CN107024690B - Distance measurement verification device and method based on wireless distance measurement - Google Patents
Distance measurement verification device and method based on wireless distance measurement Download PDFInfo
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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
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
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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
- G01S11/14—Systems for determining distance or velocity not using reflection or reradiation using ultrasonic, sonic, or infrasonic waves
Abstract
A distance measurement verification device and a verification method based on wireless distance measurement comprise high-precision distance sensing units T1-T6 which are sequentially arranged at six vertexes of a regular hexagonal frame with the side length of a, the distance measurement device is arranged at the central position of the regular hexagonal frame, a target is arranged on an extension line which passes through the center of a regular hexagon and is perpendicular to the plane of the regular hexagonal frame, and guide rails H1, H2 and H3 are respectively arranged on three diagonal lines formed by connecting lines of opposite vertexes of the regular hexagonal frame, and a driving unit is used for driving the high-precision distance sensing units T1-T6 to move along the corresponding guide rails.
Description
Technical Field
The invention relates to the field of wireless ranging, in particular to a ranging verification device and a verification method based on wireless ranging.
Background
At present, wireless distance measurement modes have multiple types, each type of distance measurement mode has own point, but in a complex and variable environment, different distance measurement modes are influenced by various factors, the precision of distance measurement is reduced, and especially under the condition that precise distance measurement is needed, the realization of high-precision distance measurement becomes more and more important.
The wireless ranging technology is the basis for realizing the practical application of wireless positioning, navigation and the like, and if the distance can be accurately measured, high-precision positioning, navigation and the like can be realized, so that the wireless ranging technology is more and more concerned by various industries, and the application requirements are spread in various industrial fields.
The wireless distance measurement technology is based on the accuracy of distance measurement devices and methods, and due to the influence of many factors such as processes, some of the same type or batch of distance measurement devices have defects and poor measurement precision, and if the distance measurement devices with excellent quality can be selected in advance, the measurement precision can be improved, the defective distance measurement devices are eliminated, the cost is saved, and the efficiency is improved.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a distance measurement verification device and a verification method based on wireless distance measurement, which can realize the pre-verification and correction of a distance measurement verification device and provide verification data for research and analysis, thereby effectively improving the distance measurement precision, reducing the cost and improving the efficiency.
The invention provides a distance measurement verification device based on wireless distance measurement, which comprises high-precision distance sensing units T1-T6 which are sequentially arranged at six vertexes of a regular hexagonal frame with side length a, wherein the position coordinates of the six vertexes are known and are respectively marked as C1(x1，y1，z1), C2(x2，y2，z2),C3(x3，y3，z3),C4(x4，y4，z4),C5(x5，y5，z5),C1(x6，y6，z6)；
The distance measuring device is arranged at the center position of the regular hexagonal frame, and the position coordinates of the distance measuring device are marked as O (x ', y ', z ');
the target is arranged on an extension line which passes through the center of the regular hexagon and is vertical to the plane of the regular hexagon frame, and the position coordinate is marked as M (x, y, z);
guide rails H1, H2 and H3 are respectively arranged on three diagonal lines formed by connecting opposite vertexes of the regular hexagonal frame; and the driving unit is used for driving the high-precision distance sensing units T1-T6 to move along the corresponding guide rails.
The high-precision distance sensing unit is a high-precision ultrasonic distance sensing unit or a high-precision laser distance sensing unit or a combination of the high-precision ultrasonic distance sensing unit and the high-precision laser distance sensing unit.
Wherein, the device also comprises a memory for storing measured or calculated data.
Wherein the driving unit is a stepping motor.
