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CN116390223B - Indoor cluster target positioning method - Google Patents

Indoor cluster target positioning method Download PDF

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Publication number
CN116390223B
CN116390223B CN202310257187.2A CN202310257187A CN116390223B CN 116390223 B CN116390223 B CN 116390223B CN 202310257187 A CN202310257187 A CN 202310257187A CN 116390223 B CN116390223 B CN 116390223B
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target
node
base station
distance
initial position
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CN116390223A (en
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付少忠
周易
李靖
高明
刘刚
葛建华
田静
吴寅鹏
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Xidian University
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

本发明公开了一种室内集群目标的定位方法，主要解决现有室内集群定位方法无法确定最优虚拟基站、多跳定位时存在累计误差，定位精度较差的问题。其实现步骤为：获取所有节点的测距、自移动信息；选择一个距离基站跳数最小的未定位节点作为待定位目标；计算已定位的每个节点信任值；将已定位节点作为虚拟基站，根据信任值选举虚拟基站并推算待定位目标的初始位置；计算待定位目标的位置补偿矢量，搜索其位置补偿系数，并结合二者补偿位置坐标，计算更新的位置补偿矢量；将更新的位置补偿矢量与设定阈值比较，确定出待定位目标的位置。本发明通过选取虚拟基站对待定位目标进行位置补偿，提高了目标的定位精度，可用于室内集群定位系统。

The present invention discloses a method for positioning indoor cluster targets, which mainly solves the problems that the existing indoor cluster positioning method cannot determine the optimal virtual base station, there are cumulative errors in multi-hop positioning, and the positioning accuracy is poor. The implementation steps are: obtaining the ranging and self-movement information of all nodes; selecting an unlocated node with the smallest number of hops from the base station as the target to be positioned; calculating the trust value of each located node; using the located node as a virtual base station, selecting a virtual base station according to the trust value and calculating the initial position of the target to be positioned; calculating the position compensation vector of the target to be positioned, searching for its position compensation coefficient, and combining the compensated position coordinates of the two to calculate the updated position compensation vector; comparing the updated position compensation vector with the set threshold to determine the position of the target to be positioned. The present invention improves the positioning accuracy of the target by selecting a virtual base station to perform position compensation on the target to be positioned, and can be used for an indoor cluster positioning system.

