CN102595593B - Ultra-wide band signal based multi-node asynchronous arrival time difference positioning method and system - Google Patents

Ultra-wide band signal based multi-node asynchronous arrival time difference positioning method and system Download PDF

Info

Publication number
CN102595593B
CN102595593B CN201210008605.6A CN201210008605A CN102595593B CN 102595593 B CN102595593 B CN 102595593B CN 201210008605 A CN201210008605 A CN 201210008605A CN 102595593 B CN102595593 B CN 102595593B
Authority
CN
China
Prior art keywords
node
measured
time
signal
destination node
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201210008605.6A
Other languages
Chinese (zh)
Other versions
CN102595593A (en
Inventor
张霆廷
张钦宇
邹洪良
田旋旋
陈方晓
张红
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Graduate School Harbin Institute of Technology
Original Assignee
Shenzhen Graduate School Harbin Institute of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Graduate School Harbin Institute of Technology filed Critical Shenzhen Graduate School Harbin Institute of Technology
Priority to CN201210008605.6A priority Critical patent/CN102595593B/en
Publication of CN102595593A publication Critical patent/CN102595593A/en
Application granted granted Critical
Publication of CN102595593B publication Critical patent/CN102595593B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Landscapes

  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention relates to an ultra-wide band signal based multi-node asynchronous arrival time difference positioning method and an ultra-wide band signal based multi-node asynchronous arrival time difference positioning system. The problem about synchronization of anchor nodes in the conventional arrival time difference method is solved, so that the positioning system is relatively simple; furthermore, a synchronization process is avoided, so that energy is saved; and the system has extremely high energy efficiency.

