混合目标场景多点协同定位可定位性探讨
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摘要
针对当前卫星定位研究领域中协同终端节点实现定位难以满足恶劣复杂环境下定位需求的问题,以"协同学"理论为基础,提出待定位目标节点在不同收星条件下的混合定位场景中的多点协同定位形式,对待测目标节点的可定位性进行定量判定:利用卫星定位的伪距方程构建在全部节点可接收卫星信号和部分节点可接收卫星信号场景下待测目标节点的收星数目与待测目标终端节点数之间的关系式;通过选取收星数目分别为4、3和2颗等条件下某具体定位场景中的目标终端节点设计多点协同定位算法,判定多点协同定位的可定位性。实验结果验证了混合目标场景下多点协同定位的可定位条件,为解决终端收星条件不佳的复杂环境下的卫星定位相关研究提供参考。
Aiming at the problem that it is difficult to meet the requirement for the positioning of collaborating terminal nodes in the research field of satellite positioning under complicated environments, the paper based on the theory of synergetics, proposed the form of multipoint cooperative positioning in hybrid positioning scenes under different satellite collection conditions for the target terminal nodes to be located, in order to quantitatively judge the positioning feasibility of the target nodes: the relational expressions between the number of satellite collection of the target nodes to be tested and the number of the target terminal nodes to be tested under the scences where all nodes can receive satellite signals and some nodes can receive satellite signals were established with the pseudorange equations of satellite positioning; and the target terminal nodes in some specific positioning scenarios were selected under the conditions of satellite collection number 4, 3 and2 respectively to design the multipoint cooperative positioning algorithm, then the positioning feasibility was judged. Experimental result verified the feasible condition of multipoint collaborative positioning in mixed target scenarios, which could provide a reference for related study.
Aiming at the problem that it is difficult to meet the requirement for the positioning of collaborating terminal nodes in the research field of satellite positioning under complicated environments, the paper based on the theory of synergetics, proposed the form of multipoint cooperative positioning in hybrid positioning scenes under different satellite collection conditions for the target terminal nodes to be located, in order to quantitatively judge the positioning feasibility of the target nodes: the relational expressions between the number of satellite collection of the target nodes to be tested and the number of the target terminal nodes to be tested under the scences where all nodes can receive satellite signals and some nodes can receive satellite signals were established with the pseudorange equations of satellite positioning; and the target terminal nodes in some specific positioning scenarios were selected under the conditions of satellite collection number 4, 3 and2 respectively to design the multipoint cooperative positioning algorithm, then the positioning feasibility was judged. Experimental result verified the feasible condition of multipoint collaborative positioning in mixed target scenarios, which could provide a reference for related study.
引文
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[15]MAO Xuchu,WADA M,HASHIMOTO H.Nonlinear iterative algorithm for GPS positoning with bias model[C]//The Institute of Electrical and Electronic Engineers(IEEE).Proceedings of the 7th International IEEE Conference on Intelligent Transportation Systems.Washington,WA:IEEE,2004:684-689.
[2]孙烨.“协同”学方法论在社会科学中的定性研究分析[J].自然辩证法研究,2013,29(9):118-120.
[3]KURAZUME R,NAGATA S,HIROSE S.Cooperative positioning with multiple robots[C]//The Institute of Electrical and Electronic Engineers(IEEE).Proceedings of the IEEE International Conference on Robotics and Automation.Los Alamitos,CA:IEEE,1994:1250-1257.
[4]DIETER F.A probabilistic approach to collaborative multi-robot locationation[J].Autonomous Robots,2000,8(3):325-344.
[5]BERAFELT F,BOBERG B,NYGARDS J,et al.Collaborative GPS/INS navigation in urban environment[C]//The Institute of Navigation.Proceedings of the 2004 National Technical Meeting of the Institute of Navigation.San Diego CA:The Institute of Navigation,2004:1114-1125.
[6]TOSHIO F,MASAYUKI S,AKIRA A.A study on high accuracy positioning system enhanced by quasi-zenith satellites[C]//The Institute of Navigation.Proceedings of the 2004 National Technical Meeting of the Institute of Navigation.San Diego,CA:The Institute of Navigation,2004:157-166.
[7]ROBERTO G,LETIZIA L,GIOVANNI C,et al.Peer-to-peer collaborative positioning part I:GNSS-aided acquisition[J].Inside GNSS,2012(2):55-63.
[8]ROBERTO G,LETIZIA L,GIOVANNI C,et al.Peer-to-peer collaborative positioning part II:hybrid devices with GNSS&terrestrial ranging capability[J].Inside GNSS,2012(3):56-64.
[9]华承昊,窦丽华,方浩.多机器人最大熵博弈协同定位算法[J].国防科技大学学报,2014,36(2):192-198.
[10]刘俊成,张京娟,谭丽芬.新的导弹协同定位技术[J].北京航空航天大学学报,2012,38(9):1149-1153.
[11]李朕,阳郎朗,陈孟元.基于SR-CKF的相对方位多机器人协同定位算法[J].电子测量与仪器学报,2016,30(7):1107-1113.
[12]LEVA L.An alternative closed-form solution to the GPS pseudo-range equations[J].IEEE Transactions on Aerospace and Electronic Systems,1996,32(4):1430-1439.
[13]刘江,蔡伯根,王云鹏.基于GNSS/DSRC融合的协同车辆定位方法[J].交通运输工程学报,2014,14(4):116-126
[14]王明,孟赟,李竞,等.用于无线传感器网络的节点间协同定位算法的设计[J].传感技术学报,2015,28(5):709-716.
[15]MAO Xuchu,WADA M,HASHIMOTO H.Nonlinear iterative algorithm for GPS positoning with bias model[C]//The Institute of Electrical and Electronic Engineers(IEEE).Proceedings of the 7th International IEEE Conference on Intelligent Transportation Systems.Washington,WA:IEEE,2004:684-689.