CN108008353B - Method for ensuring anchor position stability by utilizing anchor point mutual ranging - Google Patents
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Abstract
The invention belongs to the technical field of wireless real-time positioning, and provides a method for ensuring the position stability of an anchor point by utilizing anchor point mutual ranging, which comprises the following steps: constructing an initial anchor point distance table: and setting a sequence number corresponding to each anchor point as A [ N ]]The server constructs an initial anchor point distance table according to the preset anchor point position and records the initial anchor point distance table as T0(ii) a Constructing a real-time anchor point distance table: the anchor points are subjected to periodic mutual ranging, the server constructs a real-time anchor point distance table according to data measured by each anchor point period, and the table is recorded as TFruit of Chinese wolfberry(ii) a And (3) analysis and comparison: comparing the real-time anchor point distance table obtained in each period with the initial anchor point distance table, judging the stability of each anchor point position, and when finding that a certain anchor point moves, initiating an alarm and informing a system administrator. The invention has ingenious conception and simple and convenient operation, and solves the technical problems that in the prior art, the anchor point does not have special personnel and equipment to monitor the position of the anchor point, and the positioning result of a positioning system is easy to have larger deviation when in use.
Description
Technical Field
The invention belongs to the technical field of wireless real-time positioning, and relates to a method for ensuring the position stability of an anchor point by utilizing anchor point mutual ranging.
Background
When a wireless real-time positioning system is erected, two types of equipment are needed, wherein one type of equipment is used as a position reference and is called as an anchor point, and the other type of equipment is used as a positioning target and is called as a label. The label calculates the current position in real time by acquiring sampling data from a plurality of anchor points. The sampled data may be signal strength, time of arrival, azimuth, distance, etc.
The anchor point is used as a position reference and is fixedly arranged in common application; in addition, in various positioning algorithms, the position information of the anchor point is also used. The anchor point and its nominal position are therefore critical to the positioning system.
In many application scenes, the anchor point is erected in a wide space, no special personnel or equipment is used for monitoring the position of the anchor point, and the positioning result of the positioning system is easy to generate large deviation in use.
Disclosure of Invention
The invention provides a method for ensuring the stability of anchor point positions by utilizing anchor point mutual distance measurement, which solves the technical problems that in the prior art, anchor points do not have special personnel and equipment for monitoring the positions of the anchor points, and the positioning results of a positioning system are easy to have larger deviation when in use.
The technical scheme of the invention is realized as follows:
a method for ensuring the position stability of an anchor point by utilizing anchor point mutual ranging comprises the following steps:
constructing an initial anchor point distance table: and setting a sequence number corresponding to each anchor point as A [ N ]]The server constructs an initial anchor point distance table according to the preset anchor point position and records the initial anchor point distance table as T0；
Constructing a real-time anchor point distance table: the anchor points are subjected to periodic mutual ranging, the server constructs a real-time anchor point distance table according to data measured by each anchor point period, and the table is recorded as TFruit of Chinese wolfberry；
And (3) analysis and comparison: comparing the real-time anchor point distance table obtained in each period with the initial anchor point distance table, judging the stability of each anchor point position, and when finding that a certain anchor point moves, initiating an alarm and informing a system administrator;
wherein, T0And TFruit of Chinese wolfberryAre two-dimensional data, respectively denoted as T0[N][N]And TFruit of Chinese wolfberry[N][N]。
As a further technical solution, a correction step is provided between the initial anchor point distance table construction step and the real-time anchor point distance table construction step, and the correction step includes the following steps:
constructing a temporary anchor point distance table: after the positioning system is erected, the first time is carried out between anchor pointsThe mutual distance measurement is carried out, the result is transmitted to a server, and the server constructs a temporary anchor point distance table which is recorded as T according to the result1；
And (3) correcting the anchor point coordinates: comparison T1All effective distances and T in the table0The data of the corresponding position in the image are within the error range, and the preset anchor point coordinate is considered to be reliable; otherwise, checking the coordinates of the anchor points corresponding to the lines with concentrated errors, measuring the coordinates of the anchor points again, and restarting the process;
rebuilding an initial anchor point distance table: when T is1All effective distances and T in the table0When the data of the corresponding positions in the table are within the error range, T is determined1Write back data to T0As the initial anchor point distance table for later use;
wherein, T1Is two-dimensional data, denoted as T1[N][N]。
As a further technical solution, the analyzing and comparing step includes the steps of:
and (3) comparing line by line: after the real-time anchor point distance table is constructed, the real-time anchor point distance table is compared with the initial anchor point distance table line by line;
column by column comparison: after the line-by-line comparison is completed, the server compares the real-time anchor point distance table with the initial anchor point distance table line by line to determine whether the positions of the anchor points are stable.