The invention also provides a distance measurement verification method of the distance measurement verification device based on wireless distance measurement, which sequentially comprises the following steps:
(1) initializing a distance measurement verification device based on wireless distance measurement, arranging the distance measurement device at the center position of a regular hexagon frame, and arranging a target on an extension line which passes through the center of the regular hexagon and is vertical to the plane of the regular hexagon frame;
(2) the high-precision distance sensing units T1, T3 and T5 are divided into a first group, T2, T4 and T6 are a second group, and the first group of high-precision distance sensing units respectively measure the linear distances L from the high-precision distance sensing units T1, T3 and T5 to the target through a TOA method11，L31， L51The second group of high-precision distance sensing units respectively measure the linear distances L from the high-precision distance sensing units T2, T4 and T6 to the target by the RSSI method21，L41，L61；
By the formula
Respectively obtaining the distances D from the central positions to the targets11，D21，D31，D41，D51，D61Wherein i is the number of the corresponding high-precision distance sensing unit;
separately determine D11And D41，D21And D51，D31And D61Average value D of1，D2，D3As a first set of measurement data;
(3) the high-precision distance sensing units T1, T2 and T3 are divided into a third group, the T4, T5 and T6 are a fourth group, and the third group of high-precision distance sensing units respectively measure the linear distances L from the high-precision distance sensing units T1, T2 and T3 to the target through a TOA method12，L22， L32And the fourth group of high-precision distance sensing units respectively measure the linear distances L from the high-precision distance sensing units T4, T5 and T6 to the target by an RSSI method42，L52，L62By the formula
Respectively obtaining the distances D from the central positions to the targets12，D22，D32，D42， D52，D62Separately calculating D12，D22And D32，D42，D52And D62Average value D of4，D5As a second set of measurement data;
(4) driving the high-precision distance sensing units T1-T6 to move a fixed distance c along the corresponding guide rails by using a driving unit, wherein the distance from the centers of the high-precision distance sensing units T1-T6 is b;
(5) the high-precision distance sensing units T1, T3 and T5 are divided into a first group, T2, T4 and T6 are a second group, and the first group of high-precision distance sensing units respectively measure the linear distances L from the high-precision distance sensing units T1, T3 and T5 to the target through a TOA method13，L33， L53The second group of high-precision distance sensing units respectively measure the linear distances L from the high-precision distance sensing units T2, T4 and T6 to the target by the RSSI method23，L43，L63；
By the formula
Respectively obtaining the distances D from the central positions to the targets13，D23，D33，D43，D53，D63Wherein i is the number of the corresponding high-precision distance sensing unit;
separately determine D13And D43，D23And D53，D33And D63Average value D of7，D8，D9As a third set of measurement data;
(6) the high-precision distance sensing units T1, T2 and T3 are divided into a third group, the high-precision distance sensing units T4, T5 and T6 are a fourth group, and the third group of high-precision distance sensing units respectively measure the linear distances L from the high-precision distance sensing units T1, T2 and T3 to the target 2 through a TOA method14， L24，L34The fourth group of high-precision distance sensing units respectively measure the linear distances L from the high-precision distance sensing units T4, T5 and T6 to the target 2 by the RSSI method44，L54，L64By the formula
Respectively obtaining the distances D from the central positions to the targets14，D24， D34，D44，D54，D64Separately calculating D14，D24And D34，D44，D54And D64Average value D of10，D11As a fourth set of measurement data;
(7) using the coordinates C at the positions of the high-precision distance sensing units T1, T3, T51(x1，y1，z1),C3(x3，y3，z3),C5(x5， y5，z5) And a linear distance L to the target11，L31，L51The position coordinate M1 (x) of the object is calculated11，y11，z11) And then the coordinates C at the positions of the high-precision distance sensing units T2, T4 and T6 are utilized2(x2，y2，z2),C4(x4，y4，z4),C6(x6，y6，z6) And a linear distance L to the target21，L41，L61The position coordinate M2 (x) of the object is calculated22，y22，z22)；
(8) Mixing M1 (x)11，y11，z11) And M2 (x)22，y22，z22) Averaging the corresponding coordinates to obtain a position coordinate M (x, y, z) of the target;
using the known coordinates C of the high-precision distance sensing units T1 and T41(x1，y1，z1) And C4(x4，y4，z4) Calculating to obtain a position coordinate O (x ', y ', z ') of the distance measuring device;
the calculated distance D is obtained from a distance formula using the position coordinates M (x, y, z) of the target and the position coordinates O (x ', y ', z ') of the distance measuring device O6As a fifth set of measurement data;
(9) the distance D from the target to the distance measuring device is obtained through measurement of the distance measuring device, whether the error meets a preset threshold value or not is judged, if the error is larger than or equal to the threshold value, the distance measuring device is considered to be inaccurate in measurement and not meet the distance measuring requirement, and if the error is smaller than the threshold value, the distance measuring device is considered to be accurate in measurement and meets the distance measuring requirement.
The specific method for the ranging device to measure the distance D to the target is a TOA method or an RSSI method.
