留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

一种基于非视距误差补偿的协同定位算法

张然 宋来亮 冉龙俊

张然, 宋来亮, 冉龙俊等 . 一种基于非视距误差补偿的协同定位算法[J]. 北京航空航天大学学报, 2017, 43(7): 1426-1432. doi: 10.13700/j.bh.1001-5965.2016.0557
引用本文: 张然, 宋来亮, 冉龙俊等 . 一种基于非视距误差补偿的协同定位算法[J]. 北京航空航天大学学报, 2017, 43(7): 1426-1432. doi: 10.13700/j.bh.1001-5965.2016.0557
ZHANG Ran, SONG Lailiang, RAN Longjunet al. A collaborative localization algorithm based on non-line-of-sight error compensation[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(7): 1426-1432. doi: 10.13700/j.bh.1001-5965.2016.0557(in Chinese)
Citation: ZHANG Ran, SONG Lailiang, RAN Longjunet al. A collaborative localization algorithm based on non-line-of-sight error compensation[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(7): 1426-1432. doi: 10.13700/j.bh.1001-5965.2016.0557(in Chinese)

一种基于非视距误差补偿的协同定位算法

doi: 10.13700/j.bh.1001-5965.2016.0557
详细信息
    作者简介:

    张然  女, 硕士研究生。主要研究方向:基于超宽带的室内导航定位技术

    宋来亮  男, 讲师。主要研究方向:惯性导航与组合导航

    冉龙俊  男, 博士。主要研究方向:光学捷联惯性导航系统

    通讯作者:

    宋来亮, E-mail:songlailiang@buaa.edu.cn

  • 中图分类号: TN929.5

A collaborative localization algorithm based on non-line-of-sight error compensation

More Information
  • 摘要:

    非视距(NLOS)误差对超宽带(UWB)室内定位技术的定位精度有很大影响。针对此问题,根据NLOS环境下附加时延和由信道决定的均方根时延扩展的联合统计特性,估计NLOS误差的均值和方差,对定位算法测量值和系统测量误差协方差进行修正,并采用时变权重的粒子群算法与Chan算法相结合的协同定位算法进行定位计算,具有良好的全局搜索与局部搜索最优解的能力。仿真结果表明,在NLOS环境下,相比于单一算法,协同算法定位精度提高30%左右,在一定程度上抑制了NLOS误差的影响,满足室内定位的要求。

     

  • 图 1  粒子群算法流程图

    Figure 1.  Flowchart of particle swarm algorithm

    图 2  CM1信道和CM2信道冲激响应

    Figure 2.  Impulse response of CM1 channel and CM2 channel

    图 3  CM1信道和CM2信道基于脉冲序列最大能量到达时间测距算法的能量块图

    Figure 3.  Energy block diagram of maximum energy arrival time ranging algorithm based on pulse sequence of CM1 channel and CM2 channel

    图 4  基站位置信息

    Figure 4.  Location information of base station

    图 5  Chan算法和粒子群算法在系统测量误差不同时的定位性能对比

    Figure 5.  Comparison of positioning performance between Chan algorithm and particle swarm algorithm with different system measurement errors

    图 6  Chan算法和粒子群算法在LOS环境与NLOS环境定位性能的对比

    Figure 6.  Comparison of positioning performance in LOS and NLOS environment between Chan algorithm and particle swarm algorithm

    图 7  Chan算法和粒子群算法NLOS误差补偿后和协同定位算法之间的定位性能对比

    Figure 7.  Comparison of positioning performance among Chan algorithm after NLOS error compensation, particle swarm algorithm after NLOS error compensation, and collaborative localization algorithm

    图 8  粒子群算法和协同定位算法的收敛曲线对比

    Figure 8.  Comparison of convergence curves between particle swarm algorithm and collaborative localization algorithm

  • [1] TARZIA S P, DINDA P A, DICK R P, et al.Indoor localization without infrastructure using the acoustic background spectrum[C]//Proceedings of the 9th International Conference on Mobile Systems, Applications, and Services.New York:ACM, 2011:155-168.
    [2] CIURANA M, BARCELO A F, MARTIN E I.Comparative performance evaluation of IEEE 802.11v for positioning with time of arrival[J].Computer Standards & Interfaces, 2011, 33(3):344-349. http://www.citeulike.org/article/7960367
    [3] IMMOREEV I Y.Ultrawideband radars:Features and capabilities[J].Journal of Communications Technology and Electrnics, 2009, 54(1):1-26. doi: 10.1134/S106422690901001X
    [4] LI C, ZHUANG W H.Hybrid TDOA/AOA mobile user location for wideband CDMA cellular systems[J].IEEE Transactions on Wireless Communications, 2002, 1(3):439-447. doi: 10.1109/TWC.2002.800542
    [5] SILVENTOINEN M I, RANTALAINEN T.Mobile station emergency locating in GSM[C]//Proceedings of the 1996 IEEE International Conference on Personal Wireless Communications.Piscataway, NJ:IEEE Press, 1996:232-238.
    [6] DAMIEN B, DAVIDE D.Position error bound for UWB location in dense cluttered environments[J].IEEE Transactions on Aerospace and Electronic Systems, 1998, 44(2):613-615. https://www.researchgate.net/publication/3007692_Position_Error_Bound_for_UWB_Localization_in_Dense_Cluttered_Environments
    [7] 张宴龙, 陈卫东, 陈畅.基于非视距鉴别的室内移动节点跟踪算法[J].中国科学技术大学学报, 2014, 44(10):828-834. doi: 10.3969/j.issn.0253-2778.2014.10.005

