117results about How to "Reduce the impact of positioning accuracy" patented technology

The invention discloses a fingerprint database construction method of a WiFi indoor positioning system. The method comprises the following steps: determining the position and the coordinates of a reference point, capturing the media access control address of access points at the reference point, collecting signal strength of all the access points in a media access control address list, and sending a sampling file to a server; conducting statistical treatment on signal strength data in the sampling file to obtain a fitting probability distribution curve, conducting correlation correction on the fitting probability distribution curve, conducting truncation processing on the probability distribution curve obtained after the correlation correction, calculating the probability of each decibel milliwatt value, conducting normalization processing, and finally generating a fingerprint database. The method solves the problems that the establishment process of a traditional fingerprint database is longer in consumed time, the processing is tedious, the fingerprint information is insufficient, and updating and maintenance are not facilitated. Due to the parallelization of fingerprint collection, the establishment of the fingerprint database is accelerated, optimized processing is carried out on the collected fingerprint data, and the fingerprint database is more accurate and comprehensive.

The invention provides an application method for a travelling wave positioning system of a distributed high-precision electric transmission line. The method comprises the following steps: receiving power frequency failure current transmitted in an electric transmission line wire by an on-site testing device, performing analog-to-digital conversion to the power frequency failure current to obtain digital waveform signals, uplinking the digital waveform signals to an upper computer, and determining the accurate position of trouble spot by a supervisory system installed in the upper computer via calculation. The method remarkably reduces the travelling wave positioning error and improves the positioning accuracy.

The invention discloses a navigation information zero tight combination method based on WSN (Wireless Sensors Network) / MINS (Micro Inertial Navigation System), and belongs to the technical field of combination and positioning in the complicated environment. The MINS (Micro Inertial Navigation System) and the WSN (Wireless Sensors Network) are integrated in a local relative coordinate system, the obtained synchronous navigation data is fused in a navigation computer through the UKF (Unscented Kalman Filter), so as to acquire the novel combination navigation method which is higher in precision, wider in navigation coverage and more stable than any other single navigation method.

The invention discloses an indoor positioning method based on multi-layer fingerprint matching. The indoor positioning method based on multi-layer fingerprint matching includes a first step of building four layers of fingerprint maps according to indoor environment; a second step of matching a signal intensity vector actually received by a user in a rule fingerprint map and a random fingerprint map to obtain positioning results of the two times of matching by using a k-nearest neighbor method; a third step of transforming the signal intensity vector actually received by the user into a distance vector, and matching the distance vector in a rule fingerprint distance map and the random fingerprint distance map to obtain positioning results of the two times of matching by using the k-nearest neighbor method; a fourth step of averaging user estimated position coordinates obtained according to the four-layer fingerprint matching to obtain final user estimated position coordinates. The indoor positioning method based on multi-layer fingerprint matching provided by the invention builds a fingerprint database according to received signal intensity and actual positions of rule reference points and random reference points and distances based on a path-loss model, thereby reducing effects of indoor multipath environment by using a multi-layer fingerprint strategy and improving indoor positioning accuracy.

The invention discloses an enhanced position fingerprint indoor positioning method integrating Wi-Fi and Bluetooth. The method is integrated with Wi-Fi and Bluetooth enhanced position fingerprint indoor positioning. The two modes of Wi-Fi and Bluetooth adopt signal strength indication RSSI position fingerprints to carry out indoor positioning, only the mapping relation between the received signalstrength and the spatial physical position is needed for positioning, the cost of a positioning system can be effectively reduced, and the robustness of the multipath effect in the complex environmentis greatly improved. RSSI parameters are dynamically corrected according to RSSI vector values, received from a plurality of preset access point AP node devices in a to-be-tested environment, of respective corresponding test positions, and a result obtained by a position fingerprint method can be close to an actual position to the greatest extent by using a k-weighted neighbor method, so that thepositioning precision is improved. The present invention uses advantages of dual-mode positioning are brought into full play through decision-level fusion of the Wi-Fi and the Bluetooth, and the indoor positioning precision can be effectively improved under the condition of self-adapting to most complex environments.

The invention provides a three-dimensional base station positioning method and a three-dimensional base station positioning device, related to the technical field of positioning. The method comprisesthe following steps: determining one-dimensional position information of a positioning terminal in a first direction dimension, acquiring a plurality of positioning base stations corresponding to theone-dimensional position information, based on weight of the plurality of positioning base stations, selecting at least two target positioning base stations which have the highest weight, determiningtwo-dimensional position information of the positioning terminal in a second direction dimension and a third direction dimension based on the at least two target positioning base stations, and determining the one-dimensional position information and the two-dimensional position information as a positioning result of the positioning terminal. The method and the device provided by the invention canimprove accuracy of three-dimensional positioning.

The invention relates to a resetting device using flexible positioning and rigid clamping in combination and a positioning method thereof. The invention is characterized in that a cartridge comprises two to four radially-arranged positioning gears, the lateral side of each positioning gear is provided with a positioning slant surface, Z-direction stopping planes are arranged between two adjacent positioning gears, a workpiece supporting board is provided with positioning slots fit with the positioning gears and positioning planes fit with the Z-direction stopping planes, a pop-rivet comprises a pop-rivet body which is connected with the workpiece supporting board by bolts, the pop-rivet orifices on the cartridge is provided with positioning cone surfaces, the lateral side of the pop-rivet body is provided with cone-shaped positioning contact planes fit with the positioning cone surfaces. The device can simultaneously realize precise resetting and rigid clamping, and ensure high safety and reliability of mechanical processing and high manufacture preciseness and efficiency of the processed object.

The invention discloses a robot vision inertial point linear feature positioning method and device. The robot vision inertial point linear feature positioning method comprises the steps that a priorithree-dimensional map of a current scene and measuring data of an inertial sensor are obtained, and the priori three-dimensional map is constructed in advance and comprises the three-dimensional pointlinear feature; and a current image of a robot and measuring data of an inertial sensor are obtained. According to the robot vision inertial point linear feature positioning method and device, fusionof multiple sensors is utilized, advantage information of all the sensors are fully exerted in an algorithm, and the effect of improving the position accuracy and robustness is finally achieved.

The invention discloses a method for positioning a wireless sensor network based on RSS. The method aims to widen application fields on the premise that positioning accuracy is guaranteed. The positioning step is divided into two stages, namely the coarse positioning stage and the fine positioning stage. In the coarse positioning stage, a compressed sensing technology is utilized to collect a small number of data as soon as possible to reconstruct a probable existence range of a target; in the fine positioning stage, according to a target positioning region acquired in the coarse positioning stage, a multilateral measuring technology is utilized to accurately position the positioning target. According to the method, the limitation that an unknown target only can be positioned in a grid center can be overcome, the application fields of the compressed sensing positioning method are widened, and complexity is lowered.

The invention discloses a UWB / MEMS combination-based UWB base station position error compensation method, relates to the technical field of integrated navigation, and aims to solve the problems that the UWB base station position measurement accuracy in the existing system has errors, is easily influenced by the environment and is difficult to accurately measure. The UWB base station position errorcompensation method comprises the following steps: 1, collecting data output by a UWB system and an MEMS system; 2, selecting the state quantity and the observed quantity of the system, and establishing a UWB / MEMS integrated navigation system state space model; 3, performing state estimation on the UWB / MEMS integrated navigation system state space model by using a derivative unscented Kalman filter; and 4, obtaining a position error of the UWB base station and gyroscope constant drift and accelerometer zero offset of MEMS inertial navigation according to a state estimation value output by thederivative unscented Kalman filter, feeding back the position error, the gyroscope constant drift and the accelerometer zero offset to the combined system, and outputting attitude, speed and positioninformation.

