26 results about "Trilateration" patented technology

The invention discloses an ultra wide band (UWB) robust positioning method for a non-line-of-sight (NLOS) interference environment, and belongs to the technical field of wireless positioning. According to the method, firstly, all three-base-station combinations are generated through a permutation and combination method, the initial position of each group of base stations is solved through a trilateral positioning method, and a multi-dimensional coarse positioning point cloud is formed; then grouping the coarse positioning points according to the resolving participation condition of the base stations, acquiring representative position points of the base stations by adopting a central position estimation algorithm, and constructing a base station space distribution model; a mean vector and a covariance matrix of the point cloud are calculated, after a pseudo-inverse matrix is solved through SVD decomposition, the mahalanobis distance from each representative point to the distribution center is calculated, a dynamic threshold value is set according to the 95% confidence coefficient of chi-square distribution, a base station with the distance exceeding the threshold value is judged as an NLOS abnormal node, and data of the base station is abandoned; and finally, constructing a dual-stage anomaly suppression mechanism: screening reliable base stations based on geometric consistency at a measurement stage, dynamically adjusting the Kalman gain through an exponential gain constraint factor at a residual stage, constructing a dynamic noise model by fusing a geometric precision factor, and realizing position calculation by adopting improved extended Kalman filtering. According to the method, the positioning error can be effectively reduced in the NLOS interference environment, and a centimeter-level reliable positioning solution is provided for the fields of industrial Internet of Things or indoor positioning and the like.

The invention relates to the technical field of archive management, and discloses an RFID archive management positioning device which comprises a frame body, a layer plate, a controller, an electronic door lock, a touch operation screen, an RF read-write module, an ultrahigh frequency RF antenna, a position indicator light belt, universal wheels, a camera, a glass door and a sensing assembly. Wherein the shelf board is located in the rack body and used for placing file bags or file boxes, the ultrahigh frequency RF antennas are distributed at the positions perpendicular to the shelf board and parallel to the glass door, the position indicator light belt is installed on the shelf board, and the touch operation screen is installed on the glass door. According to the invention, accurate positioning in a high-density scene is realized through cross-type ultrahigh-frequency antenna layout and an optimized positioning algorithm, the algorithm eliminates environmental interference through RSSI signal strength normalization processing, reduces response time delay error through a multipoint sampling average value method, and combines a trilateration principle with multiple groups of antenna data, so that the positioning accuracy is improved. And the positioning error can be controlled within the range of + / -1 file.

An aerial vehicle configured for operating within indoor or outdoor spaces is equipped with acoustic sensors for detecting reflections of sound, or echoes, from objects. Distances and bearings to such objects may be calculated based on such echoes. The echoes may be reflections of sound actively emitted by the aerial vehicle, such as by a speaker, or sound radiating from operating components aboard the aerial vehicle, such as rotating motors or propellers. The echoes may be captured by multiple sensors such as microphones provided around the aerial vehicle and used to calculate distances or bearings to the objects, such as by trilateration, triangulation, or in any other manner. Such distances or bearings may also be utilized along with distances or bearings determined from cameras, range sensors, or other systems, and used to generate a navigation map of the space, or compared to a navigation map generated for that space.