The specific method for judging whether the error meets the preset threshold value is to calculate the error rate W1And W2Whether a preset threshold is met:
if the error rate W1And W2And if one of the threshold values is not met or the preset threshold value is not met, the distance measuring device is not accurate and the distance measuring requirement is not met.
Wherein the threshold is 0.01.
Wherein, the method also comprises a step (10) of converting D11，D21，D31，D41，D51，D61，D12，D22，D32，D42，D52，D62，D13，D23，D33，D43，D53，D63，D14，D24，D34，D44，D54，D64And storing the first, second, third, fourth and fifth groups of measurement data.
The distance measurement verification device and the distance measurement verification method based on wireless distance measurement can realize that:
1) the distance measurement verification device can be verified and corrected in advance, and verification data is provided for research and analysis;
2) the distance measurement precision is effectively improved, the cost is reduced, and the efficiency is improved;
3) the distance data can be obtained in various ways, the measurement data are rich, and the measurement data can be stored for research and analysis;
4) the device has simple structure, and utilizes various mathematical models to calculate, the mode is simple, and the efficiency is high;
5) the position of the high-precision distance sensing unit is variable by utilizing the track, so that the verification environment is effectively and regularly changed, certain randomness is achieved, and the verification accuracy is improved.
Drawings
FIG. 1 is a schematic diagram of a distance measurement verification apparatus based on wireless distance measurement
FIG. 2 is a schematic diagram of a regular hexagonal frame and a variation structure of distance sensor unit
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, the following examples of which are intended to be illustrative only and are not to be construed as limiting the scope of the invention.
The invention provides a distance measurement verification device 1 based on wireless distance measurement, as shown in figures 1 and 2, the distance measurement verification device 1 based on wireless distance measurement is used for measuring the distance of a target 2, so that the accuracy verification of a distance measurement sensing device positioned at an O point is realized, the distance measurement sensing device is corrected immediately, the measured data is subjected to big data processing and storage, the measured data for research and analysis is provided, and the distance measurement precision is effectively improved.
As shown in FIG. 2, the distance measurement verification apparatus 1 based on wireless distance measurement includes high-precision distance sensing units T1-T6 arranged in sequence at six vertexes of a regular hexagonal frame with a side length of a, wherein the position coordinates of the six vertexes are known and are respectively marked as C1(x1，y1，z1),C2(x2， y2，z2),C3(x3，y3，z3),C4(x4，y4，z4),C5(x5，y5，z5),C1(x6，y6，z6) The distance measuring device O is positioned at the center of the regular hexagonal frame and is marked as O (x ', y ', z '), the target 2 is arranged on an extension line which passes through the center of the regular hexagonal frame and is vertical to the plane of the regular hexagonal frame, and the position coordinate is marked as M (x, y, z); on three diagonal lines formed by connecting lines of opposite vertices of the regular hexagonal frame, guide rails 3, which are respectively denoted as H1, H2, and H3, are provided, wherein the high-precision distance sensing units T1-T6 can be driven to move along the corresponding guide rails by a driving unit, preferably a stepping motor.
Firstly, dividing the high-precision distance sensing units T1, T3 and T5 into a first group, and dividing the high-precision distance sensing units T2, T4 and T6 into a second group, wherein the first group of high-precision distance sensing units respectively measure the linear distances L from the high-precision distance sensing units T1, T3 and T5 to a target by a TOA method11，L31， L51The second group of high-precision distance sensing units respectively measure the linear distances L from the high-precision distance sensing units T2, T4 and T6 to the target by the RSSI method21，L41，L61By the formula
Respectively obtaining the distances D from the central positions to the targets 211，D21，D31， D41，D51，D61And i is the number corresponding to the high-precision distance sensing unit. Since the data of two distance sensing units on the same straight line have symmetry, D is obtained separately11And D41，D21And D51，D31And D61Average value D of1，D2，D3As a first set of measurement data.
Secondly, the regular hexagon has space symmetry, namely T1, T2, T3 and T4, T5 and T6 are symmetrical, so that the high-precision distanceThe distance sensing units T1, T2 and T3 are divided into a third group, the distance sensing units T4, T5 and T6 are divided into a fourth group, and the third group of high-precision distance sensing units respectively measure the linear distances L from the high-precision distance sensing units T1, T2 and T3 to the target 2 by a TOA method12，L22，L32The fourth group of high-precision distance sensing units respectively measure the linear distances L from the high-precision distance sensing units T4, T5 and T6 to the target 2 by the RSSI method42，L52，L62By the formula
Respectively obtaining the distances D from the central positions to the targets 212，D22，D32，D42，D52，D62Separately calculating D12，D22And D32，D42，D52And D62Average value D of4，D5As a second set of measurement data.
