Cooperative Positioning Using Simulated Annealing and Taylor Refinement
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Solution Overview
Problem
Conventional positioning algorithms, such as the Taylor series expansion, are sensitive to initial values and prone to non-convergence, leading to inaccuracies in positioning, especially in environments with non-zero mean Gaussian distribution errors and limited observation equations.
Innovation Solution
A cooperative positioning method combining a simulated annealing algorithm with a Chan algorithm and a multi-target-source Taylor series algorithm to determine an initial positioning estimate, followed by screening distance measurements using a preset error threshold and applying a multi-target-source Taylor series expansion to refine the position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If base station dense deployment is implemented to improve positioning precision, then positioning precision is improved, but device complexity and system cost increase
Solution Approach 1:
The patent introduces a positioning server as an intermediary that centralizes positioning calculations. The server receives signal data from multiple base stations and performs complex positioning computations centrally, rather than requiring each base station to independently process positioning data. This mediator approach improves positioning precision through sophisticated algorithms while avoiding the need for complex distributed processing at each base station.
Solution Approach 2:
The patent replaces physical base station dense deployment with a virtual/software-based positioning system. Instead of relying on increasing the physical number of base stations to improve positioning accuracy, the system uses signal data from existing base stations processed by a positioning server running positioning algorithms. This substitutes mechanical/physical expansion with computational processing.
2Measurement precision
If base station dense deployment is implemented to improve positioning precision, then positioning precision is improved, but construction cost increases
Solution Approach 1:
The patent uses signal data copies from existing base station communications to perform positioning calculations. Instead of requiring additional physical base stations, the system captures and processes copies of signal data already being transmitted by existing base stations. This allows positioning functionality to be added without the high construction costs of deploying new physical infrastructure.
3Measurement precision
If base station dense deployment is implemented to improve positioning precision, then positioning precision is improved, but the method is not adaptable to terminal devices in idle state
Solution Approach 1:
The patent creates a positioning system that serves multiple functions and states universally. The positioning server can handle positioning requests from terminals in various states (active, idle, moving, stationary) using the same centralized processing architecture. The system uses signal data from normal base station operations regardless of terminal state, making the positioning capability universal and adaptable to all terminal conditions without requiring state-specific mechanisms.
Data Source
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AI summary
A cooperative positioning method and apparatus, a device, and a storage medium. The cooperative positioning method comprises: using a simulated annealing algorithm and a first preset positioning algorithm to determine an initial positioning estimation value of each of a plurality of objects to be measured; according to a preset error threshold, selecting at least two distance measurement values to obtain a target distance measurement value; and according to the Taylor series algorithm of multiple target sources, each target distance measurement value, and each initial positioning estimation value, determining the position of each object to be measured. Further comprised are the cooperative positioning apparatus corresponding to the cooperative positioning method, the device for implementing the cooperative positioning method, and the storage medium for storing a program that implements a cooperative positioning algorithm.