Steady positioning method based on time difference of arrival in sight distance and non-sight-distance mixed environment

Abstract

The invention discloses a steady positioning method based on time difference of arrival in sight distance and non-sight-distance mixed environment. The method comprises the following steps: separately processing a distance difference measurement model under the sight distance environment and a distance difference measurement model under the non-sight-distance environment, building a robust least-squares problem under the worst case, and designing the specific constraint in allusion to two causes under the non-sight-distance environment that the reference path is the sight distance and the normal path is the non-sight-distance and the reference path is the non-sight-distance and the normal path is the sight distance, realizing the concrete analysis in allusion to the particular case, and adequately using the state information of the path. In allusion to the unbalancedness problem of the distance difference measurement model processing under the sight distance environment and the distance difference measurement model processing under the non-sight-distance environment, and based on the difference of the positional accuracy under the sight distance and the non-sight-distance environment, an effective weight value is designed, the robust least-squares problem under the worst case is adjusted to a weighting least-squares problem, so the function of the sight distance path is adequately developed, and the positional accuracy is further improved.

Description

technical field [0001] The invention relates to a target positioning technology, in particular to a robust positioning method based on time difference of arrival in a mixed environment of line-of-sight and non-line-of-sight. Background technique [0002] Target positioning technology plays an important role in many applications, for example, it has been widely used in military reconnaissance, emergency rescue, environmental monitoring, target navigation, remote control and other fields. In recent years, with the rapid development of wireless sensors and mobile applications, there is an urgent need for high-precision target positioning algorithms to meet the positioning requirements, which provides a broad application prospect for the research of high-precision target positioning algorithms. Therefore, it is of great significance to study high-precision target positioning methods. [0003] In traditional target location methods, methods based on Time of Arrival (TOA) are mai...

AI Technical Summary

Problems solved by technology

The first method: according to the accurate statistical information of non-line-of-sight error and measurement noise, the target location is realized. However, it is very difficult to accurately obtain the statistical information of non-line-of-sight error, so this method is difficult to obtain in reality widely used

The second method: only use the upper bound of the non-line-of-sigh

Images