CN102736092B - Electronic label cooperative positioning method based on single distance measurement base station and global positioning system (GPS) - Google Patents

Abstract

The invention discloses an electronic label cooperative positioning method based on a single distance measurement base station and a global positioning system (GPS). The method comprises the following steps of: arranging the distance measurement base station and a GPS receiver on a distance measurement vehicle, and putting an active electronic label on an object to be positioned; in a running process of the distance measurement vehicle, acquiring distance data between the distance measurement base station and the active electronic label in real time by the distance measurement base station, and acquiring GPS positioning data of the distance measurement base station by the GPS receiver; transmitting the obtained distance data and GPS positioning data to a positioning processing center; and processing the distance data and the GPS positioning data by the positioning processing center according to a preset program, and calculating a position coordinate of the active electronic label, namely the position coordinate of the object to be positioned. By the method, mobile positioning of the single distance measurement base station can be realized; extremely high adaptability to the outdoor complicated environment is achieved; and the method is a novel outdoor position sensing method.

Description

Electronic tag colocated method based on single range finding base station and GPS

Technical field

The present invention relates to the localization method technical field, refer to especially the electronic tag colocated method based on single range finding base station and GPS.

Background technology

In recent years, along with the fast development of technology of Internet of things, also more and more receive the concern of each side as electronic tag (also claiming RFID tag or the RFID label) location technology of one of core technology.

Whether electronic tag needs power supply according to it, mainly is divided at present active and passive two kinds.Compare active electronic label, passive electronic label is being subject to great limitation aspect distance of reaction and the adaptation carrier movement speed: usually reach rice up to a hundred such as active electronic tag distance of reaction, and general passive electronic label distance of reaction is difficult to utilize passive electronic label to obtain carrier positions information only below 10 meters.

Yet even use active electronic label to position, because its signal intensity is subjected to the impact of environment very large, the accuracy of outdoor positioning is difficult to guarantee.And the mode of the base stations united location of a plurality of range findings is normally adopted in present active electronic label location.The base stations united locator meams of many range findings as shown in Figure 1.Its positioning principle is: the position of a plurality of inductions base station is known, these induction base stations obtain respectively the range information (being that label is to the distance of base station) of active electronic label, control center utilizes the multipoint positioning principle take these distances and known location as parameter, just can calculate the position of label.

How the base stations united locator meamss of range finding are indoor, perhaps fine realization in zonule.Outdoor, especially in a large zone, such as whole city, need to arrange that a large amount of induction base stations covers whole zone, not only expense is very high, and computation process also can be more complicated.

Summary of the invention

The object of the present invention is to provide a kind of electronic tag colocated method based on single range finding base station and GPS.

For achieving the above object, the technical solution used in the present invention is as follows:

Electronic tag colocated method based on single range finding base station and GPS may further comprise the steps:

To find range base station and gps receiver places on the ranging vehicle, and active electronic label is placed on the object to be positioned;

In described ranging vehicle driving process, obtain in real time the range data of described range finding base station and described active electronic label by described range finding base station, described gps receiver obtains the GPS locator data of described range finding base station simultaneously;

Described range data and the GPS locator data obtained are sent to Localization center;

Described Localization center is processed according to pre-set programs described range data and GPS locator data, calculates the position of described active electronic label, i.e. the position of described object to be positioned.

The step that described Localization center is processed according to pre-set programs described range data and GPS locator data comprises:

Utilize described range data and GPS locator data, obtain and resolve with range data and locator data;

According to active electronic label ID number, described range data is distributed to corresponding object to be positioned;

According to described range data and corresponding locator data, use the triangle positioning principle, resolve object's position coordinate to be positioned.

Described described range data and the GPS locator data utilized, obtain the step of resolving with range data and locator data and be:

Reject the abnormal data in the described range data;

Reject the abnormal data in the described GPS locator data, use Kalman filter to the rejecting abnormalities data after the GPS locator data optimize;

GPS locator data synchronously simulating to the range data after the rejecting abnormalities data and optimization obtains and resolves with range data and locator data.

In the embodiment of the invention, the method for described synchronously simulating is:

With the descending arrangement of range data of all point distance measurements between the GPS anchor point received and previous GPS anchor point at every turn, get the coordinate mean value of intermediate value range data in the described range data and described front and back two GPS anchor points respectively as range data and the coordinate data of resolving usefulness.

