CN113179478A - Indoor positioning method and system based on wireless ad hoc network - Google Patents

Indoor positioning method and system based on wireless ad hoc network Download PDF

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CN113179478A
CN113179478A CN202010017556.7A CN202010017556A CN113179478A CN 113179478 A CN113179478 A CN 113179478A CN 202010017556 A CN202010017556 A CN 202010017556A CN 113179478 A CN113179478 A CN 113179478A
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wireless
hoc network
terminals
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network terminals
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周维
袁乃华
范晨
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TD Tech Chengdu Co Ltd
Chengdu TD Tech Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks

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  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The application discloses an indoor positioning method based on a wireless ad hoc network, comprising the following steps: at least 3 wireless ad hoc network terminals are deployed in a target area in advance to serve as reference position terminals; the position coordinates of each indoor terminal are calculated by measuring the wireless signal received strength RSSI between the reference position terminal and the indoor terminal. The application also discloses a corresponding system. By applying the technical scheme disclosed by the application, high-precision indoor positioning can be realized.

Description

Indoor positioning method and system based on wireless ad hoc network
Technical Field
The present application relates to the field of indoor positioning technologies, and in particular, to an indoor positioning method and system based on a wireless ad hoc network.
Background
Currently, the Location Based Service (LBS) industry is rapidly developing, and high-precision location information is the basis for providing high-quality location services. Traditional satellite positioning systems, such as Global Positioning System (GPS), big dipper positioning system, etc., possess higher positioning accuracy under outdoor open environment. However, in an indoor environment, the satellite positioning signal is easily shielded or interfered, so that the satellite positioning system cannot be positioned even in an urban canyon or an indoor environment.
In order to solve the positioning problem in the indoor environment, many indoor positioning technologies have appeared in recent years. Typical indoor positioning techniques are: Wi-Fi positioning, Bluetooth positioning, Radio Frequency Identification (RFID) positioning, Violet Peak (ZigBee) positioning, gyroscope positioning, and the like. The indoor positioning technology can be roughly divided into the following three technical routes:
the first is beacon positioning: the method comprises the steps of deploying a plurality of position beacons indoors, measuring the distance from a positioning terminal to the position beacons (at least 3), and calculating the position of the positioning terminal through a position algorithm. More commonly used position resolution methods such as trilateration. Such technologies are commonly employed in WI-FI, bluetooth beacons, RFID.
The second is fingerprint positioning: a plurality of position beacons are deployed indoors, the wireless signal intensity of the beacons is measured in the whole indoor area in advance, a beacon signal fingerprint database is constructed, and the positioning terminal determines the position of the beacon signal fingerprint database by comparing the beacon fingerprint database. The Bluetooth fingerprint and ZigBee positioning adopt a fingerprint positioning technology.
The third is inertial navigation positioning: the acceleration is measured through an inertial navigation module on the positioning terminal, then the acceleration is subjected to integral calculation based on the initial position, and finally the speed and the position of the positioning terminal are calculated. The gyroscope positioning adopts an inertial navigation positioning technology.
The above prior art mainly has the following technical problems:
technical problem 1:
positioning beacons need to be deployed indoors in advance, and application requirements of temporary positioning scenes such as emergency rescue and rapid deployment cannot be met. For example: both existing beacon location techniques and fingerprinting techniques require early deployment of beacons.
Since beacon positioning and fingerprint positioning are based on location beacons as reference points for calculating positioning terminals, the location beacons need to be deployed in indoor local areas in advance. In positioning scenes such as emergency rescue, rapid deployment or urban canyons, the position beacons often cannot be deployed in advance, so that the beacon positioning technology and the fingerprint positioning technology cannot be used in the positioning scenes.
Technical problem 2:
the positioning system needs to be calibrated regularly, the workload is large, and the maintenance cost is increased. For example: existing fingerprinting methods require periodic calibration of the beacon fingerprint signal.
The fingerprint positioning is to calculate the position of the positioning terminal by comparing signal fingerprints of indoor pre-deployed beacons, and under long-term use, the beacon fingerprint signals need to be regularly calibrated because the positioning accuracy is affected due to fingerprint deformation caused by power attenuation of beacon batteries or electromagnetic environment change and other reasons. In practical use, the fingerprint signals are difficult to ensure not to drift and not to deform.
