CN106535124A - TOA-based wireless network positioning method in NLOS environment - Google Patents
TOA-based wireless network positioning method in NLOS environment Download PDFInfo
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- CN106535124A CN106535124A CN201610981653.1A CN201610981653A CN106535124A CN 106535124 A CN106535124 A CN 106535124A CN 201610981653 A CN201610981653 A CN 201610981653A CN 106535124 A CN106535124 A CN 106535124A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0205—Details
- G01S5/0215—Interference
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention is applicable to the field of wireless digital transmission and provides a TOA-based wireless network positioning method in an NLOS environment. The TOA-based three-dimensional wireless network positioning method in the NLOS environment comprises the steps that S1 a positioning ball with the minimum radius is acquired; S2 whether a positioning ball which is separated from the positioning ball with the minimum radius exists in other positioning balls is judged, and if the judgment result is no, the step S3 is carried out; S3 the mean error of positions in the intersection area of the positioning ball with the minimum radius and the remaining positioning balls is calculated; and S4 the position the most corresponding to the minimum mean error is acquired, and the position is the position of a mobile terminal. The positioning method does not need to acquire any priori information, has the advantages of relatively simple positioning calculation process, fast positioning speed and great environmental adaptability, and can carry out accurate positioning in a variety of complex environments.
Description
Technical field
The invention belongs to wireless digital transmission field, more particularly to a kind of wireless network based on TOA in a nlos environment
Network localization method.
Background technology
Wireless location technology brings huge facility on military and civilian, and GPS can be realized entirely
Positioning in the range of ball, but where being difficult to reach as satellite-signals such as forest, block, underground parkings, global position system
Positioning precision is not high, or even is difficult to position；Additionally, the high price of global position system receiving device is also most normal domestic
User is difficult to what is received.
In recent years, the radio network technique on ground was developed rapidly, and was had based on TOA (time of than more typical
Arrival, time of arrival (toa)) terrestrial wireless network location technology, based in the wireless location technology of TOA, base station measurement is moved
Dynamic equipment receives the distance between the time difference of signal, base station and mobile device and can directly use the time from transmitting signals to
Difference is multiplied by velocity of electromagnetic wave and obtains, mobile device i.e. with base station as the centre of sphere/center of circle, the distance between base station and mobile device are
On the sphere/circumference of radius, if multiple such place kick/setting circles, then mobile device is i.e. in multiple place kick/positioning
Circle point of intersection.But, in terrestrial wireless network, due to the NLOS (non-line-of-sight, non line of sight) that there is electromagnetic wave
Propagate, the clock skew equal error of time of measuring difference, cause positioning not precisely, and NLOS is the main error positioned based on TOA
Source.So, scholars propose many methods with regard to eliminating NLOS errors.Such as maximum likelihood method, least square method, with
And constraint positioning mode etc..But, these methods are required at least one following parameter：
1) statistical probability distribution of NLOS known to；
2) possible path of NLOS known to.
And in actual applications, the amount of calculation of said method is all very big, thus its locating speed is limited, additionally, above-mentioned
Two parameters are all difficult to obtain in complex environment, in fact it could happen that the problem that cannot be positioned.
The content of the invention
The embodiment of the present invention provides a kind of wireless network localization method based on TOA in a nlos environment, it is intended to solve
It is existing in a nlos environment based on the wireless network localization method of TOA be required for consider NLOS statistical probability distribution and/or
The possible path of NLOS, these localization methods are computationally intensive, cause locating speed slow, additionally, two parameters are in complex environment
In be all difficult obtain, the problem for occurring positioning.
The present invention is achieved in that a kind of 3-D wireless network locating method based on TOA in a nlos environment, institute
The method of stating comprises the steps：
S1. obtain the minimum place kick of radius；
S2. judge in other place kick with the presence or absence of with the least radius place kick from place kick, when judging knot
Fruit for it is no when, then execution step S3；
S3. calculate the mean error of least radius place kick and location point in remaining place kick intersection area；
S4. the most corresponding location point of minimum average B configuration error, as mobile terminal position point are obtained.
