CN106358291A - Trilateration positioning method based on signal strength - Google Patents
Trilateration positioning method based on signal strength Download PDFInfo
- Publication number
- CN106358291A CN106358291A CN201610956770.2A CN201610956770A CN106358291A CN 106358291 A CN106358291 A CN 106358291A CN 201610956770 A CN201610956770 A CN 201610956770A CN 106358291 A CN106358291 A CN 106358291A
- Authority
- CN
- China
- Prior art keywords
- mobile terminal
- localization method
- rssi
- formula
- sensitivity
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention relates to the technical field of positioning and provides a trilateration positioning method based on signal strength. The trilateration positioning method comprises the following steps: (S1) defining calibration of a sensitivity coefficient alpha=k/k of a received wireless signal of a mobile terminal to be positioned; (S2) carrying out conversion on a calculation formula of a wireless transmission loss model to obtain a formula (1):=alpha(-10g+); (S3) collecting RSSIs (Received Signal Strength Indicator) of three points with a highest RSSI value in access points at the periphery of the mobile terminal to be positioned; substituting the RSSIs into the formula (1) to calculate distances d between the mobile terminal to be positioned and the three access points respectively; and (S4) obtaining a position coordinate (X,Y) of the mobile terminal to be positioned by adopting a three-point positioning algorithm. According to the positioning method provided by the invention, influences on positioning calculation, caused by difference of the sensitivity of the received wireless signals of different equipment, are eliminated, so that different equipment, such as users of different cell phones, can be accurately positioned.
Description
Technical field
The present invention relates to field of locating technology, more particularly, to a kind of trilateration localization method based on signal intensity.
Background technology
At present, between two wireless devices of measurement conventional under environment indoors, the technology of distance substantially has following four: base
In the location technology of radio wave propagation time (toa), based on the location technology of radio wave propagation time difference (tdoa), entered based on electric wave
Firing angle (aoa) and the location technology Ji Yu signal intensity (rssi).Based on the location technology of toa and tdoa, high-precision due to needing
The time synchronized of degree could calculate the distance under the light velocity, therefore, relatively costly.And the location technology based on aoa needs by connecing
Receipts machine aerial array measures the angle of incidence that mobile terminal sends electric wave, and equipment complexity is expensive.
The spy that location technology based on rssi is decayed with the increase of propagation distance using the signal intensity of wireless signal
Property, the signal intensity being received according to mobile terminal measurement and known signal fadeout model, it is estimated that between transmitting-receiving side
Distance, according to the distance value of multiple estimations, the position of mobile terminal can be calculated.A kind of this method is relatively easy, is not required to
Extra hardware device is added to network, the therefore localization method based on rssi has market potential very much.In prior art, base
Localization method in rssi needs clear and definite signal intensity with the relation of range attenuation, and research shows that rssi and the decay apart from d are closed
System can be identified with logarithmic relationship :RSSI=α(-10nlgd+A), wherein, the decay that n propagates for signal
Constant, a is unit apart from corresponding rssi value.However, research shows that attenuation constant n is different in different media, need
Concrete application environment to be carried out demarcating constant n and a.But had a problem that it is simply that marking based on the localization method of rssi
Certain equipment that fixed when candidate is selected, but in the environment of real use, the equipment that need to position is probably the equipment of different vendor, that is,
Making is the same device type of same manufacturer, and it accepts the sensitivity of wireless signal and is also typically different.So, in reality
Due to the positioning precision no collateral security based on the trilateration of rssi for the difference of equipment in use.
Accordingly, it would be desirable to a kind of new trilateration localization method based on signal intensity is upper in position fixing process to solve
State problem.
Content of the invention
The purpose of the present invention, for providing a kind of localization method, eliminates the difference of the sensitivity of reception wireless signal of distinct device
The impact to location Calculation for the opposite sex.
