CN114269013A - Indoor positioning method for interlayer transition area - Google Patents

Indoor positioning method for interlayer transition area Download PDF

Info

Publication number
CN114269013A
CN114269013A CN202111528135.1A CN202111528135A CN114269013A CN 114269013 A CN114269013 A CN 114269013A CN 202111528135 A CN202111528135 A CN 202111528135A CN 114269013 A CN114269013 A CN 114269013A
Authority
CN
China
Prior art keywords
positioning
tag card
base stations
interlayer transition
card
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202111528135.1A
Other languages
Chinese (zh)
Other versions
CN114269013B (en
Inventor
陈祝明
王佳钰
陈春雪
保骏
唐健明
廖志红
段佩玮
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
University of Electronic Science and Technology of China
China Mobile Chengdu ICT Co Ltd
Original Assignee
University of Electronic Science and Technology of China
China Mobile Chengdu ICT Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by University of Electronic Science and Technology of China, China Mobile Chengdu ICT Co Ltd filed Critical University of Electronic Science and Technology of China
Priority to CN202111528135.1A priority Critical patent/CN114269013B/en
Publication of CN114269013A publication Critical patent/CN114269013A/en
Application granted granted Critical
Publication of CN114269013B publication Critical patent/CN114269013B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Abstract

The invention belongs to the technical field of indoor positioning, and particularly provides an indoor positioning method for an interlayer transition area; according to the invention, the base stations are arranged at the preset positions of the interlayer transition region, so that the tag card is always positioned in the visual range of the two base stations, the vertical plane positioning is carried out on the tag card by utilizing the distance difference between the tag card and the two base stations based on the TDOA algorithm, the vertical position of the tag card is accurately positioned, the height calculation of the tag card is realized, the positioning error caused by the height change of the tag card when the horizontal plane calculation positioning of the traditional interlayer transition region is reduced, the three-dimensional positioning of the interlayer transition region is further realized, and the problem of disordered interlayer positioning in the existing indoor positioning technology is effectively solved; in addition, the invention can effectively control the number of the positioning base stations in the interlayer transition area, and greatly reduce the construction cost and the maintenance cost of the indoor positioning system.

