基于双向测距的协同定位系统误差分析

针对协同定位系统中影响节点定位精度受测距误差影响的问题,主要研究和分析了测距误差传播以及移动场景误差对协同定位系统的影响。采用基于GPS(Global Positioning System)和超带宽双程测距的低成本协同定位系统,分析了协同定位系统中的误差传播过程,推导了测距协方差阵和定位协方差阵。在不同场景下进行了仿真,经分析得出节点间几何关系是影响系统定位误差的最重要因素。该结论对于协同定位系统中移动节点的定位精度提升具有一定的指导价值。

Error Analysis of Cooperative Positioning System Based on Two-Way Ranging

In order to solve the problem that the positioning accuracy of nodes is affected by the ranging error in the cooperative positioning system,the influence of ranging error propagation and mobile scene error on cooperative positioning system are studied and analyzed.The low cost cooperative positioning system based on GPS (Global Positioning System) and ultra bandwidth two-way ranging is adopted.The error propagation process in the collaborative positioning system is analyzed,and the ranging covariance matrix and the location covariance matrix are derived.Through the simulation analysis in different scenarios,it is concluded that the geometric relationship between nodes is the most important factor affecting the positioning error of the system.This conclusion has a certain guiding value for improving the positioning accuracy of mobile nodes in cooperative positioning system.