Present invention also offers another kind of embodiment, a kind of two dimensional wireless network based on TOA in a nlos environment is calmly
Position method, methods described comprise the steps：
S110. obtain the minimum setting circle of radius；
S120. judge in other setting circles with the presence or absence of with the least radius setting circle from setting circle, work as judgement
As a result for it is no when, then execution step S130；
S130. calculate the mean error of least radius setting circle and location point in remaining setting circle intersection area；
S140. the most corresponding location point of minimum average B configuration error, as mobile terminal position point are obtained.
In the embodiment of the present invention, mobile terminal is located in the intersection area of least radius place kick and other place kick, is obtained
The mean error of location point in intersection area is taken, the minimum location point of mean error is defined as mobile terminal point, by this
Plant localization method and need not obtain any prior information, and positioning calculation process is relatively easy, thus locating speed is fast, additionally, this
Localization method good environmental adaptability, can be accurately positioned in various complex environments.
Description of the drawings
Fig. 1 is the 3-D wireless network locating method stream based on TOA in a nlos environment provided in an embodiment of the present invention
Cheng Tu；
Fig. 2 is the two dimensional wireless network locating method stream based on TOA in a nlos environment provided in an embodiment of the present invention
Cheng Tu.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, it is below in conjunction with drawings and Examples, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, and
It is not used in the restriction present invention.
In the embodiment of the present invention, mobile terminal is located in the intersection area of least radius place kick and other place kick, is obtained
The mean error of location point in intersection area is taken, the minimum location point of mean error is defined as mobile terminal point, by this
Plant localization method and need not obtain any prior information, and positioning calculation process is relatively easy, thus locating speed is fast, additionally, this
Localization method good environmental adaptability, can be accurately positioned in various complex environments.
Fig. 1 is suitable for carrying out the 3-D wireless network positions side based on TOA in a nlos environment that example is provided for the present invention
The flow chart of method, the method comprise the steps：
Step S1, obtains the minimum place kick of radius；
In embodiments of the present invention, place kick is referred to base station as the centre of sphere, with mobile device to the pseudo-distance of base station as half
The ball that footpath is formed, pseudo-distance refer to mobile device from the time difference (TOA) and velocity of electromagnetic wave for transmitting signals to reception signal
Product.
As the on-site periphery of mobile device terminal there may be multiple base stations, it is possible to set up multiple place kick,
The minimum place kick of radius is obtained from the plurality of place kick.
Step S2, whether deposit in judging other place kick the place kick minimum with the radius from place kick, if sentencing
Disconnected result is no, then execution step S3；
In embodiments of the present invention, the position relationship position between two place kick to include, tangent (inscribe and circumscribed), intersecting
Or from, in actual environment, as signal may be blocked in communication process thing reflection, existing and receive showing of delaying of signal
As, therefore, more than the actual range of mobile terminal to base station, mobile terminal is usually located at positioning to the pseudorange (i.e. radius) of place kick
In ball, and the position relationship of two place kick it is generally intersecting, comprising, it is or tangent.
Step S3, calculates the mean error of least radius place kick and location point in other place kick intersection areas；
In embodiments of the present invention, location point to be referred to and arrange one every a segment distance s in three dimensions i.e. x, y, z direction of principal axis
It is individual, certain location point that the position of mobile terminal is just arranged wherein or near certain location point；Therefore, apart from s's
Less, the location point in space is more, and the possibility of the position of mobile terminal certain location point wherein is bigger, or infinitely leans on
Nearly certain location point, but, the amount of calculation in mobile terminal locations point process is obtained can also increase, and the size apart from s is comprehensive
Close two factors to determine.
Step S4, obtains the most corresponding location point of minimum average B configuration error, as mobile terminal position point.
In embodiments of the present invention, average is calculated to least radius place kick and location point in other place kick intersection areas
Error, the corresponding location point of minimum average B configuration error are mobile terminal position point, and mean error can be that average relative is missed
Difference, mean absolute error, Averaged Square Error of Multivariate etc., the present invention can be adopted and be not limited to cited error approach.
In the embodiment of the present invention, mobile terminal is located in the intersection area of least radius place kick and other place kick, is obtained
The mean error of location point in intersection area is taken, the minimum location point of mean error is defined as mobile terminal point, by this
Plant localization method and need not obtain any prior information, and positioning calculation process is relatively easy, thus locating speed is fast, additionally, this
Localization method good environmental adaptability, can be accurately positioned in various complex environments.
