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Rigid body positioning and attitude determination method based on direction of arrival under single base station

A single base station, rigid-body technology, applied in directions such as direction finders, positioning, and radio wave measurement systems using radio waves, it can solve the problems of complex positioning and attitude measurement models required for clock synchronization, affecting accuracy, and a large amount of calculation.

Inactive Publication Date: 2020-04-10
WUXI TAIHU UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Most of the existing methods are based on TOA and need to pass through multiple base stations to estimate the position and attitude of the target rigid body. This method has strict clock synchronization requirements, and the positioning and attitude measurement model is complex, computationally intensive, and easy to solve. The problem of error affecting accuracy

Method used

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  • Rigid body positioning and attitude determination method based on direction of arrival under single base station
  • Rigid body positioning and attitude determination method based on direction of arrival under single base station
  • Rigid body positioning and attitude determination method based on direction of arrival under single base station

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Embodiment 1

[0075] This embodiment provides a rigid body positioning and attitude measurement method based on the angle of arrival under a single base station. The method flow is as follows figure 1 As shown, the method includes:

[0076] Step 1: Establish a local coordinate system.

[0077] A local coordinate system is established with the position of the single base station used as the center of the circle, with the direction perpendicular to the horizontal plane as the z-axis, the due east direction as the y-axis, and the due south direction as the x-axis.

[0078] Step 2: Place the antenna array at the origin base station of the local coordinate system;

[0079] Measuring the two-dimensional angle of arrival of wireless signals requires that the antenna array elements be arranged on a two-dimensional plane, which can form a circle or a polygon; considering the cost, the L-type antenna element is the least required, so the L-type antenna is selected in this embodiment array.

[0080...

Embodiment 2

[0128] This embodiment provides a simulation application of the method for estimating the position and attitude of a rigid body based on the angle of arrival signal under a single base station. The hardware device is an Ettus Research USRP X310, which is a high-performance, scalable software-defined radio platform. The hardware structure combines two extended bandwidth daughter board slots covering DC-6GHz and baseband bandwidth up to 120MHz, multiple high-speed interface options and a user-programmable Kintex-7FPGA.

[0129] The USRP motherboard is connected to the supporting daughter board, the daughter board sends and receives signals, the motherboard performs analog-to-digital / digital-to-analog conversion, digital signal processing is performed in the FPGA, and the USB interface chip located under the FPGA communicates with the CPU. Its hardware structure diagram is as follows image 3 shown.

[0130] The antennas are distributed on the x-axis and the z-axis in an L shape...

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Abstract

The invention discloses a rigid body positioning and attitude determination method based on a direction of arrival under a single base station, and belongs to the technical field of rigid body positioning and attitude determination. According to the method, DOA (direction of arrival) is used as an observed quantity, a positioning and attitude determination scheme is provided under the condition ofa single base station, and an antenna array with a reasonable size is arranged at the single base station, so that three-dimensional DOA information of each wireless node bound on the surface of a rigid body can be captured. By taking the DOA of each node reaching the base station as an observed quantity, the problem of synchronization between each wireless node and the base station is avoided. By adopting the three-dimensional DOA information obtained between a wireless node and the base station and combining a known small-range WSN topological structure, a positioning and attitude determination scheme with a closed-form solution is designed with low cost under the single base station. By adopting the Newton iteration method for solving, the scheme of the invention has smaller computation amount and faster computation speed compared with an existing PSO algorithm based on DOA, and is suitable for actual engineering scenes.

Description

technical field [0001] The invention relates to a rigid body positioning and attitude measurement method based on the wave arrival angle under a single base station, and belongs to the technical field of rigid body positioning and attitude estimation. Background technique [0002] In existing technologies, positioning and attitude measurement are often divided into two independent technologies for research. However, in many scenarios, the position and attitude of the target object are two interdependent information elements. For example, in a virtual reality system, the visual interface needs to provide corresponding images according to the position and attitude of the helmet; in intelligent robots or intelligent parking applications, The system needs to plan the forward route according to the position and attitude of the object; in the docking situation of aerospace vehicles, the real-time position and attitude of the docking object are the necessary factors for its docking...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/02G01S3/14G01C21/20G01C21/24
CPCG01C21/20G01C21/24G01S3/14G01S5/0247
Inventor 周彪吴圣兰张潇文姚晓峰杨乐
Owner WUXI TAIHU UNIV
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