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A 3D indoor positioning method based on barycentric coordinates combined with taylor expansion

A center-of-gravity coordinates and indoor positioning technology, applied in location-based services, specific environment-based services, positioning, etc., can solve problems such as positioning errors, three-dimensional coordinate height errors, accumulation, etc., and achieve strong limitations and strong scalability , Solve the effect of insufficient z-axis precision

Active Publication Date: 2021-11-23
北京理工大学重庆创新中心
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  • Abstract
  • Description
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AI Technical Summary

Problems solved by technology

An obvious defect of the trilateral positioning algorithm is that for a high-precision indoor three-dimensional positioning system, the positioning accuracy of the xOy plane coordinates calculated by this method is acceptable, which can meet the requirements of general indoor two-dimensional positioning; but the x-axis and y The error generated by the axis will be accumulated to the z-axis, resulting in the positioning error of the z-axis being significantly greater than the positioning errors of the x-axis and y-axis, that is, the height in the three-dimensional coordinates currently has a large error, and this problem has not been resolved

Method used

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  • A 3D indoor positioning method based on barycentric coordinates combined with taylor expansion
  • A 3D indoor positioning method based on barycentric coordinates combined with taylor expansion
  • A 3D indoor positioning method based on barycentric coordinates combined with taylor expansion

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Embodiment 1

[0062] The drone needs the current position coordinate T to determine the corresponding control strategy, so high-precision positioning information is very important for the drone system itself, and its application scenario is like figure 1 Indicated. The drone system performs a ranging by the label T with the anchor when performing the task, and utilizes the relevant positioning algorithm by obtaining the relevant positioning algorithm, and the position of the drone is by anchor. The constructed three-dimensional Euclidean spatial coordinates T (X, Y, Z) are characterized, where x, y, and z represent the coordinate values ​​in the X-axis, the Y-axis, the Z-axis direction under the three-dimensional spatial coordinate system, respectively.

[0063] In this embodiment, the center-based indoor positioning method based on the center-based coordinate binding Taylor, which is used to construct an Euclidean space coordinate system by collecting the distance information between the ancho...

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Abstract

The invention discloses a three-dimensional indoor positioning method based on center of gravity coordinates combined with Taylor expansion, which belongs to the technical field of indoor positioning. The specific steps are as follows: (1) The tag T to be tested is formed with anchor points O, A, B, and C in space Four tetrahedrons, respectively calculate the volume V T‑ABC , V T‑OBC , V T‑OAC , V T‑OAB and volume V O‑ABC ; (2) Use the volume ratio to calculate the coordinates of the center of gravity {a TO , a TA , a TB , a TC}; (3) determine the coordinates of the center of gravity {a TO , a TA , a TB , a TC} symbol mode; (4) use the weighting of tetrahedron vertices to solve the initial coordinate T 1 ; (5) Using the initial coordinate T 1 As the initial value of Taylor's expansion, it is judged whether the condition |Δx|+|Δy|+|Δz| The characteristics of the point, calculate the initial positioning value of the label, and improve the indoor three-dimensional positioning accuracy through Taylor expansion.

Description

Technical field [0001] The present invention belongs to the technical field of indoor positioning, and it is directed to a three-dimensional high-precision indoor positioning method based on ultra-wideband signals, and in particular, a three-dimensional indoor positioning method based on the center of gravity coordinates. This method utilizes the ultra-wideband ranging information between multiple anchor points and the label, combined with TAYLOR, the positioning algorithm based on the four-sided weight coordinates, combines Taylor to achieve a high-precision three-dimensional positioning of the indoor environment. Background technique [0002] UltraWideBan, referred to as UWB technology is a new type of wireless communication technology that is directly modulated by a puncturing pulse with very steep rising and falling time, making signal GHz magnitude bandwidth. UWB technology is to achieve information transmission using the polaroid pulse of the nanosecond or even the picoseco...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H04W4/02H04W4/021H04W4/33G01S5/02
CPCG01S5/02H04W4/023H04W4/33
Inventor 俞成浦何澄洋唐潮
Owner 北京理工大学重庆创新中心
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