CN116299164A - Three-dimensional indoor positioning method, device, equipment and storage medium based on time difference - Google Patents
Three-dimensional indoor positioning method, device, equipment and storage medium based on time difference Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S5/0284—Relative positioning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention relates to the field of data processing, and discloses a three-dimensional indoor positioning method, device and equipment based on time difference and a storage medium. The method comprises the following steps: acquiring position information of an anchor point; establishing a three-dimensional coordinate according to a preset positioning origin and position information; determining a first distance from the positioning tag to the anchor point according to the three-dimensional coordinates; filtering the first distance to obtain a second distance; determining first position information corresponding to the positioning tag according to a Chan algorithm and the second distance, and determining whether the number of anchor points is larger than or equal to a preset value; when the number of the anchor points is greater than or equal to a preset value, redundant data processing is carried out on the first position information, and second position information is obtained; and taking the second position information as final position information corresponding to the positioning label. The invention reduces the ranging error of indoor positioning.
Description
Technical Field
The present invention relates to the field of data processing, and in particular, to a three-dimensional indoor positioning method, apparatus, device and storage medium based on time difference.
Background
For indoor wireless location technology, common wireless location principles can be divided into signal reception strength (RSSI: receivedsignal strength indication), time of arrival (TOA: time of arrival), time difference of arrival (TDOA: time difference of arrival), angle of arrival (AOA: angle of arrival), and the like. Positioning technology based on signal transmission time is one of the most widely studied positioning technologies at present, and TDOA algorithm calculation is more important because of the advantages of low complexity, easy implementation and the like. The core of the TDOA positioning technology is to measure the time difference between signals reaching 2 receiving Base Stations (BS) from a mobile terminal (MS), calculate the distance according to the time difference, solve a positioning equation set and determine the position of the MS. Because the positioning equation set has a nonlinear characteristic, the positioning equation set is usually converted into a linear equation set for solving. There are typically Least Squares (LS) based solution algorithms, taylor's technique expansion algorithms, and Chan algorithms. The Chan has low calculation cost and high precision, so that the Chan has wide application. However, the Chan algorithm has the defects that the algorithm has optimal estimation performance and high precision in a TDOA measurement error smaller time or line of sight (LOS) scene; however, as measurement errors increase, particularly in non-line-of-sight (NLOS) scenarios, the performance of the algorithm may degrade rapidly. The range error is large.
Disclosure of Invention
The invention mainly aims to solve the technical problem of larger ranging error of the indoor wireless positioning technology.
The first aspect of the invention provides a three-dimensional indoor positioning method based on time difference, which comprises the following steps:
acquiring position information of an anchor point;
establishing a three-dimensional coordinate according to a preset positioning origin and the position information;
determining a first distance from the positioning tag to the anchor point according to the three-dimensional coordinates;
filtering the first distance to obtain a second distance;
determining first position information corresponding to the positioning tag according to a Chan algorithm and the second distance, and determining whether the number of the anchor points is larger than or equal to a preset value;
when the number of the anchor points is larger than or equal to the preset value, redundant data processing is carried out on the first position information, and second position information is obtained;
and taking the second position information as final position information corresponding to the positioning label.
Optionally, in a first implementation manner of the first aspect of the present invention, the step of determining, according to the three-dimensional coordinates, a first distance between the positioning tag and the anchor point includes:
controlling the positioning tag to transmit and receive pulse radio and recording the transmitting time and the receiving time;
the first distance of the positioning tag to the anchor point is determined according to the transmitting time, the receiving time and the three-dimensional coordinates.
Optionally, in a second implementation manner of the first aspect of the present invention, the step of performing filtering processing on the first distance to obtain a second distance includes:
the filtering processing is carried out on the first distance according to a Kalman filtering algorithm, and the second distance is obtained
Optionally, in a third implementation manner of the first aspect of the present invention, when the number of anchor points is greater than or equal to the preset value, the step of performing redundant data processing on the first location information to obtain second location information includes:
when the number of the anchor points is greater than or equal to the preset value, the first position information is averaged for a plurality of times to finish the redundant data processing, and the second position information is obtained
Optionally, in a fourth implementation manner of the first aspect of the present invention, after the step of determining whether the number of anchor points is greater than or equal to a preset value, the method further includes:
and when the number of the anchor points is smaller than a preset value, the first position information is used as the final position information corresponding to the positioning label.