Method for operating an ultrasonic sensor system (USSS) for a vehicle or for a mobile device for determining an environment map with coordinates of objects in the environment of the ultrasonic sensor system (USSS) in the form of accepted solutions, - wherein the ultrasonic sensor system (USSS) comprises at least n ultrasonic sensors (0,1,2,3), - where n is a positive integer for which 3 <n und - wherein the ultrasonic sensors (0,1,2,3) are arranged along a non-crossing, straight or curved line and - wherein, in the sense of this claim, the ultrasonic sensors can be numbered according to their position along this line by counting such that ultrasonic sensors immediately adjacent to each other on the line differ in their number by a value of exactly 1, and - where the (u-1)th ultrasonic sensor and the uth ultrasonic sensor and the (u+1)th ultrasonic sensor form a uth channel, where 1 <u<n gilt, und - with the steps - Starting a measurement cycle of the u-th channel with the emission of an ultrasonic burst as an ultrasonic wave (USW) by the u-th ultrasonic sensor; - Receiving the ultrasonic burst reflected from one or more objects by the (u-1)-th ultrasonic sensor in the form of k (u-1) Ultrasonic echoes with k (u-1) as a whole positive number, which may also be zero, wherein these ultrasonic echoes of the (u-1)th ultrasonic sensor in the sense of this claim are numbered from 1 to k according to the order of their detection by the (u-1)th ultrasonic sensor (u-1) be numbered consecutively; - Receiving the ultrasonic burst reflected from one or more objects by the u-th ultrasonic sensor in the form of k u Ultrasonic echoes with ku as a whole positive number, which can also be zero, whereby these ultrasonic echoes of the u-th ultrasonic sensor in the sense of this claim are numbered from 1 to k according to the order of their detection by the u-th ultrasonic sensor u be numbered consecutively; - Receiving the ultrasonic burst reflected from one or more objects by the (u+1)-th ultrasonic sensor in the form of k (u+1) Ultrasonic echoes with k (u+1) as a whole positive number, which may also be zero, wherein these ultrasonic echoes of the (u+1)-th ultrasonic sensor in the sense of this claim are numbered from 1 to k according to the order of their detection by the (u+1)-th ultrasonic sensor (u+1) be numbered consecutively; - Determining a respective distance value of the ultrasonic echo of the (u-1)-th ultrasonic sensor from the respective transit time of the respective ultrasonic echo of the m (u-1)first arriving ultrasonic echoes of the (u-1)-th ultrasonic sensor between the transmission of the ultrasonic burst by the u-th ultrasonic sensor on the one hand and the detection by the (u-1)-th ultrasonic sensor on the other hand, where m (u-1) is a positive integer that can be equal to zero and where m (u-1) ≤k (u-1) applies; - Determining a respective distance value of the ultrasonic echo of the u-th ultrasonic sensor from the respective transit time of the respective ultrasonic echo of the m u first arriving ultrasonic echoes of the u-th ultrasonic sensor between the transmission of the ultrasonic burst by the u-th ultrasonic sensor on the one hand and the detection by the u-th ultrasonic sensor on the other hand, where m u is a positive integer that can be equal to zero and where m u ≤k u applies; - Determining a respective distance value of the ultrasonic echo of the (u+1)-th ultrasonic sensor from the respective transit time of the respective ultrasonic echo of the m (u+1) first arriving ultrasonic echoes of the (u+1)-th ultrasonic sensor between the transmission of the ultrasonic burst by the u-th ultrasonic sensor on the one hand and the detection by the (u+1)-th ultrasonic sensor on the other hand, where m (u-1) is a positive integer that can be equal to zero and where m (u+1) ≤k (u+1) applies; - Assigning a piece of usage information to each specific distance value, whereby this usage information initially marks this distance value as unused in its usage information; - Initialization of a (u-1)th echo counter p (u-1) with 1; - Initialization of a u-th echo counter p u with 1; - Initialization of a (u+1)-th echo counter p (u+1) with 1; - Jump point 1: If the p (u-1) -th distance value of the (u-1)-th ultrasonic sensor for its p (u-1) -th ultrasound echo in whose usage information is not marked as used and If the p u -th distance value of the u-th ultrasonic sensor for its p u -th ultrasonic echo in whose usage information is not marked as used: Trilateration of the distance value of the (u-1)-th ultrasonic sensor for its p (u-1) -th ultrasonic echo with the distance value of the u-th ultrasonic sensor for its p u -th ultrasonic echo and determination of a first trilateration point in the form of a first x / y coordinate; - If the p (u-1) -th distance value of the (u-1)-th ultrasonic sensor for its p (u-1) -th ultrasound echo in whose usage information is marked as used or if the p u -th distance value of the u-th ultrasonic sensor for its p u-th ultrasonic echo in whose usage information is marked as used: Treat the trilateration as if the first trilateration point and the second trilateration point are not both within an error tolerance range (FB) and skip jump point 2 and continue at jump point 3; - Jump point 2: If the p (u+1) -th distance value of the (u+1)-th ultrasonic sensor for its p (u+1) -th ultrasonic echo in whose usage information is not marked as used: Trilateration of the distance value of the (u+1)-th ultrasonic sensor for its p (u+1) -th ultrasonic echo with the distance value of the u-th ultrasonic sensor for its p u -th ultrasound echo and determination of a second trilateration point in the form of a second x / y coordinate; - If the p (u+1) -th distance value of the (u+1)-th ultrasonic sensor for its p (u+1)-th ultrasonic echo in whose usage information is marked as used: Treat the trilateration as if the first trilateration point and the second trilateration point are not both within an error tolerance range (FB) and continue at jump point 3; - Comparison of the first trilateration point with the second trilateration point; - Jump point 3: If the first trilateration point and the second trilateration point are not both within a fault tolerance range (FB) and p (u+1) <k (u+1) and p (u-1) ≤k (u-1) and p u ≤k u applies: Increasing p (u+1) by 1 and repeat the steps from jump point 2; - Unless the first trilateration point and the second trilateration point are both within a fault tolerance range (FB) and p (u+1) ≥k (u+1) and p (u-1) <k (u-1) and p u ≤k uapplies: Initializing p (u+1) with 1 and increasing p (u-1) by 1 and repeat the steps from jump point 1; - Unless the first trilateration point and the second trilateration point are both within a fault tolerance range (FB) and p (u+1) <k (u+1) and p (u-1) ≥k (u-1) and p u ≤k u applies: Increasing p (u+1) by 1 and repeat the steps from jump point 2; - Unless the first trilateration point and the second trilateration point are both within a fault tolerance range (FB) and p (u+1) ≥k (u+1) and p (u-1) ≥k (u-1) and p u <k u applies: Initializing p (u+1) with 1 and initializing p (u-1) with 1 and increasing p u by 1 and repeat the steps from jump point 1; - Unless the first trilateration point and the second trilateration point are both within a fault tolerance range (FB) and p (u+1) <k (u+1) and p (u-1) ≤k (u-1) and p u ≥k u applies: Increasing p (u+1) by 1 and repeat the steps from jump point 2; - Unless the first trilateration point and the second trilateration point are both within a fault tolerance range (FB) and p (u+1) ≥k (u+1) and p (u-1) ≤k (u-1) and p u ≥k u applies: Initializing p (u+1) with 1 and increasing p (u-1) by 1 and repeat the steps from jump point 1; - Unless the first trilateration point and the second trilateration point are both within a fault tolerance range (FB) and p (u+1) <k (u+1) and p (u-1) ≥k (u-1) and p u ≥k u applies: Increasing p (u+1)by 1 and repeat the steps from jump point 2; - If the first trilateration point and the second trilateration point both lie within an error tolerance range (FB): Determination of a solution from the first trilateration point and the second trilateration point and addition of the solution thus determined to the set of solutions of this u-th channel of this measurement cycle and marking of the p (u-1) -th distance value of the (u-1)-th ultrasonic sensor for its p (u-1) -th ultrasound echo in its usage information as used and marking of the p u -th distance value of the u-th ultrasonic sensor for its p u -th ultrasound echo as used and marking of the p (u+1) -th distance value of the (u+1)-th ultrasonic sensor for its p (u+1) -th ultrasonic echo in its usage information as used and initialization of the (u-1)-th echo counter p (u-1) with 1 and initialization of the u-th echo counter pu with 1 and initialization of the (u+1)-th echo counter p (u+1) with 1 and repeat the steps from jump point 3; - Unless the first trilateration point and the second trilateration point are both within a fault tolerance range (FB) and p (u+1) ≥k (u+1) and p (u-1) ≥k (u-1) and p u ≥k u applies: termination of the measuring cycle and influencing of the vehicle depending on the solutions in the set of solutions of this u-th channel of this measuring cycle.

This invention discloses a child positioning system and method for preventing children from getting lost in scenic areas based on ultra-wideband (UWB) technology, belonging to the field of child safety monitoring technology. The system includes: multiple UWB positioning base stations with known three-dimensional coordinates, a UWB positioning tag worn by the child, and a positioning calculation unit. The method first involves the tag performing bidirectional ranging with at least three base stations to obtain the signal flight time; then, the positioning calculation unit calculates the straight-line distance between the tag and each base station; finally, a trilateration algorithm is applied to calculate the spatial coordinates of the tag based on the distance values ​​and base station coordinates. Preferably, this invention also incorporates motion state perception for intelligent energy saving, combines wearing status monitoring for anti-drop alarm, and can be linked with video surveillance for collaborative tracking. This system and method solve the problems of low accuracy and poor reliability of traditional positioning technologies, achieving high-precision, high-reliability, and low-power child positioning monitoring.

A logistics system uses an application to push notifications as a function of proximity for an appliance that needs a part for replacement. The logistics system consists of a sensor, a parts algorithm, an inventory database, a trilateration sensor, a routing algorithm, and an alerting module. The sensor at a first location detects usage of the appliance. The parts algorithm determines the part which is needed for the appliance. The inventory database at a second location stores inventory information for multiple parts of the appliance. The communication interface transmits data between two locations and the trilateration sensor tracks a location of the user device. The routing algorithm determines distance between the location of the user device and different locations having the part. Finally, the alerting module of the user device triggers when location of the user device is within a determined distance from different locations having the part in stock.

This invention discloses a multi-algorithm collaborative 3D positioning method based on UWB and IMU. The method includes: constructing a 3D Cartesian coordinate system based on multiple UWB base stations; measuring the distance between the tag and the UWB base stations through bilateral bidirectional ranging to obtain the corresponding distance variables; establishing a nonlinear equation system using a trilateration algorithm, substituting the distance variables to transform it into a linear error equation system, and obtaining a set of 3D coordinates of the tag using Newton's iteration method; obtaining a nonlinear equation system using the time difference of arrival, obtaining a linear error equation system based on Taylor expansion approximation, and obtaining another set of 3D coordinates of the tag using the least squares method; weighted averaging the two sets of 3D coordinates to obtain the initial 3D coordinates; constructing a state transition model based on the initial 3D coordinates, velocity components, and acceleration components; predicting the state at the next moment using Kalman filtering and updating the tag's 3D coordinates; and outputting the final 3D spatial positioning result. This invention can achieve high-precision 3D positioning.

The position of a mobile device relative to a vehicle is determined. Time-of-flight (TOF) messages exchanged between ultra-wideband (UWB) anchors and a mobile device are detected via the vehicle's UWB anchors. In response to a lack of TOF message reception from a number of UWB anchors required to perform trilateration for at least a large number of consecutive ranging rounds, the vehicle activates a radar mode to detect angle-of-arrival and distance information between the UWB anchors and the mobile device. Upon activation of the radar mode, the vehicle receives channel impulse response (CIR) data from the UWB anchors. The mobile device's position is determined based on the CIR data and the TOF messages. This mobile device position is then used for one or more vehicle applications.

Ultrasonic sensor system (USSS) for a vehicle or for a mobile device for determining an environment map with coordinates of objects in the environment of the ultrasonic sensor system (USSS) in the form of accepted solutions, - wherein the ultrasonic sensor system (USSS) comprises at least n ultrasonic sensors (0,1,2,3), - where n is a positive integer for which 3 <n und - wherein the ultrasonic sensors (0,1,2,3) are arranged along a non-crossing, straight or curved line and - wherein, in the sense of this claim, the ultrasonic sensors can be numbered by counting according to their position along this line in such a way that ultrasonic sensors immediately adjacent to one another on the line differ in their number by a value of exactly 1, and - wherein each of the n ultrasonic sensors (0,1,2,3) comprises at least one ultrasonic transmitter or one ultrasonic transducer (UTR) for emitting ultrasonic bursts as ultrasonic waves (USW) and - wherein each of the ultrasonic sensors (0,1,2,3) comprises at least one ultrasonic receiver or the ultrasonic transducer (UTR) for receiving the reflected ultrasonic bursts as reflected ultrasonic waves (USR) and - wherein the n ultrasonic sensors (0,1,2,3) each generate a respective ultrasonic reception signal with a respective echo signaling (erm) and - wherein the respective echo signaling (erm) of such an r-th ultrasonic sensor of the n ultrasonic sensors (0,1,2,3) with 1≤r≤n each represents the temporally successive signalings from 0 to k r Ultrasonic echoes (ec1, ec2, ec3, ec4, ec5, ec6) after the transmission of an ultrasonic burst by the ultrasonic sensor system (USSS), where k ris a positive integer greater than or equal to 0, and - wherein the ultrasonic sensor system (USSS) generates measured values ​​of its environment via at least 2 channels, namely at least a u-th channel and a u+1-th channel, wherein 1 <u<n-1 gilt und u eine ganze positive Zahl ist, und - wobei das Erzeugen von Messwerten über einen j-ten der n-2 möglichen Kanäle mit j> 1 and j <n jeweils bedeutet, - that the j-th ultrasonic sensor (1,2) of the n ultrasonic sensors (0,1,2,3) emits an ultrasonic burst into the surroundings of the vehicle and - that the (j-1)-th ultrasonic sensor (0,1) of the ultrasonic sensors (0,1,2,3) receives the reflected ultrasonic burst and - that the j-th ultrasonic sensor (1,2) of the ultrasonic sensors (0,1,2,3) receives the reflected ultrasonic burst after the transmission of the ultrasonic burst and - that the (j+1)-th ultrasonic sensor (2,3) of the ultrasonic sensors (0,1,2,3) receives the reflected ultrasonic burst and - that the (j-1)th ultrasonic sensor (0,1) of the ultrasonic sensors (0,1,2,3) signals a first distance value corresponding to a first ultrasonic echo (ec1) of the (j-1)th ultrasonic sensor (0,1) if such an ultrasonic echo occurs and - that the (j-1)th ultrasonic sensor (0,1) of the ultrasonic sensors (0,1,2,3) signals a second distance value corresponding to a second ultrasonic echo (ec2) of the (j-1)th ultrasonic sensor (0,1) if such an ultrasonic echo occurs, and - that the (j-1)-th ultrasonic sensor (0,1) of the ultrasonic sensors (0,1,2,3) signals a third distance value corresponding to a third ultrasonic echo (ec3) of the (j-1)-th ultrasonic sensor (0,1) if such an ultrasonic echo occurs, and - that the j-th ultrasonic sensor (1, 2) of the ultrasonic sensors (0, 1, 2, 3) signals a first distance value corresponding to a first ultrasonic echo (ec1) of the j-th ultrasonic sensor (1, 2) if such an ultrasonic echo occurs and - that the j-th ultrasonic sensor (1,2) of the ultrasonic sensors (0,1,2,3) signals a second distance value corresponding to a second ultrasonic echo (ec2) of the j-th ultrasonic sensor (1,2) if such an ultrasonic echo occurs and - that the j-th ultrasonic sensor (1,2) of the ultrasonic sensors (0,1,2,3) signals a third distance value corresponding to a third ultrasonic echo (ec3) of the j-th ultrasonic sensor (1,2) if such an ultrasonic echo occurs and - that the (j+1)-th ultrasonic sensor (2,3) of the ultrasonic sensors (0,1,2,3) signals a first distance value corresponding to a first ultrasonic echo (ec1) of the (j+1)-th ultrasonic sensor (2,3) if such an ultrasonic echo occurs and - that the (j+1)-th ultrasonic sensor (2,3) of the ultrasonic sensors (0,1,2,3) signals a second distance value corresponding to a second ultrasonic echo (ec2) of the (j+1)-th ultrasonic sensor (2,3) if such an ultrasonic echo occurs and - that the (j+1)-th ultrasonic sensor (2,3) of the ultrasonic sensors (0,1,2,3) signals a third distance value corresponding to a third ultrasonic echo (ec3) of the (j+1)-th ultrasonic sensor (2,3) if such an ultrasonic echo occurs, and characterized in that - that the ultrasonic sensor system (USSS), after transmitting and receiving the ultrasonic burst, determines a distance value of the first ultrasonic echo (ec1) of the (u-1)-th ultrasonic sensor of the u-th channel from the first ultrasonic echo (ec1) of the (u-1)-th ultrasonic sensor during the measurement via the u-th channel, if available, and - that the ultrasonic sensor system (USSS), after transmitting and receiving the ultrasonic burst, determines a distance value of the first ultrasonic echo (ec1) of the u-th ultrasonic sensor of the u-th channel from the first ultrasonic echo (ec1) of the u-th ultrasonic sensor during the measurement via the u-th channel, if available, and - that the ultrasonic sensor system (USSS), after transmitting and receiving the ultrasonic burst, determines a distance value of the first ultrasonic echo (ec1) of the (u+1)-th ultrasonic sensor of the u-th channel from the first ultrasonic echo (ec1) of the (u+1)-th ultrasonic sensor during the measurement via the u-th channel, if available, and - that the ultrasonic sensor system (USSS), after transmitting and receiving the ultrasonic burst, determines a distance value of the first ultrasonic echo (ec1) of the u-th ultrasonic sensor of the (u+1)-th channel from the first ultrasonic echo (ec1) of the u-th ultrasonic sensor during the measurement via the (u+1)-th channel, if available, and - that the ultrasonic sensor system (USSS), after transmitting and receiving the ultrasonic burst, determines a distance value of the first ultrasonic echo (ec1) of the (u+1)-th ultrasonic sensor of the (u+1)-th channel from the first ultrasonic echo (ec1) of the (u+1)-th ultrasonic sensor during the measurement via the (u+1)-th channel, if available, and - that the ultrasonic sensor system (USSS), after transmitting and receiving the ultrasonic burst, determines a distance value of the first ultrasonic echo (ec1) of the (u+2)-th ultrasonic sensor of the (u+1)-th channel from the first ultrasonic echo (ec1) of the (u+2)-th ultrasonic sensor during the measurement via the (u+1)-th channel, if available, and - that the ultrasonic sensor system (USSS) uses a trilateration method - from the possibly determined distance value of the first ultrasonic echo (ec1) of the (u-1)-th ultrasonic sensor of the u-th channel and - from the possibly determined distance value of the first ultrasonic echo (ec1) of the u-th ultrasonic sensor of the u-th channel and - from the possibly determined distance value of the first ultrasonic echo (ec1) of the (u+1)-th ultrasonic sensor of the u-th channel - u-th solutions in the form of Y / Y coordinates of potential objects (O) in the environment of the vehicle are determined and - that the ultrasonic sensor system (USSS) uses a trilateration method - from the possibly determined distance value of the first ultrasonic echo (ec1) of the u-th ultrasonic sensor of the (u+1)-th channel and - from the possibly determined distance value of the first ultrasonic echo (ec1) of the (u+1)-th ultrasonic sensor of the (u+1)-th channel and - from the possibly determined distance value of the first ultrasonic echo (ec1) of the (u+2)-th ultrasonic sensor of the (u+1)-th channel - (u+1)-th solutions in the form of Y / Y coordinates of potential objects (O) in the surroundings of the vehicle are determined and - that the ultrasonic sensor system (USSS) filters each of the u-th solutions to filtered u-th solutions using a respective Kalman filtering method and / or estimation filtering method and - that the ultrasonic sensor system (USSS) filters each of the (u+1)-th solutions to filtered (u+1)-th solutions by means of a respective Kalman filtering method and / or estimation filtering method and - that the ultrasonic sensor system (USSS) uses a clustering procedure to cluster the u-th solutions and the (u+1)-th solutions into accepted solutions and discards unaccepted u-th solutions and unaccepted (u+1)-th solutions.

The application discloses a kind of evaporative waveguide-based offshore millimeter wave over-the-horizon positioning and navigation method.First, establish evaporative waveguide ray model, according to waveguide characteristics, select the best transmitting antenna height and transmitting power;Then initialize reference node, according to the position coordinates of reference node, establish a preliminary three-dimensional positioning network coordinate system;Measure the distance between the newly added unknown node to be measured and the reference node;Finally, the accurate coordinates of the target node are calculated by using the obtained distance combined with the trilateration algorithm.Compared with the prior art, the present application makes full use of the characteristics of evaporative waveguide, and through scientific design of system parameters such as antenna height and transmission power, realizes the efficiency and accuracy of over-the-horizon positioning and navigation.

The application provides a kind of electronic fence design method and device for construction safety control under near electric environment, comprising: through the ranging communication of mutually executed UWB base station that has been deployed and the generation of calibration parameters combined with preset calibration point, coordinate calibration is completed;Base station and personnel positioning tag bidirectional ranging obtain round-trip time delay raw data;Round-trip time delay raw data is protocol analyzed, median filtered and discarded based on statistical threshold exception data, to obtain pure ranging data set;Pure ranging data set is input into positioning engine, and real-time coordinates are obtained by trilateration and least square solution;Space relationship calculation is carried out with preset electronic fence model, and the final real-time position state and risk level are generated through buffer and hysteresis mechanism and risk judgment logic based on uncertainty;Trigger corresponding alarm and push management platform.In this way, the coordinate precision of positioning engine solution is improved, and millisecond-level accurate identification and hierarchical active warning of construction personnel approaching dangerous area are realized.

The application discloses a kind of query confusion location protection methods based on auxiliary area, including the following steps: according to the real location of user randomly generates three auxiliary positions;According to user demand parameter and auxiliary position generates corresponding three auxiliary areas;The generation of confusion query content;According to auxiliary position, auxiliary area, real query content and confusion query content generate query message result set, and the coordinate of each point of interest in query result is calculated in combination with trilateration method, and finally the distance between the real location of user and each point of interest is obtained.The beneficial effects of the application are as follows: auxiliary area mechanism makes the attacker unable to obtain the accurate location of user, while the coordinate of point of interest is calculated locally in combination with trilateration method, which ensures the accuracy of LSS service;Confusion query mechanism makes the attacker unable to accurately predict the next location of user through query result set, which protects the query privacy of user.

The invention provides a vehicle abnormity early warning method, device and equipment and a storage medium, relates to the technical field of data processing, and can accurately identify the position and attitude of a vehicle and identify whether the vehicle is abnormal and give an early warning, thereby realizing effective supervision of the vehicle and improving the vehicle safety. And the risk that the vehicle is transferred, mortgage or sold before the resource is settled is prevented. According to the specific technical scheme, a global coordinate system is established through a plurality of UWB anchor point devices arranged in a detection area, and the global coordinate system communicates with a UWB tag device installed on a vehicle. And calculating label coordinates by using a trilateration method, and determining the position and attitude of the vehicle by combining the spatial positions of at least four labels. Judging the opening and closing state of the vehicle door according to the coordinate deviation of the vehicle door label, monitoring the part position through the key part label coordinate, and detecting the dismounting behavior based on the relative position change of the label. And finally, the vehicle position, the posture, the vehicle door state, the part position and the label state are analyzed through the pre-training model, and abnormal early warning is triggered.

The application relates to the technical field of file management, and discloses an RFID file management positioning device which comprises a frame body, a layer plate, a controller, an electronic door lock, a touch operation screen, an RF read-write module, an ultra-high frequency RF antenna, a position indicating lamp strip, a universal wheel, a camera, a glass door and a sensing assembly; the layer plate is arranged in the frame body and used for placing file bags or file boxes; the ultra-high frequency RF antenna is arranged at a position perpendicular to the layer plate and parallel to the glass door; the position indicating lamp strip is arranged on the layer plate; and the touch operation screen is arranged on the glass door. The application realizes accurate positioning in a high-density scene through a cross-type ultra-high frequency antenna layout and an optimized positioning algorithm; the algorithm eliminates environmental interference through RSSI signal strength normalization processing, reduces response time delay error through a multi-point sampling average value method, and combines the principle of trilateration with multi-group antenna data, so that the positioning error can be controlled within a range of 1 file.

A configuration wherein multiple radars arc positioned along the flight corridor of a test object or objects. At any given time, three radars are used to accurately measure the location of each object via trilateration.

The present disclosure provides "non-line-of-sight object detection". A position of the mobile device relative to the vehicle is determined. A time of flight (TOF) message exchanged between an ultra wide band (UWB) anchor point and a mobile device is detected via the UWB anchor point of a vehicle. In response to not receiving TOF messages from a number of the UWB anchor points necessary to perform trilateration measurements for at least a plurality of consecutive ranging rounds, the vehicle initiates a radar mode to detect angle of arrival and distance information between the UWB anchor points and the mobile device. In response to turning on a radar mode, the vehicle receives channel impulse response (CIR) data from the UWB anchor. A location of the mobile device is determined based on the CIR data and the TOF message. The location of the mobile device is used for one or more vehicle applications.

A system consisting of permanently installed Bluetooth Low Energy beacons at known indoor coordinates, a mobile application configured to scan beacon signals and estimate the user's location using fingerprinting and / or trilateration, and a cloud backend configured to manage devices, store fingerprints and maps, and calculate optimal indoor routes for display to the user.

A load control system for controlling a plurality of lighting loads located in a space may be configured to track the location of one or more tracked devices. The load control system may comprise a system controller, lighting control devices, e.g., for controlling a plurality of lighting loads, and tracked devices. The tracked devices may each transmit beacon messages. The lighting control devices may receive the beacon message. The lighting control devices may measure a communication quality metric of each of the beacon messages, and process the measured communication quality metrics received over a period of time to determine a processed communication quality metric for the tracked device. The lighting control devices may transmit tracking data to the system controller. The system controller may determine a location of the tracked device. For example, the system controller may determine the location of the tracked device via trilateration.

The invention discloses a high-precision positioning system based on a UWB technology, and relates to the field of industrial positioning, the high-precision positioning system comprises a three-dimensional positioning module, an attitude sensing module and a safety detection module, high-precision personnel positioning and safety monitoring are realized through multi-module cooperation, the three-dimensional positioning module utilizes more than four base stations, and the attitude sensing module is used for sensing the attitude of the three-dimensional positioning module. Obtaining a smooth three-dimensional coordinate by combining trilateration, a least square method and a filtering algorithm; the attitude sensing module adopts a two-channel analysis strategy, performs adaptive switching according to environmental complexity and outputs synchronous space-time attitude data, and the safety detection module realizes high-reliability fall detection and severity judgment through three-layer analysis of threshold rules, multi-mode matching and machine learning, so that false alarms are effectively reduced, and the safety and reliability of fall detection are improved. The method is suitable for accurate positioning and emergency response in a complex indoor scene, deeply meets the complex environment requirements of industrial factories, and realizes all-around guarantee from accurate positioning to safety monitoring through multi-module cooperation and intelligent decision making.

Method for operating a vehicle (100), wherein - an authorization device (200) for authorizing the operation of the vehicle (100) comprises a device-side audio communication interface (211) and a device-side further communication interface (221), and - the vehicle (100) includes at least three vehicle-side audio communication interfaces (111, 113, 115) and one additional vehicle-side communication interface (121), and in the procedure - the device-side additional communication interface (221) is coupled to the vehicle-side additional communication interface (121) via signal technology, - a predefined audio signal (A) is provided through the device-side audio communication interface (211), - the specified audio signal (A) is received by the vehicle's audio communication interfaces (111, 113, 115), - depending on the audio signals received, the authorization device (200) is located in relation to an interior of the vehicle (100), wherein the location of the authorization device (200) includes triangulation, trilateration or, in the case that more than three audio communication interfaces are used in the vehicle (100), multilateration depending on the audio signal received, and - depending on the location of the authorization device (200), an authorization of the authorization device (200) with regard to the operation of the vehicle (100) is carried out by the vehicle (100), using the respective further communication interface (121, 221), and in the procedure - the authorization device (200) is provided with a start signal (S) by the vehicle (100), and - the specified audio signal is provided (A) depending on the start signal (S).

A position estimation method is performed by a position estimation apparatus, wherein the position estimation method includes switching from a UWB static domain to a UWB dynamic domain when a startup state of a vehicle is switched from OFF to ON; operating one or more anchors mounted on the vehicle; and estimating a position of a tag by performing at least one of an advanced trilateration measurement (ATM) algorithm and a smart anchor positioning (SAP) algorithm, wherein the one or more anchors and the tag transmit and receive ultra wideband (UWB) pulse waves.

This invention relates to a localization and range unambiguity method based on prior constraints and multi-station collaboration. Under a single-transmitter, multiple-receiver radar system, this method can achieve range unambiguity based on prior target information and simultaneously perform high-precision localization using trilateration. The method first obtains the range-Doppler echo data matrices from different receiving stations. Preliminary processing of the echo data is performed using a low threshold. In the spatial domain, the idea of ​​a one-dimensional set algorithm is used to unambiguously determine the target under prior constraints. Simultaneously, high-precision target localization is achieved using the trilateration algorithm. The positions of all potential targets within the echo data are iteratively processed to complete high-precision localization and range unambiguity determination for all targets. This method exhibits high stability, can detect and locate multiple targets, and has promising engineering application prospects.

The invention provides a low-altitude aircraft cooperative positioning method based on a Bluetooth ad hoc network, and the method comprises the steps: enabling low-altitude aircraft nodes to find neighbors through Bluetooth broadcasting and scanning, and constructing the ad hoc network; carrying out Bluetooth RSSI distance measurement on all nodes in the network and neighbor nodes, smoothing RSSI through Kalman filtering, converting the RSSI into distance by using an online calibrated path loss model, and recording a result; selecting three aircraft nodes which meet a triangular inequality and are neighbor to one another, and establishing a global coordinate system by taking the aircraft nodes as initial anchor nodes; selecting three anchor nodes adjacent to the non-anchor node, performing trilateral positioning by using the distance measurement results of the three anchor nodes and the node to be positioned, calculating the coordinates of the three anchor nodes, and upgrading the three anchor nodes into the anchor nodes; and iteratively executing the steps until all nodes in the network are positioned. According to the invention, the low-cost and low-power-consumption Bluetooth module is utilized, the distributed and high-robustness cooperative positioning of the aircraft cluster is realized through an innovative signal processing and modeling method in an environment without GPS signals, the support of a ground base station is not needed, and the method is suitable for emergency investigation, cluster performance and other scenes.

This position estimating device (3) is configured so as to comprise: a distance measurement unit (11) that, on the basis of electromagnetic waves transmitted and received between a plurality of wireless devices (1-1 to 1-5) installed in a vehicle and a terminal (2) carried by a user, measures the distance between a wireless device (1-n (n=1, ..., 5)) and the terminal (2); a distance selection unit (12) that selects a distance that can be used for trilateration of the position of the terminal (2) on the basis of a plurality of distances measured by the distance measurement unit (11); and a position estimating unit (13) that estimates the position of the terminal (2) using the distance selected by the distance selection unit (12).

A position of a mobile device relative to a vehicle is determined. Time-of-flight (TOF) messages exchanged between ultra-wideband (UWB) anchors and a mobile device are detected via UWB anchors of a vehicle. Responsive to a lack of receipt of TOF messages from a quantity of the UWB anchors necessary for performing trilateration for at least a plurality of consecutive ranging rounds, the vehicle switches on a radar mode to detect angle of arrival and distance information between the UWB anchors and the mobile device. Responsive to switching on a radar mode, the vehicles receive channel impulse response (CIR) data from the UWB anchors. A position of the mobile device is determined based on the CIR data and the TOF messages. The position of the mobile device it utilized for one or more vehicle application.

The application discloses a kind of optimal UWB base station selection method based on multi-factor criterion, belong to wireless positioning and navigation technical field.The application constructs multi-factor characteristics in sliding time window to candidate base station / base station combination: including ranging error characteristics, abnormal point characteristics and geometric dilution of precision characteristics;After each feature is normalized, the integrated evaluation target function is obtained by weight fusion, and under the constraint of meeting the volume threshold of four base station tetrahedron, the optimal four base station combination with the minimum target function is obtained from the combination of N base stations;Subsequently, based on the ranging data of the selected base station, the position solution is completed by trilateration combined with weighted least squares / Huber robust estimation.The application can adaptively eliminate high error, high abnormal or configuration deterioration base station combination, reduce positioning error amplification effect, improve the precision and robustness of UWB positioning, suitable for unmanned vehicle, mobile robot and personnel positioning scene.