CN105960013A - AOA-based cooperative localization method under non line-of-sight environment - Google Patents
AOA-based cooperative localization method under non line-of-sight environment Download PDFInfo
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- CN105960013A CN105960013A CN201610298488.XA CN201610298488A CN105960013A CN 105960013 A CN105960013 A CN 105960013A CN 201610298488 A CN201610298488 A CN 201610298488A CN 105960013 A CN105960013 A CN 105960013A
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- reference station
- distance
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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
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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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
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
Abstract
The invention discloses an AOA-based cooperative localization method under a non line-of-sight environment. To-be-measured nodes having a direct path to a reference node are located using TOA/AOA; then, the to-be-measured nodes locate to-be-measured nodes of other non line-of-sight paths using a novel AOA algorithm; and when there is non line-of-sight error between the reference node and the to-be-measured nodes, cooperative localization is adopted. Therefore, the problem of non line-of-sight is solved. The scheme can be applied to an indoor environment and a microcellular cell environment, and is of high practicability.
Description
Technical field:
The invention belongs to wireless location technology field, particularly to the Cooperative Localization Method utilizing AOA under a kind of nlos environment.
Background technology:
In indoor positioning now and Micro-cell location technology, due to blocking of building etc., mostly wireless signal is obstructed path.And traditional TOA and TDOA etc. are based on los path, obstructed path can produce large effect to the performance of location, and 3 reference devices of minimum needs just can complete location.The most common solution is exactly error mitigation algorithm and fingerprint location method, but these need more prior information.In the case of nlos environment and reference mode number deficiency, it is impossible to provide preferable solution.
The information being disclosed in this background section is merely intended to increase the understanding of the general background to the present invention, and is not construed as recognizing or imply in any form this information structure prior art well known to persons skilled in the art.
Summary of the invention:
It is an object of the invention to provide the Cooperative Localization Method utilizing AOA under a kind of nlos environment, thus overcome above-mentioned defect of the prior art.
For achieving the above object, the invention provides
The Cooperative Localization Method utilizing AOA under a kind of nlos environment, the steps include:
(1) setting reference station position as RD, the position of receiver is MD1, MD2, MD3, azimuth firing angle is θRi, recipient's parallactic angle is φiR, the propagation delay that reference station obtains is tRi, the propagation path that receiver is measured is tiR, then propagated distance d=ct, c is signal velocity；
(2) Wylie algorithm is utilized to differentiate direct path and non-direct path；
(3) MD is solved1:
1, d=ct is setR1, r=ct1RCalculate reference station and receiver MD1Propagated distance and MD1The distance to reference station recorded；
2, comparison reference station receiving range and MD1The distance received:
l1min=min (d1,r1),l1max=max (d1,r) (1)
Angle is compared:
The position of distance, angle and reference station by obtaining obtains:
3, Z=(C is usedTC)-1CTλ1MD can be obtained1Position coordinates；
(4) MD is solved2:
1, d=ct is setR2, r=ct2RCalculate reference station and receiver MD2Propagated distance and MD2The distance to reference station recorded；
2, comparison reference station receiving range and MD2The distance received:
l2min=min (d2,r2),l2max=max (d2,r2) (4)
Angle is compared:
The position of distance, angle and reference station by obtaining obtains:
3, Z=(C is usedTC)-1CTλ2MD can be obtained2Position coordinates；
(5) oriented MD is used1And MD2Calculate MD3, MD1Position coordinates be (x1,y1), MD2Position coordinates be (x2,y2), then:
Wherein, θiMFor MDiArrive MD3Azimuth firing angle, φMiFor MD3Recipient's parallactic angle, i=1,2；
MD can be obtained according to (7)3The band of position be:
(6), four points are obtained according to (8)
(7), MD is obtained according to tetra-points of A, B, C, D3Coordinate:
Z=(CTC)-1CTA (9)
Wherein A=[xA,yA,xB,yB,xC,yC,xD,yD]。
Compared with prior art, there is advantages that
Use TOA/AOA to orient and have the node to be measured of direct path with reference mode；Then these nodes to be measured use new A OA algorithm to position the node to be measured of other obstructed path, when reference mode and node to be measured exist non-market value, use co-positioned, thus solve non line of sight problem, this programme can be applicable to, under indoor environment and Micro-cell environment, have stronger practicality.
