A Least Squares 3D Positioning Method Based on Distance Estimation Screening
A distance estimation and three-dimensional positioning technology, which is applied in the field of high-precision distance estimation technology and wireless positioning, and can solve problems such as low positioning accuracy, non-line-of-sight error, and environmental interference.
Active Publication Date: 2022-07-05
HARBIN INST OF TECH AT WEIHAI +1
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Problems solved by technology
[0003] The purpose of the present invention is to solve the problem of low positioning accuracy caused by multipath propagation, non-line-of-sight error, environmental interference and measurement error, which have a relatively large negative impact on the distance estimation accuracy and positioning accuracy, and provide a distance estimation based Least squares three-dimensional localization method for value screening
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specific Embodiment approach 2
[0052] Specific embodiment 2, this embodiment further describes a least squares three-dimensional positioning method based on distance estimation value screening described in specific embodiment 1. In step 1 of this embodiment, m is the number of anchor nodes, In the present invention, m=5.
specific Embodiment approach 3
[0053] Specific embodiment three, this embodiment is to further describe a least squares three-dimensional positioning method based on distance estimation value screening described in specific embodiment one, the three-dimensional positioning space in the second step of the first embodiment , and the high-distance cutting is divided into l, w, and h. In the present invention, l=6, w=6, h=6. According to formula (1), the value of n can be obtained as 216.
specific Embodiment approach 4
[0054] Specific Embodiment 4, this embodiment further describes a least-squares three-dimensional positioning method based on distance estimation value screening described in Embodiment 1. In Step 11 of this Embodiment 1, k represents the selected distance estimation value. number, k=8 in the present invention.
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A least-squares three-dimensional positioning method based on distance estimation value screening relates to a high-precision least-squares three-dimensional positioning method. The invention is to effectively solve the problem of low distance estimation accuracy and three-dimensional positioning accuracy due to bad influences such as noise and measurement error in wireless signal propagation. According to the least squares three-dimensional positioning method based on distance estimation value screening, the three-dimensional positioning space is firstly divided into several cubes of the same size, and the center point of each cube is used as a feature point; The distance estimation value between the unknown node and each anchor node is obtained by the ranging method; finally, the evaluation and reverse inspection strategy based on feature points are used to screen out high-quality distance estimates and the corresponding anchor nodes, and the least squares positioning method is used. , to obtain high-precision positioning results.
Description
technical field [0001] The present invention relates to high-precision distance estimation technology and wireless positioning technology. Background technique [0002] The three-dimensional wireless positioning technology based on ranging is widely used in the fields of military, industry, transportation, and people's livelihood. The accuracy of 3D positioning based on ranging depends on the accuracy of distance estimation between wireless sensor network nodes. In practical positioning applications, multipath propagation, non-line-of-sight errors, environmental interference, and measurement errors have a large negative impact on distance estimation accuracy and positioning accuracy, which brings great challenges to improving 3D positioning accuracy. In order to improve the least squares 3D positioning accuracy based on ranging, the present invention can effectively reduce the negative impact of errors and noise on the distance estimation accuracy and the 3D least squares p...
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IPC IPC(8): G01S5/14
CPCG01S5/14
Inventor 罗清华周鹏太焉晓贞彭宇胡聪彭喜元
Owner HARBIN INST OF TECH AT WEIHAI