Abstract

Positioning information is the cornerstone of a new generation of electronic information technology applications represented by the Internet of Things and smart city. However, due to various environmental electromagnetic interference, building shielding, and other factors, the positioning source can fail. Cooperative positioning technology can realize the sharing of positioning information and make up for the invalid positioning source. When one node in the cooperative positioning network has error, the positioning stability of all nodes in the whole cooperative network will be significantly reduced, but the positioning probability information technology can effectively reduce the impact of mutation error. Based on this idea, this paper proposes an information-geometry-assisted distributed algorithm for probabilistic cooperative fusion positioning (IG-CP) of navigation information. The position information of different types of navigation sources is utilized to establish a probability density model, which effectively reduces the influence of a single position error on the whole cooperative position network. Combined with the nonlinear fitting characteristics of the information geometric manifold, mapping and fusion of the ranging information between cooperative nodes on the geometric manifold surface are conducted to achieve cooperative positioning, which can effectively improve the stability of the positioning results. The proposed algorithm is simulated and analyzed in terms of the node positioning error, ranging error, convergence speed, and distribution of the cooperative positioning network. The simulation results show that our proposed cooperative positioning algorithm can effectively improve the positioning stability and display better positioning performance.

Highlights

  • Cooperative positioning is the core foundation of 5G application technologies such as Internet of Things and smart city

  • This paper proposes an information-geometry-assisted distributed navigation information probabilistic cooperative fusion positioning (IG-CP) algorithm

  • The existing distributed cooperative positioning methods generally suffer from high computational complexity and a slow convergence speed; it is very difficult to apply the cooperative positioning technology in practice

Read more

Summary

Introduction

Cooperative positioning is the core foundation of 5G application technologies such as Internet of Things and smart city. A semidefined programming (SDP) method is proposed in [23] to realize cooperative positioning, in which cooperative nodes can achieve high robustness in different topology networks These methods can effectively improve the positioning accuracy of the participating nodes, but they have higher requirements for ranging and communication performance. Through the variance and mean value of the function, the positioning performance of the node can be clearly reflected, which is conducive to the fusion processing and improvement of the positioning accuracy stability in a cooperative network Based on this idea, this paper proposes an information-geometry-assisted distributed navigation information probabilistic cooperative fusion positioning (IG-CP) algorithm.

System Model
Cooperative Positioning System Model
Information Geometry Probability Model
Ideal Condition Simulation
Simulation under Different Ranging Errors
Simulation of Cooperative Positioning under Extreme Distribution
Integrated Positioning Simulation under a Multinode Network
Simulation Analysis of the Convergence Rate
Real-Environment Test
Conclusions
Full Text
Published version (Free)

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call