To achieve these goals, the invention provides a kind of trilateration localization method based on signal intensity.The party
Method includes step: (001), by the sensitivity k of the reception wireless signal of mobile terminal to be positioned, the reception with calibration facility is no
The sensitivity k of line signalCalibrationRatio, be defined as mobile terminal to be positioned reception wireless signal sensitivity coefficient α=k/
kCalibration；(002) line translation is entered to the computing formula being wirelessly transferred loss model using sensitivity coefficient α, obtains formula (1):RSSI=α(-10nlgd+A)；(003) three tools in the access point around collection mobile terminal to be positioned
There is the rssi of the point of the strongest rssi value；Rssi is substituted into formula (1) and calculates mobile terminal to be positioned and three access points respectively
The distance between d；(004) three-point fix algorithm is adopted to obtain the position coordinateses (x, y) of mobile terminal to be positioned.
Preferably, also included fit procedure (a) before step (003): fix an access point, the position of mobile test point
Put, record multiple test points and the value apart from d and corresponding rssi of access point, according to formulaRSSI=-10nlgd+A, using least square fitting n and a.
Preferably, after fit procedure (a), also include initial setup procedure (b) before step (003): setting is initial
Sensitivity coefficient α0With setting positioning allowable error e0.
Preferably, initial sensitivity factor alpha0=1 it is allowed to error e0=1m.
Preferably, step (004), specifically, with three access points as the center of circle, doing circle with distance for radius, calculates three circles
Intersecting point coordinate, obtain the minimum range solution of intersecting point coordinate, calculate corresponding minimum range dmin of minimum range solution and position and sit
Mark (x, y).
Preferably, with three access points as the center of circle, circle is done for radius with distance, calculate the intersecting point coordinate of three circles, specifically
For: according to known node a1, the coordinate (x of a2, a3a1, ya1), (xa2, ya2), (xa3, ya3), and calculated by described formula (1)
Obtain each apart from dd1、dd2、dd3Calculate each intersecting point coordinate c1, c2, d1, d2, e1, e2；Wherein,
(x - xa1)2+(y - ya1)2=dd1 2；
(x - xa2)2+(y - ya2)2=dd2 2；
It is calculated 2 coordinates solving as c1 and c2 of above-mentioned equation group: (xc1, yc1), (xc2, yc2)；
(x -xa2)2+(y -ya2)2=dd2 2；
(x -xa3)2+(y -ya3)2=dd3 2；
It is calculated 2 coordinates solving as d1 and d2 of above-mentioned equation group: (xd1, yd1), (xd2, yd2)；
(x -xa1)2+(y -ya1)2=dd1 2；
(x -xa3)2+(y -ya3)2=dd3 2；
It is calculated 2 coordinates solving as e1 and e2 of above-mentioned equation group: (xe1, ye1), (xe2, ye2).
Preferably, corresponding minimum range dmin of minimum range solution and position coordinateses (x, y) are calculated, particularly as follows: when (c2,
D1, e2) for minimum range solution when, minimum range dmin=(c2d1+d1e2+c2e2)/3；Position coordinateses (x, y) are: x=(xc+xd
+xe)/3；Y=(yc+yd+ye)/3.
Preferably, also include judging step (005) after step (004), judge whether dmin allows by mistake less than described
Difference e0,
In this way it is determined that the position of coordinate (x, y), the position of mobile terminal as to be positioned；
As no, then with coefficient of alteration d α iteration sensitivity coefficient α=α+d α, and return to step (003) brings formula (1) meter again into
Calculate until making obtained minimum range dmin be less than allowable error e0Till.
Preferably, coefficient of alteration is d α=dmin/(dd1+dd2+dd3).
It is an advantage of the current invention that: the difference of sensitivity eliminating distinct device reception wireless signal is to location Calculation
Impact, and then can be to different equipment, for example, different cellphone subscribers are accurately positioned.
