TDOA-AOA positioning method considering position error of base station

Abstract

The invention relates to a TDOA-AOA positioning method considering a position error of a base station. The method comprises the following steps: 1) arranging a wireless sensor network in a two-dimensional space, and measuring, by each base station, an arrival time dereference and angles of a measurement target node and a reference node under a noise condition; 2) selecting the first base station as the reference base station, and obtaining a signal transmission path distance difference relative to the reference base station according to the arrival time dereference of signal transmission paths; 3) establishing a least square target estimation algorithm according to the measured values in the previous two steps and the known position of the base station; 4) due to the existence of the basestation error and the measurement error, analyzing the errors, and importing a weight matrix to achieve weighted least square estimation; and 5) reconstructing the weighted least square estimation, and using the semi-definite relaxation technique to transform the weighted least square into a semi-definite planning problem with linear equality constraints and linear inequality constraints via laxity rank constraints, and then solving a globally optimal solution by using an inner point method.

Description

technical field [0001] The invention belongs to the field of wireless sensor network positioning, and relates to a TDOA-AOA positioning method for a target node of a two-dimensional wireless sensor network when errors exist in a base station. Background technique [0002] In recent years, wireless sensor networks (WSNs) have been rapidly developed in various fields such as object tracking, intrusion detection, energy-efficient routing, underground and underwater surveying, and so on. Wireless sensor network positioning is to complete the positioning of the target node through the cooperation among the distributed reference nodes in the network. There are mainly four positioning methods based on ranging, namely Time of Arrival (TOA), Time Difference of Arrival (TDOA), Received Signal Power (RSS) and Angle of Arrival (AOA). For general wireless sensor networks, TDOA has relatively low requirements on wireless network and time synchronization, so it is an ideal positioning met...

AI Technical Summary

Problems solved by technology

At present, most of the research on the TDOA-AOA joint positioning method still stays under ideal conditions, that is, positioning is performed under the assumption that the base station position is error-free.

Images