基于在线评估及自适应优化选择的高精度无线定位方法研究

This project mainly focuses on the urgent requirement and technique challenges of high precision wireless localization, which is used to enhance Beidou positioning and navigation system in the blind area, and performs research on the key problems related to high precision wireless localization. These problems include high accurate distance estimation, precision localization and uncertain quantization method of localization result. (1) For the issue of accuracy distance estimation in LOS/NLOS dynamic complex environment, it proposes a TOA based distance estimation method using hardware timestamp precision-based accurate timing and dynamic hybrid filter.(2) For the problem of distance estimation precision has severely impact on localization result, it proposes an adaptive iteration localization method based on on-line assessment and optimization selection, so as to realize high precision localization method mixture with Beidou system in the blind area. (3) For the dynamic localization and decision making problem of blind area, it proposes a dynamic localization method with nonlinearity dynamic moving model and uncertain quantization method of localization result, so as to realize dynamic localization with uncertainty assessment on output. (4) Based on BeiDou receiver and Zynq software defined radio (SDR), it constructs the validation and evaluation platform for GNSS indoor blind area localization enhancement system, to realize validation of localization method and evaluation of application. Furthermore, this work will bring significant improvement and reference for the Beidou based GNSS position and navigation enhancement system with high precision in both the theory approaches and system platform.

针对动态复杂环境中，北斗定位导航系统盲区增强高精度无线定位的现实需求和技术挑战，开展高精度定位所涉及的关键方法研究，解决精确距离估计、高精度定位和定位结果的不确定性量化等核心问题。（1）针对动态LOS/NLOS环境中精确距离估计问题，研究并提出基于硬件时间戳精密计时和动态混合滤波的距离估计方法；（2）针对动态环境中距离估计精度严重影响定位结果的问题，研究并提出基于在线评估和优化选择的自适应迭代定位方法，实现基于北斗定位融合的高精度盲区静态定位；（3）针对盲区GNSS动态定位增强和导航决策问题，研究并提出基于非线性移动模型的动态定位方法以及定位结果不确定性方法，实现具有不确定性评估输出的动态定位方法；（4）基于北斗接收机和Zynq软件无线电平台，构建GNSS室内盲区定位导航增强系统验证和评估平台，实现方法验证和应用评估。课题的研究成果将为北斗高精度定位导航增强提供理论方法支撑和系统平台参考。

本项目中主要针对动态复杂环境中，北斗定位导航系统盲区增强高精度无线定位的现实需求和技术挑战，开展高精度定位所涉及的关键方法研究。（1）LOS/NLOS混合环境中TOA精确距离估计方法研究。针对复杂动态环境中距离估计问题，提出基于CSS硬件时间戳的TOA时间测度预处理技术，重点消除距离测度中的异常值。并针对在LOS/NLOS混合环境中的噪声问题，提出了识别和补偿的方法；（2）基于在线评估和优化选择的精确定位技术研究。针对复杂环境中多个因素对距离估计的不良影响，采用滑动窗口的处理策略，将统计标准差作为通信距离估计的质量评估参数，实现通信距离估计及其质量评估，提出基于在线质量评估和锚节点优化选择的三边定位和最小二乘定位方法，获得较高的定位精度；（3）针对动态定位问题，提出基于卡尔曼滤波和粒子滤波的动态迭代定位方法，利用卡尔曼滤波对实时位置的精确度加以提升，获得较好的定位效果；（4）搭建无线自组织高精度定位系统。在室内、大厅和室外三种典型定位环境中，部署10个锚节点和1个未知节点，采用基于nano PAN 5375RF射频收发器的nano LOC无线节点进行距离估计和定位验证，证明所提出方法的可行性和有效性；（5）北斗定位导航和无线定位系统间融合研究。针对GNSS北斗盲区增强的精确定位问题，开展了北斗定位和ZigBee的融合，能够将无线局域网的定位结果和北斗定位融合，采用特定的定位算法，实现相对位置信息的解算，并融合经纬度信息，从而得到全局定位信息；