Description

The multi-node asynchronous poor localization method time of advent and system based on ultra-broadband signal
Technical field
The present invention relates to a kind of anchor node signal arrival time difference localization method and system, relate in particular to a kind of multi-node asynchronous poor localization method time of advent and system based on ultra-broadband signal.
Background technology
The existing multinode poor localization method time of advent based on ultra-broadband signal needs precise synchronization between anchor node, and the problem of existence is:
(1) between anchor node, undertaken synchronously, can increasing like this cost of system by connecting wire, and affect the flexibility of system.
(2) wireless in the situation that, be difficult to accomplish the precise synchronization between anchor node, between two anchor nodes, the synchronous error of 1ns will cause the range error of 30cm, thereby causes very large position error, and this is among a small circle (such as 100m 2) be unacceptable in location.
(3) even reached at first precise synchronization between anchor node locating, due to the difference of crystal oscillator frequency in node, As time goes on, can be again asynchronous between anchor node.Now just need to carry out one subsynchronously, the synchronizing process of repetition can cause the increase of network energy consumption, affects the life-span of network again, and this in the small area network of energy constraint (such as WPAN, Wireless Personal Network) is unacceptable equally.
Summary of the invention
The technical problem that the present invention solves is: build a kind of multi-node asynchronous time of advent based on ultra-broadband signal of poor localization method and system, overcome between prior art anchor node can not precise synchronization and network energy consumption large
Technical problem.
Technical scheme of the present invention is: build a kind of multi-node asynchronous poor localization method time of advent based on ultra-broadband signal, comprise at least four location awares and nonsynchronous anchor node AN (the Anchor Node of clock, anchor node, be called for short " AN "), multiple destination node TN (Target Node to be measured, destination node, is called for short " TN "), the described multi-node asynchronous poor localization method time of advent comprises the steps:
Start location: selected any anchor node AN, by anchor node AN to himself position of whole network others node broadcasts;
Obtain the time of advent: other anchor node AN broadcasts its position separately after receiving the signal of described selected anchor node AN at once, destination node TN to be measured receives the time of recording respectively its signal after the signal of each anchor node AN and arrive this destination node TN to be measured;
Calculate the position of destination node to be measured: arrive the time of this destination node TN to be measured and the signal of selected anchor node AN arrives the poor of this destination node TN time to be measured according to the signal of other each anchor node AN, draw the position of this destination node to be measured.
Further technical scheme of the present invention is: calculating in the position step of destination node to be measured, comprise and show that signal arrives the distance of destination node TN process to be measured through other anchor node AN from selected anchor node AN.
Further technical scheme of the present invention is: calculating in the position step of destination node to be measured, comprise and show that signal directly arrives the distance of destination node TN to be measured from selected anchor node AN.
Further technical scheme of the present invention is: calculating in the position step of destination node to be measured, obtain the distance of other anchor node AN to selected anchor node AN.
Further technical scheme of the present invention is: calculating in the position step of destination node to be measured, comprise that the signal of each anchor node AN is arrived to the time of this destination node TN to be measured and the signal of selected anchor node AN to be arrived the difference of this destination node TN time to be measured and be converted to range difference.
Technical scheme of the present invention is: build a kind of multi-node asynchronous poor navigation system time of advent based on ultra-broadband signal, comprise at least four location awares and the nonsynchronous anchor node AN of clock, multiple destination node TN to be measured, described anchor node AN comprises the transmitter unit transmitting and the receiving element that receives signal, described destination node to be measured comprises and receives the receiving element of signal and the processor unit that carries out computing, described receiving element comprises the time-obtaining module of obtaining anchor node time of arrival (toa), described processor unit comprises the computing module that calculates destination node location to be measured, the transmitter unit of described anchor node AN is to himself position of whole network others node broadcasts, the signal that described time of advent, acquisition module obtained anchor node AN arrives the time of this destination node TN to be measured, described computing module arrives the time of this destination node TN to be measured according to other each anchor node AN and selected anchor node AN arrives the poor of this destination node TN time to be measured, draws the position of this destination node to be measured.