The invention discloses a precise and synchronous positioning and time-keeping method and system of a Mars orbiting detector. The precise and synchronous positioning and time-keeping method comprises the following steps: firstly inputting initial data including a simulated nominal orbit and relative parameters for filtering initialization; simulating observation data, and simulating the observed quantity of a pulsar according to a measurement equation of the pulsar, wherein measurement noises relative to the observed quantity comprise clock errors, and the clock errors are simulated by a clock error model; and performing adaptive Kalman filtering according to a filtering state equation and an observation equation of self-positioning and time keeping of the Mars orbiting detector to obtain orbits and the clock errors of the detector. According to the precise and synchronous positioning and time-keeping method and system disclosed by the invention, on the basis of establishing an observation model of an X-ray pulsar, the observation model, a detector kinetic model and the clock error model of a satellite-borne atomic clock are organically combined, and the position, speed and clock error parameters of the detector are also estimated so as to ensure that the clock error correction can be achieved, influences of the clock errors to the positioning accuracy can also be weakened, and the self-positioning accuracy can also be improved.

The invention discloses an indoor pedestrian positioning EFIR data fusion system and method with observation time lag. The time of arrival (TOA) between a UWB (Ultra Wide Band) target node and a UWB reference node is acquired through the UWB target node, and distance information between the UWB reference node and the target node is obtained through a TOA-distance model. The distance information obtained is input to an EFIR filter as observation, data fusion is carried out through the EFIR filter, location information of a target pedestrian is estimated, and finally, the optimal location information of the pedestrian at the current time is obtained. The beneficial effect is as follows: the EFIR filter carries out data fusion by constructing a UWB positioning model with the eastward and northward location and speed of the target pedestrian at a time k and at a time k-1 as state variables and the distance between the reference node and a UWB positioning tag at the time k-1 measured by the UWB positioning tag as system observation, and the influence of data acquisition delay caused by UWB wireless data transmission on the positioning accuracy of the system is reduced.

The invention discloses a method for positioning a pseudo AP based on sensor data and signal difference value fusion. Apollonius circles are established through utilization of difference values of signals at different locations, and when it is discovered that the pseudo AP exists under the indoor condition, the pseudo AP is positioned precisely. According to the method, the problem that in the prior art, a transmitting power and a path loss parameter need to be known in advance when positioning is carried out through a path loss model is solved; the problem that the signals are influenced by an environment when the positioning is carried out through utilization of the received signal strength is solved; and the error accumulation problem of a PDR algorithm is solved. According to the method, the parameter of the loss model does not need to be known in advance, the transmitting power parameter can be eliminated and the current path loss parameter is calculated in real time in a detection process, so the positioning precision can be effectively improved; and the positioning is carried out by taking a ratio of the distance from different points to the pseudo AP as input, rather than directly calculating the distance.

The invention relates to the technical field of indoor positioning, in particular to a high-precision positioning method based on multi-QR-code vision. The high-precision positioning method includes the steps that a plurality of QR codes are arranged on a plane, and a camera is used for shooting by being perpendicular to the plane; the number of the QR codes in a shot image is greater than 1; a pixel coordinate system is established by taking the shot image as the edge, the pixel coordinates of vertexes of the QR codes are extracted, and the pixel distance of the center points of every two QRcodes is calculated; according to the pixel coordinates of the length-width image center points of the shot image, the pixel distance from the center point of any QR code to the center point of the image is calculated; according to the geographic coordinates of the center points of the QR codes, the actual distance of any two QR codes is obtained, and the ratio of the pixel distance in the currentshot image to the actual distance is obtained; then the actual distance D1 from the center points of the QR codes to the center point of the image is obtained; and in a geographic coordinate system,a circle is drawn with the center point of each QR code as the circle center and the actual distance D1 as the radius, and the geographic coordinates of the center point of the image are obtained. According to the method, the size and shape of the QR codes are not limited, and accurate positioning can be realized.

The invention relates to a parallel orientating system with two free degree, high acceleration, high precision and macro / micro dual driven. The mutually perpendicular X-shaft liner driven apparatus 2 and Y-shaft liner driven apparatus are fixed on the base 1; the X-shaft liner driven apparatus 2 is fastened with X-shaft moving platform assembly 8; the Y-shaft liner driven apparatus 3 is fastened with Y-shaft moving platform assembly 9; the X-shaft parallel linkage 12 is hinged between X-shaft moving platform assembly 8 and X-shaft end platform 10; the Y-shaft parallel linkage 13 is hinged between Y-shaft moving platform assembly 9 and Y-shaft end platform 11; the X-shaft end platform 10 and the Y-shaft end platform 11 are fastened with the end output platform 15.

