Intersection point judgment based trilateral locating method

Abstract

The invention provides an intersection point judgment based trilateral locating method. The method specifically includes: selecting three reference nodes; arranging a circle for each reference node and calculating an intersection point between any two optional cycles among the three cycles; selecting one intersection point from the intersection points of every two intersection cycles as a vertex of a triangle according to the selection criterion that when two intersection points exist between the two circles, the intersection point closest to the circumference of the third cycle is the vertex of the triangle; taking the triangle center of gravity formed by the three vertexes as the location estimation value of a tag node; calculating location estimation values of reference node combinations; calculating the average value of all tag node location estimation values and taking the average value as the final location of the tag node to realize location of the tag node. The third cycle is taken as the reference, two interaction points between the two cycles are selected, better fault tolerance of the triangle can be determined, the center of gravity of the triangle is closer to the tag node, and the selection method is simple in calculation and easy to implement.

Description

technical field [0001] The invention belongs to the technical field of sensor node-to-label node positioning, and in particular relates to a trilateral positioning method based on intersection point determination, which can be applied to the fields of industry, agriculture, military affairs, commerce and indoor positioning. Background technique [0002] In recent years, with the popularization of the concept of the Internet of Things, regional positioning technologies such as Wireless sensor network (WSN) and wireless local area network (Wireless Local Network, WLAN) are increasingly being used in industry, agriculture, military, commercial and other fields. researchers concerned. The goal of WSN is to connect scattered and independent sensor nodes wirelessly to form a distributed wireless sensor network, so as to process the environmental information collected in real time to realize the interaction between users and the environment. A very important point in environmental...

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Problems solved by technology

[0008] In view of this, the problem addressed by the present invention is that the intersection point of the two circles may be too far from the target point due to inaccurate range measurement due to factors such as signal multipath propagation and line-of-sight, so traditional trilateral positioning can be used The method brings a large positioning error, so that it cannot meet the positioning accuracy requirements in real life; the present invention proposes a trilateration positioning method based on intersection point determination, which uses the intersection point determination criterion in the process of determining the intersection point of two circles , using this criterion can select the intersection point closer to the target. This criterion is easy to operate and easy to implement, and can achieve the goal of improving positioning accuracy without causing a computational burden.

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