Described according to described range data and locator data, use the triangle positioning principle, the step of resolving object's position coordinate to be positioned is as follows:

Step 1, choose range data corresponding to three point distance measurements and described point distance measurement and make up cocked hat;

Whether step 2, described cocked hat ill triangle, is then to return step 1, otherwise next step;

Step 3, whether 4 cocked hats are arranged, be then next step, otherwise return step 1;

Step 4, utilize described cocked hat to use the triangle positioning principle to calculate 4 anchor point coordinates;

Step 5, from described 4 anchor point coordinates 2 nearest anchor point coordinates of selected distance, utilize the method for average to described 2 anchor point calculating coordinates, obtain an anchor point coordinate;

Step 6, repetition above-mentioned steps 1 ~ 5 obtain respectively an anchor point coordinate;

Step 7, the described anchor point coordinate that obtains by the method for average is weighted center of gravity processes, finally obtain an anchor point coordinate, i.e. the position coordinates of object to be positioned.

Described ill triangle refers to that the number of degrees of the interior angle take anchor point as the summit are less than 15 degree by in two point distance measurements and the triangle that corresponding range data consists of; The virtual anchor point of this anchor point for being calculated according to the triangle positioning principle by described point distance measurement and corresponding range data.

Through test, the present invention is relatively open and without under the circumstance of occlusion, and the absolute fix precision is in 5 meters; Under this complex environment of urban road, the absolute fix precision is also in 10 meters, in 100 meters of the effective location distances.In sum, utilizing the present invention not only can realize single range finding base station movement location, and outdoor complex environment is also had very strong adaptive faculty, is a kind of method of novel outdoor location perception.

Description of drawings

Fig. 1 is the synoptic diagram of the base stations united localization method of existing many range findings;

Fig. 2 is the electronic tag colocated method synoptic diagram of the reprinting that provides of the embodiment of the invention single range finding base station and GPS;

Fig. 3 is the process flow diagram of the electronic tag colocated method of the reprinting that provides of the embodiment of the invention single range finding base station and GPS;

Fig. 4 is adjust the distance data and GPS locator data processing flow chart of Localization center that the embodiment of the invention provides;

Fig. 5 is obtaining from range data and GPS locator data of providing of the embodiment of the invention range data that location Calculation uses and the process flow diagram of locator data;

Fig. 6 is the process flow diagram that utilization triangle positioning principle that the embodiment of the invention provides resolves the active electronic label coordinate position;

Fig. 7 ~ 9th uses the triangle positioning principle to resolve the reasonable synoptic diagram of method of the coordinate of active electronic label;

Figure 10 is point distance measurement and the asynchronous synoptic diagram of GPS point.

Embodiment

The present invention passes through active electronic label and outdoor object binding to be positioned, then locate active electronic label by gps receiver and mobile single range finding base station cooperative mode, thereby anchored object is treated as a stranger by orientation room.The position of giving tacit consent to active electronic label here is the position of outdoor object to be positioned.GPS is the english abbreviation of GPS, refers to be widely used the system that utilizes satellite to position in real time in the world, navigate at present.Under normal conditions, the civilian precision of precision of GPS location is about 15 meters, and what equipment precision was high can arrive 5 meters; And adopt the GPS bearing accuracy of real time dynamic differential method (being called for short RTK) can reach centimetre-sized.

Therefore, utilize GPS to obtain known point position (vehicle location) coordinate among the present invention, utilize mobile single range finding base station to simulate many base stations situation, and in application, the following aspects situation has been given consideration:

1. the location in the undesirable situation of surrounding enviroment.People, tree, vehicle etc. are larger on the impact of distance measuring signal, require during the location to reject most of rough error, and have than the strong fault tolerance ability.

2. many labels should be able to position simultaneously.Can only locate a label can cause range of application greatly to be dwindled.

3. guarantee that bearing accuracy satisfies specific needs.Navigating to what precision, is very important performance index.

Referring to shown in Figure 2, the principle based on the electronic tag colocated of single range finding base station and GPS that the figure shows that the embodiment of the invention provides.A, B, C are the position of range finding base station among the figure, are also referred to as point distance measurement; D, E are the Origin And Destination of ranging vehicle 2, it is the traffic route 1 of ranging vehicle 2 between described Origin And Destination E, 20,21 is respectively range finding base station and gps receiver, be placed on the ranging vehicle 2,4 is object to be positioned, 3 for being installed in the source electronic tag on the object to be positioned, and P is the position of object to be positioned.