As a further technical solution, the judgment basis of the row-by-row comparison step and the column-by-column comparison step is as follows:
(A) all current measured values of the line are consistent with the corresponding effective initial value data, and the position of the anchor point A [ k ] of the line is judged to be stable;
(B) all the current measured values of the line are inconsistent with the data of the effective initial value, and the anchor point A [ k ] position of the line is judged to have great possibility of changing;
(C) if the line has no effective measurement value currently, the anchor point A [ k ] is judged to be possibly failed, and the position is also possibly changed greatly;
(D) the line has some anchor point measurement T1[ k ]][j]Is not consistent with the data of the valid initial valueThe measured value is consistent with the effective initial value data, and the line anchor point A [ k ] can be judged at the moment]The position is probably not changed, and the anchor point A [ j]The position can be changed greatly; further determination of the need to check T1[j]A row;
(E) most of the measured values of the row are inconsistent with the data of the effective initial value, only a few of the measured values are consistent with the data of the effective initial value, and the anchor point A [ k ] position can be judged to have great possibility of changing; further decisions require inspection of other rows.
As a further technical solution, the method further comprises a peripheral anchor point detection step, wherein the peripheral anchor point detection step comprises the following steps:
constructing an initial peripheral anchor point table: the peripheral anchor point table is marked as a one-dimensional array S [ M ]]Simultaneously designating an adjacent anchor sequence table A [ M ]]M is the number of adjacent anchor points of the current anchor point, and the initial peripheral anchor point is represented as S0[M]The server sends the initial anchor point distance table to the anchor point after the reconstruction step of the initial anchor point distance table is completed;
constructing a real-time peripheral anchor point table: current anchor point A0After ranging with the adjacent anchor point, the new ranging result is pressed at A [ M ]]The temporary surrounding anchor point list S is filled in by the specified anchor point sequence1[M]Namely, the real-time peripheral anchor point table is obtained;
comparing the peripheral anchor point table: (ii) a A. the0After ranging with all adjacent anchor points is completed, S is compared1And S0And judging the stability of each anchor point position.
As a further technical solution, the determination basis of the peripheral anchor point table comparison step is as follows:
(A) all measured values are consistent with the data of the initial values, and A is judged0The position is stable and unchanged;
(B) all measured values are null, decision A0In case of failure, A0Sending an alarm;
(C) all the measured values are inconsistent with the data of the initial values, and A is judged0Change in position of A0Sending an alarm;
(D) with only individual measurements (e.g. S)1[i]) And an initial value (S)0[i]) The measured values are inconsistent, and most of the measured values are consistent with the initial values; judgment A0No movement occurs, and individual anchor points (A [ i ]]) Is moved, ai]Sending an alarm;
(E) most of the measured values are inconsistent with the data of the initial values, and only a few of the measured values are consistent with the data of the initial values, and A is judged0The position changes and causes it to issue an alarm.
The invention has the following using principle and beneficial effects:
the method adopts a wireless positioning technology based on ranging, and obtains a distance relation table of anchor points through mutual ranging between the anchor points; the anchor point determines whether to send a moved alarm by monitoring the distance change between the anchor point and the peripheral anchor point; and the positioning server alarms the anchor points which are obviously changed by monitoring the distance relation table between the anchor points, and managers timely process the anchor points so as to ensure that the position parameters of the anchor points are consistent with preset values, thereby ensuring the positioning precision of the positioning system.
The system mainly comprises two parts of a computing server and an anchor point for positioning. The computer server is responsible for receiving data of mutual ranging from anchor points and generating a distance relation table among all the anchor points; and when the distance relation table of a certain anchor point is monitored to change, initiating an alarm. The anchor point can normally sample data; while supporting ranging between each other.
The implementation process of the method is mainly divided into the following cases:
the first condition is as follows: the positioning system is just erected, and the positions of all anchor points are consistent with the preset value
At the moment, each anchor point works normally, and the positioning system also works normally. At the moment, periodic mutual distance measurement is carried out between anchor points, and the distance measurement result is transmitted back to the server; and the server constructs a distance relation table between anchor points according to the ranging result.
