Pseudo-Satellite Indoor 3D Localization Method Based on Chan-SQP

Aiming at the problem that pseudo-satellites are susceptible to multipath effect and Non Line of Sight (NLOS) error when using Time Difference of Arrival (TDOA) principle for indoor localization, which leads to poor localization accuracy and inaccurate convergence results, this paper proposes a new method to improve the Chan algorithm for indoor 3D localization by Sequential Quadratic Programming (SQP). Sequential Quadratic Programming (SQP) improves Chan's algorithm for indoor 3D localization. The algorithm first uses Chan algorithm to solve the TDOA system of equations to obtain the estimated coordinate value of the target to be solved, and the estimated value is used as the initial value of the SQP algorithm to carry out iterative optimization in order to determine the final positioning value of the target. Indoor 3D localization experiments using pseudo-satellites are conducted, and the results show that the Chan-SQP algorithm can effectively improve the indoor localization accuracy compared with the traditional TDOA algorithm.