CN107734638A - A kind of localization method and device that center algorithm is put based on triangle - Google Patents

A kind of localization method and device that center algorithm is put based on triangle Download PDF

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Publication number
CN107734638A
CN107734638A CN201711148415.3A CN201711148415A CN107734638A CN 107734638 A CN107734638 A CN 107734638A CN 201711148415 A CN201711148415 A CN 201711148415A CN 107734638 A CN107734638 A CN 107734638A
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base station
locator
mrow
angle
mfrac
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潘祖方
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Quanzhou Rui Yun Intelligent Technology Co Ltd
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Quanzhou Rui Yun Intelligent Technology Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/14—Determining absolute distances from a plurality of spaced points of known location

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The invention discloses a kind of localization method and device that center algorithm is put based on triangle, it is related to localization method field, wherein the localization method of center algorithm is put based on triangle to be included：The distance between locator and three base stations are calculated, base station coordinate information is obtained, calculates the distance between three base stations, calculate the direction value on three base stations of locator, verify direction value of the locator on three base stations, obtain final location information.Using above-mentioned technical proposal, star algorithm is put using three base stations and triangle so that carrying out outdoor without in the environment of gps signal, the error of outdoor positioning can be reduced within 50 meters, meanwhile, also base station assistant positioning system is fast than ever for locating speed, cost is also lower, can widely use.

Description

A kind of localization method and device that center algorithm is put based on triangle
Technical field
The present invention relates to localization method field, more particularly to a kind of localization method and device that center algorithm is put based on triangle.
Background technology
Indoor positioning can carry out auxiliary realization by WIFI equipment, and outdoor generally use GPS positions to realize, still GPS positioning is highly susceptible to block and causes dropout, and reliability is not strong, therefore base communication base station auxiliary positioning occurs System, but this system accuracy is not high always, influences user's use.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of localization method and device that center algorithm is put based on triangle, solves The not high technical problem of base station auxiliary positioning precision in the prior art.
In order to solve the above-mentioned technical problem, the technical scheme is that：
A kind of localization method that center algorithm is put based on triangle, including：The distance between locator and three base stations are calculated, is obtained Base station coordinate information is taken, calculates the distance between three base stations, calculates the direction value on three base stations of locator, checking is fixed Direction value of the position device on three base stations, obtains final location information.
Wherein, calculating the method for the direction value on three base stations of locator includes one below：
(1) when locator is located in the triangle that three base stations are surrounded：
Calculate two base stations between line relative to longitudinal axis angle；Calculate between locator and base station line relative to The angle of latitude axle；Connected by line between locator and base station relative between the angle calcu-lation locator of latitude axle and base station Line relative to latitude axle angle；Calculate longitude orientation values of the locator relative to base station；Locator is calculated relative to base station Latitude orientation values draw locator coordinate；
(2) when locator is located at outside the triangle that three base stations are surrounded, and the triangle that three base stations are surrounded is sharp Angle triangle：Line is calculated between the 3rd base station and the second base station relative to the angle angle of latitude axle；Calculate locator, second The angle angle that base station and the 3rd base station are formed, line is calculated between locator and the second base station relative to the angle of longitudinal axis Angle, according to angle angle and the coordinate of the positional information calculation locator of base station；
(3) when locator is located at outside the triangle that three base stations are surrounded, and the triangle that three base stations are surrounded is blunt Angle triangle：The angle angle that the 3rd base station, first base station and locator are formed is calculated, calculates the 3rd base station and first base station Between line relative to latitude axle angle angle, according to angle angle and the coordinate of the positional information calculation locator of base station.
Wherein, the distance between locator and base station are calculated using equation below：
S=10((ABS(RSSI)-W)/(10×n))……………………(1)
Wherein, s is the distance between locator and base station, and ABS (RSSI) is the absolute value of received signal strength, and W is fixed Position device sends the absolute value for the power that every meter of signal is consumed to base station, and n is loss factor in way.
Specifically, wherein W assignment scope is 45-49 dBms；N assignment scope is 3.25-4.5.
