High-precision indoor wireless positioning method

An indoor wireless, positioning method technology, applied in the direction of positioning, wireless communication, radio wave measurement system, etc., can solve the problem of not being able to obtain a unique solution, affecting the positioning accuracy, and not being used effectively.

Active Publication Date: 2019-09-24
袁正道
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Problems solved by technology

[0005] 1. The three-point positioning algorithm needs to solve the equations, but due to the existence of measurement errors, it is often impossible to obtain a unique solution, and it needs to be approximated, which affects the positioning accuracy
[0006] 2. The centroid algorithm has poor positioning accuracy when the number of anchor nodes is small
[0007] 3. The least squares estimation needs to calculate the pseudo-

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Embodiment Construction

[0092] Below in conjunction with accompanying drawing and embodiment the present invention is described in detail:

[0093] Such as Figure 1 to Figure 8 As shown, the high-precision indoor wireless positioning method of the present invention includes the following steps in turn:

[0094] A: Assuming that the number of anchor nodes available to the measured node at time t is N, N≥3, the coordinates of the corresponding anchor nodes are obtained according to the serial number of each anchor node (x n ,y n ,z n ), and randomly number the N anchor nodes as [1:N]; get the distance from the measured node to the nth anchor node at time t according to the arrival time or received power 1≤n≤N;

[0095] The implementation process is attached figure 1 As shown in , the five-pointed star represents the anchor node at a fixed position, and the circle represents the measured node. Assuming that the measured node undergoes continuous displacement over time, the moving ro...

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Abstract

The invention discloses a high-precision indoor wireless positioning method. The method comprises the following steps: A, obtaining distances from all N anchor nodes to a measured node and coordinates of the anchor nodes at a moment t; B, mining spatial correlation of adjacent moments through Kalman filtering, defining Kalman state equation coefficients on three coordinates of x, y and z at the moment t, and summarizing vectors and matrixes at all moments into a specified set form; C, performing factor decomposition on the global probability distribution by utilizing a total probability formula and a Kalman state equation; D, modeling by utilizing the factor decomposition obtained in the step C, and dividing the factor graph model into a lattice network part, a Kalman network part and a Kalman parameter estimation part; and E, carrying out message calculation on the lattice network part, the Kalman network part and the Kalman parameter estimation part through a message transmission algorithm. According to the method, the high-precision position information of the indoor to-be-tested node can be obtained efficiently and accurately.

Description

technical field [0001] The invention relates to the field of positioning measurement, in particular to a high-precision indoor wireless positioning method. Background technique [0002] With the development of wireless communications and mobile networks, people's demand for positioning is increasing. However, due to factors such as signal occlusion, it is difficult to deploy general positioning technologies such as Beidou and GPS in indoor environments. [0003] Existing wireless positioning technologies for indoors mainly include ultra-wideband (UWB), WiFi and Beacon positioning technologies, etc., each of which has specific applicable scenarios. The basic idea of ​​the above technology is to obtain the distance between the measured node and the anchor node by calculating the signal arrival time or received power of the "anchor node" (positioning node with known layout coordinates), and then use the triangulation method, centroid algorithm or least squares The multiplicati...

Claims

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Application Information

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IPC IPC(8): H04W4/02H04W4/33H04W64/00G01S5/14
CPCG01S5/14H04W4/023H04W64/00H04W4/33
Inventor 袁正道李慧慧史梁蔡豪王友顺
Owner 袁正道
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