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Robust TDOA positioning method for jointly estimating target position and non-line-of-sight error

A technology of target position and joint estimation, which is applied in the field of target positioning and can solve the problems of NLOS positioning with less statistical information and difficulty in statistical modeling.

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

Furthermore, due to the time-varying and dynamic nature of the NLOS localization environment, it is very difficult to statistically model its errors, which means that very little statistical information is available for NLOS localization

Method used

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  • Robust TDOA positioning method for jointly estimating target position and non-line-of-sight error
  • Robust TDOA positioning method for jointly estimating target position and non-line-of-sight error

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[0031] 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.

[0032] Such as Figure 1-3 The robust TDOA positioning method for jointly estimating the target position and non-line-of-sight error shown includes the following steps:

[0033] S1: Establish a wireless sensor network, establish a reference coordinate system in the wireless sensor network, and set the origin of the coordinate system as ; will refer to the anchor node place at the origin of the coordinates, and place the rest at different positions in the coordinate system Anchor nodes, and their corresponding coordinate points are respectively represented by express; use Indicate the coordinate position of th...

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Abstract

The invention relates to a robust TDOA positioning method for jointly estimating a target position and a non-line-of-sight error, and the method eliminates a non-line-of-sight error quadratic term byconverting an original measurement model. According to the converted measurement model, a robust least square problem which takes target position and reference path non-line-of-sight errors as estimation parameters is constructed; then, an S lemma and a positive semi-definite relaxation technology are adopted to obtain a convex positive semi-definite planning problem; finally, the positive semi-definite planning problem is solved by using a common inner point method solving tool so as to obtain an estimated value of the position of a target source in an established coordinate system; and the robust TDOA positioning method for jointly estimating the target position and the non-line-of-sight error has the advantages that the problems caused by overlarge non-line-of-sight error upper bound and application of a triangular inequality in the existing robust method are solved, and the positioning accuracy of the existing method in a non-line-of-sight environment is improved.

Description

technical field [0001] The invention relates to a target positioning method, in particular to a robust TDOA positioning method for jointly estimating target position and non-line-of-sight error. Background technique [0002] The problem of target location plays an important role in both civilian and military applications, and is widely used in target tracking, rescue, monitoring, and wireless communication. Object localization is usually done by collecting some positional metrics obtained from a set of sensors. For high-precision target source localization, time-based metric methods are often used, namely time of arrival (TOA) and time difference of arrival (TDOA) methods. This patent solves the positioning problem based on TDOA. [0003] During the measurement process, measurement errors are unavoidable and often have adverse effects on precise positioning. There have been a large number of literatures discussing the problem of localization based on measurement noise, bu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/02
CPCG01S5/02
Inventor 王刚
Owner NINGBO UNIV
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