Optionally, in a fifth implementation manner of the first aspect of the present invention, the determining, according to a Chan algorithm, the first location information corresponding to the positioning tag and determining whether the number of the anchor points is greater than or equal to a preset value, includes:
and determining first position information corresponding to the positioning tag according to a Chan algorithm and the second distance, and determining whether the number of the anchor points is more than or equal to 5.
Optionally, in a sixth implementation manner of the first aspect of the present invention, the step of obtaining location information of the anchor point includes:
and acquiring the position information of at least three anchor points.
The second aspect of the present invention provides a three-dimensional indoor positioning device based on time difference, comprising:
the acquisition module is used for acquiring the position information of the anchor point;
the building module is used for building three-dimensional coordinates according to a preset positioning origin and the position information;
the distance determining module is used for determining a first distance from the positioning label to the anchor point according to the three-dimensional coordinates;
the filtering module is used for carrying out filtering processing on the first distance to obtain a second distance;
the position determining module is used for determining first position information corresponding to the positioning tag according to a Chan algorithm and the second distance and determining whether the number of the anchor points is larger than or equal to a preset value;
the redundant data processing module is used for performing redundant data processing on the first position information to obtain second position information when the number of the anchor points is larger than or equal to the preset value;
and the output module is used for taking the second position information as final position information corresponding to the positioning tag.
A third aspect of the present invention provides a three-dimensional indoor positioning apparatus based on a time difference, comprising: a memory and at least one processor, the memory having instructions stored therein, the memory and the at least one processor being interconnected by a line; the at least one processor invokes the instructions in the memory to cause the time-difference based three-dimensional indoor positioning device to perform the time-difference based three-dimensional indoor positioning method described above.
A fourth aspect of the present invention provides a computer readable storage medium having instructions stored therein which, when run on a computer, cause the computer to perform the above-described time-difference-based three-dimensional indoor positioning method.
In the embodiment of the invention, three-dimensional indoor positioning equipment based on time difference acquires the position information of an anchor point; establishing a three-dimensional coordinate according to a preset positioning origin and the position information; determining a first distance from the positioning tag to the anchor point according to the three-dimensional coordinates; filtering the first distance to obtain a second distance; determining first position information corresponding to the positioning tag according to a Chan algorithm and the second distance, and determining whether the number of the anchor points is larger than or equal to a preset value; when the number of the anchor points is larger than or equal to the preset value, redundant data processing is carried out on the first position information, and second position information is obtained; and taking the second position information as final position information corresponding to the positioning label. Because the three-dimensional indoor positioning equipment based on the time difference aims at the problems of the Chan algorithm, an improved three-dimensional positioning Chan algorithm is provided, and the distance measurement error is reduced by filtering the test data generated in the positioning process, so that the three-dimensional positioning precision is improved; furthermore, under the condition that more anchor points are positioned (for example, the number of the anchor points is N > 5), the accuracy of the test data can be further improved by adopting a redundant data processing mode. It can be seen that the three-dimensional indoor positioning device based on the time difference in this embodiment reduces the ranging error.
Drawings
FIG. 1 is a schematic diagram of an embodiment of a three-dimensional indoor positioning method based on time difference according to an embodiment of the present invention;
FIG. 2 is a reference diagram of an embodiment of a three-dimensional indoor positioning method based on time differences according to an embodiment of the present invention;
FIG. 3 is another reference diagram of an embodiment of a three-dimensional indoor positioning method based on time differences according to an embodiment of the present invention;
FIG. 4 is a schematic view of an embodiment of a three-dimensional indoor positioning device based on time difference according to an embodiment of the present invention;
fig. 5 is a schematic diagram of an embodiment of a three-dimensional indoor positioning device based on time difference in an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a three-dimensional indoor positioning method, device and equipment based on time difference and a storage medium.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus.
