Neural Network Localization With TOA Measurements Based on Error Learning and Matching

Abstract

Due to the widespread application of location information, the neural network localization method with the advantage of high localization accuracy has received significant interests in recent years. In this paper, we present two new neural network localization methods with time-of-arrival (TOA) measurements. In order to deal with three types of error about TOA measurements such as measurement error, non-line of sight (NLOS) error, and synchronization error, the proposed methods contain an offline training stage and an online localization stage. In the offline stage, the artificial neural network (ANN) or radial basis function (RBF) neural network is utilized to train the range measurements with the output of range errors rather than the position of the mobile terminal (MT). Moreover, due to the unknown signal propagation condition whether it is the line of sight or NLOS propagation, the $k$ -mean clustering algorithm is used to classifying the range errors into different clusters. In the online stage, the range errors are predicted and updated, and then, the linear least square algorithm with the adjusted range measurements is applied for the position estimate of MT. Comparing with the ANN or RBF neural network localization methods, the simulation results show that the proposed methods can effectively reduce the localization error, especially when the training sample is not adequate. In addition, they are insensitive to measurement error, synchronization error, and the distribution of NLOS error. Finally, the memory requirement and computational complexity about different algorithms are analyzed and compared.