CN102749613A - Indoor positioning method on basis of rotary antenna - Google Patents
Indoor positioning method on basis of rotary antenna Download PDFInfo
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- CN102749613A CN102749613A CN2012102060188A CN201210206018A CN102749613A CN 102749613 A CN102749613 A CN 102749613A CN 2012102060188 A CN2012102060188 A CN 2012102060188A CN 201210206018 A CN201210206018 A CN 201210206018A CN 102749613 A CN102749613 A CN 102749613A
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Abstract
An indoor positioning method on the basis of a rotary antenna relates to a mobile terminal indoor positioning technology, and comprises that step 1, a reference node and a node to be tested are set, a two-dimensional coordinate system which takes the reference node as an origin is built, and comprises a horizontal axis and a longitudinal axis, the node to be tested is required to be located in the plane of the two-dimensional coordinate system, the included angle between a connecting line of the reference node and the node to be tested and the horizontal axis is a positioning angle, and the distance between the reference node and the node to be tested is a positioning distance; step 2, the positioning angle and the positioning distance are measured; and step 3, through an algorithm of a distance and an energy relational model, and the positioning angle, the two-dimensional coordinates of the node to be tested on the plane of the two-dimensional coordinate are calculated, so the node to be tested is positioned. The method has the advantages of avoiding error superposition, realizing point positioning, high precision and the like.
Description
Technical field
The present invention relates to a kind of indoor positioning technology of portable terminal, particularly a kind of indoor orientation method based on rotating antenna.
Background technology
Along with the optimization of network environment and popularizing of portable terminal, under the situation of high-speed radiocommunication and the development of advanced networks technology high-speed, location technology is come into daily life gradually, and its application is more and more general.Positioning instant is according to the node geography information of minority known location; Confirm position to be measured through certain Algorithm Analysis; GPS (Global Positioning System wherein; Be called for short GPS) be widely used in the whole world, its speed of development and popularity have confirmed that location technology brings great convenience to the human lives.
Wireless network obtains and bandwidth demand no longer is the biggest problem that location technology realizes, the emphasis of many scholar's research location technologies is how to bring solution more accurately for everybody.How, daily life to pass judgment on the ultimate criterion that location technology is admitted for bringing the most easy-operating conveniently being only.Be mainly quite ripe that GPS technology that moving objects such as boats and ships, automobile, aircraft and pedestrian position navigation has developed, yet, when GPS appears in people's life; But often can't realize the location that some is regional because of technical reason, for example, under indoor environment; Because the complicacy of its inner structure, the existence of barriers such as reinforced concrete makes gps signal to penetrate, and makes a lot of algorithms realize existing many errors; Accurate positioning degree deviation is bigger, can not realize indoor accurate location, causes the GPS technology not have availability fully; It is thus clear that also there is significant limitation in the GPS The Application of Technology.
Indoor positioning is meant under indoor environment, by means of wireless network, relies on known unknown node, and node to be measured is realized location process.The development of GPS technology can not be represented the progress of indoor positioning technical development, because the GPS positioning principle can not be realized in indoor environment.Indoor positioning depends on indoor retrievable wireless signal, and the reference mode through numerous known location comes RP to be measured is carried out assist location.Though the research of existing location technology is like a raging fire, yet never realize at home.At first be because domestic prior art can't matching algorithm requirement environment, secondly because indoor complex environment brings many interference to location technology, degree of accuracy does not guarantee.Therefore, further improve indoor positioning degree of accuracy and applicability and seem particularly important, such high-precision requirement is that the GPS technology is beyond one's reach; Because; Because the interference of reinforced concrete makes gps signal to penetrate, so can't realize location technology in the indoor environment.For satisfy under the indoor environment to the requirement of user's geography information, at the twentieth century end, successively work out the system that is suitable for locating under the indoor environment.
The algorithm of indoor positioning is of a great variety, and is constantly being improved by the scholar.Wherein location technology mainly is summarised as following three types, promptly based on the location algorithm of the relation of closing on, based on the location algorithm of triangle relation, based on the location algorithm of scene analysis.Be divided into again according to the signal preparation method: based on arrival energy measurement location algorithm (RSS), based on arrival angle time location algorithm (TOA), based on difference positioning algorithm time of arrival (TDOA), based on arriving angle measurement and positioning algorithm (AOA) etc.But these location technologies respectively have excellent lacking, and can be applied to different scenes because of demand and environmental difference.These location algorithms are selected to different scenes according to indoor environmental condition and error requirements.Depend on the location that indoor wireless environments and known node realize different range and different accuracy.Above-mentioned algorithm principle is different, and common ground is to depend on three above node locating, obtains the nodes of locations positional information to reach.The positioning systems that three nodes are above, shortcoming such as bearing accuracy is not high, and the error stack is big, and also precision is difficult to control, and because indoor environment is complicated, uncontrollable factor is many especially, has increased the control difficulty, the RP that is relied on is many more, and the error stack is big more.