As the present invention other embodiment, when in other place kick exist with the least radius place kick from positioning
During ball, following steps are performed：
S5. detect least radius place kick whether with other place kick from；
In embodiments of the present invention, in actual environment, hardly occur two place kick from situation, only work as base
When deviation occurs in the clock stood, the radius of place kick may be caused less than the distance of mobile terminal to base station, thus it is fixed with other
Position ball occur from situation.
If S6. testing result is yes, the minimum place kick of radius is abandoned, execution step S1, testing result are no, then lose
Abandon with the least radius place kick from place kick, execution step S3；
When in other place kick exist with least radius place kick from place kick, needs judgement be which place kick
Distance of the radius less than mobile terminal to base station, if least radius place kick and other place kick not from, illustrate be with
Least radius place kick from place kick radius less than mobile terminal to a distance from base station, if least radius place kick and its
His place kick all from when, then illustrate least radius place kick place kick radius less than mobile terminal to base station distance,
As the position of mobile terminal is not less than mobile terminal in the place kick of the distance of base station in the positioning radius of a ball, thus it is such
Place kick is to need to abandon.
In embodiments of the present invention, whether deposit in judging other place kick the place kick minimum with the radius from determine
Position ball body comprises the steps：
S21. calculate the distance of the place kick centre of sphere of the least radius to other place kick centre ofs sphere；
In embodiments of the present invention, set the minimum place kick B of radiusminThe centre of sphere be (xmin、ymin、zmin), radius is most
Little place kick BminRadius be Rmin, the minimum place kick B of radiusminThe centre of sphere to other place kick BiThe distance of the centre of sphereThe t of wherein i=1,2,3 ..., t are the place kick sum for participating in positioning
Mesh.
S22. judge whether that the place kick centre of sphere of the least radius is more than two to the distance of other place kick centre ofs sphere
The radius sum of person.
In embodiments of the present invention, that is, compare Ri+RminWith dRSize, work as dR＞ Ri+RminWhen, place kick BiWith place kick
BminFrom conversely, place kick BiWith place kick BminNot from.
In embodiments of the present invention, step S3 comprises the steps：
Step S31, divides location point to least radius place kick；
In embodiments of the present invention, the space of least radius place kick is split, each cut-point be likely to be
Mobile terminal position point, the coordinate set of setting position point is P={ (xk、yk、zk), wherein,
xk=xmin-Rmin,xmin-Rmin+s,xmin-Rmin+2·s,…,xmin+Rmin
yk=ymin-Rmin,ymin-Rmin+s,ymin-Rmin+2·s,…,ymin+Rmin
zk=zmin-Rmin,zmin-Rmin+s,zmin-Rmin+2·s,…,zmin+Rmin；
Wherein, s is spatial resolution.
Step S32, retains the location point in the intersection area of least radius place kick and other place kick；
In embodiments of the present invention, step S32 specifically includes following steps：
Step S321, calculates distance of the location point to other place kick centre ofs sphere in least radius place kick；
In embodiments of the present invention, in P, each location point to the distance of each remaining place kick isAnd
Whether step S322, judge location point to the distance of other place kick centre ofs sphere both less than equal to the half of correspondence place kick
Footpath, if the determination result is YES, then retains the location point, if judged result is no, abandons the location point.
In embodiments of the present invention, ifThe location point is put into into set M then, otherwise, then the location point is abandoned.
Step S33, calculates the mean error of location point in the intersection area.
In embodiments of the present invention, illustrate by taking average relative error as an example, the computing formula of average relative error E
For：
Wherein, (xi,yi,zi) ∈ M, m is the total number of location point in set M, (xα,yα,zα) it is certain position in set M
Put a little, i.e. (xα,yα,zα) ∈ M, and α=1,2,3...m.
In embodiments of the present invention, the space of least radius place kick is split, has the sky of least radius place kick
Between it is minimum, thus the location point that can be accommodated is also minimum, filters out friendship from the anchor point of least radius place kick space
Location point in collection region, filters out the location point in intersection area relative to the anchor point from other place kick spaces
For, amount of calculation is relative to be reduced, and can improve locating speed.
As another embodiment of the present invention, also included before step S1：
Step S7, place kick is arranged in order from small to large by radius.
