【作者】 王冠；

【导师】 夏红伟；

【作者基本信息】 哈尔滨工业大学 ， 控制科学与工程（专业学位）， 2019， 硕士

【摘要】 以GPS、北斗为代表的全球导航卫星定位系统(Global Navigation Satellite System,GNSS)是目前使用最为广泛的导航定位技术。但在一些挑战环境中,如地下、水下、峡谷、洞穴或室内等区域,单纯使用GNSS信号会有较大的定位误差,甚至导致无法进行定位服务。在此背景下,通过使用人工磁信号产生的低频磁场进行定位的方法具有特有的优势。本文给出了基于低频磁信标的自主导航定位技术,对于水下跟踪定位、地下生物探索以及室内机器人导航等单独采用GNSS技术定位影响较大的场景下,为实现全天时、高精度的自主定位提供了一种有效的解决思路。首先分析了国内外相关领域的现状,目前基于磁信标的定位方法逐渐地崭露头角,但研究成果相对较少。研究了磁场的分布特性,包括毕奥-萨伐尔定律、磁偶极子及磁矩等定理,分析了不同介质下的作用距离,梳理了基于低频磁场下的定位理论,并给出了基于单磁信标模型下的定位推导。研究了分别基于集中式和基于分立式的双磁信标定位方法,给出了原理推导并进行了仿真分析,结果表明,分立式双磁信标定位方法具有更好的定位效果;然后分析了影响定位误差的因素,包括信噪比、信标与传感器的相对偏转角以及磁衰减介质对定位效果的影响,总结了基于磁信标的定位方法的基本特性,为提高定位精度奠定了理论基础。然后,研究了基于多磁信标的3D定位方法。首先,对该方法给出了原理性的推导和实现的具体步骤。设计并进行了仿真实验,通过实验数据分析、验证了这种定位方法的有效性。然后,从原理上分析了2D算法和3D算法的优缺点以及应用条件,并通过仿真实验进行了分析验证。然后,利用搭建的实验平台,对所给出的2D定位方法进行了一系列实地实验,验证了该方法的可行性。研究了基于智能搜索算法的磁信标定位方法,首先给出了基于模拟退火算法的磁信标定位方法,分析了模拟退火算法的原理,设计了实验操作步骤,并通过仿真实验进行分析验证。然后,针对模拟退火算法的使用过程中对全局搜索的能力较差、参数对算法性能影响较大的问题,提出了基于布谷鸟搜索算法(Cuckoo Search,CS)的磁信标定位方法,分析了CS算法的原理,给出了实验步骤,并通过仿真实验验证了该方法的可行性。更多还原

【Abstract】 The Global Navigation Satellite System(GNSS),represented by GPS and BDS,is currently the most widely used navigation and positioning technology.However,in some challenging environments,such as underground,underwater,canyon,cave and indoor,the use of GNSS signals leads to large positioning errors and even makes it impossible to achieve positioning.In this situation,the method of positioning by using a low frequency magnetic field generated by artificial magnetic signals has unique advantages.In this paper,the autonomous navigation and positioning technology based on low-frequency magnetic beacons is given.It provides an effective solution for achieving full-time,high-precision autonomous positioning in the scenario where GNSS technology alone has a great influence on positioning such as underwater tracking and positioning,underground biological exploration,and indoor robot navigation.Firstly,the article analyzes relevant research at home and abroad.At present,the positioning method based on magnetic beacons has gradually emerged,but the research results are relatively few.The distribution characteristics of magnetic field were studied,including Biot-Savart law,magnetic dipole and magnetic moment theorem.The working distances in different media were analyzed,and the positioning theory based on low frequency magnetic field was combed.And the positioning derivation based on single magnetic beacon model was given.Based on the centralized and discrete-based dual magnetic beacon positioning methods,the principle derivation and simulation analysis were given.The results show that the spacing-based dual magnetic beacon positioning method has better positioning effect.Then the factors affecting the positioning error were analyzed,including the signal-to-noise ratio,the relative deflection angle of the beacons and the sensor,and the influence of the magnetic attenuation medium on the positioning effect.The basic characteristics of the magnetic beacon-based positioning method were summarized,which lays a theoretical foundation for improving the positioning accuracy.Then,a 3D positioning method based on multi-magnetic beacon was given.First,the principle derivation and implementation steps of the method were given.The simulation experiments were designed and carried out,and the effectiveness of this positioning method was verified by experimental data analysis.The simulation experiment was designed and carried out,and the effectiveness of this positioning method was verified by experimental data analysis.At the same time,the simulation was carried out through simulation experiments.Then,using the experimental platform built,a series of field experiments were carried out on the 2D positioning method given in the paper,and the feasibility of the method was verified.The magnetic beacon localization method based on intelligent search strategy was studied.Firstly,the magnetic beacon localization method based on simulated annealing algorithm was given.The principle of simulated annealing algorithm was analyzed.The experimental operation steps were designed and verified by simulation experiments.Then,aiming at the problem that the simulated annealing algorithm has poor global search ability and the influence of parameters on the performance of the algorithm,a magnetic beacon localization method based on cuckoo search algorithm was proposed.The principle of the cuckoo search algorithm was analyzed and the experimental steps were given.Finally,the feasibility of the localization method based on the cuckoo search algorithm is verified by detailed simulation experiments.更多还原