摘要
针对井下TDOA定位算法未考虑锚点位置误差、在测量噪声较大时定位精度严重下降的问题,提出一种考虑锚点位置误差的井下TDOA改进算法。将锚点位置误差作为参数,对TDOA定位模型进行改进,并采用基于凸优化的迭代TDOA算法对模型进行求解。仿真结果表明,当锚点位置误差为1cm时,算法定位精度可达到5cm;即使在测量噪声较大时,该算法仍可有效逼近克拉美罗下限(CRLB),优于现有的TSWLS、改进TSWLS算法。
In view of problems that underground TDOA positioning algorithm does not consider anchor position error and positioning accuracy is seriously reduced when measurement noise is large,an improved TDOA algorithm for underground positioning considering anchor position error was proposed.The anchor position error is taken as a parameter to improve TDOA positioning model,and the iterative TDOA algorithm based on convex optimization is used to solve the model.The simulation results show that the algorithm can achieve the positioning accuracy of 5cm when position error of the anchor is 1cm,and effectively approximate the Cramer-Rao Low Bound(CRLB)even when the measurement noise is large,which is better than the existing TSWLS algorithm and improved TSWLS algorithm.
作者
李世银
朱媛
王晓明
LI Shiyin;ZHU Yuan;WANG Xiaoming(School of Information and Control Engineering,China University of Mining and Technology,Xuzhou 221116,China)
出处
《工矿自动化》
北大核心
2019年第11期10-13,54,共5页
Journal Of Mine Automation
基金
国家自然科学基金项目(61771474)
徐州重点研发计划(社会发展)资助项目(KC18171)
关键词
井下精确定位
TDOA
锚点位置误差
凸优化
迭代定位算法
underground precise positioning
TDOA
anchor position error
convex optimization
iterative positioning algorithm