Technique effect of the present invention is: build a kind of multi-node asynchronous poor localization method time of advent and system based on ultra-broadband signal, comprise at least four location awares and the nonsynchronous anchor node AN of clock, multiple destination node TN to be measured, the described multi-node asynchronous poor localization method time of advent comprises the steps: selected any anchor node AN, by anchor node AN to himself position of whole network others node broadcasts; Other anchor node AN broadcasts its position separately after receiving the signal of described selected anchor node AN, and destination node TN to be measured receives the time of recording respectively its signal after the signal of anchor node AN and arrive this destination node TN to be measured; Arrive the time of this destination node TN to be measured and selected anchor node AN arrives the poor of this destination node TN time to be measured according to other each anchor node AN, draw the position of this destination node to be measured.The present invention relates to a kind of multi-node asynchronous poor localization method time of advent and system based on ultra-broadband signal, overcome the synchronous problem of anchor node in existing time of advent of difference method, make navigation system simpler, and owing to there is no synchronizing process, save energy, there is very high efficiency.
Brief description of the drawings
Fig. 1 is the known anchor node of the present invention and destination node distribution schematic diagram to be measured.
Fig. 2 is the known anchor node of the present invention and destination node to be measured location schematic diagram.
Fig. 3 is that the known anchor node of the present invention and destination node to be measured are determined destination node location schematic diagram to be measured.
Fig. 4 is positioning flow figure of the present invention.
Embodiment
Below in conjunction with specific embodiment, technical solution of the present invention is further illustrated.
As shown in Figure 1, Figure 2, Figure 3, Figure 4, the specific embodiment of the present invention is: build a kind of multi-node asynchronous poor localization method time of advent based on ultra-broadband signal, comprise at least four location awares and the nonsynchronous anchor node AN of clock, multiple destination node TN to be measured, because the number of destination node TN to be measured is hard-core, and separate between destination node TN to be measured, can complete location simultaneously.Without loss of generality, for simplicity, consider the situation of two dimensional surface, a target is positioned, location schematic diagram as shown in Figure 2.
The described multi-node asynchronous poor localization method time of advent comprises the steps:
Step 100: start location, that is: selected any anchor node AN 1, by anchor node AN 1to himself position of whole network others node broadcasts.In specific embodiment, selected No. 1 anchor node AN in arranging network 1, by AN 1position to whole Web broadcast oneself starts location.
Step 200: obtain the time of advent, that is: other anchor node AN i(i=2,3 ..., M) and receive described selected anchor node AN 1signal after broadcast its position separately, destination node TN to be measured receives the time of recording respectively its signal after the signal of anchor node AN and arrive this destination node TN to be measured.Specific implementation process is as follows: as other anchor node AN i(i=2,3 ..., M) receive and select anchor node AN 1signal after, position separately of broadcast immediately; Simultaneously when destination node TN to be measured receives selected anchor node AN 1signal after record the t time of advent of this signal 1, destination node TN to be measured records other anchor node AN i(i=2,3 ..., M) and the t time of advent of signal i.
Step 300: calculate the position of destination node to be measured, that is: arrive the time of this destination node TN to be measured and selected anchor node AN according to other each anchor node AN 1arrive the poor of this destination node TN time to be measured, draw the position of this destination node to be measured.
As shown in Figure 3, specific implementation process is as follows: arrive the time of this destination node TN to be measured and selected anchor node AN according to the signal of other each anchor node AN 1signal arrive this destination node TN time to be measured, time of advent of unlike signal poor by being converted into the time of advent, arrive the time of this destination node TN to be measured and selected anchor node AN by the signal of other each anchor node AN 1signal arrive the poor of this destination node TN time to be measured, and calculate the position of oneself in conjunction with the position of known anchor node.Wherein the time of advent, difference obtained like this: suc as formula 1, utilize t ideduct t 1thereby, obtain poor value M-1 the time of advent.
Suppose anchor node AN iposition vector p=[X iy i] trepresent the position of destination node TN to be measured p=[x y] trepresent d i1represent AN i(i=2,3 ..., M) and AN 1between distance, this is a constant.R i1represent that signal is from selected anchor node AN 1pass through AN i(i=2,3 ..., M) and arrive the distance of destination node TN process to be measured and signal directly from selected anchor node AN 1arrive distance poor of destination node TN process to be measured.C represents the light velocity.The position of like this, calculating destination node TN to be measured is the equal of just to separate one group of hyp equation:
c ( t 2 - t 1 ) = d 21 + ( x - x 2 ) 2 + ( y - y 2 ) 2 - ( x - x 1 ) 2 + ( y - y 1 ) 2 c ( t 3 - t 1 ) = d 31 + ( x - x 3 ) 2 + ( y - y 3 ) 2 - ( x - x 1 ) 2 + ( y - y 1 ) 2 KK c ( t M - t 1 ) = d M 1 + ( x - x M ) 2 + ( y - y M ) 2 - ( x - x 1 ) 2 + ( y - y 1 ) 2 - - - ( 1 )
Time difference is converted into range difference and rearrangement (1) obtains:
r 21 - d 21 = ( x - x 2 ) 2 + ( y - y 2 ) 2 - ( x - x 1 ) 2 + ( y - y 1 ) 2 r 31 - d 31 = ( x - x 3 ) 2 + ( y - y 3 ) 2 - ( x - x 1 ) 2 + ( y - y 1 ) 2 KK r M 1 - d M 1 = ( x - x M ) 2 + ( y - y M ) 2 - ( x - x 1 ) 2 + ( y - y 1 ) 2 - - - ( 2 ) Solution (2) just can obtain the numerical solution of TN position.
On two dimensional surface, three groups of hyp intersection points just can be determined the position of TN.As shown in Figure 3, hyp focus is respectively (AN1, AN2), (AN1, AN3), (AN1, AN4).
