CN103760585A - Satellite and earth combination positioning method applicable to forest region - Google Patents
Satellite and earth combination positioning method applicable to forest region Download PDFInfo
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
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Abstract
The invention discloses a satellite and earth combination positioning method applicable to a forest region. A handheld positioning device supporting wireless network positioning is arranged on a static target point, to be measured, in the forest region, the distance between the static target point to be measured and wireless network base stations is obtained according to radio-frequency signals which are sent by the three or more wireless network base stations and are received by the handheld positioning device, the signal strength and forest region correction factors, and the coordinate of the static target point to be measured relative to the three wireless network base stations is calculated. In order to measure a moving target, a starting point is selected, a first positioning coordinate is obtained through the static target positioning method, a user holds the handheld positioning device with an angular velocity transducer, and moves from the starting point to a point to be measured, and a relative coordinate of the first positioning coordinate is calculated according to the change angle, recorded in the process of movement, in the vector direction and acceleration information recorded in the process of movement; after the relative coordinate and base station satellite positioning coordinates are processed in a time synchronization mode, the relative coordinate and the base station satellite positioning coordinates are fused in a positioning server side, and the positioning coordinate of the point to be measured is obtained.
Description
Technical field
The present invention relates to Forestry Information field, in particular to a kind of star-ground of applicable forest zone in conjunction with localization method.
Background technology
GLONASS (Global Navigation Satellite System) (Global Navigation Satellite System, GNSS) be global position and timing system, comprise satellite constellation, ground monitoring system and subscriber terminal equipment, can be earth surface, near surface and earth outer space anywhere user round-the-clock, real-time, high accuracy three-dimensional position, speed and accurate temporal information are provided." triones navigation system " that at present satellite navigation and location system mainly contains China in the world (BD), " GPS " (Global Positioning System of the U.S., GPS), Muscovite " global orbiting navigation satellite system " (Global Navigation Satellite System, GLONASS) and Europe " galileo satellite navigation system " (Galileo satellite navigation system, Galileo).Along with global position system is improved and the improving constantly of satellite positioning tech day by day, GNSS has been applied in a plurality of fields of national economy, at industry-by-industries such as traffic, safety, mapping, agricultural, forestry, meteorology, searching rescue, environmental monitorings, is bringing into play more and more important effect.
Along with global position system day by day improve and the development of satellite positioning tech with ripe, satellite positioning tech maturation is applied to each large fields such as traffic, logistics, mapping, communication.In China's field of forestry application, what use the earliest is the gps system of the U.S., and at present, the Big Dipper positioning system of Muscovite GLONASS system and China's independent development is also applied to China's field of forestry gradually.Since GPS is applied to forestry, domestic many experts, scholar are devoted to satellite positioning tech in the research of forestry applications, substantially be summarized as the following aspects: 1) forest inventory investigation and management, comprise sample and investigate, the surveying of various boundary lines, forest distributed areas mensuration, forest land area measurement, cutting area on-site survey, cutting area design, the investigation of woods political affairs case, ancient and well-known trees location etc.; 2) Forestry Engineering is measured; 3) afforestation, comprises aerial seeding, afforestation classification and examination etc.; 4) forest fire protection, comprises that location, the scene of a fire, burnt area are measured, assessment etc. is lost in the scene of a fire; 5) Animal resources investigation and wild animals and plants protection; 6) forest tour and field study.
At present, satellite positioning tech extensively drops into application in China's field of forestry, but in the application of forest zone practical business, there is the problems such as undergrowth environment signal difference, location inefficiency, precision are low, to such an extent as to can not meet the positional precision demand of partial service, especially particularly evident at southern high mountain, densely-wooded area performance.Affect a lot of because have of positioning precision, the people such as American scholar Christopher show the research of GPS location precision crown canopy, landforms and distance, precision and the efficiency of crown canopy and landforms interference meeting reduction location.Chinese scholar Nie Yu algaes etc. are to the RTD GPS repetition measurement test under differently class, different terrain, different ranging, different crown canopy, have carried out crown canopy and mountain region to GPS location precision and have subdued the research of countermeasure, and result shows that mountain valley positioning precision is lower than hillside.Chinese scholar Tan Wei etc. have carried out the research of handhold GPS positioning precision under Different forest stands, result shows sylvan life handhold GPS positioning precision and Canopy densities, it is close to measure the factor relations such as weather, little with measurement period relation, canopy density are higher, and positioning precision is lower.Chinese scholar Xu Wen soldier etc. has carried out the research of forest zone topographic condition to GPS location precision, and research shows that high canopy density forest zone positioning precision is low, and near multipath effect waters is less than the barrier effect of buildings to signal to the impact of positioning result.
