Fusion Localization Algorithm Based on Robust IMM Model Combined with Semi-Definite Programming

With the continuous development of wireless sensor network (WSN) technology, WSN has gradually become one key technologies Internet, and is widely used in indoor target location technology. However, obstacles will have a great influence on distance measurement, it result large positioning error. Therefore, how to deal with non-line-of-sight (NLOS) error becomes an important problem. In this paper, Interacting Multiple Model (IMM) was identify NOLS/LOS. The NLOS probability calculated by Markov transform probability, likelihood function extended Kalman filter (EKF). compared LOS judge whether measurement contained A robust algorithm combining IMM model semidefinite programming (IMM-SDP) proposed. improved convex proposed reduce Simulation experimental results showed that can effectively achieve higher accuracy existing methods.