CN107861509A - A kind of anchor point method for correcting coordinate and the method for improving robot localization precision - Google Patents
A kind of anchor point method for correcting coordinate and the method for improving robot localization precision Download PDFInfo
- Publication number
- CN107861509A CN107861509A CN201711011058.6A CN201711011058A CN107861509A CN 107861509 A CN107861509 A CN 107861509A CN 201711011058 A CN201711011058 A CN 201711011058A CN 107861509 A CN107861509 A CN 107861509A
- Authority
- CN
- China
- Prior art keywords
- anchor point
- distance
- anchor
- robot
- height
- 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.)
- Withdrawn
Links
- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000004807 localization Effects 0.000 title claims abstract description 15
- 238000010586 diagram Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 241000208340 Araliaceae Species 0.000 description 3
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 3
- 235000003140 Panax quinquefolius Nutrition 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 235000008434 ginseng Nutrition 0.000 description 3
- 241001442234 Cosa Species 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
A kind of method that robot localization precision is improved present invention is disclosed anchor point method for correcting coordinate and using anchor point method for correcting coordinate, selects N number of position to set anchor point support in robot working environment, and N number of anchor point is separately positioned on corresponding anchor point support；A certain anchor point is elected as and as a reference plane, the height with reference to anchor point A1 distance reference planes is calculated, using the height as the ordinate y1 with reference to anchor point A1 with reference to anchor point A1, optional one horizontal plane related to reference anchor point A1；Measure another anchor point A2 distance reference anchor points A1 distance L1；Δ Z is heightened or turned down to the support installed with reference to anchor point A1, measures anchor point A2 distance reference anchor points A1 distance L2 again；Anchor point A2 is calculated relative to the height of reference planes, the ordinate y2 using the height as anchor point A2；Repeat step S3 to S5 obtains ordinate of all anchor points relative to reference planes；The position of robot is calculated according to the label node T of the coordinate of anchor point and anchor point in robot distance.
Description
Technical field
The invention belongs to robot field, is related to a kind of anchor point method for correcting coordinate and one kind is determined for improving robot
The method of position precision.
Background technology
With the development of robot industry technology, existing robot (such as sweeping robot, grass-removing robot) often has
Standby map building function, can flexibly be moved indoors.Accurate map structuring is the guarantee that robot realizes independent navigation, and
Realize that accurate map structuring needs accurately positioning.As shown in figure 1, positioning method of the prior art, often by
At least three fixed position placement positioning anchor point AP1, AP2 and AP3 are chosen in working environment, while one is installed in robot
Label node TP, by the distance between corresponding mode robot measurement label node TP to anchor point AP1, AP2 and AP3, so
Afterwards according to space coordinates relation, robot location is determined.
The method of above-mentioned determination robot location is that height of the anchor point apart from ground is determined directly as into ordinate.But
In a practical situation, the working face of robot is frequently not a preferable horizontal plane, certain height generally all be present and rises
Volt, especially in outdoor environment.Certain difference in height between horizontal plane where anchor point be present.If directly by anchor point distance ground
The height in face is determined directly as ordinate, and the anchor point coordinate calculated and robot location there will naturally be larger error.
Thus, it is necessary to a kind of energy solution to the problems described above is provided, it is perpendicular to the anchor point not in same level to sit
Mark carries out calibration process, then calculates robot location using the distance of anchor point coordinate and anchor point and robot, improves machine
The positioning precision of device people.
The content of the invention
An object of the present invention is to overcome the defects of background technology, there is provided one kind is used to improve robot localization essence
The method of degree, its concrete scheme are as follows：
A kind of anchor point method for correcting coordinate, comprises the following steps：S1:N number of position is selected to set in robot working environment
Anchor point support is put, N number of anchor point is separately positioned on corresponding anchor point support；S2：A certain anchor point is elected as with reference to anchor point A1, optionally
One horizontal plane related to reference anchor point A1 as a reference plane, calculates the height with reference to anchor point A1 distance reference planes, will
The height is as the ordinate y1 with reference to anchor point A1；S3：Measure another anchor point A2 distance reference anchor points A1 distance L1；S4：
Δ Z is heightened or turned down to the support installed with reference to anchor point A1, measures anchor point A2 distance reference anchor points A1 distance L2 again；S5：
Anchor point A2 is calculated relative to the height of reference planes, the ordinate y2 using the height as anchor point A2；S6：Repeat step S2 is extremely
S4 obtains ordinate of all anchor points relative to reference planes.