The present invention utilizes vehicle-mounted single range finding base station mode to simulate many range findings base station mode, is equipped with simultaneously the vehicle-mounted range finding of gps receiver Real-time Obtaining base station current location on the car; In object-point to be positioned active electronic label (active electronic label should be placed the place that object 4 to be positioned is not easy to be blocked) is installed, in the embodiment of the invention, the position of acquiescence active electronic label is the position of outdoor object to be positioned; In the Vehicle Driving Cycle process, but after vehicle entered in the finding range, the range finding base station constantly received the active electronic label signal, calculated the distance of range finding base station distance active electronic label, and gps receiver obtains the range finding base station location simultaneously by the GPS position location satellite; Obtain simultaneously the range finding base station location by processing enter according to distance and the described gps receiver that described range finding base station obtains, utilization " three-point fix " principle can calculate the position of active electronic label, i.e. the position P of outdoor object to be positioned.

Below the described localization method of the embodiment of the invention is described in detail as follows:

In the embodiment of the invention, described GPS point refers in the ranging process of vehicle-mounted range finding base station, and the position coordinates of the range finding base station that is obtained by described gps receiver is determined the point of answering; If no special instructions, in the embodiment of the invention, described range data and ranging data synonym, described GPS locator data refers to the position coordinate data of the range finding base station that described gps receiver obtains.

Referring to shown in Figure 3, described electronic tag colocated method based on single range finding base station and GPS may further comprise the steps:

Step S101: will find range base station and gps receiver place on the ranging vehicle, and active electronic label is placed on the object to be positioned;

Step S102: in described ranging vehicle driving process, obtain in real time the range data of described range finding base station and described active electronic label by described range finding base station, described gps receiver obtains the GPS locator data of described range finding base station simultaneously;

Step S103: described range data and the GPS locator data that will obtain are sent to Localization center;

Step S104: described Localization center is processed according to pre-set programs described range data and GPS locator data, calculates the position of described active electronic label, i.e. the position of described object to be positioned.

Referring to shown in Figure 4, in the embodiment of the invention, the step that step step S 104 Localization centers are processed according to pre-set programs described range data and GPS locator data comprises:

Step S201: utilize described range data and GPS locator data, obtain and resolve with range data and locator data;

In the embodiment of the invention, described range data and the locator data of resolving usefulness referred to reject abnormal data, through the data of the acquisition behind certain method optimization and the synchronously simulating.Concrete preparation method is seen following description.

Step S202: according to active electronic label ID number, described range data is distributed to corresponding object to be positioned;

Because in actual measurement, the range finding base station generally can receive the ranging data of different labels simultaneously, locate simultaneously in order to carry out multiple goal, range data and locator data after the coupling are distributed to each corresponding object to be positioned, to prevent last location Calculation mistake.Namely be, according to ID number for active electronic label corresponding to the range data of location Calculation, this range data is sent to corresponding object to be positioned, realize the asynchronous operation of data receiver and calculating coordinate, location when can realize a plurality of object to be positioned like this.

Step S203: according to described range data and corresponding locator data, use the triangle positioning principle, resolve object's position coordinate to be positioned.

Referring to shown in Figure 5, in the embodiment of the invention, described obtaining for the range data of location Calculation and the step of locator data from described range data and GPS locator data is:

Step S301: reject the abnormal data in the described range data;

Because the distance-finding method of vehicle-mounted range finding base station is to measure signal that active electronic label sends in the time of spatial with very high frequency (to calculate about 500 times of per second second), is converted into distance again; Repeated measurement repeatedly and average (can measure like this range finding base station to the distance of active electronic label) is then passed mean value back processing enter (this transmitted frequency is adjustable, reaches as high as 8 times/per second) more accurately like this.

When the base station sends data with fixed speed, if barrier is arranged, may can not receive signal midway, at this moment the ranging data number between two adjacent GPS points can be less than anticipated number.For the bad situation of sort signal, this should be organized data and abandon, in order to avoid affect last bearing accuracy.Under normal circumstances, if the data number of times that the base station per second returns is 8 times, if the data number of times that every title returns less than 4 times, can think that distance measuring signal is bad, the data that this time period is returned are abandoned.

So when returning processing enter by the range data returned of range finding base station, the reply data are slightly chosen, to reduce the post-processed calculated amount.

