Mesh自组网与惯导组合的班组协同定位算法研究

Research on Team Cooperative Positioning Algorithm Based on Mesh Ad Hoc Network and Inertial Navigation

采用单一低精度惯性传感终端完成定位解算将导致定位精度发散,定位信息回传覆盖范围小,且传输易受干扰,因此,该文提出了一种Mesh自组网与惯导组合的班组协同定位方法。该方法建立的一种基于线性化卡尔曼滤波的班组协同定位算法模型,以高、低精度惯导组合的班组协同为基础,结合Mesh网络的通信传输功能,可抑制单一低精度惯性传感终端的短期累积误差,提高长航时定位精度。实验结果表明,采用班组协同定位算法,低精度惯性班组人员定位的闭环轨迹误差分别降低3.28%和3.2%,30 min累积定位平均误差分别降低5.82%和6.43%,有效抑制了单一低精度惯性定位成员的短期累积误差,提升了班组整体的定位精度。

In order to solve the problems of positioning accuracy divergence,small coverage of location information return,and easy interference of transmission caused by single low precision inertial sensor terminal,a team cooperative positioning algorithm based on Mesh ad hoc network and inertial navigation is proposed in this paper.A team cooperative positioning algorithm model based on linearized Kalman filter is established,which is based on the team cooperation of high and low precision inertial navigation units,and combined with the communication transmission function of mesh network,the short-term cumulative error of a single low-precision inertial sensor terminalcan be suppressed,and the long-term positioning accuracy is improved.The experimental result shows that the closed-loop trajectory error of low-precision inertial team members is reduced by 3.28%and 3.2%respectively,and the average 30 min cumulative positioning error is reduced by 5.82%and 6.43%,respectively,which effectively suppresses the short-term cumulative error of a single low-precision inertial positioning member and improves the overall positioning accuracy of the team.