Noise-immunity three-dimensional positioning method for moving target in tunnel

Abstract

The invention discloses a noise-immunity three-dimensional positioning method for a moving target in a tunnel. The positioning method comprises the steps that (1) beacon nodes, positioning identification cards and data transmission devices are laid according to the environment in the tunnel; (2) sensor nodes perform distance measurement based on an RSSI (Received Signal Strength Indicator) distance measurement method and converge the data to a data center, and an initial partially missing and noise containing Euclidean distance matrix is constructed; (3) mixed Gaussian distribution is introduced to fit unknown noise, a problem of complementing the partially missing Euclidean distance matrix under the complex environment in the tunnel is modeled into a noise-immunity low-rank matrix decomposition model, and the model is solved by adopting the classical expectation maximization algorithm; and (4) the real position of the moving target in the tunnel is calculated by adopting the classicalmulti-dimensional scaling algorithm based on the complemented inter-node real Euclidean distance matrix. The noise-immunity three-dimensional positioning method fully considers influences imposed onsensor node distance measurement by the complex environment in the tunnel, and can perform real-time accurate positioning on the moving target in the tunnel under various types of noise.

Description

technical field [0001] The invention belongs to the technical field of wireless sensors, and in particular relates to a noise-immune three-dimensional positioning method for a moving target in a tunnel. Background technique [0002] As the country's economy has entered a period of stable development, in order to meet the growing needs of society, more and more tunnels and underground projects have been developed. These projects often have complex working environments and long construction periods, which not only increases the difficulty of construction, but also leads to some unexpected accidents, which poses a huge challenge to the safe production of the project. If real-time and accurate positioning of tunnel construction personnel and moving vehicles can be carried out, it will bring great convenience to the safety management of the project. [0003] At present, the outdoor positioning system represented by GPS (Global Positioning System) is very mature, but in some unde...

AI Technical Summary

Problems solved by technology

[0005] The main purpose of the present invention is to overcome the problems of low positioning accuracy and real-time positioning in the prior art, and propose a three-dimensional positioning method for moving targets immune to noise in tunnels. Real-time precise positioning of moving targets

Images