Research On Unmanned Vehicles Location Algorithm Based On Radio Ranging

With the rapid development of technology,wireless positioning technology has got considerable attention,especially in special fields such as emergency positioning,earthquake surveillance,target tracking,precision navigation,personnel search and rescue,and military,etc.,highlighting the importance of space-based location services.At the same time,as an emerging technology,unmanned vehicles also have broad application prospects in the military field and public security field.It plays a vital role in border surveillance,military investigation,location prediction and personnel search and rescue at disaster scene in complex environments.Therefore,it is particularly important to study precise unmanned system positioning technology in complex environments.Under this background,this thesis will study the high-precision positioning algorithm based on radio ranging technology in unmanned vehicles.The main research contents of this thesis are as follows:1)This thesis introduces the research status of unmanned positioning system,and elaborates the basic principle of radio tracking technology in the positioning methods of Unmanned Aerial Vehicle(UAV)and the positioning mechanism of radio signal measurement methods based on three types of positioning parameters.At the same time,the factors affecting positioning accuracy are analyzed,and the typical error suppression schemes are discussed.2)In order to solve the problem of high-precision positioning and error elimination in three-dimensional wireless sensor networks(WSN),the least squares(LS)algorithm is used flexibly,and an effective deviation reduction method based on time-of-flight(TOF)in none-line-of-sight(NLOS)environment is proposed.Meanwhile.the positioning framework,theoretical derivation and performance analysis of the proposed algorithm are given.3)In order to deal with the multi-objective cooperative positioning problem of unmanned systems in three-dimensional space,based on the single radio positioning technology,introducing a new parameter to guide the positioning process.an effective hybrid positioning scheme based on received signal strength(RSS)and time of arrival(TOA)is proposed.Compared with the traditional positioning algorithms based on RSS and TOA respectively,this method can integrate intensity and time information well,increase the number of signal measurements,and obtain higher positioning precision through the cooperation mechanism between one UAV and another UAV.4)The work of this thesis is summarized,the research hot-pots and difficulties that may be involved in this topic will be analyzed in the future.