Brief description
Hereinafter will be based on embodiment and refer to the attached drawing is being described in more detail to the present invention.Wherein:
Fig. 1 is the schematic diagram being calculated based on rssi tri- side of the calibration facility of the present invention；
Fig. 2 is that the sensitivity coefficient of the reception wireless signal of the mobile terminal to be positioned of the present invention is less than when 1 based on rssi tri-
The schematic diagram that side calculates；
Fig. 3 is the location Calculation flow chart of the trilateration localization method based on signal intensity of the present invention；
Fig. 4 is a kind of location Calculation of trilateration localization method based on signal intensity preferred embodiment of the present invention
Flow chart.
In the accompanying drawings, identical part uses identical reference.Accompanying drawing is not according to actual ratio.
Specific embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
The invention provides a kind of trilateration localization method based on signal intensity, including step: (s1) will be to be positioned
Mobile terminal reception wireless signal sensitivity k, with calibration facility reception wireless signal sensitivity kCalibrationRatio,
It is defined as the sensitivity coefficient α=k/k of the reception wireless signal of mobile terminal to be positionedCalibration；(s2) adopt described sensitivity system
Number α enters line translation to the computing formula being wirelessly transferred loss model, obtains formula (1) :RSSI=α(-10nlgd+A)；(s3) three points with the strongest rssi value in the access point around described mobile terminal to be positioned are gathered
rssi；Described rssi is substituted into described formula (1) calculate respectively between mobile terminal to be positioned and described three access points
Apart from d；(s4) three-point fix algorithm is adopted to obtain the position coordinateses (x, y) of described mobile terminal to be positioned.In this situation
Under, because n and a is given calibrator (-ter) unit constant obtained by calibrating in the present context, α is a unknown constant, therefore, works as α >
It is meant that the sensitivity of the reception wireless signal than calibrator (-ter) unit for this equipment is high when 1, the rssi value recording is than the value of calibrator (-ter) unit
Big.As α, < it is meant that the sensitivity of the reception wireless signal than calibrator (-ter) unit for this equipment is low when 1, the rssi value recording compares school
The value of quasi- equipment is little.
When the receiving sensitivity of mobile device has deviation with respect to calibrator (-ter) unit sensitivity, but when less, corresponding α < 1, this
When the rssi value that records can diminish.Hypothesis minimum error is e, adopts a recursive algorithm as follows, until finding the minimum α of error
Value is calculating the position of corresponding receiving device.
One of the present invention preferred embodiment in, based on the trilateration localization method of signal intensity, including such as
Lower step (101) to (108):
(101) defining sensitivity coefficient α is, the sensitivity of the sensibility in practice k of mobile terminal to be positioned and calibration facility
kCalibrationRatio, α=k/kCalibration, the computing formula being wirelessly transferred loss model is transformed to formula (1):
RSSI=α(-10nlgd+A)；
(102) value of parameter n in formula described in matching (1) and a；
(103) initial sensitivity factor alpha is set0With positioning allowable error e0；
(104) gather three points with the strongest rssi value in the access point near described mobile terminal to be positioned (a1,
A2, a3) signal intensity (rssi1、rssi2、rssi3)；
Mobile terminal to be positioned and the distance between described three access points dd are calculated respectively according to described formula (1)1、dd2、
dd3；
(106) three-point fix algorithm is adopted to obtain minimum range dmin and the corresponding position seat of described mobile terminal to be positioned
Mark (x, y)；
(107) judge whether dmin is less than described allowable error e0,
In this way it is determined that the position of coordinate (x, y), the position of as described mobile terminal to be positioned；
As no, then with coefficient of alteration d α iteration sensitivity coefficient α, and return to step (105) again bring into formula (1) calculate until
Obtained minimum range dmin is made to be less than allowable error e0Till；
(108) circulation step (104) to (107) terminates until positioning.
Further, < as a example 1, the localization method of the present invention is illustrated by α below.One in the present invention preferred
In embodiment, as shown in Figure 2 and Figure 4, positioning flow comprises the steps:
Step 1: choose calibration facility, the diverse location of change mobile phone, record the distance of each test point and access point and its corresponding
The value of rssi.In experiment, signal strength measurement is carried out using tiblecc2540 module.
