CN-121665181-B - Miniature positioning method and device applied to arrow

Abstract

The invention relates to the technical field of position positioning, and particularly discloses a miniature positioning algorithm applied to an arrow and a device thereof. The method comprises the steps of collecting original observation distances of arrow nodes and constructing a ternary verification sub-network, carrying out geometric rigidity analysis on the original ranging distances, screening topological distortion sub-networks, identifying coherent reflection links through decision logic, establishing a pseudo-anchor point sequence, executing blocking pruning based on the pseudo-anchor point sequence, constructing a quasi-static rigid topology by combining relaxation optimization of a minimum tension spanning tree, solving lagged geometric coordinates based on the topology, and compensating and outputting positioning coordinates through operation time delay. The device comprises a subnet verification module, a deformation quantification module, a distortion identification module, a network optimization module and a coordinate determination module. The method is favorable for eliminating reflection interference and improving the positioning reliability of the arrow through topology optimization and time delay compensation.

Inventors

• SUN ZHIQIANG

Assignees

• 泉州市逸协电子有限公司

Dates

Publication Date

20260512

Application Date

20260209

Claims (4)

1. 1. A micro positioning method applied to an arrow, which is characterized by comprising the following steps: Obtaining an original ranging matrix and carrying out geometric rigidity analysis to obtain a geometric closed residual error of the ternary verification subnet; The method for acquiring the original ranging matrix is as follows: acquiring an original observation distance of an arrow node and performing physical constraint verification to obtain a verification available link; Acquiring all check available links and carrying out full permutation and combination according to a minimum geometry closed loop principle to construct a ternary verification subnet and an original ranging matrix; the physical constraint verification is performed in the following manner: Reading hardware physical indexes of the arrow node miniature antenna and aerodynamic limits of arrow flight; Performing space limit check on the original observation distance based on the hardware physical index, and screening a check link meeting the space limit; performing rate limit verification on a re-verification link by combining with aerodynamic limit, and removing the re-verification link with phase jump to obtain a verification available link; Extracting ranging links of the topological distorted subnetwork and performing cross check, identifying coherent reflection links with coherent reflection characteristics, and establishing a pseudo anchor point sequence based on the coherent reflection links; The cross checking mode is as follows: performing entropy analysis of distance drift in a time domain window on the risk link set to obtain a distance drift entropy; Constructing a physical consistency check logic of ranging-path loss, and calculating a power estimated residual error; establishing an entropy value-residual mutual exclusion judgment logic by combining the distance drift entropy and the power estimated residual, and identifying a concealed coherent reflection link; the method for establishing the mutual exclusion judging logic is as follows: Taking the distance drift entropy as a horizontal axis and the power estimation residual error as a vertical axis, and establishing a mutual exclusion decision space containing the distance drift entropy and the power estimation residual error; mapping the check available links in the risk link set to a mutual exclusion decision space, and extracting links of which the check available links fall into a low entropy-high residual error region in the mutual exclusion decision space to serve as coherent reflection links; blocking pruning of the topological network is carried out based on the artificial anchor point sequence, a residual topological structure is obtained, relaxation optimization of a minimum tension spanning tree is carried out, and a quasi-static rigid topology which removes reflection interference and converges geometric potential energy is constructed; the method for constructing the quasi-static rigid topology comprises the following steps: Defining a geometric tension index as potential energy weight of each edge in the topological network; Acquiring all nodes in the residual topological structure, running a graph theory spanning tree algorithm based on the weight, and performing iterative optimization by taking the minimum path accumulated potential energy weight as an objective function; searching a group of link sets which can be connected with all arrow nodes and have the minimum sum of total geometric tension indexes based on iterative optimization, and taking the link sets as minimum tension spanning trees; performing force-directed relaxation optimization on the minimum tension spanning tree to obtain an elastic stiffness coefficient; Constructing a geometric potential energy equation of the system based on the elastic stiffness coefficient and the original observation distance, and solving the minimum value of the geometric potential energy equation under a quasi-static condition until the total stress deviation of the whole system is not reduced any more, so that an energy balance state is achieved; locking node connection relation and space geometric constraint under the energy balance state, and outputting the node connection relation and space geometric constraint into a quasi-static rigid topology; wherein the force directed relaxation optimization is performed in a manner that: regarding each arrow node in the minimum tension spanning tree as a virtual mass point, and regarding ranging links between nodes as virtual springs; Setting the elastic stiffness coefficient of the virtual spring by inverting the geometric tension index of the link; obtaining the relative motion rate of the arrow, performing operation time delay compensation on the lagged geometric coordinates, performing position deduction along the motion vector direction on the lagged geometric coordinates, and outputting the positioning coordinates of the arrow nodes.
2. 2. The method for micro-positioning an arrow according to claim 1, wherein the step of quantifying the degree of deformation of the sub-network comprises the steps of: and obtaining the geometric closure residual errors of all the ternary verification subnets, and carrying out normalized mapping processing on the deformation degree of the subnets to obtain the geometric tension index of each group of ternary verification subnets.
3. 3. The method for micropositioning applied to an arrow of claim 1, wherein said identifying said coherent reflection link is by: extracting all available links in the topology distortion subnetwork for verification, and constructing a risk link set; And performing cross checking of multidimensional attribute on the risk link set to identify a coherent reflection link with coherent reflection characteristics so as to obtain the coherent reflection link.
4. 4. A micro-positioning device applied to an arrow, for implementing a micro-positioning method applied to an arrow according to any one of claims 1-3, characterized by comprising the following modules: The subnet verification module is used for acquiring the original observation distance of the arrow node and performing physical constraint verification to obtain a verification available link, acquiring all the verification available links and performing full permutation and combination according to the minimum geometric closed-loop principle to construct a ternary verification subnet and an original ranging matrix; The deformation quantization module is used for carrying out geometric rigidity analysis on the original ranging matrix to obtain a geometric closed residual error of the ternary verification sub-network; The distortion identification module is used for screening a topological distortion subnet based on a geometric tension index, extracting ranging links of the topological distortion subnet, performing cross checking, identifying coherent reflection links with coherent reflection characteristics, and establishing a pseudo anchor point sequence based on the coherent reflection links; The network optimization module is used for executing blocking pruning of the topological network based on the artificial anchor point sequence to obtain a residual topological structure and performing relaxation optimization of a minimum tension spanning tree, and constructing a quasi-static rigid topology which is used for removing reflection interference and converging geometric potential energy; The coordinate determining module is used for taking the quasi-static rigid topology as a space reference and carrying out coordinate calculation to obtain a lagged geometric coordinate, acquiring the relative motion rate of the arrow, carrying out operation time delay compensation on the lagged geometric coordinate, carrying out position deduction along the motion vector direction on the lagged geometric coordinate, and outputting the positioning coordinate of the arrow node.

Description

Miniature positioning method and device applied to arrow Technical Field The invention relates to the technical field of position positioning, in particular to a miniature positioning method and a miniature positioning device applied to an arrow. Background In hunting sports, outdoor training and other scenes, the arrow realizes real-time position tracking of the high-speed flying arrow through miniaturized positioning equipment. The arrow has small volume, can only carry a micro radio module and an antenna, has limited hardware physical indexes, and has natural limitations on the maximum communication radius and the signal receiving sensitivity. Meanwhile, the arrow flying speed is high, the relative motion rate between nodes is high under the influence of aerodynamics, the traditional positioning algorithm does not combine the characteristic to perform link screening, and multipath large-delay noise under non-line-of-sight is easily misjudged as an effective link. In complex environments such as forests, mountains and the like, radio signals are easy to reflect through objects such as rocks, trees and the like to form coherent reflection links, and after the false links are mixed into effective links, topology network distortion can be caused, so that distance measurement data distortion is further aggravated. To this end, the invention provides a micro positioning method and device applied to an arrow. Disclosure of Invention The present invention is directed to a micro positioning method and device for arrow, which solves the above-mentioned background problems. The aim of the invention can be achieved by the following technical scheme: a micro positioning method applied to an arrow, comprising the following steps: Obtaining an original ranging matrix and carrying out geometric rigidity analysis to obtain a geometric closed residual error of the ternary verification subnet; Extracting ranging links of the topological distorted subnetwork and performing cross check, identifying coherent reflection links with coherent reflection characteristics, and establishing a pseudo anchor point sequence based on the coherent reflection links; blocking pruning of the topological network is carried out based on the artificial anchor point sequence, a residual topological structure is obtained, relaxation optimization of a minimum tension spanning tree is carried out, and a quasi-static rigid topology which removes reflection interference and converges geometric potential energy is constructed; And acquiring the relative motion rate of the arrow, performing operation time delay compensation on the hysteresis geometric coordinates, and outputting the positioning coordinates of the arrow nodes. Further, the original ranging matrix is obtained by the following steps: acquiring an original observation distance of an arrow node and performing physical constraint verification to obtain a verification available link; And acquiring all check available links, and performing full permutation and combination according to a minimum geometry closed loop principle to construct a ternary verification subnet and an original ranging matrix. Further, the physical constraint verification is performed by the following steps: Reading hardware physical indexes of the arrow node miniature antenna and aerodynamic limits of arrow flight; Performing space limit check on the original observation distance based on the hardware physical index, and screening a check link meeting the space limit; and carrying out rate limit verification on a re-verification link by combining with aerodynamic limit, and removing the re-verification link with phase jump to obtain a verification available link. Further, the process of quantifying the degree of deformation of the sub-network is: and obtaining the geometric closure residual errors of all the ternary verification subnets, and carrying out normalized mapping processing on the deformation degree of the subnets to obtain the geometric tension index of each group of ternary verification subnets. Further, the way to identify the coherent reflection link is: extracting all available links in the topology distortion subnetwork for verification, and constructing a risk link set; And performing cross checking of multidimensional attribute on the risk link set to identify a coherent reflection link with coherent reflection characteristics so as to obtain the coherent reflection link. Further, the cross-checking mode is as follows: performing entropy analysis of distance drift in a time domain window on the risk link set to obtain a distance drift entropy; Constructing a physical consistency check logic of ranging-path loss, and calculating a power estimated residual error; and establishing an entropy value-residual mutual exclusion judgment logic by combining the distance drift entropy and the power estimated residual, and identifying a concealed coherent reflection link. Further, the manner of establishing the mut