Indoor positioning method based on range finding error correction

A technology for ranging error and indoor positioning, applied in the field of wireless positioning, can solve the problems of not achieving ideal results, high cost, complex technology, etc., and achieve the effects of reducing system burden, good error correction effect, and accurate positioning results.

Active Publication Date: 2018-08-17
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, these two methods are technically complex, costly, and have not achieved the desired effect

Method used

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  • Indoor positioning method based on range finding error correction
  • Indoor positioning method based on range finding error correction
  • Indoor positioning method based on range finding error correction

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0081] 1. Select the position MT of the node to be tested 1 (50,30), at this time the distance between the node to be tested and each positioning node is d 0 =25.495,d 1 =25.495,d 2 =20.000;

[0082] 2. Through the arranged AP points, combined with TOA technology, the distance measurement value r is obtained by calculating the sending and receiving time of the signal 0 =33.273, r 1 =27.315, r 2 =22.442, the positioning result MT obtained by the centroid algorithm 1 '=(53.151, 32.898), the positioning error is e 1 '=4.281.

[0083]3. From the established error compensation model, the functional relationship between the ranging value and the compensation value is determined:

[0084] f(μ i )+μ i = r i , to get the initial compensation value of this correction process, the size of the initial compensation value is μ 0 =4.962,μ 1 = 3.969,μ 2 = 3.157.

[0085] 4. Pre-correct the ranging value through the initial compensation value, and the pre-correction result Sub...

Embodiment 2

[0089] 1. Select the position MT of the node to be tested 2 (45,32), at this time the distance between the node to be tested and the positioning node is d 0 =21.190,d 1 =30.806,d 2 =18.682;

[0090] 2. Through the arranged AP points, combined with TOA technology, the distance measurement value r is obtained by calculating the sending and receiving time of the signal 0 = 22.747, r 1 = 35.647, r 2 =21.387, the positioning result MT obtained by the centroid algorithm 2 '=(43.263, 33.164), the positioning error is e 2 '=2.092.

[0091] 3. From the established error compensation model, determine the functional relationship between the ranging value and the compensation value:

[0092] f(μ i )+μ i = r i , to get the initial compensation value of this correction process. The size of the initial compensation value is μ 0 =3.208,μ 1 =5.358,μ 2 =2.981.

[0093] 4. Use the initial compensation value to pre-correct the ranging value, and the pre-correction result After p...

Embodiment 3

[0098] 1. Select the position MT of the node to be tested 3 (26.5,25.5), at this time the distance between the node to be tested and the positioning node is d 0 = 1.581, d 1 =48.503, d 2 = 33.949;

[0099] 2. Through the arranged AP points, combined with TOA technology, the distance measurement value r is obtained by calculating the sending and receiving time of the signal 0 = 1.695, r 1 =56.719, r 2 = 38.231, by r 1 -r 0 > l 01 , r 2 -r 0 > l 02 , easy to know by AP 0 The positioning circle with the center of the circle is respectively denoted by AP 1 The center of the positioning circle and the AP 2 Included by the positioning circle at the center of the circle, the three positioning circles do not intersect each other, so the position coordinates of the MT cannot be obtained.

[0100] 3. From the established error compensation model, determine the functional relationship between the ranging value and the compensation value:

[0101] f(μ i )+μ i = r i , to ...

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Abstract

The invention provides an indoor positioning method based on range finding error correction and relates to the wireless positioning field. A wireless signal transceiver is used to measure the actual data of a positioning environment, and the function model of an error compensation value and a real distance is established. According to a prior error model, an initial error compensation value is given to a range finding value, a positioning equation is established, and the relative positional relationship between any two positioning circles is determined. If each two of the positioning circles are intersected, there is no need to adjust the range finding value again. If the two positioning circles are not intersected, a pre-corrected range finding value is optimized again according to an established error compensation value adjustment function. Finally, the positioning equation is established and a final positioning result is acquired. In the invention, the range finding error is reduced, the accurate positioning result is acquired, positioning cost is saved, the construction of a range finding error prior model is simple and fast, applicability is wide and portability is high.

Description

technical field [0001] The invention relates to the field of wireless positioning, in particular to an indoor positioning method. Background technique [0002] In recent years, with the rapid development of wireless communication technology and wireless network, people's demand for indoor positioning is increasing day by day. Various forms of wireless signals such as RFID, WIFI, and UWB have long been used in the field of indoor positioning, but the inherent attributes of complex indoor environment scenes, many objects, and small spaces have brought great challenges to the research of indoor positioning. [0003] So far, indoor positioning technology is mainly divided into two methods: fingerprint matching and ranging, which can achieve a positioning accuracy of 3 to 4 meters. The fingerprint matching positioning method needs to establish a complete fingerprint database first, and its positioning accuracy depends on the sampling density and complex matching algorithm, and t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/06G01S5/12H04W4/33H04W64/00
CPCH04W4/33H04W64/00G01S5/06G01S5/12
Inventor 贺宏锟李旭婷王晓飞张迎天许炎雷阳
Owner NORTHWESTERN POLYTECHNICAL UNIV
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