Unlock instant, AI-driven research and patent intelligence for your innovation.

A robust tdoa localization method based on static solution and particle filter

A particle filter and positioning method technology, applied in positioning, radio wave measurement systems, instruments, etc., can solve problems such as decreased accuracy and positioning failure, achieve smooth motion trajectory, improve positioning accuracy, and reduce the possibility of positioning failure.

Active Publication Date: 2021-04-06
NANJING UNIV +1
View PDF4 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A robust tdoa localization method based on static solution and particle filter
  • A robust tdoa localization method based on static solution and particle filter
  • A robust tdoa localization method based on static solution and particle filter

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0070] In order to verify the effectiveness of the proposed method, a UWB positioning system is deployed in a closed room, and the proposed method of the present invention (ie Figure 3a with Figure 3b Our method) and three classical algorithms were compared and tested, these three methods include Taylor algorithm, 2WLS algorithm and particle filter algorithm PF (ie Figure 3a with Figure 3b Taylor, 2WLS, PF in . The size of the room is 6m*6m, with 4 pillars, multiple pieces of furniture and two large pieces of glass to simulate harsh conditions such as occlusion, reflection, strong Gaussian noise, etc. 4 base stations are deployed in 4 corner. The testers walked in the room holding and wearing the tags respectively, and collected two sets of real TDOA data. The collected data sequence is calculated as the test data in the present invention, wherein the realization of each step and the parameter details are as follows:

[0071] Step 1, read the TDOA vector;

[0072] St...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a robust TDOA positioning method based on static solution and particle filter, comprising: step 1, reading TDOA vector; step 2, estimating the current coordinates, moving speed and moving direction of the target according to historical information; step 3. Use the state estimation to detect the abnormality of the TDOA vector and delete the abnormal value; step 4, if the number of remaining base stations is less than 3, use the coordinate estimation as the current coordinate of the target; if the number of remaining base stations is equal to 3, solve the current coordinate of the target through the simultaneous equation, If the number of remaining base stations is greater than 3, use the coordinate estimation as the initial value of the Taylor algorithm to solve the current coordinates of the target; step 5, input the obtained coordinates into the restricted particle filter algorithm to obtain the final positioning result; step 6, the TDOA vector is processed, If there is still data to be entered, return to step 1.

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...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G01S5/02G01C21/20
CPCG01C21/206G01S5/0009G01S5/0294
Inventor 申富饶周至李俊安俊逸
Owner NANJING UNIV