Research And Implementation Of Cooperative Positioning And Tracking System For Drowning Container

With the rapid development of economic globalization,more than 80%of the global trade volume of goods are transported by sea.Among them,container transportation accounts for more than half of the total global seaborne trade,but due to some uncertain factors at sea,such as route selection errors and emergency weather disasters,falling container accidents have occurred frequently in recent years.Some containers are loaded with dangerous chemicals,if it is not salvaged in time after falling into the water,it will cause serious damage to the ecological environment of the sea and may affect the order of the sea channel.Therefore,the timely localization and tracking of the falling container has certain social value,which is of great significance for protecting the marine environment and reducing property losses.Secondly,the underwater wireless sensor network is a relatively new information acquisition and wireless communication platform,which has a wide range of applications in the fields of environmental detection,information collection,target location and target tracking.In wireless sensor network technology,ZigBee technology is suitable for the application in the collaborative positioning system of falling containers due to low complexity and low power consumption.Based on the underwater wireless sensor network,this thesis studies the 3d positioning and target tracking of the falling container,and designs the collaborative positioning and tracking system of the falling container.Combined with tetrahedral deployment and three-dimensional positioning algorithm,a multi-sensor cooperative positioning technology is proposed,which provides solutions for possible scenarios of anchor node failure and beacon node failure,which improves the positioning accuracy and positioning success rate of the falling water container.On the basis of this,the location of the falling water container is not fixed,and the tracking algorithm of the falling water container is studied.The characteristics of the maneuvering target model under different conditions are analyzed.Combined with Kalman Filter and particle filter,the node based on the proposed method is proposed.The optimal topology of the falling water container IMM-PF tracking algorithm.The simulation performance analysis is carried out,and the tracking error comparison between Kalman Filter and particle filter and the target position error after positioning and filter tracking are given.The experiment is verified in the pool,and the measured data is processed by algorithm to verify IMM-PF.The correctness and effectiveness of the falling water container tracking algorithm.Finally,using C++and QML language in Qt development environment,the related software of the falling water container cooperative positioning and tracking system was designed,and the multi-sensor cooperative positioning algorithm and IMM-PF tracking algorithm were completed.The software can output all the collected useful information and the position information after positioning and processing in the system interface,and realize the three-dimensional cooperative positioning and dynamic tracking function of the falling water container.