Multi-moving-target positioning error elimination method based on improved extended Kalman filtering

Abstract

The invention discloses a multi-moving-target positioning error elimination method based on improved extended Kalman filtering, and the method comprises the following steps: achieving the positioningof multiple targets in a mode of combining time division multiplexing and wavelength division multiplexing, and converting a received signal into a pulse in a Fourier domain energy set through fractional Fourier transform; screening data by using a threshold set by RSSI; reducing the offset generated by the system clock by using bidirectional distance measurement and relative time; judging whetheran NLOS error exists in the ranging process or not by using a Wylie algorithm; using the time difference TDOA of the signals reaching the two anchor nodes for reducing the processing time error of the system; using a CHAN algorithm for solving the position of a moving target at a certain moment to serve as an observation value, building a state equation, using an estimated NLOS error for improving an extended Kalman positioning algorithm, and estimating the motion trail of the moving target. According to the invention, the positioning of more moving targets is realized with lower cost, and the balance between the positioning precision requirement and the power consumption is realized; errors existing in distance measurement are comprehensively considered and eliminated.

Description

technical field [0001] The invention discloses a multi-moving target positioning error elimination method based on improved extended Kalman filter, and relates to the technical field of wireless ranging and positioning of moving targets. Background technique [0002] The rapid development of the Internet of Things puts forward higher requirements for wireless communication technology, and LPWAN, which is designed for Internet of Things applications with low bandwidth, low power consumption, long-distance, and massive connections, is also rapidly emerging. LoRa (Long Range) is an ultra-long-distance wireless transmission scheme based on spread spectrum technology adopted and promoted by Semtech Corporation of the United States. Since LoRa works in the license-free frequency band, network construction can be carried out without application, the network structure is simple, and the operating cost is also low. Therefore, it has become a widely used wireless communication technol...

AI Technical Summary

Problems solved by technology

[0004] In the existing technology, it is difficult to locate many moving targets, and the cost is high. It is difficult to achieve a balance between positioning accuracy requirements and power consumption, and the ranging error is also relatively large.

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