论文标题
部分可观测时空混沌系统的无模型预测
Development of a Cooperative Localization System using a UWB Network and BLE Technology
论文作者
论文摘要
本文介绍了能够根据节点之间的距离测量值估算无线网络中节点的2D相对位置的开发。该系统使用超宽带范围技术和蓝牙低能协议来获取数据。此外，对非线性最小二乘问题问题进行了制定和数值求解，以估计节点的相对位置。通过实验测试来验证系统的定位性能，证明了测量由4个节点组成的网络的相对位置的能力，其精度为3 cm，更新速率为10 Hz。这显示了将提出的系统应用于多机器人合作定位和形成控制方案的可行性。
This paper presents the development of a system able to estimate the 2D relative position of nodes in a wireless network, based on distance measurements between the nodes. The system uses ultra wide band ranging technology and the Bluetooth Low Energy protocol to acquire data. Furthermore, a nonlinear least squares problem is formulated and solved numerically for estimating the relative positions of the nodes. The localization performance of the system is validated by experimental tests, demonstrating the capability of measuring the relative position of a network comprised of 4 nodes with an accuracy of the order of 3 cm and an update rate of 10 Hz. This shows the feasibility of applying the proposed system for multi-robot cooperative localization and formation control scenarios.
