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Static rigid body location method based on distance measurement

A positioning method and distance measurement technology, applied in the field of target positioning, can solve the problem of low computational complexity

Active Publication Date: 2018-11-23
NINGBO UNIV
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Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a static rigid body positioning method based on distance measurement, which can also control the rotation and rotation 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. Precise estimation of position with low computational complexity

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  • Static rigid body location method based on distance measurement
  • Static rigid body location method based on distance measurement
  • Static rigid body location method based on distance measurement

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Embodiment Construction

[0022] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0023] A static rigid body positioning method based on distance measurement proposed by the present invention, its overall realization flow chart is as follows figure 1 As shown, it includes the following steps:

[0024] Step 1: Set M anchor nodes and a rigid body for receiving measurement signals in the wireless sensor network, and set N unknown nodes for transmitting measurement signals inside the rigid body; establish a The space coordinate system is used as the global reference coordinate system, and a space coordinate system is set inside the rigid body as the local reference coordinate system; the coordinate positions of the M anchor nodes in the global reference coordinate system are recorded as a 1 ,...,a m ,...,a M , record the coordinate positions of the N unknown nodes in the local reference coordinate system before the rigid bod...

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Abstract

The present invention discloses a static rigid body location method based on distance measurement. The method comprises the steps of: determining a constraint least squares expression form of a rigidbody location problem, wherein the constraint least squares expression form comprises a rotary matrix to be estimated and a position vector; through change of a constraint condition, obtaining a conversion form of the constraint least squares expression form of the rigid body location problem to obtain a positive semi-definite planning form of the rigid body location problem; and obtaining the positive semi-definite planning form of the rigid body location problem to obtain provisional values of the rotary matrix and the position vector; and finally, performing orthogonalization of the provisional value of the rotary matrix, taking the value after the orthogonalization as an estimation value of the rotary matrix, and directly taking the provisional value of the position vector as an estimation value of the position vector. The static rigid body location method can perform accurate estimation for the rotation and the position of the rigid position in a condition that the anchor node distribution is poor in the wireless sensor network or the noise is large in the wireless sensor network, and the calculation complexity is low.

Description

technical field [0001] The invention relates to a target positioning method, in particular to a distance measurement-based static rigid body positioning method in a wireless sensor network. The positioning content is to estimate the rotation and position of the rigid body. Background technique [0002] In recent years, the rapid development of wireless sensor technology has made wireless sensor network (WSN) widely used in different fields related to positioning navigation and security monitoring. In many practical applications, it is very important to accurately estimate the rotation and position of rigid bodies (that is, objects with a fixed shape), 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, for the positioning method of rigid bodies in wireless sensor networks, the method based on distance measurement is widely used, and its adv...

Claims

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Application Information

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IPC IPC(8): G01S5/06
CPCG01S5/06
Inventor 王刚蒋坚
Owner NINGBO UNIV
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