Foreign scholar Wei Xi is diligent to be waited and has studied the precision problem that the forest reserves one class is checked permanent sample plot point location continuously, but precision is undesirable, and its error is on average at 54m, and minimum also has 15m.Hand held GPS receiver area measurement accuracy test has been carried out in old Huaan of Chinese scholar etc., experiment showed, that block area is less than 600m
2time, area measurement error can surpass 5%, can not meet the requirement of forest inventory investigation, and plot is less, and relative error is just larger; Canopy density can affect gps signal and receive, and influence area measuring accuracy; In Grand Canyon, be difficult to position and area measurement.Signal difference, the low satellite positioning tech impassable problem in the application of actual forest zone that become of positioning precision.
Summary of the invention
The invention provides a kind of star-ground of applicable forest zone in conjunction with localization method, in order to overcome at least one problem existing in prior art.
For achieving the above object, the invention provides a kind of star-ground of applicable forest zone in conjunction with localization method, comprise the following steps:
First for test zone, select the relatively open or Canopy densities I in some places (being no less than 3 places) to lay wireless network base station to receive the place of satellite positioning signal, surrounding and the inside that is distributed in test zone straggly of trying one's best, these base stations, positioning system or other method can be determined the accurate location information of base station via satellite.Mensuration for static target, the hand-held positioning equipment of supporting wireless network location is placed in to the tested point in forest zone, the radiofrequency signal that is no less than 3 wireless network base stations transmissions receiving according to hand-held positioning equipment, according to signal intensity and forest zone modifying factor, obtain the distance of tested point and wireless network base station, thereby calculate the relative coordinate of tested point and 3 wireless network base stations; Or for the mensuration of moving target, according to the positioning equipment of supporting inertial navigation location, obtain from location starting point time be carved into direction, the acceleration information of forest zone tested point, integral and calculating obtains the relative coordinate of current location and start position, and the inertial navigation elements of a fix that calculate current time in the elements of a fix and the relative coordinate of starting point according to the positioning equipment of supporting inertial navigation location;
GPS locating module is placed in to wireless network base station, and the satellite-signal receiving according to GPS locating module positions the reference coordinate that obtains wireless network base station;
At location-server end, the terrestrial wireless elements of a fix after time synchronized or the inertial navigation elements of a fix and reference coordinate are merged, obtain the actual location coordinate of tested point.
Optionally, the obtain manner of the described terrestrial wireless elements of a fix is as follows:
The terrestrial wireless elements of a fix of supposing point to be located are (X, Y), and selected three wireless network base station coordinates are respectively (X
a, Y
a), (X
b, Y
b), (X
c, Y
c), and point to be located is respectively R to the distance of base station
a, R
b, R
c, distance R
iby formula
calculate (pl
0the signal intensity that represents base station transmitting, pl
ifor terminal receives the signal intensity of i base station, k is the modifying factor under the environment of forest zone).According to following formula, calculate the terrestrial wireless elements of a fix (X, Y) of tested point:
Optionally, the obtain manner of the described inertial navigation elements of a fix is as follows:
The obtain manner of inertial navigation locator data is as follows:
Suppose that the relative coordinate that inertial navigation locating module obtains is (Δ X, Δ Y), the inertial navigation elements of a fix of current time are (X
i, Y
i), the known locations coordinate in a upper moment is (X
q, Y
q):
X
I＝X
q+ΔX
Y
I＝Y
q+ΔY。
Optionally, the mode terrestrial wireless elements of a fix or inertia being merged to navigator fix coordinate and reference coordinate is as follows:
Hypothetical reference coordinate is (X
s, Y
s), the terrestrial wireless elements of a fix or the inertial navigation elements of a fix are (Δ X
l, Δ Y
l), the accurate coordinates of tested point is (X, Y):
X＝λΔX
L+X
S
Y＝λΔY
L+Y
S
Wherein, λ is the conversion coefficient to satellite location data coordinate system by ground locator data coordinate system.
