Positioning method and device

Abstract

Embodiments of the invention provide a positioning method and device. The method includes the following steps: first measurement distance between a measured laser radar itself at a to-be-positioned point and at least three preset positions is obtained; and intersections between circles corresponding to each of the preset positions are determined, wherein the circle corresponding to each of the preset positions is the circle with the preset position as the center of the circle, and utilizing the sum of the first measurement distance measured by the laser radar at the preset position and an error obtained in advance as the radius, the error is a statistical value of a difference between second measurement distance corresponding to each of known points and actual distance, the second measurement distance corresponding to each of the known points is the distance between the measured laser radar itself and the known point, and the actual distance corresponding to each of the known points isthe actual distance between the laser radar and the known point; and positioning of the to-be-positioned point is achieved according to positions of the determined intersections. The positioning is performed by utilizing the scheme provided by the embodiments of the method and the device, and a position of an indoor to-be-positioned point can be accurately obtained.

Description

technical field [0001] The present invention relates to the technical field of wireless communication, in particular to a positioning method and device. Background technique [0002] With the development and progress of the times, robots and unmanned driving have become the main direction of future technological development, followed by the demand for high-precision positioning. Existing positioning methods generally perform positioning based on GPS (Global Positioning System, Global Positioning System) signals. Specifically, the position of the point to be positioned where the GPS receiver is located is determined according to satellites with known positions. The GPS signal received by the GPS receiver records the signal transmission time. In addition, the GPS receiver can obtain the signal arrival time after receiving the GPS signal. Then, the GPS signal propagation time can be calculated according to the above signal transmission time and signal arrival time. . Based o...

AI Technical Summary

Problems solved by technology

[0003] However, when GPS signals are used to locate indoor points to be located, it is difficult for the GPS receiver to receive the GPS signals indoors, so the GPS receiver cannot accurately obtain the signal arrival time of the GPS signals, and thus cannot accurately calculate the propagation time of the GPS signals.

In this way, the positioning point cannot be accurately positioned.

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