基于到達(dá)角Kalman濾波的TDOA/AOA定位算法
A TDOA/AOA Location Algorithm Based on Kalman Filtering Angle of Arrival
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摘要: 基于Chan算法的TDOA/AOA定位算法是在Chan算法的信號(hào)到達(dá)時(shí)間差(TDOA)誤差方程組里加上一個(gè)信號(hào)到達(dá)角(AOA)誤差方程，利用加權(quán)最小二乘法(WLS)求解。其主要缺點(diǎn)是把移動(dòng)臺(tái)(MS)的橫坐標(biāo)、縱坐標(biāo)與移動(dòng)臺(tái)到服務(wù)基站(BS)之間的距離作為3個(gè)相互獨(dú)立的變量，忽略了3者之間的相關(guān)性。需要進(jìn)行兩次WLS計(jì)算，且最終的解為二值根。當(dāng)AOA測(cè)量誤差的方差不斷增大時(shí)，對(duì)應(yīng)的定位誤差也隨之增大。該文利用Kalman濾波算法對(duì)AOA的值進(jìn)行估計(jì)，并將上述的3個(gè)變量簡(jiǎn)化為一個(gè)，只需一次WLS即可求得唯一解，減少了計(jì)算量，消除了根的模糊性。仿真結(jié)果表明，該方法簡(jiǎn)單，計(jì)算量小，有較高的定位精度和較好的穩(wěn)健性。Abstract: The TDOA/AOA location algorithms based on the Chans algorithm add an AOA error equation on the group of TDOA error equations in the Chans algorithm and resolve these equations by the WLS method. But they assume the abscissa, the ordinate of the MS and the distance between the MS and the severing BS are three independent variables neglecting their correlation. And then operate the WLS method twice with each root has two values. The location error increases according with the increment of the variance of the measurement error of AOA. The proposed algorithm estimates AOA by Kalman filter and simplifies the mentioned three variables into one. So it can get the only root by using the WLS method once and eliminate the ambiguity. The result of simulation proves its simplification, less calculating amount, better location accuracy and robustness.
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