非视距环境下基于时域测量的刚体位姿估计

为了提升非视距环境下的刚体目标定位性能，提出了一种利用无线信号时域信息的刚体定位方法，来克服非视距误差对定位性能的影响。引入非视距误差作为辅助变量，将刚体节点位置估计转化为广义信赖域子问题；通过二分法估计出刚体节点的位置；运用奇异值分解求解非视距环境下刚体的位姿参数。计算机仿真验证了所提方法具有良好的定位性能。

Rigid Body Localization Based on Time Domain Measurement in Non-Line-of-Sight Environment

To improve the accuracy of the rigid body localization in non-line-of-sight environments, themethod of rigid body localization using time domain information of wireless signals is proprosed toovercome the influence of non-line-of-sight errors in the localization performance. First, the non-line-of-sight deviation is introduced as an auxiliary variable to transform the rigid body sensor position estimationinto a generalized trust region sub-problem. Then, the position of the rigid body sensor is estimated bythe bisection method. Finally, the position and the orientation of the rigid body are calculated accordingto the singular value decomposition. Simulation results demonstrate that the proposed method performswell in terms of the localization performance.