A single beacon location method based on barycentre iteration method
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.
single beacon positioningpathological problemvirtual beaconbarycentre iteration method
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