An indoor positioning method based on out-of-plane anchor node mapping and rasterization correction
An indoor positioning and anchor node technology, which is applied in the directions of instruments, navigation, surveying and mapping, etc., can solve the problems of high communication overhead and high cost, and achieve the effect of simplifying the algorithm process
Active Publication Date: 2020-06-02
SOUTHEAST UNIV
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[0005] Purpose of the invention: Aiming at the problem of the above-mentioned mobile positioning accuracy of the existing home service robot under the interference of a large number of walls and doors, and the indoor positioning using distance measurement based on the high communication overhead and high cost required for high-precision positioning, the present invention proposes a An indoor positioning method based on different-plane anchor node mapping and rasterization correction. This method is suitable for recalculating the positioning information of the robot in the home environment and improving the accuracy of the trilateration positioning algorithm in the indoor NLOS environment.
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[0027] In order to describe the technical solutions disclosed in the present invention in detail, further description is given below in conjunction with the accompanying drawings and specific embodiments of the description.
[0028] like figure 1 As shown, an indoor positioning method based on out-of-plane anchor node mapping and rasterization correction includes the following three steps:
[0029] (a) Establish an out-of-plane test model;
[0030] (b) dimensionality reduction processing of the projection plane obtained by mapping different planes;
[0031] (c) Accuracy adjustment and correction for the same plane.
[0032] like figure 2 As shown, in step (a) establishing the different plane test model, first, the different plane is projected onto the plane to obtain the indoor plane map, and then the indoor plane map is uniformly rasterized, and then the indoor anchor nodes are arranged, preferably using iBeacon as the The beacon node collects the electric field signal s...
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The invention discloses an indoor positioning method based on isoplanar anchor point mapping and rasterization correction. The method comprises the following steps: (a) establishing an isoplanar test model; (b) performing dimensionality reduction treatment on the projection plane; (c) adjusting and correcting the precision of the same plane. In order to solve the problems of inaccurate positioning and route planning under the condition of various indoor barriers, the invention provides the indoor positioning method in the correction mode of performing dimensionality reduction treatment by mapping the barrier projection to a same plane and performing plane map rasterization. According to the method disclosed by the invention, the problem of high communication cost of the distance side measurement and positioning of the present non-line of sight can be simplified, the positioning accuracy of to-be-positioned moving object under a multi-barrier condition can be increased and the reliability of the route planning can be promoted.
Description
technical field [0001] The invention belongs to a positioning technology for reducing positioning errors in an indoor environment, in particular to an indoor positioning method based on different plane anchor node mapping and grid deviation correction. Background technique [0002] With the improvement of living standards and the advancement of science and technology, many smart home products continue to enter our lives, bringing us great convenience and greatly improving our quality of life. Service robots are the products of society and people's pursuit of high-quality and easy life. In China and even all over the world, home service robots have a huge customer base and market, and have become an important development trend in the development of the robot industry. A key direction of robotics development. [0003] In the development process of service-based intelligent robots, general robots or other smart home service mobility products are mainly used indoors. Therefore,...
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IPC IPC(8): G01C21/20H04W64/00
CPCG01C21/206H04W64/00
Inventor 徐平平刘俊胡巨涛
Owner SOUTHEAST UNIV