Positioning method based on arrival time of unknown starting time in non-line-of-sight environment

A technology of starting time and positioning method, which is applied in the field of target positioning and can solve problems such as difficult application

Active Publication Date: 2017-10-20
NINGBO UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

However, in practical applications, the existence of unknown start time and non-line-of-sight errors at the same time is very common, and it is difficult to apply individual error processing to real life. Therefore, joint processing of multiple errors will be an inevitable trend

Method used

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  • Positioning method based on arrival time of unknown starting time in non-line-of-sight environment
  • Positioning method based on arrival time of unknown starting time in non-line-of-sight environment
  • Positioning method based on arrival time of unknown starting time in non-line-of-sight environment

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Embodiment Construction

[0072] The present invention will be described in further detail below in conjunction with the embodiments of the drawings.

[0073] The present invention proposes a positioning method based on arrival time with unknown starting time in a non-line-of-sight environment, and its overall flow diagram is as follows figure 2 As shown, it includes the following steps:

[0074] ① Establish a plane coordinate system or space coordinate system as the reference coordinate system in the wireless sensor network; set the wireless sensor network to have a target source for transmitting measurement signals and N sensors for receiving measurement signals, and set The clocks of the N sensors are synchronized, and the clock of the target source is not synchronized with the clock of the sensor; the coordinate position of the N sensors in the reference coordinate system is correspondingly recorded as s 1 ,...,S N , Denote the coordinate position of the target source in the reference coordinate system ...

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Abstract

The invention discloses a positioning method based on arrival time of unknown starting time in the non-line-of-sight environment. The method comprises steps of firstly establishing a model of a signal transmission distance between a target source and each sensor; obtaining a description of the measurement noise based on the model; according to the description of the measurement noise, using the robust weighted least squares method under the worst case to obtain the positioning problem in the environment of unknown signal transmission start time and non-line-of-sight errors, and converting the positioning problem into a non-convex positioning problem; by introducing auxiliary variables and using the second-order cone relaxation method, obtaining a second-order cone programming problem; and finally, using the interior point method to solve the second-order cone programming problem to get the final estimation value of the coordinate position of the target source in the reference coordinate system. The method has the advantages of being capable of simultaneously solving the problems of the unknown signal transmission start time and the non-line-of-sight errors so as to improve the positioning accuracy.

Description

Technical field [0001] The present invention relates to a target positioning method, in particular to a positioning method based on arrival time with unknown starting time in a non-line-of-sight environment. Background technique [0002] In recent years, wireless sensor network positioning technology has been widely used in many fields, and can quickly and easily realize positioning and navigation, environmental monitoring, smart home, industrial control, etc. With the development of technology and the progress of society, high-precision positioning technology has shown wide application prospects in various fields. Therefore, it is necessary to study high-precision target positioning methods in wireless sensor networks. [0003] At present, there are many basic methods to achieve target positioning. The most widely used method is the time measurement method based on Time of Arrival. The basic network structure is figure 1 Shown. The advantage of this method is that the time meas...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/06G01S5/02
CPCG01S5/0273G01S5/06
Inventor 王刚高尚超王伟李有明
Owner NINGBO UNIV
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