Optionally, described GPS locating module is placed in the corresponding positioning equipment of the wireless network base station setting up in forest zone.
The present invention proposes star-ground in conjunction with the technical scheme that is positioned at forestry applications, by the tested point of the technology auxiliary positioning forestry such as wireless network auxiliary positioning, inertial navigation, improve the precision of location, overcome the problems such as the signal difference, the positioning precision that exist in location, existing forest zone are low.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 be one embodiment of the invention applicable forest zone star-ground in conjunction with location technical scheme frame diagram;
Fig. 2 is the wireless network assistant GPS technical work schematic diagram of one embodiment of the invention;
Fig. 3 is the wireless network base station location map of one embodiment of the invention;
Fig. 4 is inertial navigation and the GPS navigation combination principle figure of one embodiment of the invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only a part of embodiment of the present invention, rather than whole embodiment.Embodiment based in the present invention, the every other embodiment that those of ordinary skills obtain under the prerequisite of not paying creative work, belongs to the scope of protection of the invention.
The problems such as positioning precision that satellite positioning tech shows in forestry applications is low, signal interference have caused the numerous scholars' of China concern for a long time, they have done large quantity research and test to the satnav precision under the environment of different forest zones, research shows, positioning precision is relevant with factors such as Canopy densities, crown canopy classification, landforms, measurement weathers, and Canopy densities is larger, positioning precision is lower; Mountain valley positioning precision is minimum, take second place in hillside, mountain top positioning precision is the highest; Fine day positioning precision is higher than overcast and rainy, and positioning precision and measurement period relation are little.At present, with regard to a little less than the signal of forest zone, low this problem of positioning precision, also there is no a set of total solution for practical business.
For a little less than solving forest zone signal, positioning precision is low, can not meet the problems such as business demand, ground location technology need to be combined to make up a little less than high canopy density sylvan life satellite-signal with satellite positioning tech or the problem such as cannot locating of causing without satellite-signal.This star-ground in conjunction with the basic ideas of location technology is: area peripheral edge and inside in sylvan life without satellite-signal, select 0 to select position open and that canopy density are little and set up wireless network base station, wireless network base station can be located via satellite and obtain himself coordinate, in forest zone, in conjunction with satellite location data and ground locator data, draw the positional information of tested point, for segment map applied business, also need to use the matching technique of locator data and map datum, make up the deficiency of single locator meams, thereby improve its positioning precision.Be used in the positional information of measuring the inner static target in forest zone and moving target in the faint situation that maybe cannot receive of satellite positioning signal.
Fig. 1 be one embodiment of the invention applicable forest zone star-ground in conjunction with location technical scheme frame diagram; With reference to Fig. 1, the star-ground in applicable forest zone comprises the following steps in conjunction with the method for location:
Mensuration for static target, the hand-held positioning equipment of supporting wireless network location is placed in to the static target tested point in forest zone, the radiofrequency signal that is no less than 3 wireless network base stations transmissions receiving according to hand-held positioning equipment, according to signal intensity and forest zone modifying factor, obtain the distance of tested point and wireless network base station, thereby calculate the relative coordinate of tested point and 3 wireless network base stations; According to the positioning equipment of supporting inertial navigation location, obtain from location starting point time be carved into direction, the acceleration information of forest zone tested point, integral and calculating obtains the relative coordinate of current location and start position, and the inertial navigation elements of a fix that calculate current time in the elements of a fix and the relative coordinate of starting point according to the positioning equipment of supporting inertial navigation location;
Wherein, when adopting the hand-held positioning equipment of supporting wireless network to locate to position static target, need in advance to select the relatively open or Canopy densities I in some places (being no less than 3 places) to lay wireless network base station to receive the place of enough satellite positioning signals for test zone, these wireless network base stations surrounding and inside that is distributed in test zone straggly of trying one's best, positioning system or other method are determined the accurate location information of each wireless network base station via satellite to make it.For the mensuration of static target, hand-held positioning equipment can be placed in forest zone on static target tested point.
