Positioning method based on arrival time under unknown sight distance and non-sight-distance distribution condition

A technology of time of arrival and positioning method, applied in the field of target positioning, can solve problems such as difficult to obtain accurately, and achieve the effect of improving target positioning accuracy and easy to solve

Active Publication Date: 2020-01-10
NINGBO UNIV
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Problems solved by technology

The above methods all need to know the distribution of line-of-sight links and

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  • Positioning method based on arrival time under unknown sight distance and non-sight-distance distribution condition
  • Positioning method based on arrival time under unknown sight distance and non-sight-distance distribution condition
  • Positioning method based on arrival time under unknown sight distance and non-sight-distance distribution condition

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Embodiment Construction

[0024] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0025] A time-of-arrival positioning method proposed by the present invention under the condition of unknown line-of-sight and non-line-of-sight distribution, its overall realization block diagram is as follows figure 1 As shown, it includes the following steps:

[0026]Step 1: Set an unknown target node and N known anchor nodes in the wireless sensor network, and set the distribution of line-of-sight and non-line-of-sight links in the wireless sensor network to be unknown; A plane coordinate system is used as the reference coordinate system, and the coordinate position of the target node in the reference coordinate system is recorded as x, and the coordinate position of the i-th anchor node in the reference coordinate system is recorded as s i ; Wherein, N is a positive integer, N≥3, in this embodiment, N=8, i is a positive integer, the init...

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Abstract

The invention discloses a positioning method based on an arrival time under an unknown sight distance and non-sight-distance distribution condition. All sight distance links in a wireless sensor network are regarded as non-sight-distance links, and a distance measurement model between a target node and each anchor node is established. A minimization problem is obtained by adopting a robust least square method under a worst condition according to an approximate expression of the distance measurement model. An auxiliary variable is introduced and a function is converted into a non-convex problem; constraint conditions in the non-convex problem are relaxed through a convex relaxation technology, a penalty term is introduced, and the problem is converted into a convex optimization problem; andthe convex optimization problem is solved to obtain a position estimation value of the target node. The method has the advantages that the distribution conditions of the sight distance links and thenon-sight-distance links are not need to be known, and the positioning precision is high.

Description

technical field [0001] The invention relates to a target positioning method, in particular to a time-of-arrival positioning method under the condition of unknown line-of-sight and non-line-of-sight distribution. Background technique [0002] In recent years, target location technology in wireless sensor networks has been widely used in the fields of navigation, communication and target tracking. With the development of technology and the progress of society, high-precision target positioning technology has shown a wide range of application prospects in various fields. Therefore, it is very necessary to research on high-precision target localization methods in wireless sensor networks. [0003] According to the characteristic parameters of the received signal and the different application environments, various target positioning methods have been proposed, including Time of Arrival (TOA), Time Difference of Arrival (TDOA), Angle of Arrival (AOA), Received Signal Strength (RS...

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Application Information

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IPC IPC(8): G01S5/02H04W4/02H04W84/18
CPCG01S5/02H04W4/023H04W84/18
Inventor 李有明王沛鑫曾宇恩卢志刚
Owner NINGBO UNIV
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