In addition, because circumstance complication is changeable, distance measuring signal may be reflected by other object, causes the data sudden change of being returned by described range finding base station.So, when receiving ranging data, judge first whether have sudden change, if having, then should be with the rejecting abnormal data of sudden change;

The concrete grammar that range data is slightly chosen is: compares with the range data of the current range data of returning with before storage, and excessive if data change suddenly, reject this range data; During such as speed of a motor vehicle 36km/h, the base station per second returns 8 secondary data, and then current rreturn value and previous rreturn value is poor, if surpass 6 meters, can think rough error, is rejected.

Step S302: reject the abnormal data in the described GPS locator data, the GPS locator data after using Kalman filter to the rejecting abnormalities data is optimized;

In the method that has adopted equally the GPS elimination of rough difference aspect the rejecting of the unusual locator data of GPS, if namely the GPS locator data of a certain anchor point is compared with the GPS locator data of previous anchor point, changes in coordinates surpasses 100 meters, thinks that then this anchor point is abnormity point, can directly reject.In addition, the GPS locator data of the method that the present invention has adopted Kalman filtering after to the rejecting abnormalities data is optimized, and can improve the precision of about 20%-30%, thereby promote the precision of location.

Before the filtering, for obtaining optimum valuation, set up first the GPS filtering mathematical model of the current positioning system of coupling.Because unusual GPS anchor point is very large on filtering result impact, so should judge before filtering, reject.After the filtering, wave filter can be adjusted wave filter according to the data of input, so that wave filter more near actual GPS position model, obtains can be used for the GPS point data of location Calculation at last.

Step S303: the GPS locator data synchronously simulating to the range data after the rejecting abnormalities data and optimization, obtain and resolve with range data and locator data.

Owing to position when resolving, need the GPS position data of point distance measurement (A, B, C) and the range data of synchronization, namely find range base station and gps receiver are need to be synchronous.But, because range finding base station and gps receiver are two independently parts, both do not have synchronization association---and it is very fast that the range finding base station obtains the range data frequency, and that GPS obtains the frequency of position data is slower, so in most cases, when the range finding base station obtains range data, do not obtain corresponding GPS position data, that is to say that point distance measurement does not overlap with the GPS point.As shown in figure 10, along in straightaway (ideal situation) process, generally have a plurality of point distance measurements between two GPS points at vehicle.

The problem that does not have corresponding GPS to order in order to solve point distance measurement, the synchronously simulating method that the present invention has used point distance measurement and GPS to order, the time that the position of namely ordering by GPS, reception GPS are ordered, the time of base station range finding are calculated the coordinate position at range finding place, base station when find range in the range finding base station.

In the embodiment of the invention, the method for described synchronously simulating is:

After receiving the GPS locator data at every turn, the descending arrangement of range data of all point distance measurements between the GPS point that this GPS locator data is definite and previous GPS point, get intermediate value range data in the described range data as the range data that participates in location Calculation, abandon the data of other point distance measurement; Simultaneously, get coordinate mean value that described former and later two GPS order as the coordinate data that participates in last location Calculation.

The described intermediate value position corresponding apart from the point distance measurement of correspondence is the average of two GPS point coordinate, thereby it is corresponding one by one to have realized that point distance measurement and GPS are ordered, namely a point distance measurement has gps coordinate data corresponding, has so both reduced data volume, has also improved the quality of range data.

Because the frequency of base station return data very high (for GPS), under the normal speed of a motor vehicle, the position of two adjacent point distance measurements wheelpath can from very close to.When participating in the location such as this group ranging data, the anchor point that obtains also from very close to.This be because, the main positioning error of the present invention is the difference from GPS point and physical location, the GPS error of same group of ranging data is also just identical, the anchor point that causes same group of data to obtain does not have difference.So finally select the intermediate value data of the ranging data between GPS adjacent positioned point as the data of location Calculation, the coordinate mean value that two adjacent GPS are ordered is the position coordinate value of intermediate value data for this reason, so not only reduce data volume, but also improved the quality of data.

Referring to shown in Figure 6, described according to described range data and corresponding locator data in the embodiment of the invention, utilization triangle positioning principle, the step of resolving object's position coordinate to be positioned is as follows:

Step 1, choose range data corresponding to three point distance measurements and described point distance measurement and make up 4 cocked hats;

Because the point distance measurement corresponding to an active electronic label is a plurality of, therefore, when the coordinate position of last active electronic label resolves, from a plurality of point distance measurements, select three point distance measurements, and the ranging data structure cocked hat corresponding according to described point distance measurement, owing to there are three point distance measurements, so can make up 4 triangles, relevant three-point fix principle and coordinate of ground point resolved the explanation of detailed description below concrete construction method was seen.