When adopting the positioning equipment of supporting inertial navigation to locate to position for moving target, can first select a starting point to use aforesaid static target localization method to obtain first elements of a fix, then use the positioning equipment with angular-rate sensor (gyroscope) to move to tested point from terrestrial wireless elements of a fix indication position, by the direction vector angle changing that records in moving process and acceleration information, calculate the relative coordinate with first elements of a fix.
GPS locating module is placed in to wireless network base station, and the satellite-signal receiving according to GPS locating module positions the reference coordinate that obtains wireless network base station;
At location-server end, the terrestrial wireless elements of a fix after time synchronized or the inertial navigation elements of a fix and reference coordinate are merged, obtain the accurate coordinates of tested point.
Below the targeting scheme that wireless network is combined with satellite, inertial navigation is combined with satellite is set forth respectively, and provide the ultimate principle of integrated positioning.
1. forest zone wireless network is combined targeting scheme with satellite
Wireless network assistant positioning system, its design philosophy is as far as possible by the work simplification of terminal, and the location-servers that hard work is transferred to network one side from terminal one side the most such as satellite scanner uni location computing are completed.The assistant GPS of narrowband CDMA (A-GPS) utilizes terrestrial cellular network to improve the performance of GPS receiver, by directly providing satellite constellation information to carry out auxiliary positioning to GPS receiver, A-GPS system mainly comprises 3 parts: location-server, the receiver with part or full GPS receiver function are connected with radio communication.There is now the A-GPS system of two types: the GPS that mobile base station is auxiliary, mobile base station obtains gps satellite signal and judges corresponding pseudo-code, and the satellite pseudo-code by these with timestamp is delivered to location-server, utilizes these information to carry out calculating location information; GPS based on mobile base station, this technology is the operative norm of a kind of GPS, location-server, for mobile base station provides supplementary, makes mobile base station can calculate the position of himself with this.Fig. 2 is the wireless network assistant GPS technical work schematic diagram of one embodiment of the invention.
The realization flow of targeting scheme of being combined with satellite based on forest zone wireless network is: wireless network base station constantly sends radiofrequency signal to hand-held positioning equipment, and deflection and distance according to wireless network base station to handheld device calculate the three-dimensional coordinate of tested point; Meanwhile, the auxiliary positioning information that the satellite-signal that GPS locating module receives according to it and location-server provide obtains its reference coordinate.Finally, two kinds of locator datas are merged.
The obtain manner of wireless network locator data is as follows:
Suppose that point to be located is for (X, Y), three wireless network base station coordinates are respectively (X
a, Y
a), (X
b, Y
b), (X
c, Y
c), and point to be located is respectively R to the distance of base station
a, R
b, R
c, distance R
iby formula
calculate (pl
0the signal intensity that represents base station transmitting, pl
ifor terminal receives the signal intensity of i base station, k is the modifying factor under the environment of forest zone), positioning relation figure is as shown in Figure 3.
According to following formula, can calculate tested point coordinate (X, Y):
(X-X
a)
2+(Y-Y
a)
2＝R
a 2 （1）
(X-X
b)
2+(Y-Y
b)
2＝R
b 2 （2）
(X-X
c)
2+(Y-Y
c)
2＝R
c 2 （3）
According to above-mentioned 3 derivations of equation, obtain:
2. inertial navigation is combined targeting scheme with satellite
The ultimate principle of inertial navigation is exactly movement locus projectional technique, by course angle and the acceleration of gyroscope and accelerometer continuous coverage carrier, and automatically carries out integral operation, obtains the instantaneous velocity of carrier and the technology of immediate movement data.Inertial navigation system is neither to extraneous emitted energy, also do not receive extraneous any information, therefore have interference-free, can be aloft, underground, use Anywhere under water etc., but pass in time constantly accumulation of positioning error.Using the measured data of inertial navigation system and the measured data of GPS as the multi-source information of location, can calculate the optimal estimation of location.Its integrated navigation system schematic diagram as shown in Figure 4.
