Maritime search and rescue wireless sensing network synergic positioning method

Abstract

The invention discloses a maritime search and rescue wireless sensing network synergic positioning method which comprises the following steps: S1, establishing a Lagrange model as a marine movement model of a node; S2, acquiring a synergic positioning system model of an unknown node on the basis of an unknown node state model described by an invisible markoff chain and a marine movement model and an observation model of the node, estimating posterior probability distribution by using a particle filter algorithm, and estimating the position of the unknown node according to the estimated posterior probability distribution; S3, improving a likelihood function in the particle filtering algorithm by using KL (Kullback Leibler) divergence, and reducing errors caused by sea wave shielding factors by optimizing parameters; and S4, introducing the likelihood function of the optimized parameters, updating confidence factors and iterative position estimation in a residual error-system resampling mode to alleviate degeneration of particles, and estimating the position of the unknown node. The method has the advantage that positioning errors caused by marine shielding effects and multipath effects on an offshore wireless sensing network are avoided.

Description

technical field [0001] The invention relates to the technical field of marine wireless sensor network node positioning, in particular to a collaborative positioning method for maritime search and rescue wireless sensor networks. Background technique [0002] Since the Titanic accident in 1912, safety of life at sea (SOLAS) has been the focus of attention. With the development of technology, the interference of external irresistible factors can be reduced by equipped with advanced equipment on board. However, due to human factors, accidents at sea are inevitable. As the last line of defense for the safety of human life, Maritime Search and Rescue (MSR) plays a vital role in SOLAS. Traditional search and rescue methods depend on rescuers, and victims have to passively wait for rescue. In order to improve this shortcoming, combining maritime search and rescue with wireless sensor network (Wireless Sensor Network, WSN), victims equipped with sensor nodes can actively display ...

AI Technical Summary

Problems solved by technology

However, for the positioning of the special marine environment, the existing WSN positioning technology still faces challenges

First of all, the sea environment is often prone to strong winds and waves, and the ups and downs of the waves have a shadowing effect on the communication between nodes, so that the measurement accuracy of the node signal indicators is reduced; secondly, the water targets are dynamic with the movement of the waves, which makes the nodes coordinate positioning The dynamic spatial relative position estimation solution (unique localizability) analysis in the process becomes complicated, and the resulting computational complexity is also more prominent

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