Description

Indoor positioning method for interlayer transition area
Technical Field
The invention belongs to the technical field of indoor positioning, and particularly relates to an indoor positioning method for an interlayer transition area.
Background
In recent years, with the development of wireless sensor networks, the precision of indoor positioning technology is continuously improved, and more places are provided with accurate positioning information by applying the indoor positioning technology; the current indoor positioning step generally comprises the steps of firstly measuring distance and then calculating, firstly obtaining corresponding distance values by adopting different distance measuring methods, and then performing mathematical operation by using the measured distance values to calculate the positioning information of the tag card.
The current indoor positioning technology generally uses a mode of performing two-dimensional positioning by floors, but when an indoor positioning system is used for distance measurement, because the terraces of an interlayer transition region are staggered, the environment is complex, and the range of the Line of Sight (NLOS) of a single terrace is small, a Non-Line of Sight (NLOS) condition possibly exists between a base station and a tag, so that the distance measurement result has errors; moreover, due to the change of the height of the tag, the positioning error calculated by the two-dimensional positioning solution is large, so that it is difficult to select the correct floor for two-dimensional positioning, which causes the problem of disordered interlayer positioning, and even causes the communication interruption and data loss between the tag and the positioning system in serious cases.
Based on the above, the invention provides an indoor positioning method of an interlayer transition region.
Disclosure of Invention
The invention aims to provide an indoor positioning method of an interlayer transition region aiming at the problem of interlayer positioning disorder in the existing indoor positioning technology; according to the invention, the base stations are arranged at the preset positions of the interlayer transition region, so that the tag card is always positioned in the sight distance range of the two base stations, and then the vertical plane positioning is carried out on the tag card by utilizing the distance difference between the tag card and the two base stations based on the TDOA algorithm, so that the vertical position of the tag card is accurately positioned, the positioning of the tag card in the interlayer transition region is further realized, and the accuracy of an indoor positioning system is greatly improved.
In order to achieve the purpose, the invention adopts the technical scheme that:
an indoor positioning method of an interlayer transition area is characterized in that 1 positioning base station is respectively arranged on a ceiling right above the intersection of each ladder section of the interlayer transition area, and any ladder section to be detected is covered in the sight distance of two positioning base stations and marked as a No. 1 positioning base station and a No. 2 positioning base station; the indoor positioning method is characterized by comprising the following steps:
step 1, establishing a coordinate system by taking the middle points of the two positioning base stations as the origin, the long side direction of the tread as the y axis, the wide side direction of the tread as the x axis and the direction vertical to the tread as the z axis to obtain the position coordinate (x) of the No. 1 base station1,y1,z1) And the position coordinate of the No. 2 base station is (x)2,y2,z2)；
Step 2, setting the positioning height of the label card as B, and obtaining the range of coordinates (x, y, z) of the label card:
Figure BDA0003409723890000021
wherein, L is the length of the trapezoidal surface, m is the width of the trapezoidal surface, alpha is the inclination angle of the trapezoidal surface, and k is tan alpha;
and 3, calculating the focal length c, the real axis a and the imaginary axis b of the hyperboloid where the label card is positioned according to the distance difference delta d between the label card and the two positioning base stations as follows:
Figure BDA0003409723890000022
and 4, substituting (y, z) into a single-sheet hyperboloid equation to obtain a group of x values within the range of the coordinates (x, y, z) of the tag card, wherein the single-sheet hyperboloid equation is as follows:
Figure BDA0003409723890000023
step 5, detecting whether the x value exists or not
Figure BDA0003409723890000024
If not, executing step 6; if yes, turning to step 7;
and 6, substituting (y, z) into a double-sheet hyperboloid equation to obtain a group of x values within the range of the coordinates (x, y, z) of the tag card, wherein the double-sheet hyperboloid equation is as follows:
Figure BDA0003409723890000025
step 7. detecting x value
Figure BDA0003409723890000026
If the number of (2) is 1, then take
Figure BDA0003409723890000027
Corresponding to (y)0,z0) Obtaining the coordinates of the tag card
Figure BDA0003409723890000028
If the number of the cells is 2, turning to the step 8;
and 8, judging two possible label points: two are combined
Figure BDA0003409723890000029
Corresponding (y, z) are respectively noted as (y)01,z01)、(y02,z02) Judging whether the Δ d is positive or negative:
if delta d is more than or equal to 0, then y is taken0＝max(y01,y02) Obtaining the coordinates of the tag card
Figure BDA00034097238900000210
z0Is y0A corresponding z coordinate;
if Δ d is less than 0, then take y0＝min(y01,y02) Obtaining the coordinates of the tag card
