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
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[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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