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Method for carrying out dynamic filtering optimization based on real-time positioning trajectory data

A trajectory data, real-time positioning technology, applied in the direction of digital adaptive filter, positioning, radio wave measurement system, etc., can solve the problems of interference performance degradation, unable to form smooth and continuous trajectory, etc., to improve performance and effect, and ensure continuity and smoothness, the effect of optimizing performance

Active Publication Date: 2020-02-28
NANJING UNIV +1
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Problems solved by technology

[0004] Purpose of the invention: The performance of existing classic positioning algorithms based on TOF and TDOA data is significantly degraded in the real environment due to various interferences, especially the problem that smooth and continuous trajectories cannot be formed in the real-time tracking process. The prior knowledge of the trajectory coordinates enhances the smoothness and continuity of the trajectory under the premise of ensuring real-time and high efficiency

Method used

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  • Method for carrying out dynamic filtering optimization based on real-time positioning trajectory data
  • Method for carrying out dynamic filtering optimization based on real-time positioning trajectory data
  • Method for carrying out dynamic filtering optimization based on real-time positioning trajectory data

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Embodiment

[0077]In order to verify the effectiveness of the present invention, the site is deployed in the actual environment and tested. The test site is a room of about 5m*7m. There is a piece of glass in the upper left corner of the room, and the nearby signals will be obviously reflected. A total of 8 base stations are deployed around the site, and the height of the base stations is about 3m. The testers walked along the edge of the field for several weeks, and the trajectory was close to a rectangle. The coordinate data obtained by calculating the TDOA and TOF data collected this time are used as test data to be smoothed in the present invention, wherein the implementation and parameter details of each step are as follows:

[0078] Step 1, read in the positioning coordinate data;

[0079] In step 2, read the historical data, that is, read in the previous calculation results. In order to ensure the low delay of filtering, you only need to read in up to four recent calculation data...

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Abstract

The invention provides a method for carrying out dynamic filtering optimization based on real-time positioning trajectory data. The method comprises the following steps: 1, reading positioning coordinate data calculated in real time; 2, reading positioning coordinate data obtained by historical calculation; 3, if the number of the historical calculation data is less than 4, turning to the step 4,otherwise, turning to the step 5; 4, fusing newly solved data and solved at most even number of historical data to form sliding window data with the length of odd number; 5, fusing the newly solved data and the recently solved four pieces of data to form sliding window data; 6, carrying out smoothing processing on the obtained window data; 7, adding newly resolved data into a historical data set after filtering, and updating the historical data subjected to smoothing processing in the window to the historical data set; 8, emptying the window data, carrying out positioning data calculation of the next step, turning to the step 1 after the calculation is completed, and reading the next piece of data.

Description

technical field [0001] The invention relates to a method for smoothing indoor positioning related data, in particular to a method for dynamic filtering optimization based on real-time positioning track data. Background technique [0002] With the continuous development of the Internet of Things and mobile Internet technology, more and more services and applications rely on the user's location information, how to accurately locate the device is becoming a hot spot in current research. In the outdoor environment, the Global Positioning System (GPS) has been widely used due to its advantages of high precision, strong stability and low cost. However, in the indoor environment, because satellite signals cannot penetrate buildings, the use of GPS has been severely restricted. Moreover, compared with the outdoor environment, the indoor environment is more significantly affected by multipath effects and non-line-of-sight transmission (NLOS), and there are also problems such as dyna...

Claims

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Application Information

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IPC IPC(8): G01S5/02G01C21/20H03H21/00
CPCG01S5/0294G01S5/0257G01C21/206H03H21/00H03H21/0012H03H21/0029H03H2021/0094
Inventor 申富饶杨锁荣李俊赵健
Owner NANJING UNIV
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