Wherein, the distance between three base stations are calculated by below equation：
Wherein, D is the distance between two base stations, and R is earth radius, and lat1 is the longitude of first base station, and lat2 is The longitude of second base station, long1 are the latitude value of first base station, and long2 is the latitude value of the second base station.
A kind of positioner that center algorithm is put based on triangle, including：Distance calculation module, for calculating locator and three The distance between base station；Base station coordinates acquisition module, for obtaining base station coordinate information；Base station distance computing module, based on Calculate the distance between three base stations；Direction value computing module, for calculating the direction value on three base stations of locator；Direction It is worth authentication module, for verifying direction value of the locator on three base stations, obtains final location information.
Wherein, the direction value computing module calculates the method for the direction value on three base stations of locator including following One of：
(1) when locator is located in the triangle that three base stations are surrounded：
Calculate two base stations between line relative to longitudinal axis angle；Calculate between locator and base station line relative to The angle of latitude axle；Connected by line between locator and base station relative between the angle calcu-lation locator of latitude axle and base station Line relative to latitude axle angle；Calculate longitude orientation values of the locator relative to base station；Locator is calculated relative to base station Latitude orientation values draw locator coordinate；
(2) when locator is located at outside the triangle that three base stations are surrounded, and the triangle that three base stations are surrounded is sharp Angle triangle：Line is calculated between the 3rd base station and the second base station relative to the angle angle of latitude axle；Calculate locator, second The angle angle that base station and the 3rd base station are formed, line is calculated between locator and the second base station relative to the angle of longitudinal axis Angle, according to angle angle and the coordinate of the positional information calculation locator of base station；
(3) when locator is located at outside the triangle that three base stations are surrounded, and the triangle that three base stations are surrounded is blunt Angle triangle：The angle angle that the 3rd base station, first base station and locator are formed is calculated, calculates the 3rd base station and first base station Between line relative to latitude axle angle angle, according to angle angle and the coordinate of the positional information calculation locator of base station.
Wherein, the distance calculation module calculates the distance between locator and base station using equation below：
S=10((ABS(RSSI)-W)/(10×n))…………………………(1)
Wherein, s is the distance between locator and base station, and ABS (RSSI) is the absolute value of received signal strength, and W is fixed Position device sends the absolute value for the power that every meter of signal is consumed to base station, and n is loss factor in way.
Specifically, wherein W assignment scope is 45-49 dBms；N assignment scope is 3.25-4.5.
Wherein, the distance calculation module calculates the distance between three base stations by below equation：
Wherein, D is the distance between two base stations, and R is earth radius, and lat1 is the longitude of first base station, and lat2 is The longitude of second base station, long1 are the latitude value of first base station, and long2 is the latitude value of the second base station.
Using above-mentioned technical proposal, star algorithm is put using three base stations and triangle so that believe without GPS carrying out outdoor Number environment in, the error of outdoor positioning can be reduced within 50 meters, meanwhile, also base station auxiliary is fixed than ever for locating speed Position technology is fast, and cost is also lower, can widely use.
Brief description of the drawings
Fig. 1 is the method flow diagram for the localization method that the present invention puts center algorithm based on triangle；
Fig. 2 is the exemplary plot of the first locator Coordinate calculation method in the present invention；
Fig. 3 is the exemplary plot of second of locator Coordinate calculation method in the present invention；
Fig. 4 is the exemplary plot of the third locator Coordinate calculation method in the present invention；And
Fig. 5 is the module frame chart for the positioner that the present invention puts center algorithm based on triangle.
In figure, 501- distance calculation modules, 502- base station coordinates acquisition modules, 503- base station distance computing modules, 504- Direction value computing module, 505- direction value authentication modules.
Embodiment
The embodiment of the present invention is described further below in conjunction with the accompanying drawings.Herein it should be noted that for The explanation of these embodiments is used to help understand the present invention, but does not form limitation of the invention.It is in addition, disclosed below As long as each embodiment of the invention in involved technical characteristic do not form conflict can each other and be mutually combined.