The specific embodiment of the present invention is: build a kind of multi-node asynchronous poor navigation system time of advent based on ultra-broadband signal, comprise at least four location awares and the nonsynchronous anchor node AN of clock, multiple destination node TN to be measured, described anchor node AN comprises the transmitter unit transmitting and the receiving element that receives signal, described destination node to be measured comprises and receives the receiving element of signal and the processor unit that carries out computing, described receiving element comprises the time-obtaining module of obtaining anchor node time of arrival (toa), described processor unit comprises the computing module of the position of calculating destination node to be measured, the transmitter unit of described anchor node AN is to himself position of whole network others node broadcasts, the signal that described time of advent, acquisition module obtained anchor node AN arrives the time of this destination node TN to be measured, described computing module arrives the time of this destination node TN to be measured according to other each anchor node AN and selected anchor node AN arrives the poor of this destination node TN time to be measured, draws the position of this destination node to be measured.
Specific implementation process is as follows: selected No. 1 anchor node AN in arranging network 1, by anchor node AN 1transmitter unit start location to the position of whole Web broadcast oneself.
Further technical scheme of the present invention is: described computing module also comprises and obtaining from selected anchor node AN 1through other anchor node AN arrive destination node TN to be measured through distance first apart from acquisition module.As other anchor node AN i(i=2,3 ..., M) receiving element receive selected anchor node AN 1signal after, position separately of broadcast immediately; Receiving element comprises and obtains the anchor node acquisition module time of advent of the time of advent, simultaneously when the receiving element of destination node TN to be measured is received selected anchor node AN 1signal after, the time of advent, acquisition module recorded the t time of advent of this signal 1, the acquisition module time of advent of destination node TN to be measured records other anchor node AN i(i=2,3 ..., M) and the t time of advent of signal i.The computing module of destination node TN processor unit to be measured arrives the time of this destination node TN to be measured and selected anchor node AN according to the signal of other each anchor node AN 1signal arrive the poor of this destination node TN time to be measured, draw the position of this destination node to be measured.
Concrete computational process is as follows: arrive the time of this destination node TN to be measured and selected anchor node AN according to the signal of other each anchor node AN 1signal arrive time of this destination node TN to be measured, time of advent of unlike signal poor by being converted into the time of advent, arrive the time of this destination node TN to be measured and selected anchor node AN by the signal of other each anchor node AN 1signal arrive the poor of this destination node TN time to be measured, and calculate the position of oneself in conjunction with the position of known anchor node.Wherein the time of advent, difference obtained like this: suc as formula 1, utilize t ideduct t 1thereby, obtain M-1 the time of advent difference.
Suppose anchor node AN iposition vector p=[x iy i] trepresent the position of destination node TN to be measured p=[x y] trepresent d i1represent AN i(i=2,3 ..., M) and AN 1between distance, this is a constant.R i1represent that signal is from selected anchor node AN 1pass through AN i(i=2,3 ..., M) and arrive the distance of destination node TN process to be measured and signal directly from selected anchor node AN 1arrive distance poor of destination node TN process to be measured.C represents the light velocity.The position of like this, calculating destination node TN to be measured is the equal of just to separate one group of hyp equation:
c ( t 2 - t 1 ) = d 21 + ( x - x 2 ) 2 + ( y - y 2 ) 2 - ( x - x 1 ) 2 + ( y - y 1 ) 2 c ( t 3 - t 1 ) = d 31 + ( x - x 3 ) 2 + ( y - y 3 ) 2 - ( x - x 1 ) 2 + ( y - y 1 ) 2 KK c ( t M - t 1 ) = d M 1 + ( x - x M ) 2 + ( y - y M ) 2 - ( x - x 1 ) 2 + ( y - y 1 ) 2 - - - ( 1 )
Time difference is converted into range difference and rearrangement (1) obtains:
r 21 - d 21 = ( x - x 2 ) 2 + ( y - y 2 ) 2 - ( x - x 1 ) 2 + ( y - y 1 ) 2 r 31 - d 31 = ( x - x 3 ) 2 + ( y - y 3 ) 2 - ( x - x 1 ) 2 + ( y - y 1 ) 2 KK r M 1 - d M 1 = ( x - x M ) 2 + ( y - y M ) 2 - ( x - x 1 ) 2 + ( y - y 1 ) 2 - - - ( 2 )
Solution (2) just can obtain the numerical solution of TN position.
On two dimensional surface, three groups of hyp intersection points just can be determined the position of TN.As shown in Figure 3, hyp focus is respectively (AN1, AN2), (AN1, AN3), (AN1, AN4).
Technique effect of the present invention is: build a kind of multi-node asynchronous poor localization method time of advent and system based on ultra-broadband signal, comprise at least four location awares and the nonsynchronous anchor node AN of clock, multiple destination node TN to be measured, the described multi-node asynchronous poor localization method time of advent comprises the steps: selected any anchor node AN, by anchor node AN to himself position of whole network others node broadcasts; Other anchor node AN broadcasts its position separately after receiving the signal of described selected anchor node AN, and destination node TN to be measured receives the time of recording respectively its signal after the signal of anchor node AN and arrive this destination node TN to be measured; Arrive the time of this destination node TN to be measured and selected anchor node AN arrives the poor of this destination node TN time to be measured according to other each anchor node AN, draw the position of this destination node to be measured.The present invention relates to a kind of multi-node asynchronous poor localization method time of advent and system based on ultra-broadband signal, overcome the synchronous problem of anchor node in existing time of advent of difference method, make navigation system simpler, and owing to there is no synchronizing process, save energy, there is very high efficiency.
Above content is in conjunction with concrete preferred implementation further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, can also make some simple deduction or replace, all should be considered as belonging to protection scope of the present invention.

