METHOD FOR CALIBRATING A LOCAL POSITIONING SYSTEM BASED ON TIME-DIFFERENCE-OF-ARRIVAL MEASUREMENTS

摘要

The invention relates to a method for calibrating a time difference of arrival-based local positioning system for k-D localization, k=2 or 3, comprising the steps of: - Collecting (Col_Sn) N sets ((Sn)_1≤n≤N) of time difference of arrival measurements related to a mobile node, N≥2, each n^th set of measurements (Sn) being performed by Bn beacon nodes among B beacon nodes of the positioning system while the mobile node is located is a n^th position within a region covered by the positioning system, Bn≥k+2. - Determining (Det_OBP) optimal beacon positions (OBP) that minimize an objective function (OF) depending on N residual error vectors ((En)_1≤n≤N), the calculation of each n^th position of the mobile node using beacon positions and the n^th set of measurements (Sn), said calculation allowing the calculation of the n^th residual error vector (En).