Figure BDA00034097238900000211
z0Is y0The corresponding z coordinate.
In terms of working principle:
the invention provides an indoor positioning method of an interlayer transition region based on a TDOA algorithm, the traditional TDOA algorithm is mainly characterized in that the distance difference between a label and two base stations is obtained by measuring the time difference of signals sent out simultaneously reaching the two base stations and multiplying the time difference by the flight speed c of electromagnetic waves, so that a hyperboloid with the two base stations as focuses on the label is obtained, a plurality of groups of hyperboloids exist between the plurality of groups of base stations and the label, and the intersection point of each hyperboloid is the position of the label; compared with other positioning algorithms, the TDOA algorithm only needs to ensure time synchronization between base stations, which is much easier than ensuring time synchronization between the base stations and the labels; therefore, in order to realize positioning calculation, the traditional TDOA algorithm needs at least 3 positioning base stations to realize two-dimensional positioning and at least 4 base stations to realize three-dimensional positioning, and in order to realize the three-dimensional positioning of a floor transition region, a plurality of positioning base stations need to be additionally arranged in the floor transition region; however, in the indoor positioning method for the interlayer transition area provided by the present invention, the positioning base station located at the floor platform can be reused for two-dimensional positioning of the floor, and only 1 positioning base station is added at the landing (the intersection of the stairways), that is, three-dimensional positioning of the interlayer transition area can be realized.
In conclusion, the position of the tag card is positioned and resolved on the vertical surface of the interlayer transition area, so that the height resolution of the tag card is realized, the positioning error caused by the height change of the tag card in the traditional horizontal surface resolution positioning of the interlayer transition area is reduced, the three-dimensional positioning of the interlayer transition area is further realized, and the problem of disordered interlayer positioning in the existing indoor positioning technology is effectively solved; in addition, the invention can effectively control the number of the positioning base stations in the interlayer transition area, and greatly reduce the construction cost and the maintenance cost of the indoor positioning system.
Drawings
Fig. 1 is a schematic diagram of the placement of base stations in an interlayer transition area according to an embodiment of the present invention.
Fig. 2 is a flowchart of an indoor positioning method for an interlayer transition area according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of various tread parameters and coordinate systems of an indoor positioning method for an interlayer transition area in an embodiment of the present invention.
Fig. 4 is a schematic diagram illustrating an indoor positioning method of an interlayer transition area according to an embodiment of the present invention.
Detailed Description
The invention is further explained in detail with the embodiments in the following figures; it should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
The invention provides an indoor positioning method of an interlayer transition area, which firstly needs to arrange a base station at a preset position of the interlayer transition area, as shown in figure 1, the interlayer transition area schematic diagram comprises the following steps: in the figure 1, white cubes represent positioning base stations and are all arranged on a ceiling right above the intersection of the stair sections, and as can be seen from the figure, the stair section a is covered by the base station No. 1 and the base station No. 2 in an unobstructed manner;
based on base station No. 1 and base station No. 2, the indoor positioning method of the interlayer transition area in the invention is shown in fig. 2, and specifically comprises the following steps:
step 1, regarding the ladder section to be measured as a rectangular inclined plane (ignoring tread and kicking surfaces), as shown in fig. 3, setting the length of the ladder surface of the current interlayer transition region as L, the width as m, and the inclination angle as α, and then setting the slope k as tan α; establishing a coordinate system by taking the midpoint of the No. 1 base station and the No. 2 base station as an origin, the long side direction of the rectangular inclined plane as a y-axis, the wide side direction of the rectangular inclined plane as an x-axis and the direction vertical to the rectangular inclined plane as a z-axis, wherein the position coordinate of the No. 1 base station is (x)1,y1,z1) And the position coordinate of the No. 2 base station is (x)2,y2,z2)；
Step 2, because the height of the label card is fixed, the label card is positioned on a rectangular inclined plane parallel to the ladder surface to be detected; setting the positioning height of the label as B, and obtaining a rectangular inclined plane where the label card is positioned, wherein the rectangular inclined plane is parallel to the ladder surface to be detected and has a vertical distance of B, namely the range of coordinates (x, y, z) of the label card:
Figure BDA0003409723890000041
and 3, obtaining the distance difference delta d between the tag card and two base stations (the base station No. 1 and the base station No. 2) through the base station, wherein the distance difference delta d is data (known) returned by the two base stations and is defined as:
