CN106772332B - A kind of rotary range measurement verification method - Google Patents
A kind of rotary range measurement verification method Download PDFInfo
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- CN106772332B CN106772332B CN201611199089.4A CN201611199089A CN106772332B CN 106772332 B CN106772332 B CN 106772332B CN 201611199089 A CN201611199089 A CN 201611199089A CN 106772332 B CN106772332 B CN 106772332B
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- 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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
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- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
Abstract
High-precision Distance-sensing unit T1, T3, T5 points are first group by a kind of rotary range measurement verification method, including initialization, and T2, T4, T6 are second group and obtain center range-to-go D1, D2, D3As first group of measurement data, high-precision Distance-sensing unit T1, T2, T3 are divided for third group, T4, T5, T6 are the 4th group of acquisition center range-to-go D4, D5As second group of measurement data, center range-to-go D is respectively obtained using similar manner after movement7, D8, D9, D10, D11, obtain calculating distance D by range formula6And etc., it can be realized and verifying amendment in advance is carried out to ranging verifying device, verify data is provided and is researched and analysed, so as to effectively improve range accuracy, reduces the cost and improves efficiency.
Description
Technical field
The present invention relates to wireless distance finding fields, and in particular to a kind of rotary range measurement verification method.
Background technique
At present there are many kinds of the modes of wireless distance finding, all there is its own a little in each distance measuring method, but multiple
Under miscellaneous changeable environment, after different distance measuring methods will receive the influence of various factors, the precision of ranging is reduced, particularly with one
In the case where needing precision ranging, realize that high-precision range measurement becomes also more and more important.
Wireless distance finding technology is to realize the basis of wireless location, the practical applications such as navigation, if it is possible to accurately measure away from
From, then can realize high-precision positioning and navigation etc., therefore it is by the highest attention for increasingly receiving all conglomeraties,
Application demand spreads numerous industry fields.
The basis of wireless distance finding technology is the accurate of distance-measuring device and method, and due to factors such as techniques
It influences, same class or with some existing defects in batch of range unit, measurement accuracy is poor, if it is possible to select quality in advance
Excellent range unit then can be improved measurement accuracy and eliminate the range unit of existing defects, and save the cost improves effect
Rate, however in currently available technology without being carried out before practical application effectively specifically for range unit or its sensor and method
The device of verifying.
Summary of the invention
It can be realized it is an object of the invention to overcome the deficiencies of the prior art and provide one kind and ranging verifying device carried out
Verifying amendment in advance, provides verify data and is researched and analysed, and so as to effectively improve range accuracy, reduce the cost raising effect
The rotary range measurement verification method of rate.
The present invention provides a kind of rotary range measurement verification methods, are realized using rotary ranging verifying device, rotation
Rotatable ranging verifying device includes the high-precision Distance-sensing for being set in turn in six vertex of the regular hexagon framework that side length is a
Unit T1-T6, the position coordinates on six of them vertex it is known that be denoted as C respectively1(x1, y1, z1),C2(x2, y2, z2),C3(x3, y3,
z3),C4(x4, y4, z4),C5(x5, y5, z5),C1(x6, y6, z6)；
Range unit is set to the center of regular hexagon framework, and position coordinates are denoted as O (x', y', z')；
Target is set to by the center of regular hexagon and perpendicular on the extended line of regular hexagon framework plane, and position is sat
Labeled as M (x, y, z)；
Guide rail H1-H6 is respectively set in six sides of regular hexagon framework；
Driving unit, for driving high-precision Distance-sensing unit T1-T6 to be arranged along six sides of regular hexagon framework
Guide rail H1-H6 it is mobile by clockwise direction.
