Robust tdoa localization method for joint estimation of target position and non-line-of-sight error

A target position and joint estimation technology, applied in the field of target positioning, can solve the problems of difficulty in statistical modeling and lack of NLOS positioning statistical information, and achieve the effect of improving accuracy and good positioning effect.

Active Publication Date: 2022-04-19
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

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  • Robust tdoa localization method for joint estimation of target position and non-line-of-sight error
  • Robust tdoa localization method for joint estimation of target position and non-line-of-sight error
  • Robust tdoa localization method for joint estimation of 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 the target position and the non-line-of-sight error, and eliminates the quadratic item of the non-line-of-sight error by transforming the original measurement model. According to the transformed measurement model, a robust least squares problem is constructed with the non-line-of-sight error of the target position and the reference path as the estimated parameters; then, the convex positive semi-definite programming problem is obtained by using the S lemma and positive semi-definite relaxation technique; Utilize the interior point method solving tool commonly used at last to solve the semi-positive definite programming problem, thereby obtain the estimated value of the target source position in the established coordinate system; The advantage of the present invention is to overcome the non-line-of-sight error in the existing robust method The problems caused by the excessive boundary and the application of the triangle inequality have improved the positioning accuracy of the existing methods in the non-line-of-sight environment.

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...

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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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