Preferably, the anchor point support is the support with function of auto-lift.
Preferably, the value of the N is more than or equal to 3.
Preferably, the ground residing for the mounting bracket with reference to corresponding to anchor point A1 is arranged to reference planes in the S2.
Preferably, the S5 includes following sub-step：S51：Anchor point A2 is calculated by L1, L2 and Δ Z and is referring to anchor point A1
Mounting bracket projection A'2 at relative to the reference anchor point A1 not heightened distance V,S52：Meter
Calculate anchor point A2 ordinate y2, y2=y1+V.
An alternative embodiment of the invention is a kind of method for improving robot localization precision, is comprised the following steps：
Step 1:One label node T is set in robot, selects N number of position that anchor point support, N are set in robot working environment
Individual anchor point is separately positioned on corresponding anchor point support, and the value of the N is more than or equal to 3；Step 2：Elect a certain anchor point as ginseng
Anchor point A1 is examined, as a reference plane, calculating refers to anchor point A1 distance references to optional one horizontal plane related to reference anchor point A1
The height of plane, using the height as the ordinate y1 with reference to anchor point A1；Step 3：Measure another anchor point A2 distance reference anchors
Point A1 distance L1；Step 4：Δ Z is heightened or turned down to the support installed with reference to anchor point A1, measures anchor point A2 distance references again
Anchor point A1 distance L2；Step 5：Height of the anchor point A2 relative to reference planes is calculated, using the height as the perpendicular of anchor point A2
Coordinate y2；Step 6：Repeat step S2 to S4 obtains ordinate of all anchor points relative to reference planes；Step 7：According to N number of anchor
Label node T of the coordinate and N number of anchor point of point in robot distance calculates label node T coordinate, really
Determine the position of robot.
Preferably, the anchor point support is the support with function of auto-lift.
Preferably, the ground residing for the mounting bracket with reference to corresponding to anchor point A1 is arranged to reference planes in the step 2.
Preferably, the step 5 includes following sub-step：51：Anchor point A2 is calculated with reference to anchor point by L1, L2 and Δ Z
Relative to the distance V for the reference anchor point A1 not heightened at the projection A'2 of A1 mounting bracket,52：Meter
Calculate anchor point A2 ordinate y2, y2=y1+V.
Preferably, the value of the N is 3, and 3 positions are chosen in robot working environment and set anchor point, according to 3 anchor points
Coordinate and 3 anchor points label node T in the robot respectively distance calculate label node T seat
Mark.
Compared with prior art, technical solution of the present invention solves anchor point by carrying out calibration process to anchor point ordinate
There is the problem of height rises and falls in place plane, the positioning precision of robot is improved, so that the navigation of robot is more accurate
Really.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it should be apparent that, drawings in the following description are some embodiments of the present invention, common for this area
For technical staff, on the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is robot localization schematic diagram in the prior art；
Fig. 2 is the flow chart of the anchor point method for correcting coordinate of the embodiment of the present invention；
Fig. 3 is anchor point of the present invention in conplane schematic diagram；
Fig. 4 is the schematic diagram that anchor point of the present invention is located at Different Plane；
Fig. 5 calculates anchor point ordinate schematic diagram for the present invention；
Fig. 6 is the flow chart for being used to improve the method for robot localization precision of another embodiment of the present invention.
Embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with the drawings and specific embodiments, it is clear that this
In described embodiment be only the part of the embodiment invented, rather than whole embodiment.Described based on the present invention
Specific embodiment, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, should all belong in the protection domain that the claims in the present invention are limited.