For ease of understanding, a specific flow of an embodiment of the present invention is described below, referring to fig. 1, and an embodiment of a three-dimensional indoor positioning method based on time difference in the embodiment of the present invention includes:
101. acquiring position information of an anchor point;
specifically, a set of UWB-based wireless positioning system is established in the indoor environment under test, and the wireless positioning system includes a plurality of positioning anchors (RNs), and a positioning tag (positioning table), where the anchors and the positioning tag are wirelessly connected by UWB. UWB technology is a wireless carrier communication technology that uses frequency bandwidths above 1 GHz. The data is transmitted by using non-sinusoidal narrow pulse of nanosecond level instead of sinusoidal carrier, so the occupied frequency spectrum is very large. Signals can be transmitted over a very wide bandwidth using UWB technology.
Optionally, the number of the anchor points is greater than 3, that is, the position information of at least three anchor points is acquired.
102. Establishing a three-dimensional coordinate according to a preset positioning origin and the position information;
specifically, the preset positioning origin and the position information of each anchor point are determined, and the space of the field is three-dimensionally formed, so that the three-dimensional coordinates are obtained, and the three-dimensional coordinates are shown in fig. 2.
103. Determining a first distance from the positioning tag to the anchor point according to the three-dimensional coordinates;
optionally, controlling the positioning tag to transmit and receive impulse radio and recording the transmission time and the reception time; the first distance of the positioning tag to the anchor point is determined according to the transmitting time, the receiving time and the three-dimensional coordinates. Specifically, the positioning tag sends a ranging frame to each anchor point in a UWB broadcasting mode; recording the receiving time of each anchor point, measuring the transmitting and receiving time difference delta t of the label reaching each anchor point by adopting TDOA ranging method i,1 (i=1..n), and converting the time difference into a distance according to the formula (1), wherein c is the propagation speed of the electromagnetic wave. N anchor points can obtain N-1 groups of TDOA values.
Δt i,1 ＝t i -t 1
d i,1 ＝cΔt i,1 (1)
104. Filtering the first distance to obtain a second distance;
optionally, the filtering processing is performed on the first distance according to a kalman filtering algorithm, so as to obtain the second distance. Specifically, N-1 group d of N anchor points is measured in the same time by using TDOA ranging method i,1 And adopts Kalman (Kalman) filtering algorithm to pair d i,1 And estimating to obtain a more accurate distance value, wherein a Kalman filtering model is shown in formula (2) and formula (3), Q1 is prediction noise, and R1 is observation noise.
X(k) ＝ X(k-1) + Q1 (2)
Y(k) ＝ X(k) + R1 (3)
105. Determining first position information corresponding to the positioning tag according to a Chan algorithm and the second distance, and determining whether the number of the anchor points is larger than or equal to a preset value;
optionally, determining the first position information corresponding to the positioning tag according to the Chan algorithm and the second distance, and determiningAnd whether the number of the anchor points is more than or equal to 5. Specifically, the optimized ranging difference d is utilized i ' ,1 The location information of the LL point is calculated using the TDOA algorithm of Chan as shown in equation (6).
It is known that:
chemical degeneracy makes:
X i,1 ＝x-x i ,Y i,1 ＝y-y i ,Z i,1 ＝z-z i
then it is possible to obtain:
when n=4, the following equation can be obtained:
106. when the number of the anchor points is larger than or equal to the preset value, redundant data processing is carried out on the first position information, and second position information is obtained;
specifically, when the number of anchor points N >5, the number of TDOA measurement values is greater than the number of unknown parameters, after the initial position information (first position information) is calculated by the formula (4), the average value of multiple times of calculation can be calculated by the formula (7), and redundant data is fully utilized, so that the Chan algorithm can obtain a better position estimation value, namely the second position information.
And (3) making:
Z p ＝[x,y,z] T
107. taking the second position information as final position information corresponding to the positioning tag;
optionally, when the number of the anchor points is smaller than a preset value, the first position information is used as the final position information corresponding to the positioning tag.
