- مبلغ: ۸۶,۰۰۰ تومان
- مبلغ: ۹۱,۰۰۰ تومان
With anchor positions and measurements of distances between an object and anchors, positioning algorithms calculate the position of an object, e.g. via lateration. Positioning systems require calibration and configuration prior to operation. In the past, approaches employed reference nodes with GPS or other reference location systems to determine anchor positions. In this article, we propose an approach to determine anchor positions without prior knowledge. We evaluate our approach with simulations and real data based on the Decawave DW1000 radio and show that the error is proportional to the mean error of the distance estimation.
We have proposed an iterative approach to calculate anchor positions based on distance measurements between anchor nodes. We solved the positioning problem with a Taylor expansion combined with a Monte Carlo approach to avoid ambiguity flip. Simulation shows that the approach successfully determines positions of anchors. However, accuracy of the anchor positions depends on the quality of distance measurements. We achieved a mean positioning error of 0.62 m with the Decawave DW1000 radio under real conditions. The performance of the positioning estimation is degraded as a result of erroneous distance measurements due to multipath effects which affects the outcome of the algorithm. Simulations show that with precise distance measurements the algorithm produces accurate results. In future work, we compare this method to other state of the art methods.