A three-dimensional robust estimation positioning method

• Main Authors: MAO PENGJUN, WANG JUN, SONG HEXIANG, ZHAO KAIXUAN, SU PENG, DU ZHUANGZHUANG, CAO YIPENG, LU YUANFANG, ZHANG HAIYANG
• Format: Patent
• Language: Chinese; English
• Published: 04.01.2019
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; ELECTRIC COMMUNICATION TECHNIQUE; ELECTRICITY; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; TESTING; WIRELESS COMMUNICATIONS NETWORKS

The invention provides a three-dimensional robust estimation positioning method, and belongs to the technical field of wireless positioning. The method includes the following steps: obtaining multipleTDOA survey groups of a positioning target, and selecting more than two effective survey groups; calculating initial weight corresponding to each survey group; solving an initial estimation positioncorresponding to each survey group; for each effective survey group, performing iteration update on estimation positions by utilizing robust estimation according to a positioning equation set and thecorresponding initial weight and initial estimation position until the estimation positions meeting iteration stop conditions can be obtained as the final estimation positions, wherein weights can beupdated on each iteration; and calculating the average values of the final estimation positions as final positioning results of the positioning target. When the final estimation positions are solved,iteration update can be perfo