| 单基站基于波达角度的刚体位置姿态最大似然估计 |
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| 引用本文： | 姚晓峰,吴圣兰,周彪,庞敏.单基站基于波达角度的刚体位置姿态最大似然估计[J].全球定位系统,2020,45(6):107-114. |
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| 作者姓名： | 姚晓峰 吴圣兰 周彪 庞敏 |
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| 作者单位： | 江苏省物联网应用技术重点建设实验室(无锡太湖学院),无锡 214122;江南大学物联网工程学院,无锡214122 |
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| 基金项目： | 国家自然科学基金青年科学基金（61703185）； 江苏省物联网应用技术重点建设实验室开放课题基金（18WXWL08） |
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| 摘 要： | 针对刚体定位同时估计目标的位置和姿态信息的问题，研究了在三维空间中利用单基站进行刚体定位（RBL）的框架.该框架采用单个基站对安装在刚性目标表面的小规模无线传感器信号的波达方向进行测量，并将其与传感器拓扑信息融合，提出了两种用于RBL的最大似然估计算子.利用改进的高斯-牛顿算法对旋转矩阵和平移向量的最大似然估计算子进行优化估计，解算出了目标物体的三维位置和姿态.仿真结果表明，文中提出的最大似然算子可以接近理论克拉美罗下限，并且在收敛成功率和运算成本方面具有较为出色的性能.
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| 关 键 词： | 单基站 定位测姿 最大似然估计 波达方向 收敛成功率 |
| 收稿时间： | 2020-07-20 |
Maximum likelihood estimators for rigid body localization using DOA measurement |
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| Affiliation: | 1. Jiangsu Key Construction Laboratory of IoT Application Technology. (Taihu University of Wuxi), Wuxi 214122, China;2. School of Internet of things engineering, Jiangnan University, Wuxi 214122, China |
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| Abstract: | Rigid body localization (RBL) not only estimates the position of the target, but also obtains the attitude information of the target. The RBL framework of single base station is studied in three-dimensional space. This framework uses a single base station to measure the direction of arrival (DOA) of signal from small-scale wireless sensor network signal installed on the rigid target surface, and then fuses the DOA measurement with the network topology information, and finally proposes two maximum likelihood estimators (MLE) for RBL purpose. The improved Gauss Newton algorithm is adopted to optimize the MLEs of rotation matrix and translation vector and the three-dimensional position and attitude of the object are estimated. The simulation results show that the proposed MLEs can approach the theoretical Cramer Rao Lower Bound, and have better performance with respect to convergence success rate and computation cost. |
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