A Joint Positioning Algorithm of TOF and TDOA Based on Weighted Centroid

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A Joint Positioning Algorithm of TOF and TDOA Based on Weighted Centroid

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[1]ZHU Chunhua,YANG Jinmin.A Joint Positioning Algorithm of TOF and TDOA Based on Weighted Centroid[J].Journal of Zhengzhou University (Engineering Science),2023,44(03):52-57.[doi:10.13705/j.issn.1671-6833.2023.03.004]

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Journal of Zhengzhou University (Engineering Science)[ISSN 1671-6833/CN 41-1339/T] Volume: 44 Number of periods: 2023 03 Page number: 52-57 Column: Public date: 2023-04-30

Title:: A Joint Positioning Algorithm of TOF and TDOA Based on Weighted Centroid

Author(s):: ZHU Chunhua¹; 2; 3; YANG Jinmin¹; 2; 3; 1.Key Laboratory of Food Information Treatment and Control of Henan University of Technology, 450001, 2.Zhengzhou, Henan, School of Information Science and Engineering, Henan University of Technology, Henan Zhengzhou 450001, 3.Henan University of Technology, Henan Province, Henan Province Food Optical Exploration and Control Key Laboratory, Henan Zhengzhou 450001

Keywords:: ultra-wideband( UWB) ; weighted centroid; time-of-flight( TOF) ; time-different-of-arrival( TDOA) ; Taylor iteration

CLC:: TN925

DOI:: 10.13705/j.issn.1671-6833.2023.03.004

Abstract:: Aiming at the problem of low accuracy and positioning divergence in the UWB TDOA positioning mode with the positioning scenarios such as severe noise environments or tags near the base stations, a new TOF and TDOA joint positioning method was constructed by introducing TOF ranging and a weighted centroid algorithm. Firstly, using TOF ranging, the TDOA hyperbolic positioning equation was obtained, which did not require strict time synchronization compared with the traditional TOA ranging. In order to solve the problem that multiple positioning circles did not intersect and hence the positioning equation has no solution in severe noise environment, the TOF weighted centroid was introduced to obtain the tag initial rough position, which would be substituted into the TDOA hyperbolic equation. Finally, the Taylor iteration was adapted to calculate the tag final coordinates. Besides, the positioning accuracy, complexity and tag positioning scatter plot were analyzed and compared with the existing methods by simulation experiment, the corresponding simulation results have shown that the proposed positioning algorithm could provide the higher positioning accuracy and the larger positioning range even in severe noise environment, for the noise of variance 0.75, the positioning accuracy of the proposed algorithm was improved by 30.1%, 25.6% and 25.8%, respectively, compared with the existing TOF、TOF-TDOA and TOA-TDOA. For the tags away from hyperbolic asymptotes or near the base stations, the proposed algorithm could provide more stable positioning performance and meet the needs of real-time positioning in UWB systems.

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Last Update: 2023-05-08