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Least squares positioning method of anchor node optimization selection based on minimum standard deviation

An optimization selection and least squares technology, applied in the direction of location information-based services, positioning, measuring devices, etc., can solve problems such as low positioning accuracy and communication distance estimation error

Inactive Publication Date: 2018-07-27
HARBIN INST OF TECH AT WEIHAI
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Problems solved by technology

[0003] The purpose of the present invention is to solve the problem of low positioning accuracy caused by the communication distance estimation error in the least squares positioning calculation process, and to provide a least squares positioning method based on the minimum standard deviation anchor node optimal selection

Method used

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  • Least squares positioning method of anchor node optimization selection based on minimum standard deviation
  • Least squares positioning method of anchor node optimization selection based on minimum standard deviation
  • Least squares positioning method of anchor node optimization selection based on minimum standard deviation

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specific Embodiment approach 1

[0027] Specific implementation mode one: combine figure 1 To illustrate this embodiment, a least-squares positioning method based on minimum standard deviation 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 transceiver to s...

specific Embodiment approach 2

[0048] Specific embodiment 2. This embodiment is a further description of the least squares positioning method based on the minimum standard deviation of the anchor node optimal selection described in specific embodiment 1. In this embodiment, a dynamic sliding window and a single pass The scanning method can efficiently select the ones with the smallest statistical standard deviation in the distance estimation standard deviation sequence, providing support for the optimal selection of anchor nodes.

specific Embodiment approach 3

[0049] Specific embodiment 3. This embodiment is a further description of the least squares positioning method based on the minimum standard deviation of the anchor node optimal selection described in the specific embodiment 1. In this embodiment, the method based on the minimum statistical standard deviation is adopted. The optimal selection of anchor nodes reduces the impact of distance estimation errors on least squares positioning and achieves high-precision least squares positioning.

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Abstract

The invention provides a least squares positioning method of anchor node optimization selection based on minimum standard deviation, and relates to least squares improved positioning methods of anchornode optimization selection. The invention aims at solving the problem of relatively low positioning accuracy caused by a communication distance estimation error. The least squares positioning methodof anchor node optimization selection based on minimum standard deviation comprises the following steps: firstly obtaining multiple sample values of distance estimation from an unknown node to anchornodes by using a bilateral equal distance estimation method, and performing statistic analysis to obtain a statistical mean and statistical standard deviation of the distance estimation values; thenobtaining several distance estimation values with minimum statistical standard deviation by using a dynamic sliding window and single-pass scanning method, and selecting corresponding anchor node to form a least squares positioning equation set; and finally, using the least squares criterion to obtain a high-precision positioning result.

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 distance estimation has a large error, resulting in low least squares positioning accuracy. In view of the above problems, the present invention evaluates the statistical standard deviation of the communication distance estimation between each anchor node and the unknown node under the redundant positioning environment of the anchor nodes, and optimizes the distance value and the anchor distance value required in the construction process of selecting the positioning equation group. Node, to achieve the purpose of reducing the impact of the distance estimation error on the positioning results, thereby improving the least squares positioning accuracy. Contents of the invention [0003] The pur...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04W4/02H04W64/00G01S5/02G01S5/14
CPCH04W4/025G01S5/0278G01S5/14H04W64/006
Inventor 罗清华焉晓贞张辉马衍秀彭宇彭喜元
Owner HARBIN INST OF TECH AT WEIHAI
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