对等结构下的相对导航源选择研究

Research on Relative Navigation Source Selection in Peer-to-Peer Structure

在集中式与分布式结构基础上建立基于对等式结构的模型,针对对等式结构下无源定位相对导航的源最优选择问题,利用高斯-牛顿法设置相对导航卡尔曼滤波器初值使其快速收敛,定义时间、位置、几何、综合误差因子,设置不同仿真环境研究距离、速度、时间偏差和几何分布位置对相对导航精度的影响。仿真表明,偏差与相对导航精度呈反比关系。当待定位节点与导航源连线夹角为90°时,导航精度最高,导航源直线配置时,宽基线方案的精度要明显优于窄基线方案,且四源定位的精度优于两源、三源定位。本文建立的算法模型能够较好分析不同因素对定位误差的影响。

On the basis of centralized structure and distributed structure,the model based on peer-to-peer structure is established.Aimed in the problem of source optimal selection for passive location relative navigation under peer-to-peer structure,the Gauss-Newton method is used to set the initial value of relative navigation Kalman filter to make it converge quickly.With defining time,position,geometry and synthetic error factors,and setting different simulation environments,the influence of distance,speed,time deviation and geometric distribution position on relative navigation accuracy is studied.The simulation results show that the deviation is inversely proportional to the relative navigation accuracy,and the navigation accuracy is the highest when the connecting angle between the node to be located and the navigation source is 90°,the accuracy of the wide baseline scheme is significantly better than that of the narrow baseline scheme when the navigation source is configured linearly,and the accuracy of four-source positioning is better than that of two-source or three-source positioning.The algorithm model established in this paper is able to analyze the influence of different factors on positioning errors.