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A technology of propagation characteristics and positioning method, applied in the field of positioning, can solve the problems of complex electromagnetic waves and no propagation model, and achieve the effects of reducing ranging error, wide versatility, and improving accuracy
Active Publication Date: 2016-04-20
WUHAN UNIV
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[0008] The technical problem to be solved by the present invention is that the relationship between the transmission of electromagnetic waves and the environment is very complicated, especially in the indoor environment, because there are many blockin
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[0036] The specific implementation method of the present invention will be described below by taking the UWB three-dimensional positioning system as an example. Other systems (including two-dimensional and three-dimensional positioning) for distance measurement and positioning based on electromagnetic wave propagation characteristics can refer to this example.
[0037] The basic components of the existing UWB positioning system are:
[0038] Positioning tag (Tag), that is, the user equipment that needs to be positioned;
[0039] Anchor (Anchor), used for distance measurement with the positioning tag, and transmitting the distance measurement result to the positioning calculation server, its position is fixed, and the coordinates are measured by other methods (such as a total station);
[0040]The positioning calculation server runs the communication control program and the positioning calculation program. The communication control program receives the distance measurement res...
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Abstract
The invention provides an electromagnetic wave propagation characteristic-based indoor distance measurement positioning method. The electromagnetic wave propagation characteristic-based indoor distance measurement positioning method is realized based on a positioning system. The method includes the following steps that: a control point information table and an electromagnetic wave propagation model table are built at a positioning calculation server; a plurality of positioning labels are preset in a target area which requires positioning accuracy improvement so as to be adopted as control points, and the coordinates of the control points are measured, and real distances between the control points and each anchor point are calculated, and the coordinates of the control points and the real distances between the control points and the anchor points are written into the control point information table; the differences of the real distances between each control point and each anchor point, and observation distances are calculated, and are written into the electromagnetic wave propagation model table as distance correction values; and when indoor positioning is performed on user labels, control points adjacent to the positions of users are selected according to the electromagnetic wave propagation model table or the control point information table, and distance correction values of the positions of the users are calculated according to the distance correction values, and the distance values of the user labels and each anchor point are corrected, and the accurate coordinates of the users are re-calculated.
Description
technical field [0001] The invention belongs to positioning technology, and relates to an indoor positioning method based on TOA / TDOA / TOF technology. Background technique [0002] Outdoor positioning technology is very mature, and there are many kinds of GNSS devices on the market that can meet the various needs of different users from meter level to millimeter level. In fact, many industries have put forward higher and higher requirements for indoor positioning technology, such as the Internet of Things industry, industrial plants, tourism industry, commercial places, airports, fire protection, public security, military, parking lots, medical care, robots, unmanned machines, tunnel mines, etc. For indoor positioning, although there are currently many solutions, such as base station positioning, WIFI fingerprint positioning, ultrasonic positioning, Bluetooth positioning, geomagnetic positioning, pseudolite positioning, UWB positioning, etc., due to technical limitations and...
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