TOA mode-based high-precision rapid positioning method in non-line-of-sight environment

Abstract

The invention discloses a TOA mode-based high-precision rapid positioning method in a non-line-of-sight environment. The method comprises the steps of obtaining a basic positioning equation between amobile station and each base station according to a distance observation value; selecting a corresponding basic positioning equation between the mobile station and the base station when the distance observation value is minimum as a reference equation, and subtracting the reference equation from basic positioning equations between other mobile stations and the base station to obtain a least squarestandard form; constructing an L1 norm expression form, and converting the L1 norm expression form into an L1 norm expression form with additional equation linear constraints; giving an iterative process of alternating direction method solving to obtain a positioning solution of the mobile station; substituting the positioning solution into the L1 norm expression to obtain an absolute value residual error, and if the median ratio of the maximum absolute value residual error to the absolute value residual error is greater than a preset value, outputting the positioning solution of the mobile station; otherwise, adopting a basic positioning equation between the mobile station corresponding to the next distance observation value and the base station as a reference equation. According to theinvention, the influence of non-line-of-sight errors on the positioning precision can be reduced.

Description

technical field [0001] The invention belongs to the technical field of wireless positioning, and in particular relates to a high-precision fast positioning method based on a TOA mode in a non-line-of-sight environment. Background technique [0002] Due to the complexity of the environment, after the signal is sent from the sending end, there are often different degrees of occlusion during the process of reaching the receiving end, thereby introducing non-line-of-sight (NLOS) errors. Especially in the field of indoor positioning and 5G positioning, the existence of non-line-of-sight errors will seriously reduce the accuracy and performance of the positioning system. The most serious consequence is that the positioning results will diverge, resulting in the failure of positioning results. Contents of the invention [0003] The technical problem to be solved by the present invention is to provide a high-precision fast positioning method based on the TOA mode in a non-line-of-...

AI Technical Summary

Problems solved by technology

[0002] Due to the complexity of the environment, after the signal is sent from the sending end, there are often different degrees of occlusion in the process of reaching the receiving end, thus introducing non-line-of-sight (NLOS) errors

Especially in the field of indoor positioning and 5G positioning, the existence of non-line-of-sight errors will seriously reduce the accuracy and performance of the positioning system. The most serious consequence is that the positioning results will diverge, resulting in the failure of positioning results.

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