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A positioning method, system, terminal device and readable storage medium based on error compensation

A technology of error compensation and positioning method, applied in the direction of location information-based services, specific environment-based services, positioning, etc., can solve problems such as signal propagation distortion, large positioning errors, etc., to improve accuracy, improve positioning results, and apply foreground effect

Active Publication Date: 2021-12-14
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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  • A positioning method, system, terminal device and readable storage medium based on error compensation
  • A positioning method, system, terminal device and readable storage medium based on error compensation
  • A positioning method, system, terminal device and readable storage medium based on error compensation

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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, system, terminal equipment and readable storage medium based on error compensation. The method includes the following steps: S1: Acquire the coordinate information of the anchor point and the angle information between the anchor point and the positioning node; S2: Based on The coordinate information and angle information of the anchor points obtained in step S1 are used to calculate the state matrix A and B by the least square method; S3: use the state matrix A and B in step S2 to construct the auxiliary formula to calculate the two-dimensional position of the positioning node with error compensation Exact solution; S4: Based on the three-dimensional space structure, using the two-dimensional accurate solution obtained in step S3 to obtain another dimensional accurate solution of the positioning node, and then obtain the three-dimensional accurate solution of the positioning node. The method of the invention performs variance compensation processing on the obtained angle and distance information, realizes target positioning in the indoor three-dimensional space, and effectively improves target positioning accuracy.

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 Patents(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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