It in turn includes the following steps:
(1) it initializes rotary ranging and verifies device, range unit is set to the center of regular hexagon framework, mesh
Mark is set to by the center of regular hexagon and perpendicular on the extended line of regular hexagon framework plane；
It (2) is first group by high-precision Distance-sensing unit T1, T3, T5 points, T2, T4, T6 are second group, and first group high-precision
Degree Distance-sensing unit by TOA method measure respectively high-precision Distance-sensing unit T1, T3, T5 to target linear distance
L11, L31, L51, second group of high-precision Distance-sensing unit by RSSI method measure respectively high-precision Distance-sensing unit T2,
The linear distance L of T4, T6 to target21, L41, L61, it calculates:
Respectively obtain center to target 2 distance D1, D2, D3As first group of measurement data；
(3) high-precision Distance-sensing unit T1, T2, T3 are divided for third group, T4, T5, T6 are the 4th group, and third group is high-precision
Degree Distance-sensing unit by TOA method measure respectively high-precision Distance-sensing unit T1, T2, T3 to target linear distance
L12, L22, L32, the 4th group of high-precision Distance-sensing unit measure high-precision Distance-sensing unit T4 by RSSI method respectively,
The linear distance L of T5, T6 to target42, L52, L62, pass through formulaIt respectively obtains center and arrives target
Distance D12, D22, D32, D42, D52, D62, then D is found out respectively12, D22And D32, D42, D52And D62Average value D4, D5As second group
Measurement data；
(4) using driving unit driving high-precision Distance-sensing unit T1-T6 respectively along six of regular hexagon framework
The guide rail H1-H6 of side setting is mobile by clockwise direction；
It (5) is first group by high-precision Distance-sensing unit T1, T3, T5 points, T2, T4, T6 are second group, and first group high-precision
Degree Distance-sensing unit by TOA method measure respectively high-precision Distance-sensing unit T1, T3, T5 to target linear distance
L13, L33, L53, second group of high-precision Distance-sensing unit by RSSI method measure respectively high-precision Distance-sensing unit T2,
The linear distance L of T4, T6 to target23, L43, L63, it calculates:
Respectively obtain center to target 2 distance D7, D8, D9As third group measurement data；
(6) high-precision Distance-sensing unit T1, T2, T3 are divided for third group again, T4, T5, T6 are the 4th group, and third group is high
Precision Distance-sensing unit by TOA method measure respectively high-precision Distance-sensing unit T1, T2, T3 to target 2 straight line away from
From L14, L24, L34, the 4th group of high-precision Distance-sensing unit measure high-precision Distance-sensing unit T4 by RSSI method respectively,
The linear distance L of T5, T6 to target 244, L54, L64, pass through formulaIt respectively obtains center and arrives target
Distance D14, D24, D34, D44, D54, D64, then D is found out respectively14, D24And D34, D44, D54And D64Average value D10, D11As the 4th
Group measurement data；
(7) the coordinate C at the position of high-precision Distance-sensing unit T1, T3, T5 is utilized1(x1, y1, z1),C3(x3, y3,
z3),C5(x5, y5, z5) and to target linear distance L11, L31, L51, the position coordinates M1 (x of target is calculated11, y11,
z11), recycle the coordinate C at the position of high-precision Distance-sensing unit T2, T4, T62(x2, y2, z2),C4(x4, y4, z4),C6
(x6, y6, z6) and to target linear distance L21, L41, L61, the position coordinates M2 (x of target is calculated22, y22, z22)；
(8) by M1 (x11, y11, z11) and M2 (x22, y22, z22) corresponding coordinate obtains the position of target and sit after averaging
It marks M (x, y, z)；
Utilize the known coordinate C of high-precision Distance-sensing unit T1 and T41(x1, y1, z1) and C4(x4, y4, z4) be calculated
The position coordinates O (x', y', z') of range unit；
It is public by distance using the position coordinates O (x', y', z') of the position coordinates M (x, y, z) and range unit O of target
Formula obtains calculating distance D6, as the 5th group of measurement data；
(9) its range-to-go D is obtained by range unit measurement, whether error in judgement meets preset threshold value, such as
Fruit is more than or equal to threshold value, then it is assumed that range unit measurement inaccuracy is unsatisfactory for ranging requirement, if it is less than threshold value, then it is assumed that survey
It is accurate away from device measurement, meet ranging requirement.
Wherein, it is TOA method or RSSI method that range unit measurement, which obtains the specific method of its range-to-go D,.
Wherein, whether error in judgement meets the specific method of preset threshold value to calculate error rate W1And W2Whether meet pre-
If threshold value:
If error rate W1And W2Meet preset threshold value simultaneously, then it is assumed that range unit is accurate, meets ranging requirement, such as
Fruit has one of them to be unsatisfactory for or be unsatisfactory for simultaneously preset threshold value, then it is assumed that range unit inaccuracy is unsatisfactory for ranging requirement.
Wherein, threshold value 0.01.
Wherein, further include step (10), first, second, third, fourth, the 5th group of measurement data is stored.
