基于带有事件触发机制的集员滤波的RSSI室内移动定位

RSSI-based Indoor Localization for Mobile Target Based on Set-membership Filtering with Event-trigger Mechanism

在室内移动定位系统中,由于待定位节点易受统计特性未知的噪声干扰影响,采用Kalman滤波和粒子滤波等经典的噪声抑制方法,已无法有效满足室内定位精度不断提升的要求。针对这一问题,提出了一种基于事件触发的集员滤波室内移动定位算法。首先,针对基于接收信号强度指数(RSSI)测距误差导致传统三边定位算法无法获取可行解的问题,提出了一种椭圆三边定位算法;其次,考虑待定位节点的移动性,为了提高定位精度,提出了一种锚节点自主切换算法;最后,针对噪声统计特性未知的情形,考虑使用带有事件触发机制的集员滤波算法来估计待定位节点位置。通过仿真实验验证了所提方法的有效性。

As the node to be located is vulnerable to noise interference with unknown statistical characteristics in the indoor mobile positioning system,the traditional Kalman filtering,particle filtering and other classical noise suppression methods cannot effectively meet the requirements of indoor positioning accuracy with higher demand.In order to solve this problem,a moving location algorithm based on set-membership filtering with event-trigger mechanism is proposed.Firstly,to address the problem that traditional trilateral location algorithm can't get the feasible solution due to RSSI ranging error,an ellipse trilateral location algorithm is proposed.Secondly,considering the mobility of the node to be positioned,an autonomous switching algorithm for selecting anchor nodes is proposed to improve the positioning accuracy.Finally,a set-membership filtering algorithm with event triggering mechanism is considered to estimate the location of the node in the case that the noise statistical characteristics are unknown.Simulation results show the effectiveness of the proposed method.