Embodiment 1
The positioning of robot be by regioselective anchor point in the work environment, calculating robot's Distance positioning anchor point away from
From, according to space coordinates relation i.e. can determine that robot location.But in actual applications, particularly out of doors, robot
Certain height generally all be present and rise and fall in working environment.As shown in figure 4, the plane where anchor point A1 and A2 is in different planes
On, a certain degree of difference in height h be present.Due to the above method be with anchor point apart from the plane residing for it height directly as it
Mark is erect, difference in height h anchor point ordinate is not based on approximately the same plane, and its ordinate can not react the physical location of anchor point,
In the presence of certain error, cause anchor point ordinate incorrect, so as to cause the position of robot larger error to be present.
As shown in Fig. 2 for the flow chart of the anchor point method for correcting coordinate in the embodiment of the present invention, say in detail below
It is bright.
S1:Select N number of position that anchor point support is set in robot working environment, N number of anchor point is separately positioned on corresponding
On anchor point support.
Wherein, the value of the N in the present embodiment is more than or equal to 3, selects 3 positions to set anchor in robot working environment
Point support, sets A1, A2 and A3 anchor point respectively on each support.
Anchor point can be ultra wide band (Ultra Wide band, abbreviation UWB), and the double of non-contact are carried out using pulse signal
Purpose of the transmission to reach identification and position to wireless data.As anchor point it is due to that its is simple in construction, anti-using ultra wide band
Interference performance is strong, has the advantages that real-time indoor and outdoor accurate tracking ability.Similarly, anchor point can also reach same using laser
The purpose of sample.
As shown in figure 3, anchor point is arranged on the anchor point support of ground certain altitude.Anchor is adjusted in order to facilitate user
Point support, by anchor point support Design into the support with function of auto-lift.The support with function of auto-lift is class
It is similar to the tripod of camera, including trishores component and telescopic component.Anchor point fixation is led on this trishores component
Cross the height of telescopic component adjusting bracket in real time, have locking effect good, operation is flexible, it is easy to carry the characteristics of.
S2：A certain anchor point is elected as with reference to anchor point A1, optional one is used as reference to reference to the related horizontal planes of anchor point A1
Plane, the height with reference to anchor point A1 distance reference planes is calculated, using the height as the ordinate y1 with reference to anchor point A1.
An anchor point can be arbitrarily selected to be designated as A1 as anchor point is referred between 3 anchor points.Can optional one with refer to anchor
Horizontal plane related point A1 is as a reference plane.Ground where it as a reference plane, is designated as P1 by the present embodiment.Then,
The height Z1 with reference to anchor point A1 distance reference planes P1 is calculated, as the ordinate y1 with reference to anchor point A1.
S3：Another anchor point is designated as A2, measurement anchor point A2 distance reference anchor points A1 distance L1.
S4：Δ Z is heightened or turned down to the support installed with reference to anchor point A1, measures anchor point A2 distance reference anchor points A1's again
Distance L2.
As shown in figure 5, the support with reference to anchor point A1 heightened into Δ Z, the reference anchor point A1 that anchor point A2 distances are heightened away from
From for L2.
S5：Anchor point A2 is calculated relative to reference planes P1 height, the ordinate y2 using the height as anchor point A2, really
Determine the anchor point A2 ordinate y2 relative to reference planes P1.It includes following sub-step：
S51：Anchor point A2 is calculated at the projection A'2 with reference to anchor point A1 mounting bracket relative to not by L1, L2 and Δ Z
The reference anchor point A1 heightened distance V.
As shown in figure 5, anchor point A2 is projected as A'2 in the mounting bracket with reference to anchor point A1, A'2 is relative to the ginseng do not heightened
The distance for examining anchor point A1 is that V, anchor point A2 and the reference anchor point A1 not heightened angle are a.Then V=L1*cosa.
Also, according to the cosine law, have：
L2 2=L1 2+ΔZ2-2L1ΔZcosa
Arrange, obtain：
Therefore,
S52：Calculate anchor point A2 ordinate y2.
S6：Repeat step S3 to S5 obtains ordinate y3s of the anchor point A3 relative to reference planes P1.