As the first embodiment of the present invention, a kind of localization method that center algorithm is put based on triangle is proposed, as shown in figure 1, Including：Step S1：Calculate the distance between locator and three base stations.Calculate first current localizer point respectively with With to three nearest base stations：The distance between first base station, the second base station and the 3rd base station S1, S2, S3；Adopted in the present embodiment The distance between locator and base station are calculated with equation below：
S=10((ABS(RSSI)-W)/(10×n))…………(1)
Wherein, s is the distance between locator and base station, and ABS (RSSI) is the absolute value of received signal strength, and W is fixed Position device sends the absolute value for the power that every meter of signal is consumed to base station, and n is loss factor in way.Usual W assignment scope is 45-49dBm (dBm)；N assignment scope is 3.25-4.5.In the present embodiment, W's is entered as 46.8dBm, n assignment For 4.8.That is,
S=10((ABS(RSSI)-46.8)/(10×4.8))…………………………(2)
S=10((ABS(RSSI)-46.8)/48)…………………(3)
The distance between locator point and first base station S1, locator point and second are calculated by (3) formula The distance between the distance between base station S2, locator point and the 3rd base station S3.
Step S2：Obtain base station coordinate information.Calculating the distance S1 between locator point and first base station, positioning While the distance between the distance between device point and the second base station S2, locator point and the 3rd base station S3, due to Locator is established and is connected with first base station, the second base station and the 3rd base station respectively so that locator can get the first base Stand, the base station information of the second base station and the 3rd base station, base station GPS coordinate information is just included in base station information.First base station Coordinate information be (lat1, long1), the coordinate information of the second base station is (lat2, long2), the coordinate information of the 3rd base station For (lat3, long3).Those skilled in the art it is recognised that can also in locator preset each base station coordinate information Table, when locator is connected with corresponding base station, the base station is able to confirm that by each base station coordinate information table for traveling through preset Coordinate information.
Step S3：Calculate the distance between three base stations.It can be calculated afterwards by the coordinate information of each two base station The distance between each two base station.By below equation calculate first base station and the second base station, first base station and the 3rd base station with And second the distance between base station and the 3rd base station：
Wherein, to calculate the distance between first base station and the second base station D12For the first base station to be calculated and the second base station The distance between；R is earth radius, that is, 6378137 meters；Lat1 is the longitude of first base station, and lat2 is the second base station Longitude, long1 be first base station latitude value, long2 be the second base station latitude value.
Step S4：Calculate the direction value on three base stations of locator.First base station and the second base station, first base station and Line between 3rd base station and the second base station and the 3rd base station, a triangle is formed, on locator and the triangle Different position relationships uses different calculations.As described in Figure 2, first base station and the second base station, first base station and the 3rd Line between base station and the second base station and the 3rd base station forms an acute triangle, and the point where locator is in acute angle The inside of triangle.Now, locator coordinate is calculated in the following manner：
The angle value of line between the second base station and first base station relative to the angle 1 of longitudinal axis is calculated, i.e.,：
In above-mentioned formula (5) lat2 be the second base station longitude, lat1 be first base station longitude, D21For first base station The distance between second base station；After the angle value for calculating angle 1, line is relative to latitude between calculating locator and base station The angle value of the angle 2 of axle；By the way that the value of the value of angle 2 and angle 1 is subtracted each other, line phase between locator and base station is obtained For the angle value of the angle 3 of latitude axle；Therefore locator is relative to the longitude orientation values of first base station：
XLocator=lat1+sin (angle value of angle 3) × s1……………(6)
Wherein, s1Calculated using formula (3).Locator is relative to the latitude orientation values of first base station：
YLocator=long1+cos (angle value of angle 3) × s1………(7)
Wherein, s1Calculated using formula (3).
Preferably, after the completion of calculating, using it is above-mentioned it is same by the way of by calculate locator relative to the second base station and Locator relative to the 3rd base station orientation values, to verify the accuracy of locator longitude and latitude.