The invention belongs to the technical field of communication, and relates to a mobile phone based method for positioning a pseudo base station, aiming to realize the positioning and tracking of the pseudo base station only by an intelligent terminal instead of an expensive professional positioning device. The algorithm measures the power information of the pseudo base station via an intelligent terminal; a smart phone uploads the measured data to the cloud and preprocesses the data at the cloud; joining the point with high signal intensity with the point with low signal intensity, and taking a median line; based on the distribution characteristic of the signal intensity, a map is segmented by the median line; and the pseudo base station is finally positioned according to the segmentation of multiple points. The positioning and tracking of the pseudo base station are realized by only a smart phone, the searching cost of the pseudo base station is greatly reduced, and meanwhile, the searching of the pseudo base station is convenient and rapid.

The invention relates to an orthopaedic robot guide needle positioner, a navigation unit and a positioning system. The orthopaedic robot guide needle positioner comprises a curved guide positioning device. The curved guide positioning device comprises a connecting rod and a support which are mutually connected, a sliding sleeve capable of sliding along the axis of the connecting rod is arranged on the connecting rod, a sleeve fixing structure is arranged on the support, a guide sleeve used for guiding a guide needle is fixedly disposed through the sleeve fixing structure, and the axis of the guide sleeve forms an angle ranging from 15 to 75 degrees with the axis of the connecting rod after the guide sleeve is disposed. By the arrangement of the curved guide positioning device, the guide needle for cooperation can be greatly shortened and is enabled to be far away from a mechanical arm of an orthopaedic robot, interference of the C-shaped arm and the guide needle is removed, and requirements on operation can be well met.

The invention discloses an indoor mobile robot oriented IMU / WSN (inertial measurement unit / wireless sensor network) integrated navigation method. The method includes: creating a relative coordinate system; acquiring optimal estimation of distance square and distance square change rate between unknown nodes and reference nodes of a wireless communication channel at current moment; acquiring optimal estimation of the distance square and the distance square change rate, between the unknown nodes and the reference nodes, obtained by IMU resolving at current moment; constructing a main filter; finally acquiring optimal estimation of the location, speed and attitude of the unknown nodes at the current moment. The method has the advantages that local filters are adopted in both the WSN and the low-cost IMU, accuracy of data collected by sensors is improved effectively, and precision improvement in the subsequent data fusion process of the main filter is benefited; the main filter describes running status of a system more accurately than the location, speed and acceleration error of the traditional mobile robot localization field, and precision of data fusion is improved beneficially.

The invention discloses a post-pressurization capacity evaluation method based on microseism interpretation results in the technical field of microseisms. The evaluation method comprises the followingsteps that microseism event information is monitored in real time through a plurality of detector arrays; the microseism event information is detected in real time; according to a microseism detection result, a discrete fracture network model is established by combining geological information and wellhead pressure monitoring information; the post-pressurization capacity is evaluated according tothe discrete fracture network model. The method can greatly improve the detection capability of weak earthquake events, not only can evaluate the fracturing effect, but also can feed back the real-time monitoring result to hydraulic fracturing construction to achieve the optimal fracturing effect at lower cost.

The invention discloses a low cost passive positioning method based on fine grain subcarrier information. The method comprises the following steps of constructing a WI-FI transmit-receive network; when there is no target in the constructed WI-FI transmit-receive network, collecting a CSI value of each link and taking as a baseline CSI value, and when there is one target in the constructed WI-FI transmit-receive network, collecting the CSI value of each link and taking as a CSI measured value; carrying out filtering preprocessing on the CSI measured value so as to acquire the preprocessed CSI value; and according to a power attenuation model, establishing an equation set, constructing an objective function and solving the objective function so as to realize target positioning. In the invention, a condition that a lot of manpower and material resources are used to establish a fingerprint database is avoided, corresponding cost is reduced, the acquired CSI value is preprocessed, an influence of multipath to positioning precision is effectively decreased and feasibility of a passive positioning method based on the model is increased.

