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Ultra-wideband dynamic inversion positioning method based on multi-model prediction

An ultra-broadband, multi-model technology, applied in the direction of location information-based services, specific environment-based services, measurement devices, etc., can solve the problem that nodes cannot perform inversion and positioning, and achieve the effect of collaborative positioning

Pending Publication Date: 2022-04-12
北京理工大学重庆创新中心
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Problems solved by technology

Most of the existing dynamic inversion positioning research requires the motion model of the known motion nodes, but the inversion positioning cannot be performed for nodes with unknown motion models

Method used

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  • Ultra-wideband dynamic inversion positioning method based on multi-model prediction
  • Ultra-wideband dynamic inversion positioning method based on multi-model prediction
  • Ultra-wideband dynamic inversion positioning method based on multi-model prediction

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Embodiment 1

[0043] The ultra-broadband device used in this embodiment can implement distributed distance measurement, and no special distinction is made between tag base stations, and distance measurement can be performed between sensor nodes. define P i , i=0, 1, . . . , N is the agent node, and N+1 is the number of ultra-broadband nodes. Nodes are equipped with ultra-wideband modules, odometers or inertial navigation modules, where P 0 It is the master node that runs the dynamic inversion positioning algorithm. Multi-agents enter the unknown three-dimensional space, and their motion information is provided by the odometer or inertial navigation module. Define the position of the agent at time t as T i，t =[T i，x，t T i，y，t T i，z，t ] T , at time t the velocity is v i，t =[v i，x，t v i，y，t v i，z，t ] T . Any of the above nodes T i , i=0, 1,..., N can communicate with other nodes T j , j=0, 1,..., N, i≠j to communicate and obtain the mutual distance value d ij , but cannot o...

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Abstract

The invention discloses an ultra-wideband dynamic inversion positioning method based on multi-model prediction. The method comprises the following steps: acquiring motion information and distance measurement information of a main agent and distance measurement information of a sub-agent; and performing motion model prediction and dynamic inversion positioning on the dynamic sub-agents by using an interactive multi-model prediction algorithm based on unscented Kalman filtering based on the motion information and the distance measurement information of the main agent and the distance measurement information of the sub-agents. According to the method, when the position and motion information of the agent carrying the ultra-wideband label are known, motion model prediction and inversion positioning calculation can be carried out on a dynamic ultra-wideband anchor point (namely a sub-agent) in an unknown space by utilizing an interactive multi-model algorithm based on unscented Kalman filtering based on ultra-wideband distance measurement information. And constructing a relative positioning network according to an inversion calculation result of the unknown dynamic anchor point to realize multi-agent cooperative positioning.

Description

technical field [0001] The invention relates to the technical field, in particular to an ultra-wideband dynamic inversion positioning method based on multi-model prediction. Background technique [0002] There is currently a research scheme for locating UWB base stations by using UWB tags, which is realized by knowing the position and ranging value of tags during movement, and this method is called inversion positioning technology. At present, most inversion and positioning technologies are researched on dynamic tags and static base stations, but there are few researches on the complete dynamic environment of ultra-wideband nodes, which has limitations. Most of the existing dynamic inversion positioning research requires the motion model of the known motion nodes, but the inversion positioning cannot be performed for nodes with unknown motion models. Contents of the invention [0003] In view of this, the present invention provides an ultra-wideband dynamic inversion posi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04W4/02H04W4/021H04W4/33H04W64/00G01S11/02G06F17/12G06F17/16
Inventor 俞成浦周大健唐潮赵旭阳
Owner 北京理工大学重庆创新中心
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