Anti-nlos error positioning method based on positioning unit quality and multi-algorithm data fusion

Abstract

The invention discloses an anti-NLoS error locating method based on location unit quality and multi-algorithm data fusion. The method comprises the following steps that a terminal to be detected acquires measuring values fed back by N anchor nodes, the measuring values comprise TOA, RSSI and signal noise ratio (SNR); a Kalman filter is used for processing the TOA measuring values, new TOA measuring values are obtained, the obtained TOA measuring values are divided into two groups, namely second TOA measuring values and TDOA measuring values; a mode searching method and a CHAN algorithm are used for carrying out location computing on the second TOA measuring values and the TDOA measuring values respectively; the weight value of a location unit is determined, the location results of the second TOA measuring values and the TDOA measuring values are respectively subjected to data fusion; the fusion location results of the second TOA measuring values and the fusion location results of the TDOA measuring values are subjected to fusion. According to the method, various kinds of information brought by the measuring values are fully used, integration is carried out through a data fusion method, and accurate location results can be obtained.

Description

technical field

[0001] The invention belongs to the technical field of wireless communication, and in particular relates to an anti-NLoS error positioning method based on positioning unit quality and multi-algorithm data fusion. Background technique

[0002] In 1996, the US Federal Communications Commission (FCC) promulgated the E-911 positioning requirements for the first time, and proposed in 1999: the positioning accuracy of 67% of mobile terminals is not less than 50m, and the positioning accuracy of 95% is not less than 150m. The proposal of this requirement set off an upsurge of research on terminal location technology in mobile communication systems.

[0003] The error caused by non-line-of-sight (NLoS) propagation is the main source of error in wireless positioning. Non-line-of-sight propagation means that during the propagation process, the direct path of the signal is blocked by obstacles, and reaches the receiving end through reflection and diffraction. At this t...

Examples

Embodiment 1

[0175] The present invention is simulated in a mountainous environment, where TOA measurement values ​​are seriously polluted by NLoS (Non-Line-of-Sight) errors, and the superiority of the algorithm in NLoS environments can be clearly seen.

[0176] The propagation time of the signal between the node under test and the anchor node i can be described by the following model:

[0177] t i = t i,LoS +t i,n +t i,NLoS

[0178] where t i is the measured propagation time, t i,LoS is the time required for the signal to propagate in the line-of-sight between the anchor node i and the node under test, t i,n is the measurement error with a mean of 0 and a variance of σ ω 2 The Gaussian distribution of , which accounts for a small proportion of the error, t i,NLoS It is the error caused by NLoS propagation, which is independent of the measurement error, and may obey the average distribution, Delta distribution and exponential distribution, and is the main source of error. The pre...

technical field

[0001] The invention belongs to the technical field of wireless communication, and in particular relates to an anti-NLoS error positioning method based on positioning unit quality and multi-algorithm data fusion. Background technique

[0002] In 1996, the US Federal Communications Commission (FCC) promulgated the E-911 positioning requirements for the first time, and proposed in 1999: the positioning accuracy of 67% of mobile terminals is not less than 50m, and the positioning accuracy of 95% is not less than 150m. The proposal of this requirement set off an upsurge of research on terminal location technology in mobile communication systems.

[0003] The error caused by non-line-of-sight (NLoS) propagation is the main source of error in wireless positioning. Non-line-of-sight propagation means that during the propagation process, the direct path of the signal is blocked by obstacles, and reaches the receiving end through reflection and diffraction. At this t...

Examples

Embodiment 1

[0175] The present invention is simulated in a mountainous environment, where TOA measurement values ​​are seriously polluted by NLoS (Non-Line-of-Sight) errors, and the superiority of the algorithm in NLoS environments can be clearly seen.

[0176] The propagation time of the signal between the node under test and the anchor node i can be described by the following model:

[0177] t i = t i,LoS +t i,n +t i,NLoS

[0178] where t i is the measured propagation time, t i,LoS is the time required for the signal to propagate in the line-of-sight between the anchor node i and the node under test, t i,n is the measurement error with a mean of 0 and a variance of σ ω 2 The Gaussian distribution of , which accounts for a small proportion of the error, t i,NLoS It is the error caused by NLoS propagation, which is independent of the measurement error, and may obey the average distribution, Delta distribution and exponential distribution, and is the main source of error. The pre...

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