The invention relates to an RSSI wireless sensor network three-dimensional cooperative positioning method, which comprises the following steps of: (1) acquiring received signal strength RSSI of an unknown node to be positioned, performing data preprocessing and feature extraction, and performing predicting to obtain a coarse positioning result; (2) setting an RSSI threshold value, selecting a nodewith higher positioning precision from unknown nodes, and judging the selected node by using a sub set to obtain a secondary selection cooperative node; and finally, screening out nodes meeting the precision requirement as optimal cooperative nodes by utilizing an anchor node replacement principle. (3) drawing a circle by taking the distance between every two nodes selected according to a precision optimization strategy as a radius, wherein the quadrilateral area is composed of inner side coordinates of intersection points of two adjacent circles, the coordinates of the quadrilateral area areobtained according to the principle of a rotation matrix, and finally the mass center of the quadrilateral area is calculated and serves as the coordinates of unknown nodes to serve as a final corrected positioning result. The indoor positioning precision can be improved.

The invention relates to a UWB / INS combined indoor positioning method based on a particle filter algorithm. The UWB / INS combined indoor positioning method based on the particle filtering algorithm isprovided aiming at the situation that the UWB (ultra wide band) ranging result is easily interfered by a complex environment in a non-line-of-sight environment and positioning precision is influenced.A distance between a person to be positioned and each reference base station is obtained through a UWB system, and the east direction position and the north direction position of the person are calculated through a UWB position calculation unit. The three-axis acceleration, the three-axis angular velocity and the three-axis magnetic field intensity of the person in the walking process are obtained through an INS (inertial navigation system), and the step length, the east-direction step speed, the north-direction step speed, the stepping time and the attitude angle of the person in the walkingprocess are calculated through an INS resolving unit; data fusion on the UWB system calculation result and the INS system calculation result is carried out through a particle filtering algorithm; andlastly, purposes of reducing influence of a non-line-of-sight complex environment and improving positioning precision are achieved.

The invention relates to a time domain signal waveform measuring method, a measuring device and a digital oscilloscope. The waveform measuring method comprises the following steps of: acquiring waveform information of a digital time domain signal; forming a waveform search area of a target amplitude according to the waveform information; calculating to obtain an expected value of each point set inthe waveform search area, and determining a virtual sampling point of the target amplitude in the waveform search area according to the expected value; and outputting amplitude information and time information of the virtual sampling point. The waveform measuring method for the protection can reduce the influence of sampling channel noise, ADC quantization errors and insufficient sampling on thepositioning accuracy of the focus, improve the approximation degree of the focus to the real waveform, and particularly reduce the influence of ADC quantization errors and insufficient sampling rate when the virtual sampling point corresponding to the attention point do not coincide with the real sampling point. The positioning accuracy of the focus is improved to be approximate to an ideal state,and the errors of operations such as optimal sampling point positioning, time (such as period) measurement and the like can be reduced to the maximum extent.

The invention discloses a mobile equipment positioning method and a mobile equipment positioning device. The mobile equipment positioning method comprises the following steps: determining a first group of pose parameters when the mobile equipment shoots a current frame image, and determining a top view of the current frame image; determining a plurality of second groups of pose parameters based onthe first groups of pose parameters; in the high-precision map, determining a plane area in a preset range of a geographic position when the current frame image is shot; projecting the top view intothe plane area based on the plurality of second groups of pose parameters to obtain a plurality of second projection drawings; and based on the matching degree between the plurality of second projection images and the image content of the plane area in the high-precision map, determining a pose parameter of the mobile device when the mobile device shoots the current frame image from the pluralityof second group pose parameters. According to the embodiment of the invention, the method can greatly reduce the impact on the positioning precision from an environment condition, improves the positioning precision, and greatly reduces the positioning cost through the visual camera.

The invention provides a positioning installation structure of an ellipsoidal reflector. The structure comprises a positioning seat located at an ellipsoidal reflector bottom. The positioning seat comprises a circular ring column boss inserted into a circular hole of the ellipsoidal reflector bottom and a positioning circular ring column fixedly connected to the circular ring column boss from top to bottom. Therefore, an axis of the ellipsoidal reflector can be fixed; and even if the ellipsoidal reflector generates thermal expansion and is deformed, the axis is fixed so that an influence of thermal expansion deformation on positioning precision can be reduced.