Rotary range measurement verification method of the invention, may be implemented:
1) it can be realized and verifying amendment in advance carried out to ranging verifying device, verify data is provided and is researched and analysed；
2) range accuracy is effectively improved, is reduced the cost, is improved efficiency；
3) range data not only is obtained using various ways, measurement data is abundant, and measurement data can also be carried out to storage and stayed
It is standby to research and analyse, it supplies；
4) apparatus structure is simple, and is calculated using a variety of mathematical models, and mode is simple, high-efficient；
5) realize that the position of high-precision Distance-sensing unit is variable using track, thus effective regular change verifying
Environment has certain randomness, improves the accuracy rate of verifying, and the structure after conversion still keeps the knot of regular hexagon
Structure reduces difficulty in computation；
6) combination of a variety of range measurement modes, the processing diversification for data.
Detailed description of the invention
Fig. 1 is that apparatus structure schematic diagram is verified in rotary ranging
Fig. 2 is regular hexagon framework and Distance-sensing unit setting variation structural schematic diagram
Specific embodiment
The following detailed description of specific implementation of the invention, it is necessary to it is indicated herein to be, implement to be only intended to this hair below
Bright further explanation, should not be understood as limiting the scope of the invention, and field person skilled in the art is according to above-mentioned
Some nonessential modifications and adaptations that summary of the invention makes the present invention, still fall within protection scope of the present invention.
The present invention provides a kind of rotary range measurement verification methods, are realized using rotary ranging verifying device 1, such as
Fig. 1, shown in 2, device 1 is verified by rotary ranging, range measurement is carried out to target 2, realize the range measurement to O point is located at
The accuracy rate of sensing device is verified, and is corrected immediately to adjust the distance and measure sensing device, and measurement data is carried out greatly
Data processing, storage provide the measurement data researched and analysed, to effectively improve range accuracy.
As shown in Fig. 2, rotary ranging verifying device 1 includes be set in turn in the regular hexagon framework that side length is a six
The high-precision Distance-sensing unit T1-T6 on a vertex, the position coordinates on six of them vertex it is known that be denoted as C respectively1(x1, y1,
z1),C2(x2, y2, z2),C3(x3, y3, z3),C4(x4, y4, z4),C5(x5, y5, z5),C1(x6, y6, z6), range unit O is located at just
The center of hexagonal-shaped frame is denoted as O (x', y', z'), and target 2 is set to through the center of regular hexagon framework and vertical
In on the extended line of just whole hexagonal-shaped frame plane, position coordinates are denoted as M (x, y, z)；Distinguish on six sides of regular hexagon framework
Be arranged guide rail 3, be denoted as H1-H6 respectively, wherein utilize driving unit, can drive high-precision Distance-sensing unit T1-T6 along
The guide rail 3 on six sides of regular hexagon framework is mobile, and driving unit is preferably stepper motor.
Firstly, being first group by high-precision Distance-sensing unit T1, T3, T5 points, T2, T4, T6 are second group, first group high
Precision Distance-sensing unit by TOA method measure respectively high-precision Distance-sensing unit T1, T3, T5 to target linear distance
L11, L31, L51, second group of high-precision Distance-sensing unit by RSSI method measure respectively high-precision Distance-sensing unit T2,
The linear distance L of T4, T6 to target21, L41, L61, it calculates:
Respectively obtain center to target 2 distance D1, D2, D3As first group of measurement data.
Secondly, regular hexagon has the symmetry in space, T1, T2, T3 and T4, T5, T6 are symmetrical, therefore by high-precision distance
Sensing unit T1, T2, T3 points are third group, and T4, T5, T6 are the 4th group, and third group high-precision Distance-sensing unit passes through the side TOA
Method measures high-precision Distance-sensing unit T1, T2, T3 to the linear distance L of target 2 respectively12, L22, L32, the 4th group high-precision away from
From sensing unit by RSSI method measure respectively high-precision Distance-sensing unit T4, T5, T6 to target 2 linear distance L42,
L52, L62, pass through formulaRespectively obtain center to target 2 distance D12, D22, D32, D42, D52, D62,
Find out D respectively again12, D22And D32, D42, D52And D62Average value D4, D5As second group of measurement data.