Figure BDA0003409723890000042
the distance difference between the label card and the two base stations is known, and the label card is located on a hyperboloid with the two base stations as focuses, the focal length of the hyperboloid is one half of the distance between the two base stations, and the real axis of the hyperboloid is one half of | Δ d |, that is, the focal length c, the real axis a and the imaginary axis b of the hyperboloid are calculated as:
Figure BDA0003409723890000043
step 4, obtaining the range of the label coordinates (x, y, z) from the step 2, and substituting the value of each (y, z) into a single-sheet hyperboloid equation
Figure BDA0003409723890000044
Obtaining a group of x, as shown in fig. 4, where the rectangular surface is a rectangular surface where the tag card is located, the hyperboloid is a hyperboloid where the tag card is located and two base stations are focal points, and an x coordinate of a curve where the two surfaces intersect is a group of x values obtained in this step;
step 5, detecting whether the x value obtained in the step 4 exists or not
Figure BDA0003409723890000045
If not, executing step 6; if present, thenTurning to step 7;
step 6, substituting the values of (y, z) into a double-sheet hyperboloid equation
Figure BDA0003409723890000051
Obtaining a group x;
step 7, detecting the obtained x value
Figure BDA0003409723890000052
If the number of (2) is 1, then take
Figure BDA0003409723890000053
Corresponding to (y)0,z0) Obtaining the coordinates of the tag card
Figure BDA0003409723890000054
If the number of the cells is 2, turning to the step 8;
step 8, judging the obtained two possible label points, specifically: two are combined
Figure BDA0003409723890000055
Corresponding (y, z) are respectively noted as (y)01,z01)、(y02,z02) (ii) a Judging whether the Δ d is positive or negative:
if delta d is more than or equal to 0 (namely the tag card is closer to the base station No. 2), then y is taken0＝max(y01,y02) Obtaining the coordinates of the tag card
Figure BDA0003409723890000056
z0Is y0A corresponding z coordinate;
if Δ d < 0 (i.e., the tag card is closer to base station number 1), then take y0＝min(y01,y02) Obtaining the coordinates of the tag card
Figure BDA0003409723890000057
z0Is y0The corresponding z coordinate.
Example 1
The embodiment provides an indoor positioning method for an interlayer transition region, which comprises the following steps:
step 1, regarding the ladder section to be measured as a rectangular inclined plane (ignoring tread and kick surfaces), as shown in fig. 3, actually measuring the length of a single-step stair in the current interlayer transition area by 30cm and 15cm, and totally measuring 14 steps, so that the length L of the ladder surface is 420cm, the width m is 150cm, the inclination angle α is 26.6 °, and the slope k is tan α is 0.5; and establishing a coordinate system by taking the midpoint of the No. 1 base station and the No. 2 base station as an origin, the long side direction of the rectangular inclined plane as a y axis, the wide side direction of the rectangular inclined plane as an x axis and the direction perpendicular to the rectangular inclined plane as a z axis, wherein the position coordinates of the No. 1 base station are (0, -234.787,0) and the position coordinates of the No. 2 base station are (0,234.787, 0). Because the wearing mode of the label is not fixed, a common hang tag is selected, and the height of the tag is about 120cm by taking 180cm as an example. Randomly taking the actual coordinate of a label as (70.610, -260.756, -268.328);
step 2, because the height of the label card is fixed, the label card is positioned on a rectangular inclined plane parallel to the ladder surface to be detected; setting the positioning height of the label as B, and obtaining a rectangular inclined plane where the label card is positioned, wherein the rectangular inclined plane is parallel to the ladder surface to be detected and has a vertical distance of B, namely the range of coordinates (x, y, z) of the label card:
Figure BDA0003409723890000058
and 3, obtaining the distance difference delta d from the tag card to two base stations (the base station No. 1 and the base station No. 2) through the base station, wherein the distance difference delta d is the data (known) returned by the two base stations:
Δd＝-289.258
the distance difference between the label card and the two base stations is known, and the label card is located on a hyperboloid with the two base stations as focuses, the focal length of the hyperboloid is one half of the distance between the two base stations, and the real axis of the hyperboloid is one half of | Δ d |, that is, the focal length c, the real axis a and the imaginary axis b of the hyperboloid are calculated as:
c＝234.787,a＝144.629,b＝184.953
step 4, obtaining the range of the label coordinates (x, y, z) from the step 2, and substituting the value of each (y, z) into a single-sheet hyperboloid equation
Figure BDA0003409723890000061
Obtaining a group of x, as shown in fig. 4, where the rectangular surface is a rectangular surface where the tag card is located, the hyperboloid is a hyperboloid where the tag card is located and two base stations are focal points, and an x coordinate of a curve where the two surfaces intersect is a group of x values obtained in this step;
step 5, detecting the existence of the x value obtained in the step 4
Figure BDA0003409723890000062
Turning to step 7;
step 7, detecting the obtained x value
Figure BDA0003409723890000063
If the number of (2) is 1, then take
Figure BDA0003409723890000064