Referring to fig. 3, a schematic view of constructing a UWB wireless positioning environment in this embodiment is shown from top to bottom: variance of normal distribution, kalman filtering output, ranging expectation.
In the embodiment of the invention, three-dimensional indoor positioning equipment based on time difference acquires the position information of an anchor point; establishing a three-dimensional coordinate according to a preset positioning origin and the position information; determining a first distance from the positioning tag to the anchor point according to the three-dimensional coordinates; filtering the first distance to obtain a second distance; determining first position information corresponding to the positioning tag according to a Chan algorithm and the second distance, and determining whether the number of the anchor points is larger than or equal to a preset value; when the number of the anchor points is larger than or equal to the preset value, redundant data processing is carried out on the first position information, and second position information is obtained; and taking the second position information as final position information corresponding to the positioning label. Because the three-dimensional indoor positioning equipment based on the time difference aims at the problems of the Chan algorithm, an improved three-dimensional positioning Chan algorithm is provided, and the distance measurement error is reduced by filtering the test data generated in the positioning process, so that the three-dimensional positioning precision is improved; furthermore, under the condition that more anchor points are positioned (for example, the number of the anchor points is N > 5), the accuracy of the test data can be further improved by adopting a redundant data processing mode. It can be seen that the three-dimensional indoor positioning device based on the time difference in this embodiment reduces the ranging error.
The three-dimensional indoor positioning method based on time difference in the embodiment of the present invention is described above, and the three-dimensional indoor positioning device based on time difference in the embodiment of the present invention is described below, referring to fig. 3, one embodiment of the three-dimensional indoor positioning device based on time difference in the embodiment of the present invention includes:
an obtaining module 301, configured to obtain location information of an anchor point;
the establishing module 302 is configured to establish a three-dimensional coordinate according to a preset positioning origin and the position information;
a distance determining module 303, configured to determine a first distance from the positioning tag to the anchor point according to the three-dimensional coordinates;
the filtering module 304 is configured to perform filtering processing on the first distance to obtain a second distance;
the position determining module 305 is configured to determine, according to a Chan algorithm and the second distance, first position information corresponding to the positioning tag and determine whether the number of anchor points is greater than or equal to a preset value;
the redundant data processing module 306 is configured to perform redundant data processing on the first location information to obtain second location information when the number of the anchor points is greater than or equal to the preset value;
and an output module 307, configured to use the second location information as final location information corresponding to the location tag.
In the embodiment of the invention, three-dimensional indoor positioning equipment based on time difference acquires the position information of an anchor point; establishing a three-dimensional coordinate according to a preset positioning origin and the position information; determining a first distance from the positioning tag to the anchor point according to the three-dimensional coordinates; filtering the first distance to obtain a second distance; determining first position information corresponding to the positioning tag according to a Chan algorithm and the second distance, and determining whether the number of the anchor points is larger than or equal to a preset value; when the number of the anchor points is larger than or equal to the preset value, redundant data processing is carried out on the first position information, and second position information is obtained; and taking the second position information as final position information corresponding to the positioning label. Because the three-dimensional indoor positioning equipment based on the time difference aims at the problems of the Chan algorithm, an improved three-dimensional positioning Chan algorithm is provided, and the distance measurement error is reduced by filtering the test data generated in the positioning process, so that the three-dimensional positioning precision is improved; furthermore, under the condition that more anchor points are positioned (for example, the number of the anchor points is N > 5), the accuracy of the test data can be further improved by adopting a redundant data processing mode. It can be seen that the three-dimensional indoor positioning device based on the time difference in this embodiment reduces the ranging error.
Optionally, the distance determining module 303 may be further specifically configured to:
controlling the positioning tag to transmit and receive pulse radio and recording the transmitting time and the receiving time;
the first distance of the positioning tag to the anchor point is determined according to the transmitting time, the receiving time and the three-dimensional coordinates.
Optionally, the filtering module 304 may be further specifically configured to:
and carrying out filtering processing on the first distance according to a Kalman filtering algorithm to obtain the second distance.
