非视距环境下基于时域测量的刚体位姿估计  

Rigid Body Localization Based on Time Domain Measurement in Non-Line-of-Sight Environment

作　　者：万鹏武 魏健 姚媛媛 彭康 李文杰 WAN Pengwu;WEI Jian;YAO Yuanyuan;PENG Kang;LI Wenjie(School of Communications and Information Engineering,Xi'an University of Posts and Telecommunications,Xi'an 710121,China)

机构地区：[1]西安邮电大学通信与信息工程学院,西安710121

出　　处：《北京邮电大学学报》2023年第1期115-120,共6页Journal of Beijing University of Posts and Telecommunications

基　　金：国家自然科学基金项目(62101441);陕西省重点研发计划项目(2021GY-103)。

摘　　要：为了提升非视距环境下的刚体目标定位性能,提出了一种利用无线信号时域信息的刚体定位方法,来克服非视距误差对定位性能的影响。引入非视距误差作为辅助变量,将刚体节点位置估计转化为广义信赖域子问题;通过二分法估计出刚体节点的位置;运用奇异值分解求解非视距环境下刚体的位姿参数。计算机仿真验证了所提方法具有良好的定位性能。To improve the accuracy of the rigid body localization in non-line-of-sight environments,the method of rigid body localization using time domain information of wireless signals is proprosed to overcome the influence of non-line-of-sight errors in the localization performance.First,the non-line-ofsight deviation is introduced as an auxiliary variable to transform the rigid body sensor position estimation into a generalized trust region sub-problem.Then,the position of the rigid body sensor is estimated by the bisection method.Finally,the position and the orientation of the rigid body are calculated according to the singular value decomposition.Simulation results demonstrate that the proposed method performs well in terms of the localization performance.

关 键 词：刚体定位 非视距误差 广义信赖域子问题 

分 类 号：TN929.5[电子电信—通信与信息系统]