Case two: the anchor point position changes, but the normal work can still be realized.
At the moment, periodic mutual distance measurement can still be carried out between anchor points, and the distance measurement result is transmitted back to the server; the server can still construct a distance relation table between anchor points according to the ranging result. However, comparing the distance relation table obtained by the server with the distance relation table obtained by using the preset value, the relevant rows/columns with changed positions can also be obviously changed. Meanwhile, the anchor point with the changed position can also be detected, and the distance between the anchor point and the surrounding anchor points is obviously changed.
Case three: the position of the anchor point changes and can not work normally
At this time, the anchor point cannot perform periodic mutual ranging with other anchor points, and in the distance relation table between anchor points, the row/column related to the anchor point will be blank.
In the above three cases, when the second and third cases occur, the computing server needs to initiate an alarm to notify the manager to process in time. Therefore, by periodically measuring distance between anchor points and analyzing the anchor point distance relation table constructed by the anchor points, the change condition of the anchor point position can be quickly obtained, and the reliability and the precision of the position calculation of the positioning system are ensured.
The method mainly has the following advantages:
1. simple implementation and low cost
The real-time monitoring of the positioning anchor point equipment can be realized without adding hardware equipment.
2. Ensuring positioning reliability and precision
By monitoring the anchor point, inaccurate positioning caused by factors such as anchor point position change and the like is avoided.
3. Reverse verification of positioning parameters
By comparing the distance between the input anchor coordinates with the anchor mutual ranging result, the input anchor coordinates can be reversely checked, so that the error of the output parameters is further reduced, and the reliability of the positioning result is improved.
The construction of the anchor point distance table realizes the integral detection of the whole system, and the construction of the peripheral anchor point table realizes the accurate test of the anchor point position, further ensures the accurate test of the anchor point position and state, and ensures the accuracy of the monitoring result.
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The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a flow chart of the present invention
FIG. 2 is a schematic diagram of a server workflow according to the present invention;
fig. 3 is a schematic view of the anchor point work flow of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 3, the present patent employs a wireless positioning technology based on ranging, and obtains a distance relation table between anchor points by ranging between anchor points; the anchor point determines whether to send a moved alarm by monitoring the distance change between the anchor point and the peripheral anchor point; and the positioning server alarms the anchor points which are obviously changed by monitoring the distance relation table between the anchor points, and managers timely process the anchor points so as to ensure that the position parameters of the anchor points are consistent with preset values, thereby ensuring the positioning precision of the positioning system.
The system mainly comprises two parts of a computing server and an anchor point for positioning. The computer server is responsible for receiving data of mutual ranging from anchor points and generating a distance relation table among all the anchor points; and when the distance relation table of a certain anchor point is monitored to change, initiating an alarm. The anchor point can normally sample data; while supporting ranging between each other.
The implementation process of the method is mainly divided into the following cases:
the first condition is as follows: the positioning system is just erected, and the positions of all anchor points are consistent with the preset value
At the moment, each anchor point works normally, and the positioning system also works normally. At the moment, periodic mutual distance measurement is carried out between anchor points, and the distance measurement result is transmitted back to the server; and the server constructs a distance relation table between anchor points according to the ranging result.
Case two: the anchor point position changes, but the normal work can still be realized.
At the moment, periodic mutual distance measurement can still be carried out between anchor points, and the distance measurement result is transmitted back to the server; the server can still construct a distance relation table between anchor points according to the ranging result. However, comparing the distance relation table obtained by the server with the distance relation table obtained by using the preset value, the relevant rows/columns with changed positions can also be obviously changed. Meanwhile, the anchor point with the changed position can also be detected, and the distance between the anchor point and the surrounding anchor points is obviously changed.
Case three: the position of the anchor point changes and can not work normally
At this time, the anchor point cannot perform periodic mutual ranging with other anchor points, and in the distance relation table between anchor points, the row/column related to the anchor point will be blank.
In the above three cases, when the second and third cases occur, the computing server needs to initiate an alarm to notify the manager to process in time. Therefore, by periodically measuring distance between anchor points and analyzing the anchor point distance relation table constructed by the anchor points, the change condition of the anchor point position can be quickly obtained, and the reliability and the precision of the position calculation of the positioning system are ensured.
The method mainly has the following advantages:
1. simple implementation and low cost
The real-time monitoring of the positioning anchor point equipment can be realized without adding hardware equipment.
