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EFI-based cooperative localization node selection method

A technology for node selection and cooperative positioning, which is applied to services, positioning, and measurement devices based on location information, and can solve problems such as positioning delay, channel congestion, and impact on positioning accuracy.

Inactive Publication Date: 2018-05-04
TIANJIN UNIV
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Problems solved by technology

However, the cooperation between nodes also brings some problems, such as the average number of connections in the positioning network is too high, which leads to channel congestion and positioning delay
Usually, the average number of connections in co-location is more than 10 times that of non-co-location. In actual positioning, if the target node uses all nodes for position estimation, it will consume a lot of computing time, and it is difficult to guarantee real-time performance, and the errors in the auxiliary nodes are relatively large. Nodes can affect positioning accuracy

Method used

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  • EFI-based cooperative localization node selection method
  • EFI-based cooperative localization node selection method
  • EFI-based cooperative localization node selection method

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Embodiment Construction

[0015] The present invention changes the traditional method of evaluating the amount of information of neighboring nodes, but uses EFI (Edge Fisher Information) as the amount of information representing neighboring nodes, and using this method can reduce the coordination as much as possible under the premise of achieving the specified positioning accuracy The number of nodes, so as to achieve the purpose of saving the resource consumption of the positioning system. In the present invention, the influence of the neighbor nodes on the EFI of the target node is used to measure the amount of information contained in the neighbor nodes. The greater the amount of information, the more favorable the neighbor nodes are to improve the positioning accuracy of the target node.

[0016] In the positioning network, the position of the target node k is denoted as p k =[x k ,y k ] T , the neighbor node j is denoted as p j =[x j ,y j ] T . φ kj Indicates the angle between the target ...

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Abstract

The invention relates to an EFI-based cooperative localization node selection method. The EFI-based cooperative localization node selection method comprises the steps that a precision threshold g of alocalization system is set according to the application requirement, and a target node acquires a neighbor node set; the target node updates an edge Fisher information matrix of the target node according to the edge Fisher information matrix of the target node and received edge Fisher information matrixes of neighbor nodes and calculates SPEBi and SPEBj; the node enabling the SPEBi and SPEBj to be minimum is selected and added into Ii, and the I node is removed from deltai; the step 2, the step 3 and the step 4 are repeated according to the updated edge Fisher information matrix of the targetnode until the localization precision of the node is lower than or equal to g; and the location of the node is calculated with nodes in I.

Description

technical field [0001] The invention relates to an EFI-based cooperative positioning node selection method. Background technique [0002] With the advent of the mobile Internet era, location-based services have put forward high requirements for positioning, and obtaining high-definition location information anytime and anywhere has become a prerequisite for many applications. However, traditional positioning methods such as the GPS system widely used at present cannot meet the positioning requirements in some scenarios, so collaborative positioning technology has emerged. Cooperative positioning technology refers to the realization of positioning between target nodes through mutual cooperation, including the establishment of communication links between cooperative nodes for sharing positioning information, and the distance between nodes is measured through the ranging system. Cooperative positioning has advantages that other positioning systems do not have, such as low refe...

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Application Information

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IPC IPC(8): H04W4/021H04W64/00G01S5/02
CPCG01S5/0252H04W4/023H04W64/006
Inventor 马永涛刘伟伟
Owner TIANJIN UNIV
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