Generally, the device will generate errors due to various factors, and these errors are not easy to be found if they are a relatively stable value, so for better verification, the structure of the ranging verification device can be changed, so that it has a certain randomness, which is helpful for data verification. Therefore, the invention is provided with the guide rails H1, H2 and H3 which are respectively arranged on three diagonal lines formed by connecting lines of opposite vertexes of the regular hexagonal frame, and the positions of the high-precision distance sensing units T1-T6 are changed to realize the transformation of the verification environment, thereby improving the verification precision. Specifically, the driving unit is used to drive the high-precision distance sensing units T1-T6 to move along the corresponding guide rails, and if the high-precision distance sensing units T1-T6 move along the corresponding guide rails by a fixed distance c, the properties of the regular hexagon are still used, so that the distances from the centers of the high-precision distance sensing units T1-T6 are b, the high-precision distance sensing units T1-T6 are still located at the vertexes of the regular hexagon with the side length of b, and the structure after the movement is as shown in fig. 2.
Then, after moving, the high-precision distance sensing units T1, T3 and T5 are still divided into the first unitsAnd the T2, the T4 and the T6 are taken as a second group, the first group of high-precision distance sensing units respectively measure the linear distances L from the high-precision distance sensing units T1, T3 and T5 to the target by the TOA method13，L33，L53The second group of high-precision distance sensing units respectively measure the linear distances L from the high-precision distance sensing units T2, T4 and T6 to the target by the RSSI method23，L43，L63By the formula
Respectively obtaining the distances D from the central positions to the targets 213， D23，D33，D43，D53，D63And i is the number corresponding to the high-precision distance sensing unit. Since the data of two distance sensing units on the same straight line have symmetry, D is obtained separately13And D43，D23And D53，D33And D63Average value D of7，D8，D9As a third set of measurement data.
Similarly, the high-precision distance sensing units T1, T2 and T3 are further divided into a third group, T4, T5 and T6 are a fourth group, and the third group of high-precision distance sensing units respectively measure the linear distances L from the high-precision distance sensing units T1, T2 and T3 to the target 2 by the TOA method14， L24，L34The fourth group of high-precision distance sensing units respectively measure the linear distances L from the high-precision distance sensing units T4, T5 and T6 to the target 2 by the RSSI method44，L54，L64By the formula
Respectively obtaining the distances D from the central positions to the targets 214，D24， D34，D44，D54，D64Separately calculating D14，D24And D34，D44，D54And D64Average value D of10，D11As a fourth set of measurement data.
Then, benefit fromWith the coordinates C at the initial positions of the high-precision distance sensing units T1, T3, T51(x1，y1，z1),C3(x3，y3， z3),C5(x5，y5，z5) And a linear distance L to the target11，L31，L51The position coordinate M1 (x) of the object is calculated11，y11，z11) And then the coordinates C at the positions of the high-precision distance sensing units T2, T4 and T6 are utilized2(x2，y2，z2),C4(x4，y4，z4),C6(x6，y6， z6) And a linear distance L to the target21，L41，L61The position coordinate M2 (x) of the object is calculated22，y22，z22) Mixing M1 (x)11，y11， z11) And M2 (x)22，y22，z22) Averaging the corresponding coordinates to obtain a position coordinate M (x, y, z) of the target; using the known coordinates C at the initial positions of the high-precision distance sensing units T1 and T41(x1，y1，z1) And C4(x4，y4，z4) Calculating to obtain the position coordinate O (x ', y', z ') of the distance measuring device O, and obtaining the calculated distance D by using the position coordinate M (x, y, z) of the target and the position coordinate O (x', y ', z') of the distance measuring device O through a distance formula6。
And finally, measuring the distance D from the target 2 by using a distance measuring device O, wherein the measuring mode is not limited and is determined according to the measuring mode of the distance measuring device O, such as a TOA mode, an RSSI mode and the like. And judging whether the error meets a preset threshold value, if the error is greater than or equal to the threshold value, considering that the distance measuring device O is inaccurate, and does not meet the distance measuring requirement, debugging and replacing can be carried out, and if the error is less than the threshold value, considering that the distance measuring device O is accurate, and meeting the distance measuring requirement. The specific method for judging whether the error meets the preset threshold value is to calculate the error rate:
if the error rate W1And W2And if one of the distance measuring devices does not meet or does not meet the preset threshold value at the same time, the distance measuring device O is considered to be inaccurate and does not meet the distance measuring requirement.