Whether step 2, described cocked hat are ill triangle, are then to return step 1, otherwise next step;

Because the point distance measurement of selecting sometimes distance is very near, the triangle of final bearing accuracy can appear being unfavorable in the triangle that causes making up, to this class triangle, should reject, rebuild triangle, this class triangle, the present invention is referred to as ill triangle, namely by in two point distance measurements and the triangle that corresponding range data consists of, the number of degrees of the interior angle take anchor point as the summit are less than 15 degree; The virtual anchor point that is calculated according to the triangle positioning principle by the point distance measurement of selecting and corresponding range data is dragged by anchor point described here system.

Step 3, whether 4 cocked hats are arranged, be then next step, otherwise return step 1;

Step 4, utilize described cocked hat to use the triangle positioning principle to calculate 4 anchor point coordinates;

Step 5, from described 4 anchor point coordinates 2 nearest anchor point coordinates of selected distance, utilize the method for average to described 2 anchor point calculating coordinates, obtain an anchor point coordinate;

Step 6, repetition above-mentioned steps 1 ~ 5 obtain respectively an anchor point coordinate;

Step 7, the described anchor point coordinate that obtains by the method for average is weighted center of gravity processes, finally obtain an anchor point coordinate, i.e. the position coordinates of object to be positioned.

The method that described weighting center of gravity is processed sees for details following about formula step 5,6 part.

At least 5 on described anchor point coordinate, if anchor point coordinate quantity very few (being less than 5), then accidental error can be larger on last positioning result impact, bearing accuracy is not high.

Below, the 6 pairs of three-point fix principles of the present invention and use the triangle positioning principle according to described range data and corresponding locator data are resolved object's position coordinate step to be positioned and are described in detail with reference to the accompanying drawings.

Because the range finding base station is to obtain distance and can not direction of measurement according to signal propagation time, so according to triangle geometry principle-fix the position on a limit, know the length on other two limits, can draw 2 triangles, 2 summits have so just been arranged, can not uniquely locate.With A, 2 points in B position, just there are 2 kinds of possibility P or P in the position of active electronic label when only ₁, specifically referring to shown in Figure 7.

Such as known A point coordinate (x _a, y _a), B point coordinate (x _b, y _b), known A point measure and P between apart from d _a, the B point measure and P between apart from d _b, P point coordinate (x then _p, y _p) can be by formula (1), (2) are released.Although resolved by 2 binary quadratic equations, obtain the possibility of result and have or not solution, 1 solution or three kinds of situations of 2 solutions, 2 triangles then can only be the situations of 2 solutions.

(x _p-x _a) ²+ (y _p-y _a) ²=d _a ²Formula (1)

(x _p-x _b) ²+ (y _p-y _b) ²=d _b ²Formula (2)

So we use three some A, B, C here, according to A, B point with and respectively with the distance of a P, calculate 2 solutions, i.e. P, P ₁Point coordinate; According to B, C point with and respectively with the distance of a P, calculate equally 2 solutions, i.e. P, P ₂Point coordinate, finding out that identical point from these 4 points is exactly the target location, i.e. the P point.Specifically referring to shown in Figure 8.

In the three-point fix principle, P point position is exactly 2 those identical coordinates in 4 coordinates, but in the actual location process, owing to the precision problem of GPS, range finding base station etc., 4 points (P, P resolving out ₁, P ₂, P ₃) coordinate generally is different, so just can't find 2 identical coordinates as our target location.Shown in the figure specific as follows.

Here our solution is, calculates respectively the phase mutual edge distance between these 4 points, and two the nearest points of adjusting the distance are averaged, thereby obtains an anchor point.