Embodiment 2
A kind of method for improving robot localization precision is provided in embodiments of the invention 2, utilizes anchor point coordinate
Bearing calibration comes the position of robot, improves the positioning precision of robot, so that the navigation of robot is more accurate.
Specifically, as shown in Figure 6, there is provided a kind of method for improving robot localization precision, comprise the following steps：
Step 1：One label node T is set in robot, selects N number of position that anchor is set in robot working environment
Point support, N number of anchor point are separately positioned on corresponding anchor point support, and the value of the N is more than or equal to 3.
Because the robot localization in the present embodiment needs to put by choosing at least three fixed bits in the work environment
Positioning anchor point is put, by the distance between corresponding mode robot measurement to these three anchor points, is then closed according to space coordinates
System, determines robot location.Therefore, N value is more than or equal to 3, in the present embodiment, selects 3 fixed positions to set anchor point
A1, A2 and A3.
Step 2：A certain anchor point is elected as with reference to anchor point A1, optional one is joined to being used as with reference to the related horizontal planes of anchor point A1
Plane is examined, calculates the height with reference to anchor point A1 distance reference planes, using the height as the ordinate y1 with reference to anchor point A1.
An anchor point can be arbitrarily selected to be designated as A1 as anchor point is referred between 3 anchor points.Can optional one with refer to anchor
Horizontal plane related point A1 is as a reference plane.Ground where it as a reference plane, is designated as P1 by the present embodiment.Then,
The height Z1 with reference to anchor point A1 distance reference planes P1 is calculated, as the ordinate y1 with reference to anchor point A1.
Step 3：Measure another anchor point A2 distance reference anchor points A1 distance L1.
Step 4：Δ Z is heightened or turned down to the support installed with reference to anchor point A1, measures anchor point A2 distance reference anchor points again
A1 distance L2.
Anchor point support is adjusted in order to facilitate user, the present embodiment is by anchor point support Design into the branch with function of auto-lift
Frame, anchor point support is adjusted in order to facilitate user, by anchor point support Design into the support with function of auto-lift.It is described to have certainly
The support of dynamic elevating function is analogous to the tripod of camera, including trishores component and telescopic component.Anchor point is fixed
On this trishores component, by telescopic component come the height of real-time adjusting bracket, have locking effect good, operation is flexible,
The characteristics of easy to carry.
Step 5：Anchor point A2 is calculated relative to the height of reference planes, the ordinate y2 using the height as anchor point A2.
It includes following sub-step：
51：Anchor point A2 is calculated at the projection A'2 with reference to anchor point A1 mounting bracket relative to not by L1, L2 and Δ Z
The reference anchor point A1 heightened distance V.
As shown in figure 5, anchor point A2 is projected as A'2 in the mounting bracket with reference to anchor point A1, A'2 is relative to the ginseng do not heightened
The distance for examining anchor point A1 is that V, anchor point A2 and the reference anchor point A1 not heightened angle are a.Then V=L1*cosa.
Also, according to the cosine law, have：
L2 2=L1 2+ΔZ2-2L1ΔZcosa
Arrange, obtain：
Therefore,
52：Calculate anchor point A2 ordinate y2.
Step 6：Repeat step 3 to step 5 obtains ordinate of all anchor points relative to reference planes.
In the present embodiment, after calculating A2 ordinates, repeat step S3 to S5 obtains A3 relative to reference planes P1's
Ordinate y3.
Step 7：According to the label node T of the coordinate of N number of anchor point and N number of anchor point in robot distance meter
Label node T coordinate is calculated, determines the position of robot.
The coordinate of label node T in robot is set to (x, y, z).Because the coordinate of A1, A2 and A3 anchor point is respectively
(x1,y1,z1), (x2,y2,z2), (x3,y3,z3) and calculate robot 3 anchor points of label node T distances distance d1, d2,
d3.Label node T and 3 anchor points in robot have following space geometry relation：
Solve this equation group, you can obtain label node T coordinate (x, y, z), determine the position of robot.
The present embodiment by carrying out calibration process to anchor point ordinate, solve plane where anchor point exist height rise and fall from
And the problem of causing robot coordinate measurement inaccurate, so as to improve the positioning precision of robot so that the navigation of robot
It is more accurate.
