非视距环境下的无线定位算法及其性能分析
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摘要
利用移动台的位置信息，除了可以为移动用户提供安全保障外，还可以增加系统性能，有效地管理网络资源、调节系统容量，提供基于位置信息的多种多样增值服务。实现移动台定位通常需要两步，首先根据不同的定位类型，估计相应的定位参数；然后根据估计出的定位参数，采用相应的定位算法进行移动台的位置估计。在现代无线通信环境(特别是城市移动环境)中，因受非视距(NLOS)多径传播、几何精度因子等多种不利因素的影响，使得现有各种移动终端(MS)定位方法都不可避免地受到很大影响，导致其定位性能显著下降，难以在非视距多径条件下达到E-911定位精度要求。本论文主要针对无线定位过程中的第二步，致力于克服非视距多径环境下的定位误差，提出了一些精度高的无线定位算法并对其性能进行了深入分析。
本文首先在分析NLOS多径传播对TOA／TDOA定位算法影响的基础上，研究了克服NLOS误差的新型无线定位算法。第一种克服NLOS误差的定位算法是基于视距环境下经典Chan和Taylor算法的协同定位算法。其中，Chan是一种具有解析表达式解的非递归定位算法，具有计算量小的优点，而且在视距传播环境下是最大似然(ML)估计的高精度定位方法，但在NLOS多径环境下其定位精度显著下降。Taylor级数展开法是一种需要初始估计位置的递归算法，能够适用于各种信道环境，在初始估计位置与实际位置接近的情况下能较快地收敛，得到准确的计算结果，但当初始位置选择不好时算法将很难保证收敛。本文提出的协同定位算法，首先采用Chan氏算法进行定位计算，计算结果作为Taylor级数展开算法的初始值，然后采用Taylor级数展开算法再次对MS进行定位估计。为了避免少数情况下Taylor算法定位结果的发散问题，本文提出了根据Chan和Taylor级数展开算法的定位结果进行系数加权，然后根据加权系数对两种定位方法位置估计值进行处理，得出MS最终的位置估计值。研究结果表明，本文提出的协同定位方法在信道环境恶劣的情况下具有很高的定位精度，并能克服Taylor级数展开定位算法的发散问题。
本文第二种克服NLOS多径影响的定位算法是基于几何约束关系的ML定位算法。该算法基于TOA测量值，首先利用任意3个TOA值，根据TOA值与移动台位置、基站位置之间的几何关系，估计得到移动台的所有可能位置。然后利用ML算法，从所有可能位置中选择出一个最有可能是移动台真实位置的估计值作为最后的定位结果。该算法能够获得最佳的估计值，可降低ML计算复杂性，不需要移动台初始位置，能有效抑制NLOS误差，从而提高定位精度。本算法不需要确切知道TOA的条件概率密度函数，而且对TOA的条件概率密度函数参数误差不敏感。
由于受多径传播环境和功率控制等因素的影响，基于无线接收信号强度的定位算法精度受限。但由于其定位技术容易实施，费用较小，不需要对移动终端和基站硬件进行修改，仍然大量应用于GSM等无线通信网络。本文针对现有的GSM网络定位系统，重点讨论了在不改变蜂窝网络结构的情况下，如何利用现有网络提供的参数获得更高的定位精度。论文提出了基于场强差辅之以GDOP加权的数据融合定位方法，采用信号场强差作为基本的定位方法，采用GDOP加权对定位中间结果进行处理。通过利用某城市GSM网络的实际测试数据对模型进行了分析验证。结果表明，当定位误差小于300米时，采用本文提出的数据融合方法定位精度比常用的CI+TA方法提高了近8％。若对测量报告进行预处理后再进行定位，本文提出的方法在67％的概率下，定位误差小于225米，定位精度高于其它方法。论文还对基于场强差的标准定位算法定位精度进行了分析，得出了其CRLB界。
接着，论文讨论了基于几何结构的单次反射圆环模型，该模型是一种适用于对各种定位算法进行分析的信道模型。通过对该模型的传播时延特征进行分析，本文提出了一种基于圆散射模型的TOA重构方法来克服非视距对定位的影响。研究结果表明，这种方法在信道环境差的情况下能够有效地提高无线定位精度。
由于未来无线通信将是不同网络的融合与集成，网络中各无线终端可以通过高速无线链路进行互相协作以完成通信任务，也可能通过协作提高多径环境下的无线定位精度。为此，本文研究了无线传感器网络和无线蜂窝系统的协作定位问题。论文首先在分析现有无线传感器网络定位算法的基础上，针对其中的DV-Distance算法进行了研究，提出了一种改进的差分DV-Distance算法，使得算法定位精度明显提高。针对下一代蜂窝通信系统中的协作定位，论文提出了一种高精度协作定位算法，并对其性能进行仿真分析。
最后，论文对无线定位系统平台进行了研究。由于未来多种移动通信网络并存是必然趋势，从定位服务而言，希望与具体移动通信物理网络无关，并希望充分利用现有的多种无线定位基础设施。为此，本文提出了一种新型开放式通用无线定位增值服务平台。该通用定位平台构架于现有多个无线定位网络，从而使定位功能和服务范围得到增强，适用于独立于无线通信网络的通用无线定位服务专业运营商。论文给出了通用无线定位增值服务平台的系统结构，探讨了基于GSM和3GPP Parlay API规范的无线定位增值服务平台中间件功能层的定义以及服务平台的功能。
In addition to provide security service to mobile subscribers, the location of mobile stations can be also applied to network performance enhancement, more effective resource management, system capacity adjustment, and other various value-added services. The mobile positioning normally consists of two steps, the first step provides estimates of location parameters according to different location methods, and the second step determines the MS position using