arXivDaily arXiv每日学术速递 周一至周五更新
arXiv 2008.05043cs.NIeess.SP
收藏

基于时延测量的移动源定位智能预测系统

An Intelligent Prediction System for Mobile Source Localization Using Time Delay Measurements

Hengnian Qi, Xiaoping Wu, Naixue Xiong

摘要:

本文介绍了一种工业物联网中移动源定位的智能预测系统。该智能系统利用时间延迟(TD)测量值对移动源的位置和速度进行联合预测。为了预测机器人的位置和速度,首先设计了松弛半定规划(RSDP)算法,去掉了秩一约束。然而,丢弃秩一约束导致产生次优解。为了提高优化性能,我们进一步提出了罚函数半定规划(PF-SDP)方法,通过引入罚项来获得优化问题的秩一解。在此基础上,提出了一种自适应罚函数半定规划(APF-SDP)算法,通过自适应地选择罚函数系数来避免罚函数过大的问题。我们在仿真环境和真实系统中进行实验,以证明所提出的方法的有效性。仿真结果表明,无论噪声水平是否较大,智能APF-SDP算法的位置和速度估计性能都优于PF-SDP算法。

英文摘要:

In this paper, we introduce an intelligent prediction system for mobile source localization in industrial Internet of things. The position and velocity of mobile source are jointly predicted by using Time Delay (TD) measurements in the intelligent system. To predict the position and velocity, the Relaxed Semi-Definite Programming (RSDP) algorithm is firstly designed by dropping the rank-one constraint. However, dropping the rank-one constraint leads to produce a suboptimal solution. To improve the performance, we further put forward a Penalty Function Semi-Definite Programming (PF-SDP) method to obtain the rank-one solution of the optimization problem by introducing the penalty terms. Then an Adaptive Penalty Function Semi-Definite Programming (APF-SDP) algorithm is also proposed to avoid the excessive penalty by adaptively choosing the penalty coefficient. We conduct experiments in both a simulation environment and a real system to demonstrate the effectiveness of the proposed method. The results have demonstrated that the proposed intelligent APF-SDP algorithm outperforms the PF-SDP in terms of the position and velocity estimation whether the noise level is large or not.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

↑