Above disclosed is only the embodiment of technical solution of the present invention, it is impossible to the right of the present invention is limited with this
Scope, therefore the equivalent variations made according to the claims in the present invention, still belong to the scope that the present invention is covered.
Claims (10)
- A kind of 1. anchor point method for correcting coordinate, it is characterised in that comprise the following steps,S1:Select N number of position that anchor point support is set in robot working environment, N number of anchor point is separately positioned on corresponding anchor point On support；S2：A certain anchor point is elected as with reference to anchor point A1, optional one to reference to the related horizontal planes of anchor point A1 as a reference plane, The height with reference to anchor point A1 distance reference planes is calculated, using the height as the ordinate y1 with reference to anchor point A1；S3：Measure another anchor point A2 distance reference anchor points A1 distance L1；S4：Δ Z is heightened or turned down to the support installed with reference to anchor point A1, measures anchor point A2 distance reference anchor points A1 distance again L2；S5：Anchor point A2 is calculated relative to the height of reference planes, the ordinate y2 using the height as anchor point A2；S6：Repeat step S3 to S5 obtains ordinate of all anchor points relative to reference planes.
- 2. anchor point method for correcting coordinate according to claim 1, it is characterised in that the anchor point support is to be risen with automatic The support of function drops.
- 3. anchor point method for correcting coordinate according to claim 1, it is characterised in that the value of the N is more than or equal to 3.
- 4. anchor point method for correcting coordinate according to claim 1, it is characterised in that it is corresponding anchor point A1 will to be referred in the S2 Mounting bracket residing for ground be arranged to reference planes.
- 5. anchor point method for correcting coordinate according to claim 1, it is characterised in that the S5 includes following sub-step：S51：Anchor point A2 is calculated at the projection A'2 with reference to anchor point A1 mounting bracket relative to not heightening by L1, L2 and Δ Z Reference anchor point A1 distance V,S52：Calculate anchor point A2 ordinate y2, y2=y1+V.
- A kind of 6. method for improving robot localization precision, it is characterised in that comprise the following steps,Step 1:One label node T is set in robot, selects N number of position that anchor point branch is set in robot working environment Frame, N number of anchor point are separately positioned on corresponding anchor point support, and the value of the N is more than or equal to 3；Step 2：A certain anchor point is elected as with reference to anchor point A1, optional one is used as with reference to flat to reference to the related horizontal planes of anchor point A1 Face, the height with reference to anchor point A1 distance reference planes is calculated, using the height as the ordinate y1 with reference to anchor point A1；Step 3：Measure another anchor point A2 distance reference anchor points A1 distance L1；Step 4：Δ Z is heightened or turned down to the support installed with reference to anchor point A1, measures anchor point A2 distance reference anchor points A1's again Distance L2；Step 5：Anchor point A2 is calculated relative to the height of reference planes, the ordinate y2 using the height as anchor point A2；Step 6：Repeat step S3 to S5 obtains ordinate of all anchor points relative to reference planes；Step 7：Calculated according to the label node T of the coordinate of N number of anchor point and N number of anchor point in robot distance Label node T coordinate, determine the position of robot.
- 7. the method according to claim 6 for improving robot localization precision, it is characterised in that the anchor point support For the support with function of auto-lift.
- 8. the method according to claim 6 for improving robot localization precision, it is characterised in that in the step 2 Ground residing for the mounting bracket with reference to corresponding to anchor point A1 is arranged to reference planes.
- 9. the method according to claim 6 for improving robot localization precision, it is characterised in that the step 5 is wrapped Include following sub-step：51：Anchor point A2 is calculated at the projection A'2 with reference to anchor point A1 mounting bracket relative to not heightening by L1, L2 and Δ Z Reference anchor point A1 distance V,52：Calculate anchor point A2 ordinate y2, y2=y1+V.
