Indoor three-dimensional positioning improved algorithm based on least square method

A least-squares method and three-dimensional positioning technology, which is applied to services based on location information, services based on specific environments, electrical components, etc., can solve the problems of low positioning accuracy and large positioning errors, so as to improve accuracy and reduce dependencies Effect

Inactive Publication Date: 2020-01-24
NANJING INST OF TECH
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Problems solved by technology

[0004] Purpose of the invention: Aiming at the problem of large positioning error and low positioning accuracy caused by the traditional least square

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  • Indoor three-dimensional positioning improved algorithm based on least square method
  • Indoor three-dimensional positioning improved algorithm based on least square method
  • Indoor three-dimensional positioning improved algorithm based on least square method

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Embodiment Construction

[0018] The invention discloses an improved indoor three-dimensional positioning algorithm based on the least square method, which includes the following steps:

[0019] Step A: Set up n fixed base stations and a mobile label node to be requested indoors, and the number of base stations is at least 4 such as figure 1 shown;

[0020] Step B: take a point in the room as the origin, and establish a three-dimensional coordinate system in space;

[0021] Step C: Obtain the three-dimensional coordinates (x i ,y i ,z i ) and the distance between each base station and the tag node;

[0022] Step D: Use the least square method to find the plane two-dimensional coordinates of the label nodes; further, the calculation process of step D is as follows: assuming that there are n fixed base station nodes (n≥4) in the three-dimensional space, the coordinates of the base station nodes are respectively (x 1 ,y 1 ,z 1 ), (x 2 ,y 2 ,z 2 )……(x n ,y n ,z n ), let the coordinates of the ...

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Abstract

The invention discloses an indoor three-dimensional positioning improved algorithm based on a least square method, and the algorithm comprises the following steps: setting n fixed base stations and ato-be-solved mobile label node indoors, wherein the number of the base stations is at least four; establishing a spatial three-dimensional coordinate system by taking an indoor point as an original point; obtaining three-dimensional coordinates (xi, yi, zi) of the n base stations and the distance between each base station and the label node in an ultra wide band UWB communication mode; solving three-dimensional coordinates of the label nodes by using a least square method; and according to the solved three-dimensional coordinates of the label node, reserving the two-dimensional coordinates ofthe plane, and re-optimizing and calculating the horizontal height value of the label node. The horizontal height value is optimized and improved on the basis of the existing least square method, thedependence of the least square method on the three-dimensional geometric layout of the base station is reduced, the three-dimensional positioning precision is improved, and the positioning effect is stable.

Description

technical field [0001] The invention relates to an indoor three-dimensional positioning system, in particular to an improved indoor three-dimensional positioning algorithm based on the least square method. Background technique [0002] When satellite positioning cannot be used in an indoor environment, indoor positioning technology is used as an auxiliary positioning of satellite positioning to solve the problem that satellite signals are weak when they reach the ground and cannot penetrate buildings. Finally locate the current position of the object. Indoor positioning refers to the realization of position positioning in the indoor environment. It mainly adopts wireless communication, base station positioning, inertial navigation positioning and other technologies to form an indoor position positioning system, so as to realize the position monitoring of people and objects in the indoor space. Common indoor wireless positioning technologies include cellular positioning, Wi-...

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Application Information

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IPC IPC(8): H04W4/021H04W4/33H04W64/00
CPCH04W4/021H04W4/33H04W64/00
Inventor 曹雪虹焦良葆王桂杰顾惠东
Owner NANJING INST OF TECH
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