西安电子科技大学学报（自然科学版）2026，Vol.53Issue(3)：44-61,18.DOI:10.19665/jissn1001-2400.20260404
基于流向控制的消息传递协作定位算法
Flow-direction controlled message passing algorithm for cooperative localization
摘要
Abstract
To address cooperative localization of mobile target nodes,a flow-direction controlled posterior linearized message passing is proposed using time of arrival(TOA)and Doppler frequency shift(DFS)measurements.First,a joint posterior distribution of position-velocity for all target nodes is constructed and the corresponding factor graph of the distribution is designed.Then,a posterior linearization method is applied to linearize the nonlinear measurement model.Subsequently,a node classification mechanism is proposed to control the direction of message passing in the factor graph,thereby suppressing the propagation of inaccurate messages and mitigating the resulting positioning errors and computational overhead.Finally,iterative mes-sage passing and belief updates are performed to estimate the positions and velocities of all target nodes.Simulation results show that,under a measurement noise level of 1,when the target nodes start moving from the first time instant,the probability that the position estimation error of the proposed algorithm is within 1.5 m reaches 95%,whereas those of the two benchmark algorithms are 62%and 20%,respectively.Meanwhile,the probability that the velocity estimation error of the proposed algorithm is within 0.2 m/s reaches 99%,compared with 72%and 84%for the two benchmark algorithms,respectively.In addition,the running time of the proposed algorithm is reduced by approximately 27%and 34%relative to the two benchmark algorithms,respectively.关键词
协作定位/消息传递算法/因子图/到达时间/多普勒频移Key words
cooperative localization/message passing algorithm/factor graph/time of arrival(TOA)/Doppler frequency shift(DFS)分类
信息技术与安全科学引用本文复制引用
俞文彦,李浩宇,李有明,李博辉..基于流向控制的消息传递协作定位算法[J].西安电子科技大学学报（自然科学版）,2026,53(3):44-61,18.基金项目
科技部国家重点研发计划(2023YFC2809400) （2023YFC2809400）
国家自然科学基金(61571250) （61571250）
浙江省自然科学基金(LY22F010018) （LY22F010018）
