| Citation: | Ziyao ZHU, Shuping HAN, Zhengdong GUO, Jianbo LIU. Single Beacon Location Algorithm Based on Nonlinear Fading Filter Under Multiplicative Noise Background[J]. Journal of Electronics & Information Technology, 2019, 41(1): 165-171. doi: 10.11999/JEIT180239
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Single beacon location algorithm based on additive noise model can not accurately represent the actual characteristics of distance measurement, leading to a problem of model mismatch. A two step location algorithm considering the multiplicative noise characteristics is presented, which combines least squares algorithm and nonlinear fading filter. A range error model in the background of multiplicative noise is established based on the analysis of the effective sound velocity error. The nonlinear fading filtering algorithm with single fading factor under multiplicative noise background is improved by introducing the attenuation factor which increases the track continuity. Using the least squares based pre-location process to solve the problem that the improved algorithm is sensitive to the initial value. The simulation and experimental data show that the location precision of the proposed algorithm is obviously better than the extended Kalman filtering algorithm under the additive noise background.
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