Corresponding y, z coordinates (-244.942, -268.328), resulting in tag card coordinates (75, -244.942, -268.328).
It should be noted that: in the embodiment, in the process of positioning the tag card on any one stair section of the scissor-type stair, the x-axis coordinate is positioned on the middle line of the stair surface by default, and the z-axis coordinate is kept unchanged, namely the positioning target is to position the position of the tag card on the y-axis, so that the errors in the directions of the x-axis and the z-axis are not considered; on the basis, the parameters of the stair model single-step stair used in the embodiment are 30cm long and 15cm high, the length of the range of the single-step stair in the y-axis direction is 33.541cm, while the error of the tag obtained in the embodiment on the y-axis is 15.814cm, and the error in the y-axis direction is obviously smaller than the length of the single-step stair in the y-axis direction, so that the method can position the step on which the tag card is specifically positioned, namely realize the positioning of the interlayer transition region.
Example 2
The embodiment provides an indoor positioning method for an interlayer transition region, which comprises the following steps:
step 1, regarding the ladder section to be measured as a rectangular inclined plane (ignoring tread and kick surfaces), as shown in fig. 3, actually measuring the length of a single-step stair in the current interlayer transition area by 30cm and 15cm, and totally measuring 14 steps, so that the length L of the ladder surface is 420cm, the width m is 150cm, the inclination angle α is 26.6 °, and the slope k is tan α is 0.5; and establishing a coordinate system by taking the midpoint of the No. 1 base station and the No. 2 base station as an origin, the long side direction of the rectangular inclined plane as a Y axis, the wide side direction of the rectangular inclined plane as an X axis and the direction perpendicular to the rectangular inclined plane as a Z axis, wherein the position coordinates of the No. 1 base station are (0, -234.787,0) and the position coordinates of the No. 2 base station are (0,234.787, 0). Because the wearing mode of the tag is not fixed, a common hang tag is selected, the height of 180cm is taken as an example, the height of the tag is about 120cm, and the actual coordinates of one tag are randomly selected to be (139.344, -26.047, -268.328);
step 2, because the height of the label card is fixed, the label card is positioned on a rectangular inclined plane parallel to the ladder surface to be detected; setting the positioning height of the label as B, and obtaining a rectangular inclined plane where the label card is positioned, wherein the rectangular inclined plane is parallel to the ladder surface to be detected and has a vertical distance of B, namely the range of coordinates (x, y, z) of the label card:
Figure BDA0003409723890000071
and 3, obtaining the distance difference delta d from the tag card to two base stations (the base station No. 1 and the base station No. 2) through the base station, wherein the distance difference delta d is the data (known) returned by the two base stations:
Δd＝-31.905
the distance difference between the label card and the two base stations is known, and the label card is located on a hyperboloid with the two base stations as focuses, the focal length of the hyperboloid is one half of the distance between the two base stations, and the real axis of the hyperboloid is one half of | Δ d |, that is, the focal length c, the real axis a and the imaginary axis b of the hyperboloid are calculated as:
c＝234.787,a＝15.952,b＝234.245
step 4, obtaining the range of the label coordinates (x, y, z) from the step 2, and substituting the value of each (y, z) into a single-sheet hyperboloid equation
Figure BDA0003409723890000072
Obtaining a group of x, as shown in fig. 4, where the rectangular surface is the rectangular surface where the label card is located, the hyperboloid is the hyperboloid where the label card is located and the two base stations are the focal points, and the curve where the two surfaces intersect is the curve where the two surfaces intersectThe x coordinate is a group of x values obtained in the step;
step 5, detecting that the x value obtained in the step 4 does not exist
Figure BDA0003409723890000073
Turning to step 6;
step 6, substituting the values of (y, z) into a double-sheet hyperboloid equation
Figure BDA0003409723890000074
Obtaining a group x;
step 7, detecting 2 x values
Figure BDA0003409723890000075
Turning to step 8;
step 8, judging the obtained two possible label points, specifically: two are combined
Figure BDA0003409723890000076
Corresponding (y, z) are respectively noted as (y)01,z01)、(y02,z02) (ii) a Wherein, y01＝-24.795、z01＝-268.328、y02＝24.840、z02＝-268.328；
Since Δ d < 0 (i.e., the tag card is closer to base station number 1), then take y0＝min(y01,y02)＝-24.795，z0Is y0Corresponding z coordinate, z0Tag card coordinates (75, -24.795, -268.328) are obtained as-268.328.
As in embodiment 1, the error of the label card on the y axis obtained in this embodiment is 1.252cm, and it can be seen that the calculated y axis direction error is significantly smaller than the length of the single-step staircase in the y axis direction, and thus, this embodiment can also realize the positioning of the interlayer transition region.
While the invention has been described with reference to specific embodiments, any feature disclosed in this specification may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise; all of the disclosed features, or all of the method or process steps, may be combined in any combination, except mutually exclusive features and/or steps.

