Moving target positioning calculation and error evaluation method under noisy network

Abstract

The invention discloses a moving target positioning solution and error evaluation method under a noisy network, which comprises the following steps of: installing a label on a moving target, determining a sensing base station set corresponding to the label, and solving a differential distance based on a signal arrival time difference between a base station and the label in combination with a target motion model; a primary distance estimation value between a moving target and a base station under a noise signal is estimated by adopting unscented particle filtering, a target distributed positioning calculation model is established based on a base station calibration error and signal ranging, and a covariance matrix and a corresponding positioning error caused by uncertainty in the base station calibration and signal measurement process are calculated. According to the method, uncertainty between a base station and a signal is fully considered, unscented particle filtering is introduced to carry out primary positioning estimation on the moving target, in order to avoid positioning errors caused by an ill-conditioned matrix, a primary distance estimation value and a variable separation method are utilized to solve the real-time position of the moving target, positioning sensing is carried out on the moving target in real time, and the positioning errors are evaluated; and a basis can be provided for cooperative positioning and autonomous movement of the target.

Description

technical field [0001] The patent of the present invention relates to the distributed positioning of moving targets in the monitoring area, and specifically relates to a method for positioning and solving and error evaluation of moving targets in a noisy network. Background technique [0002] As one of the key technologies of its collaborative automation, target positioning technology can be applied in various industrial scenarios to achieve accurate detection of target positions. At present, there are various methods such as odometer, visual positioning method, and inertial measurement method to locate the target, but there are problems such as accumulated error for a long time, uneven illumination easily caused image distortion, and external sensor correction is required. With the wide application of wireless communication technology, the use of wireless signals between sensors to locate targets has become an effective means. In the positioning area, a certain number of s...

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Problems solved by technology

[0005] Purpose of the invention: The present invention proposes a moving target positioning solution and error evaluation method in a noisy network, which uses multi-source signals between multiple base stations and tags to locate the moving target in real time, and solves inaccurate or partial areas in the target positioning The problem of positioning failure

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