Usual situation, equipment can generate error because of outer various factors, and often these errors are relatively steady if it is one
Fixed numerical value, it is not easy to be found, therefore in order to preferably verify, the structure of ranging verifying device can be converted, to have
Certain randomness facilitates the verifying of data.Therefore, guide rail 3 is respectively set in six sides of regular hexagon framework of the invention,
It is denoted as H1-H6 respectively, wherein utilizing driving unit, by changing the position of high-precision Distance-sensing unit T1-T6, Lai Shixian is tested
The transformation for demonstrate,proving environment, to improve the precision of verifying.
Specifically, being made clockwise using driving unit driving high-precision Distance-sensing unit T1-T6 along corresponding guide rail
Direction is mobile, because this rotating manner makes the high-precision Distance-sensing unit T1-T6 after movement still be located at a length of a in one side
Regular hexagon vertex, the distance of high-precision Distance-sensing unit T1-T6 distance center is still a, therefore both ensure that fortune
The simplification of calculation in turn ensures the structure change of ranging verifying device, so as to still utilize the property of regular hexagon, after mobile
Structure it is as shown in Figure 2.
It is still first group by high-precision Distance-sensing unit T1, T3, T5 points after so moving, T2, T4, T6 second
Group, first group of high-precision Distance-sensing unit measure high-precision Distance-sensing unit T1, T3, T5 to mesh by TOA method respectively
Target linear distance L13, L33, L53, second group of high-precision Distance-sensing unit measure high-precision distance by RSSI method respectively
The linear distance L of sensing unit T2, T4, T6 to target23, L43, L63, calculate；
Respectively obtain center to target 2 distance D7, D8, D9As third group measurement data.
Equally, then by high-precision Distance-sensing unit T1, T2, T3 divide for third group, T4, T5, T6 are the 4th group, third group
High-precision Distance-sensing unit by TOA method measure respectively high-precision Distance-sensing unit T1, T2, T3 to target 2 straight line
Distance L14, L24, L34, the 4th group of high-precision Distance-sensing unit measure high-precision Distance-sensing unit by RSSI method respectively
The linear distance L of T4, T5, T6 to target 244, L54, L64, pass through formulaCenter is respectively obtained to mesh
The distance D of mark 214, D24, D34, D44, D54, D64, then D is found out respectively14, D24And D34, D44, D54And D64Average value D10, D11Make
For the 4th group of measurement data.
Then, the coordinate C at the position of high-precision Distance-sensing unit T1, T3, T5 is utilized1(x1, y1, z1),C3(x3, y3,
z3),C5(x5, y5, z5) and to target linear distance L11, L31, L51, the position coordinates M1 (x of target is calculated11, y11,
z11), recycle the coordinate C at the position of high-precision Distance-sensing unit T2, T4, T62(x2, y2, z2),C4(x4, y4, z4),C6
(x6, y6, z6) and to target linear distance L21, L41, L61, the position coordinates M2 (x of target is calculated22, y22, z22), by M1
(x11, y11, z11) and M2 (x22, y22, z22) corresponding coordinate obtains the position coordinates M (x, y, z) of target after averaging；It utilizes
The known coordinate C of high-precision Distance-sensing unit T1 and T41(x1, y1, z1) and C4(x4, y4, z4) it is calculated range unit O's
Position coordinates O (x', y', z'), using the position coordinates M (x, y, z) and range unit O of target position coordinates O (x', y',
Z'), obtain calculating distance D by range formula6。
Its distance D for arriving target 2 is obtained finally by range unit O measurement, wherein the mode measured is unrestricted, according to
The measurement method of its own is determining, such as can be TOA mode, RSSI mode etc..Whether error in judgement meets preset threshold value,
If it is larger than or equal to threshold value, then it is assumed that range unit O inaccuracy is unsatisfactory for ranging requirement, debugging replacement can be carried out, if small
In threshold value, then it is assumed that range unit O is accurate, meets ranging requirement.Wherein whether error in judgement meets the specific of preset threshold value
Method is to calculate error rate:
If error rate W1And W2Meet preset threshold value simultaneously, then it is assumed that range unit O is accurate, meets ranging requirement, such as
Fruit has one of them to be unsatisfactory for or be unsatisfactory for simultaneously preset threshold value, then it is assumed that range unit O inaccuracy is unsatisfactory for ranging and wants
It asks.