In order to solve problems that the location precision of a base station-based location algorithm for wireless communication in the prior art is low, and the location precision is largely influenced in a condition of non-line-of-sight (nLOS) propagation, the invention provides a method of locating a mobile terminal by using base station air interface data. Based on coordinates of a serving cell and coordinates of a neighborhood cell, the initial position of the mobile terminal is estimated; then, through the receiving power of the mobile terminal, setting of an nLOS propagation weight in a TOA location algorithm optimizes the previously-obtained initial position, and the final position of the mobile terminal is acquired; or, after setting of the nLOS propagation weight in an AOA (Angle of Arrival) location algorithm optimizes the previously-obtained initial position, the final position of the mobile terminal is acquired. The method of the invention has the beneficial effects that the influences on the location precision by the nLOS propagation in the TOA location algorithm and the AOA location algorithm in the prior art are reduced and the location accuracy of the mobile terminal is thus improved.

The invention provides a position fingerprint updating method and device for wireless positioning. Self-adaptive position fingerprint adjusting is realized to ensure the accuracy of positioning. The method comprises the steps that rounds of voting is carried out based on the signal receiving strength indication, which is detected by a user terminal, of a number of access points; in each round of voting, based on the signal receiving strength indication of a part of access points in a number of access points and the signal receiving strength indication, which is detected at a number of reference positions in advance, of a part of access points, the similarity degree of the position of the user terminal and each reference position is calculated; and if the similarity degree of the position of the user terminal and a reference position is greater than a set threshold value, the position fingerprint at the reference position is updated by using the signal receiving strength indication, which is detected by the user terminal, of the access points other than a part of access points in a number of access points.

The invention discloses a motion track planning method for a precision motion platform. The method comprises the steps of determining a motion track constraint which comprises a first parameter, a second parameter and a third parameter; inputting the first parameter, the second parameter and the third parameter into a motion track function, outputting a motion track ideal position curve changing along with the motion time, and the motion track function being constructed according to the heat effect of a driving motor of the precise motion platform and the impact effect caused by acceleration and / or deceleration of the precise motion platform; and performing data discretization processing on the ideal position curve of the motion track to obtain a motion track discrete position sequence serving as reference input of a servo control module of the precision motion platform.

The invention belongs to the technical field of avionics, and relates to a method for positioning a forest fire by a forest fire fighting helicopter. Onboard infrared detection equipment is used for detecting the forest fire in a forest; when detecting the forest fire, the infrared detection equipment informs an onboard computer, and outputs a pitching angle and an orientation angle of the infrared detection equipment at the moment; an aviation state sensor, an atmosphere sensor, a global positioning system (GPS) sensor and the like are used for acquiring flying parameters, such as the posture, the height, the position and the like of the helicopter; and the position of the forest fire is calculated according to the pitching angle and the orientation angle of the infrared detection equipment and the flying parameters. According to the method, the influence of a flying posture and a complicated terrain on the positioning precision is reduced greatly, so that a pilot can accurately position the forest fire at a position far away from the forest fire without driving the helicopter above the forest fire or close to the forest fire, and the safety is improved. According to the method, the position of the forest fire can be accurately and stably positioned, and firefighters can be correctly guided to put out the fire, so that relatively high loss can be avoided.

The invention discloses a lane level positioning method, device and system and related equipment. The method comprises the steps of positioning the current position of a vehicle, randomly generating a preset number of position points around the current position; for each position point, determining the probability that the position point is possibly a real vehicle position, when the probability is determined, determining the probability that each position point may be the real position of the vehicle in each mode based on various modes such as electronic map errors, line types of lane lines on two sides of a lane where the vehicle is located sensed by at least two sensing technologies, distances to the lane lines on the two sides and the like, fusing the probabilities obtained by the various modes to obtain the final probability, and positioning the position of the vehicle based on the final probability. According to the method, the problem of low accuracy when a single mode is adopted for positioning is solved, the positioning precision of vehicle positioning and robustness in different scenes are improved, lane-level accurate positioning is realized, the method can adapt to different-level positioning requirements of different scenes, and the influence of external factors on the positioning accuracy is reduced.