[1]朱春华,杨锦民.一种基于加权质心的TOF与TDOA联合定位算法[J].郑州大学学报(工学版),2023,44(03):52-57.[doi:10.13705/j.issn.1671-6833.2023.03.004]
　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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一种基于加权质心的TOF与TDOA联合定位算法()

分享到：

《郑州大学学报(工学版)》[ISSN:1671-6833/CN:41-1339/T]

卷:

44卷

期数:

2023年03期

页码:

52-57

栏目:

出版日期:

2023-04-30

文章信息/Info

Title:

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

作者:

朱春华; 杨锦民

河南工业大学 粮食信息处理与控制教育部重点实验室,河南 郑州 450001, 河南工业大学 信息科学与工程学院,河南 郑州 450001, 河南工业大学 河南省粮食光电探测和控制重点实验室,河南 郑州 450001

Author(s):

ZHU Chunhua; YANG Jinmin

Key Laboratory of Food Information Treatment and Control of Henan University of Technology, 450001, Zhengzhou, Henan, School of Information Science and Engineering, Henan University of Technology, Henan Zhengzhou 450001, Henan University of Technology, Henan Province, Henan Province Food Optical Exploration and Control Key Laboratory, Henan Zhengzhou 450001

关键词:

超宽带( UWB) ;  加权质心;  飞行时间差( TOF) ;  到达时间差( TDOA) ;  Taylor 迭代

Keywords:

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

DOI:

10.13705/j.issn.1671-6833.2023.03.004

文献标志码:

A

摘要:

在大噪声环境或者标签位于基站附近等定位场景中，UWB TDOA 定位模式下的定位算法存在精度低且发 散等问题。针对此问题，引入飞行时间差( TOF) 测距和加权质心算法，构建了一种新 的 TOF 与 到 达 时 间 差 ( TDOA) 联合定位算法。首先，利用 TOF 测距，得到 TDOA 双曲线定位方程，与传统的 TOA 测距相比，所提算法不 需要严格的时间同步; 其次，为解决大噪声环境多个定位圆不相交而无法定位的问题，引入 TOF 加权质心算法得到 标签的初始粗定位置，并代入 TDOA 双曲线方程组; 最后，采用 Taylor 迭代思想计算出标签坐标。仿真实验对比分 析其他方法和所提算法在不同噪声环境和不同标签位置下的定位精度、算法复杂度以及标签定位散点图，结果表 明: 与 TOF、TOF-TDOA、TOA-TDOA 算法相比，本文算法能够在大噪声环境下提供较高的定位精度和定位范围; 当 噪声方差等于 0. 75 时，本文算法定位精度分别提升了 30. 1%、25. 6%和 25. 8%; 不管标签远离双曲渐近线或者靠近 基站，本文算法均能够提供稳定的定位性能，且满足 UWB 实时定位的需求。

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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