一种基于重心迭代法的单信标定位方法
A single beacon location method based on barycentre iteration method
张治豪 1王振杰 1张世美 1王轲1
作者信息
- 1. 中国石油大学(华东)海洋与空间信息学院,山东 青岛 266580
- 折叠
摘要
针对在单信标定位过程中,虚拟信标阵列之间近似共线或共面会导致定位模型产生病态结果的问题,提出一种基于重心迭代法的单信标定位方法:构建水下单信标定位模型,分析模型病态的产生机理;然后,根据非线性正交条件方程,推导非线性重心迭代方法理论公式,发现单信标定位模型参数解仍满足非线性测距方程最小二乘解的性质.实验结果表明:该算法在高斯牛顿法因病态问题导致解算过程不稳定,甚至无法收敛而失效时,仍能快速且稳定地收敛到预期解.
Abstract
Aiming at the problem that in the process of single beacon positioning,approximate collinearity or coplanarity between virtual beacon arrays can lead to pathological output in the positioning model,the paper proposed a single beacon positioning method based on the barycentre iteration method:an underwater single beacon positioning model was constructed,and the mechanism of model pathology was analyzed;then,based on the nonlinear orthogonal condition equation,the theoretical formula of the nonlinear barycentre iteration method was derived,and it was found that the parameter solution of the single beacon positioning model would still satisfy the property of the least squares solution of the nonlinear ranging equation.Experimental result showed that the proposed algorithm could help quickly and stably converge to the expected solution even when the Gaussian Newton method is unstable or even unable to converge due to pathological problems.
关键词
单信标定位/病态问题/虚拟信标/重心迭代法Key words
single beacon positioning/pathological problem/virtual beacon/barycentre iteration method引用本文复制引用
出版年
2024
NETL
NSTL
万方数据