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Robust positioning method based on time of arrival under condition of hybrid line of sight non-line of sight

A technology of arrival time and positioning method, applied in the field of target positioning, can solve problems such as recognition errors and reduced positioning accuracy

Active Publication Date: 2019-04-09
NINGBO UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the time-varying environment, there will always be recognition error

Method used

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  • Robust positioning method based on time of arrival under condition of hybrid line of sight non-line of sight
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  • Robust positioning method based on time of arrival under condition of hybrid line of sight non-line of sight

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Experimental program
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Embodiment Construction

[0048] Such as figure 1 A new robust method based on time-of-arrival positioning under mixed line-of-sight and non-line-of-sight conditions shown in the overall flow chart, which includes the following steps:

[0049] ① Establish a plane coordinate system or space coordinate system as a reference coordinate system in the wireless sensor network; set a target source for transmitting measurement signals and N sensors for receiving measurement signals in the wireless sensor network, and set The clocks of the N sensors are synchronized, and the clocks of the target source and the sensor are also synchronized; the coordinate positions of the N sensors in the reference coordinate system are correspondingly recorded as s 1 ,...,s N , record the coordinate position of the target source in the reference coordinate system as x, s 1 Indicates the coordinate position of the first sensor in the reference coordinate system, s N Indicates the coordinate position of the Nth sensor in the r...

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Abstract

The invention discloses a new robust method for positioning based on time of arrival under the condition of hybrid line of sight non-line of sight. The method includes the following steps: firstly, establishing a model of a signal transmission distance between a target source and each sensor; obtaining a positioning problem in an environment with non-line of sight errors by adopting a robust weighted least square method according to the model, and transforming the positioning problem into a non-convex positioning problem; and then obtaining a semi-definite programming problem by introducing auxiliary variables and adopting S-Lemma; and finally, solving the semi-definite programming problem by using common interior point method software to obtain a final estimated value of the coordinate position of the target source in a reference coordinate system. The advantages are that the positioning problem with the non-line of sight errors can be solved, and the accuracy of an existing robust method in the case of more line of sight paths can also be enhanced.

Description

technical field [0001] The invention belongs to a target positioning method, in particular to a new robust positioning method based on arrival time under mixed line-of-sight and non-line-of-sight conditions. Background technique [0002] An important application of modern wireless networks is to provide users with location information, which is crucial for object tracking, navigation, and emergency safety. [0003] At present, there are many basic methods to achieve target positioning. For example, based on time-of-arrival (TOA) and time-difference-of-arrival (TDOA) measurement methods, during the process of collecting measurements, the signal propagation path may be blocked, especially in urban areas, indoor environments, etc., introducing large positive non-line-of-sight ( NLOS) error, the NLOS error is usually much larger than the measured value, which significantly degrades the positioning performance, so alleviating the NLOS error is an urgent task. [0004] The metho...

Claims

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Application Information

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IPC IPC(8): G01S5/06
CPCG01S5/06Y02D30/70
Inventor 王刚陈昊天
Owner NINGBO UNIV