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.

移动目标的定位技术已经成为导航跟踪和多机协作的关键。考虑到噪声和速度测量过程中的初始误差的干扰，在移动目标航位推测的长途航行中存在累积误差。此外，无线传感器网络中存在时变信号传播和视线遮挡的干扰，在本地移动目标的无线定位中定位有误。因此，仅使用单一定位方法会导致传感器数据异常，从而使定位不可靠。本文利用多传感器测量的协同效应研究了用于移动目标稳定定位的异构数据的分布式融合校正。首先，建立了包括速度和偏航角在内的误差传播特性和位置计算模型。其次，建立了无线参数（包括无线伪距和锚节点参考坐标）与网络拓扑之间的双重映射。最后，基于多源数据，采用融合校正策略，采用了移动目标的实时位置输出紧密耦合机制。通过基于自适应校正的融合滤波器设计，当异构数据正常甚至异常时，定位精度保持适度，验证了所提出的分布式异常数据融合校正策略的可行性和有效性。本文的研究有助于揭示移动目标的多参数耦合机制，