Summary of the invention
The shortcoming that the objective of the invention is to overcome prior art provides a kind of indoor orientation method based on rotating antenna with not enough, has realized indoor single-point location, has overcome because node is many, the defective of error that indoor complex environment causes stack.
The object of the invention realizes that through following technical proposals a kind of indoor orientation method based on rotating antenna may further comprise the steps:
Step 3, through said orientation angle and orientation distance, calculate the two-dimensional coordinate that node to be measured is fastened at two-dimensional coordinate, so that node to be measured is positioned.
In the step 2 of above-mentioned indoor orientation method based on rotating antenna, the expression formula of compute location distance is:
L=10 ∧ [(P
Send-P
Receive-20Log (f)-36.6)/20]
Wherein L is an orientation distance, P
SendBe transmit signal strength, P
ReceiveBe the maximum signal that receives, f is a transmission frequency.
In the step 2, said rotating antenna is a directional antenna.
After accomplish the location, analyze the described two-dimensional coordinate that calculates in the step 3 again, analyze the measuring error size of its node to be measured and the deviation of directivity of corresponding two-dimensional coordinate, proofread and correct with position to the node to be measured that records.
Principle of work of the present invention: the present invention is through the reference mode of single known location; Realized location to node to be measured; Reference mode carries out the measurement of relative angle and relative distance respectively to node to be measured, and the measurement of angle realizes that through the rotating antenna algorithm that the present invention mentions the measurement of distance adopts a kind of distance and the algorithm of energy relationship model to realize; And to taking measurement of an angle and, realizing location to node to be measured apart from calculating; Algorithm of the present invention is at the two-dimensional coordinate planar development; Form with geometric coordinate provides positioning result; Analyze theoretically based on the related algorithm in WLAN location, realize position fixing process by means of distance and the algorithm and the geometric algorithm of the model of energy relationship, whole location positioning procedure is divided into this three phases of measuring phases, positioning stage and calibration phase; The target of positioning system of the present invention is that mobile device is positioned, and has realized following function:
(1) can scan WAP in the LAN (Access Point is called for short AP);
(2) can read the RSS value of AP;
(3) can and read the storage of the RSS value in the database;
(4) can judge the zone that mobile device belongs to;
(5) derive two-dimentional rectangular coordinate;
(6) import the angle geometric algorithm, find out regional intersection point;
(7) realize the location.
The present invention has following advantage and effect with respect to prior art:
(1) significantly improved the degree of accuracy of locating; The present invention combines the indoor wireless local area network environment, from the single-point location, makes up the location implementation.Position fixing process is divided into this three phases of modelling phase, measuring phases and positioning stage.Phase one is the modelling phase, sets up a two-dimensional coordinate system that comprises location node and reference mode, and subordinate phase is a measuring phases, in conjunction with the directional antenna principle, measures the signal intensity that node to be measured receives, and records ceiling capacity and corresponding rotational time.Phase III is a positioning stage, through measured data, in conjunction with fingerprint identification technology; It is poor to calculate impact point and euclidean distance between node pair to be measured and corresponding phase, and also proofread and correct location structure after accomplishing the location; Carry out the algorithm adjustment according to the experimental result error, to reach more accurately location, the present invention meets the indoor wireless local area network layout; Signal attenuation when having avoided passing through cement wall, degree of accuracy are able to significantly improve.
(2) the error stack of having avoided multipoint positioning to bring; The present invention combines the existing network environment and can realize easy degree; Proposed a kind of based on WLAN (Wireless Local Area Networks; Abbreviation WLAN) single-point indoor positioning scheme; The error that this scheme relies on single-point to locate and reduces to cause owing to indoor complex environment superposes, and the present invention carries out analog simulation to the indoor positioning scheme in the matrix experiment chamber on (Matrix Laboratory is called for short MATLAB) platform; Experimental result and RP actual value compare analysis; And show experimental result: the present invention proposes to have higher degree of accuracy based on the indoor positioning scheme of WLAN, and particularly in indoor complex environment, the position fixing process error of having avoided multipoint positioning to bring superposes like this.
(3) the present invention has realized the single-point location on the two-dimensional coordinate; The rotating antenna algorithm that the present invention proposes has been realized the single-point location on the two-dimensional coordinate.
Description of drawings
Fig. 1 goes up the floor map of reference mode and node relationships to be measured for single-point location two dimension.
Fig. 2 is total algorithm simulated technological process figure of the present invention.
The vertical sectional drawing of signal radiation when Fig. 3 is directional antenna static state.
The horizontal sectional drawing of signal radiation when Fig. 4 is directional antenna static state.
Fig. 5 is the rotating antenna signal coverage direction synoptic diagram of rotating antenna when t=t ' and t=0.
Fig. 6 is an analog platform formula synoptic diagram, the signal that node A1 to be measured samples when T=0.25, and wherein P=47.5mW is the ceiling capacity point.
The rotating antenna algorithm positioning result synoptic diagram of Fig. 7 for showing on the analog platform.
Embodiment
Below in conjunction with embodiment and accompanying drawing the present invention is described in further detail, but embodiment of the present invention is not limited thereto.
Embodiment
Present embodiment comprises the steps:
Step 3, through said orientation angle and orientation distance, calculate the two-dimensional coordinate that node to be measured is fastened at two-dimensional coordinate, so that node to be measured is positioned.
In the said step 2, the expression formula of compute location distance is:
L=10 ∧ [(P
Send-P
Receive-20Log (f)-36.6)/20]
Wherein L is an orientation distance, P
SendBe transmit signal strength, P
ReceiveFor the maximum signal, the f that receive are the transmission frequency of rotating antenna, the detailed process of location is carried out on the two-dimensional coordinate plane: is the setting coordinate of reference mode (0,0); Is the setting coordinate of node to be measured unknown coordinates (x; Y), the arrival when the sampling antenna of node to be measured rotates a circle, energy; Be up to Danone and the maximum time value that arrives to draw; It is imported the two-dimensional coordinate algorithm, and, calculate the two-dimensional coordinate of node to be measured at two-dimensional coordinate system through measuring phase differential and the range difference between node to be measured and known node.
In the said step 2; The measurement of said orientation angle is measured through phase information and is accomplished; The measuring method of said orientation distance adopts the radio wave energy damped method; Through recording the difference calculating deamplification intensity that reference mode end transmit signal strength and node side to be measured receive signal intensity, calculate orientation distance according to the deamplification intensitometer.
In the said step 2; Said rotating antenna is done the wireless environment scanning of 360 degree, to find node to be measured by fixed angular speed rotation in one-period; Said rotating antenna has fixing cycle and fixing angular velocity of rotation; In a week, said node to be measured draws the direction of node to be measured with respect to reference mode according to the signal intensity that antenna rotates a circle and receives.
In the said step 2, as shown in Figure 3, said rotating antenna is a directional antenna, and the sweep limit of said directional antenna is limited in the certain little angle, and is as shown in Figure 4, and stronger radiation signal is arranged in the scope of its radiation, radiationless signal beyond the scope of its radiation.
In the said step 2; Simulated technological process figure as shown in Figure 2; Wherein said node receiving end to be measured carries out the signal intensity collection to the reference mode rotating antenna by certain frequency, and the sampling period is that antenna rotates a circle the employed time, and node to be measured is done intellectual analysis to the signal intensity that sampling obtains simultaneously; It is constantly maximum to draw signal; And write down the maximum signal that this is sampled constantly and obtains simultaneously, according to the said maximum phase information of node to be measured that constantly calculate, obtain orientation angle according to phase information again with respect to reference mode.
Said step 2 may further comprise the steps:
(1) calculates energy difference between the power that reference mode end antenna emissive power and node side antenna to be measured receive maximum signal;
(2) according to energy loss formula and said maximum signal, calculate the orientation distance between node to be measured and the reference mode;
The maximum angle that the ceiling capacity that is write down when (3) rotating a circle through node perceived rotating antenna to be measured is corresponding calculates orientation angle.
In the said step 2, rotating antenna is with the rotation of constant angular velocity, and node to be measured is fixed, and when t1 position and nodal distance to be measured were nearest, the energy that receives was a maximal value; Antenna rotates with angular velocity, and sense of rotation is a CW, through ceiling capacity time corresponding and angular velocity of rotation, needing can obtain the arrival angle of measurement, and as orientation angle, note is made θ, wherein θ=v* Δ t.Δ t=t
xMod (360 ° of ÷ v), θ then
x=v* [t
xMod (360 °) ÷ v], t wherein
xMoment value during for ceiling capacity (being maximum signal), it really normal root according to the mensuration of ceiling capacity, through maximum time of arrival and angular velocity of rotation confirming to locate required phase information.The rotation of antenna among the present invention is measured with receiving end and is kept strict synchronism, but is not very high to the requirement of time, and common time synchronized is operated and can be satisfied.
In the said step 2; Said orientation distance is to measure through the algorithm realization ceiling capacity of the distance and the model of energy relationship; And calculate according to the energy that records, the present invention adopts the radio wave energy damped method as beasurement base, and the radio wave energy damped method promptly records transmit signal strength and receives signal intensity; Subtract each other and obtain deamplification intensity, according to this calculate reference mode and internodal orientation distance to be measured:
p=20Log(L)+20Log(f)+36.6
Wherein L is reference mode and internodal orientation distance to be measured, and p is the energy loss value from the transmitting terminal to the receiving end, and f is that megahertz is promptly launched wave frequency.Under the situation of known p and f, can calculate the value of L, wherein the following formula of the measurement of p is described:
P
Accept=P
Send-p=P
Send-20Log (L)+20Log (f)+36.6
Wherein receive signal energy and equal to send signal energy and deduct communication process loss of signal energy, transmitted power is made as a fixing given value, and the signal energy of reception is the peak signal energy that sampling obtained in one week, can draw the value of p so, further obtains the L value:
L=10 ∧ [(P
Send-P
Receive-20Log (f)-36.6)/20]
Consider the interference of the existence of barriers such as wall in the actual environment to signal, adopt the wall attenuation coefficient model that is described below, set up signal attenuation and distance relation, concrete model is as follows:
Wherein, n is the path attenuation index of signal, the signal intensity the when signal that sends for the reference distance place arrives the base station; D is the distance between mobile node and base station, is the wall number between mobile node and the base station; C is biggest obstacle thing (wall) number that makes that decay factor changes; My wall attenuation coefficient factor of WAF.Generally speaking, n and WAF rely on and the structure of building and the material of use, can the use experience value.The distance of real-time computing node of following formula and base station is used according to the actual signal intensity that records in the base station.
The concrete position fixing process of said step 3 is following: positioning stage is promptly recording on the basis that arrives distance and arrival angle; Further import algorithm, confirm node coordinate to be measured, it is (0 that the position rotating antenna coordinate is set; 0); The coordinate of node to be measured be (x, y), location algorithm launches as follows under two dimensional surface:
At first, import two-dimensional geometry algorithm coordinate, find out moving target.
(1) each some definition vector:
R=[R1,R2,…,Rn],Ri=(MAOA,MRSS,APi)
(2) rotate to the energy maximum angular time from reference angle:
ΔT=T?max-T0
Can remember that also (APi) wherein: MRSS is the ceiling capacity of rotating antenna when rotating a circle to work: Ri=for Δ Ti, MRSS, and MAOA corresponding anglec of rotation when arriving ceiling capacity is called the Maximum Acceptance Angle degree.APi is indoor node AP label, and R is the set of matrices of all node corresponding informances, and T0 is the initial moment of antenna rotation, and Tmax is the time of rotating when arriving ceiling capacity, and Δ T is the used time.
The reference mode note is made (x
1, y
1), through measuring, learning the value of orientation distance L and orientation angle θ, according to the geometric coordinate formula, can calculate to draw node to be measured:
x
2=L*cosθ
(x
2,y
2)y
2=L*sinθ
Known L=10 ∧ [(P
Send-P
Receive-20Log (f)-36.6)/20 θ],
x=v* [t
xMod (360 ° of ÷ are v)], draw:
x
2=10 ∧ [(P
Send-P
Receive-20Log (f)-36.6)/20 * cos [v* (t]
xMod (360 ° of ÷ v))]
y
2=10 ∧ [(P
Send-P
Receive-20Log (f)-36.6)/20 * sin [v* (t]
xMod (360 ° of ÷ v))]
Wherein: P
SendBe transmit signal strength, P
ReceiveFor maximum signal, the f that receives is that transmission frequency, v are for selecting angular velocity, t
xTime value when detecting maximum angle.The coordinate displayed value is a positioning result derivation value; Corresponding arrival energy constantly when measuring phases draws antenna and rotates a circle through receiving end sampling is up to Danone and the maximum time value that arrives through drawing in the week of sampling, and it is imported positioning stage; Promptly import the two-dimensional coordinate algorithm; Through measuring phase differential and the range difference between node to be measured and known node, finally draw node coordinate to be measured at positioning stage, accomplish the location.
For the degree of accuracy that guarantees that the present invention locatees, also the positioning result that records is carried out error correction.After accomplish the location; Again the coordinate information that records in the step 3; Compare with the coordinate nodal information of reality; Analysis is to the deviation of directivity of the measuring error of node to be measured size and corresponding two-dimensional coordinate, proofreaies and correct with the position to the node to be measured that records, and the possible outcome of error has following three kinds:
(1) phase deviation: need to adjust when rotating zero and the time of sampling beginning.Solution: the Maximum Acceptance Angle degree is corresponding constantly as unknown parameter, node actual coordinate value to be measured as a result of, the substitution ranging formula, the t value of trying to achieve arrives time ratio with maximum, gets the mistiming, the adjustment of postponing is sampled the start time.
(2) range deviation: because weak the causing of signal that indoor complex environment causes, solution can with this model substitution net result, be tried to achieve WAF decay factor coefficient by the attenuation coefficient model.The weak decay that brings of signal be can avoid, destination node and internodal distance error to be measured just reduced.
(3) distance, phase place, while deviation: divide two kinds of possibilities, a kind of is because the sampling ceiling capacity is made mistakes, and causes maximum time and ceiling capacity to be made mistakes simultaneously, then need check positioning system.Another kind is the combination of above-mentioned two kinds of errors, like this needs model is carried out twice data acquisition respectively, and the formula of substitution is simultaneously formed system of equations again, records sampling time and decay factor value respectively.
The positioning error correction need repeat test, proofreaies and correct repeatedly, when the test findings degree of accuracy no longer changes, just stops to accomplish positioning error and proofreaies and correct.
The method of two-dimensional coordinate system is following described in the establishment step 1:
At first the network environment of a WLAN of simulation on the MATLAB platform is provided with simulated environment, for the algorithm design of back is carried out place mat, so that accomplish algorithm performance better.Fig. 2 is the simulated technological process of this algorithm, and is as shown in table 1 to being provided with of the coefficient of antenna and WLAN.
Table 1
According to the WLAN characteristics,, the network of node locating is made following setting in order in MATLAB, to carry out the WLAN simulation:
(1) wlan node is deployed on the plane domain of two-dimensional coordinate system, and reference mode coordinate and specifying information are set at given value.
(2) WLAN is the network of same framework; All nodes have identical characteristic; Just have identical communication capacity, storage capacity and computing power; Traffic model adopts free space electric wave mode between the node, and the communication radius of node is consistent, and promptly radiation scope is with from being radius as round dot, radiation scope.
(3) can find adjacent node between each node, can mutual communication between the neighbor node, the maximum node of energy sensing is elected to be reference mode in adjacent node.
(4) link is two-way between the node, the communication function of symmetry is arranged, and all message finally can both be by correct reception.
Concrete measuring process is following:
(1) aerial radiation modeling
The necessary serial number of it line computation can use very short shell script rwg1.m-rwg5.m to realize.Last shell script can show that the surface current that feed voltage produces distributes on half-wave doublet, shell script efield1.m, efield2.m, efield3.m can provide spatial point radiation signal, comprise the radiation pattern of three-dimensional figure and antenna gain.
(2) rotating antenna location algorithm flow process
Realize for the ease of the simulation of network environment, concrete simulation work divided four steps carried out:
The first step; The design rotating antenna; Can reach 360 degree rotation sweeps, make the rotating antenna strictness reach signal radiation and have very strong signal energy, and do not have energy spread in other scopes in certain little angle; Transmission frequency according to signal is provided with angular velocity of rotation, guarantees that node to be measured can comprehensive received radiation signal.
Second step was provided with acceptance point and receives signal model, carried out sampled form and periodically collected, and confirmed SF according to sampling theorem, drew time energy coordinate diagram.
In the 3rd step, intellectual analysis is collected signal coordinates, takes out ceiling capacity and corresponding angle, the substitution algorithm, analyze calculate node two-dimensional coordinate to be measured.
In the 4th step, the result will be recorded and actual value compares, analytical error and improvement way.
(3) antenna directivity setting
The control directivity mainly will be considered three factors: (1) geometric structure factor, and (2) phase factor, (3) array element number has two basic array type, is respectively orthogonal array and end-fire array.Its directivity or controlled by array element distance, or controlled by the relative phase of feed voltage.Broad side array greatest irradiation direction perpendicular to array axes to; Opposite end-fire array sponsor to along array axes to.Can find out the shape and the gain of spacing appreciable impact radiation orientation diagram between array element by Fig. 5.When two dipole spacings were very little, the array radiation efficiency was low.During d=0.2 λ, array gain is 2.8dB, a big 0.6dB than single half-wave doublet.If two dipole spacings are greater than half wavelength, the orthogonal array lobe is just very narrow.Yet huge spot has occurred, and entire gain has also descended.Optimal selection is, d=0.5 λ, and the gain of generation is maximum, is 5.9dB.Antenna pattern does not have secondary lobe simultaneously.
(4) node sample to be measured
Node to be measured is zero moment to begin sampling from t; The signal of receiving is that horizontal ordinate, p are that ordinate is presented on the two-dimensional coordinate with t; Detect maximum letter P number and the time corresponding T of receiving again, as the input of subordinate phase location algorithm, sampled result is as shown in Figure 6.
We obtain ceiling capacity and maximum time in sample phase, as the input of following algorithm, finally export the result and show (x
2, y
2) value, be net result:
x
2=10 ∧ [(P
Send-P
Receive-20Log (f)-36.6)/20 * cos [v* (t]
xMod (360 ° of ÷ v))]
y
2=10 ∧ [(P
Send-P
Receive-20Log (f)-36.6)/20 * sin [v* (t]
xMod (360 ° of ÷ v))]
Positioning result output is as shown in Figure 7.
The foregoing description is a preferred implementation of the present invention; But embodiment of the present invention is not restricted to the described embodiments; Other any do not deviate from change, the modification done under spirit of the present invention and the principle, substitutes, combination, simplify; All should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (5)
1. the indoor orientation method based on rotating antenna is characterized in that, comprises the steps:
Step 1, reference mode of setting, setting up one is the two-dimensional coordinate system of initial point with said reference mode, said two-dimensional coordinate system comprises the transverse axis and the longitudinal axis; Node to be measured drops in the plane of two-dimensional coordinate system, and the angle of line and transverse axis is an orientation angle between node to be measured and reference mode, and the distance between node to be measured and reference mode is an orientation distance;
Step 2, place rotating antenna at said reference mode, in the process that rotating antenna rotates a circle, the pairing angle of the maximum signal that node to be measured receives is an orientation angle; The difference of the maximum signal that receives through witness mark node transmit signal strength and node to be measured is calculated deamplification intensity, calculates orientation distance according to the transmission frequency of deamplification intensity and reference mode;
Step 3, through said orientation angle and orientation distance, calculate the two-dimensional coordinate that node to be measured is fastened at two-dimensional coordinate, so that node to be measured is positioned.
2. the indoor orientation method based on rotating antenna according to claim 1 is characterized in that: in the step 2, the expression formula of compute location distance is:
L=10 ∧ [(P
Send-P
Receive-20Log (f)-36.6)/20]
Wherein L is an orientation distance, P
SendBe transmit signal strength, P
ReceiveBe the maximum signal that receives, f is a transmission frequency.
3. the indoor orientation method based on rotating antenna according to claim 1 is characterized in that: in the step 2, said rotating antenna is a directional antenna.
4. the indoor orientation method based on rotating antenna according to claim 1; It is characterized in that: step 2 is in the process that rotating antenna rotates a circle; Said node to be measured is sampled to the signal intensity of rotating antenna; And it is constantly maximum that the signal intensity analysis that sampling obtains is drawn signal intensity, according to the said maximum phase information of node to be measured with respect to reference mode that constantly calculate, obtains orientation angle according to phase information again.
5. the indoor orientation method based on rotating antenna according to claim 1; It is characterized in that; Analyze the described two-dimensional coordinate that calculates in the step 3; Analyze the measuring error size of its node to be measured and the deviation of directivity of corresponding two-dimensional coordinate, proofread and correct with position to the node to be measured that records.
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| CN103454661A (en) * | 2013-03-06 | 2013-12-18 | 深圳先进技术研究院 | Positioning system based on GPS and distance and angle measurement technology |
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