Optionally, the redundant data processing module 306 may be further specifically configured to:
and when the number of the anchor points is greater than or equal to the preset value, averaging the first position information for a plurality of times to finish the redundant data processing, so as to obtain the second position information.
Optionally, the output module 307 may be further specifically configured to:
and when the number of the anchor points is smaller than a preset value, the first position information is used as the final position information corresponding to the positioning label.
Optionally, the location determining module 305 may be further specifically configured to:
and determining first position information corresponding to the positioning tag according to a Chan algorithm and the second distance, and determining whether the number of the anchor points is more than or equal to 5.
Optionally, the obtaining module 301 may be further specifically configured to:
and acquiring the position information of at least three anchor points.
In the embodiment of the invention, three-dimensional indoor positioning equipment based on time difference acquires the position information of an anchor point; establishing a three-dimensional coordinate according to a preset positioning origin and the position information; determining a first distance from the positioning tag to the anchor point according to the three-dimensional coordinates; filtering the first distance to obtain a second distance; determining first position information corresponding to the positioning tag according to a Chan algorithm and the second distance, and determining whether the number of the anchor points is larger than or equal to a preset value; when the number of the anchor points is larger than or equal to the preset value, redundant data processing is carried out on the first position information, and second position information is obtained; and taking the second position information as final position information corresponding to the positioning label. Because the three-dimensional indoor positioning equipment based on the time difference aims at the problems of the Chan algorithm, an improved three-dimensional positioning Chan algorithm is provided, and the distance measurement error is reduced by filtering the test data generated in the positioning process, so that the three-dimensional positioning precision is improved; furthermore, under the condition that more anchor points are positioned (for example, the number of the anchor points is N > 5), the accuracy of the test data can be further improved by adopting a redundant data processing mode. It can be seen that the three-dimensional indoor positioning device based on the time difference in this embodiment reduces the ranging error.
Fig. 3 above describes the three-dimensional indoor positioning device based on time difference in the embodiment of the present invention in detail from the perspective of the modularized functional entity, and the three-dimensional indoor positioning device based on time difference in the embodiment of the present invention is described in detail from the perspective of hardware processing.
Fig. 4 is a schematic structural diagram of a three-dimensional indoor positioning device based on time difference according to an embodiment of the present invention, where the three-dimensional indoor positioning device 500 based on time difference may have relatively large differences due to different configurations or performances, and may include one or more processors (central processing units, CPU) 510 (e.g., one or more processors) and a memory 520, and one or more storage media 530 (e.g., one or more mass storage devices) storing application programs 533 or data 532. Wherein memory 520 and storage medium 530 may be transitory or persistent storage. The program stored in the storage medium 530 may include one or more modules (not shown), each of which may include a series of instruction operations on the time-difference-based three-dimensional indoor positioning device 500. Still further, the processor 510 may be configured to communicate with the storage medium 530 to execute a series of instruction operations in the storage medium 530 on the time-difference-based three-dimensional indoor positioning device 500.
The time-difference based three-dimensional indoor positioning device 500 may also include one or more power supplies 540, one or more wired or wireless network interfaces 550, one or more input/output interfaces 560, and/or one or more operating systems 531, such as Windows Serve, mac OS X, unix, linux, freeBSD, and the like. It will be appreciated by those skilled in the art that the time difference based three-dimensional indoor positioning device structure shown in fig. 4 is not limiting of the time difference based three-dimensional indoor positioning device and may include more or fewer components than shown, or may combine certain components, or may be a different arrangement of components.
The present invention also provides a computer readable storage medium, which may be a non-volatile computer readable storage medium, and may also be a volatile computer readable storage medium, where instructions are stored in the computer readable storage medium, when the instructions are executed on a computer, cause the computer to perform the steps of the three-dimensional indoor positioning method based on time difference.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the system or apparatus and unit described above may refer to the corresponding process in the foregoing method embodiment, which is not repeated herein.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a random access memory (random access memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The three-dimensional indoor positioning method based on the time difference is characterized by comprising the following steps of:
acquiring position information of an anchor point;
establishing a three-dimensional coordinate according to a preset positioning origin and the position information;
determining a first distance from the positioning tag to the anchor point according to the three-dimensional coordinates;
filtering the first distance to obtain a second distance;
determining first position information corresponding to the positioning tag according to a Chan algorithm and the second distance, and determining whether the number of the anchor points is larger than or equal to a preset value;
when the number of the anchor points is larger than or equal to the preset value, redundant data processing is carried out on the first position information, and second position information is obtained;
and taking the second position information as final position information corresponding to the positioning label.