2. Ensuring positioning reliability and precision
By monitoring the anchor point, inaccurate positioning caused by factors such as anchor point position change and the like is avoided.
3. Reverse verification of positioning parameters
By comparing the distance between the input anchor coordinates with the anchor mutual ranging result, the input anchor coordinates can be reversely checked, so that the error of the output parameters is further reduced, and the reliability of the positioning result is improved.
When in use, the server constructs an initial anchor point distance table according to a preset anchor point position; periodically initiating a mutual ranging command to an anchor point (or automatically initiating a mutual ranging function by the anchor point); constructing an anchor point distance table according to the received anchor point distance; comparing the anchor point distance table obtained in the period with the initial anchor point distance table, when a certain line is obviously changed, initiating an alarm and informing a system administrator. Meanwhile, the positioning anchor points perform mutual distance measurement spontaneously or periodically under the control of the server, detect the mutual distance between the positioning anchor points and other anchor points at the periphery, and send an alarm when the distances between the positioning anchor points and a plurality of anchor points at the periphery are obviously changed.
The above processes are almost consistent in the server and anchor point working processes, and the differences are as follows: the mutual distances of all anchor points need to be detected at the server side, so that the server side processes an anchor point distance table of N × N, wherein N is the total number of anchor points in operation; an anchor only needs to check its distance to its neighbors, so it handles a list of surrounding anchors of 1 × M, where M is the total number of its neighbors and M is not greater than N.
The anchor point distance table is constructed and used as follows:
(1) initial anchor distance table construction
The anchor distance table may be implemented using a two-dimensional array T [ N ]][N]To express, an anchor order list A [ N ] is assigned]And N is the total number of anchor points in operation. At this point, the array element T [ i ]][j]I.e. can be used to represent the anchor point a i]And anchor point A [ j]The distance of (d); because in general A [ i ]]To A [ j ]]A distance sum of A [ j ]]To A [ i ]]Is equivalent, so, in general, T [ i ]][j]＝T[j][i]，T[i][i]0; in all the above expressions, i and j are natural numbers smaller than N. Initial anchor point distance table T0[N][N]The anchor point coordinate calculation method can be obtained by calculating a two-point distance formula in a three-dimensional space according to a preset anchor point coordinate.
(2) Initial anchor distance table correction
Positioning system mountingAfter finishing, carrying out anchor point mutual distance measurement operation at once, and obtaining a temporary anchor point distance table T by utilizing anchor point mutual distance measurement results1[N][N](ii) a Comparison T1All effective distances and T in the table0If the difference of the data of the corresponding position is within the error range, the preset anchor point coordinate is considered to be reliable, otherwise, the coordinate of the anchor point corresponding to the line with the concentrated error can be checked, the coordinate of the anchor point is measured again, and the process is restarted. This is a reverse check of the positioning parameters.
When T is1All effective distances and T in the table0When the data at the corresponding positions in the table are within the error range (called data consistent, and vice versa called data inconsistent), T is set1Write back data to T0As the initial anchor point distance table for later use; at this time T0The table excludes range values that are not actually available due to the inability of the base station to range.
(3) Real-time anchor point distance table T in use processFruit of Chinese wolfberryTable of distances from initial anchor point T0Comparison
The initial anchor point distance table T0 will not be modified after the construction is complete unless the administrator intervenes.
After each mutual ranging period is completed, the computing server re-fills the temporary anchor point distance table T according to the mutual ranging result reported by the anchor pointFruit of Chinese wolfberry(ii) a After completion of the filling, T is compared line by lineFruit of Chinese wolfberryAnd T0E.g. by TFruit of Chinese wolfberry[k]Line and T0[k]The rows are compared. The results of the comparison may be as follows:
(A) all current measured values of the row are consistent with the corresponding effective initial value data, and the anchor point A [ k ] can be judged to be stable and unchanged at the moment.
(B) All current measurements in the row are inconsistent with the data for valid initial values, at which point it can be determined that the anchor point ak position has a large potential to change.
(C) The row currently has no valid measurements, at which point it can be determined that anchor point A [ k ] is malfunctioning, and that there is a large possibility of a change in position.
(D) A certain measured value T of the line1[k][j]And is provided withIf the data of the valid initial value is inconsistent and the other measured values are consistent with the data of the valid initial value, it can be determined that: anchor point A [ k ]]The position is probably not changed, and the anchor point A [ j]The position can be changed greatly; further determination of the need to check T1[j]And (6) rows.