The business realizing flow process that patrols of this targeting scheme is: handheld terminal GPS locating module positions and obtains its reference coordinate according to the satellite-signal receiving; Simultaneously inertial navigation locating module calculates relative coordinate, and calculates the elements of a fix of current time according to upper one positional information constantly and the direction of obtaining, acceleration information.Finally, two kinds of locator meams the data obtaineds are merged and obtain accurate coordinates.
The obtain manner of inertial navigation locator data is as follows:
The relative coordinate that inertial navigation obtains is (Δ X, Δ Y), supposes that current positioning coordinate is for (X
i, Y
i), the known locations coordinate in a upper moment is (X
q, Y
q):
X
I＝X
q+ΔX （5）
Y
I＝Y
q+ΔY （6）
Star-ground is patrolling the ultimate principle of service application in conjunction with location technology:
Time synchronized principle formula is as follows:
T
star=T+ Δ t (Δ t=0) (8)
T
ground=T+ Δ t'(9)
According to formula (8), (9), can derive formula (10)
T
star=T
ground-Δ t'(10)
Wherein T is location instantaneous time, T
starfor the positioning time that global position system terminal provides, Δ t is that satellite positioning module gets the co-ordinates of satellite data time used, and generally satellite positioning module has carried out correcting processing for Δ t, so Δ t can be considered 0.T
groundfor the location instantaneous time of terrain object, Δ t' is that location-server receives the time that object location data time used or the microprocessor of inertial navigation positioning system receive navigation information.
Locator data merges principle:
Hypothetical reference coordinate is (X
s, Y
s), the terrestrial wireless elements of a fix or the inertial navigation elements of a fix are (Δ X
l, Δ Y
l), the accurate coordinates of tested point is (X, Y):
X＝λΔX
L+X
S
Y＝λΔY
L+Y
S
Wherein, λ is the conversion coefficient to satellite location data coordinate system by ground locator data coordinate system.
Above-described embodiment is combined ground location technology with satellite positioning tech, be applied to forest zone business, has solved part forest zone signal difference, the low problem that even cannot locate of positioning precision., several key points are wherein: the Time synchronization technique of (1) satnav and location, ground, and only have the time of two kinds of locator meamss to reach synchronously, just locating information can be carried out merging without the time difference, thereby improve the precision after its locator data merges; (2) integration technology of satellite positioning information and ground locating information, the perfection of only having the locating information of two kinds of modes can reach in a kind of mode of mutual supplement with each other's advantages data is merged, and can make up the deficiency of single locator meams, thereby improves positioning precision; (3) matching technique of locating information and navigation map, in some navigation services, especially the forest zone of road more complicated, needs the support of electronic map data, only makes locator data and map road perfect matching, just can make navigation more accurate; (4) Radio Transmission Technology of locating information under the environment of forest zone, the locating information between handheld terminal, location-server all realizes by wireless network alternately, so this technology is also star-ground in conjunction with one of gordian technique of location technology.
The present invention proposes star-ground in conjunction with the technical scheme that is positioned at forestry applications, by the tested point in the forest zones, location, location technology secondary satellite location, ground such as wireless network auxiliary positioning, inertial navigation, improve the precision of its location, overcome the problems such as the signal difference, the positioning precision that exist in location, existing forest zone are low.
One of ordinary skill in the art will appreciate that: accompanying drawing is the schematic diagram of an embodiment, the module in accompanying drawing or flow process might not be that enforcement the present invention is necessary.
One of ordinary skill in the art will appreciate that: the module in the device in embodiment can be described and be distributed in the device of embodiment according to embodiment, also can carry out respective change and be arranged in the one or more devices that are different from the present embodiment.The module of above-described embodiment can be merged into a module, also can further split into a plurality of submodules.
Finally it should be noted that: above embodiment only, in order to technical scheme of the present invention to be described, is not intended to limit; Although the present invention is had been described in detail with reference to previous embodiment, those of ordinary skill in the art is to be understood that: its technical scheme that still can record previous embodiment is modified, or part technical characterictic is wherein equal to replacement; And these modifications or replacement do not make the essence of appropriate technical solution depart from the spirit and scope of embodiment of the present invention technical scheme.
Claims (5)
1. star-the ground in applicable forest zone, in conjunction with a localization method, is characterized in that, comprises the following steps:
Mensuration for static target, the hand-held positioning equipment of supporting wireless network location is placed in to the static target tested point in forest zone, the radiofrequency signal that is no less than 3 wireless network base stations transmissions receiving according to hand-held positioning equipment, according to signal intensity and forest zone modifying factor, obtain the distance of tested point and wireless network base station, thereby calculate the relative coordinate of tested point and 3 wireless network base stations; Or for the mensuration of moving target, support the positioning equipment of inertial navigation location first to select suitable locator meams to obtain the elements of a fix in a certain moment, then inertial navigation locating module be take this constantly as initial, according to information exchanges such as obtained direction, acceleration, cross automatic integration computing and obtain the relative coordinate with this moment, and the current elements of a fix in prediction on such basis.In motion positions process, according to the situations such as environment in application forest zone, utilize GPS locating module or other locator meamss of terminal, not timing is carried out the correction of one-time positioning coordinate to it.
GPS locating module is placed in to wireless network base station, and the satellite-signal receiving according to GPS locating module positions the reference coordinate that obtains wireless network base station;
At location-server end, the terrestrial wireless elements of a fix after time synchronized or the inertial navigation elements of a fix and reference coordinate are merged, obtain the actual location coordinate of tested point.
2. star-the ground in applicable forest zone according to claim 1, in conjunction with localization method, is characterized in that, the obtain manner of the described terrestrial wireless elements of a fix is as follows:
The terrestrial wireless elements of a fix of supposing point to be located are (X, Y), and selected three wireless network base station coordinates are respectively (X
a, Y
a), (X
b, Y
b), (X
c, Y
c), and point to be located is respectively R to the distance of base station
a, R
b, R
c, distance R
iby formula
calculate (pl
0the signal intensity that represents base station transmitting, pl
ifor terminal receives the signal intensity of i base station, k is the modifying factor under the environment of forest zone).According to following formula, calculate the terrestrial wireless elements of a fix (X, Y) of tested point:
3. star-the ground in applicable forest zone according to claim 1, in conjunction with localization method, is characterized in that, the obtain manner of the described inertial navigation elements of a fix is as follows:
The obtain manner of inertial navigation locator data is as follows:
Suppose that the relative coordinate that inertial navigation locating module obtains is (Δ X, Δ Y), the inertial navigation elements of a fix of current time are (X
i, Y
i), the known locations coordinate in a upper moment is (X
q, Y
q):
X
I＝X
q+ΔX
Y
I＝Y
q+ΔY。
4. star-the ground in applicable forest zone according to claim 1, in conjunction with localization method, is characterized in that, the mode that the terrestrial wireless elements of a fix or the inertial navigation elements of a fix and reference coordinate are merged is as follows:
Hypothetical reference coordinate is (X
s, Y
s), the terrestrial wireless elements of a fix or the inertial navigation elements of a fix are (Δ X
l, Δ Y
l), the actual location coordinate of tested point is (X, Y):
X＝λΔX
L+X
S
Y＝λΔY
L+Y
S
Z＝λΔZ
L+Z
S
Wherein, λ is the conversion coefficient to satellite location data coordinate system by ground locator data coordinate system.
5. star-the ground in applicable forest zone according to claim 1, in conjunction with localization method, is characterized in that, described GPS locating module is placed in the corresponding positioning equipment of the wireless network base station setting up in forest zone.
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