Indoor wireless sensor network positioning method based on TDOA

A technology of sensor network and positioning method, applied in the field of TDOA-based indoor wireless sensor network positioning, can solve the problems of not very serious, NLOS interference, etc., achieve precise positioning, reduce the effect of random error and NLOS error

Inactive Publication Date: 2014-10-01
HANGZHOU DIANZI UNIV
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Problems solved by technology

Therefore, when these positioning technologies are used for indoor measurement, it is possible that most of the indoor positioning measurement values ​​are not seriously disturbed by NLOS

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  • Indoor wireless sensor network positioning method based on TDOA
  • Indoor wireless sensor network positioning method based on TDOA
  • Indoor wireless sensor network positioning method based on TDOA

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Embodiment Construction

[0011] The present invention will be further described below in conjunction with accompanying drawing.

[0012] Such as figure 1 As shown, the positioning system of the present invention uses four base stations to locate a target node. Wherein, the four base stations are Anchor1, Anchor2, Anchor3 and Anchor4 in order, and the target node is Tag, and the coordinates are (x, y). combine figure 2 To illustrate the specific implementation steps of the present invention:

[0013] Step 1: First read the original TOA data of the base station and the target node, select the minimum value among the four TOA values, and set it to r 1 , corresponding to the base station coordinates (x 1 ,y 1 ). The remaining three TOA values ​​are respectively set to r according to the order of the original base stations 2 , r 3 , r 4 , and the coordinates are respectively set to (x 2 ,y 2 ), (x 3 ,y 3 ) and (x 4 ,y 4 ). Select the TOA value as r 1 The base station is the reference base...

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Abstract

The invention provides an indoor positioning method based on TDOA. According to the method, firstly, TOA original data are utilized to reconstruct TDOA data; secondly, on the basis of the characteristic that the geometric law and a TDOA measurement value have large influence on a Chan's TDOA method, whether the original data are obtained through measurement under the line-of-sight condition or under the condition that non-line-of-slight interference is not serious is judged; next, position coordinates of a target node are estimated respectively through a Taylor series expansion iteration method and an extension Kalman method; finally, a final estimation value is obtained through residual weighting and data smoothing. Due to the method, influences of random errors and NLOS errors can be effectively reduced, and the method can be applied to system positioning between wireless sensor network nodes.

Description

technical field [0001] The invention belongs to the technical field of wireless sensor networks, and relates to a TDOA-based indoor wireless sensor network positioning method. Background technique [0002] With the rise and development of the Internet of Things and smart city construction, the rapid increase of data and multimedia services has driven the increasing demand for indoor positioning application services. The common time-of-arrival (TOA), time-difference-of-arrival (TDOA), signal-strength (RSSI) and angle-of-arrival (AOA) methods commonly used in positioning systems are the most basic positioning algorithms. Among them, the RSSI measurement value has poor regularity in practical applications, and it is difficult to use RSSI information to locate higher accuracy; AOA measurement has higher accuracy, but the cost of sensor nodes is high and energy consumption is high; TOA and TDOA measurement methods are simple , the cost of sensor nodes is not high, and can get hi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04W64/00H04W84/18
Inventor 王瑞荣郑万书
Owner HANGZHOU DIANZI UNIV
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