In addition, the high-precision distance sensing unit can be selected according to actual conditions in consideration of cost, performance and other factors, such as a high-precision ultrasonic distance sensing unit, a high-precision laser distance sensing unit and the like.
The invention has more measurement and calculation data for distance measurement, and after the distance measuring device is verified, the measurement and calculation data can be stored to provide theoretical data for research and analysis.
Although exemplary embodiments of the present invention have been described for illustrative purposes, those skilled in the art will appreciate that various modifications, additions, substitutions and the like can be made in form and detail without departing from the scope and spirit of the invention as disclosed in the accompanying claims, all of which are intended to fall within the scope of the claims, and that various steps in the various sections and methods of the claimed product can be combined together in any combination. Therefore, the description of the embodiments disclosed in the present invention is not intended to limit the scope of the present invention, but to describe the present invention. Accordingly, the scope of the present invention is not limited by the above embodiments, but is defined by the claims or their equivalents.
Claims (9)
1. The utility model provides a range finding verification device based on wireless range finding which characterized in that: the high-precision distance sensing unit comprises six vertexes T1-T6 which are sequentially arranged on a regular hexagonal frame with the side length of a, wherein the position coordinates of the six vertexes are known and are respectively marked as C1(x1，y1，z1),C2(x2，y2，z2),C3(x3，y3，z3),C4(x4，y4，z4),C5(x5，y5，z5),C6(x6，y6，z6)；
The distance measuring device is arranged at the center position of the regular hexagonal frame, and the position coordinates of the distance measuring device are marked as O (x ', y ', z ');
the target is arranged on an extension line which passes through the center of the regular hexagon and is vertical to the plane of the regular hexagon frame, and the position coordinate is marked as M (x, y, z);
guide rails H1, H2 and H3 are respectively arranged on three diagonal lines formed by connecting opposite vertexes of the regular hexagonal frame; and the driving unit is used for driving the high-precision distance sensing units T1-T6 to move along the corresponding guide rails.
2. The wireless ranging-based ranging verification apparatus of claim 1, wherein: the high-precision distance sensing unit is a high-precision ultrasonic distance sensing unit or a high-precision laser distance sensing unit or a combination of the high-precision ultrasonic distance sensing unit and the high-precision laser distance sensing unit.
3. The wireless ranging-based ranging verification apparatus of claim 1, wherein: a memory is also included for storing measurement or calculation data.
4. The wireless ranging-based ranging verification apparatus of claim 1, wherein: the driving unit is a stepping motor.
5. A ranging verification method using the wireless ranging-based ranging verification apparatus as claimed in any one of claims 1 to 4, comprising the steps of:
(1) initializing a distance measurement verification device based on wireless distance measurement, arranging the distance measurement device at the center position of a regular hexagon frame, and arranging a target on an extension line which passes through the center of the regular hexagon and is vertical to the plane of the regular hexagon frame;
(2) the high-precision distance sensing units T1, T3 and T5 are divided into a first group, T2, T4 and T6 are a second group, and the first group of high-precision distance sensing units respectively measure the linear distances L from the high-precision distance sensing units T1, T3 and T5 to the target through a TOA method11，L31，L51The second group of high-precision distance sensing units respectively measure the linear distances L from the high-precision distance sensing units T2, T4 and T6 to the target by the RSSI method21，L41，L61；
By the formula
Respectively obtaining the distances D from the central positions to the targets11，D21，D31，D41，D51，D61Wherein i is the number of the corresponding high-precision distance sensing unit;
separately determine D11And D41，D21And D51，D31And D61Average value D of1，D2，D3As a first set of measurement data;
(3) the high-precision distance sensing units T1, T2 and T3 are divided into a third group, the T4, T5 and T6 are a fourth group, and the third group of high-precision distance sensing units respectively measure the linear distances L from the high-precision distance sensing units T1, T2 and T3 to the target through a TOA method12，L22，L32And the fourth group of high-precision distance sensing units respectively measure the linear distances L from the high-precision distance sensing units T4, T5 and T6 to the target by an RSSI method42，L52，L62By the formula