Claims (6)

1. the multi-node asynchronous poor localization method time of advent based on ultra-broadband signal, it is characterized in that, comprise at least four location awares and the nonsynchronous anchor node AN of clock, multiple destination node TN to be measured, the described multi-node asynchronous poor localization method time of advent comprises the steps:
Start location: selected any anchor node AN, by this anchor node AN to himself position of whole network others node broadcasts;
Obtain the time of advent: other anchor node AN broadcasts its position separately after receiving the signal of described selected anchor node AN at once, destination node TN to be measured receives the time of recording respectively its signal after the signal of each anchor node AN and arrive this destination node TN to be measured simultaneously;
Calculate the position of destination node to be measured: arrive the time of this destination node TN to be measured and the signal of selected anchor node AN arrives the poor of this destination node TN time to be measured according to the signal of other each anchor node AN, draw the position of this destination node to be measured.
According to claim 1 the multi-node asynchronous time of advent based on ultra-broadband signal poor localization method, it is characterized in that, calculating in the position step of destination node to be measured, comprise and show that signal arrives the distance of destination node TN process to be measured through other anchor node AN from selected anchor node AN.
According to claim 1 the multi-node asynchronous time of advent based on ultra-broadband signal poor localization method, it is characterized in that, calculating in the position step of destination node to be measured, comprise and show that signal directly arrives the distance of destination node TN to be measured from selected anchor node AN.
4. the multi-node asynchronous based on ultra-broadband signal differs from localization method the time of advent according to claim 1, it is characterized in that, calculating in the position step of destination node to be measured, obtains the distance of other anchor node AN to selected anchor node AN.
According to claim 1 the multi-node asynchronous time of advent based on ultra-broadband signal poor localization method, it is characterized in that, calculating in the position step of destination node to be measured, comprise that the signal of other each anchor nodes AN is arrived to the time of this destination node TN to be measured and the signal of selected anchor node AN to be arrived the difference of this destination node TN time to be measured and be converted to range difference.
6. the multi-node asynchronous poor navigation system time of advent based on ultra-broadband signal, it is characterized in that, comprise at least four location awares and the nonsynchronous anchor node AN of clock, multiple destination node TN to be measured, described anchor node AN comprises the transmitter unit transmitting and the receiving element that receives signal, described destination node to be measured comprises and receives the receiving element of signal and the processor unit that carries out computing, described receiving element comprises the time-obtaining module of obtaining anchor node time of arrival (toa), described processor unit comprises the computing module that calculates destination node location to be measured, the transmitter unit of described anchor node AN is to himself position of whole network others node broadcasts, the signal that described time of advent, acquisition module obtained anchor node AN arrives the time of this destination node TN to be measured, described computing module arrives the time of this destination node TN to be measured according to the signal of other each anchor node AN and the signal of selected anchor node AN arrives the poor of this destination node TN time to be measured, draws the position of this destination node to be measured.
CN201210008605.6A 2012-01-11 2012-01-11 Ultra-wide band signal based multi-node asynchronous arrival time difference positioning method and system Active CN102595593B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201210008605.6A CN102595593B (en) 2012-01-11 2012-01-11 Ultra-wide band signal based multi-node asynchronous arrival time difference positioning method and system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201210008605.6A CN102595593B (en) 2012-01-11 2012-01-11 Ultra-wide band signal based multi-node asynchronous arrival time difference positioning method and system

Publications (2)

Publication Number Publication Date
CN102595593A CN102595593A (en) 2012-07-18
CN102595593B true CN102595593B (en) 2014-11-19

Family

ID=46483677

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201210008605.6A Active CN102595593B (en) 2012-01-11 2012-01-11 Ultra-wide band signal based multi-node asynchronous arrival time difference positioning method and system

Country Status (1)

Country Link
CN (1) CN102595593B (en)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103123392B (en) * 2012-10-19 2015-06-10 哈尔滨工业大学深圳研究生院 Asynchronous ultra wide band positioning method and system based on two-way distance measurement
CN102928814B (en) * 2012-10-19 2015-01-07 哈尔滨工业大学深圳研究生院 Method and system for performing ultra-wide band asynchronous positioning under nonideal conditions
DE102014200434A1 (en) * 2014-01-13 2015-07-16 Robert Bosch Gmbh Method for aligning a location system, method for locating an object and location system
DE102015121724A1 (en) * 2015-12-14 2017-06-14 Symeo Gmbh System and method with at least three signals receiving stations
CN105682225A (en) * 2016-03-28 2016-06-15 广东顺德中山大学卡内基梅隆大学国际联合研究院 Method and system for ultra wideband indoor positioning
CN105960018A (en) * 2016-06-29 2016-09-21 陈晓禾 Time difference on arrival-based hyperbola location method
CN108112070B (en) * 2017-12-25 2020-08-25 武汉大学 Time synchronization method in UWB (ultra wide band) unidirectional positioning system
CN112351381B (en) * 2019-08-07 2022-05-17 华为云计算技术有限公司 Positioning method and device
CN111554069B (en) * 2020-05-06 2022-08-02 Oppo广东移动通信有限公司 Intelligent alarm method and device
CN112073905B (en) * 2020-09-15 2022-10-28 Oppo广东移动通信有限公司 Distance difference determining method, data frame transmission method and related product
CN115412855A (en) * 2021-05-28 2022-11-29 贝斯普恩公司 Manufacture of electronic chips

