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

A non-line-of-sight and time-difference technology, applied in the field of target positioning, can solve difficult problems, achieve good positioning effect and improve positioning accuracy

Active Publication Date: 2022-04-19
NINGBO UNIV
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  • Abstract
  • Description
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  • Application Information

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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 time difference of arrival under non-line-of-sight conditions

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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 time difference of arrival under the condition of non-line-of-sight error. The method constructs a robust least square problem with the non-line-of-sight error of the target position and the reference path as estimation parameters. A method of introducing a balance parameter is proposed to eliminate the quadratic term of the non-line-of-sight error in the objective function, and then an auxiliary variable is introduced, and the convex semi-definite programming problem is obtained by using the S lemma and positive semi-definite relaxation technique; finally, the commonly used interior point method is used to solve the tool Solve the semi-positive definite programming problem to obtain the estimated value of the target source position in the established coordinate system. The invention overcomes the unreasonable upper bound of the non-line-of-sight error in the existing robust method and the negative impact brought by the application of the triangle inequality, and greatly improves the positioning accuracy of the existing method in a 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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Patent Type & Authority Patents(China)
IPC IPC(8): G01S5/02
CPCG01S5/02
Inventor 王刚
Owner NINGBO UNIV
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