As shown in Figure 9, closest approach is P, P ₃2 points are supposed P point coordinate (x _p, y _p), P ₃Point coordinate (x _P3, y _P3), final anchor point coordinate P then _oPoint coordinate (x _Po, y _Po) can be by formula (3), (4) are released:

$x_{\mathrm{po}}=\frac{x_p+x_{p3}}{2}$ Formula (3)

$y_{\mathrm{po}}=\frac{y_p+y_{p3}}{2}$ Formula (4)

In actual computation, participate in the point more (at least 3) of calculating coordinate, consisting of the quantity of cocked hat just more, the precision of then resolving is also higher.In the actual location process, range finding base station distance localizing objects is far away, and the positioning result confidence level is poorer.Although so can use multiple spot, hypertelorism, then error is excessive, is rejected.More excellent, among the present invention with ultimate range about 80 meters, form about 10 of coordinate clearing points and be advisable; In order to improve bearing accuracy, give the different power of different anchor points in addition, reflect that they are on the impact of the final elements of a fix." weighting center of gravity " formula is as follows:

$x=\frac{\frac{x_1}{d_1+{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HDA00001855960000012.png,HDA00001855960000042.png"\; state="\{\{state\}\}">d</figure-callout>}}_2+d_3}+\frac{x_2}{{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HDA00001855960000012.png,HDA00001855960000042.png"\; state="\{\{state\}\}">d</figure-callout>}}_2+d_3+{\mathrm{<figure-callout\; id="4"\; label="d"\; filenames="HDA00001855960000012.png"\; state="\{\{state\}\}">d</figure-callout>}}_4}+\frac{x_3}{d_3+{\mathrm{<figure-callout\; id="4"\; label="d"\; filenames="HDA00001855960000012.png"\; state="\{\{state\}\}">d</figure-callout>}}_4+d_5}+...+\frac{x_i}{d_i+d_{i+1}{+d}_{i+2}}}{\frac{1}{d_1+{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HDA00001855960000012.png,HDA00001855960000042.png"\; state="\{\{state\}\}">d</figure-callout>}}_2+d_3}+\frac{1}{{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HDA00001855960000012.png,HDA00001855960000042.png"\; state="\{\{state\}\}">d</figure-callout>}}_2+d_3+{\mathrm{<figure-callout\; id="4"\; label="d"\; filenames="HDA00001855960000012.png"\; state="\{\{state\}\}">d</figure-callout>}}_4}+\frac{1}{d_3+{\mathrm{<figure-callout\; id="4"\; label="d"\; filenames="HDA00001855960000012.png"\; state="\{\{state\}\}">d</figure-callout>}}_4+d_5}+...+\frac{1}{d_i+d_{i+1}+d_{i+2}}}$ Formula (5)

$y=\frac{\frac{y_1}{d_1+{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HDA00001855960000012.png,HDA00001855960000042.png"\; state="\{\{state\}\}">d</figure-callout>}}_2+d_3}+\frac{y_2}{{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HDA00001855960000012.png,HDA00001855960000042.png"\; state="\{\{state\}\}">d</figure-callout>}}_2+d_3+{\mathrm{<figure-callout\; id="4"\; label="d"\; filenames="HDA00001855960000012.png"\; state="\{\{state\}\}">d</figure-callout>}}_4}+\frac{y_3}{d_3+{\mathrm{<figure-callout\; id="4"\; label="d"\; filenames="HDA00001855960000012.png"\; state="\{\{state\}\}">d</figure-callout>}}_4+d_5}+...+\frac{y_i}{d_i+d_{i+1}{+d}_{i+2}}}{\frac{1}{d_1+{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HDA00001855960000012.png,HDA00001855960000042.png"\; state="\{\{state\}\}">d</figure-callout>}}_2+d_3}+\frac{1}{{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HDA00001855960000012.png,HDA00001855960000042.png"\; state="\{\{state\}\}">d</figure-callout>}}_2+d_3+{\mathrm{<figure-callout\; id="4"\; label="d"\; filenames="HDA00001855960000012.png"\; state="\{\{state\}\}">d</figure-callout>}}_4}+\frac{1}{d_3+{\mathrm{<figure-callout\; id="4"\; label="d"\; filenames="HDA00001855960000012.png"\; state="\{\{state\}\}">d</figure-callout>}}_4+d_5}+...+\frac{1}{d_i+d_{i+1}+d_{i+2}}}$ Formula (6)

Wherein, the coordinate (x, y) of some P is to resolve a little and i+2 the coordinate that distance is finally resolved out by i, and each resolves a little to use with " three-point fix principle " and calculates, and individual the resolving a little of this i is respectively: P ₁(x ₁, y ₁), P ₂(x ₂, y ₂) ..., P _i(x _i, y _i), and each resolves a little again corresponding the distance measurement value of three point distance measurements, its pass is P _iRespective distances d _i, d _I+1, d _I+2, such as d ₁, d ₂, d ₃Respectively to participate in calculating P ₁(x ₁, y ₁) distance measurement value of three point distance measurements during three-point fix.

