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A Relative Self-Location Method for Mobile Formation Without Clock Synchronization

A clock synchronization and self-positioning technology, applied in wireless communication, service based on location information, digital transmission system, etc., can solve the problem of large cumulative error of inertial navigation, and achieve the effect of relative positioning error correction

Active Publication Date: 2022-01-07
INST OF ACOUSTICS CHINESE ACAD OF SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] Aiming at the problem of large accumulative errors of inertial navigation of underwater mobile nodes, the present invention proposes a relative self-positioning method for mobile formations without clock synchronization. Communication, using a combination of particle filtering and trajectory prediction, under the premise of not requiring clock synchronization between nodes, the relative self-positioning of each node in the mobile formation is carried out, which reduces the inertial navigation error to a certain extent

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  • A Relative Self-Location Method for Mobile Formation Without Clock Synchronization
  • A Relative Self-Location Method for Mobile Formation Without Clock Synchronization
  • A Relative Self-Location Method for Mobile Formation Without Clock Synchronization

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Embodiment Construction

[0089] The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0090] The present invention proposes a mobile formation relative self-positioning method that does not require clock synchronization. During the movement of the mobile formation, it communicates through an underwater acoustic network and uses a method that combines particle filtering and trajectory prediction. It does not require clock synchronization between nodes. Under the premise of relative self-positioning of each node in the mobile formation,

[0091] Such as figure 1 Shown, method of the present invention comprises the following steps:

[0092] Step 1) Initialize

[0093] 1-1), set the total number of nodes T included in the network and the node address t

[0094] The address t of this node is an integer, t∈[0,T), and the address t of different nodes should be guaranteed to be unique in the network;

[...

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Abstract

The invention provides a relative self-positioning method for mobile formations without clock synchronization, wherein each node in the mobile network is equipped with an inertial navigation device and a depth gauge, and the inertial navigation device is used to provide the mobile node's inertial navigation latitude, inertial navigation Longitude, eastward speed, northward speed parameters; the depth gauge is used to provide the depth and vertical speed parameters of the mobile node; the method specifically includes: all nodes establish a communication link by sending and receiving KLV data frames; all nodes communicate through response, using particle filter The method combined with the trajectory prediction corrects the relative positioning error of the inertial navigation equipment, so as to realize the self-positioning. The method of the present invention uses the underwater acoustic communication between two nodes in the underwater mobile formation and combines polynomial regression and particle filter methods to correct the relative positioning error of the inertial navigation equipment of the node itself without clock synchronization. Purpose.

Description

technical field [0001] The invention belongs to the field of underwater wireless sensor networks, in particular to a relative self-positioning method for mobile formations without clock synchronization. Background technique [0002] Common underwater mobile node positioning and navigation technologies mainly include four categories: strapdown inertial navigation technology, underwater acoustic positioning and navigation technology, geophysical and visual navigation technology, and underwater collaborative navigation technology. Among them, the navigation error of strapdown inertial navigation technology accumulates significantly over time; the Doppler velocity log method in underwater acoustic positioning and navigation technology is prone to loss of ground lock, and the underwater acoustic positioning array method requires acoustic beacons. Or other auxiliary equipment; geophysical and visual navigation technology needs to have a more detailed database support for the topog...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H04W4/024H04W4/029H04W64/00H04L1/00H04B13/02
CPCH04W4/024H04W4/029H04W64/006H04L1/004H04B13/02
Inventor 肖东陈岩魏丽萍郭圣明马力
Owner INST OF ACOUSTICS CHINESE ACAD OF SCI