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Minimum error propagation-based weighted centroid localization method of anchor node optimal selection

A technology of optimized selection and weighted centroid, applied in positioning, measuring devices, instruments, etc., can solve problems such as low positioning accuracy and communication distance estimation error

Inactive Publication Date: 2017-12-15
HARBIN INST OF TECH AT WEIHAI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problem of low positioning accuracy caused by communication distance estimation error, and to provide a weighted centroid positioning method based on optimal selection of anchor nodes based on minimum error propagation

Method used

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  • Minimum error propagation-based weighted centroid localization method of anchor node optimal selection
  • Minimum error propagation-based weighted centroid localization method of anchor node optimal selection
  • Minimum error propagation-based weighted centroid localization method of anchor node optimal selection

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specific Embodiment approach 1

[0027] Specific implementation mode one: combine figure 1 To illustrate this embodiment, a weighted centroid positioning method based on minimum error propagation based on optimal selection of anchor nodes described in this embodiment includes the following steps:

[0028] Step 1. There are I+1 wireless sensor nodes in the system, which are respectively I anchor nodes A={A 1 ,A 2 ,A 3 ,...,A i ,...,A I} and 1 unknown node, they all have nanoLOC radio frequency transceivers, and can use the bilateral peer-to-peer method to measure the estimated distance between any two nodes, where i is a positive integer, and 1≤i≤I, I is A positive integer set by the user, and 4≤I≤15, the value of I is 10 in the present invention;

[0029] Step 2. Each node in the system is initialized. The unknown node first establishes a wireless network and waits for other nodes to apply to join the network;

[0030] Step 3, after 1 anchor node is initialized successfully, use the radio frequency tran...

specific Embodiment approach 2

[0049] Specific embodiment 2. This embodiment is a further description of the weighted centroid positioning method based on the optimal selection of anchor nodes based on minimum error propagation described in specific embodiment 1. In this embodiment, dynamic sliding windows and single-pass scanning are used. The method can efficiently select the ones with the smallest statistical standard deviation in the distance estimation standard deviation sequence, and provide support for the optimal selection of anchor nodes.

specific Embodiment approach 3

[0050] Specific embodiment 3, this embodiment is to further explain the weighted centroid location method based on minimum error propagation anchor node optimal selection described in specific embodiment 1. In this embodiment, the anchor node based on the minimum statistical standard deviation is used Node optimization selection reduces the impact of distance estimation errors on weighted centroid positioning and achieves high-precision weighted centroid positioning.

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Abstract

The invention relates to relates to a weighted centroid improved localization method of anchor node optimal selection, in particular, a minimum error propagation-based weighted centroid localization method of anchor node optimal selection. The invention aims to solve the problem of low positioning accuracy caused by communication distance estimation error. According to the minimum error propagation-based weighted centroid localization method of anchor node optimal selection, a bilateral equivalence distance estimation method is adopted to obtain a plurality of sample values of distance estimations from an unknown node to each anchor node; statistic analysis is performed on the plurality of sample values, so that the statistic mean and statistical standard deviation of each distance estimation value are obtained; and a dynamic sliding window method and a single-round scanning method are used to obtain a plurality of distance estimation values, the product value of the statistical mean and statistical standard deviation of the distance estimation of the distance estimation values being minimum, and corresponding anchor nodes are selected to construct a weighted centroid location equation set; and a high-precision location result is obtained.

Description

technical field [0001] The invention relates to high-precision distance estimation and positioning technology. Background technique [0002] In the actual wireless communication environment, due to the influence of adverse factors such as noise, environment and measurement errors, the communication distance estimation has a large error, resulting in low weighted centroid positioning accuracy. In view of the above problems, the present invention evaluates the product value of the estimated statistical mean and statistical standard deviation of the communication distance between each anchor node and the unknown node under the redundant positioning environment of anchor nodes, and optimizes the selection of weighted centroid positioning equations during the construction process. The required distance value and the anchor node can reduce the influence of the distance estimation error on the positioning result, thereby improving the positioning accuracy of the weighted centroid. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/14H04W64/00
CPCG01S5/14H04W64/00
Inventor 焉晓贞罗清华韩志豪周鹏太杨一鹏
Owner HARBIN INST OF TECH AT WEIHAI
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