Step 2: to measurement result with least square fitting formula (1), obtain parameter n and the value of a.For cc2540
Equipment, fitting result chooses n=1.93, a=-42.1.
Step 3: start location Calculation, for needing location equipment, initial sensitivity factor alpha=1 is set.Setting system positions
Precision allowable error e=1m.
Step 4: start location Calculation circulation, recursive calculation is carried out to each anchor point and obtains positional information.Substep is as follows:
(4-1) it is assumed that location equipment carries mobile phone for client, the strongest 3 signal source that collection Client handset equipment receives
Intensity rssi value；
(4-2), calculate each node apart from d, if the relatively low rssi value recording of sensitivity is little compared with calibration value, as shown in Fig. 2 meter
The 3 dd values (dd1, dd2, dd3) obtaining are less than the d value (d1, d2, d3) demarcated.Wherein rssi1For the a1 node that records
Signal strength values, wherein rssi2The signal strength values of the a2 node for recording, wherein rssi3The signal of the a3 node for recording is strong
Angle value.
(4-3), carry out geometrical calculation: it is assumed that individual known node a1, the coordinate respectively (x of a2, a3a1, ya1), (xa2,
ya2), (xa3, ya3), by each apart from dd1, dd2, dd3Each intersecting point coordinate c1 in dotted line garden, c2, d1, d2, e1, e2 can be calculated.Its
In:
(x - xa1)2+(y - ya1)2=dd1 2；
(x - xa2)2+(y - ya2)2=dd2 2；
It is calculated 2 coordinates solving as c1 and c2 of above-mentioned equation group: (xc1, yc1), (xc2, yc2)；
(x -xa2)2+(y -ya2)2=dd2 2；
(x -xa3)2+(y -ya3)2=dd3 2；
It is calculated 2 coordinates solving as d1 and d2 of above-mentioned equation group: (xd1, yd1), (xd2, yd2)；
(x -xa1)2+(y -ya1)2=dd1 2；
(x -xa3)2+(y -ya3)2=dd3 2；
It is calculated 2 coordinates solving as e1 and e2 of above-mentioned equation group: (xe1, ye1), (xe2, ye2).
(4-4), choose minimum range solution.According to above-mentioned calculated intersecting point coordinate c1, c2, d1, d2, e1, e2, choose
It is minima that one group of c point, a d point and an e point make the distance between they.Concrete logic is as follows:
The relatively distance to d1 with to d2 point for the c1 point, if c1d1<c1d2, selects d1, if c1d1>c1d2, select d2；
The relatively distance to c1 with to c2 point for the d1 point, if c1d1<c2d1, selects c1, if c1d1>c2d1, select c2；
The relatively distance to e1 with to e2 point for the d1 point, if d1e1<d1e2, selects e1, if d1e1>d1e2, select e2；
(4-5), by calculating, c2, d1, e2 put minimum range solution as (c, d, e).
(4-6), calculate minimum distance calculation dmin=(c2d1+d1e2+c2e2)/3, judge dmin whether less than system essence
Degree error amount e.If not, calculating α coefficient of alteration d α, carry out recursive calculation until dmin is < till e.Wherein, d α=dmin/
(dd1+dd2+dd3)；New α=α+d α.
Step 5: recursive calculation completes, the output elements of a fix (x, y), wherein, x=(xc+xd+xe)/3；Y=(yc+yd+ye)/
3.
Step 6: if user terminates location Calculation, EP (end of program), otherwise, system receives the new rssi of location equipment
Value, reorientates calculating.
Although by reference to preferred embodiment, invention has been described, in the situation without departing from the scope of the present invention
Under, it can be carried out with various improvement and part therein can be replaced with equivalent.Especially, as long as there is not structure punching
Prominent, the every technical characteristic being previously mentioned in each embodiment all can combine in any way.The invention is not limited in literary composition
Disclosed in specific embodiment, but include all technical schemes of falling within the scope of the appended claims.
