positioning method under inertial navigation assistance
  • Single anchor node network cooperative positioning method under inertial navigation assistance
  • Single anchor node network cooperative positioning method under inertial navigation assistance

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Embodiment Construction

[0051] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0052] The inertial navigation-assisted single-anchor network cooperative positioning method proposed by the present invention combines the advantages of easy construction of a single-anchor positioning system and the advantages of cooperative positioning that can effectively improve the continuity and availability of positioning. The invention establishes a single-anchor node network collaborative positioning algorithm model assisted by inertial navigation and combines the sum product algorithm, which solves the problem that the single-anchor node wireless sensor network system cannot be positioned, greatly reduces the number of anchor nodes deployed, and reduces maintenance difficulty. Principle steps of the present invention are as follows:

[0053] (1), such as figure 1 As shown, the local coordinate system o-xy is established with the anchor node ...

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Abstract

The invention provides a single anchor node network cooperative positioning method under inertial navigation assistance, and the method comprises the following steps: establishing a local coordinate system by taking an anchor node as an origin of coordinates, acquiring relative displacement information of a user node by using an inertial navigation system on the user node, acquiring mutual distance measurement information among the nodes by using a wireless sensor on the node, constructing joint posterior distribution of network nodes on a time sequence, and carrying out message calculation by utilizing a sum-product algorithm through mutual transmission of messages among the nodes to obtain positions of the nodes and position uncertainty information. According to the method, a single anchor node network co-location algorithm model under inertial navigation assistance is established and combined with a sum-product algorithm, so that the problem that a single anchor node wireless sensor network system cannot be located is solved, the number of distributed anchor nodes is greatly reduced, and the maintenance difficulty is reduced.

Description

technical field [0001] The invention relates to a positioning method for a single-anchor wireless sensor network, in particular to a coordinated positioning method for a single-anchor wireless sensor network assisted by an inertial navigation system. Background technique [0002] The rapid development of navigation and positioning technology is gradually affecting people's life and production methods, and has a wide range of applications in smart cities, emergency rescue, logistics management, leisure and entertainment, and other fields. The global satellite navigation system can provide real-time and all-weather location services for open outdoor areas. However, it is difficult to meet the positioning needs of users in complex environments such as indoors, large supermarkets, and urban canyons. [0003] The development of wireless technology and the popularization of smart terminals provide another solution for people's positioning needs. The positioning technology based on...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04W4/02H04W64/00G01C21/16G01S5/02
CPCH04W4/025H04W4/027H04W64/006G01C21/165G01S5/02Y02D30/70
Inventor 刘洋洋赵媛廉保旺赵宏伟唐成凯
Owner NORTHWESTERN POLYTECHNICAL UNIV
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