Claims (5)

1. An indoor positioning method of an interlayer transition area is characterized in that 1 positioning base station is respectively arranged on a ceiling right above the intersection of each ladder section of the interlayer transition area, and any ladder section to be detected is covered in the sight distance of two positioning base stations and marked as a No. 1 positioning base station and a No. 2 positioning base station; the indoor positioning method is characterized by comprising the following steps:
step 1, establishing a coordinate system by taking the middle points of the two positioning base stations as the origin, the long side direction of the tread as the y axis, the wide side direction of the tread as the x axis and the direction vertical to the tread as the z axis to obtain the position coordinate (x) of the No. 1 base station1,y1,z1) And the position coordinate of the No. 2 base station is (x)2,y2,z2)；
Step 2, setting the positioning height of the tag card as B, and calculating the range of coordinates (x, y, z) of the tag card;
step 3, calculating the focal length c, the real axis a and the imaginary axis b of the hyperboloid where the label card is located according to the distance difference delta d between the label card and the two positioning base stations;
step 4, substituting (y, z) into a single-sheet hyperboloid equation to obtain a group of x values in the range of the coordinates (x, y, z) of the tag card;
step 5, detecting whether the x value exists or not
Figure FDA0003409723880000011
If not, executing the step 6, and if yes, turning to the step 7;
step 6, substituting (y, z) into a double-sheet hyperboloid equation to obtain a group of x values in the range of the coordinates (x, y, z) of the tag card;
step 7. detecting x value
Figure FDA0003409723880000012
If the number of (2) is 1, then take
Figure FDA0003409723880000013
Corresponding to (y)0,z0) Obtaining the coordinates of the tag card
Figure FDA0003409723880000014
If the number of the cells is 2, executing a step 8;
and 8, judging two possible label points: two are combined
Figure FDA0003409723880000015
Corresponding (y, z) are respectively noted as (y)01,z01)、(y02,z02) Judging whether the Δ d is positive or negative:
if delta d is more than or equal to 0, then y is taken0＝max(y01,y02) Obtaining the coordinates of the tag card
Figure FDA0003409723880000016
z0Is y0A corresponding z coordinate;
if Δ d is less than 0, then take y0＝min(y01,y02) Obtaining the coordinates of the tag card
Figure FDA0003409723880000017
z0Is y0The corresponding z coordinate.
2. The method for indoor localization of an interlayer transition zone according to claim 1, wherein in said step 2, the range of tag card coordinates (x, y, z) is:
Figure FDA0003409723880000018
wherein, L is the tread length, m is the tread width, α is the tread inclination angle, and k is tan α.
3. The indoor positioning method for interlayer transition area according to claim 1, wherein in step 3, the focal length c, the real axis a and the imaginary axis b of the hyperboloid on which the label card is located are: .
Figure FDA0003409723880000021
4. The method for indoor positioning of an interlayer transition zone according to claim 1, wherein in said step 4, the equation for a single-sheet hyperboloid is:
Figure FDA0003409723880000022
5. the method for indoor positioning of an interlayer transition zone according to claim 1, wherein in said step 6, the equation for a two-sheet hyperboloid is:
Figure FDA0003409723880000023
CN202111528135.1A 2021-12-14 2021-12-14 Indoor positioning method for interlayer transition area Active CN114269013B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111528135.1A CN114269013B (en) 2021-12-14 2021-12-14 Indoor positioning method for interlayer transition area

