北京航空航天大学学报 ›› 2018, Vol. 44 ›› Issue (8): 1636-1642.doi: 10.13700/j.bh.1001-5965.2017.0641

• 论文 • 上一篇    下一篇

基于非线性规划的室内TOA测距值优化方法

孙健1,2, 付永领1, 何杰3, 谭林2, 李胜广2, 许文鹏2   

  1. 1. 北京航空航天大学 机械工程及自动化学院, 北京 100083;
    2. 公安部第一研究所, 北京 100048;
    3. 北京科技大学 计算机与通信工程学院, 北京 100083
  • 收稿日期:2017-10-19 修回日期:2017-12-08 出版日期:2018-08-20 发布日期:2018-08-29
  • 通讯作者: 付永领 E-mail:fuyongling@126.com
  • 作者简介:孙健,男,博士研究生,工程师。主要研究方向:无线传感网、室内定位;付永领,男,博士,教授。主要研究方向:新型液压伺服系统理论与试验研究、集成机电液控伺服系统、飞机机电系统的综合控制、特种机器人等。
  • 基金资助:
    国家自然科学基金(61327807)

Indoor TOA ranging value optimization method based on nonlinear programming

SUN Jian1,2, FU Yongling1, HE Jie3, TAN Lin2, LI Shengguang2, XU Wenpeng2   

  1. 1. School of Mechanical Engineering & Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China;
    2. First Research Institute of the Ministry of Public Security of PRC, Beijing 100048, China;
    3. School of Computer and Communication Engineering, University of Science and Technology Beijing, Beijing 100083, China
  • Received:2017-10-19 Revised:2017-12-08 Online:2018-08-20 Published:2018-08-29
  • Supported by:
    National Natural Science Foundation of China (61327807)

摘要: 在室内环境中,无线信道中的非视距和多径传输等效应严重影响了到达时间(TOA)定位系统的测距值精度,从而导致较大的测量误差和定位误差。将测距值优化抽象为非线性规划问题,在实现视距/非视距(LOS/NLOS)场景识别的基础上,利用TOA测距误差模型和“目标-基站”间的几何约束为序列二阶非线性规划方法设置合理的初始值,建立了目标函数和约束条件,对定位测距值进行了有效校正。利用典型的TOA测距误差模型进行了仿真验证,利用具有TOA测距功能的无线定位节点在办公环境中进行了实测验证。结果表明,该方法优化后的测距值精度明显优于原始测距值和传统的测距值修正方法,从而验证了该方法的有效性。

关键词: 无线测距, 室内定位, 到达时间 (TOA), 非线性规划, 超宽带

Abstract: The ranging accuracy of time of arrival (TOA) based indoor positioning system is significantly affected by multipath and non-line-of-sight (NLOS) of wireless channel in indoor environment. And these effects result in large measurement error and positioning error. In this paper, the optimization of distance is defined as a nonlinear programming problem. Based on the detection of line of sight (LOS) and NLOS, TOA ranging error model and geometric constraints between target and base stations are used to define the initial values, objective functions and constraint conditions for sequential quadratic nonlinear programming method effectively calibrates the positioning distance value. The typical TOA range error model is used for simulation. Field validation uses wireless positioning nodes with TOA ranging functions in the office environment. The results show that the ranging accuracy of the proposed algorithm is much higher than original range value and the other traditional distance mitigation algorithms , which verifies the effectiveness of the proposed algorithm.

Key words: wireless distance measurement, indoor positioning, time of arrival (TOA), nonlinear programming, ultra-wide band

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