High-precision and fast positioning method based on toa mode in non-line-of-sight environment
A positioning method and high-precision technology, applied in the field of wireless positioning, can solve the problems of reducing the accuracy and performance of the positioning system, divergence of positioning results, and failure of positioning results, etc., and achieve the effects of fast calculation time, no divergence of performance, and improved accuracy
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[0048] The present invention will be further described below in conjunction with specific examples and accompanying drawings.
[0049] The present invention provides a high-precision fast positioning method based on TOA mode in a non-line-of-sight environment, which includes the following steps:
[0050] S1. Determine the coordinates of each fixed base station, and the distance observation value between the mobile station and each fixed base station received by the mobile station; obtain the basic positioning equation between the mobile station and each base station according to the distance observation value.
[0051] This embodiment adopts a two-dimensional plane positioning scene, and the coordinates of each fixed base station are two-dimensional Cartesian coordinates, which can also be extended to three-dimensional according to the idea of the present invention. If the observation value received by the mobile station is a time signal, it can be converted into a distance ...
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