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Solid-state body positioning method based on time-energy domain combination in non-line-of-sight environment

A positioning method and non-line-of-sight technology, applied in the field of communication, can solve the problems of high computational complexity, failure, and decreased rigid body positioning accuracy, and achieve the effects of accurate positioning, simple method and strong robustness.

Active Publication Date: 2021-05-25
XIAN UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The calculation complexity of this method is high, and in the non-line-of-sight environment, the distance measurement accuracy will be extremely deteriorated, resulting in a decrease in the rigid body positioning accuracy or even failure

Method used

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  • Solid-state body positioning method based on time-energy domain combination in non-line-of-sight environment
  • Solid-state body positioning method based on time-energy domain combination in non-line-of-sight environment
  • Solid-state body positioning method based on time-energy domain combination in non-line-of-sight environment

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0075] The solid-state positioning method based on time-energy domain combination in the non-line-of-sight environment of this embodiment consists of the following steps:

[0076] (1) Extract time-energy domain measurement information

[0077] According to the measurement model in the non-line-of-sight transmission environment of the following formula, the time-domain measurement information r of the solid-state node transmitting signals to the anchor node is extracted mi , energy domain measurement information P mi :

[0078] r mi =||s i -a m ||+v mi +b mi (1a)

[0079]

[0080] where s i Indicates the position coordinates of the i-th solid body node in the global reference system, which is [x i ,y i ,z i ] T , the value of i is 1,2,...,N; a m Indicates the position coordinates of the mth anchor node deployed in the surrounding environment, which is [x m ,y m ,z m ] T , the value of m is 1, 2,..., M; N is the number of solid nodes, M is the number of anch...

Embodiment 2

[0130] The solid-state positioning method based on time-energy domain combination in the non-line-of-sight environment of this embodiment consists of the following steps:

[0131] (1) Extract time-energy domain measurement information

[0132] According to the measurement model in the non-line-of-sight transmission environment of the following formula, the time-domain measurement information r of the solid-state node transmitting signals to the anchor node is extracted mi , energy domain measurement information P mi :

[0133] r mi =||s i -a m ||+v mi +b mi (1a)

[0134]

[0135] where s i Indicates the position coordinates of the i-th solid body node in the global reference system, which is [x i ,y i ,z i ] T , the value of i is 1,2,...,N; a m Indicates the position coordinates of the mth anchor node deployed in the surrounding environment, which is [x m ,y m ,z m ] T , the value of m is 1, 2,..., M; N is the number of solid nodes, M is the number of anch...

Embodiment 3

[0138] The solid-state positioning method based on time-energy domain combination in the non-line-of-sight environment of this embodiment consists of the following steps:

[0139] (1) Extract time-energy domain measurement information

[0140] According to the measurement model in the non-line-of-sight transmission environment of the following formula, the time-domain measurement information r of the solid-state node transmitting signals to the anchor node is extracted mi , energy domain measurement information P mi :

[0141] r mi =||s i -a m ||+v mi +b mi (1a)

[0142]

[0143] where s i Indicates the position coordinates of the i-th solid body node in the global reference system, which is [x i ,y i ,z i ] T , the value of i is 1,2,...,N; a m Indicates the position coordinates of the mth anchor node deployed in the surrounding environment, which is [x m ,y m ,z m ] T , the value of m is 1, 2,..., M; N is the number of solid nodes, M is the number of anch...

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Abstract

The invention discloses a solid-state body positioning method based on time-energy domain combination in a non-line-of-sight environment. The solid-state body positioning method comprises the steps of extracting energy-time domain measurement information, determining corrected energy-time domain measurement information, determining a solid-state body node position in a global reference system and determining a solid-state body posture. According to the method, the influence of the non-line-of-sight environment is considered, and the influence of reduction and even failure of the positioning precision of the solid body in the non-line-of-sight environment is effectively reduced. Simulation contrast experiments prove that compared with an existing divide-and-conquer method and a positive semidefinite relaxation method, the method has the advantages of being accurate in positioning, simple, high in non-line-of-sight robustness and the like, and can be used for solid body positioning in the non-line-of-sight environment in the technical field of communication.

Description

technical field [0001] The invention belongs to the technical field of communication, and in particular relates to a solid-state object positioning method in which wireless signals are combined with time domain and energy domain information in a non-line-of-sight environment. Background technique [0002] In recent years, location estimation has been one of the important research topics in mobile communication and wireless sensor networks, with specific applications such as global positioning system, radar, and sonar. With the rapid development of information technology, more and more applications not only require to obtain the position of the target, but also consider its attitude. The influence of the presence of obstacles on the localization of solid objects has been common. Due to the uncertainty of the position and motion state of obstacles, the refraction, reflection and scattering of positioning signals are caused, resulting in multipath effects in the signal transmi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/02
CPCG01S5/02Y02D30/70
Inventor 万鹏武姚媛媛刘伯阳刘超文王瑾卢光跃黄琼丹魏健陈煜飞
Owner XIAN UNIV OF POSTS & TELECOMM
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