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Improved positioning method based on multi-beacon arrival time differences

A time difference positioning and positioning method technology, applied in positioning, measuring devices, instruments, etc., can solve problems such as double solutions or no solutions of nonlinear equations, ambiguous positioning, etc.

Inactive Publication Date: 2016-02-24
HANGZHOU DIANZI UNIV
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Problems solved by technology

The typical representative of this type of algorithm is the Chan algorithm, which has the advantages of small amount of calculation, no need for iterative calculation, simple and accurate, etc., but this method has the disadvantage of ambiguous positioning, that is, there are double solutions or no possibility of solution

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  • Improved positioning method based on multi-beacon arrival time differences
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  • Improved positioning method based on multi-beacon arrival time differences

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Embodiment Construction

[0043] The patent of the present invention uses the multi-beacon arrival time difference and the coupling relationship between the target position and the distance between multiple beacons and targets to realize target positioning. The principle of the improved positioning method based on multi-beacon time difference of arrival is: using multiple calibrated sensors to obtain the time difference data between the target arrival time difference between the common sensor and the reference sensor. Considering the target position and the distance between multiple beacons and the target as unknown quantities, the pseudo-linear equations are deduced and the target position estimation is obtained by using the weighted least square algorithm. The target position estimate is then updated using the coupled relationship between the target position and the distances between multiple beacons and the target.

[0044] combinefigure 1 , the improved positioning method based on multi-beacon time...

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Abstract

The invention discloses an improved positioning method based on multi-beacon arrival time differences. The method specifically comprises the steps of: (1) obtaining position information of a sensor in a multi-beacon arrival time difference positioning scene; (2) taking a target position and distances between a plurality of beacons and the target as unknown quantities, deriving a corresponding pseudo-linear equation group according to a non-linear measuring equation group of the multi-beacon arrival time differences; (3) according to a weighted least square algorithm, estimating the target position and the distances between the plurality of beacons and the target; and (4) according to the coupling relation between the target position and the distances between the plurality of beacons and the target, updating the estimation of the target position. According to the invention, the precision of the linear closed passive target positioning aimed at multi-beacon arrival time differences is improved. The plurality of beacons and the coupling relation between the target position and the distances between the plurality of beacons and the target are utilized to increase the positioning information amount and improve the positioning precision.

Description

technical field [0001] The invention relates to a novel passive target positioning method based on time difference of arrival, in particular to an improved positioning method based on multi-beacon time difference of arrival. Background technique [0002] The target position can be effectively determined based on the time difference of the passive target's arrival at the sensor, which is one of the key technologies for the passive target detection system to determine the target position. The basic principle is to make a reasonable spatial layout of multiple sensors to analyze the signals sent by the target, and calculate the time difference between each sensor relative to the beacon node to determine the target's azimuth and distance. The essence of the target location method based on time difference of arrival is that after obtaining the time difference data of the target's arrival at different sensors, it is very challenging to obtain the target position by calculating a se...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/22
CPCG01S5/22
Inventor 骆吉安任刚彭冬亮申屠晗孙同晶郭云飞薛安克
Owner HANGZHOU DIANZI UNIV
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