随着基于位置服务(Location Based Services,LBS)的发展与智能移动设备的普及,室内定位算法与系统受到了广泛研究与关注。为提高室内定位精度、增强系统鲁棒性,提出了基于多边限定的fingerprint定位方法。基于Wi-Fi RSSI(Received Signa...随着基于位置服务(Location Based Services,LBS)的发展与智能移动设备的普及,室内定位算法与系统受到了广泛研究与关注。为提高室内定位精度、增强系统鲁棒性,提出了基于多边限定的fingerprint定位方法。基于Wi-Fi RSSI(Received Signal Strength Indication)信号处理建立离线fingerprint数据库;通过对拟合距离-RSSI函数分析,提出了多边限定的方法确定一个最佳参考点(Reference Point,RP)集合,缩小在线定位阶段的搜索范围。在此基础上,再利用fingerprint定位方法进行定位。此外,实现了基于提出方法的室内定位系统原型用于算法性能评估。通过大量真实场景实验分析、验证了相较于传统fingerprint方法,基于多边限定的fingerprint定位方法能有效提高室内定位精度,增强系统鲁棒性。展开更多
To solve the synchronization and tracking problems,a cooperative control scheme is proposed for a class of higher-order multi-input and multi-output(MIMO)nonlinear multi-agent systems(MASs)subjected to uncertainties a...To solve the synchronization and tracking problems,a cooperative control scheme is proposed for a class of higher-order multi-input and multi-output(MIMO)nonlinear multi-agent systems(MASs)subjected to uncertainties and external disturbances.First,coupled relationships among Laplace matrix,leader-following adjacency matrix and consensus error are analyzed based on undirected graph.Furthermore,nonlinear disturbance observers(NDOs)are designed to estimate compounded disturbances in MASs,and a distributed cooperative anti-disturbance control protocol is proposed for high-order MIMO nonlinear MASs based on the outputs of NDOs and dynamic surface control approach.Finally,the feasibility and effectiveness of the proposed scheme are proven based on Lyapunov stability theory and simulation experiments.展开更多
文摘随着基于位置服务(Location Based Services,LBS)的发展与智能移动设备的普及,室内定位算法与系统受到了广泛研究与关注。为提高室内定位精度、增强系统鲁棒性,提出了基于多边限定的fingerprint定位方法。基于Wi-Fi RSSI(Received Signal Strength Indication)信号处理建立离线fingerprint数据库;通过对拟合距离-RSSI函数分析,提出了多边限定的方法确定一个最佳参考点(Reference Point,RP)集合,缩小在线定位阶段的搜索范围。在此基础上,再利用fingerprint定位方法进行定位。此外,实现了基于提出方法的室内定位系统原型用于算法性能评估。通过大量真实场景实验分析、验证了相较于传统fingerprint方法,基于多边限定的fingerprint定位方法能有效提高室内定位精度,增强系统鲁棒性。
基金National Natural Science Foundation of China(No.61963029)Jiangxi Provincial Natural Science Foundation(Nos.20224BAB202027 and 20232ACB202007)。
文摘To solve the synchronization and tracking problems,a cooperative control scheme is proposed for a class of higher-order multi-input and multi-output(MIMO)nonlinear multi-agent systems(MASs)subjected to uncertainties and external disturbances.First,coupled relationships among Laplace matrix,leader-following adjacency matrix and consensus error are analyzed based on undirected graph.Furthermore,nonlinear disturbance observers(NDOs)are designed to estimate compounded disturbances in MASs,and a distributed cooperative anti-disturbance control protocol is proposed for high-order MIMO nonlinear MASs based on the outputs of NDOs and dynamic surface control approach.Finally,the feasibility and effectiveness of the proposed scheme are proven based on Lyapunov stability theory and simulation experiments.
