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多部二维传感器组网定位时,为充分利用各传感器量测并减小地球曲率对观测的影响,建立了大场景下考虑地球曲率的三维空间观测定位模型,提出了此场景下融合测距信息的方位结构总体最小二乘定位算法。该算法首先根据各传感器的方位角量测信息使用结构最小二乘法初步定位,然后利用观测模型融合各传感器的距离量测提高定位精度并最终得到目标位置估计。仿真实验证明了该方法在多部2D传感器组网情况下对三维空间内目标定位的实际性和有效性,适用于工程利用。
In order to make full use of the sensor measurements and reduce the influence of the curvature of the earth on the observations, a multi-dimensional two-dimensional sensor network positioning model was established to observe and locate the three-dimensional space under the large scene and the curvature of the earth, Information orientation structure overall least square positioning algorithm. According to the azimuth measurement information of each sensor, the algorithm uses the least squares method to locate the target first. Then, the observer model is used to integrate the distance measurement of each sensor to improve the positioning accuracy and finally obtain the target position estimation. The simulation experiment proves that this method is practicable and effective for the target localization in three-dimensional space under the condition of multi-2D sensor network, which is suitable for engineering application.