Indoor 3D Localization Based on Wireless Communication Base Stations

For the problem of indoor 3D localization based on wireless communication base stations, this work analyzes the propagation characteristics of radio signals in LOS/NLOS environments. Based on the spatial constraints of the measured distances between base stations and the terminal, a method is proposed to compute the non-line-of-sight significance factor of the corresponding environment from TOA measurement data, thereby determining the corresponding non-line-of-sight environment parameters. TDOA (Time Difference of Arrival) observation data are constructed, and NLOS ranging errors are suppressed according to an exponential model of signal propagation delay. When solving for the terminal position by least squares, the singular value decomposition (SVD) method is used to resolve the ill-conditioning of the normal equation matrix, thereby building a wireless base-station localization algorithm applicable to different environments.

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