一种非视距环境下基于TOA三维定位的新方法研究

为消除非视距环境对TOA三维定位带来的误差，引入演化博弈模型，以各个测量基站作为博弈局中人，为非视距环境下的TOA三维定位问题建立了一般形式的复制动态模型.研究提出了基于演化博弈的TOA定位算法，通过迭代计算消除非视距误差，获得移动端的位置估计.进一步地，针对基站位置分布明显不均的情况，在演化博弈TOA定位算法的基础上，通过构造虚拟基站和虚拟测量值，提出了基于虚拟基站的三维定位算法.实验对比显示基于演化博弈的TOA定位算法略优于经典定位算法，在基站位置分布明显不均的情况下，基于虚拟基站的三维定位算法效果较明显.

A New Method for 3D TOA-Geolocation in Non-Line-of-Sight Environment

The evolutionary game was introduced to reduce errors caused by the non-line-of-sight environment in 3D TOA-geolocation problems. A general dynamic replication model was established for the 3D TOA-geolocation problem in the non-line-of-sight environment. With each measuring base station as a player in this game, a TOA-geolocation algorithm based on the evolutionary game was proposed. The non-line-of-sight error was effectively reduced through iteration and the position of the mobile terminal was obtained finally. On the basis of the TOA-geolocation game algorithm, another 3D locating algorithm by means of the virtual base station and the virtual measuring data was designed for base stations with uneven position distribution. The experimental results show that, the TOA-geolocation algorithm based on the evolutionary game is slightly better than the classical algorithms. The 3D locating algorithm based on the virtual base station is more effective when the position distribution of the base station is obviously uneven.