appropriate positioning algorithms, based on the available location parameters. In modern wireless communication environment, especially in urban environment, due to the influence of several adverse factors, such as Non Line of Sight (NLOS) propagation and Geometric Dilution of Precision (GDOP), the performance of all existing position methods is inevitably influenced, and the position estimation of the mobile terminals may be significantly biased as well. Thus, it is difficult for current radio location systems to meet the E-911 location requirement under the NLOS propagation environment. It is therefore the purpose of this thesis to investigate and propose accurate positioning algorithms (the second step) and their performance evaluation, in order to mitigate the NLOS errors.
Based on the analysis of NLOS influence to the location algorithms, NLOS error mitigation algorithms in location estimation are investigated. The first algorithm proposed in this thesis is a hybrid location method based Chan and Taylor algorithms, where the Chan algorithm is a closed form non-iterative maximum likelihood (ML) algorithm under the line-of-sight (LOS) environment, but its performance degrades significantly under NLOS environment, and the Taylor algorithm is a Taylor series expansion method depending heavily on the initial values in order to guarantee convergence. The proposed hybrid location method first calculates the initial MS position using Chan algorithm, then calculates the intermediate MS position according Taylor algorithm using the obtained initial results as the its initial values. The final MS position is then the linear combination of the intermediate results based on certain carefully chosen weights. It is shown that the hybrid location method can significantly improve the location accuracy under bad channel environments, and can also overcome the divergence problem of Taylor algorithm.
The second algorithm proposed is the Geometry-constrained NLOS mitigation algorithm based on ML-detection. The algorithm first computes the mobile position using arbitrary 3 TOA measurements according to their geometric relation, and then selects the most possible result from all computed results as the final MS estimated position using the ML algorithm. The proposed GML algorithm can achieve optimal estimate while preserving the computational efficiency of the ML detection algorithm and without requesting initial MS positions. It can restrain the NLOS errors effectively without knowing the exact conditional p.d.f.'s of the TOA measurements, resulting excellent positioning performance. The algorithm is also not sensitive to the standard deviation errors.
Due to the influence of multipath propagation and power control, the location accuracy of signal strength based techniques is limited. However, because it is easy to implement, cost effective and not necessary to modify the base station and mobile station, it is still widely used in GSM and other location systems. This thesis addresses the problem of improving the location accuracy of GSM positioning system by employing the existing GSM data. Hence, there is no need for any additional hardware, network overlay or infrastructure change. A data fusion model based on Geometric Dilution of Precision (GDOP) weighting for GSM mobile position estimation is proposed. By applying a set of practical GSM system measurement data, it is shown that the location accuracy is improved by 8% compared with the conventional CI+TA when the location error is within 300m. If the measurement data is processed beforehand, the location error will be less than 225 meters in 67% of the time, better than other positioning algorithms. The thesis also investigates the performance of standard positioning algorithms based on received signal strength difference (RSSD) and derives the corresponding CRLB bound, together with the numerical results.
Next, the single reflection ring of scatterer model is discussed, which is. suitable for analyzing many kinds of location algorithms. By analyzing the time delay characteristic of this model, a new TOA reconstruction method based on the ring of scatterer model and its improvement is proposed. The proposed method can significantly reduce the NLOS error and improve the location accuracy compared with the conventional method.
Considering that the future wireless communications will ensure seamless service provisioning across a multitude of wireless networks, from private to public, from indoor to wide area, and be able to provide an optimum delivery via the most appropriate network available, mobile terminals can communicate with each other cooperatively using high-speed wireless links. It is hoped that the information between MSs can also be used cooperatively to enhance the location accuracy. In this thesis, the cooperative location of wireless sensor network and cellular-controlled short-range communication system is investigated. Firstly, aiming at the enhanced positioning accuracy of wireless sensor network node location, an improved DV-DISTANCE positioning algorithm, which uses a differential error correction scheme for reducing cumulative distance error and node location error accumulated over the multiple hops, is proposed. Then, a cooperative high accuracy positioning algorithm for 4G is proposed together with the simulation analysis.
Finally, a general wireless location platform is discussed. As various wireless networks will co-exist in the future, a general platform built upon the existing independent mobile communication infrastructure is necessary. In this thesis, a new general value-added service platform for wireless location, suitable for specialized location service providers, is proposed to overcome the limitations of current individual location system with simplistic service and small coverage. The system architecture of the general platform is presented, and a concept of location middleware layer based on GSM and 3GPP Parlay API standard and other systems, is proposed, together with the possible location services which can be provided.
本文首先在分析NLOS多径传播对TOA／TDOA定位算法影响的基础上，研究了克服NLOS误差的新型无线定位算法。第一种克服NLOS误差的定位算法是基于视距环境下经典Chan和Taylor算法的协同定位算法。其中，Chan是一种具有解析表达式解的非递归定位算法，具有计算量小的优点，而且在视距传播环境下是最大似然(ML)估计的高精度定位方法，但在NLOS多径环境下其定位精度显著下降。Taylor级数展开法是一种需要初始估计位置的递归算法，能够适用于各种信道环境，在初始估计位置与实际位置接近的情况下能较快地收敛，得到准确的计算结果，但当初始位置选择不好时算法将很难保证收敛。本文提出的协同定位算法，首先采用Chan氏算法进行定位计算，计算结果作为Taylor级数展开算法的初始值，然后采用Taylor级数展开算法再次对MS进行定位估计。为了避免少数情况下Taylor算法定位结果的发散问题，本文提出了根据Chan和Taylor级数展开算法的定位结果进行系数加权，然后根据加权系数对两种定位方法位置估计值进行处理，得出MS最终的位置估计值。研究结果表明，本文提出的协同定位方法在信道环境恶劣的情况下具有很高的定位精度，并能克服Taylor级数展开定位算法的发散问题。
本文第二种克服NLOS多径影响的定位算法是基于几何约束关系的ML定位算法。该算法基于TOA测量值，首先利用任意3个TOA值，根据TOA值与移动台位置、基站位置之间的几何关系，估计得到移动台的所有可能位置。然后利用ML算法，从所有可能位置中选择出一个最有可能是移动台真实位置的估计值作为最后的定位结果。该算法能够获得最佳的估计值，可降低ML计算复杂性，不需要移动台初始位置，能有效抑制NLOS误差，从而提高定位精度。本算法不需要确切知道TOA的条件概率密度函数，而且对TOA的条件概率密度函数参数误差不敏感。
由于受多径传播环境和功率控制等因素的影响，基于无线接收信号强度的定位算法精度受限。但由于其定位技术容易实施，费用较小，不需要对移动终端和基站硬件进行修改，仍然大量应用于GSM等无线通信网络。本文针对现有的GSM网络定位系统，重点讨论了在不改变蜂窝网络结构的情况下，如何利用现有网络提供的参数获得更高的定位精度。论文提出了基于场强差辅之以GDOP加权的数据融合定位方法，采用信号场强差作为基本的定位方法，采用GDOP加权对定位中间结果进行处理。通过利用某城市GSM网络的实际测试数据对模型进行了分析验证。结果表明，当定位误差小于300米时，采用本文提出的数据融合方法定位精度比常用的CI+TA方法提高了近8％。若对测量报告进行预处理后再进行定位，本文提出的方法在67％的概率下，定位误差小于225米，定位精度高于其它方法。论文还对基于场强差的标准定位算法定位精度进行了分析，得出了其CRLB界。
接着，论文讨论了基于几何结构的单次反射圆环模型，该模型是一种适用于对各种定位算法进行分析的信道模型。通过对该模型的传播时延特征进行分析，本文提出了一种基于圆散射模型的TOA重构方法来克服非视距对定位的影响。研究结果表明，这种方法在信道环境差的情况下能够有效地提高无线定位精度。
由于未来无线通信将是不同网络的融合与集成，网络中各无线终端可以通过高速无线链路进行互相协作以完成通信任务，也可能通过协作提高多径环境下的无线定位精度。为此，本文研究了无线传感器网络和无线蜂窝系统的协作定位问题。论文首先在分析现有无线传感器网络定位算法的基础上，针对其中的DV-Distance算法进行了研究，提出了一种改进的差分DV-Distance算法，使得算法定位精度明显提高。针对下一代蜂窝通信系统中的协作定位，论文提出了一种高精度协作定位算法，并对其性能进行仿真分析。
最后，论文对无线定位系统平台进行了研究。由于未来多种移动通信网络并存是必然趋势，从定位服务而言，希望与具体移动通信物理网络无关，并希望充分利用现有的多种无线定位基础设施。为此，本文提出了一种新型开放式通用无线定位增值服务平台。该通用定位平台构架于现有多个无线定位网络，从而使定位功能和服务范围得到增强，适用于独立于无线通信网络的通用无线定位服务专业运营商。论文给出了通用无线定位增值服务平台的系统结构，探讨了基于GSM和3GPP Parlay API规范的无线定位增值服务平台中间件功能层的定义以及服务平台的功能。
In addition to provide security service to mobile subscribers, the location of mobile stations can be also applied to network performance enhancement, more effective resource management, system capacity adjustment, and other various value-added services. The mobile positioning normally consists of two steps, the first step provides estimates of location parameters according to different location methods, and the second step determines the MS position using appropriate positioning algorithms, based on the available location parameters. In modern wireless communication environment, especially in urban environment, due to the influence of several adverse factors, such as Non Line of Sight (NLOS) propagation and Geometric Dilution of Precision (GDOP), the performance of all existing position methods is inevitably influenced, and the position estimation of the mobile terminals may be significantly biased as well. Thus, it is difficult for current radio location systems to meet the E-911 location requirement under the NLOS propagation environment. It is therefore the purpose of this thesis to investigate and propose accurate positioning algorithms (the second step) and their performance evaluation, in order to mitigate the NLOS errors.
