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Twice-weighted mass center determining method and system for indoor positioning

A weighted centroid and indoor positioning technology, which is applied in positioning, radio wave measurement systems, measuring devices, etc., can solve the problems of high database maintenance costs, nodes affecting the reliability of positioning algorithms, and high positioning costs

Inactive Publication Date: 2017-01-25
武汉创驰蓝天信息科技有限公司
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  • Application Information

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Problems solved by technology

Although the existing indoor positioning technologies such as WLAN and ultra-broadband radio systems have achieved local indoor high-precision positioning, the cost of positioning is relatively high. At the same time, the maintenance cost of the database using the fingerprint database positioning method is very high. Not only that, the damage of nodes will Seriously affect the reliability of positioning algorithms, which makes the development of indoor location services encounter great resistance

Method used

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  • Twice-weighted mass center determining method and system for indoor positioning
  • Twice-weighted mass center determining method and system for indoor positioning
  • Twice-weighted mass center determining method and system for indoor positioning

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Embodiment Construction

[0059] A method for determining a quadratic weighted centroid for indoor positioning, comprising the steps of:

[0060] S1. Take the three anchor nodes A(x1,y1), B(x2,y2), and C(x3,y3) as the center respectively, and take the distance d1, d2, and d3 from the unknown node U to the above three anchor nodes as the radius Make a circle, the intersection of the three circles is the position of the unknown node;

[0061] S2, obtain and solve the equation of the actual coordinate U(xU, yU) of unknown node, described equation is as follows:

[0062] (xU-x1) 2 +(yU-y1) 2 =d1 2

[0063] (xU-x2) 2 +(yU-y2) 2 =d2 2

[0064] (xU-x3) 2 +(yU-y3) 2 =d3 2 ;

[0065] S3, carry out pairwise subtraction of the equation in step S2, geometric meaning is the expression of straight line L1, L2, L3, the intersection point of three straight lines is the position of unknown node; The equation of pairwise subtraction is as follows:

[0066] 2(x2-x1)x+2(y2-y1)y=d1 2 -d2 2 -x1 2 +x2 2 -y1 ...

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Abstract

The invention relates to a twice-weighted mass center determining method for indoor positioning. The method comprises the following steps of S1, respectively making circles by using three anchor nodes A(x1, y1), B (x2, y2) and C(x3, y3) as circle centers and using distances d1, d2 and d3 from an unknown node U to the three anchor nodes as radii, wherein the intersection point of three circles is the unknown node; S2, obtaining the equation for solving the practical coordinates U (xU, yU) of the unknown node; S3, performing pairwise subtraction by the equation in the step S2; S4, changing the coordinates of the unknown node to show the average number of the circle intersection point, i.e., supposing the coordinates of the intersection point to be (xi, yi), wherein i=1, 2 and 3, and the weight is Wi; S5, averaging mass center coordinates calculated from four anchor nodes in an ordinary average calculation mode; S6, adding weights in the four edge measuring process in the step S5. The invention also provides a twice-weighted mass center determining system for indoor positioning.

Description

technical field [0001] The present invention relates to the technical field of indoor positioning, in particular to a method and system for determining a twice-weighted centroid for indoor positioning. Background technique [0002] With the development of science and technology and the continuous change of human activities, the indoor environment is further expanded and the layout is becoming more and more complex. People's demand for location information is also increasing. More and more indoor positioning technologies are used in location determination, indoor Navigation, social entertainment, information recommendation and other fields. [0003] Different from outdoor positioning, indoor positioning is generally in a relatively closed environment, the scale and scope of positioning are relatively small, the indoor environment is complex, and the direct wave path is seriously affected. Therefore, indoor positioning is important in positioning accuracy, reliability and secu...

Claims

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Application Information

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IPC IPC(8): G01S5/14
CPCG01S5/14
Inventor 张浩刘芬
Owner 武汉创驰蓝天信息科技有限公司
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