Indoor range finding positioning method based on improved traceless Kalman filtering

An unscented Kalman and Kalman filter technology, applied in radio wave measurement systems, positioning, measurement devices, etc., can solve the problems of non-line-of-sight errors and accuracy effects that cannot be suppressed

Active Publication Date: 2017-05-24
NANJING UNIV OF INFORMATION SCI & TECH
View PDF2 Cites 35 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Early Hightower et al [HIGHTOWER J, WANT R, BORRIELLO G.SpotON: An Indoor 3D LocationSensing Technology Based on RF Signal Strength[D].UW CSE 00-02-02, University of Washington, Department of Computer Science and Engineering, Seattle, WA , 2000, 1] estimate the distance between two points by the received signal strength (RSSI, Received Signal Strength Indicator) ranging method, and locate by the mutual position between the nodes, but the indoor environment has

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Indoor range finding positioning method based on improved traceless Kalman filtering
  • Indoor range finding positioning method based on improved traceless Kalman filtering
  • Indoor range finding positioning method based on improved traceless Kalman filtering

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0161] Example

[0162] Set up two nodes in the laboratory, the transmitting node and the receiving node, placed at the same height for data collection. The experimental ranging range is 0-15m. The measurement starts at 0.96m from the transmitting node, and the RSSI is measured 100 times at intervals of 0.96m. The experimental data is processed accordingly. The distance is the state value, and the preprocessed RSSI is the observation value. The improved unscented Kalman filter method is used to obtain the distance value. The experimental results are as follows figure 2 , image 3 Shown. From figure 2 with image 3 It can be seen from the results that the three processing methods, the unscented Kalman filter improvement method (aukf) based on the logarithmic robust function, have the largest data changes, which are processed by Kalman filter and unscented Kalman filter (kf+ukf) successively RSSI value, and the use of Kalman filter and the improved method of unscented Kalman filt...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses an indoor range finding positioning method based on improved traceless Kalman filtering, and the method comprises the steps: selecting the Kalman filtering to carry out the processing of a received RSSI value, and obtaining the optimal estimation of a state vector; carrying out the numerical fitting of the RSSI value, processed through the Kalman filtering, through the least square method, and obtaining two environment parameters A and m in a current test environment; carrying out the secondary processing of the RSSI value through the improved traceless Kalman filtering, and obtaining the value of the distance between an anchor node and a target node; and estimating the position coordinates of an unknown node through the solved distance value between the anchor node and the target node and a three-side measurement method. The method corrects the noise estimation value in the traceless Kalman filtering in real time through a robust target function, reduces the weight of an estimation value with the in accurate noise, and improves the state variable estimation precision.

Description

technical field [0001] The invention relates to an indoor ranging and positioning method based on an improved unscented Kalman filter, and belongs to the technical field of indoor ranging and positioning. Background technique [0002] In today's era, with the development of mobile communication and wireless sensor network technology, location-based services (Location-Based Services, LBS) have received widespread attention, such as the literature ERYA B O, RALPH WP. Theory and practice of simultaneous data reconciliation a Gross error detection for chemical processes [J]. Computers and Chemical Engineering, 2004, 28(3): 381-402. For outdoor positioning systems, the Global Navigation Satellite System (GNSS) can provide precise positioning and is widely used, such as the literature ZHEN L, FANG H J.Modified state prediction algorithm based on UKF[J].Journal of Systems Engineering and Electronics.2013 , 24(1):135-140. In densely built areas or complex indoor environments, due ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G01S5/10
CPCG01S5/10
Inventor 陈晓邹胜男
Owner NANJING UNIV OF INFORMATION SCI & TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap