CN102736092A - Electronic label cooperative positioning method based on single distance measurement base station and global positioning system (GPS) - Google Patents
Electronic label cooperative positioning method based on single distance measurement base station and global positioning system (GPS) Download PDFInfo
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Abstract
The invention discloses an electronic label cooperative positioning method based on a single distance measurement base station and a global positioning system (GPS). The method comprises the following steps of: arranging the distance measurement base station and a GPS receiver on a distance measurement vehicle, and putting an active electronic label on an object to be positioned; in a running process of the distance measurement vehicle, acquiring distance data between the distance measurement base station and the active electronic label in real time by the distance measurement base station, and acquiring GPS positioning data of the distance measurement base station by the GPS receiver; transmitting the obtained distance data and GPS positioning data to a positioning processing center; and processing the distance data and the GPS positioning data by the positioning processing center according to a preset program, and calculating a position coordinate of the active electronic label, namely the position coordinate of the object to be positioned. By the method, mobile positioning of the single distance measurement base station can be realized; extremely high adaptability to the outdoor complicated environment is achieved; and the method is a novel outdoor position sensing method.
Description
Technical field
The present invention relates to the localization method technical field, be meant electronic tag colocated method especially based on single range finding base station and GPS.
Background technology
In recent years, along with the fast development of technology of Internet of things, also more and more receive the concern of each side as electronic tag (also claiming RFID tag or the RFID label) location technology of one of core technology.
Whether electronic tag needs power supply according to it, mainly is divided into active and passive two kinds at present.Compare active electronic label; Passive electronic label is receiving great limitation aspect distance of reaction and the adaptation carrier movement speed: reach rice up to a hundred usually like active electronic tag distance of reaction; And general passive electronic label distance of reaction is difficult to utilize passive electronic label to obtain carrier positions information only below 10 meters.
Yet even use active electronic label to position, because its signal intensity receives the influence of environment very big, the accuracy of outdoor location is difficult to guarantee.And the mode of the base stations united location of a plurality of range findings is normally adopted in present active electronic label location.The base stations united locator meams of many range findings is as shown in Figure 1.Its positioning principle is: the position of a plurality of inductions base station is known; These induction base stations obtain the range information (being the distance of label to the base station) of active electronic label respectively; Control center is that parameter is utilized the multipoint positioning principle with these distances and known location, position that just can computation tag.
How the base stations united locator meamss of range finding are indoor, perhaps fine realization in zonule.Outdoor, especially in a big zone,, need to arrange that a large amount of induction base stations covers whole zone like entire city, not only expense is very high, and computation process also can be more complicated.
Summary of the invention
The object of the present invention is to provide a kind of electronic tag colocated method based on single range finding base station and GPS.
For realizing above-mentioned purpose, the technical scheme that the present invention adopts is following:
Electronic tag colocated method based on single range finding base station and GPS may further comprise the steps:
To find range base station and gps receiver place the range finding car on, active electronic label is placed on the object to be positioned;
Cross in the journey in said range finding garage, obtain the range data of said range finding base station and said active electronic label in real time by said range finding base station, said gps receiver obtains the GPS locator data of said range finding base station simultaneously;
Said range data of obtaining and GPS locator data are sent to the localization process center;
Handle according to pre-set programs said range data and GPS locator data at said localization process center, calculates the position of said active electronic label, i.e. the position of said object to be positioned.
Said localization process center is carried out processed steps to said range data and GPS locator data according to pre-set programs and is comprised:
Utilize said range data and GPS locator data, obtain and resolve with range data and locator data;
According to active electronic label ID number, said range data is distributed to corresponding object to be positioned;
According to said range data and corresponding locator data, utilization triangle positioning principle resolves object's position coordinate to be positioned.
Described said range data and the GPS locator data utilized, obtain the step of resolving with range data and locator data and be:
Reject the abnormal data in the said range data;
Reject the abnormal data in the said GPS locator data, the utilization Kalman filter to the rejecting abnormalities data after the GPS locator data optimize;
GPS locator data synchronously simulating to range data after the rejecting abnormalities data and optimization obtains and resolves with range data and locator data.
In the embodiment of the invention, the method for described synchronously simulating is:
With the descending arrangement of range data of all point distance measurements between GPS anchor point of receiving and previous GPS anchor point at every turn, get intermediate value range data and said front and back two GPS positioning point coordinate mean values in the said range data respectively as range data and the coordinate data of resolving usefulness.
Said according to said range data and locator data, utilization triangle positioning principle, the step of resolving object's position coordinate to be positioned is following:
Step 1, choose the corresponding range data of three point distance measurements and said point distance measurement and make up cocked hat;
Whether step 2, said cocked hat ill triangle, is then to return step 1, otherwise next step;
Step 3, whether 4 cocked hats are arranged, be then next step, otherwise return step 1;
Step 5, from said 4 anchor point coordinates 2 nearest anchor point coordinates of selected distance, utilize the method for average that said 2 anchor point coordinates are resolved, obtain an anchor point coordinate;
Step 6, repetition above-mentioned steps 1 ~ 5 obtain an anchor point coordinate respectively;
Step 7, the said anchor point coordinate that obtains through the method for average is carried out the weighting center of gravity handle, finally obtain an anchor point coordinate, i.e. the position coordinates of object to be positioned.
Said ill triangle is meant by in two point distance measurements and the triangle that corresponding range data constitutes, and the number of degrees of interior angle that with the anchor point are the summit are less than 15 degree; The virtual anchor point of this anchor point for calculating according to the triangle positioning principle by said point distance measurement and corresponding range data.
Through test, the present invention is blocked under the situation in open relatively and nothing, and the absolute fix precision is in 5 meters; Under this complex environment of urban road, the absolute fix precision is also in 10 meters, effectively in 100 meters of the orientation distances.In sum, utilizing the present invention not only can realize single range finding base station running fix, and outdoor complex environment is also had very strong adaptive faculty, is a kind of method of novel outdoor location perception.
Description of drawings
Fig. 1 is the synoptic diagram of the base stations united localization method of existing many range findings;
Fig. 2 is the electronic tag colocated method synoptic diagram of the reprinting that provides of the embodiment of the invention single range finding base station and GPS;
Fig. 3 is the process flow diagram of the electronic tag colocated method of the reprinting that provides of the embodiment of the invention single range finding base station and GPS;
Fig. 4 is adjust the distance data and a GPS locator data processing flow chart of localization process center that the embodiment of the invention provides;
Fig. 5 is from range data and GPS locator data, obtaining of providing of the embodiment of the invention range data that location Calculation uses and the process flow diagram of locator data;
Fig. 6 is the process flow diagram that utilization triangle positioning principle that the embodiment of the invention provides resolves the active electronic label coordinate position;
Fig. 7 ~ 9th, utilization triangle positioning principle resolves the reasonable synoptic diagram of method of the coordinate of active electronic label;
Figure 10 is point distance measurement and the asynchronous synoptic diagram of GPS point.
Embodiment
The present invention is through binding active electronic label and outdoor object to be positioned, and then through gps receiver and cooperative mode location, mobile single range finding base station active electronic label, thereby anchored object is treated as a stranger by orientation room.The position of giving tacit consent to active electronic label here is the position of outdoor object to be positioned.GPS is the english abbreviation of GPS, is meant the system that utilizes satellite to position in real time in the world, navigate, and is widely used at present.Under normal conditions, the civilian precision of GPS locating accuracy is about 15 meters, and what equipment precision was high can arrive 5 meters; And adopt the GPS bearing accuracy of real time dynamic differential method (being called for short RTK) can reach centimetre-sized.
Therefore, utilize GPS to obtain known point position (vehicle location) coordinate among the present invention, utilize mobile single range finding base station to simulate many base stations situation, and in application, the following aspects situation has been given consideration:
1. the location under the undesirable situation of surrounding enviroment.People, tree, vehicle etc. are bigger to the influence of distance measuring signal, require during the location to reject most of rough error, and have than the strong fault tolerance ability.
2. many labels should be able to position simultaneously.Can only locate a label can cause range of application to be dwindled greatly.
3. guarantee that bearing accuracy satisfies specific needs.Navigating to what precision, is very important performance index.
Referring to shown in Figure 2, the principle that the figure shows that the embodiment of the invention provides based on the electronic tag colocated of single range finding base station and GPS.A, B, C are the position of range finding base station among the figure, are also referred to as point distance measurement; D, E are the Origin And Destination of range finding car 2; It between described Origin And Destination E the traffic route 1 of range finding car 2; 20,21 is respectively range finding base station and gps receiver, is placed on the range finding car 2, and 4 is object to be positioned; 3 for to be installed in the source electronic tag on the object to be positioned, and P is the position of object to be positioned.
The present invention utilizes vehicle-mounted single range finding base station mode to simulate many range findings base station mode, is equipped with gps receiver on the car simultaneously and obtains vehicle-mounted range finding base station current location in real time; In object-point to be positioned active electronic label (active electronic label should be placed the place that is not easy to be blocked on the object 4 to be positioned) is installed, in the embodiment of the invention, the position of acquiescence active electronic label is the position of outdoor object to be positioned; In the vehicle ' process, but after vehicle got in the finding range, the range finding base station constantly received the active electronic label signal, calculated the distance of range finding base station distance active electronic label, and gps receiver obtains the range finding base station location simultaneously through the GPS position location satellite; Obtain the range finding base station location by processing enter simultaneously according to distance and the described gps receiver that said range finding base station obtains, utilization " three-point fix " principle can calculate the position of active electronic label, i.e. the position P of outdoor object to be positioned.
Below the described localization method of the embodiment of the invention is specified as follows:
In the embodiment of the invention, described GPS point is meant in the ranging process of vehicle-mounted range finding base station, and the position coordinates of the range finding base station that is obtained by described gps receiver is confirmed the point of answering; If no special instructions, in the embodiment of the invention, described range data and ranging data synonym, described GPS locator data is meant the position coordinate data of the range finding base station that described gps receiver obtains.
Referring to shown in Figure 3, described electronic tag colocated method based on single range finding base station and GPS may further comprise the steps:
Step S101: will find range base station and gps receiver place on the range finding car, and active electronic label is placed on the object to be positioned;
Step S102: cross in the journey in said range finding garage, obtain the range data of said range finding base station and said active electronic label in real time by said range finding base station, said gps receiver obtains the GPS locator data of said range finding base station simultaneously;
Step S103: said range data and the GPS locator data that will obtain are sent to the localization process center;
Step S104: handle according to pre-set programs said range data and GPS locator data at said localization process center, calculates the position of said active electronic label, i.e. the position of said object to be positioned.
Referring to shown in Figure 4, in the embodiment of the invention, step S 104 localization process centers are carried out processed steps to said range data and GPS locator data according to pre-set programs and are comprised:
Step S201: utilize said range data and GPS locator data, obtain and resolve with range data and locator data;
In the embodiment of the invention, described range data and the locator data of resolving usefulness, be meant rejected abnormal data, through the data of the acquisition behind certain method optimization and the synchronously simulating.Concrete preparation method is the description of face as follows.
Step S202:, said range data is distributed to corresponding object to be positioned according to active electronic label ID number;
Because in actual measurement; The range finding base station generally can receive the ranging data of different labels simultaneously; Locate simultaneously in order to carry out multiple goal, coupling back range data and locator data are distributed to each corresponding object to be positioned, to prevent last location Calculation mistake.Promptly be; According to ID number of the corresponding active electronic label of the range data that is used for location Calculation; This range data is sent to corresponding object to be positioned, realize the asynchronous operation that Data Receiving and coordinate resolve, locate when can realize a plurality of object to be positioned like this.
Step S203: according to said range data and corresponding locator data, utilization triangle positioning principle resolves object's position coordinate to be positioned.
Referring to shown in Figure 5, in the embodiment of the invention, describedly from said range data and GPS locator data, obtain the range data that is used for location Calculation and the step of locator data is:
Step S301: reject the abnormal data in the said range data;
Because the distance-finding method of vehicle-mounted range finding base station is to measure signal that active electronic label sends in the time of spatial transmission with very high frequency (to calculate about 500 times of per second second), is converted into distance again; Repeated measurement repeatedly and average (can measure like this distance of range finding base station to active electronic label) is passed mean value back processing enter (this transmitted frequency is adjustable, reaches as high as 8 times/per second) more accurately then like this.
When data are sent in the base station with fixed speed, if barrier is arranged, may can not receive signal midway, at this moment the ranging data number between two adjacent GPS points can be less than anticipated number.For the bad situation of sort signal, should this be organized data and abandon, in order to avoid influence last bearing accuracy.Under the normal condition,,, the data that this time period is returned are abandoned if the data number of times that every title returns less than 4 times, can think that distance measuring signal is bad if the data number of times that the base station per second returns is 8 times.
So when returning processing enter by the range data returned of range finding base station, the reply data are slightly chosen, to reduce the post-processed calculated amount.
In addition, because circumstance complication is changeable, distance measuring signal possibly caused the data sudden change of being returned by described range finding base station by other reflection object.So, when receiving ranging data, judge earlier whether have sudden change, if having, then should the abnormal data of sudden change be rejected;
The concrete grammar that range data is slightly chosen is: compares with the range data of the current range data of returning with storage before, and excessive if data change suddenly, reject this range data; During such as speed of a motor vehicle 36km/h, the base station per second returns 8 secondary data, and then current rreturn value and previous rreturn value poor if surpass 6 meters, can be thought rough error, rejects.
Step S302: reject the abnormal data in the said GPS locator data, the GPS locator data of utilization Kalman filter after to the rejecting abnormalities data is optimized;
In the method that has adopted the GPS elimination of rough difference aspect the rejecting of the unusual locator data of GPS equally; If promptly the GPS locator data of a certain anchor point is compared with the GPS locator data of previous anchor point; Changes in coordinates surpasses 100 meters, thinks that then this anchor point is an abnormity point, can directly reject.In addition, the GPS locator data of the method that the present invention has adopted Kalman filtering after to the rejecting abnormalities data optimized, and can improve the precision of about 20%-30%, thereby promote locating accuracy.
Before the filtering,, set up the GPS filtering mathematical model of the current positioning system of coupling earlier for obtaining optimum valuation.Because unusual GPS anchor point is very big to the filtered influence, so should before filtering, judge, reject.After the filtering, wave filter can be according to the data adjustment wave filter of input, so that wave filter obtains can be used for the GPS point data of location Calculation at last more near actual GPS position model.
Step S303: the GPS locator data synchronously simulating to range data after the rejecting abnormalities data and optimization, obtain and resolve with range data and locator data.
Owing to position when resolving, need the GPS position data of point distance measurement (A, B, C) and the range data of synchronization, just find range base station and gps receiver are need be synchronous.But because range finding base station and gps receiver are two independently parts, both do not have synchronization association---it is very fast that the range finding base station obtains the range data frequency; And that GPS obtains the frequency of position data is slower; So in most cases, when the range finding base station obtains range data, do not obtain corresponding GPS position data; That is to say that point distance measurement does not overlap with the GPS point.Shown in figure 10, along in straightaway (ideal situation) process, generally have a plurality of point distance measurements between two GPS points at vehicle.
In order to solve the problem that point distance measurement does not have corresponding GPS to order; The synchronously simulating method that the present invention has used point distance measurement and GPS to order, the time that the position of just ordering through GPS, reception GPS are ordered, the coordinate position that the range finding base station belonged to when the time of base station range finding was calculated the range finding of range finding base station.
In the embodiment of the invention, the method for described synchronously simulating is:
After receiving the GPS locator data at every turn; The descending arrangement of range data of all point distance measurements between GPS point that this GPS locator data is definite and previous GPS point; Get intermediate value range data in the said range data as the range data of participating in location Calculation, abandon the data of other point distance measurement; Simultaneously, get coordinate mean value that said former and later two GPS order as the coordinate data of participating in last location Calculation.
The described intermediate value position corresponding apart from the point distance measurement of correspondence is the average of two GPS point coordinate; Thereby it is corresponding one by one to have realized that point distance measurement and GPS are ordered; Promptly a point distance measurement has gps coordinate data corresponding, has so both reduced data volume, has also improved the quality of range data.
Because the frequency of base station return data very high (for GPS), under the normal speed of a motor vehicle, the position of two adjacent point distance measurements can be left very closely on wheelpath.When participating in the location like this group ranging data, the anchor point that obtains also leaves very closely.This be because, the main positioning error of the present invention is the difference from GPS point and physical location, the GPS error of same group of ranging data is also just identical, the anchor point that causes same group of data to obtain does not have difference.So finally select the data of the intermediate value data of the ranging data between GPS adjacent positioned point as location Calculation; The coordinate mean value that two adjacent GPS are ordered is the position coordinate value of intermediate value data for this reason; So not only reduce data volume, but also improved the quality of data.
Referring to shown in Figure 6, said in the embodiment of the invention according to said range data and corresponding locator data, utilization triangle positioning principle, the step of resolving object's position coordinate to be positioned is following:
Step 1, choose the corresponding range data of three point distance measurements and said point distance measurement and make up 4 cocked hats;
Because the point distance measurement corresponding to an active electronic label is a plurality of; Therefore, when the coordinate position of last active electronic label resolves, from a plurality of point distance measurements, select three point distance measurements; And the ranging data structure cocked hat corresponding according to described point distance measurement; Owing to there are three point distance measurements, so can make up 4 triangles, the concrete construction method relevant three-point fix principle of face and impact point coordinate as follows resolves the explanation of detailed description.
Whether step 2, said cocked hat are ill triangle, are then to return step 1, otherwise next step;
Because the point distance measurement of selecting distance sometimes is very near, the triangle of final bearing accuracy can appear being unfavorable for, to this type triangle in the triangle that causes making up; Should reject; Rebuild triangle, this type triangle, the present invention is referred to as ill triangle; Promptly by in two point distance measurements and the triangle that corresponding range data constitutes, the number of degrees of interior angle that with the anchor point are the summit are less than 15 degree; The virtual anchor point that is calculated according to the triangle positioning principle by point distance measurement of selecting and corresponding range data is dragged by anchor point system described here.
Step 3, whether 4 cocked hats are arranged, be then next step, otherwise return step 1;
Step 5, from said 4 anchor point coordinates 2 nearest anchor point coordinates of selected distance, utilize the method for average that said 2 anchor point coordinates are resolved, obtain an anchor point coordinate;
Step 6, repetition above-mentioned steps 1 ~ 5 obtain an anchor point coordinate respectively;
Step 7, the said anchor point coordinate that obtains through the method for average is carried out the weighting center of gravity handle, finally obtain an anchor point coordinate, i.e. the position coordinates of object to be positioned.
The method that described weighting center of gravity is handled sees for details following about formula step 5,6 part.
At least 5 on described anchor point coordinate, if anchor point coordinate quantity very few (being less than 5), then accidental error can be bigger to last positioning result influence, bearing accuracy is not high.
Below, according to 6 pairs of three-point fix principles according to the invention of accompanying drawing and according to said range data and corresponding locator data utilization triangle positioning principle, resolve object's position coordinate step to be positioned and specify.
Because the range finding base station is to obtain distance and can not direction of measurement according to signal propagation time; So according to the position on triangle geometry principle-fixing limit, know the length on other two limits, 2 triangles can draw; 2 summits have so just been arranged, can not uniquely locate.With A, 2 points in B position, just there are 2 kinds of possibility P or P in the position of active electronic label when only
1, specifically referring to shown in Figure 7.
Like known A point coordinate (x
a, y
a), B point coordinate (x
b, y
b), known A point measure and P between apart from d
a, the B point measure and P between apart from d
b, P point coordinate (x then
p, y
p) can be by formula (1), (2) are released.Though resolve by 2 binary quadratic equations, obtain the possibility of result have or not separate, 1 separate or 2 separate three kinds of situation, 2 triangles then can only be 2 situation of separating.
(x
p-x
a)
2+ (y
p-y
a)
2=d
a 2Formula (1)
(x
p-x
b)
2+ (y
p-y
b)
2=d
b 2Formula (2)
So we use three some A, B, C here, according to A, B point with and respectively with the distance of a P, calculate 2 and separate, be i.e. P, P
1Point coordinate; According to B, C point with and respectively with the distance of a P, calculate 2 equally and separate, be i.e. P, P
2Point coordinate, from these 4 points, finding out that identical point is exactly the target location, i.e. the P point.Specifically referring to shown in Figure 8.
In the three-point fix principle, P point position is exactly 2 those identical coordinates in 4 coordinates, but in the actual location process, owing to the precision problem of GPS, range finding base station etc., 4 points (P, P resolving out
1, P
2, P
3) coordinate generally has nothing in common with each other, so just can't find the target location of 2 identical coordinates as us.Shown in the figure specific as follows.
Here our solution is, calculates the phase mutual edge distance between these 4 points respectively, and two the nearest points of adjusting the distance make even all, thereby obtains an anchor point.
As shown in Figure 9, closest approach is P, P
32 points are supposed P point coordinate (x
p, y
p), P
3Point coordinate (x
P3, y
P3), then final anchor point coordinate P
oPoint coordinate (x
Po, y
Po) can be by formula (3), (4) are released:
In actual computation, participate in the point more (at least 3) that coordinate resolves, just many more by the quantity of its cocked hat of forming, the precision of then resolving is also high more.In the actual location process, range finding base station distance localizing objects is far away more, and the positioning result confidence level is poor more.Though so can use multiple spot, hypertelorism, then error is excessive, rejects.More excellent, among the present invention with ultimate range about 80 meters, form about 10 of coordinate clearing points and be advisable; In order to improve bearing accuracy, give the different power of different anchor points in addition, reflect their influences the final elements of a fix." weighting center of gravity " formula is following:
Wherein, (x is to resolve a little and i+2 the coordinate that distance is finally resolved out by i y) to the coordinate of some P, and each resolves a little all to use with " three-point fix principle " and calculates, and individual the resolving a little of this i is respectively: P
1(x
1, y
1), P
2(x
2, y
2) ..., P
i(x
i, y
i), and each resolves a little again corresponding the distance measurement value of three point distance measurements, its relation is P
iRespective distances d
i, d
I+1, d
I+2, like d
1, d
2, d
3Be respectively to participate in calculating P
1(x
1, y
1) distance measurement value of three point distance measurements during three-point fix.
Therefore; In case the point distance measurement that obtains surpasses 3, then just can calculate a coordinate, the point distance measurement through some can calculate a plurality of coordinates; In order to improve precision; The a plurality of coordinates that calculate are used formula again, and (calculate step 5, (6), calculates final coordinate, is the elements of a fix of impact point.
In order to guarantee bearing accuracy, used the notion of " ill triangle " among the present invention, promptly by known point distance measurement (A, B, C) and suspected target point (P, P
1, P
2, P
3) in each triangle of setting up, if with the impact point be the angle at that angle on summit less than 15 °, then think in fact by " ill triangle ", otherwise be normal triangle.
" ill triangle " can not be used for carrying out coordinate and resolve, thereby in all coordinate Calculation processes, all needs rejecting " ill triangle ".Be shown in the following figure, because ∠ APB is greater than 15 °, then △ ABP is normal triangle; And
is less than 15 °; Then
is " ill triangle "; Then should reject, not participate in coordinate and resolve.
It should be noted last that; Above embodiment is only unrestricted in order to technical scheme of the present invention to be described; Although with reference to instance the present invention is specified, those of ordinary skill in the art should be appreciated that and can make amendment or be equal to replacement technical scheme of the present invention; And not breaking away from the spirit and the scope of technical scheme of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.
Claims (7)
1. based on the electronic tag colocated method of single range finding base station and GPS, it is characterized in that, comprising:
To find range base station and gps receiver place the range finding car on, active electronic label is placed on the object to be positioned;
Cross in the journey in said range finding garage, obtain the range data of said range finding base station and said active electronic label in real time by said range finding base station, said gps receiver obtains the GPS locator data of said range finding base station simultaneously;
Said range data of obtaining and GPS locator data are sent to the localization process center;
Handle according to pre-set programs said range data and GPS locator data at said localization process center, calculates the position of said active electronic label, i.e. the position of said object to be positioned.
2. method according to claim 1 is characterized in that, said localization process center is handled according to pre-set programs said range data and GPS locator data and comprised:
Utilize said range data and GPS locator data, obtain and resolve with range data and locator data;
According to active electronic label ID number, said range data is distributed to corresponding object to be positioned;
According to said range data and corresponding locator data, utilization triangle positioning principle resolves object's position coordinate to be positioned.
3. method according to claim 2 is characterized in that, described said range data and the GPS locator data utilized obtained to resolve with range data and locator data and comprised:
Reject the abnormal data in the said range data;
Reject the abnormal data in the said GPS locator data, the utilization Kalman filter to the rejecting abnormalities data after the GPS locator data optimize;
GPS locator data synchronously simulating to range data after the rejecting abnormalities data and optimization obtains and resolves with range data and locator data.
4. method according to claim 3 is characterized in that, the method for described synchronously simulating is:
With the descending arrangement of range data of all point distance measurements between GPS anchor point of receiving and previous GPS anchor point at every turn, get intermediate value range data and said front and back two GPS positioning point coordinate mean values in the said range data respectively as range data and the coordinate data of resolving usefulness.
5. method according to claim 2 is characterized in that, and is said according to said range data and locator data, and utilization triangle positioning principle resolves object's position coordinate to be positioned and comprises:
Step 1, choose the corresponding range data of three point distance measurements and said point distance measurement and make up cocked hat;
Whether step 2, said cocked hat ill triangle, is then to return step 1, otherwise next step;
Step 3, whether 4 cocked hats are arranged, be then next step, otherwise return step 1;
Step 4, utilize said cocked hat utilization triangle positioning principle to calculate 4 anchor point coordinates;
Step 5, from said 4 anchor point coordinates 2 nearest anchor point coordinates of selected distance, utilize the method for average that said 2 anchor point coordinates are resolved, obtain an anchor point coordinate;
Step 6, repetition above-mentioned steps 1 ~ 5 obtain an anchor point coordinate respectively;
Step 7, the said anchor point coordinate that obtains through the method for average is carried out the weighting center of gravity handle, finally obtain an anchor point coordinate, i.e. the position coordinates of object to be positioned.
6. method according to claim 5 is characterized in that, said ill triangle is meant by in two point distance measurements and the triangle that corresponding range data constitutes, and the number of degrees of interior angle that with the anchor point are the summit are less than 15 degree; The virtual anchor point of this anchor point for calculating according to the triangle positioning principle by said point distance measurement and corresponding range data.
7. method according to claim 5 is characterized in that, at least 5 on described anchor point coordinate.
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| CN103558618A (en) * | 2013-11-12 | 2014-02-05 | 孙瑞玮 | Method for improving locating precision |
| CN105352494A (en) * | 2015-10-30 | 2016-02-24 | 深圳市大疆创新科技有限公司 | Cruise positioning apparatus, and system and method thereof |
| CN110207592A (en) * | 2019-04-15 | 2019-09-06 | 深圳高速工程检测有限公司 | Building cracks measurement method, device, computer equipment and storage medium |
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| CN110207592B (en) * | 2019-04-15 | 2021-11-09 | 深圳高速工程检测有限公司 | Building crack measuring method and device, computer equipment and storage medium |
| CN111093156A (en) * | 2019-11-29 | 2020-05-01 | 中国联合网络通信集团有限公司 | Pseudo base station position locating method, device and storage medium |
| CN111852456A (en) * | 2020-07-29 | 2020-10-30 | 中国矿业大学 | Robust UWB (ultra wide band) underground anchor rod drilling positioning method based on factor graph |
| CN114624756A (en) * | 2022-03-07 | 2022-06-14 | 南京市地铁交通设施保护办公室 | Multi-source data-driven hybrid positioning system |
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