A fault-tolerant co-location method based on two-layer filtering in a 3D 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 expands non-line-of-sight errors in a wireless environment and obtains random errors; constructs a three-dimensional dynamic cluster network suitable for Co-location positioning framework, the normalized root mean square error of the positioning framework is equal to the Cramereau lower bound of the three-dimensional network under normal observation conditions; in the wireless environment with random errors, the motion state based on continuous time series and based on The two-layer filtering of the geometric configuration performs fault-tolerant positioning algorithm operations based on the two-layer filtering to identify abnormal errors in wireless ranging. Experiments of the invention show that the Filter-MDS can effectively identify abnormal errors existing in wireless ranging, and improve the collaborative positioning accuracy of the cluster network in a random error environment.

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. Random error in distance measurement yielding 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 the error of non-line-of-sight observation, that is, it may be smaller than the real distance, or it may be larger than the real distance, and the deviation from the real distance is large

The second is that the link is interrupted, that is, the nodes within the line of sight cannot complete the ranging

[0015] (1) The existing technology about the co-location problem of the dynamic cluster network is mainly aimed at the two-dimensional wireless environment. For the three-dimensional wireless environment, there is a problem that it is not suitable for the cluster network with weak computing power due to the high technical calculation complexity;

[0016] (2) The existing technology about the co-location of dynamic cluster network is mainly aimed at the wireless environment with non-line-of-sight errors, but not the wireless environment with random errors that may be generated during data transmission;

[0017] (3) Regarding the co-location problem of the dynamic cluster network in the prior art, there is a lack of identification of abnormal ranging errors in a random error environment, resulting in low accuracy of co-location results

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