TDOA-based CSS (chirp spread spectrum) precise positioning method

Abstract

The invention discloses a TDOA-based CSS (chirp spread spectrum) precise positioning method. According to the method, a base station model with different mobile station-co-base station virtual receivers is adopted; all the virtual receivers, namely, base station antennas, adopt the same clock, and therefore, requirements for clock synchronization can be eliminated from the source; when distance measurement is performed on a node to be positioned, namely, a mobile terminal, obtained distance measuring values between the node to be positioned and reference nodes are processed through adopting a voting and average combined filtering algorithm, and errors caused by environment are removed, and dynamic correction is performed on left distance measuring values through using a dynamic error correction algorithm, and therefore, distance measuring errors can be decreased to the greatest extent; the corrected distance measuring values are averaged, so that an average value can be obtained; the obtained average value is processed through using a TDOA three-dimensional localization algorithm, so that the position coordinates of the node to be positioned can be obtained, and therefore, final precise positioning can be realized.

Description

technical field [0001] The invention relates to a CSS precise positioning method based on TDOA, and belongs to the technical field of indoor positioning. Background technique [0002] With the development of wireless sensor network technology, its low cost, low energy consumption, and multi-function have attracted a lot of research, and it has been widely used in many fields such as the Internet of Things, personnel positioning, and robot positioning. In many applications of wireless sensor networks, the location information of sensor nodes is very important, because monitoring data without node location information is often meaningless. The precise positioning of the node itself is the premise of providing location information for monitoring events, and it is also the basis for realizing moving target positioning, trajectory tracking prediction, network topology control, and network routing optimization. The positioning function is a major feature of the wireless sensor ne...

AI Technical Summary

Problems solved by technology

However, the application of this technology in wireless sensor network node positioning still has the following problems to be solved: (1) Due to the influence of the surrounding harsh environment on wireless signals, CSS ranging samples have random measurement noise and abnormal ranging point pollution, which seriously deteriorates (2) Due to the limited energy of sensor nodes, how to design a simple and efficient filtering algorithm to improve positioning performance is a big problem; (3) The current method of reducing errors within the range of sight is generally to use the range test The ranging error model equation is used as a correction equation to correct the measurement results, that is, the difference between the nodes and the environmental characteristics are not considered in the entire positioning, which leads to the difference in the ranging error model equation, and the same equation is used to correct the results, resulting in The final positioning accuracy is not high; (4) In reality, each base station and mobile terminal are usually not on the same plane, and the elevation difference between each base station and mobile terminal (some elevation difference can reach 100m) has an absolutely non-negligible impact on positioning accuracy of

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