圆拟合虚拟单站定位算法是无线网中非视距条件下一种有效的单站定位方法。散射体位置以及散射距离是该算法的两个关键参数，直接决定该算法的最终定位性能。本文提出合成运动的扩展卡尔曼方法，有效抑制定位过程中的二次方项对误差的乘性影响。该方法利用单站的运动信息，并根据相对运动的基本原理，将机动单站运动特性转换为伪目标的运动，在每步递推过程将非线性方程线性化近似，提高散射体位置以及散射距离的估计精度。仿真结果表明，该算法具有良好的估计性能。%The circle fitting and virtual station algorithm is an efficient method to locate the target station position under the non-line-of-sight (NLOS) environment by using a single station .The scatterer position and the scattering distance are the key pa-rameters in this algorithm ,and decide the location algorithm ability directly .To decrease the multiplicative noises impact of the quadratic item during the estimation process ,the synthetic motion EKF method is proposed .The main idea of this method is that the non-line equation is approximate by the line equation in each iteration step .The motion information of the single station is used ,and that motion is switched to the motion of pseudo target station (PTS) according to the fundamental theory of the relative motion to establish the EKF equation .As a result ,the location precision also increased accordingly .The simulation results verify the perfor-mance of this method .
展开▼