As the other embodiment of the present invention, also included before step S7：
Step S8, obtains the position of base station；
In embodiments of the present invention, the position coordinates of base station is obtained, if assuming that the coordinate of i-th base station is (xi、yi、zi)。
Step S9, calculates the base station to the pseudorange of mobile terminal；
In embodiments of the present invention, the mobile device that i-th base station measures is from issuing a signal to time difference for receiving signal
(TOA values) is Toai, then pseudorange puppet s=Toa of the base station to mobile terminali× c, wherein being velocity of electromagnetic wave c=3 × 108m/s。
Step S10, with base station location as the centre of sphere, the pseudorange of base station to mobile terminal is radius, sets up place kick；
In embodiments of the present invention, with the coordinate of base station as (xi、yi、zi) centre of sphere, with Ri=Toai× c is radius, is set up
Place kick.
Fig. 2 is suitable for carrying out the two dimensional wireless network positions side based on TOA in a nlos environment that example is provided for the present invention
The flow chart of method, the method comprise the steps：
Step S110, obtains the minimum setting circle of radius；
In embodiments of the present invention, setting circle referred to base station as the center of circle, with mobile device to the pseudo-distance of base station as half
The circle that footpath is formed, pseudo-distance refer to mobile device from the time difference (TOA) and velocity of electromagnetic wave for transmitting signals to reception signal
Product.
As the on-site periphery of mobile device terminal there may be multiple base stations, it is possible to set up multiple setting circles,
The minimum setting circle of radius is obtained from the plurality of setting circle.
Step S120, whether deposit in judging other setting circles the setting circle minimum with the radius from setting circle, if
Judged result is no, then execution step S130；
In embodiments of the present invention, the position relationship position between two setting circles to include, tangent (inscribe and circumscribed), intersecting
Or from, in actual environment, as signal may be blocked in communication process thing reflection, existing and receive showing of delaying of signal
As, therefore, more than the actual range of mobile terminal to base station, mobile terminal is usually located at positioning to the pseudorange (i.e. radius) of setting circle
In circle, and the position relationship of two setting circles it is generally intersecting, comprising, it is or tangent.
Step S130, calculates the mean error of least radius setting circle and location point in other setting circle intersection areas；
In embodiments of the present invention, location point to be referred to and arrange one every a segment distance s in two-dimensional space i.e. x, y-axis direction
Point, certain location point that the position of mobile terminal is just arranged wherein or near certain location point；Therefore, getting over apart from s
Little, the location point in circle is more, and the possibility of the position of mobile terminal certain location point wherein is bigger or unlimited near certain
Individual location point, but, the amount of calculation in mobile terminal locations point process is obtained can also increase, and the size apart from s wants comprehensive two
Individual factor is determining.
Step S140, obtains the most corresponding location point of minimum average B configuration error, as mobile terminal position point.
In embodiments of the present invention, average is calculated to least radius setting circle and location point in other setting circle intersection areas
Error, the corresponding location point of minimum average B configuration error are mobile terminal position point, and mean error can be that average relative is missed
Difference, mean absolute error, Averaged Square Error of Multivariate etc., the present invention can be adopted and be not limited to cited error approach.
In the embodiment of the present invention, mobile terminal is located in the intersection area of least radius setting circle and other setting circles, is obtained
The mean error of location point in intersection area is taken, the minimum location point of mean error is defined as mobile terminal point, by this
Plant localization method and need not obtain any prior information, and positioning calculation process is relatively easy, thus locating speed is fast, additionally, this
Localization method good environmental adaptability, can be accurately positioned in various complex environments.
As the present invention other embodiment, when in other setting circles exist with the least radius setting circle from positioning
Bowlder, performs following steps：
S150. detect least radius setting circle whether with other setting circles from；
In embodiments of the present invention, in actual environment, hardly occur two setting circles from situation, only work as base
When deviation occurs in the clock stood, the radius of setting circle may be caused less than the distance of mobile terminal to base station, thus it is fixed with other
Circle of position occur from situation.
If S160. testing result is yes, abandon the minimum setting circle of radius, execution step S110, testing result be it is no,
Then abandon with the least radius setting circle from setting circle, execution step S130；
When in other setting circles exist with least radius setting circle from setting circle when, need which setting circle judgement is
Radius less than mobile terminal to base station distance, if least radius setting circle and other setting circles not from, illustrate be
With least radius setting circle from setting circle radius less than mobile terminal to base station with a distance from, if least radius setting circle and
Other setting circles all from when, then illustrate least radius setting circle setting circle radius less than mobile terminal to base station away from
From, as the position of mobile terminal is not less than mobile terminal in the setting circle of the distance of base station in positioning radius of circle, thus this
The setting circle of sample is to need to abandon.