Accompanying drawing illustrates:
Fig. 1 is indoor environment non line of sight co-positioned signal propagation path schematic diagram of the present invention；
Fig. 2 is new A OA signal propagation path schematic diagram of the present invention；
Fig. 3 is position error probability comparison diagram of the present invention；
Fig. 4 is that different distance of the present invention measures Positioning Error Simulation result under noise level；
Fig. 5 is that different angles of the present invention measure Positioning Error Simulation result under noise level.
Detailed description of the invention:
Below the detailed description of the invention of the present invention is described in detail, it is to be understood that protection scope of the present invention is not limited by detailed description of the invention.
Explicitly indicate that unless otherwise other, otherwise in entire disclosure and claims, term " includes " or its conversion such as " comprising " or " including " etc. will be understood to comprise stated element or ingredient, and does not get rid of other element or other ingredient.
The Cooperative Localization Method utilizing AOA under a kind of nlos environment, the steps include:
(1) as it is shown in figure 1, set reference station position as RD (10,2), the position of receiver is MD1(8,16), MD2(18,4), MD3(12,14), azimuth firing angle is θRi, recipient's parallactic angle is φiR, the propagation delay that reference station obtains is tRi, the propagation path that receiver is measured is tiR, then propagated distance d=ct, c is signal velocity；
(2) Wylie algorithm is utilized to differentiate direct path and non-direct path；
(3) MD is solved1:
1, d=ct is setR1, r=ct1RCalculate reference station and receiver MD1Propagated distance and MD1The distance to reference station recorded；
2, comparison reference station receiving range and MD1The distance received:
l1min=min (d1,r1),l1max=max (d1,r) (1)
Angle is compared:
The position of distance, angle and reference station by obtaining obtains:
3, Z=(C is usedTC)-1CTλ1MD can be obtained1Position coordinates；
(4) MD is solved2:
1, d=ct is setR2, r=ct2RCalculate reference station and receiver MD2Propagated distance and MD2The distance to reference station recorded；
2, comparison reference station receiving range and MD2The distance received:
l2min=min (d2,r2),l2max=max (d2,r2) (4)
Angle is compared:
The position of distance, angle and reference station by obtaining obtains:
3, Z=(C is usedTC)-1CTλ2MD can be obtained2Position coordinates；
(5) as in figure 2 it is shown, use oriented MD1And MD2Calculate MD3, MD1Position coordinates be (x1,y1), MD2Position coordinates be (x2,y2), then:
Wherein, θiMFor MDiArrive MD3Azimuth firing angle, φMiFor MD3Recipient's parallactic angle, i=1,2；
MD can be obtained according to (7)3The band of position be:
(6), four points are obtained according to (8)
(7), MD is obtained according to tetra-points of A, B, C, D3Coordinate:
Z=(CTC)-1CTA (9)
Wherein A=[xA,yA,xB,yB,xC,yC,xD,yD]。
Utilize several propagation paths shown in Fig. 2, following several situations are analyzed: use whole 4 reflection paths；Randomly select wherein 2,3 paths；Utilize the improvement LPMD algorithm of single reflection path and direct path；Assume the virtual direct path in the case of stopping without building, use method of least square (Least Square, the LS) location of the time of advent (Time of Arrival, TOA) value.Root-mean-square error (RMSE) is used to carry out Performance comparision, wherein
As it is shown on figure 3, for fixing range error standard deviation sigmad=1m and angular error standard deviationPosition error probability distribution situation has been carried out analogue simulation, and simulation result shows, this algorithm is be smaller than 0.7m in the case of 90%, and compare two algorithms are 1.3m and 1.9m respectively.The wherein performance of miao algorithm worst mainly range error therein impact, and 1RD APMD is poor is because using 1 reference station, data message therein is the most comprehensive, and the AOA algorithm newly proposed is to ignore range error, and the position deviation of two positioning mobile stations can be offset, so performance is best.
As shown in Figure 4, for fixing angular error standard deviationBeing simulated emulation for the position error of different distance error to standard deviation, emulation double counting 1000 times is also averaged every time, due to the AOA algorithm that proposes with apart from unrelated, so along with the increase precision of range error standard deviation changes little.And carry out two algorithms and the distance dependent system contrasted, become big along with the increase of standard deviation, and Miao algorithm is because being the use of 3 distances, so the change with range error standard deviation is maximum.In the case of range error is relatively big, the AOA method comparison using new proposition is accurate.
