Unlock instant, AI-driven research and patent intelligence for your innovation.

Rigid Body Positioning Method Based on Measuring Distance

A technology for measuring distance and positioning method, applied in the field of target positioning

Active Publication Date: 2020-07-14
NINGBO UNIV
View PDF6 Cites 2 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a rigid body positioning method based on measurement distance, which can also detect the rotation and position of the rigid body when the distribution of anchor nodes in the wireless sensor network is relatively poor or the noise in the wireless sensor network is relatively large. make an accurate estimate

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Rigid Body Positioning Method Based on Measuring Distance
  • Rigid Body Positioning Method Based on Measuring Distance
  • Rigid Body Positioning Method Based on Measuring Distance

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0045] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0046] A kind of rigid body positioning method based on measuring distance proposed by the present invention, its overall flow chart is as follows figure 1 As shown, it includes the following steps:

[0047] ①Set M anchor nodes and a rigid body for receiving measurement signals in the wireless sensor network, and set N sensors (ie, unknown nodes) for transmitting measurement signals inside the rigid body; in the wireless sensor network Establish a spatial coordinate system as the global reference coordinate system, and set a spatial coordinate system inside the rigid body as the local reference coordinate system; record the coordinate positions of the M anchor nodes in the global reference coordinate system as a 1 ,...,a m ,...,a M , record the coordinate positions of the N sensors in the local reference coordinate system before the rigid b...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a rigid body positioning method based on measurement distance. The method is characterized by, to begin with, establishing a model of measurement distance from each target source to each anchor node; then, establishing a constrained maximum likelihood estimation model according to minimum noise square sum, and carrying out reconstruction and relaxation on an objective function and constraints in the maximum likelihood estimation model to obtain a positive semidefinite programming form; correcting the result obtained by the positive semidefinite programming form to obtain a feasible solution of the maximum likelihood estimation problem of rigid body positioning; and finally, carrying out optimization on the corrected result to improve estimation performance. The advantages are that the method carries out joint estimation on a rotation matrix and position vector by fully utilizing property constraints of the rotation matrix, so that robustness and positioning accuracy under the condition of poor distribution of anchor nodes in the wireless sensor network or large noise in the wireless sensor network can be improved.

Description

technical field [0001] The present invention relates to a method for locating a target, in particular to a method for locating a rigid body (that is, an object with a fixed shape) based on measuring distance, which realizes positioning by estimating the rotation and position of the rigid body. Background technique [0002] In recent years, the advancement of wireless sensor technology has enabled the wide application of wireless sensor network (WSN) in different fields related to positioning navigation, monitoring and control. In many practical applications, it is very important to accurately estimate the rotation and position of rigid bodies, such as robots, spacecraft, underwater vehicles, and so on. Therefore, it is very necessary to study the localization method of rigid body in wireless sensor network. [0003] At present, among the positioning methods of rigid bodies in wireless sensor networks, the method based on measuring distance is widely used, and its advantage ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): H04W4/38H04W4/024H04W4/42H04W84/18G01S5/02G01S5/14G01S11/02
CPCG01S5/0252G01S5/14G01S11/02H04W4/023H04W84/18
Inventor 王刚蒋坚
Owner NINGBO UNIV