Technical problem 3:
the positioning error of the inertial navigation positioning technology will gradually accumulate over time.
In the scene that the beacon cannot be used for positioning, the inertial navigation positioning technology can be used for positioning, however, as the working time increases, the positioning error of the inertial navigation positioning technology becomes larger and larger, and the error cannot be tolerated in some application scenes, such as a building fire rescue scene.
Inertial navigation requires calibration mechanisms, such as calibration by GPS, but in indoor environments, temporary positioning applications, it is difficult to calibrate using other positioning techniques.
Disclosure of Invention
The application provides an indoor positioning method and system based on a wireless ad hoc network, so as to realize high-precision indoor positioning.
The application discloses an indoor positioning method based on a wireless ad hoc network, comprising the following steps:
at least 3 wireless ad hoc network terminals are deployed in a target area in advance to serve as reference position terminals;
the position coordinates of each indoor terminal are calculated by measuring the wireless signal received strength RSSI between the reference position terminal and the indoor terminal.
Preferably, the pre-deploying at least 3 wireless ad hoc network terminals in the target area as reference position terminals includes:
selecting at least 3 wireless ad hoc network terminals with the strongest signal intensity as reference position terminals according to the satellite positioning signal intensity of the wireless ad hoc network terminals;
or, at least 3 wireless ad hoc network terminals with known positions are manually set as reference position terminals.
Preferably, the manual setting mode includes at least one of the following modes: and (3) taking and inputting a local coordinate value of the terminal or setting the longitude and latitude of the terminal through the electronic map points.
Preferably, the calculating the position coordinates of each indoor terminal by measuring the RSSI between the reference position terminal and the indoor terminal includes:
establishing wireless dynamic interconnection between the wireless ad hoc network terminals;
establishing a position matrix according to the distance between the wireless ad hoc network terminals;
and measuring the RSSI between the wireless ad hoc network terminals, refreshing the numerical value in the position matrix by the measured RSSI, and solving the position matrix to obtain the position of the wireless ad hoc network terminal with unknown coordinates.
Preferably, the establishing the location matrix according to the distance between the wireless ad hoc network terminals includes:
according to (X)i-Xj)2+(Yi–Yj)2＝Dij 2Determining a distance Dij between any two wireless ad hoc network terminals, wherein (X, Y) is the coordinate of the wireless ad hoc network terminals, i is more than 3, j is less than or equal to N, and N is the number of the wireless ad hoc network terminals in the target area;
constructing a whole network terminal position matrix between local area wireless ad hoc network terminals by the Dij:
Figure BDA0002359470560000031
and if the wireless ad hoc network terminals cannot establish connection, the corresponding matrix component is 0.
Preferably, the refreshing the values in the location matrix with the measured RSSI comprises:
and refreshing the numerical value in the position matrix by using the RSSI obtained by measurement in a circulating iteration dynamic refreshing mode.
The application also discloses an indoor positioning system based on the wireless ad hoc network,
the system comprises a plurality of wireless ad hoc network terminals, wherein at least 3 wireless ad hoc network terminals are deployed in a target area in advance as reference position terminals;
the system calculates the position coordinates of each indoor terminal by measuring the RSSI between the reference position terminal and the indoor terminal.
Preferably, at least 3 wireless ad hoc network terminals with the strongest signal strength are selected as reference position terminals according to the satellite positioning signal strength of the wireless ad hoc network terminals;
or, at least 3 wireless ad hoc network terminals with known positions are manually set as reference position terminals.
Preferably, wireless dynamic interconnection is established among the wireless ad hoc network terminals;
the system establishes a position matrix according to the distance between the wireless ad hoc network terminals, measures the RSSI between the wireless ad hoc network terminals, refreshes the numerical value in the position matrix according to the measured RSSI, and solves the position matrix to obtain the position of the wireless ad hoc network terminal with unknown coordinates.