As it is shown in figure 5, for fixing distance measure error to standard deviation σd=1m, σθ=2 ° for different angle measurementPosition error under noise level is simulated emulation, emulates double counting 1000 times every time and is averaged, and owing to the AOA algorithm proposed is based only on angle information, and the algorithm that other compare is based on distance and angle information.So, along with the increase of the angle information received, the change of the AOA algorithm of proposition is obvious, and the change of location algorithm carrying out contrasting is less.In the case of the measurement error of angle is smaller, preferably the most therefore the AOA algorithm performance of proposition, for the AOA location algorithm proposed, controls angular error or chooses the less propagation path of angular error and be to ensure that the key factor of positioning result accuracy.
The aforementioned description to the specific illustrative embodiment of the present invention illustrates that and the purpose of illustration.These descriptions are not wishing to limit the invention to disclosed precise forms, and it will be apparent that according to above-mentioned teaching, can much change and change.The purpose selected exemplary embodiment and describe is to explain the certain principles of the present invention and actual application thereof, so that those skilled in the art is capable of and utilizes the various different exemplary of the present invention and various different selection and change.The scope of the present invention is intended to be limited by claims and equivalents thereof.
Claims (1)
1. the Cooperative Localization Method utilizing AOA under a nlos environment, it is characterised in that: the steps include:
(1) setting reference station position as RD, the position of receiver is MD1, MD2, MD3, azimuth firing angle is θRi, recipient's parallactic angle is φiR, the propagation delay that reference station obtains is tRi, the propagation path that receiver is measured is tiR, then propagated distance d=ct, c is signal velocity；
(2) Wylie algorithm is utilized to differentiate direct path and non-direct path；
(3) MD is solved1:
1, d=ct is setR1, r=ct1RCalculate reference station and receiver MD1Propagated distance and MD1The distance to reference station recorded；
2, comparison reference station receiving range and MD1The distance received:
l1min=min (d1,r1),l1max=max (d1,r) (1)
Angle is compared:
The position of distance, angle and reference station by obtaining obtains:
3, Z=(C is usedTC)-1CTλ1MD can be obtained1Position coordinates；
(4) MD is solved2:
1, d=ct is setR1, r=ct2RCalculate reference station and receiver MD2Propagated distance and MD2The distance to reference station recorded；
2, comparison reference station receiving range and MD2The distance received:
l2min=min (d2,r2),l2max=max (d2,r2) (4)
Angle is compared:
The position of distance, angle and reference station by obtaining obtains:
3, Z=(C is usedTC)-1CTλ2MD can be obtained2Position coordinates；
(5) oriented MD is used1And MD2Calculate MD3, MD1Position coordinates be (x1,y1), MD2Position coordinates be (x2,y2), then:
Wherein, θiMFor MDiArrive MD3Azimuth firing angle, φMiFor MD3Recipient's parallactic angle, i=1,2；
MD can be obtained according to (7)3The band of position be:
(6), four some A (x are obtained according to (8)A,yA)、B(xB,yB)、C(xC,yC)、D(xD,yD)；
(7), MD is obtained according to tetra-points of A, B, C, D3Coordinate:
Z=(CTC)-1CTA (9)
Wherein A=[xA,yA,xB,yB,xC,yC,xD,yD]。
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Cited By (4)
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| CN106793087A (en) * | 2017-03-16 | 2017-05-31 | 天津大学 | A kind of array antenna indoor positioning algorithms based on AOA and PDOA |
| CN111148219A (en) * | 2019-12-23 | 2020-05-12 | 杭州电子科技大学 | Distance ratio circle positioning method based on TOA/AOA |
| CN113056000A (en) * | 2021-02-08 | 2021-06-29 | 北京邮电大学 | Positioning system, method and device based on super surface |
| CN114125697A (en) * | 2020-08-29 | 2022-03-01 | 华为技术有限公司 | Cooperative positioning method and device |
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| CN101389118A (en) * | 2007-09-10 | 2009-03-18 | 大唐移动通信设备有限公司 | Positioning method and system of mobile terminal |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106793087A (en) * | 2017-03-16 | 2017-05-31 | 天津大学 | A kind of array antenna indoor positioning algorithms based on AOA and PDOA |
| CN106793087B (en) * | 2017-03-16 | 2020-01-21 | 天津大学 | Array antenna indoor positioning method based on AOA and PDOA |
| CN111148219A (en) * | 2019-12-23 | 2020-05-12 | 杭州电子科技大学 | Distance ratio circle positioning method based on TOA/AOA |
| CN114125697A (en) * | 2020-08-29 | 2022-03-01 | 华为技术有限公司 | Cooperative positioning method and device |
| CN113056000A (en) * | 2021-02-08 | 2021-06-29 | 北京邮电大学 | Positioning system, method and device based on super surface |
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