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

A positioning method and non-line-of-sight technology, applied in the field of target positioning, can solve problems such as intractability, achieve good positioning effect and improve positioning accuracy.

Active Publication Date: 2019-09-10
NINGBO UNIV
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Problems solved by technology

However, the objective function of this problem contains the quadratic term of the non-line-of-sight error, which is difficult to deal with

Method used

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

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Embodiment Construction

[0034] In order to enable those skilled in the art to better understand that the technical solutions of the present invention can be implemented, the present invention will be further described below in conjunction with specific examples, but the given examples are only used as illustrations of the present invention, not as limitations of the present invention.

[0035] The present invention proposes a robust positioning method based on time difference of arrival positioning under non-line-of-sight conditions, and its technical flow diagram is as follows figure 1 As shown, the specific steps are as follows:

[0036] S1: Establish a wireless sensor network: establish a reference coordinate system in the wireless sensor network, set the origin of the coordinate system as , and refer to the anchor node Placed at the origin of the coordinates, other Anchor nodes are placed in different positions of the coordinate system, and the corresponding coordinate points are respectively...

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Abstract

The invention discloses a robust positioning method based on arrival time difference under a non-line-of-sight error condition, which solves the problem of robust least square by taking a target position and a reference path non-line-of-sight error as estimation parameters. A method for introducing balance parameters is provided to eliminate non-line-of-sight error quadratic terms in an objectivefunction, then auxiliary variables are introduced, and S lemma and a semi-definite relaxation technology are adopted to obtain a convex semi-definite programming problem; and finally, the semi-definite programming problem is solved by using a common inner point method solving tool so as to obtain an estimated value of the position of the target source in the established coordinate system. The method overcomes the unreasonable non-line-of-sight error upper bound in the existing robust method and the negative influence caused by applying the triangular inequality, and greatly improves the positioning accuracy of the existing method in the dense non-line-of-sight environment.

Description

technical field [0001] The invention relates to a target positioning method, in particular to a robust positioning method based on time difference of arrival under non-line-of-sight conditions. Background technique [0002] Targeting has important applications in both military and civilian applications. Object localization is usually accomplished by collecting a number of measurements related to the object's location obtained from a set of sensors. For high-precision target source localization, time-based localization methods are often used, namely time-of-arrival (TOA) and time-difference-of-arrival (TDOA) methods. This patent relates to positioning based on Time Difference of Arrival (TDOA). [0003] During the measurement process, measurement errors are unavoidable and often have adverse effects on precise positioning. There has been a large body of literature discussing the TDOA-based localization problem, but these studies only considered measurement noise. However,...

Claims

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Application Information

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IPC IPC(8): G01S5/02
CPCG01S5/02
Inventor 王刚
Owner NINGBO UNIV
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