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

基于非线性规划的室内TOA测距值优化方法

孙健 付永领 何杰 谭林 李胜广 许文鹏

孙健, 付永领, 何杰, 等 . 基于非线性规划的室内TOA测距值优化方法[J]. 北京航空航天大学学报, 2018, 44(8): 1636-1642. doi: 10.13700/j.bh.1001-5965.2017.0641
引用本文: 孙健, 付永领, 何杰, 等 . 基于非线性规划的室内TOA测距值优化方法[J]. 北京航空航天大学学报, 2018, 44(8): 1636-1642. doi: 10.13700/j.bh.1001-5965.2017.0641
SUN Jian, FU Yongling, HE Jie, et al. Indoor TOA ranging value optimization method based on nonlinear programming[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(8): 1636-1642. doi: 10.13700/j.bh.1001-5965.2017.0641(in Chinese)
Citation: SUN Jian, FU Yongling, HE Jie, et al. Indoor TOA ranging value optimization method based on nonlinear programming[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(8): 1636-1642. doi: 10.13700/j.bh.1001-5965.2017.0641(in Chinese)

基于非线性规划的室内TOA测距值优化方法

doi: 10.13700/j.bh.1001-5965.2017.0641
基金项目: 

国家自然科学基金 61327807

详细信息
    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

    通讯作者:

    付永领, E-mail: fuyongling@126.com

  • 中图分类号: TN925;TP391

Indoor TOA ranging value optimization method based on nonlinear programming

Funds: 

National Natural Science Foundation of China 61327807

More Information
  • 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。

     

  • 图 1  LOS和NLOS场景

    Figure 1.  LOS and NLOS scenes

    图 2  仿真实验测距误差累积概率分布曲线对比

    Figure 2.  Comparison of cumulative probability distribution curves of range error in simulation experiment

    图 3  实测实验场景

    Figure 3.  Scene of actually measured experiment

    图 4  实测实验测距误差累积概率分布曲线对比

    Figure 4.  Comparison of cumulative probability distribution curves of range error in actually measured experiment

    表  1  仿真实验测距误差均值和方差对比

    Table  1.   Comparison of mean and variance of range error in simulation experiment

    测距方法 误差均值/m 误差方差/m2
    原始方法 0.75 0.87
    算法1 0.25 0.72
    算法2 0.02 0.54
    算法3 -0.03 0.76
    本文方法 0.01 0.40
    下载: 导出CSV

    表  2  实测实验测距误差均值和方差对比

    Table  2.   Comparison of mean and variance of range error in actually measured experiment

    测距方法 误差均值/m 误差方差/m2
    原始方法 1.13 0.67
    算法1 0.86 0.37
    算法2 -0.21 0.50
    算法3 0.45 0.58
    本文方法 0.04 0.35
    下载: 导出CSV
  • [1] AMUNDSON I, KOUTSOUKOS X D. A survey on localization for mobile wireless sensor networks[C]//Proceedings Mobile Entity Localization and Tracking in GPS-less Environnments. Berlin: Springer, 2009, 1: 235-254. https://www.mendeley.com/research-papers/survey-localization-mobile-wireless-sensor-networks-3/
    [2] 王佳伟, 王敬东, 赵强, 等.基于CSS的室内测距优化技术[J].指挥控制与仿真, 2016, 38(3):131-135. http://kns.cnki.net/KCMS/detail/detail.aspx?filename=QBZH201603026&dbname=CJFD&dbcode=CJFQ

    WANG J W, WANG J D, ZHAO Q, et al.Optimization techniques for indoor ranging based on CSS[J].Command Control and Simulation, 2016, 38(3):131-135(in Chinese). http://kns.cnki.net/KCMS/detail/detail.aspx?filename=QBZH201603026&dbname=CJFD&dbcode=CJFQ
    [3] 李伟杰, 张霆廷, 张钦宇.基于机器学习的超宽带NLOS鉴别方法[J].计算机工程与设计, 2014, 35(3):750-754. doi: 10.3969/j.issn.1000-7024.2014.03.003

    LI W J, ZHANG T T, ZHANG Q Y.Identification of ultra wideband NLOS based on machine learning[J].Computer Engineering and Design, 2014, 35(3):750-754(in Chinese). doi: 10.3969/j.issn.1000-7024.2014.03.003
    [4] WANG Z, ZEKAVAT S A.Omnidirectional mobile NLOS identification and localization via multiple cooperative nodes[J].IEEE Transactions on Mobile Computing, 2012, 11(12):47-59. http://d.old.wanfangdata.com.cn/NSTLQK/NSTL_QKJJ0227622277/
    [5] 徐彤阳.基于减法聚类的TOA/AOA定位方法研究[J].电子测量技术, 2013, 36(10):91-93. doi: 10.3969/j.issn.1002-7300.2013.10.023