2. The time difference based three-dimensional indoor positioning method of claim 1, wherein the step of determining a first distance of a positioning tag to the anchor point from the three-dimensional coordinates comprises:
controlling the positioning tag to transmit and receive pulse radio and recording the transmitting time and the receiving time;
the first distance of the positioning tag to the anchor point is determined according to the transmitting time, the receiving time and the three-dimensional coordinates.
3. The method for three-dimensional indoor positioning based on time difference according to claim 1, wherein the step of filtering the first distance to obtain a second distance comprises:
and carrying out filtering processing on the first distance according to a Kalman filtering algorithm to obtain the second distance.
4. The three-dimensional indoor positioning method based on time difference according to claim 1, wherein when the number of the anchor points is greater than or equal to the preset value, the step of performing redundant data processing on the first position information to obtain second position information includes:
and when the number of the anchor points is greater than or equal to the preset value, averaging the first position information for a plurality of times to finish the redundant data processing, so as to obtain the second position information.
5. The time difference-based three-dimensional indoor positioning method according to claim 1, wherein after the step of determining whether the number of anchor points is equal to or greater than a preset value, the method further comprises:
and when the number of the anchor points is smaller than a preset value, the first position information is used as the final position information corresponding to the positioning label.
6. The time difference-based three-dimensional indoor positioning method according to claim 1, wherein the determining the first location information corresponding to the positioning tag according to the Chan algorithm and the second distance and determining whether the number of anchor points is greater than or equal to a preset value comprises:
and determining first position information corresponding to the positioning tag according to a Chan algorithm and the second distance, and determining whether the number of the anchor points is more than or equal to 5.
7. The time-difference-based three-dimensional indoor positioning method according to claim 1, wherein the step of acquiring the position information of the anchor point comprises:
and acquiring the position information of at least three anchor points.
8. A three-dimensional indoor positioning device based on time difference, characterized in that the three-dimensional indoor positioning device based on time difference comprises:
the acquisition module is used for acquiring the position information of the anchor point;
the building module is used for building three-dimensional coordinates according to a preset positioning origin and the position information;
the distance determining module is used for determining a first distance from the positioning label to the anchor point according to the three-dimensional coordinates;
the filtering module is used for carrying out filtering processing on the first distance to obtain a second distance;
the position determining module is used for determining first position information corresponding to the positioning tag according to a Chan algorithm and the second distance and determining whether the number of the anchor points is larger than or equal to a preset value;
the redundant data processing module is used for performing redundant data processing on the first position information to obtain second position information when the number of the anchor points is larger than or equal to the preset value;
and the output module is used for taking the second position information as final position information corresponding to the positioning tag.
9. A time difference-based three-dimensional indoor positioning apparatus, characterized in that the time difference-based three-dimensional indoor positioning apparatus comprises: a memory and at least one processor, the memory having instructions stored therein, the memory and the at least one processor being interconnected by a line;
the at least one processor invokes the instructions in the memory to cause the time-difference based three-dimensional indoor positioning device to perform the time-difference based three-dimensional indoor positioning method of any of claims 1-7.
10. A computer readable storage medium having stored thereon a computer program, which when executed by a processor implements the time difference based three-dimensional indoor positioning method according to any of claims 1-7.
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| CN117194854A (en) * | 2023-11-01 | 2023-12-08 | 辽宁天衡智通防务科技有限公司 | Three-dimensional positioning method and device based on improved Chan algorithm |
| CN117194854B (en) * | 2023-11-01 | 2024-02-27 | 辽宁天衡智通防务科技有限公司 | Three-dimensional positioning method and device based on improved Chan algorithm |
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