(E) Most of the measured values of the row are inconsistent with the data of the effective initial value, and only a few of the measured values are consistent with the data of the effective initial value, at this time, it can be determined that: the anchor point ak position has a great possibility to change; further decisions require inspection of other rows.
Through the above process, all anchor points where a change in position or a failure may occur can be obtained.
In order to further increase the accuracy of anchor point position stability detection, the invention also sets a peripheral anchor point detection step as auxiliary detection of anchor point position detection, the peripheral anchor point table refers to a distance table between each anchor point and other anchor points within the self-measurable range, and the structure and the using process of the peripheral anchor point table are as follows:
(1) construction of peripheral anchor point table
The peripheral anchor point table can be a one-dimensional array S [ M ]]To express, a sequence table A [ M ] of adjacent anchor points is assigned]And M is the neighborhood of the current anchor point. At this time, the array element S [ i ]]I.e. can be used to represent the current anchor point a0And anchor point A [ i]The distance of (c).
Initial peripheral anchor table S0[M]The initial anchor point distance table can be constructed by the calculation server and then sent to the anchor point; and then, the anchor points only need to carry out mutual ranging according to the table (because other anchor points are unreachable for ranging, no longer need to be measured).
(2) Comparison of peripheral anchor tables
Current anchor point A0After ranging with the adjacent anchor point, the new ranging result is pressed at A [ M ]]The temporary surrounding anchor point list S is filled in by the specified anchor point sequence1[M]；A0After ranging with all adjacent anchor points is completed, S is compared1And S0The corresponding position of (a). The comparison may be as follows:
(A) all measured values are consistent with the data of the initial values, and A can be judged0The position is stable and has no change.
(B) All measurements are empty, at which point A can be determined0Failure, if possible, A0An alarm needs to be issued.
(C) All the measured values are inconsistent with the data of the initial values, and A can be judged0If possible, an alarm is required.
(D) With only individual measurements (e.g. S)1[i]) And an initial value (S)0[i]) The measured values are inconsistent, and most of the measured values are consistent with the initial values; at this time, A can be judged0There is a high probability that no movement occurs, but individual anchor points (A [ i ]]) Movement is highly likely to occur; at this time, an alarm can be given as required.
(E) Most of the measured values are inconsistent with the data of the initial values, and only a few of the measured values are consistent with the data of the initial values, it can be determined that: a. the0There is a great chance that the position may change, at which point an alarm should be given if possible.
The construction of the anchor point distance table realizes the integral detection of the whole system, and the construction of the peripheral anchor point table realizes the accurate test of the anchor point position, further ensures the accurate test of the anchor point position and state, and ensures the accuracy of the monitoring result.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (5)
1. A method for ensuring the position stability of an anchor point by utilizing anchor point mutual ranging is characterized by comprising the following steps:
constructing an initial anchor point distance table: and setting a sequence number corresponding to each anchor point as A [ i ]]And the server constructs an initial anchor point distance table which is marked as T according to the preset anchor point position, wherein i is 1-N0；
Constructing a temporary anchor point distance table: after the positioning system is erected, primary mutual measurement is carried out between anchor pointsThe distance and the result are transmitted to a server, and the server constructs a temporary anchor point distance table which is recorded as T according to the result1；
And (3) correcting the anchor point coordinates: comparison T1All effective distances and T in the table0The data of the corresponding position in the image are within the error range, and the preset anchor point coordinate is considered to be reliable; otherwise, checking the coordinates of the anchor points corresponding to the lines with concentrated errors, re-measuring the coordinates of the anchor points, and re-starting the temporary anchor point distance table construction and anchor point coordinate correction processes;
rebuilding an initial anchor point distance table: when T is1All effective distances and T in the table0When the data of the corresponding positions in the table are within the error range, T is determined1Write back data to T0As the initial anchor point distance table for later use;
constructing a real-time anchor point distance table: the anchor points are subjected to periodic mutual ranging, the server constructs a real-time anchor point distance table according to data measured by each anchor point period, and the table is recorded as TFruit of Chinese wolfberry；
And (3) analysis and comparison: comparing the real-time anchor point distance table obtained in each period with the initial anchor point distance table, judging the stability of each anchor point position, and when finding that a certain anchor point moves, initiating an alarm and informing a system administrator;
wherein, T0、T1And TFruit of Chinese wolfberryAre two-dimensional data, respectively denoted as T0[i][j]、T1[i][j]And TFruit of Chinese wolfberry[i][j]，i＝1～N，j＝1～N。
2. The method of claim 1, wherein the step of analyzing and comparing comprises the steps of:
and (3) comparing line by line: after the real-time anchor point distance table is constructed, the real-time anchor point distance table is compared with the initial anchor point distance table line by line;
column by column comparison: after the line-by-line comparison is completed, the server compares the real-time anchor point distance table with the initial anchor point distance table line by line to determine whether the positions of the anchor points are stable.
