单基站下基于波达角度的刚体定位测姿几何模型与关键技术研究

High precision Rigid Body three-dimensional position and attitude information are essential for a variety of civil and military applications, such as Virtual Reality experience systems and underwater submarine detection systems. The currently existed position and attitude estimation methods are mostly based on the satellite positioning systems, which however inherently rely on the Line-of-Sight communication to the satellite. The position and attitude estimation schemes basing on wireless sensor network are fine solutions for shielded environments, but the solutions using Time-of-Arrival as measurements are trapped by harsh clock synchronization requirement and high computing complexity. .In our proposal, instead of Time-of-Arrival, the signal Direction-of-Arrival is adopted as the measurement, bypassing the synchronization issue, then, fusing the prior knowledge, i.e., topological information of wireless sensor network that attached on surface of target Rigid Body, we shall build a novel geometric model and, finally estimate Rigid Body position and attitude information by corresponding optimization algorithm in high accuracy. Moreover, as the necessary support to the feasibility of proposed geometric model, this proposal will systematically explore the Direction-of-Arrival estimation methods, such as the strategy of Virtual Fitting and building cooperative networks between wireless nodes and base station, to cope with the particular circumstances including multi-path indoor environment and closely-spaced sources, respectively. .This project owns the interdisciplinary property, combining the Signal Processing and Control disciplines, and intend to realizing position and attitude estimation of a Small-size Rigid Body, with the advantage of Low-requirements, Low-cost, as well as High precision, and meanwhile providing systematical and theoretical guidance for Direction-of-Arrival-based indoor positioning schemes.

高精度刚体三维坐标和姿态信息是许多民用和军用系统的基本要素，如虚拟现实和水下探测系统等。主流的基于卫星系统的定位测姿系统天生依赖与卫星间视距要求，而基于视觉的位姿估计方案则受制于光线条件、计算量成本等因素。使用无线传感网络可以低成本地避开上述问题，但现有基于信号到达时间的方案面临着多基站要求、时钟同步等问题。本项目拟另辟蹊径，采用目标刚体表面无线传感网络中各个节点和单基站之间波达角度作为观测量，并以传感网络拓扑信息为先验知识，进行几何建模及模型优化，最终获得目标刚体高精度位置和姿态信息。同时，本项目还将针对室内多径相干、近空间信号源的特殊场景，提出虚拟拟合、合作网络波达角估计方案，以期为所设计的几何模型提供实用性支撑。本项目属于信号处理、控制等学科交叉的应用基础研究，拟为刚体三维定位和姿态估计探索低要求、低成本、高精度的理论模型，并为室内环境下基于波达角度技术的定位方案提供系统的理论指导。

高精度刚体三维坐标和姿态信息是许多民用和军用系统的基本要素，如虚拟现实和航空对接系统等。主流的基于卫星系统的定位测姿系统天生依赖与卫星间视距要求，而基于视觉的位姿估计方案则受制于光线条件、计算量成本等因素。使用无线传感网络可以低成本地避开上述问题，但现有基于信号到达时间的方案面临着多基站要求、时钟同步等问题。本项目另辟蹊径地采用目标刚体表面无线传感网络中各个节点和单基站之间波达角度作为观测量，并以传感网络拓扑信息为先验知识，进行几何建模及模型优化，最终获得目标刚体在三维空间内的高精度位置和姿态信息。同时，本项目还将针对室内多径相干、近空间信号源的特殊场景，提出虚拟拟合、合作网络波达角估计方案，以期为所设计的几何模型提供实用性支撑。.在单基站下基于波达角度的刚体定位测姿几何模型研究方面，课题组完成了三维空间中不同尺寸刚体目标、不同波达角度测量误差情况下的定位和姿态信息的估计，在大多数的设定场景下实现了1%以内的定位距离误差比和1度以内的物体姿态估计精度，圆满完成项目申请时的预期目标。另外，课题组还推导了所提定位测姿几何模型的克拉美罗下界，从理论上揭示了目标姿态、目标-基站相对位置、波达角度精度等各种因素定位测姿精度的具体影响。基于以上内容，课题组在IEEE COMMUNICATIONS LETTERS、《全球定位系统》等国内外权威期刊上发表了论文5篇，其中SCI检索4篇，总影响因子13以上。在室内波达角度捕获方面，课题组充分利用实验室现有的USRP-X310软件定义无线电平台，并在其基础上利用TWINRX天线子板进行硬件改造和基于平滑多重信号分类算法的软件编程控制，形成了实际可用的波达角度量测平台，并进行了室内现场的可行性测试。.通过过去三年的研究，本课题组总体上完成了以下成果：一是为军民等领域提供了切实可行的基于波达角度的单基站定位测姿解决方案，二是完成了该方案所需波达角度量测平台搭建。据此，基本上达到了预期的资助目标。