As shown in figure 3, first base station and the second base station, first base station and the 3rd base station and the second base station and the 3rd base station Between line form an acute triangle, the point where locator is in the outside of acute triangle.Now, by following Mode calculates the position of locator：
First by line between following (8) formula the 3rd base station of calculating and the second base station relative to 1 jiao of the angle of latitude axle Degree；
Wherein, D2For the distance between the 3rd base station and second base station, long2 is the latitude value of the second base station, and long3 is The latitude value of 3rd base station；2 jiaos of the angle that (9) formula calculates locator under afterwards, the second base station and the 3rd base station are formed Degree,
Wherein, D2For the distance between the 3rd base station and second base station, s2For the distance between locator and the second base station, s3For the distance between locator and the 3rd base station；I.e.
Afterwards according to line between angle 1 and the calculating locator of angle 2 and the second base station relative to 3 jiaos of the angle of longitudinal axis Degree：
Ang3=Ang2+Ang1-90 ... ... ... ... (11)
Finally the coordinate of locator is：
XLocator=lat2+s2×sin(Ang3)…………………(12)
YLocator=long2-s2×cos(Ang3)……………………(13)
As shown in figure 4, first base station and the second base station, first base station and the 3rd base station and the second base station and the 3rd base station Between line form an obtuse triangle, the point where locator is in the outside of acute triangle.Now, by following Mode calculates the position of locator：
(14) (15) formula calculates the angle of angle 1 that the 3rd base station, first base station and locator are formed first under：
Wherein, D3For the distance between the 3rd base station and first base station, s1For the distance between locator and first base station, s3For the distance between locator and the 3rd base station；I.e.
Afterwards by line between following formula (16) the 3rd base station of calculating and first base station relative to 2 jiaos of the angle of latitude axle Degree：
Finally draw the coordinate of locator：
XLocator=lat1-s1×sin(Ang1+Ang2)……………(17)
YLocator=long1-s1×cos(Ang1+Ang2)………(18)
After completing locator coordinate and calculating, step S5 is performed：Direction value of the locator on three base stations is verified, is obtained Final location information.
Using above-mentioned technical proposal, star algorithm is put using three base stations and triangle so that believe without GPS carrying out outdoor Number environment in, the error of outdoor positioning can be reduced within 50 meters, meanwhile, also base station auxiliary is fixed than ever for locating speed Position technology is fast, and cost is also lower, can widely use.
The second embodiment of the present invention proposes that one kind is based on triangle as device embodiment corresponding to above method embodiment The positioner of center algorithm is put, as shown in figure 5, including：Distance calculation module 501, for calculate locator and three base stations it Between distance.I.e. distance calculation module 501 calculate first current localizer point respectively with to three nearest base stations： The distance between first base station, the second base station and the 3rd base station S1, S2, S3；Positioning is calculated using equation below in the present embodiment The distance between device and base station：
S=10((ABS(RSSI)-W)/(10×n))………………(19)
Wherein, s is the distance between locator and base station, and ABS (RSSI) is the absolute value of received signal strength, and W is fixed Position device sends the absolute value for the power that every meter of signal is consumed to base station, and n is loss factor in way.Usual W assignment scope is 45-49dBm (dBm)；N assignment scope is 3.25-4.5.In the present embodiment, W's is entered as 46.8dBm, n assignment For 4.8.That is,
S=10((ABS(RSSI)-46.8)/(10×4.8))……………(20)
S=10((ABS(RSSI)-46.8)/48)…………(21)
Distance calculation module 501 calculates the distance between locator point and first base station S1 by (21) formula, determined The distance between position the distance between device point and the second base station S2, locator point and the 3rd base station S3.
Base station coordinates acquisition module 502, for obtaining base station coordinate information.
Distance S1, the locator point between locator point and first base station are calculated in distance calculation module 501 While the distance between the distance between second base station S2, locator point and the 3rd base station S3, due to locator point Do not establish and be connected with first base station, the second base station and the 3rd base station so that locator can get first base station, the second base Stand and the base station information of the 3rd base station, base station GPS coordinate information is just included in base station information.The coordinate information of first base station For (lat1, long1), the coordinate information of the second base station is (lat2, long2), the coordinate information of the 3rd base station for (lat3, long3).Those skilled in the art it is recognised that can also in locator preset each base station coordinate information table, in locator When being connected with corresponding base station, the coordinate information of the base station is able to confirm that by traveling through preset each base station coordinate information table.
