Robust positioning method with non-visual-range error elimination function

An error elimination and positioning method technology, applied in the field of wireless positioning, can solve problems such as lack of universality, and achieve the effects of reducing algorithm complexity, reducing dimensions, and improving positioning accuracy

Inactive Publication Date: 2009-09-09
JIANGSU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, in actual situations, it is difficult to satisfy the above three probability models in a complex and changeable communication environment.
Therefore, this method is not universal

Method used

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  • Robust positioning method with non-visual-range error elimination function
  • Robust positioning method with non-visual-range error elimination function
  • Robust positioning method with non-visual-range error elimination function

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Embodiment 1

[0022] A robust positioning method with non-line-of-sight error elimination function, specifically comprising the following steps:

[0023] 1) Establish the motion state equation of the mobile station:

[0024] Assuming that the mobile station moves in a two-dimensional plane, the motion state at time k is set to X k , X k = ( x k , y k , x · k , y · k ) T , where (x k ,y k ) represents the position of the mobile station in x and y coordinates, for the corresponding speed. Then the motion state equation with random accelerati...

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Abstract

The invention relates to a robust positioning method with non-visual-range error elimination function, which can estimate motion state of a mobile station (MS) in mixed environment of LOS/NLOS, effectively increases positioning precision, reduces positioning error and has robutness to LOS/NLOS transition probability models in different environments. The method comprises the following steps: firstly, establishing motion equations of the mobile station, and establishing a mutually conversed first-order Markov model of the LOS environment and the NLOS environment; secondly, establishing measuring equations containing target motion states and LOS/NLOS environment variables on the basis of the first step, and estimating visual-range condition posterior probability distribution according to measuring signals from each base station; and thirdly, adopting a method of distributed extended Kalman filter, estimating the current motion states on the basis of particle set of the second step , and repeating the second step and the third step and obtaining sequential estimation results of motion target states.

Description

technical field [0001] The invention relates to a wireless positioning method under mixed conditions of line-of-sight and non-line-of-sight, which can be applied to various wireless positioning systems and belongs to the technical field of communication signal processing. Background technique [0002] Wireless positioning technology has a wide range of applications in public safety services (such as: emergency medical treatment, emergency positioning, emergency alarm service), crime detection, location-sensitive payment, ship management, navigation and intelligent transportation systems. High-precision wireless positioning technology has high research value and has attracted more and more attention. However, in the existing wireless positioning systems, whether it is a satellite-based positioning system, such as the Global Positioning System (GPS) in the United States, the Galileo (Galileo) system in Europe, the GLONASS system in Russia, and the "Beidou" positioning system i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/02
Inventor 陈亮胡红梅
Owner JIANGSU UNIV
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