Claims (10)
1. a kind of trilateration localization method based on signal intensity is it is characterised in that include step:
(s1) by the sensitivity k of the reception wireless signal of mobile terminal to be positioned, with the reception wireless signal of calibration facility
Sensitivity kCalibrationRatio, be defined as mobile terminal to be positioned reception wireless signal sensitivity coefficient α=k/kCalibration；
(s2) line translation is entered to the computing formula being wirelessly transferred loss model using described sensitivity coefficient α, obtains formula (1):
RSSI=α(-10nlgd+A)；
(s3) gather the rssi of three points with the strongest rssi value in the access point around described mobile terminal to be positioned；
Described rssi is substituted into described formula (1) and calculates mobile terminal to be positioned and the distance between described three access points d respectively；
(s4) three-point fix algorithm is adopted to obtain the position coordinateses (x, y) of described mobile terminal to be positioned.
2. trilateration localization method according to claim 1 is it is characterised in that also included before described step (s3)
Fit procedure (a): fix an access point, the position of mobile test point, record multiple test points and access point apart from d and right
Answer the value of rssi, according to formulaRSSI=-10nlgd+A, using least square fitting n and a.
3. trilateration localization method according to claim 2 is it is characterised in that after described fit procedure (a), institute
Initial setup procedure (b): setting initial sensitivity factor alpha is also included before stating step (s3)0With setting positioning allowable error e0.
4. trilateration localization method according to claim 3 is it is characterised in that described initial sensitivity factor alpha0=1, institute
State allowable error e0=1m.
5. trilateration localization method according to claim 2 is it is characterised in that described step (s4) is specifically, with three
Individual access point is the center of circle, does circle with distance for radius, calculates the intersecting point coordinate of three circles, obtains the narrow spacing of described intersecting point coordinate
Dissociation, calculates corresponding minimum range dmin of described minimum range solution and position coordinateses (x, y).
6. trilateration localization method according to claim 5 it is characterised in that described with three access points as the center of circle,
Circle is done for radius with distance, calculates the intersecting point coordinate of three circles, particularly as follows:
According to known node a1, the coordinate (x of a2, a3a1, ya1), (xa2, ya2), (xa3, ya3), and calculated by described formula (1)
Obtain each apart from dd1、dd2、dd3Calculate each intersecting point coordinate c1, c2, d1, d2, e1, e2；
Wherein,
(x - xa1)2+(y - ya1)2=dd1 2；
(x - xa2)2+(y - ya2)2=dd2 2；
It is calculated 2 coordinates solving as c1 and c2 of above-mentioned equation group: (xc1, yc1), (xc2, yc2)；
(x -xa2)2+(y -ya2)2=dd2 2；
(x -xa3)2+(y -ya3)2=dd3 2；
It is calculated 2 coordinates solving as d1 and d2 of above-mentioned equation group: (xd1, yd1), (xd2, yd2)；
(x -xa1)2+(y -ya1)2=dd1 2；
(x -xa3)2+(y -ya3)2=dd3 2；
It is calculated 2 coordinates solving as e1 and e2 of above-mentioned equation group: (xe1, ye1), (xe2, ye2).
7. trilateration localization method according to claim 5 it is characterised in that the described intersecting point coordinate of described acquisition
Narrow spacing dissociates into: according to calculated intersecting point coordinate, choosing one group of intersection point and making the distance between they is minima.
8. trilateration localization method according to claim 5 is it is characterised in that described calculating described minimum range solution pair
Minimum range dmin answered and position coordinateses (x, y), particularly as follows: when (c2, d1, e2) is minimum range solution, minimum range
Dmin=(c2d1+d1e2+c2e2)/3；Position coordinateses (x, y) are: x=(xc+xd+xe)/3；Y=(yc+yd+ye)/3.
9. the trilateration localization method according to any one claim in claim 1-8 it is characterised in that
Also include judging step (s5) after described step (s4), judge whether dmin is less than described allowable error e0,
In this way it is determined that the position of coordinate (x, y), the position of as described mobile terminal to be positioned；
As no, then with coefficient of alteration d α iteration sensitivity coefficient α=α+d α, and return to step (s3) is again brought formula (1) into and is calculated
Until making obtained minimum range dmin be less than allowable error e0Till.
10. trilateration localization method according to claim 9 is it is characterised in that described coefficient of alteration is d α=dmin/
(dd1+dd2+dd3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610956770.2A CN106358291B (en) | 2016-10-27 | 2016-10-27 | A kind of trilateration localization method based on signal strength |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610956770.2A CN106358291B (en) | 2016-10-27 | 2016-10-27 | A kind of trilateration localization method based on signal strength |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106358291A true CN106358291A (en) | 2017-01-25 |
| CN106358291B CN106358291B (en) | 2019-07-19 |
Family
ID=57864391
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610956770.2A Active CN106358291B (en) | 2016-10-27 | 2016-10-27 | A kind of trilateration localization method based on signal strength |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106358291B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107144279A (en) * | 2017-04-28 | 2017-09-08 | 西安华宸导航通信有限公司 | Envirment factor dynamic calibrating method based on RSSI models in complex environment |
| CN109146956A (en) * | 2018-08-09 | 2019-01-04 | 厦门市计量检定测试院 | A kind of linearity error correction factor acquisition methods of vision positioning system |
| CN109714704A (en) * | 2018-12-26 | 2019-05-03 | 佛山科学技术学院 | A kind of indoor orientation method and device based on wisdom room point |
| CN110177333A (en) * | 2019-05-21 | 2019-08-27 | 平安科技（深圳）有限公司 | Indoor orientation method, device, system, equipment and storage medium |
| CN110196693A (en) * | 2018-02-26 | 2019-09-03 | 光宝电子(广州)有限公司 | Print system and Method of printing |
| CN110856104A (en) * | 2019-11-18 | 2020-02-28 | 哈尔滨工业大学 | Ultra-wideband indoor positioning method combining least square positioning and trilateral positioning |
| CN113852909A (en) * | 2021-08-26 | 2021-12-28 | 广州杰赛科技股份有限公司 | Node positioning method, device, equipment and storage medium of wireless network |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102209381A (en) * | 2011-05-18 | 2011-10-05 | 福建星网锐捷网络有限公司 | Terminal positioning method in wireless local area network, apparatus thereof and network equipment |
| CN104796980A (en) * | 2015-03-10 | 2015-07-22 | 合肥工业大学 | WLAN indoor positioning calibration method suitable for different types of intelligent terminals |
| CN105242241A (en) * | 2015-10-28 | 2016-01-13 | 国家电网公司 | Indoor positioning method based on Wi-Fi |
-
2016
- 2016-10-27 CN CN201610956770.2A patent/CN106358291B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102209381A (en) * | 2011-05-18 | 2011-10-05 | 福建星网锐捷网络有限公司 | Terminal positioning method in wireless local area network, apparatus thereof and network equipment |
| CN104796980A (en) * | 2015-03-10 | 2015-07-22 | 合肥工业大学 | WLAN indoor positioning calibration method suitable for different types of intelligent terminals |
| CN105242241A (en) * | 2015-10-28 | 2016-01-13 | 国家电网公司 | Indoor positioning method based on Wi-Fi |
Non-Patent Citations (3)
| Title |
|---|
| NI HU-SHENG等: "An Improved Method of Self-Adaptive Localization for Wireless Sensor Network in Dynamic Indoor Environment", 《PROCEEDINGS OF THE 31ST CHINESE CONTROL CONFERENCE》 * |
| 孙善武等: "一种改进的基于信号强度的ＷＬＡＮ定位方法", 《计算机科学》 * |
| 陶峥等: "基于卡方距离改进的ＷＬＡＮ室内定位算法", 《计算机技术与发展》 * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107144279A (en) * | 2017-04-28 | 2017-09-08 | 西安华宸导航通信有限公司 | Envirment factor dynamic calibrating method based on RSSI models in complex environment |
| CN107144279B (en) * | 2017-04-28 | 2020-05-12 | 西安华宸导航通信有限公司 | RSSI (received Signal Strength indicator) model-based dynamic calibration method for environmental factors in complex environment |
| CN110196693A (en) * | 2018-02-26 | 2019-09-03 | 光宝电子(广州)有限公司 | Print system and Method of printing |