In embodiments of the present invention, whether deposit in judging other setting circles the setting circle minimum with the radius from determine
Circle of position specifically includes following steps：
S121. calculate the distance in the setting circle center of circle of the least radius to other setting circle centers of circle；
In embodiments of the present invention, set the minimum setting circle A of radiusminThe center of circle be (xmin、ymin), radius minimum
Setting circle AminRadius be rmin, the minimum setting circle A of radiusminThe center of circle to other setting circles AiThe distance in the center of circleThe t of wherein i=1,2,3 ..., t are the setting circle total number for participating in positioning.
S122. judge whether that the setting circle center of circle of the least radius is more than two to the distance in other setting circle centers of circle
The radius sum of person.
In embodiments of the present invention, that is, compare ri+rminWith drSize, work as dr＞ ri+rminWhen, setting circle AiWith setting circle
AminFrom conversely, setting circle AiWith setting circle AminNot from.
In embodiments of the present invention, step S130 comprises the steps：
Step S131, divides location point to least radius setting circle；
In embodiments of the present invention, the space of least radius setting circle is split, each cut-point be likely to be
Mobile terminal position point, the coordinate set of setting position point is P={ (xk、yk), wherein,
xk=xmin-rmin,xmin-rmin+s,xmin-rmin+2s,…,xmin+rmin,
yk=ymin-rmin,ymin-rmin+s,ymin-rmin+2s,…,ymin+rmin；
Wherein, s is spatial resolution.
Step S132, retains the location point in the intersection area of least radius setting circle and other setting circles；
In embodiments of the present invention, step S132 specifically includes following steps：
Step S1321, calculates distance of the location point to other setting circle centers of circle in least radius setting circle；
In embodiments of the present invention, in P, each location point to the distance in each remaining setting circle center of circle isAnd
Whether step S1322, judge location point to the distance in other setting circle centers of circle both less than equal to correspondence setting circle
Radius, if the determination result is YES, then retains the location point, if judged result is no, abandons the location point.
In embodiments of the present invention, ifThe location point is put into into set M then, otherwise, then the location point is abandoned.
Step S133, calculates the mean error of location point in the intersection area.
In embodiments of the present invention, illustrate by taking average relative error as an example, the computing formula of average relative error E
For：
Wherein, (xi,yi) ∈ M, m is the total number of location point in set M, (xα,yα) it is certain location point in set M,
That is (xα,yα) ∈ M, and α=1,2,3 ... m.
In embodiments of the present invention, the space of least radius setting circle is split, has the sky of least radius setting circle
Between it is minimum, thus the location point that can be accommodated is also minimum, filters out friendship from the anchor point of least radius setting circle space
Location point in collection region, filters out the location point in intersection area relative to the anchor point from other setting circle spaces
For, amount of calculation is relative to be reduced, and can improve locating speed.
As another embodiment of the present invention, also included before step S110：
Step S111, setting circle is arranged in order from small to large by radius.
As the other embodiment of the present invention, also included before step S111：
Step S112, obtains the position of base station；
In embodiments of the present invention, the position coordinates of base station is obtained, if assuming that the coordinate of i-th base station is (xi、yi)。
Step S113, calculates the base station to the pseudorange of mobile terminal；
In embodiments of the present invention, the mobile device that i-th base station measures is from issuing a signal to time difference for receiving signal
(TOA values) is Toai, then pseudorange puppet s=Toa of the base station to mobile terminali× c, wherein being velocity of electromagnetic wave c=3 × 108m/s。
Step S114, with base station location as the center of circle, the pseudo-distance of base station to mobile terminal is radius, sets up setting circle；
In embodiments of the present invention, with the coordinate of base station as (xi、yi) center of circle, with Ri=Toai× c is radius, sets up fixed
Circle of position.
