Fault-tolerant cooperative positioning method based on two-layer filtering in three-dimensional dynamic cluster network

Abstract

The invention belongs to the technical field of dynamic cluster network information processing, and discloses a fault-tolerant cooperative positioning method based on two-layer filtering in a three-dimensional dynamic cluster network, which comprises the steps: expanding a non-line-of-sight error in a wireless environment and acquiring a random error; constructing a positioning frame suitable forthree-dimensional dynamic cluster network cooperative positioning, wherein the normalized root-mean-square error of the positioning frame is equal to the Cramer-Rao lower bound of the three-dimensional network under a normal observation condition; in a wireless environment with random errors, introducing two-layer filtering based on a motion state under a continuous time sequence and based on geometric configuration, carrying out fault-tolerant positioning algorithm operation based on the two-layer filtering, and identifying abnormal errors existing in wireless distance measurement. Experiments show that the Filter-MDS can effectively identify abnormal errors existing in wireless ranging, and the cooperative positioning precision of the cluster network in a random error environment is improved.

Description

technical field [0001] The invention belongs to the technical field of dynamic cluster network information processing, and in particular relates to a fault-tolerant cooperative positioning method based on two-layer filtering in a three-dimensional dynamic cluster network. Background technique [0002] At present, dynamic cluster networks include mobile robot networks, Internet of Vehicles, drone clusters, etc. The core problem of dynamic cluster network can be summarized into the following three sub-problems: (1) Where am I? (2) Where am I going? (3) How can I get there? The first sub-problem, the positioning of cluster network nodes, is the basis of the following two sub-problems. One possible solution is to install a GPS receiver for each node in the cluster network, but some cluster networks such as mobile robot networks are usually deployed in indoor, space, sewer pipes, underwater and other environments, and GPS signals are vulnerable to multipath Due to the influen...

AI Technical Summary

Problems solved by technology

Trilateral positioning or multilateral positioning is the basis of the single point positioning algorithm. It is completely distributed, the algorithm is simple, and only local communication is required to complete the algorithm. However, the algorithm has problems such as difficulty in starting, premature shutdown, and iteration errors.

The first is the abnormal observation error, the observed distance between nodes is larger than the true distance

On the one hand, this error may be due to the fact that the observation of the distance between nodes is carried out in a non-line-of-sight (NLOS) environment. When the LOS between the reference node and the target node is blocked, the excessive delay of the radio wave occurs , the distance measurement yields a random error with a positive mean

On the other hand, it may be random errors generated during data transmission. At present, cluster networks (such as drone clusters) are developing in the direction of low cost and miniaturization. The data link is unstable, and the distance data may be transmitted during the transmission process. error

This error is different from t...

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