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101998628A (en) * 2009-08-19 2011-03-30 北京三星通信技术研究有限公司 Mobile station positioning method and system as well as positioning calculation unit

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080248808A1 (en) * 2007-04-05 2008-10-09 Farshid Alizadeh-Shabdiz Estimation of position, speed and bearing using time difference of arrival and received signal strength in a wlan positioning system
JP2009170968A (en) * 2008-01-10 2009-07-30 Futaba Corp Super-broadband wireless transmitter, super-broadband wireless receiver, and super-broadband wireless transmitter/receiver

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101998628A (en) * 2009-08-19 2011-03-30 北京三星通信技术研究有限公司 Mobile station positioning method and system as well as positioning calculation unit

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
A Simple Asynchronous UWB Position Location Algorithm Based On Single Round-Trip Transmission;Dongwoo Kang,Young Namgoong,Suckchel Yang,Sungsoo Choi,Yoan Shin;《ICACT2006》;20060222;全文 *
Dongwoo Kang,Young Namgoong,Suckchel Yang,Sungsoo Choi,Yoan Shin.A Simple Asynchronous UWB Position Location Algorithm Based On Single Round-Trip Transmission.《ICACT2006》.2006,全文. *
Yuki TAKABAYASHI,Takashi MATSUZAKI,Hiroshi KAMEDA，Masayoshi ITO.Asynchronous Track Algorithm Using TDOA/FDOA Measurements in the Distributed Sensor Network.《ICROS-SICE International Joint Conference 2009》.2009,全文. *
贺宏锟，史浩山.UWB 多目标异步定位及算法.《系统仿真学报》.2008,全文. *

Also Published As

Publication number Publication date
CN102595593A (en) 2012-07-18

Similar Documents

Publication Publication Date Title
CN102595593B (en) Ultra-wide band signal based multi-node asynchronous arrival time difference positioning method and system
CN108112070B (en) Time synchronization method in UWB (ultra wide band) unidirectional positioning system
CN110099354A (en) A kind of ultra-wideband communications two-dimensional location method of combination TDOA and TOF
CN109040964B (en) Efficient passive time division TDOA (time division difference of arrival) positioning method for eliminating clock frequency difference
CN104270814A (en) Locating method and system based on mixed TDOA and ToF
CN103428275A (en) Indoor object activity routine tracking method based on WSN
CN106405500A (en) Intelligent robot following method and following system and emission device for following
CN102033220A (en) Indoor wireless positioning information fusion method and system
CN102023290A (en) High-precision distributed pulse signal time difference of arrival detection system
CN102752845A (en) Time synchronization mechanism of ultrasonic stereotactic positioning system based on wireless sensor network
CN102519456A (en) Navigation method and mobile terminal of subway line
CN104159291A (en) Passive type TDOA positioning method
CN102256351B (en) Indoor accurate positioning method based on wireless sensor network technique
CN110234063A (en) Indoor orientation method based on UWB
CN102215565A (en) Wireless sensor network (WSN)-technology-based indoor three-dimensional accurate positioning method
CN103152745A (en) Method of locating mobile node with strong adaptivity
CN109889987B (en) Terminal positioning and scheduling method based on UWB
CN109061563A (en) Localization method based on fractional programming in a kind of nonsynchronous network
CN103313390B (en) A kind of WSN localization method based on double-movement beacon
Li et al. Localization and tracking for AUVs in marine information networks: Research directions, recent advances, and challenges
CN107064876A (en) Indoor locating system and localization method based on radio sensing network and ultrasonic wave
CN112797984A (en) Indoor high-precision positioning system based on ultra-wideband and long-distance wireless communication technology
CN102740454A (en) Wireless sensor network node positioning method based on small number of anchor nodes
CN109905846B (en) Underwater wireless sensor network positioning method based on autonomous underwater vehicle
CN105954736B (en) The methods, devices and systems of tag location are realized using single base station

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant