The invention relates to the technical field of
wireless positioning, and discloses a
wireless positioning method based on a
hybrid communication mode, which comprises the following steps of: in an environment modeling stage, enabling a plurality of anchor nodes to perform full-grid dual-mode
signal interaction, and obtaining a
flight time difference and a path
quality score based on channel characteristic evaluation; the method comprises the following steps: generating a three-dimensional sound slowness field representing an environment by using a weighted
tomography reconstruction algorithm, in a target positioning stage, communicating a moving target with anchor nodes to obtain real-time measurement data, generating a shortest
flight time field model for each anchor node based on the sound slowness field, constructing a nonlinear optimization target function taking a path
mass fraction as a weight, and calculating a target position. The method further comprises a dynamic updating mechanism of a sound slowness field,
chromatography modeling is carried out on a space acoustic environment in advance, path
mass weighting is introduced, limitation of a traditional sound velocity constant assumption is overcome, influences of environment non-uniformity and time-varying characteristics caused by factors such as temperature and
airflow can be compensated, and positioning accuracy and environment
adaptive capacity are improved.