Preferably, the system is according to (X)i-Xj)2+(Yi–Yj)2＝Dij 2Determining the distance Dij between any two wireless ad hoc network terminals, wherein (X, Y) is the coordinate of the wireless ad hoc network terminal, and subscript i, j is the wireless ad hoc network terminalThe number of the network terminals is 3-i, j is less than or equal to N, and N is the total number of the wireless ad hoc network terminals in the target area;
the system constructs a whole network terminal position matrix between local area wireless ad hoc network terminals by the Dij:
Figure BDA0002359470560000041
and if the wireless ad hoc network terminals cannot establish connection, the corresponding matrix component is 0.
According to the technical scheme, at least 3 wireless ad hoc network terminals are pre-deployed in a target area to serve as reference position terminals, then dynamic wireless network ad hoc network connection between the wireless ad hoc network terminals is utilized, the distance between the terminals is dynamically refreshed by measuring RSSI signals between the terminals, and finally the positions of all the terminals of the whole network are calculated by a trilateration method.
By adopting the invention, rapid, flexible and centerless indoor positioning system deployment can be realized in application scenes of emergency rescue, temporary deployment and control and the like, positioning beacons do not need to be deployed in advance, and the application scenes generally have the characteristics of burstiness, unpredictability, no field presettiness and the like.
The positions of all terminals of the wireless ad hoc network indoor positioning system are refreshed and calculated in real time based on the reference position terminals temporarily arranged on site (the number of the reference position terminals is more than or equal to 3), the positioning precision is high, and the accumulation of positioning errors can be avoided.
The technical scheme disclosed by the invention can reduce the deployment difficulty of the indoor positioning system, reduce the deployment cost and improve the positioning precision, and can better exert the flexibility particularly in temporary indoor positioning applications such as emergency rescue, rapid deployment and the like, thereby embodying the technical advantages of centerless, rapid deployment and the like.
Drawings
FIG. 1 is a schematic diagram of a trilateration method;
fig. 2 is a schematic flow chart of an indoor positioning method based on a wireless ad hoc network according to the present invention;
fig. 3 is an exemplary diagram of an indoor positioning method based on a wireless ad hoc network according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below by referring to the accompanying drawings and examples.
Trilateration is the positioning of 1 unknown anchor point using 3 known anchor points, and the principle of trilateration is briefly described below.
As shown in fig. 1, the position coordinates of the wireless ad hoc terminals UE1, UE2, and UE3 are known as (X1, Y1), (X2, Y2), and (X3, Y3), and the coordinates of the terminal UE0 are obtained as (X0, Y0). The distances D01, D02, D03 between the terminals can be obtained by the radio signal received strength (RSSI) between the UEs, wherein: d01 is the spacing between UE0 and UE1, D02 is the spacing between UE0 and UE2, and D03 is the spacing between UE0 and UE 3. The relationship between RSSI and spacing may be determined by a wireless signal transmission model and may be expressed as a monotonic function of spacing, namely:
RSSI＝f(Dij)
dij is the distance between wireless ad hoc network terminals with the labels i and j;
the RSSI between the wireless ad hoc network terminals can be obtained by receiving power over the air interface.
The coordinates (X0, Y0) of the UE0 can be found by solving the following equations:
(x1-x0)2+(y1-y0)2＝D012
(x2-x0)2+(y2-y0)2＝D022
(x3-x0)2+(y3-y0)2＝D032
in actual positioning, because the positioning accuracy is inaccurate due to the signal measurement error of the RSSI, in practical applications, the position of the terminal UE0 is corrected by using a plurality of known position points (more than 3), and the more the known position points are, the more accurate the positioning accuracy is.
The invention provides an indoor positioning method based on a wireless ad hoc network based on a trilateral positioning method, which has the main idea that: at least 3 wireless ad hoc network terminals are deployed in a target area in advance to serve as reference position terminals, and the position coordinates of each indoor terminal are calculated by measuring the RSSI between the reference position terminals and the indoor terminals.
Fig. 2 shows a flowchart of an indoor positioning method based on a wireless ad hoc network, in which N wireless ad hoc network terminals are deployed in a target area, where the deployed area includes indoor and outdoor, and the method specifically includes the following steps:
step 1: at least 3 wireless ad hoc network terminals are deployed in the target area in advance as reference position terminals.
The following description will be given taking an indoor positioning application scenario of a building as an example. In this example, 3 wireless ad hoc network terminals are deployed as reference location terminals, as shown in fig. 3, wherein UE1, UE2 and UE3 are reference location terminals. Deployment may be in an automatic or manual mode, as will be described in more detail below. These reference position terminals can be preset outdoors so as to be able to receive good satellite positioning signals (for example, GPS or beidou signals), and the position coordinates thereof are accurately located by the satellite positioning signals. The wireless ad hoc network terminals UE4, UE5, UE6 and UE7 in the target area indoor shown in fig. 3 cannot receive GPS and beidou signals due to building obstruction.
Step 2: and calculating the position coordinates of each indoor terminal by measuring the RSSI between the reference position terminal and the indoor terminal. Specifically, the following processes are executed in a loop iteration mode, and the position of the wireless ad hoc network terminal is dynamically refreshed:
firstly, establishing wireless dynamic interconnection between wireless ad hoc network terminals;
then, establishing a location matrix DN according to the distance between the wireless ad hoc network terminals;
and finally, measuring the RSSI among the wireless ad hoc network terminals, refreshing the numerical value in the position matrix DN according to the measured RSSI, and solving the DN to obtain the position of the wireless ad hoc network terminal with unknown coordinates.
Taking fig. 3 as an example, the position coordinates of each indoor terminal can be solved in the following manner:
1) solving for the location of the UE 4: the UE4 can establish wireless connection with outdoor reference positioning terminals UE1, UE2 and UE3, and solve the position of the UE4 through a trilateration method;
2) solving for the location of the UE 6: since the UE6 can only establish wireless connection with the outdoor reference positioning terminals UE1 and UE3, and cannot determine its position through 3 outdoor terminals, however, the UE6 can establish wireless connection with the UE4, and the UE4 position can be known from the previous calculation, so the UE6 position can be found from the positions of the outdoor reference positioning terminals UE1 and UE3, and the indoor terminal UE 4.
3) Similarly, the UE5 may resolve its position by the outdoor reference positioning terminal UE2, and the indoor terminals UE4 and UE 6.
4) Similarly, UE7 may resolve its location through indoor terminals UE4, UE5, and UE 6.
According to the trilateral positioning method principle, if the number of the wireless ad hoc network terminals in the target area is N (N is more than 3), the distance Dij between any two wireless ad hoc network terminals can be obtained (i is more than 3, j is less than or equal to N):
(Xi-Xj)2+(Yi–Yj)2＝Dij 2
wherein, (X, Y) is the coordinate of the wireless ad hoc network terminal, subscript i, j is the wireless ad hoc network terminal label, i is more than 3, j is less than or equal to N, N is the total number of the wireless ad hoc network terminals in the target area.
Constructing a whole network terminal position matrix between the local area wireless ad hoc network terminals according to the distance Dij between any two wireless ad hoc network terminals:
Figure BDA0002359470560000081
if the wireless ad hoc network terminals cannot establish connection, the corresponding matrix component is 0.
If the position coordinates of 3 terminals are determined in the position matrix DN, all component values on the position matrix are obtained, and the positions of all wireless ad hoc network terminals in the target area are determined. And refreshing the numerical value in the DN matrix according to the wireless connection relationship established between the wireless ad hoc network terminals and the RSSI measured value between the terminals, solving the position component of the matrix, and finally obtaining the position information of each indoor wireless ad hoc network terminal.
In practical use, the wireless ad hoc network has at least 3 terminals as position reference points, and the reference position terminal is set to have two modes:
1) automatic mode: and automatically optimizing at least 3 terminals as position reference terminals according to the GPS and Beidou signal intensity of the wireless ad hoc network terminal. The mode is suitable for application scenes that more than or equal to 3 terminals can determine the positions through receiving GPS or Beidou signals in the whole network, for example, at least 3 terminals are deployed outdoors.
2) Manual mode: and manually setting the terminal with the known position as a reference position terminal. The mode is suitable for less than 3 terminals which can receive GPS or Beidou signals in the whole network, and a plurality of terminals can be manually arranged at designated positions. The manual setting method includes, but is not limited to, the following methods: and (3) taking and inputting a local coordinate value of the terminal or setting the longitude and latitude of the terminal through the electronic map points.
Corresponding to the method, the application also provides an indoor positioning system based on the wireless ad hoc network, wherein:
the system comprises a plurality of wireless ad hoc network terminals, wherein at least 3 wireless ad hoc network terminals are deployed in a target area in advance as reference position terminals;
the system calculates the position coordinates of each indoor terminal by measuring the RSSI between the reference position terminal and the indoor terminal.
Preferably, at least 3 wireless ad hoc network terminals with the strongest signal strength are selected as reference position terminals according to the satellite positioning signal strength of the wireless ad hoc network terminals;
or, at least 3 wireless ad hoc network terminals with known positions are manually set as reference position terminals.
Preferably, wireless dynamic interconnection is established among the wireless ad hoc network terminals;
the system establishes a position matrix according to the distance between the wireless ad hoc network terminals, measures the RSSI between the wireless ad hoc network terminals, refreshes the numerical value in the position matrix according to the measured RSSI, and solves the position matrix to obtain the position of the wireless ad hoc network terminal with unknown coordinates.
Preferably, the system is according to (X)i-Xj)2+(Yi–Yj)2＝Dij 2Determining a distance Dij between any two wireless ad hoc network terminals, wherein (X, Y) is the coordinate of the wireless ad hoc network terminals, i is more than 3, j is less than or equal to N, and N is the number of the wireless ad hoc network terminals in the target area;
the system constructs a whole network terminal position matrix between local area wireless ad hoc network terminals by the Dij:
Figure BDA0002359470560000091
and if the wireless ad hoc network terminals cannot establish connection, the corresponding matrix component is 0.
Wireless ad hoc network technical description: the wireless ad hoc network is a centerless ad hoc network and consists of a group of mobile terminals with wireless transmitting and receiving devices, and each terminal has a terminal host and a routing function. According to the routing protocol and the routing table, each terminal can complete the functions of data forwarding and routing maintenance, thereby realizing the functions of independent networking, dynamic routing and centerless network of the wireless ad hoc network. The invention utilizes the dynamic wireless network ad hoc network connection between the wireless ad hoc network terminals, dynamically refreshes the space between the terminals by measuring the RSSI signal between the terminals, and solves the positions of all the terminals of the whole network by a trilateration method.
The technical scheme disclosed by the invention can reduce the deployment difficulty of the indoor positioning system, reduce the deployment cost and improve the positioning precision, and can better exert the technical advantages of flexibility, no center, quick deployment and the like particularly in temporary indoor positioning applications such as emergency rescue, quick deployment and the like.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the scope of protection of the present application.

Claims (10)

1. An indoor positioning method based on a wireless ad hoc network is characterized by comprising the following steps:
at least 3 wireless ad hoc network terminals are deployed in a target area in advance to serve as reference position terminals;
the position coordinates of each indoor terminal are calculated by measuring the wireless signal received strength RSSI between the reference position terminal and the indoor terminal.
2. The method according to claim 1, wherein the pre-deploying at least 3 wireless ad hoc network terminals in the target area as reference position terminals comprises:
selecting at least 3 wireless ad hoc network terminals with the strongest signal intensity as reference position terminals according to the satellite positioning signal intensity of the wireless ad hoc network terminals;
or, at least 3 wireless ad hoc network terminals with known positions are manually set as reference position terminals.
3. The method of claim 2, wherein:
the manual setting mode comprises at least one of the following modes: and (3) taking and inputting a local coordinate value of the terminal or setting the longitude and latitude of the terminal through the electronic map points.
4. The method according to any one of claims 1 to 3, wherein the calculating the position coordinates of each indoor terminal by measuring the RSSI between the reference position terminal and the indoor terminal comprises:
establishing wireless dynamic interconnection between the wireless ad hoc network terminals;
establishing a position matrix according to the distance between the wireless ad hoc network terminals;
and measuring the RSSI between the wireless ad hoc network terminals, refreshing the numerical value in the position matrix by the measured RSSI, and solving the position matrix to obtain the position of the wireless ad hoc network terminal with unknown coordinates.
5. The method of claim 4, wherein the establishing the location matrix with the distance between the wireless ad hoc network terminals comprises:
according to (X)i-Xj)2+(Yi–Yj)2＝Dij 2Determining a distance Dij between any two wireless ad hoc network terminals, wherein (X, Y) is the coordinate of the wireless ad hoc network terminals, i is more than 3, j is less than or equal to N, and N is the number of the wireless ad hoc network terminals in the target area;
constructing a whole network terminal position matrix between local area wireless ad hoc network terminals by the Dij:
Figure FDA0002359470550000021
and if the wireless ad hoc network terminals cannot establish connection, the corresponding matrix component is 0.
6. The method of claim 4, wherein refreshing the values in the location matrix with the measured RSSI comprises:
and refreshing the numerical value in the position matrix by using the RSSI obtained by measurement in a circulating iteration dynamic refreshing mode.
7. The utility model provides an indoor positioning system based on wireless ad hoc network which characterized in that:
the system comprises a plurality of wireless ad hoc network terminals, wherein at least 3 wireless ad hoc network terminals are deployed in a target area in advance as reference position terminals;
the system calculates the position coordinates of each indoor terminal by measuring the RSSI between the reference position terminal and the indoor terminal.
8. The system of claim 7, wherein:
selecting at least 3 wireless ad hoc network terminals with the strongest signal intensity as reference position terminals according to the satellite positioning signal intensity of the wireless ad hoc network terminals;
or, at least 3 wireless ad hoc network terminals with known positions are manually set as reference position terminals.
9. The system according to claim 7 or 8, characterized in that:
wireless dynamic interconnection is established among the wireless ad hoc network terminals;
the system establishes a position matrix according to the distance between the wireless ad hoc network terminals, measures the RSSI between the wireless ad hoc network terminals, refreshes the numerical value in the position matrix according to the measured RSSI, and solves the position matrix to obtain the position of the wireless ad hoc network terminal with unknown coordinates.
10. The system of claim 9, wherein:
the system is as follows (X)i-Xj)2+(Yi–Yj)2＝Dij 2Determining a distance Dij between any two wireless ad hoc network terminals, wherein (X, Y) is a coordinate of the wireless ad hoc network terminal, subscript i, j is a wireless ad hoc network terminal label, i is more than 3, j is less than or equal to N, and N is the total number of the wireless ad hoc network terminals in the target area;
the system constructs a whole network terminal position matrix between local area wireless ad hoc network terminals by the Dij:
Figure FDA0002359470550000031
and if the wireless ad hoc network terminals cannot establish connection, the corresponding matrix component is 0.
CN202010017556.7A 2020-01-08 2020-01-08 Indoor positioning method and system based on wireless ad hoc network Pending CN113179478A (en)

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CN102761913A (en) * 2011-04-26 2012-10-31 航天信息股份有限公司 Positioning method of wireless signal transmission parameter determination based on area division
CN105223549A (en) * 2015-08-22 2016-01-06 东北电力大学 The full mobile node positioning method of a kind of wireless sensor network based on RSSI
CN109996173A (en) * 2019-04-15 2019-07-09 杭州电子科技大学 A kind of positioning system and method automatically creating localizer beacon node coordinate

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20080113536A (en) * 2007-06-25 2008-12-31 한국전자통신연구원 System and method for localization
CN101340204A (en) * 2007-07-04 2009-01-07 鼎桥通信技术有限公司 Signal processing method and apparatus suitable for high-speed moving environment
CN102256350A (en) * 2010-05-21 2011-11-23 鼎桥通信技术有限公司 Positioning method
CN102761913A (en) * 2011-04-26 2012-10-31 航天信息股份有限公司 Positioning method of wireless signal transmission parameter determination based on area division
CN105223549A (en) * 2015-08-22 2016-01-06 东北电力大学 The full mobile node positioning method of a kind of wireless sensor network based on RSSI
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Application publication date: 20210727