CN105898865B - 非线性非高斯条件下基于ekf和pf的协同定位方法 - Google Patents
非线性非高斯条件下基于ekf和pf的协同定位方法 Download PDFInfo
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- CN105898865B CN105898865B CN201610439442.5A CN201610439442A CN105898865B CN 105898865 B CN105898865 B CN 105898865B CN 201610439442 A CN201610439442 A CN 201610439442A CN 105898865 B CN105898865 B CN 105898865B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
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CN105898865A CN105898865A (zh) | 2016-08-24 |
CN105898865B true CN105898865B (zh) | 2019-06-18 |
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Families Citing this family (11)
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---|---|---|---|---|
CN108205121B (zh) * | 2016-12-20 | 2021-12-10 | 中国航天科工集团八五一一研究所 | 一种基于toa变化率的单通道无源定位方法 |
CN107631727B (zh) * | 2017-09-12 | 2020-09-01 | 杭州电子科技大学 | 一种室内css/ins组合导航*** |
CN108303095B (zh) * | 2018-02-02 | 2019-04-19 | 哈尔滨工业大学 | 适用于非高斯***的鲁棒容积目标协同定位方法 |
CN108398704B (zh) * | 2018-02-06 | 2020-11-06 | 北京科技大学 | 一种贝叶斯滤波的多车辆协作定位方法 |
CN109282817B (zh) * | 2018-10-16 | 2022-04-12 | 中山大学 | 一种多机器人协同定位与控制方法 |
CN110308419B (zh) * | 2019-06-27 | 2021-04-06 | 南京大学 | 一种基于静态求解和粒子滤波的鲁棒tdoa定位方法 |
CN110401915B (zh) * | 2019-08-27 | 2021-02-05 | 杭州电子科技大学 | 一种nlos条件下sekf与距离重构相结合的移动目标定位方法 |
CN111220946A (zh) * | 2020-01-20 | 2020-06-02 | 南京烽火星空通信发展有限公司 | 基于改进扩展卡尔曼滤波的多移动目标定位误差消除方法 |
CN111352066B (zh) * | 2020-03-27 | 2022-02-22 | 西安震有信通科技有限公司 | 基于粒子滤波的定位方法、装置、计算机设备和存储介质 |
CN112327246B (zh) * | 2020-09-22 | 2022-06-28 | 中国人民解放军海军航空大学青岛校区 | 一种多机协同定位精度优化方法及*** |
CN112595327A (zh) * | 2020-12-25 | 2021-04-02 | 燕山大学 | 一种基于uwb室内定位***的定位方法及装置 |
Citations (6)
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CN101938690A (zh) * | 2009-06-28 | 2011-01-05 | 澳门科技大学 | 一种蜂窝网络定位方法及蜂窝网络定位装置 |
CN102149192A (zh) * | 2011-01-25 | 2011-08-10 | 南京信息工程大学 | 一种基于移动台合作的蜂窝网络无线定位方法 |
CN102395192A (zh) * | 2011-03-15 | 2012-03-28 | 苏州摩多物联科技有限公司 | 一种无线传感终端的定位方法和装置 |
CN104066179A (zh) * | 2014-07-10 | 2014-09-24 | 浙江银江研究院有限公司 | 一种改进的自适应迭代ukf的wsn节点定位方法 |
CN104080165A (zh) * | 2014-06-05 | 2014-10-01 | 杭州电子科技大学 | 一种基于tdoa的室内无线传感器网络定位方法 |
WO2016016577A1 (fr) * | 2014-07-28 | 2016-02-04 | Ezee World | Procede de localisation d'un dispositif recepteur au moyen d'un reseau de dispositifs emetteurs radio autonomes du type beacon |
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2016
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CN101938690A (zh) * | 2009-06-28 | 2011-01-05 | 澳门科技大学 | 一种蜂窝网络定位方法及蜂窝网络定位装置 |
CN102149192A (zh) * | 2011-01-25 | 2011-08-10 | 南京信息工程大学 | 一种基于移动台合作的蜂窝网络无线定位方法 |
CN102395192A (zh) * | 2011-03-15 | 2012-03-28 | 苏州摩多物联科技有限公司 | 一种无线传感终端的定位方法和装置 |
CN104080165A (zh) * | 2014-06-05 | 2014-10-01 | 杭州电子科技大学 | 一种基于tdoa的室内无线传感器网络定位方法 |
CN104066179A (zh) * | 2014-07-10 | 2014-09-24 | 浙江银江研究院有限公司 | 一种改进的自适应迭代ukf的wsn节点定位方法 |
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Non-Patent Citations (2)
Title |
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"A Kalman/Particle Filter-Based Position and Orientation Estimation Method Using a Position Sensor/Inertial Measurement Unit Hybrid System";Seong-hoon Peter Won等;《IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS》;20100531;全文 * |
"基于EKF和PF的多机器人协同定位技术";田红兵等;《现代电子技术》;20131201;全文 * |
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