Positioning method and device, electronic equipment and readable storage medium

Abstract

The embodiment of the invention provides a positioning method and device, electronic equipment and a readable storage medium. The method is applied to the technical field of wireless positioning. Themethod comprises the following steps of: respectively calculating a difference value between the time when the signal transmitted by each measurement base station reaches the mobile terminal and the time when the signal transmitted by the reference base station reaches the mobile terminal; obtaining each TDOA value; according to the three-dimensional position coordinates of each measurement base station and the reference base station, judging whether the heights between the measurement base stations and between the measurement base stations and the reference base station are the same or not; if yes, measuring the height value of the mobile terminal through air pressure; and taking the height value as a position coordinate of one dimension in the three-dimensional position coordinates of the mobile terminal, and solving the position coordinates of other two dimensions of the mobile terminal through a preset 2.5-dimensional Chan algorithm according to the three-dimensional position coordinates of each measurement base station and the reference base station, each TDOA value, the light speed and the position coordinate of one dimension. The positioning range can be enlarged, and the positioning precision is improved.

Description

technical field [0001] The invention relates to the technical field of wireless positioning, in particular to a positioning method, device, electronic equipment and a readable storage medium. Background technique [0002] Currently, among indoor positioning technologies, positioning technologies based on WLAN (Wireless Local Area Network, wireless local area network), RFID (Radio Frequency Identification Devices, radio frequency identification), Bluetooth, and inertial devices are gradually mature. In the application of indoor positioning technology: WiFi (Wireless-Fidelity, wireless fidelity) positioning system has the characteristics of easy implementation and low cost, and usually adopts the method of fingerprint positioning; inertial navigation system is based on the principle of Newtonian mechanics, relying on gyroscope and acceleration It is designed to complete the positioning and navigation of moving objects under the inertial system; the infrared indoor positioning ...

AI Technical Summary

Problems solved by technology

However, in practical engineering applications, when the estimated value of the initial position is not near the area surrounded by the base station and the terminal, the iteration of the Taylor algorithm will not converge, resulting in the inability to find the position of the mobile terminal, so the initial value of the Taylor algorithm cannot Set directly to fixed coordinates

It can be seen that the positioning range of the above positioning method is small and the positioning accuracy is low

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