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Positioning method and system based on error compensation, terminal equipment and readable storage medium

A technology of error compensation and positioning method, which is applied in the direction of service based on location information, service based on specific environment, positioning, etc., and can solve problems such as signal propagation distortion and large positioning error

Active Publication Date: 2021-05-18
CENT SOUTH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, in the case of non-line-of-sight (NLOS, Not Line of Sight) such as between indoor floors, due to obstacles such as walls, multipath effects occur, which distorts signal propagation, resulting in trilateration, TOA, TDOA, chan algorithms, etc. The coordinates calculated by the class method have a large positioning error

Method used

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  • Positioning method and system based on error compensation, terminal equipment and readable storage medium
  • Positioning method and system based on error compensation, terminal equipment and readable storage medium
  • Positioning method and system based on error compensation, terminal equipment and readable storage medium

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Embodiment 1

[0051] When locating the target node, in three-dimensional space, there is an unknown node t=(x t the y t z t )′, there are n anchor nodes The position is fixed and known. On the two-dimensional plane X-O-Y, there are n azimuths ψ i (i=1,...,n), which are the anchor nodes s i The measured value of the azimuth angle between the mapping point of the unknown node t on the X-O-Y plane (ie with T 0 =(x t the y t )′ included angle, T 0 =(x t the y t )′ is the mapping point of the unknown node t on X-O-Y), and the angle has an error term e i (i=1,...,n), namely:

[0052] ψ i = φ i +e i

[0053] Among them, φ i is the actual angle value, there is the following relationship:

[0054]

[0055] Among them, φ i ∈(-π,π).

[0056] At this point, two hypothetical a priori conditions are satisfied:

[0057] Condition 1: e i are Gaussian independent and identically distributed variables, their expectation is 0, and the variance is σ 2 , and with the true azimuth ...

Embodiment 2

[0119] The difference between this embodiment and Embodiment 1 is that the estimated value with error compensation will be obtained in step S3 in this embodiment As an exact solution, it is applied to the calculation of step S4.

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Abstract

The invention discloses a positioning method and system based on error compensation, terminal equipment and a readable storage medium. The method comprises the following steps: S1, acquiring coordinate information of an anchor point and angle information of the anchor point and a positioning node; S2, calculating state matrixes A and B by adopting a least square method based on the coordinate information and the angle information of the anchor points obtained in the step S1; S3, constructing an auxiliary formula by using the state matrix A and the state matrix B in the step S2 to calculate a two-dimensional exact solution of the positioning node with error compensation; and S4, on the basis of a three-dimensional space structure, using the two-dimensional exact solution obtained in the step S3 to obtain another one-dimensional exact solution of the positioning node, and further obtaining a three-dimensional exact solution of the positioning node. According to the method, variance compensation processing is carried out through the obtained angle and distance information, target positioning in an indoor three-dimensional space is achieved, and the target positioning precision is effectively improved.

Description

technical field [0001] The invention belongs to the technical field of indoor positioning, and in particular relates to a positioning method based on error compensation, a system, a terminal device and a readable storage medium. Background technique [0002] Indoor positioning and tracking is a technology for real-time detection of the location of people, facilities and objects in an indoor space through various sensors, and is currently the most widely used. The problem of indoor localization involves estimating the position of an object from multiple noisy sensor measurements. Positioning performance can be clearly characterized by some metrics, such as calculating the Cramer-Rao lower bound (equal to the inverse Fisher Information Matrix (FIM)), usually using the Cramer-Rao lower bound to generate an uncertainty ellipse, which represents the Spatial variance distribution of a valid estimate (i.e. an estimate reaching a lower bound). The Cramer-Rao lower bound is a funct...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04W4/02H04W4/33H04W64/00G01S5/02
CPCH04W4/023H04W4/33H04W64/00G01S5/02
Inventor 邹逸群李江涛
Owner CENT SOUTH UNIV
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