Respectively obtaining the distances D from the central positions to the targets12，D22，D32，D42，D52，D62Separately calculating D12，D22And D32，D42，D52And D62Average value D of4，D5As a second set of measurement data;
(4) driving the high-precision distance sensing units T1-T6 to move a fixed distance c along the corresponding guide rails by using a driving unit, wherein the distance from the centers of the high-precision distance sensing units T1-T6 is b;
(5) the high-precision distance sensing units T1, T3 and T5 are divided into a first group, T2, T4 and T6 are a second group, and the first group of high-precision distance sensing units respectively measure the linear distances L from the high-precision distance sensing units T1, T3 and T5 to the target through a TOA method13，L33，L53The second group of high-precision distance sensing units respectively measure the linear distances L from the high-precision distance sensing units T2, T4 and T6 to the target by the RSSI method23，L43，L63；
By the formula
Respectively obtaining the distances D from the central positions to the targets13，D23，D33，D43，D53，D63Wherein i is the number of the corresponding high-precision distance sensing unit;
separately determine D13And D43，D23And D53，D33And D63Average value D of7，D8，D9As a third set of measurement data;
(6) the high-precision distance sensing units T1, T2 and T3 are divided into a third group, the high-precision distance sensing units T4, T5 and T6 are a fourth group, and the third group of high-precision distance sensing units respectively measure the linear distances L from the high-precision distance sensing units T1, T2 and T3 to the target 2 through a TOA method14，L24，L34Of 1 atThe four groups of high-precision distance sensing units respectively measure the linear distances L from the high-precision distance sensing units T4, T5 and T6 to the target 2 by an RSSI method44，L54，L64By the formula
Respectively obtaining the distances D from the central positions to the targets14，D24，D34，D44，D54，D64Separately calculating D14，D24And D34，D44，D54And D64Average value D of10，D11As a fourth set of measurement data;
(7) using the coordinates C at the positions of the high-precision distance sensing units T1, T3, T51(x1，y1，z1),C3(x3，y3，z3),C5(x5，y5，z5) And a linear distance L to the target11，L31，L51The position coordinate M1 (x) of the object is calculated11，y11，z11) And then the coordinates C at the positions of the high-precision distance sensing units T2, T4 and T6 are utilized2(x2，y2，z2),C4(x4，y4，z4),C6(x6，y6，z6) And a linear distance L to the target21，L41，L61The position coordinate M2 (x) of the object is calculated22，y22，z22)；
(8) Mixing M1 (x)11，y11，z11) And M2 (x)22，y22，z22) Averaging the corresponding coordinates to obtain a position coordinate M (x, y, z) of the target;
using the known coordinates C of the high-precision distance sensing units T1 and T41(x1，y1，z1) And C4(x4，y4，z4) Calculating to obtain a position coordinate O (x ', y ', z ') of the distance measuring device;
the calculated distance D is obtained from a distance formula using the position coordinates M (x, y, z) of the target and the position coordinates O (x ', y ', z ') of the distance measuring device O6As a fifth set of measurement data;
(9) the distance D from the target to the distance measuring device is obtained through measurement of the distance measuring device, whether the error meets a preset threshold value or not is judged, if the error is larger than or equal to the threshold value, the distance measuring device is considered to be inaccurate in measurement and not meet the distance measuring requirement, and if the error is smaller than the threshold value, the distance measuring device is considered to be accurate in measurement and meets the distance measuring requirement.
6. The method of claim 5, wherein: the specific method for the ranging device to measure the distance D to the target is a TOA method or an RSSI method.
7. The method of claim 5 or 6, wherein: the specific method for judging whether the error meets the preset threshold value is to calculate the error rate W1And W2Whether a preset threshold is met:
if the error rate W1And W2And if one of the threshold values is not met or the preset threshold value is not met, the distance measuring device is not accurate and the distance measuring requirement is not met.
8. The method of claim 7, wherein: the threshold value is 0.01.
9. The method of claim 5, wherein: further comprising a step (10) of subjecting D11，D21，D31，D41，D51，D61，D12，D22，D32，D42，D52，D62，D13，D23，D33，D43，D53，D63，D14，D24，D34，D44，D54，D64And storing the first, second, third, fourth and fifth groups of measurement data.
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| Application Number | Priority Date | Filing Date | 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 |
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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 |
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