关键词: 单无人机; , 加权双向测距(W-TWR), 无线定位; , 最小二乘法

Abstract: When natural disasters such as earthquake and tsunami occur. Base stations on the ground are damaged or satellite signals are interfered, which makes it impossible to provide accurate location information, greatly hinders disaster relief search and post-disaster reconstruction. To solve this problem, a wireless localization scheme for target nodes in the GNSS ( Global Navigation Satellite System) rejection scenario is proposed. In this scheme, the rescue vehicle is selected as the reference node, so that the single UAV (Unmanned Aerial Vehicle) can carry out multi-point wireless ranging around a fixed trajectory centered on the reference point. By using the mobility of the UAV, the traditional multi-UAV floating ranging process is changed to single UAV moving multi-point ranging, which effectively solves the problems of resource waste, difficult clock synchronization and high system complexity. In the ranging process, a two-way ranging method based on weighting is proposed, which can effectively reduce the two-way channel error and clock offset error. Finally, the least square method is used to solve multiple groups of ranging information to obtain the relative position information from the target node to the rescue vehicle. Simulation and experimental results show that the positioning method proposed is reasonable and superior to traditional methods in performance.

Key words: single unmanned aerial vehicle(UAV); , weighted two-way ranging(W-TWR); , wireless positioning;  least square(LS) method