Presently preferred embodiments of the present invention is the foregoing is only, not to limit the present invention, all essences in the present invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of 3-D wireless network locating method based on TOA in a nlos environment, it is characterised in that methods described includes
Following steps：
S1. obtain the minimum place kick of radius；
S2. judge in other place kick with the presence or absence of with the least radius place kick from place kick, when judged result is
When no, then execution step S3；
S3. calculate the mean error of least radius place kick and location point in remaining place kick intersection area；
S4. the most corresponding location point of minimum average B configuration error, as mobile terminal position point are obtained.
2. the 3-D wireless network locating method based on TOA in a nlos environment as claimed in claim 1, its feature exist
In methods described also includes：
S5. when judged result is to be, detection least radius place kick whether with other place kick from；
If S6. testing result is yes, the minimum place kick of the radius is abandoned, execution step S1, testing result are no, then lose
Abandon with the least radius place kick from place kick, execution step S3.
3. the 3-D wireless network locating method based on TOA in a nlos environment as claimed in claim 1 or 2, its feature
Be, it is described judge other place kick in whether deposit with the least radius place kick from place kick concrete steps include：
S21. the least radius place kick centre of sphere is calculated to the distance of other place kick centre ofs sphere；
S22. judge whether that the place kick centre of sphere of the least radius is more than two to the distance of other place kick centre ofs sphere
The radius sum of person.
4. the 3-D wireless network locating method based on TOA as claimed in claim 1 or 2 in a nlos environment, its feature exist
In step S3 is specifically included：
S31. location point is divided to the least radius place kick；
S32. retain the location point in the least radius place kick and the intersection area of other place kick；
S33. calculate the mean error of location point in the intersection area.
5. the 3-D wireless network locating method based on TOA as claimed in claim 4 in a nlos environment, it is characterised in that
Step S32 is specifically included：
S321. calculate distance of the location point to other place kick centre ofs sphere in the least radius place kick；
S322. judge whether location point is both less than equal to right to the distance of other place kick centre ofs sphere in the least radius place kick
The radius of place kick is answered, if the determination result is YES, then retains the location point, if judged result is no, abandon the position
Point.
6. the 3-D wireless network locating method based on TOA as claimed in claim 1 or 2 in a nlos environment, its feature exist
In the mean error is average relative error, mean absolute error or Averaged Square Error of Multivariate.
7. a kind of two dimensional wireless network locating method based on TOA in a nlos environment, it is characterised in that methods described includes
Following steps：
S110. obtain the minimum setting circle of radius；
S120. judge in other setting circles with the presence or absence of with the least radius setting circle from setting circle, work as judged result
For it is no when, then execution step S130；
S130. calculate the mean error of least radius setting circle and location point in remaining setting circle intersection area；
S140. the most corresponding location point of minimum average B configuration error, as mobile terminal position point are obtained.
8. the two dimensional wireless network locating method based on TOA in a nlos environment as claimed in claim 7, its feature exist
In methods described also includes：
S150. when if the determination result is YES, detection least radius setting circle whether with other setting circles from；
If S160. testing result is yes, abandon the minimum setting circle of the radius, execution step S110, testing result be it is no,
Then abandon with the least radius setting circle from setting circle, execution step S130.
9. the two dimensional wireless network locating method based on TOA as described in claim 7 or 8 in a nlos environment, its feature exist
In step S130 is specifically included：
S131. location point is divided to the least radius setting circle；
S132. retain the location point in the least radius setting circle and the intersection area of other setting circles；
S133. calculate the mean error of location point in the intersection area.
10. the two dimensional wireless network locating method based on TOA as claimed in claim 9 in a nlos environment, it is characterised in that
Step S132 is specifically included：
S1321. calculate distance of the location point to other setting circle centers of circle in the least radius setting circle；
S1322. judge whether location point is both less than equal to the distance in other setting circle centers of circle in the least radius setting circle
The radius of correspondence setting circle, if the determination result is YES, then retains the location point, if judged result is no, abandons institute's rheme
Put a little.
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| CN201610981653.1A CN106535124B (en) | 2016-11-08 | 2016-11-08 | A kind of wireless network localization method based on TOA in a nlos environment |
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| CN201610981653.1A CN106535124B (en) | 2016-11-08 | 2016-11-08 | A kind of wireless network localization method based on TOA in a nlos environment |
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| CN106535124B CN106535124B (en) | 2019-07-19 |
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| CN113596989A (en) * | 2021-08-04 | 2021-11-02 | 电子科技大学 | Indoor positioning method and system for intelligent workshop |
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