- 10. the method according to claim 6 for improving robot localization precision, it is characterised in that the value of the N is 3, in robot working environment choosing 3 positions sets anchor points, according to the coordinate of 3 anchor points and 3 anchor points distance respectively The distance of label node T in the robot calculates label node T coordinate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711011058.6A CN107861509A (en) | 2017-10-26 | 2017-10-26 | A kind of anchor point method for correcting coordinate and the method for improving robot localization precision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711011058.6A CN107861509A (en) | 2017-10-26 | 2017-10-26 | A kind of anchor point method for correcting coordinate and the method for improving robot localization precision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107861509A true CN107861509A (en) | 2018-03-30 |
Family
ID=61696537
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711011058.6A Withdrawn CN107861509A (en) | 2017-10-26 | 2017-10-26 | A kind of anchor point method for correcting coordinate and the method for improving robot localization precision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107861509A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108613671A (en) * | 2018-04-25 | 2018-10-02 | 东南大学 | A kind of intelligent grass-removing positioning device and method based on UWB positioning and flight path positioning |
| CN109633544A (en) * | 2018-12-26 | 2019-04-16 | 奇点新源国际技术开发(北京)有限公司 | A kind of anchor point coordinate scaling method, anchor point localization method and device |
| CN110244715A (en) * | 2019-05-23 | 2019-09-17 | 西安理工大学 | A kind of multiple mobile robot's high-precision cooperative tracking method based on super-broadband tech |
| WO2019223720A1 (en) * | 2018-05-22 | 2019-11-28 | 苏州宝时得电动工具有限公司 | Automatic working system, and control method for self-moving device |
| CN112399813A (en) * | 2018-05-04 | 2021-02-23 | Lg电子株式会社 | Multiple autonomous mobile robots and control method thereof |
| WO2022127541A1 (en) * | 2020-12-16 | 2022-06-23 | 北京极智嘉科技股份有限公司 | Robot and localization method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1988550A (en) * | 2005-12-21 | 2007-06-27 | 中国科学院电子学研究所 | Distributing realizing method for radio sensor network no-anchor point location |
| CN102123495A (en) * | 2011-01-13 | 2011-07-13 | 山东大学 | Centroid location algorithm based on RSSI (Received Signal Strength Indication) correction for wireless sensor network |
| US20140301427A1 (en) * | 2013-04-03 | 2014-10-09 | Umm Al-Qura University | Differential ultra-wideband indoor positioning method |
| CN105203996A (en) * | 2015-09-16 | 2015-12-30 | 上海智臻智能网络科技股份有限公司 | Mobile device and indoor positioning method, system and device as well as anchor nodes thereof |
| CN105510876A (en) * | 2015-12-25 | 2016-04-20 | 武汉大学 | Electromagnetic wave propagation characteristic-based indoor distance measurement positioning method |
| CN107040992A (en) * | 2017-06-07 | 2017-08-11 | 江西理工大学 | Wireless sensor network node locating method and device |
| CN107091642A (en) * | 2017-05-15 | 2017-08-25 | 东南大学 | A kind of indoor orientation method based on the mapping of different plane anchor node and rasterizing correction |
-
2017
- 2017-10-26 CN CN201711011058.6A patent/CN107861509A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1988550A (en) * | 2005-12-21 | 2007-06-27 | 中国科学院电子学研究所 | Distributing realizing method for radio sensor network no-anchor point location |
| CN102123495A (en) * | 2011-01-13 | 2011-07-13 | 山东大学 | Centroid location algorithm based on RSSI (Received Signal Strength Indication) correction for wireless sensor network |
| US20140301427A1 (en) * | 2013-04-03 | 2014-10-09 | Umm Al-Qura University | Differential ultra-wideband indoor positioning method |
| CN105203996A (en) * | 2015-09-16 | 2015-12-30 | 上海智臻智能网络科技股份有限公司 | Mobile device and indoor positioning method, system and device as well as anchor nodes thereof |
| CN105510876A (en) * | 2015-12-25 | 2016-04-20 | 武汉大学 | Electromagnetic wave propagation characteristic-based indoor distance measurement positioning method |
| CN107091642A (en) * | 2017-05-15 | 2017-08-25 | 东南大学 | A kind of indoor orientation method based on the mapping of different plane anchor node and rasterizing correction |
| CN107040992A (en) * | 2017-06-07 | 2017-08-11 | 江西理工大学 | Wireless sensor network node locating method and device |
Non-Patent Citations (1)
| Title |
|---|
| 朱晓娟等: "煤矿井下无线传感器网络节点三维定位算法", 《计算机应用》 * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108613671A (en) * | 2018-04-25 | 2018-10-02 | 东南大学 | A kind of intelligent grass-removing positioning device and method based on UWB positioning and flight path positioning |
| CN112399813A (en) * | 2018-05-04 | 2021-02-23 | Lg电子株式会社 | Multiple autonomous mobile robots and control method thereof |
| CN112399813B (en) * | 2018-05-04 | 2022-06-10 | Lg电子株式会社 | Multiple autonomous mobile robots and control method thereof |
| WO2019223720A1 (en) * | 2018-05-22 | 2019-11-28 | 苏州宝时得电动工具有限公司 | Automatic working system, and control method for self-moving device |
| CN109633544A (en) * | 2018-12-26 | 2019-04-16 | 奇点新源国际技术开发(北京)有限公司 | A kind of anchor point coordinate scaling method, anchor point localization method and device |
| CN109633544B (en) * | 2018-12-26 | 2021-04-06 | 奇点新源国际技术开发(北京)有限公司 | Anchor point coordinate calibration method, anchor point positioning method and device |
| CN110244715A (en) * | 2019-05-23 | 2019-09-17 | 西安理工大学 | A kind of multiple mobile robot's high-precision cooperative tracking method based on super-broadband tech |
| CN110244715B (en) * | 2019-05-23 | 2022-09-30 | 西安理工大学 | Multi-mobile-robot high-precision cooperative tracking method based on ultra wide band technology |
| WO2022127541A1 (en) * | 2020-12-16 | 2022-06-23 | 北京极智嘉科技股份有限公司 | Robot and localization method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107861509A (en) | A kind of anchor point method for correcting coordinate and the method for improving robot localization precision | |
| CN108871266B (en) | Automatic settlement monitoring method based on intermediate method triangle elevation method | |
| CN103994754B (en) | Altitude measuring method and system | |
| US9554253B2 (en) | Locating method, drive test terminal and hand-held terminal | |
| CN102778893B (en) | Precise locating detecting method for truss girder | |
| CN102565812B (en) | Method for measuring point coordinates of hidden point in GPS RTK (global positioning system-real time kinematic) | |
| CN109613584A (en) | The positioning and orienting method of unmanned truck based on UWB | |
| CN108775901A (en) | A kind of real-time SLAM scenes map structuring system, navigation system and method | |
| CN110030956B (en) | Non-contact building flatness measuring method | |
| CN106988312B (en) | Mechanical equipment correction to centre method and system based on Beidou direction and location technology | |
| CN107462905A (en) | A kind of Big Dipper GPS dual-mode localization method, positioning terminal and alignment system | |
| CN105424013B (en) | A kind of measuring method of geographical coordinates | |
| CN103472472A (en) | Navigation positioning method and navigation positioning apparatus | |
| CN204831274U (en) | Portable competent poor measurement bay and measuring device | |
| CN205449052U (en) | Device at laser survey building angle of inclination | |
| CN105627916A (en) | Method for building tracker geographic coordinate system and measuring six degrees of freedom | |
| CN109633544A (en) | A kind of anchor point coordinate scaling method, anchor point localization method and device | |
| CN102769910B (en) | A kind of terminal and autonomic positioning method thereof | |
| CN106125044B (en) | Offline localization method based on gradient decline | |
| CN105044753B (en) | Vibrating spear operating position based on double GPS and attitude updating obscures localization method | |
| CN202216688U (en) | Antenna azimuth angle detecting device | |
| CN106996773A (en) | A kind of linear positioning system and method | |
| CN104994580B (en) | A kind of indoor orientation method | |
| CN207963880U (en) | A kind of measuring instrument for power transmission line construction | |
| CN206504703U (en) | A kind of three-dimensional laser scanner radial distance error of indication calibrating installation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180330 |