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111528135.1A CN114269013B (en) 2021-12-14 2021-12-14 Indoor positioning method for interlayer transition area

Publications (2)

Publication Number Publication Date
CN114269013A true CN114269013A (en) 2022-04-01
CN114269013B CN114269013B (en) 2022-10-14

Family

ID=80827061

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111528135.1A Active CN114269013B (en) 2021-12-14 2021-12-14 Indoor positioning method for interlayer transition area

Country Status (1)

Country Link
CN (1) CN114269013B (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107942285A (en) * 2016-10-13 2018-04-20 中兴通讯股份有限公司 A kind of reaching time-difference measuring method, device, control device and terminal
CN110099441A (en) * 2018-01-30 2019-08-06 上海知白智能科技有限公司 A kind of interior 3-D wireless location technology
EP3541126A1 (en) * 2016-11-11 2019-09-18 ZTE Corporation Positioning method, positioning base station, positioning server and positioning system
CN110926461A (en) * 2019-10-29 2020-03-27 北京全路通信信号研究设计院集团有限公司 Indoor positioning method and system based on ultra wide band and navigation method and system
CN111148057A (en) * 2019-12-04 2020-05-12 广州众志物联网科技有限公司 Indoor positioning method, system, computer equipment and readable storage medium
CN113709860A (en) * 2021-08-12 2021-11-26 电子科技大学 Indoor positioning device and method for interlayer transition area

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107942285A (en) * 2016-10-13 2018-04-20 中兴通讯股份有限公司 A kind of reaching time-difference measuring method, device, control device and terminal
EP3541126A1 (en) * 2016-11-11 2019-09-18 ZTE Corporation Positioning method, positioning base station, positioning server and positioning system
CN110099441A (en) * 2018-01-30 2019-08-06 上海知白智能科技有限公司 A kind of interior 3-D wireless location technology
CN110926461A (en) * 2019-10-29 2020-03-27 北京全路通信信号研究设计院集团有限公司 Indoor positioning method and system based on ultra wide band and navigation method and system
CN111148057A (en) * 2019-12-04 2020-05-12 广州众志物联网科技有限公司 Indoor positioning method, system, computer equipment and readable storage medium
CN113709860A (en) * 2021-08-12 2021-11-26 电子科技大学 Indoor positioning device and method for interlayer transition area

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
刘元成等: "基于PDR和地磁匹配融合的楼层定位方法", 《传感技术学报》 *
叶一飞等: "基于点云的复杂环境下楼梯区域识别", 《电子测量与仪器学报》 *

Also Published As

Publication number Publication date
CN114269013B (en) 2022-10-14

Similar Documents

Publication Publication Date Title
CN102062587B (en) Laser sensor-based method for determining poses of multiple mobile robots
CN103257342B (en) Three-dimension laser sensor and two-dimension laser sensor combined calibration method
US10495456B2 (en) Method for calibrating a detection device, and detection device
US20150049187A1 (en) Method, Device and Computer Programme for Extracting Information About One or More Spatial Objects
CN103217688B (en) Airborne laser radar point cloud adjustment computing method based on triangular irregular network
CN107436422B (en) A kind of robot localization method based on infrared lamp solid array
US11906305B2 (en) Movable marking system, controlling method for movable marking apparatus, and computer readable recording medium
CN110243293B (en) Duct piece dislocation rapid detection device and method based on structural light and machine vision
CN109387194B (en) Mobile robot positioning method and positioning system
CN107179533A (en) A kind of airborne LiDAR systematic errors Self-checking method of multi-parameter
CN108931230A (en) A kind of sleeve configuration tunnel deformation monitoring method
JP2011099742A (en) Object detecting device and object detection method
CN107421545A (en) Position deviation detection method, device and the robot of a kind of robot
CN108828518A (en) A kind of boxcar inside carrier-and-stacker localization method
CN112762910A (en) Short-measuring-range correction calibration method suitable for laser scanner
CN106249198B (en) Position Method for Indoor Robot based on multiple spot RFID combination ultrasonic wave
CN114269013B (en) Indoor positioning method for interlayer transition area
CN106843206A (en) Assisted location method based on existing road network
CN202928585U (en) Movable robot positioning system based on plurality of code readers of two-dimensional codes
CN106197283B (en) Coordinate recognizer, use method thereof and measurement system
CN103869593B (en) Three-dimension imaging device, system and method
CN109341695A (en) Indoor Navigation of Pilotless Aircraft method based on floor plan calibration
CN102172831A (en) Method for detecting height of rivet
CN112558046B (en) Offline acceptance check method with multi-line laser radar intelligent equipment
CN110986860B (en) Tower column inclination determination method based on intelligent robot

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant