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An indoor three-dimensional positioning method based on non-line-of-sight error suppression

A technology of error suppression and three-dimensional positioning, applied in positioning, instruments, measuring devices, etc., can solve the problems that two-dimensional positioning technology is difficult to meet positioning requirements, achieve good positioning effect, improve ranging accuracy, and reduce the effect of impact

Active Publication Date: 2022-05-17
NANJING UNIV OF POSTS & TELECOMM
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In the current research on indoor positioning technology, there have been many research results on two-dimensional positioning technology. However, with the continuous expansion of the application field of indoor positioning technology, in many scenarios, two-dimensional positioning technology has been difficult to meet the positioning requirements. The support of effective 3D spatial positioning technology is needed in the environment, so the research on indoor 3D positioning has more practical significance and application prospects.

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  • An indoor three-dimensional positioning method based on non-line-of-sight error suppression
  • An indoor three-dimensional positioning method based on non-line-of-sight error suppression
  • An indoor three-dimensional positioning method based on non-line-of-sight error suppression

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Embodiment Construction

[0051] Below in conjunction with accompanying drawing and specific embodiment, further illustrate the present invention, should be understood that these embodiments are only for illustrating the present invention and are not intended to limit the scope of the present invention, after having read the present invention, those skilled in the art will understand various aspects of the present invention Modifications in equivalent forms all fall within the scope defined by the appended claims of this application.

[0052] Such as figure 1 and figure 2 As shown, the present invention provides an indoor three-dimensional positioning method based on non-line-of-sight error suppression, including the following steps:

[0053] 1) First measure the arrival time of the wireless signal, according to the coordinates X of each anchor node i =[x i the y i ] T ,i=1,2,...,N, the corresponding signal arrival time t is measured i ,i=1,2,..,N, so as to obtain the measured distance d from e...

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Abstract

The invention discloses an indoor three-dimensional positioning method based on non-line-of-sight error suppression. The method is applied to target positioning in an indoor non-line-of-sight environment. By analyzing the non-line-of-sight error, the positioning problem is transformed into a nonlinear constraint problem, and estimate the non-line-of-sight error to transform the non-line-of-sight problem into a line-of-sight problem, and finally combine linear least squares estimation to obtain accurate three-dimensional coordinates. The three-dimensional positioning technology adopted in the present invention is one of the current research hotspots in the field of indoor positioning. In the process of indoor three-dimensional positioning, the non-line-of-sight error suppression technology can effectively reduce the impact caused by multipath propagation and environmental changes, and improve the accuracy of indoor positioning.

Description

technical field [0001] The invention relates to the technical field of indoor positioning, in particular to an indoor three-dimensional positioning method based on non-line-of-sight error suppression. Background technique [0002] Indoor positioning technology refers to the precise positioning of the target position in the indoor environment. It mainly adopts a set of indoor position positioning system composed of wireless communication, base station positioning and other technologies to realize the position service of people and objects in the indoor space. . Common positioning technologies include positioning technologies based on Wi-Fi, Bluetooth, infrared, ultra-wideband, RFID, ZigBee and ultrasonic. [0003] The main problem of indoor positioning is that in the face of complex signal propagation environment, there are many obstacles in the indoor environment. During the propagation process of wireless signals, reflection, refraction, multipath effects and other phenome...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S5/06G01S5/14
CPCG01S5/06G01S5/14
Inventor 王韦刚田龙彬
Owner NANJING UNIV OF POSTS & TELECOMM