| CN109146956A (en) * | 2018-08-09 | 2019-01-04 | 厦门市计量检定测试院 | A kind of linearity error correction factor acquisition methods of vision positioning system |
| CN109714704A (en) * | 2018-12-26 | 2019-05-03 | 佛山科学技术学院 | A kind of indoor orientation method and device based on wisdom room point |
| CN110177333A (en) * | 2019-05-21 | 2019-08-27 | 平安科技（深圳）有限公司 | Indoor orientation method, device, system, equipment and storage medium |
| CN110856104A (en) * | 2019-11-18 | 2020-02-28 | 哈尔滨工业大学 | Ultra-wideband indoor positioning method combining least square positioning and trilateral positioning |
| CN110856104B (en) * | 2019-11-18 | 2021-02-19 | 哈尔滨工业大学 | Ultra-wideband indoor positioning method combining least square positioning and trilateral positioning |
| CN113852909A (en) * | 2021-08-26 | 2021-12-28 | 广州杰赛科技股份有限公司 | Node positioning method, device, equipment and storage medium of wireless network |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106358291B (en) | 2019-07-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106358291A (en) | Trilateration positioning method based on signal strength | |
| US8848565B2 (en) | Method for performing measurements and positioning in a network based WLAN positioning system | |
| EP3242144B1 (en) | Improving a positioning performance | |
| CN102869038B (en) | Measurement compensation method and device in positioning of base station, server and system | |
| EP3603125A1 (en) | Supporting a tracking of mobile devices | |
| US20080186234A1 (en) | Method to modify calibration data used to locate a mobile unit | |
| CN104735620B (en) | A kind of accurate positioning method based on multiple base stations | |
| KR101623617B1 (en) | Method and apparatus for compensating the estimated location of wireless network elements from measurements of diverse terminals | |
| CN104125538A (en) | WIFI (wireless fidelity) network based RSSI (received signal strength indicator) signal strength secondary locating method and device | |
| CN106851570A (en) | Based on the method and device that MR is positioned to mobile terminal | |
| CN103476109A (en) | Indoor AP positioning method | |
| CN104113909B (en) | The localization method and system of digital signage | |
| JP2011158459A (en) | Estimating whether wireless terminal is indoors using pattern classification | |
| US20230180040A1 (en) | Information reporting method, apparatus and device, and readable storage medium | |
| Dil et al. | RSS-based localization with different antenna orientations | |
| CN105204002B (en) | A kind of sound localization method and system | |
| CN106358155A (en) | Building method and device of radio frequency fingerprint database | |
| JP2012109965A (en) | System and method of wireless detector used in medical system | |
| Ferrigno et al. | A UWB-based localization system: analysis of the effect of anchor positions and robustness enhancement in indoor environments | |
| CN108111972A (en) | Indoor WiFi Site Surveys method based on signal strength and space division | |
| CN106455051A (en) | WiFi positioning precision increasing method using distance calibration device | |
| CN102237934A (en) | Test method of terminal data transmission performance, system and apparatus thereof | |
| CN114585012B (en) | Method, device, equipment and storage medium for determining wireless signal strength | |
| CN106412838A (en) | Bluetooth indoor positioning method based on statistical matching | |
| Wang et al. | RSSI-based localization in cellular networks |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190326 Address after: Room 1016, 58 Lane 1, Zhenjian East Road, Minhang District, Shanghai, 201100 Applicant after: Shanghai Etrillions Energy Saving Technology Co., Ltd. Address before: Room 302, Room 518, Shenzhuan Highway, Songjiang District, Shanghai, 201600 Applicant before: View energy technology (Shanghai) Co., Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |