An indoor collaborative positioning method based on spatial analysis

A collaborative positioning and spatial analysis technology, applied in location information-based services, specific environment-based services, wireless communications, etc., can solve the problem of non-line-of-sight cooperative positioning partitions that cannot be positioned, so as to avoid the reduction of positioning accuracy and improve Effects of Ray Tracing Efficiency and Positioning Accuracy Improvement

Active Publication Date: 2020-09-25
HARBIN ENG UNIV
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Problems solved by technology

[0010] The purpose of the present invention is to solve the problem that non-line-of-sight cooperative positioning partitions cannot be positioned in indoor positioning, and propose an indoor collaborative positioning method based on spatial analysis to improve the positioning accuracy of direct positioning areas in line-of-sight environments

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  • An indoor collaborative positioning method based on spatial analysis
  • An indoor collaborative positioning method based on spatial analysis
  • An indoor collaborative positioning method based on spatial analysis

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Embodiment Construction

[0057] The specific embodiment of the present invention will be further described below in conjunction with accompanying drawing:

[0058] An indoor collaborative positioning method based on spatial analysis, comprising the following steps:

[0059] (1) Utilize the improved ray tracing algorithm oriented to positioning space analysis, preprocess the fixed reference point position in the space and the image point information in the space, and establish the reflection surface filter set method;

[0060] (2) Use the indoor space area determination algorithm based on improved ray tracing technology to determine whether a certain area in the space meets the required number of line-of-sight paths, and distinguish between direct positioning partitions and cooperative positioning partitions;

[0061] (3) Utilize the two-stage cooperative positioning algorithm based on spatial analysis. In the first stage, the target node receives the positioning signals of all reference points, perfor...

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Abstract

The invention discloses an indoor cooperative positioning method based on spatial analysis, belonging to the indoor positioning field. The method comprises: improved ray-tracing algorithm for positioning space analysis; indoor space region decision algorithm based on improved ray tracking technology; two-stage cooperative localization algorithm based on spatial analysis. According to the characteristics of stable space structure in indoor environment, based on ray tracing technology, the space environment is analyzed, different locating regions are divided and the number of locating referencesignals in each region is counted, then the direct locating region and the cooperative locating region are judged. According to the spatial partition, the target nodes which need or do not need cooperative localization are judged, and an indoor cooperative localization method based on spatial analysis is proposed. This indoor cooperative positioning method effectively avoids the problem of lowering the positioning accuracy caused by the moving reference node with large error and improves the positioning accuracy of the whole system.

Description

technical field [0001] The invention belongs to the field of indoor positioning, and in particular relates to an indoor collaborative positioning method based on space analysis. Background technique [0002] The essence of indoor positioning technology is to estimate the position of the terminal to be positioned. Depending on the calculation method, the variables required for positioning in the indoor positioning algorithm mainly include many types such as signal arrival time, arrival angle, signal arrival time difference, and received signal strength. [0003] Cooperative positioning technology has two main advantages: First, due to the short distance between users, the point-to-point (P2P) measurement between terminals to be located may be very accurate, so even if all terminals to be located are relative to all available reference points Both under non-line-of-sight conditions, the accuracy of the positioning system can also be improved. Second, due to the characteristic...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H04W4/02H04W4/021H04W64/00H04W4/33
CPCH04W4/02H04W4/33H04W64/00
Inventor 冯光升杨帅征赵帅王慧强王贺哲梁森
Owner HARBIN ENG UNIV
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