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L1 norm method based on TOA positioning mode in mixed LOS/NLOS scenario

A technology of L1 norm and positioning mode, applied in the field of positioning, can solve the problem of low positioning accuracy of TOA positioning mode, and achieve the effect of easy understanding, good effect and stable performance

Active Publication Date: 2019-12-20
INST OF GEODESY & GEOPHYSICS CHINESE ACADEMY OF SCI
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  • Claims
  • Application Information

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Problems solved by technology

[0004] Combined with the current hybrid LOS / NLOS application scenario, and in view of the low positioning accuracy of the existing TOA positioning mode, the present invention proposes an L1 norm method to solve the high-precision positioning problem in the hybrid LOS / NLOS scenario

Method used

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  • L1 norm method based on TOA positioning mode in mixed LOS/NLOS scenario
  • L1 norm method based on TOA positioning mode in mixed LOS/NLOS scenario

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Embodiment

[0039] The L1 norm method based on the TOA positioning mode in the mixed LOS / NLOS scenario, according to the steps in the content of the invention, the results are as follows:

[0040] (1) Attached figure 1 The experimental results are derived from the following experimental condition settings: assuming that a total of 5 base stations are selected and evenly distributed on a pentagon vertex, and the number of LOS base stations is 4 and the number of NLOS base stations is 1. The coordinates of the five base stations are (0, 0), (5, 0), (6.54, 4.75), (2.50, 7.69) and (-1.54, 4.75). LOS signal noise η i The mean is 0 and the variance is , the NLOS error is uniformly distributed in the range [8*max(|η i |),15*max(|η i |)], where i=1,...,5. The mobile receiver coordinates are randomly generated inside the pentagon enclosed by the base stations. For each noise, the number of simulation experiments is 500 times.

[0041] (2) by the attached figure 1 It can be seen that when ...

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Abstract

The invention discloses a L1 norm method based on a TOA positioning mode in a mixed LOS / NLOS scenario, and the method comprises the following steps of establishing basic positioning equations of a receiver by distance observation values and known coordinates of the base station; sorting the distance observation values in ascending order; secondly selecting the positioning equation corresponding toa small distance observation value as a reference equation, performing difference calculation with other positioning equations, and finally converting into the standard form of least squares; constructing a minimum criterion of the L1 norm based on the least squares expression form, so as to solve by using a CVX software toolbox to obtain the high-precision positioning coordinates of the receiver; finally determining whether the current reference equation is correctly selected according to the ratio of the maximum value to the median value in the positioning absolute value residual vector, and determining whether the current positioning result is the most appropriate. The method is very simple and stable in performance, can greatly reduce the impact of NLOS errors on the positioning algorithm, and can also have a very strong reference value for industrial applications.

Description

technical field [0001] The invention belongs to the technical field of positioning, and in particular relates to an L1 norm method based on a TOA positioning mode that can be used in a mixed LOS / NLOS scenario. Background technique [0002] There are mainly four positioning modes in the traditional positioning technology: TOA (time of arrival, time of arrival), TDOA (time difference of arrival, time difference of arrival), AOA (arrival of angle, angle of arrival) and fingerprint database. , the positioning receiver can receive two kinds of signals from the transmitter: the LOS (light of sight, line of sight) signal that arrives directly and the NLOS (non-light of sight, non-line of sight) that arrives through reflection, refraction and scattering due to obstacles Signal. [0003] In the process of participating in positioning through distance observations or through time-of-flight difference reaction distance observations, NLOS errors will seriously reduce the accuracy of th...

Claims

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Application Information

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IPC IPC(8): G01S5/10
CPCG01S5/10Y02D30/70
Inventor 何成文袁运斌
Owner INST OF GEODESY & GEOPHYSICS CHINESE ACADEMY OF SCI
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