    ZHANG Y L, CHEN W D, CHEN C.Mobile location tracking based on NLOS identification in indoor environments[J].Journal of University of Science and Technology of China, 2014, 44(10):828-834(in Chinese). doi: 10.3969/j.issn.0253-2778.2014.10.005
    [8] WYLIE M P, HOLTZMAN J.Non-line of sight problem in mobile location estimation[C]//1996 5th IEEE International Conference on Universal Personal Communications.Piscataway, NJ:IEEE Press, 1996, 2:827-831.
    [9] CHEN P C.A non-line-of-sight error mitigation algorithm in location estimation[C]//1999 IEEE Wireless Communications and Networking Conference.Piscataway, NJ:IEEE Press, 1999, 1:316-320.
    [10] 王洪雁, 兰云飞, 裴炳南, 等.非视距环境下基于到达时间差的一种定位算法[J].计算机仿真, 2007, 24(9):116-119. http://www.cnki.com.cn/Article/CJFDTOTAL-JSJZ200709032.htm

    WANG H Y, LAN Y F, PEI B N, et al.A location algorithm based on time difference of arrival in the non-line-of-sight environment[J].Journal of Computer Simulation, 2007, 24(9):116-119(in Chinese). http://www.cnki.com.cn/Article/CJFDTOTAL-JSJZ200709032.htm
    [11] MOLISCH A F, BALAKRISHNAN K, CHONG C C, et al.IEEE 802.15.4a channel model-final report[J].IEEE P802, 2004, 15(4):0662. http://www.ieee802.org/15/pub/04/15-04-0662-02-004a-channel-model-final-report-r1.pdf
    [12] 段凯宇, 张力军.一种在NLOS环境下提高精度的TDOA定位方法[J].南京邮电学院学报, 2005, 25(5):15-19. http://www.cnki.com.cn/Article/CJFDTOTAL-NJYD200505003.htm

    DUAN K Y, ZHANG L J.An accuracy improved location method based on TDOA in NLOS environment[J].Journal of Nanjing College of Posts and Telecommunications, 2005, 25(5):15-19(in Chinese). http://www.cnki.com.cn/Article/CJFDTOTAL-NJYD200505003.htm
    [13] LIN L X, SO H C, CHAN F K W, et al.A new constrained weighted least squares algorithm for TDOA-based localization[J].Signal Processing, 2013, 93(11):2872-2878. doi: 10.1016/j.sigpro.2013.04.004
    [14] CHAN Y T, HO K C.A simple and efficient estimator for hyperbolic location[J].IEEE Transactions on Signal Processing, 1994, 42(8):1905-1915. doi: 10.1109/78.301830
    [15] POLI R, KENNEDY J, BLACKWELL T.Particle swarm optimization[J].Swarm Intelligence, 2007, 1(1):33-57. doi: 10.1007/s11721-007-0002-0
    [16] KULKARNI R V, VENAYAGAMOORTHY G K.Particle swarm optimization in wireless-sensor networks:A brief survey[J].IEEE Transactions on Systems, Man, and Cybernetics, Part C:Applications and Reviews, 2011, 41(2):262-267. doi: 10.1109/TSMCC.2010.2054080
    [17] BATRA A, BALAKRISHNAN J, AIELLO G R, et al.Design of a multiband OFDM system for realistic UWB channel environments[J].IEEE Transactions on Microwave Theory and Techniques, 2004, 52(9):2123-2138. doi: 10.1109/TMTT.2004.834184
    [18] MOLISCH A F, FOERSTER J R, PENDERGRASS M.Channel models for ultrawideband personal area networks[J].IEEE Wireless Communications, 2003, 10(6):14-21. doi: 10.1109/MWC.2003.1265848
    [19] GREENSTEIN L J, ERCEG V, YEH Y S, et al.A new path-gain/delay-spread propagation model for digital cellular channels[J].IEEE Transactions on Vehicular Technology, 1997, 46(2):477-485. doi: 10.1109/25.580786
    [20] 杨北亚, 熊辉, 丁宏, 等.应用NLOS鉴别补偿的无线传感器网络TDOA定位算法[J].重庆理工大学学报, 2015, 29(10):120-126. doi: 10.3969/j.issn.1674-8425(z).2015.10.022

    YANG B Y, XIONG H, DING H, et al.TDOA location algorithm based on NLOS error identification and compensation in wireless sensor network[J].Journal of Chongqing University of Technology, 2015, 29(10):120-126(in Chinese). doi: 10.3969/j.issn.1674-8425(z).2015.10.022
    [21] ALAVI B, PAHLAVAN K.Modeling of the TOA-based distance measurement error using UWB indoor radio measurements[J].IEEE Communications Letters, 2006, 10(4):275-277. doi: 10.1109/LCOMM.2006.1613745
    [22] 刘金琨, 沈晓蓉, 赵龙.系统辨识理论及MATLAB仿真[M].北京:电子工业出版社, 2014:215-227.

    LIU J K, SHEN X R, ZHAO L.System identification theory and MATLAB simulation[M].Beijing:Publishing House of Electronics Industry, 2014:215-227(in Chinese).
  • 加载中
图(8)
计量
  • 文章访问数:  912
  • HTML全文浏览量:  70
  • PDF下载量:  451
  • 被引次数: 0
出版历程
  • 收稿日期:  2016-06-29
  • 录用日期:  2016-10-14
  • 网络出版日期:  2017-07-20

目录

    /

    返回文章
    返回
    常见问答