| 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)
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The non-line-of-sight (NLOS) error has great influence on the positioning accuracy of the ultra-wideband (UWB) indoor positioning technology. Aimed at this problem, this paper estimates the mean and variance of NLOS according to the joint statistical properties of the additional time delay in NLOS and the root mean square delay spread decided by the channel, modifies the measurements of the localization algorithm and the covariance of the systematic measurement error, and uses a collaborative localization algorithm, which combines the particle swarm optimization algorithm with time-varying weight and Chan algorithm and has a favorable ability of global search and local search for optimal solutions. The simulation result shows that the collaborative algorithm improves the positioning accuracy by about 30%, compared to a single algorithm. It, to a certain extent, inhibits the effect of NLOS error, and meets the requirements of indoor location.
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