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Rapid positioning method based on TDOA

A positioning method and a fast technology, applied in the field of underwater navigation and positioning, can solve problems such as divergence, large initial value error, and large amount of calculation

Active Publication Date: 2016-10-26
SOUTHEAST UNIV
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AI Technical Summary

Problems solved by technology

The Taylor algorithm is currently the most accurate algorithm, but it relies on an initial value to iterate, and the amount of calculation is large. Once the error of the initial value is large, divergence will occur.

Method used

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  • Rapid positioning method based on TDOA
  • Rapid positioning method based on TDOA
  • Rapid positioning method based on TDOA

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Embodiment Construction

[0072] Below in conjunction with specific embodiment, further illustrate the present invention, it should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention, after having read the present invention, those of ordinary skill in the art will understand various equivalents of the present invention Modifications in form all fall within the scope defined by the appended claims of this application.

[0073] like figure 1 Shown, a kind of fast positioning method based on TDOA of the present invention, comprises the following steps:

[0074] Step 1: According to the known signal y collected by each receiver i (t), i=0,1,2,3...N, signal propagation speed c, each receiver delay covariance matrix Q, each receiver layout coordinates (x i ,y i ,z i ), i=0,1,2,3...N, to obtain the sound source signal sent by the target position; specifically:

[0075] The target to be measured is used as...

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Abstract

The invention discloses a rapid positioning method based on TDOA (Time Difference Of Arrival), mainly aiming to solve the problems when a tested target performs position solution depending on TDOA detected by a plurality of signal receivers under near and long distance scenes. The method mainly comprises the steps of: coordinate and distance equation establishment, centre distance solution, object coordinate solution, distance constraint and spherical surface relation constraint establishment, and solution of object coordinate corrected solution. The method can solve the problem of passive detection and positioning of an underwater vehicle, and can also be used for solving other positioning problems based on TDOA, such as radio positioning, ultrasonic wave positioning, indoor positioning, etc. Compared with a commonly used Chan algorithm, the rapid positioning method based on TDOA solves the problem of inconformity of near distance and long distance algorithms and existence of fuzzy solution, and furthermore improves precision and stability; compared with a Taylor algorithm, the rapid positioning method based on TDOA does not need external initial value and recursion operation, substantially reduces arithmetic labor, but does not change precision and stability.

Description

technical field [0001] The invention relates to applications such as space passive positioning, especially the field of underwater navigation and positioning, and in particular relates to a fast positioning method based on TDOA. Background technique [0002] Satellite navigation and inertial navigation are increasingly becoming the main navigation methods in civil and military fields, and the limitations of satellite navigation and inertial navigation have also prompted the continuous development of more and more other navigation technologies. For example, due to the highly concealed characteristics of underwater vehicles, they cannot actively locate, satellite navigation cannot be carried out underwater, and inertial navigation will cause errors to accumulate when working for a long time. Therefore, a reliable and accurate underwater navigation system is needed to provide underwater Positioning of the lower coordinates. [0003] The basic TDOA (Time Difference of Arrival) ...

Claims

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Application Information

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IPC IPC(8): G01S5/22
CPCG01S5/22
Inventor 徐晓苏金博楠姚逸卿童金武吴梅闫琳宇
Owner SOUTHEAST UNIV
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