一种NLOS环境下TOA与惯导信息的融合定位方法

摘要

针对基于TOA（time‐of‐arrival）的无线定位系统中信号容易受到非视距传播的影响等问题，提出了一种非视距条件下TOA测量与惯导信息的融合定位方法。该方法利用 TOA定位结果对惯导系统进行误差抑制，同时利用惯导系统的定位结果对TOA测量进行滤波处理，进而有效地减小了非视距传播对定位结果的影响。仿真实验结果表明：该方法能提高定位精度，是NLOS环境下一种有效的定位方法。%In order to solve the problem that the signal of wireless location system based on TOA (time‐of‐arrival) is easily influenced by NLOS (non‐line‐of‐sight) ,a TOA/inertial navigation infor‐mation fusion location method is proposed .The method utilizes the TOA positioning result to restrain the position errors of the inertial navigation system and meanw hile uses the positioning result of iner‐tial navigation system to filter the TOA measurements so as to effectively decrease the influence of the NLOS on the positioning result .Simulations and experiments show that the method can improve the location accuracy and so it is an effective location method in the NLOS environment .