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结合次声波的特点和性质,建立了适用于动态环境下的基于次声波和电磁波的非同步TDOA测距模型。同时,将精确的测距信息与历史位置信息结合起来,提出并推导了信标节点稀疏分布下的三维测距解析定位算法,并根据有限的定位时刻位置信息采用内插法恢复出节点随机运动轨迹图。仿真结果表明:该算法具有较好的鲁棒性,可实现分米级以下的定位精度。
Combined with the characteristics and properties of infrasound, an asynchronous TDOA ranging model based on infrasound and electromagnetic wave for dynamic environment was established. At the same time, the accurate ranging information and historical location information are combined to propose and derive the three-dimensional ranging analysis and localization algorithm under the sparse distribution of beacon nodes. The interpolation algorithm is used to recover the random movement of nodes according to the limited location information Trajectory. Simulation results show that the proposed algorithm has good robustness and can achieve the positioning accuracy below the decimeter level.