Robustness weighted least square positioning method in mixed environment based on arrival time

Abstract

The invention discloses a robustness weighted least square positioning method in a mixed environment based on arrival time, and the method comprises the steps: building a reference coordinate system in a wireless sensor network; describing a signal transmission distance between a target source and each sensor in a mode of a sight distance model and a mode of non-sight-distance model; obtaining a positioning problem in the mixed environment based on the arrival time according to the sight distance model and the non-sight-distance model through employing the robustness weighted least square method under the worst condition, and obtaining a non-convex positioning problem; introducing an auxiliary variable to the non-convex positioning problem, employing a second-order cone relaxing method, and obtaining a second-order cone planning problem; finally solving the second-order cone planning problem through an interior point method, and obtaining a final estimation value of the coordinate position of the target source in the reference coordinate system. The method is advantageous in that the method gives full consideration to the two states: sight distance and non-sight-distance, makes the most of path state information, achieves the targeted processing of the non-sight-distance error, and is high in positioning precision.

Description

technical field [0001] The invention relates to a target positioning method, in particular to a time-of-arrival based robust weighted least square positioning method in a mixed environment. Background technique [0002] With the rapid development of science and technology, target positioning technology plays an increasingly important role in various fields. For example, many mobile phone applications, target tracking and navigation, emergency rescue, military operations, etc. However, the current target location methods still have many defects, such as low precision and susceptibility to interference. Therefore, research on precise target localization methods is still very valuable. [0003] Among the many basic target positioning methods, the most widely used is the positioning method based on the time of arrival (TimeofArrival). Its basic network structure is as follows: figure 1 shown. Compared with other methods, the time-of-arrival positioning method can achieve hig...

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Problems solved by technology

[0005] At present, there are many methods to deal with non-line-of-sight errors based on time of arrival. There are two main ideas: (1) When the path state is known and the number of line-of-sight paths is greater than or equal to 3, the non-line-of-sight measurement Abandon all of them, and simply use the line-of-sight measurement information for target positioning, but this method is completely inapplicable when the number of line-of-sight paths is less than 3

(2) Use some information of non-line-of-sight to perform robust processing on non-line-of-sight errors for all paths. Although the applicability of this method has nothing to do with the path state, this method ignores part of the path state Prior information cannot effectively improve positioning performance

However, there are few applications that combine line-of-sight and non-line-of-sight at present, so this kind of research is very necessary

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