Its distance D for arriving target 2 is obtained finally by range unit O measurement, wherein the mode measured is unrestricted, according to
The measurement method of its own is determining, such as can be TOA mode, RSSI mode etc..Whether error in judgement meets preset threshold value,
If it is larger than or equal to threshold value, then it is assumed that range unit O inaccuracy is unsatisfactory for ranging requirement, debugging replacement can be carried out, if small
In threshold value, then it is assumed that range unit O is accurate, meets ranging requirement.Wherein whether error in judgement meets the specific of preset threshold value
Method is to calculate error rate:
In addition, it is contemplated that cost, the factors such as performance, high-precision Distance-sensing unit can be selected according to the actual situation
It selects, such as high-precision ultrasonic Distance-sensing unit, high-precision laser Distance-sensing unit etc..
The present invention of measurement in to(for) distance has more measurement and calculates data, and range unit is verified
Afterwards, it can will measure and calculate data to store, the gross data researched and analysed is provided.For the measurement of distance in the present invention
With more measurement and data are calculated, after being verified for range unit, can will measure and calculate data and store,
The gross data researched and analysed is provided, specification is furthermore needed, the argument section in the present invention can by being directly arranged,
The mode of measurement obtains, and other parameters can be by calculating or other modes well known in the art obtain, especially error rate
Rational method of the value according to this field, such as take positive number etc., the present invention is completed under reasonable be expected, any discomfort
Parameter, formula, scheme should all exclude.
Although for illustrative purposes, it has been described that exemplary embodiments of the present invention, those skilled in the art
Member it will be understood that, can be in form and details in the case where the scope and spirit for not departing from invention disclosed in appended claims
On the change that carry out various modifications, add and replace etc., and all these changes all should belong to appended claims of the present invention
Protection scope, and each step in the claimed each department of product and method, can in any combination
Form is combined.Therefore, to disclosed in this invention the description of embodiment be not intended to limit the scope of the invention,
But for describing the present invention.Correspondingly, the scope of the present invention is not limited by embodiment of above, but by claim or
Its equivalent is defined.
Claims (5)
1. a kind of rotary range measurement verification method is realized using rotary ranging verifying device, rotary ranging verifying dress
The high-precision Distance-sensing unit T1-T6 on six vertex including being set in turn in the regular hexagon framework that side length is a is set, wherein
The position coordinates on six vertex it is known that be denoted as C respectively1(x1, y1, z1),C2(x2, y2, z2),C3(x3, y3, z3),C4(x4, y4,
z4),C5(x5, y5, z5),C6 (x6, y6, z6)；
Range unit is set to the center of regular hexagon framework, and position coordinates are denoted as O (x', y', z')；
Target is set to by the center of regular hexagon and perpendicular on the extended line of regular hexagon framework plane, and position coordinates are remembered
For M (x, y, z)；
Guide rail H1-H6 is respectively set in six sides of regular hexagon framework；
Driving unit, for driving high-precision Distance-sensing unit T1-T6 to lead along what six sides of regular hexagon framework were arranged
Rail H1-H6 is mobile by clockwise direction；
It is characterized in that, in turn including the following steps:
(1) it initializes rotary ranging and verifies device, range unit is set to the center of regular hexagon framework, target is set
It is placed in by the center of regular hexagon and perpendicular on the extended line of regular hexagon framework plane；
(2) be first group by high-precision Distance-sensing unit T1, T3, T5 point, T2, T4, T6 are second group, first group of high-precision away from
From sensing unit by TOA method measure respectively high-precision Distance-sensing unit T1, T3, T5 to target linear distance L11,
L31, L51, second group of high-precision Distance-sensing unit measure high-precision Distance-sensing unit T2, T4, T6 by RSSI method respectively
To the linear distance L of target21, L41, L61, it calculates:
Respectively obtain center to target 2 distance D1, D2, D3As first group of measurement data；
(3) high-precision Distance-sensing unit T1, T2, T3 are divided for third group, T4, T5, T6 are the 4th group, third group high-precision away from
From sensing unit by TOA method measure respectively high-precision Distance-sensing unit T1, T2, T3 to target linear distance L12,