3. The method of claim 2, wherein the step of comparing row by row and the step of comparing column by column are based on the following criteria:
(A) all current measured values of the line are consistent with the corresponding effective initial value data, and the position of the anchor point A [ k ] of the line is judged to be stable;
(B) all the current measured values of the line are inconsistent with the data of the effective initial value, and the anchor point A [ k ] position of the line is judged to have great possibility of changing;
(C) if the line has no effective measurement value currently, the anchor point A [ k ] is judged to be possibly failed, and the position is also possibly changed greatly;
(D) a certain anchor point measured value T of the lineFruit of Chinese wolfberry[k][j]The line anchor point A k may be determined if the data is inconsistent with the valid initial value data and the other measurements are consistent with the valid initial value data]The position is probably not changed, and the anchor point A [ j]The position can be changed greatly; further determination of the need to check TFruit of Chinese wolfberry[j]A row;
(E) most of the measured values of the row are inconsistent with the data of the effective initial value, only a few of the measured values are consistent with the data of the effective initial value, and the anchor point A [ k ] position can be judged to have great possibility of changing; further decisions require inspection of other rows.
4. The method for ensuring the position stability of the anchor point by utilizing the anchor point mutual ranging according to any one of claims 1 to 3, characterized by further comprising a peripheral anchor point detection step, wherein the peripheral anchor point detection step comprises the following steps:
constructing an initial peripheral anchor point table: the peripheral anchor point table is marked as a one-dimensional array S [ M ]]Simultaneously designating an adjacent anchor sequence table A [ M ]]M is the number of adjacent anchor points of the current anchor point, and the initial peripheral anchor point is represented as S0[M]The server sends the initial anchor point distance table to the anchor point after the reconstruction of the initial anchor point distance table is completed;
constructing a real-time peripheral anchor point table: at presentAnchor point A0After ranging with the adjacent anchor point, the new ranging result is pressed at A [ M ]]The temporary surrounding anchor point list S is filled in by the specified anchor point sequence1[M]Namely, the real-time peripheral anchor point table is obtained;
comparing the peripheral anchor point table: a. the0After ranging with all adjacent anchor points is completed, S is compared1And S0And judging the stability of each anchor point position.
5. The method of claim 4, wherein the comparison of the peripheral anchor point table is based on the following criteria:
(A) all measured values are consistent with the data of the initial values, and A is judged0The position is stable and unchanged;
(B) all measured values are null, decision A0In case of failure, A0Sending an alarm;
(C) all the measured values are inconsistent with the data of the initial values, and A is judged0Change in position of A0Sending an alarm;
(D) only individual measured values S1[i]And an initial value S0[i]The measured values are inconsistent, and most of the measured values are consistent with the initial values; judgment A0No motion occurs and individual anchor points A [ i ]]Is moved, ai]Sending an alarm;
(E) most of the measured values are inconsistent with the data of the initial values, and only a few of the measured values are consistent with the data of the initial values, the position of A0 is judged to be changed, and an alarm is sent out.
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| CN201711270125.6A CN108008353B (en) | 2017-12-05 | 2017-12-05 | Method for ensuring anchor position stability by utilizing anchor point mutual ranging |
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| CN109029427B (en) * | 2018-06-26 | 2020-10-16 | 北京永安信通科技有限公司 | Object positioning method, object positioning device and electronic equipment |
| CN109633544B (en) * | 2018-12-26 | 2021-04-06 | 奇点新源国际技术开发(北京)有限公司 | Anchor point coordinate calibration method, anchor point positioning method and device |
| CN113452565A (en) * | 2021-07-02 | 2021-09-28 | 国网辽宁省电力有限公司营口供电公司 | Method for monitoring forwarding table cross-point problem of communication network machine by transformer substation |
| CN116527482A (en) * | 2023-04-07 | 2023-08-01 | 浙江极氪智能科技有限公司 | Anchor point fault detection method and device for vehicle and storage medium |
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