Research On Collaborative Location Of Multiple Mobile Monitoring Station

In the complex environment such as disaster relief and environmental monitoring,it usually requires mobile monitor station that has the characteristics of small size,mobility,autonomous positioning.The important condition for the mobile monitoring task is to realize the selfpositioning.The key technology for low-cost and civil-level self-positioning is gaining more and more attention with scholars,which applies to mobile monitor station.GPS/SINS positioning technology is widely used in the field of self-positioning for mobile monitor station.It not only make up for the shortcomings that positioning accuracy is low with long time,but also exerts its unique advantages for single positioning method.Currently,in the application scene with consumer-level and civil-level,UAVs carry cameras to collect target images in real time over the task site,and then transmit them back to the control center through wireless technology.The limitation of this method is that the control center cannot obtain the position information for the drone itself in real time.This paper firstly studies the GPS/SINS positioning technology,and used this technology to achieve the positioning of a single mobile monitor station.Secondly,with the situation that multiple mobile monitor stations performing tasks together,a method is studied for cooperative self-positioning of multiple mobile monitor stations,which based on the realizing positioning of the single mobile monitoring station.Aiming at the positioning problem in a single mobile monitor station,this paper studies single station method which how to use GPS/SINS combined with positioning technology to achieve self-positioning.It analyzes this positioning technology from the aspects of coupling structure,data fusion,etc.The error model of the GPS/SINS system is established,and the error equations is deduced for the combined positioning system.At the same time,the indirect filtering method is used to deal with the nonlinear model in the GPS/SINS.The positioning effect is tested through theory and actual test experiments,and the results show that this method can effectively improve the loss of high-order items caused by the direct linearization of GPS/SINS system model.The single station positioning accuracy of CEP can reach 2.8 meters.Aiming at the problem of cooperative location among multiple mobile monitor stations,in this paper,the relative observations between multiple stations are introduced into the algorithm based on EKF collaborative self-positioning.To achieve more precise positioning by full using the location information measured with each monitor station,the model of co-location system is established,and the formula of the collaborative algorithm is deduced.The results of the semi-physical simulation show that the co-location accuracy for the dual station can reach 2.3 meters and has good stability.It lays a foundation for the further application with cooperative positioning technology in multiple mobile monitor stations.