L22, L32, the 4th group of high-precision Distance-sensing unit measure high-precision Distance-sensing unit T4, T5, T6 by RSSI method respectively
To the linear distance L of target42, L52, L62, pass through formulaRespectively obtain center range-to-go
D12, D22, D32, D42, D52, D62, then D is found out respectively12, D22And D32, D42, D52And D62Average value D4, D5As second group of measurement
Data；
(4) it is set using driving unit driving high-precision Distance-sensing unit T1-T6 respectively along six sides of regular hexagon framework
The guide rail H1-H6 set is mobile by clockwise direction；
(5) be first group by high-precision Distance-sensing unit T1, T3, T5 point, T2, T4, T6 are second group, first group of high-precision away from
From sensing unit by TOA method measure respectively high-precision Distance-sensing unit T1, T3, T5 to target linear distance L13,
L33, L53, second group of high-precision Distance-sensing unit measure high-precision Distance-sensing unit T2, T4, T6 by RSSI method respectively
To the linear distance L of target23, L43, L63, it calculates:
Respectively obtain center to target 2 distance D7, D8, D9As third group measurement data；
(6) high-precision Distance-sensing unit T1, T2, T3 are divided for third group again, T4, T5, T6 are the 4th group, third group high-precision
Distance-sensing unit by TOA method measure respectively high-precision Distance-sensing unit T1, T2, T3 to target 2 linear distance L14,
L24, L34, the 4th group of high-precision Distance-sensing unit measure high-precision Distance-sensing unit T4, T5, T6 by RSSI method respectively
To the linear distance L of target 244, L54, L64, pass through formulaRespectively obtain center range-to-go
D14, D24, D34, D44, D54, D64, then D is found out respectively14, D24And D34, D44, D54And D64Average value D10, D11As the 4th group of survey
Measure data；
(7) the coordinate C at the position of high-precision Distance-sensing unit T1, T3, T5 is utilized1(x1, y1, z1),C3(x3, y3, z3),C5
(x5, y5, z5) and to target linear distance L11, L31, L51, the position coordinates M1 (x of target is calculated11, y11, z11), then benefit
With the coordinate C at the position of high-precision Distance-sensing unit T2, T4, T62(x2, y2, z2),C4(x4, y4, z4),C6(x6, y6, z6)
With the linear distance L for arriving target21, L41, L61, the position coordinates M2 (x of target is calculated22, y22, z22)；
(8) by M1 (x11, y11, z11) and M2 (x22, y22, z22) corresponding coordinate obtains the position coordinates M of target after averaging
(x, y, z)；
Utilize the known coordinate C of high-precision Distance-sensing unit T1 and T41(x1, y1, z1) and C4(x4, y4, z4) ranging is calculated
The position coordinates O (x', y', z') of device；
Using the position coordinates O (x', y', z') of the position coordinates M (x, y, z) and range unit O of target, obtained by range formula
To calculating distance D6, as the 5th group of measurement data；
(9) its range-to-go D is obtained by range unit measurement, whether error in judgement meets preset threshold value, if greatly
In equal to threshold value, then it is assumed that range unit measurement inaccuracy is unsatisfactory for ranging requirement, if it is less than threshold value, then it is assumed that ranging dress
It is accurate to set measurement, meets ranging requirement.
2. the method as described in claim 1, it is characterised in that: range unit measurement obtains the specific of its range-to-go D
Method is TOA method or RSSI method.
3. method according to claim 1 or 2, it is characterised in that: whether error in judgement meets the specific side of preset threshold value
Method is to calculate error rate W1And W2Whether preset threshold value is met:
If error rate W1And W2Meeting preset threshold value simultaneously, then it is assumed that range unit is accurate, meets ranging requirement, if there is
One of them is unsatisfactory for or is unsatisfactory for simultaneously preset threshold value, then it is assumed that range unit inaccuracy is unsatisfactory for ranging requirement.
4. method as claimed in claim 3, it is characterised in that: threshold value 0.01.
5. method as claimed in claim 4, it is characterised in that: it further include step (10), by first, second, third, fourth,
5th group of measurement data is stored.
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| 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 |
| CN103152825A (en) * | 2013-03-07 | 2013-06-12 | 北京交通大学 | Distributed non-ranging positioning method suitable for wireless sensor network |
| CN103188604A (en) * | 2011-12-31 | 2013-07-03 | 丹东东方测控技术有限公司 | Method and device achieving underground mine positioning and navigation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN103188604A (en) * | 2011-12-31 | 2013-07-03 | 丹东东方测控技术有限公司 | Method and device achieving underground mine positioning and navigation |
| CN103152825A (en) * | 2013-03-07 | 2013-06-12 | 北京交通大学 | Distributed non-ranging positioning method suitable for wireless sensor network |
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