Therefore, in case the point distance measurement that obtains is above 3, then just can calculate a coordinate, point distance measurement by some can calculate a plurality of coordinates, in order to improve precision, the a plurality of coordinates that calculate are used formula again, and (calculate step 5, (6), calculates final coordinate, is the elements of a fix of impact point.

In order to guarantee bearing accuracy, used the concept of " ill triangle " among the present invention, namely by known point distance measurement (A, B, C) and suspected target point (P, P ₁, P ₂, P ₃) in each triangle of setting up, if the angle at that angle take impact point as the summit, is then thought in fact " ill triangle " less than 15 °, otherwise be normal triangle.

" ill triangle " can not be used for carrying out calculating coordinate, thereby all needs rejecting " ill triangle " in all coordinate Calculation processes.As shown below, because ∠ APB is greater than 15 °, then △ ABP is normal triangle; And

Less than 15 °, then

Be " ill triangle ", then should reject, do not participate in calculating coordinate.

It should be noted last that, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although with reference to example the present invention is had been described in detail, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not breaking away from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.

Claims (4)

1. based on the electronic tag colocated method of single range finding base station and GPS, it is characterized in that, comprising:

To find range base station and gps receiver places on the ranging vehicle, and active electronic label is placed on the object to be positioned;

In described ranging vehicle driving process, obtain in real time the range data of described range finding base station and described active electronic label by described range finding base station, described gps receiver obtains the GPS locator data of described range finding base station simultaneously;

Described range data and the GPS locator data obtained are sent to Localization center;

Described Localization center is processed according to pre-set programs described range data and GPS locator data, calculates the position of described active electronic label, i.e. the position of described object to be positioned;

Described Localization center is processed according to pre-set programs described range data and GPS locator data and is comprised:

Utilize described range data and GPS locator data, obtain and resolve with range data and locator data;

According to active electronic label ID number, described range data is distributed to corresponding object to be positioned;

According to described range data and corresponding locator data, use the triangle positioning principle, resolve object's position coordinate to be positioned;

Described according to described range data and locator data, use the triangle positioning principle, resolve object's position coordinate to be positioned and comprise:

Step 1, choose range data corresponding to three point distance measurements and described point distance measurement and make up cocked hat;

Whether step 2, described cocked hat ill triangle, is then to return step 1, otherwise next step; Described ill triangle refers to that the number of degrees of the interior angle take anchor point as the summit are less than 15 degree by in two point distance measurements and the triangle that corresponding range data consists of; The virtual anchor point of this anchor point for being calculated according to the triangle positioning principle by described point distance measurement and corresponding range data;

Step 3, whether 4 cocked hats are arranged, be then next step, otherwise return step 1;

Step 4, utilize described cocked hat to use the triangle positioning principle to calculate 4 anchor point coordinates;

Step 5, from described 4 anchor point coordinates 2 nearest anchor point coordinates of selected distance, utilize the method for average to described 2 anchor point calculating coordinates, obtain an anchor point coordinate;

Step 6, repetition above-mentioned steps 1～5 obtain respectively an anchor point coordinate;

Step 7, the described anchor point coordinate that obtains by the method for average is weighted center of gravity processes, finally obtain an anchor point coordinate, i.e. the position coordinates of object to be positioned.

2. method according to claim 1 is characterized in that, described described range data and the GPS locator data utilized obtained to resolve with range data and locator data and comprised:

Reject the abnormal data in the described range data;

Reject the abnormal data in the described GPS locator data, use Kalman filter to the rejecting abnormalities data after the GPS locator data optimize;

GPS locator data synchronously simulating to the range data after the rejecting abnormalities data and optimization obtains and resolves with range data and locator data.

3. method according to claim 2 is characterized in that, the method for described synchronously simulating is:

With the descending arrangement of range data of all point distance measurements between the GPS anchor point received and previous GPS anchor point at every turn, get the coordinate mean value of intermediate value range data in the described range data and described front and back two GPS anchor points respectively as range data and the coordinate data of resolving usefulness.

4. method according to claim 1 is characterized in that, at least 5 on described anchor point coordinate.

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