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Stable positioning for mobile targets using distributed fusion correction strategy of heterogeneous data
Ad Hoc Networks ( IF 3.643 ) Pub Date : 2020-06-19 , DOI: 10.1016/j.adhoc.2020.102250
Gaifang Xin; Xinnan Fan; Chengming Luo; Yuxin Cao; Hai Yang; Haiyan Xu; Xuewu Zhang

Positioning technology of mobile target has become the key of navigation tracking and multi-machine cooperation. Considering the interference of noise and initial error in the process of speed measurement, there are accumulated errors in the long voyage of mobile target dead reckoning. Besides, there exists interference of time-varying signal propagation and line of sight occlusion in wireless sensor network, and there is wrong positioning in wireless positioning of mobile target in local area. Therefore, only using a single positioning method leads to abnormal sensor data, which makes the positioning untrustworthy. In this paper, the synergistic effect of multi-sensor measurement is applied to study the distributed fusion correction of heterogeneous data for mobile target stable positioning. Firstly, the error propagation characteristics including speed and yaw angle and the position calculation model are established. Secondly, the dual mapping between wireless parameters including wireless pseudo range and anchor node reference coordinate and network topology is established. Finally, based on multi-source data, the real-time position output tight coupling mechanism of mobile target is adopted by fusion correction strategy. Through the design of fusion filter based on adaptive correction, positioning accuracy keeps moderate when heterogeneous data is normal or even abnormal, and the feasibility and effectiveness of the proposed distributed fusion correction strategy of abnormal data are verified. The research in this paper can help to reveal the multi-parameters coupling mechanism of mobile target, improve the accuracy and stability of mobile target positioning performance in whole space and long time, and also provide theoretical and experimental basis for the research of robot navigation tracking and multi-machine cooperation in the same environment.
更新日期:2020-06-27

 

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