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A positioning correction method based on distance measurement

A technology of ranging error and positioning results, which is applied in the field of regional relative positioning, can solve problems such as the increase of positioning error, and achieve the effect of high positioning accuracy

Inactive Publication Date: 2011-12-21
ZHEJIANG UNIV
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  • Abstract
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Problems solved by technology

[0003] However, in the ranging-based no-reference node positioning of a large number of discrete nodes, the positioning error of the target node has a great relationship with the selected coordinate system and the position of the target node, and in some cases, the positioning error may suddenly increase

Method used

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  • A positioning correction method based on distance measurement
  • A positioning correction method based on distance measurement
  • A positioning correction method based on distance measurement

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Experimental program
Comparison scheme
Effect test

Embodiment

[0036] 1) Measure the distribution of ranging errors through a large number of experiments before the start of positioning;

[0037] For the ranging development board based on chirp signal of nanoLOC company, it can be seen from the experiment that within the range of zero to one hundred meters, the probability of the absolute error of the ranging result after adaptive filtering is more than 90% falls in the interval [-1 ,1], and the statistical results are shown as random numbers in this interval, which approximately satisfy the geometric distribution.

[0038] 2) After starting positioning, in each ranging process, estimate the possible range of the actual distance value corresponding to the errored distance value measured this time according to the previously measured error distribution, that is, if the measured distance is x meters, the possible range of the actual distance is [x-1, x+1] meters;

[0039] 3) Position according to the possible range of the actual distance b...

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Abstract

The invention discloses a positioning correction method based on distance measurement. The method comprises the following steps of: 1, acquiring a distribution condition of a distance measurement error through tests; 2, estimating a probable range of an actual distance value corresponding to a distance measurement value with errors according to the error distribution during distance measurement each time; 3, positioning according to the probable range of an actual distance between a target node and a plurality of other nodes, and calculating a probable range of an actual position of the target node; 4, taking the center of the probable range as a positioning result if the probable range is not greater than an expected value, otherwise repeating the step 3 according to a distance measurement result of the target node and the other nodes until three groups of probable ranges of the actual position of the target are obtained; and 5, estimating the probable range of the actual position according to the probable ranges and taking the center of the probable range as a corrected position of the target node. The method has the characteristics of small computation increase, no need of extra distance measurement and high positioning precision after correction.

Description

technical field [0001] The invention relates to the technical field of regional relative positioning, and proposes a correction method for ranging-based positioning without a fixed reference node. Background technique [0002] No reference node positioning based on distance measurement does not need to place fixed nodes in advance, but automatically selects several suitable nodes to form a reference coordinate system according to the node distribution. It has the characteristics of less system equipment, no restrictions on use conditions, and high positioning accuracy. It is especially suitable for the field. The positioning of a large number of discrete nodes and the positioning of personnel and materials in various emergencies. [0003] However, in the range-based no-reference node positioning of a large number of discrete nodes, the positioning error of the target node has a great relationship with the selected coordinate system and the position of the target node, and in...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/00
Inventor 徐杨成东峻郭翔俞靖黎建辉王楠任阳
Owner ZHEJIANG UNIV
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