A positioning method and device

Abstract

An embodiment of the present invention provides a positioning method and device, the method including: obtaining the first measurement distance between itself and at least three preset positions measured by the laser radar at the point to be positioned; determining the distance corresponding to each preset position The intersection point between the circles, wherein the circle corresponding to each preset position is: the preset position is the center of the circle, and the sum of the first measurement distance measured by the laser radar at the preset position and the pre-obtained error is the radius The above error is: the statistical value of the difference between the second measurement distance corresponding to each known point and the actual distance, and the second measurement distance corresponding to each known point is: the laser radar measurement itself and the known point The actual distance corresponding to each known point is: the actual distance between the lidar and the known point; according to the position of the determined intersection point, the positioning of the point to be positioned is realized. By using the solution provided by the embodiment of the present invention for positioning, the position of the indoor point to be positioned 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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