    XU T Y.Research on TOA/AOA location method based on subtractive clustering[J].Electronic Measurement Technology, 2013, 36(10):91-93(in Chinese). doi: 10.3969/j.issn.1002-7300.2013.10.023
    [6] HEIDARI M, AKGUL F O, PAHLAVAN K. Neural network assisted identification of the absence of direct path in indoor localization[C]//IEEE Global Telecommunications Conference. Piscataway, NJ: IEEE Press, 2007: 387-392. https://ieeexplore.ieee.org/document/4410989/
    [7] HEIDARI M, ALSINDI A N, PAHLAVAN K.UDP identification and error mitigation in TOA-based indoor localization systems using neural network architecture[J].IEEE Transactions on Wireless Communications, 2009, 8(7):3597-3607. doi: 10.1109/TWC.2009.080415
    [8] RAO N S V, XU X, SAHNI S. A computational geometry method for TDOA triangulation[C]//IEEE International Conference on Information Fusion. Piscataway, NJ: IEEE Press, 2007: 1-7. http://ieeexplore.ieee.org/document/4408050/
    [9] ARIAS-DE-REYNA E.A maximum likelihood UWB localization algorithm exploiting knowledge of the service area layout[J].Wireless Personal Communications, 2013, 69(4):1413-1426. doi: 10.1007/s11277-012-0642-2
    [10] PARK C H, CHANG J H.TOA source localization based on weighted least squares estimator in LOS/NLOS mixture environments[J].International Journal of Distributed Sensor Networks, 2016, 12(12):44-53.
    [11] LIANG S C, LIAO L H, LEE Y C.Localization algorithm based on improved weighted centroid in wireless sensor networks[J].Journal of Networks, 2014, 9(1):183-189. http://connection.ebscohost.com/c/articles/97557309/localization-algorithm-based-improved-weighted-centroid-wireless-sensor-networks
    [12] WANG Y, ZHENG F, WIEMELER M, et al. Reference selection for hybrid TOA/RSS linear least squares localization[C]//2013 IEEE 78th Vehicular Technology Conference. Piscataway, NJ: IEEE Press, 2013: 1-5. http://ieeexplore.ieee.org/xpls/icp.jsp?arnumber=6692388
    [13] HE J, GENG Y, PAHLAVAN K.Toward accurate human tracking:Modelling time-of-arrival for wireless wearable sensors in multipath environment[J].IEEE Sensors Journal, 2014, 14(11):122-145. https://ieeexplore.ieee.org/document/6895130/?arnumber=6895130
    [14] GHASSEMZADEH S S.The ultra-wideband indoor path loss model[J].IEEE Communication Letters, 2002, 7(2):58-66.
    [15] HEIDARI M, AKGUL F O, PAHLAVAN K.Identification of the absence of direct path in ToA-based indoor localization systems[J].International Journal of Wireless Information Networks, 2008, 12(3-4):117-127. doi: 10.1007/s10776-008-0084-7
    [16] CAO M, ANDERSON B, MORSE A S.Sensor network localization with imprecise distances[J].Systems & Control Letters, 2006, 55(11):887-893. http://www.sciencedirect.com/science/article/pii/S0167691106000879
    [17] AKGUL F O.Modeling the behavior of multipath components pertinent to indoor geolocation[M].New York:Worcester Polytechnic Institute, 2010:89-93.
    [18] WANN C D, CHIN H C. Hybrid TOA/RSSI wireless location with unconstrained nonlinear optimization for indoor UWB channels[C]//2007 IEEE Wireless Communications and Networking Conference. Piscataway, NJ: IEEE Press, 2007: 3940-3945. http://ieeexplore.ieee.org/xpls/icp.jsp?arnumber=4224965
    [19] BOGGS P, TOLLE J.Sequential quadratic programming[J].Acta Numerica, 1995, 4(4):1-51. doi: 10.1007%2F0-387-22742-3_18
    [20] ALAVI B, PAHLAVAN K.Modeling of the TOA based distance measurement error using UWB indoor radio measurements[J].IEEE Communication Letters, 2006, 10(4):275-277. doi: 10.1109/LCOMM.2006.1613745
    [21] MARANO S, GIFFORD W M, WYMEERSCH H, et al.NLOS identification and mitigation for localization based on UWB experimental data[J].IEEE Journal on Selected Areas in Communications, 2010, 28(7):1026-1035. doi: 10.1109/JSAC.2010.100907
    [22] HATAMI A. Application of channel modeling for indoor localization using TOA and RSS[D]. New York: Worcester Polytechnic Insititute, 2006: 42-47. http://www.openthesis.org/documents/Application-channel-modeling-indoor-localization-33244.html
  • 加载中
图(4) / 表(2)
计量
  • 文章访问数:  519
  • HTML全文浏览量:  55
  • PDF下载量:  526
  • 被引次数: 0
出版历程
  • 收稿日期:  2017-10-19
  • 录用日期:  2017-12-08
  • 网络出版日期:  2018-08-20

目录

    /

    返回文章
    返回
    常见问答