Research On Cooperative Navigation Technology Of Individual Soldiers Ad Hoc Network Based On Global Optimization

As a kind of independent navigation technology independent of the external environment,the micro inertial sensor based individual navigation and positioning technology can accurately obtain the position information of individual soldier under the circumstances of GPS(Global Positioning System)rejection or complex application,thus improving the combat efficiency of individual soldier and reducing the accident rate.According to the characteristics of modern single soldier cooperative operation,how to achieve the global optimization of navigation and positioning of multiple single soldiers has become one of the problems in this field.The global optimal navigation and positioning is not simply to improve the accuracy of a single soldier navigation and positioning in the network,but to make the global navigation and positioning reach the optimal environment.Therefore,it is necessary to study all the individual soldiers in the network together.In this thesis,on the basis of the independent navigation of individual soldiers,the UWB technology is used to complete the ranging and networking of individual soldiers,and the cooperative navigation technology is used to reduce the global navigation and positioning errors,so as to achieve the global optimization of navigation and positioning.First of all,the error of MEMS(micro electro mechanical system)inertial sensor in the autonomous navigation and positioning system of individual soldier is analyzed,and the data preprocessing scheme is proposed,and the appropriate error calibration model is established for MEMS accelerometer and gyroscope,so as to improve the accuracy of the autonomous navigation and positioning system.According to the basic theory of inertial navigation,a dead reckoning algorithm for individual soldier navigation and positioning is established.In this thesis,the principle of UWB technology is analyzed,and the ranging and networking mode of UWB module are studied.Based on the above theory,a cooperative navigation framework based on global optimization is proposed.Then,this thesis deduces and establishes the mathematical model of cooperative navigation for ad hoc networks,including state equation and motion equation.The Kalman filter and its extended algorithm are studied.The centralized collaborative navigation Kalman filter algorithm is established based on the requirements of global optimization,and the simulation analysis of the algorithm is carried out.In order to verify the effect of ad hoc networks cooperative navigation and positioning,based on the evaluation indexes of "fixed point positioning accuracy" and "track reduction degree",according to the characteristics of multi individual cooperative navigation and positioning in this project,the "global track reduction" index is proposed to evaluate the navigation and positioning accuracy.Finally,the experiment of self-organizing cooperative navigation is designed.The technology is applied to the self-directed navigation and positioning system developed in the laboratory,and the actual navigation and positioning effects under the cooperative navigation and the individual navigation are tested.The experimental results show that this technology can make the " global track recovery degree" of single soldier higher than 90% and work stably for more than 60 minutes.Compared with the single navigation,when ?=10 m and walk for 60 minutes,the global track recovery degree under the cooperative navigation is increased by more than 2.5 times.The experiment effectively demonstrates that the cooperative navigation technology based on the best of the whole bureau can effectively improve the global navigation accuracy and stability Qualitative.