Base station distance computing module 503, for calculating the distance between three base stations.
Base station distance computing module 503 by the coordinate information of each two base station come calculate between each two base station away from From.First base station and the second base station, first base station and the 3rd base station and the second base station and the 3rd base are calculated by below equation The distance between stand：
Wherein, to calculate the distance between first base station and the second base station D12For the first base station to be calculated and the second base station The distance between；R is earth radius, that is, 6378137 meters；Lat1 is the longitude of first base station, and lat2 is the second base station Longitude, long1 be first base station latitude value, long2 be the second base station latitude value.
Direction value computing module 504, for calculating the direction value on three base stations of locator.
Company between first base station and the second base station, first base station and the 3rd base station and the second base station and the 3rd base station Line, forms a triangle, and the position relationship different from the triangle on locator uses different calculations.Such as Fig. 2 It is described, the line shape between first base station and the second base station, first base station and the 3rd base station and the second base station and the 3rd base station Into an acute triangle, the point where locator is in the inside of acute triangle.Now, direction value computing module 504 is logical Cross in the following manner and calculate locator coordinate：
The angle value of line between the second base station and first base station relative to the angle 1 of longitudinal axis is calculated, i.e.,：
Lat2 is the longitude of the second base station in above-mentioned formula (23), and lat1 is the longitude of first base station, and D21 is the first base Stand the distance between second base station；After the angle value for calculating angle 1, line is relative to latitude between calculating locator and base station Spend the angle value of the angle 2 of axle；By the way that the value of the value of angle 2 and angle 1 is subtracted each other, line between locator and base station is obtained Relative to the angle value of the angle 3 of latitude axle；Therefore locator is relative to the longitude orientation values of first base station：
XLocator=lat1+sin (angle value of angle 3) × s1……………………(24)
Wherein, s1 is calculated using formula (21).Locator is relative to the latitude orientation values of first base station：
YLocator=long1+cos (angle value of angle 3) × s1……………(25)
Wherein, s1 is calculated using formula (21).
Preferably, after the completion of calculating, using it is above-mentioned it is same by the way of by calculate locator relative to the second base station and Locator relative to the 3rd base station orientation values, to verify the accuracy of locator longitude and latitude.
As shown in figure 3, first base station and the second base station, first base station and the 3rd base station and the second base station and the 3rd base station Between line form an acute triangle, the point where locator is in the outside of acute triangle.Now, direction value meter Calculate the position that module 504 calculates locator in the following manner：
First by line between following (26) formula the 3rd base station of calculating and the second base station relative to 1 jiao of the angle of latitude axle Degree；
Wherein, D2For the distance between the 3rd base station and second base station, long2 is the latitude value of the second base station, and long3 is The latitude value of 3rd base station；2 jiaos of the angle that (27) formula calculates locator under afterwards, the second base station and the 3rd base station are formed Degree,
Wherein, D2For the distance between the 3rd base station and second base station, s2For the distance between locator and the second base station, s3For the distance between locator and the 3rd base station；I.e.
Afterwards according to line between angle 1 and the calculating locator of angle 2 and the second base station relative to 3 jiaos of the angle of longitudinal axis Degree：
Ang3=Ang2+Ang1-90 ... ... ... (29)
Finally the coordinate of locator is：
XLocator=lat2+s2×sin(Ang3)…………………………(30)
YLocator=long2-s2×cos(Ang3)………………(31)
As shown in figure 4, first base station and the second base station, first base station and the 3rd base station and the second base station and the 3rd base station Between line form an obtuse triangle, the point where locator is in the outside of acute triangle.Now, direction value meter Calculate the position that module 504 calculates locator in the following manner：
(32) (33) formula calculates the angle of angle 1 that the 3rd base station, first base station and locator are formed first under：
Wherein, D3For the distance between the 3rd base station and first base station, s1For the distance between locator and first base station, s3For the distance between locator and the 3rd base station；I.e.
Afterwards by line between following formula (34) the 3rd base station of calculating and first base station relative to 2 jiaos of the angle of latitude axle Degree：
Finally draw the coordinate of locator：
XLocator=lat1-s1×sin(Ang1+Ang2)………………(35)
YLocator=long1-s1×cos(Ang1+Ang2)……………………(36)
Direction value authentication module 505, for verifying direction value of the locator on three base stations, obtain final positioning letter Breath.After completing locator coordinate and calculating, direction of the locator on three base stations is verified by direction value authentication module 505 Value, obtain final accurate location information.
Embodiments of the present invention are explained in detail above in association with accompanying drawing, but the invention is not restricted to described implementation Mode.For a person skilled in the art, in the case where not departing from the principle of the invention and spirit, to these embodiments A variety of change, modification, replacement and modification are carried out, are still fallen within protection scope of the present invention.

Claims (10)

  1. A kind of 1. localization method that center algorithm is put based on triangle, it is characterised in that including：Calculate between locator and three base stations Distance, obtain base station coordinate information, calculate the distance between three base stations, calculate the direction on three base stations of locator Value, direction value of the checking locator on three base stations, obtains final location information.
  2. 2. the localization method according to claim 1 that center algorithm is put based on triangle, it is characterised in that：Wherein, positioning is calculated The method of the direction value on three base stations of device includes one below：
    (1) when locator is located in the triangle that three base stations are surrounded：
    Calculate two base stations between line relative to longitudinal axis angle；Line is relative to latitude between calculating locator and base station The angle of axle；By line between locator and base station relative to line phase between the angle calcu-lation locator of latitude axle and base station For the angle of latitude axle；Calculate longitude orientation values of the locator relative to base station；Calculate latitude of the locator relative to base station Orientation values draw locator coordinate；
    (2) when locator is located at outside the triangle that three base stations are surrounded, and the triangle that three base stations are surrounded is acute angle three It is angular：Line is calculated between the 3rd base station and the second base station relative to the angle angle of latitude axle；Calculate locator, the second base station The angle angle formed with the 3rd base station, line is calculated between locator and the second base station relative to the angle angle of longitudinal axis Degree, according to angle angle and the coordinate of the positional information calculation locator of base station；
    (3) when locator is located at outside the triangle that three base stations are surrounded, and the triangle that three base stations are surrounded is obtuse angle three It is angular：The angle angle that the 3rd base station, first base station and locator are formed is calculated, is calculated between the 3rd base station and first base station Line relative to latitude axle angle angle, according to angle angle and the coordinate of the positional information calculation locator of base station.
  3. 3. the localization method according to claim 1 that center algorithm is put based on triangle, it is characterised in that using equation below meter Calculate the distance between locator and base station：
    S=10((ABS(RSSI)-W)/(10×n))………………………(1)
    Wherein, s is the distance between locator and base station, and ABS (RSSI) is the absolute value of received signal strength, and W is locator The absolute value for the power that every meter of signal is consumed is sent to base station, n is loss factor in way.
  4. 4. the localization method according to claim 3 that center algorithm is put based on triangle, it is characterised in that wherein W assignment model Enclose for 45-49 dBms；N assignment scope is 3.25-4.5.
  5. 5. the localization method according to claim 1 that center algorithm is put based on triangle, it is characterised in that pass through below equation meter Calculate the distance between three base stations：
    <mrow> <mi>D</mi> <mo>=</mo> <mn>2</mn> <mo>&amp;times;</mo> <mi>R</mi> <mo>&amp;times;</mo> <msup> <mi>sin</mi> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </msup> <mrow> <mo>(</mo> <mroot> <mrow> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mfrac> <mrow> <mi>l</mi> <mi>a</mi> <mi>t</mi> <mn>1</mn> <mo>-</mo> <mi>l</mi> <mi>a</mi> <mi>t</mi> <mn>2</mn> </mrow> <mn>2</mn> </mfrac> <mo>&amp;times;</mo> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mfrac> <mrow> <mi>l</mi> <mi>a</mi> <mi>t</mi> <mn>1</mn> <mo>-</mo> <mi>l</mi> <mi>a</mi> <mi>t</mi> <mn>2</mn> </mrow> <mn>2</mn> </mfrac> <mo>+</mo> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mrow> <mo>(</mo> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mfrac> <mrow> <mi>l</mi> <mi>a</mi> <mi>t</mi> <mn>1</mn> <mo>-</mo> <mi>l</mi> <mi>a</mi> <mi>t</mi> <mn>2</mn> </mrow> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> <mo>&amp;times;</mo> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mrow> <mo>(</mo> <mi>l</mi> <mi>a</mi> <mi>t</mi> <mn>2</mn> <mo>)</mo> </mrow> <mo>&amp;times;</mo> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mfrac> <mrow> <mo>(</mo> <mi>l</mi> <mi>o</mi> <mi>n</mi> <mi>g</mi> <mn>1</mn> <mo>-</mo> <mi>l</mi> <mi>o</mi> <mi>n</mi> <mi>g</mi> <mn>2</mn> <mo>)</mo> <mo>&amp;times;</mo> <mfrac> <mi>&amp;pi;</mi> <mn>180</mn> </mfrac> </mrow> <mn>2</mn> </mfrac> <mo>&amp;times;</mo> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mfrac> <mrow> <mo>(</mo> <mi>l</mi> <mi>o</mi> <mi>n</mi> <mi>g</mi> <mn>1</mn> <mo>-</mo> <mi>l</mi> <mi>o</mi> <mi>n</mi> <mi>g</mi> <mn>2</mn> <mo>)</mo> <mo>&amp;times;</mo> <mfrac> <mi>&amp;pi;</mi> <mn>180</mn> </mfrac> </mrow> <mn>2</mn> </mfrac> </mrow> <mn>2</mn> </mroot> <mo>)</mo> </mrow> <mn>...</mn> <mrow> <mo>(</mo> <mn>2</mn> <mo>)</mo> </mrow> </mrow>
    Wherein, D is the distance between two base stations, and R is earth radius, and lat1 is the longitude of first base station, lat2 second The longitude of base station, long1 are the latitude value of first base station, and long2 is the latitude value of the second base station.
  6. A kind of 6. positioner that center algorithm is put based on triangle, it is characterised in that including：Distance calculation module, it is fixed for calculating The distance between position device and three base stations；Base station coordinates acquisition module, for obtaining base station coordinate information；Base station distance calculates mould Block, for calculating the distance between three base stations；Direction value computing module, for calculating the side on three base stations of locator To value；Direction value authentication module, for verifying direction value of the locator on three base stations, obtain final location information.
  7. 7. the positioner according to claim 6 that center algorithm is put based on triangle, it is characterised in that：The direction value calculates The method that module calculates the direction value on three base stations of locator includes one below：
    (1) when locator is located in the triangle that three base stations are surrounded：
    Calculate two base stations between line relative to longitudinal axis angle；Line is relative to latitude between calculating locator and base station The angle of axle；By line between locator and base station relative to line phase between the angle calcu-lation locator of latitude axle and base station For the angle of latitude axle；Calculate longitude orientation values of the locator relative to base station；Calculate latitude of the locator relative to base station Orientation values draw locator coordinate；
    (2) when locator is located at outside the triangle that three base stations are surrounded, and the triangle that three base stations are surrounded is acute angle three It is angular：Line is calculated between the 3rd base station and the second base station relative to the angle angle of latitude axle；Calculate locator, the second base station The angle angle formed with the 3rd base station, line is calculated between locator and the second base station relative to the angle angle of longitudinal axis Degree, according to angle angle and the coordinate of the positional information calculation locator of base station；
    (3) when locator is located at outside the triangle that three base stations are surrounded, and the triangle that three base stations are surrounded is obtuse angle three It is angular：The angle angle that the 3rd base station, first base station and locator are formed is calculated, is calculated between the 3rd base station and first base station Line relative to latitude axle angle angle, according to angle angle and the coordinate of the positional information calculation locator of base station.
  8. 8. the positioner according to claim 6 that center algorithm is put based on triangle, it is characterised in that：The distance calculates mould Block calculates the distance between locator and base station using equation below：
    S=10((ABS(RSSI)-W)/(10×n))………………………………(1)
    Wherein, s is the distance between locator and base station, and ABS (RSSI) is the absolute value of received signal strength, and W is locator The absolute value for the power that every meter of signal is consumed is sent to base station, n is loss factor in way.
  9. 9. the positioner according to claim 8 that center algorithm is put based on triangle, it is characterised in that：Wherein W assignment model Enclose for 45-49 dBms；N assignment scope is 3.25-4.5.
  10. 10. the positioner according to claim 6 that center algorithm is put based on triangle, it is characterised in that：The distance calculates Module calculates the distance between three base stations by below equation：
    <mrow> <mi>D</mi> <mo>=</mo> <mn>2</mn> <mo>&amp;times;</mo> <mi>R</mi> <mo>&amp;times;</mo> <msup> <mi>sin</mi> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </msup> <mrow> <mo>(</mo> <mroot> <mrow> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mfrac> <mrow> <mi>l</mi> <mi>a</mi> <mi>t</mi> <mn>1</mn> <mo>-</mo> <mi>l</mi> <mi>a</mi> <mi>t</mi> <mn>2</mn> </mrow> <mn>2</mn> </mfrac> <mo>&amp;times;</mo> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mfrac> <mrow> <mi>l</mi> <mi>a</mi> <mi>t</mi> <mn>1</mn> <mo>-</mo> <mi>l</mi> <mi>a</mi> <mi>t</mi> <mn>2</mn> </mrow> <mn>2</mn> </mfrac> <mo>+</mo> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mrow> <mo>(</mo> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mfrac> <mrow> <mi>l</mi> <mi>a</mi> <mi>t</mi> <mn>1</mn> <mo>-</mo> <mi>l</mi> <mi>a</mi> <mi>t</mi> <mn>2</mn> </mrow> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> <mo>&amp;times;</mo> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mrow> <mo>(</mo> <mi>l</mi> <mi>a</mi> <mi>t</mi> <mn>2</mn> <mo>)</mo> </mrow> <mo>&amp;times;</mo> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mfrac> <mrow> <mo>(</mo> <mi>l</mi> <mi>o</mi> <mi>n</mi> <mi>g</mi> <mn>1</mn> <mo>-</mo> <mi>l</mi> <mi>o</mi> <mi>n</mi> <mi>g</mi> <mn>2</mn> <mo>)</mo> <mo>&amp;times;</mo> <mfrac> <mi>&amp;pi;</mi> <mn>180</mn> </mfrac> </mrow> <mn>2</mn> </mfrac> <mo>&amp;times;</mo> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mfrac> <mrow> <mo>(</mo> <mi>l</mi> <mi>o</mi> <mi>n</mi> <mi>g</mi> <mn>1</mn> <mo>-</mo> <mi>l</mi> <mi>o</mi> <mi>n</mi> <mi>g</mi> <mn>2</mn> <mo>)</mo> <mo>&amp;times;</mo> <mfrac> <mi>&amp;pi;</mi> <mn>180</mn> </mfrac> </mrow> <mn>2</mn> </mfrac> </mrow> <mn>2</mn> </mroot> <mo>)</mo> </mrow> <mn>...</mn> <mrow> <mo>(</mo> <mn>2</mn> <mo>)</mo> </mrow> </mrow>
    Wherein, D is the distance between two base stations, and R is earth radius, and lat1 is the longitude of first base station, lat2 second The longitude of base station, long1 are the latitude value of first base station, and long2 is the latitude value of the second base station.
CN201711148415.3A 2017-11-17 2017-11-17 A kind of localization method and device that center algorithm is put based on triangle Pending CN107734638A (en)

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