A wireless positioning method of gas source

Abstract

The invention discloses a gas source wireless positioning method based on the nonlinear least square method and extended set membership filtering. The method includes the following steps that a gas resource is pre-positioned with the least square method according to gas concentration information detected by a wireless sensor network; back calculation of an initial feasible set of the extended set membership filtering algorithm is carried out according to a pre-positioning position obtained with the least square method; the pre-positioning position and the initial feasible set are substituted into the extended set membership filtering algorithm, loop iteration is carried out, and a gas source positioning result is obtained. According to the method, the nonlinear least square method is adopted to pre-position the gas resource, and back calculation is carried out to obtain the initial feasible set of the extended set membership filtering algorithm, so that it is guaranteed that the true position is contained in the initial feasible set, and the numerical stability of the algorithm is ensured; the extended set membership filtering algorithm is adopted to accurately position the gas source, the feasible set becomes smaller and smaller through loop iteration, and the true position is contained in the feasible set all the time, so that the confidence level reaches 100%.

Description

technical field [0001] The invention belongs to the field of gas source wireless positioning, and relates to a gas source wireless positioning method. Background technique [0002] With the acceleration of the industrialization process, the use of gas has become more and more common. Because accidental gas leakage is usually unpredictable, and there is no fixed channel for gas discharge, the time, place, and environment of the accident also have great uncertainty. Moreover, once the flammable and explosive gases of alkane such as natural gas and petroleum gas leak, fires, explosions and other safety accidents are very likely to occur. Therefore, gas leakage usually causes serious environmental pollution and safety problems, and causes great losses to the state and people's property. [0003] However, since 1953, there have been more than a thousand chemical spills with a one-time loss of more than 100 million US dollars. The frequent occurrence of such incidents shows tha...

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Problems solved by technology

[0006] 1) The prior knowledge of the error caused by the modeling process cannot be obtained, and there will be a certain degree of deviation in describing the modeling error with the relevant probability density function;

[0007] 2) The noise in the sensor measurement is not essentially random, and it is difficult to verify whether the statistical characteristics of the noise are consistent with the assumed situation;

[0008] 3) The above positioning methods are all point estimation problems, and the positioning result is a definite point, so there will inevitably be a positioning error, and the size of the positioning error is closely related to the selection of the starting point of the algorithm

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