Research And Improvement Of Three-Dimentional Positioning Algorithm For Industrial

As industrial robots are gradually taken into the production and manufacturing of nowaday's production industry,the high accuracy of localization information are required by the robotic controlling,those are equipped with WiFi communication.Therefore,the accuracy of wireless indoor localization technology based on WiFi has gradually become a significant research area.The specific research in this article mainly contains the following aspects:First of all,this article will make a detailed comparison and analysis indoor positioning technology that are based on WiFi communication technology and fingerprint.Secondly,with starting from the off-line stage of position fingerprint positioning,this article analyzes the influence of the wereless signal fluctuation due to non-line-ofsight propagation environment inflicts the positioning accuracy,when the position fingerprint database is established.Moreover,the relationship of the RSSI versus time domain is analysised in the offline phase of fingerprint positioning as well.eanwhile,the Max mean SMAP algorithm was proposed in this article which regard AP stability and mean value of RSSI as the SMAP feature vector of various reference spot.In the online phase of fingerprint positioning,this article combines the the strongest AP based multiple-attribution classification algorithm to optimize the matching process of the target positioning point and the SMAP feature vector of reference spot.Compared with the traditional fingerprint positioning method,the error of improved method is reduced by about 0.2-0.5 meters while reducing 20% amount of calculation.Compared with the traditional fingerprint positioning method,the improved fingerprint position correlation improvement algorithm proposed in this paper achieves an average positioning error of 1.5 meters and an average positioning accuracy of 15% under the same conditions.Finally,with the increase the fingerprint positioning error due to the large distance between the spacing of reference spots in large indoor space,this article proposes a 3D three-AP tetrahedron localization algorithm that is based on the improved location fingerprint fingerprinting method.The algorithm uses the tetrahedron composed of the target and three APs and the linear transformation of matrix to accurately localize the 3D indoor space of the target positioning point which improve the positioning accuracy of the position fingerprint positioning.This combined method can compensate for the large positioning error caused by the large average distance between the positioning reference points of the position fingerprint,and at the same time reduce the positioning average error range to 1.5 meter.