Robust TDOA positioning method based on static solution and particle filtering

Abstract

The invention discloses a robust TDOA positioning method based on static solution and particle filtering. The method comprises: step one, reading a TDOA vector; step two estimating a current coordinate, moving speed and moving direction of a target according to the historical information; step three, carrying out abnormity detection on the TDOA vector by using state estimation and deleting an abnormal value; step four, using an estimated coordinate as a current coordinate of the target under the condition of being less than 3 by a residual base station number, calculating the current coordinate of the target under the condition of being equal to 3 by the residual base station number, and calculating the current coordinate of the target under by using the estimated coordinate as an initialvalue of a Taylor algorithm under the condition of being larger than 3 by the residual base station number; step five, inputting the obtained coordinate into a restricted particle filtering algorithmto obtain a final positioning result; and step six, completing processing of the TDOA vector and returning to the step one under the condition of existing to-be-inputted data.

Description

technical field [0001] The invention relates to indoor positioning technology, in particular to a robust TDOA positioning method based on static solution and particle filter. Background technique [0002] With the vigorous development of wireless network technology and the growing demand for the Internet of Things, location-based services are receiving more and more attention and research from all walks of life. They are widely used in various fields such as target monitoring, warehousing and logistics, and business intelligence. It brings great convenience to life and production. Traditional positioning technologies, such as GPS in the United States, Galileo in Europe, and Beidou satellite navigation system in China, have achieved great success in outdoor scenarios due to their wide coverage, high accuracy, and low cost. However, in indoor scenarios, due to the inability of satellite signals to penetrate buildings, and the occlusion and reflection of a large number of obst...

AI Technical Summary

Problems solved by technology

[0005] Purpose of the invention: To solve the problem that the accuracy of the traditional TDOA positioning algorithm is severely reduced or even fails in the face of various noises in the real environment, and propose an exception handling strategy to improve data quality, and combine static algorithms and dynamic algorithms to solve problems by layering The method greatly reduces the positioning error and improves the smoothness of the trajectory

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