基于移动锚点的协作式定位研究

发布时间：2018-06-29 01:18

本文选题：协作式定位 + 移动锚点　；参考：《华侨大学》2017年硕士论文

【摘要】：无线定位技术是一种根据无线信号的各种特征参数来确定特定物体的位置坐标的技术。近年来,随着无线通信技术的发展及基于位置服务需求的不断提高,无线定位技术已被广泛应用于军事、工业、移动电子商务、紧急救援等诸多领域。但是由于在定位环境中参考锚点数量较少,锚点分布不均匀,环境中障碍物遮挡,非视距因素等原因的影响,导致节点定位率低,定位误差大等各种问题。针对这些情况,本文主要研究了基于移动锚点的协作式定位方法:利用环境中移动的待定位节点来作为其他待定位节点的参考锚点进而提高节点定位率,降低节点定位误差。主要的研究工作如下:1)针对一个包含三个固定锚点和三个待定位节点的简单定位场景对节点的不同分布情况进行了分析总结,并最终将节点的所有分布情况总结为12种情况对提出的基于移动锚点的协作式定位思想进行了分析。2)针对待定位节点定位误差较大的问题,提出了基于卡尔曼滤波的协作式定位方法。其将所有待定位节点作为一个整体,进而利用待定位节点之间的通信信息来提高定位精度。其次对卡尔曼滤波进行了扩展以使其能够适用于提出的协作式定位思想。3)为了在提高节点定位率的前提下尽量降低定位区域中节点之间的通信量,提出了基于哈希选举的协作式定位方法。根据已定位节点之间的距离信息,其基于哈希函数选举部分已定位节点作为其他节点的移动锚点来辅助其定位,最大限度地保证了节点的定位率。4)为了验证提出的定位方法的实际定位性能,使用Nanotron节点实现了实际的定位系统并在实际环境中做了大量的测试和实验来进一步验证了提出方法的有效性。
[Abstract]:Wireless location is a technique to determine the position coordinates of a particular object according to various characteristic parameters of wireless signal. In recent years, with the development of wireless communication technology and the increasing demand of location-based services, wireless positioning technology has been widely used in military, industrial, mobile e-commerce, emergency rescue and many other fields. However, due to the small number of reference anchors in the location environment, the uneven distribution of anchors, obstacles in the environment, non-line-of-sight factors and other factors, such as low node positioning rate, large positioning errors and other problems. In order to solve these problems, this paper mainly studies the cooperative localization method based on mobile anchors: the mobile nodes in the environment are used as the reference anchors for other nodes to be located, which can improve the localization rate of nodes and reduce the node positioning errors. The main research work is as follows: (1) the different distribution of nodes is analyzed and summarized for a simple location scene with three fixed anchors and three nodes to be located. Finally, all the distribution of nodes is summed up into 12 situations. The proposed cooperative localization idea based on moving anchor points is analyzed. 2) aiming at the problem that the positioning error of the nodes to be located is large, A cooperative location method based on Kalman filter is proposed. It takes all the nodes to be located as a whole, and then uses the communication information between the nodes to improve the positioning accuracy. Secondly, the Kalman filter is extended so that it can be applied to the proposed cooperative localization idea. A cooperative location method based on hash election is proposed. Based on the distance information between the located nodes, the partially located nodes are selected by the hash function as the moving anchor of the other nodes to assist the location. In order to verify the actual localization performance of the proposed localization method, the localization rate of nodes is guaranteed to the maximum extent. Nanotron node is used to realize the actual positioning system and a large number of tests and experiments are done in the actual environment to further verify the effectiveness of the proposed method.
【学位授予单位】：华侨大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TN92

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