Based on the analysis of NLOS influence to the location algorithms, NLOS error mitigation algorithms in location estimation are investigated. The first algorithm proposed in this thesis is a hybrid location method based Chan and Taylor algorithms, where the Chan algorithm is a closed form non-iterative maximum likelihood (ML) algorithm under the line-of-sight (LOS) environment, but its performance degrades significantly under NLOS environment, and the Taylor algorithm is a Taylor series expansion method depending heavily on the initial values in order to guarantee convergence. The proposed hybrid location method first calculates the initial MS position using Chan algorithm, then calculates the intermediate MS position according Taylor algorithm using the obtained initial results as the its initial values. The final MS position is then the linear combination of the intermediate results based on certain carefully chosen weights. It is shown that the hybrid location method can significantly improve the location accuracy under bad channel environments, and can also overcome the divergence problem of Taylor algorithm.
The second algorithm proposed is the Geometry-constrained NLOS mitigation algorithm based on ML-detection. The algorithm first computes the mobile position using arbitrary 3 TOA measurements according to their geometric relation, and then selects the most possible result from all computed results as the final MS estimated position using the ML algorithm. The proposed GML algorithm can achieve optimal estimate while preserving the computational efficiency of the ML detection algorithm and without requesting initial MS positions. It can restrain the NLOS errors effectively without knowing the exact conditional p.d.f.'s of the TOA measurements, resulting excellent positioning performance. The algorithm is also not sensitive to the standard deviation errors.
Due to the influence of multipath propagation and power control, the location accuracy of signal strength based techniques is limited. However, because it is easy to implement, cost effective and not necessary to modify the base station and mobile station, it is still widely used in GSM and other location systems. This thesis addresses the problem of improving the location accuracy of GSM positioning system by employing the existing GSM data. Hence, there is no need for any additional hardware, network overlay or infrastructure change. A data fusion model based on Geometric Dilution of Precision (GDOP) weighting for GSM mobile position estimation is proposed. By applying a set of practical GSM system measurement data, it is shown that the location accuracy is improved by 8% compared with the conventional CI+TA when the location error is within 300m. If the measurement data is processed beforehand, the location error will be less than 225 meters in 67% of the time, better than other positioning algorithms. The thesis also investigates the performance of standard positioning algorithms based on received signal strength difference (RSSD) and derives the corresponding CRLB bound, together with the numerical results.
Next, the single reflection ring of scatterer model is discussed, which is. suitable for analyzing many kinds of location algorithms. By analyzing the time delay characteristic of this model, a new TOA reconstruction method based on the ring of scatterer model and its improvement is proposed. The proposed method can significantly reduce the NLOS error and improve the location accuracy compared with the conventional method.
Considering that the future wireless communications will ensure seamless service provisioning across a multitude of wireless networks, from private to public, from indoor to wide area, and be able to provide an optimum delivery via the most appropriate network available, mobile terminals can communicate with each other cooperatively using high-speed wireless links. It is hoped that the information between MSs can also be used cooperatively to enhance the location accuracy. In this thesis, the cooperative location of wireless sensor network and cellular-controlled short-range communication system is investigated. Firstly, aiming at the enhanced positioning accuracy of wireless sensor network node location, an improved DV-DISTANCE positioning algorithm, which uses a differential error correction scheme for reducing cumulative distance error and node location error accumulated over the multiple hops, is proposed. Then, a cooperative high accuracy positioning algorithm for 4G is proposed together with the simulation analysis.
Finally, a general wireless location platform is discussed. As various wireless networks will co-exist in the future, a general platform built upon the existing independent mobile communication infrastructure is necessary. In this thesis, a new general value-added service platform for wireless location, suitable for specialized location service providers, is proposed to overcome the limitations of current individual location system with simplistic service and small coverage. The system architecture of the general platform is presented, and a concept of location middleware layer based on GSM and 3GPP Parlay API standard and other systems, is proposed, together with the possible location services which can be provided.
引文
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