Description

Indoor cluster target positioning method
Technical Field
The invention belongs to the technical field of communication, and particularly relates to a positioning method of an indoor cluster target, which can be used for a positioning system of a large indoor space.
Background
Services based on location information are widely used in various fields of transportation, medical treatment, logistics, etc. The traditional outdoor positioning technology such as satellites and communication base stations is mature and widely applied. However, most of the time, indoor positioning is in the room, so there is a strong demand, but the outdoor positioning technology is not suitable for the room due to the influence of factors such as building shielding. Various indoor cluster positioning methods are proposed in the industry, and the existing indoor cluster positioning method generally comprises the steps of firstly arranging a plurality of base stations, simultaneously measuring the distance of a target through wireless signals by using the base stations, and then calculating the position of the target through a method for measuring the time of arrival TOA and the time difference of arrival TDOA.
In order to solve the above-mentioned problems, 2021, li Mingdong, in the master graduation paper, proposes an indoor cluster positioning method, which introduces a two-node relative positioning algorithm, uses all the positioned nodes as virtual base stations, and when the number of the base stations does not meet the condition of the TOA method, arbitrarily selects one virtual base station to calculate the position of the target by using the two-node relative positioning algorithm. In the method, although the clusters in the large indoor space can be positioned without arranging the base stations in advance, if the target to be positioned is in the coverage range of a plurality of virtual base stations, the method cannot determine the optimal virtual base station, and the positioning accuracy of the system is affected. Meanwhile, the method has accumulated errors when the multi-hop positioning is carried out on the remote target, and the positioning precision is poor.
Disclosure of Invention
The invention aims to provide a positioning scheme of an indoor cluster target aiming at the defects of the indoor cluster positioning scheme, so as to reduce the positioning error of a large indoor scene and improve the positioning precision.
In order to achieve the above purpose, the technical scheme of the invention comprises the following steps:
1. The method for positioning the indoor cluster target is characterized by comprising the following steps:
s1) obtaining ranging information and self-moving information of all nodes in a cluster;
s2) sequencing the undesitioned nodes according to the hop count from the base station from small to large, and selecting the undesitioned node with the smallest hop count from the base station as a target to be positioned;
S3) calculating a located per-node trust value u i:
Wherein R i＝{ri,1,ri,2,...,ri,j,…ri,K is a set formed by adjacent nodes of a positioned node i, R i,j is the j-th adjacent node of the positioned node i, K is the number of adjacent nodes of the positioned node i, delta i,j is the measured distance between the positioned node i and the positioned node j, d i,j is the calculated distance between the positioned node i and the positioned node j obtained according to positioning coordinates, mui is the m-th historical trust value of the positioned node i, the upper limit tau of m is 4-5, and alpha is a parameter for adjusting the weight of the historical trust value in the current trust value;
S4) taking all the positioned nodes as virtual base stations, selecting a base station A with the maximum trust value, which can cover the target to be positioned, and calculating the initial position l i of the target i to be positioned by using a two-node relative positioning algorithm based on the base station;
s5) calculating a position compensation vector based on the initial position l i of the target i to be positioned, and the calculated distance d' i,j between the node i to be positioned and the positioned node j
Wherein, Is a unit vector pointing to a positioned adjacent node j from a target i to be positioned, and u j is a trust value of the positioned node j;
S6) searching for the position compensation coefficient beta along the position compensation vector by using the golden section method The initial position l i of the target to be positioned is moved in the direction to obtain the compensated position coordinateCalculating a position compensation vector of the object to be positioned using the formula of step S5)
S7) setting a threshold thr, and compensating the position of the target to be positioned by using the position compensation vectorComparison with a threshold thr:
If it is To be used forInstead of position compensation vectorsTo compensate for the positionInstead of the initial position l i, returning to step S6);
If it is Then the compensated coordinates are determinedIs the position of the object i to be positioned.
The invention provides a positioning scheme of an indoor cluster target, which solves the problem that the existing method cannot determine the optimal virtual ground by selecting a positioned node as a virtual base station through a node trust value, and simultaneously, iteratively compensates a positioning result based on the node trust value, reduces the accumulated error existing in multi-hop positioning and improves the cluster positioning precision.
Drawings
Fig. 1 is a flowchart for implementing the technical scheme of the present invention.
Detailed description of the preferred embodiments
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
Referring to fig. 1, the indoor cluster target positioning method of the present example includes the following implementation steps:
Step 1, obtaining ranging information and self-moving information of all nodes in the cluster.
The distance measurement information is obtained by carrying out multiple communication on any node i in the cluster and all adjacent nodes j in the sight distance range of the node i, and recording the flight time of a wireless signal and multiplying the light speed to obtain a measurement distance delta i,j;
The self-movement information is the accurate movement track of all nodes in a short period, including the movement direction beta and the movement distance n, measured by an inertial navigation system.
And 2, determining a target to be positioned.
For the nodes adjacent to the base station in the cluster, the existing positioning algorithm can be used for determining the position coordinates of the nodes, but for the nodes not adjacent to the base station, namely the non-positioning nodes, the non-positioning nodes cannot be positioned through the existing positioning algorithm, so that the non-positioning nodes are firstly ordered according to the hop count from the base station to be large, and then one non-positioning node with the smallest hop count from the base station is selected at will as a target to be positioned.
And 3, calculating a trust value u i of each located node based on the position coordinates of the located node.
3.1 Calculating the distance d i,j between the positioned node i and the positioned adjacent node j according to the positioning coordinates:
Wherein, (x i,yi) is the position coordinate of the located node i, (x j,yj) is the position coordinate of the located node j;
3.2 According to the calculated distance d i,j between the positioned node i and the positioned adjacent node j, calculating the temporary quantity xi:
Wherein R i＝{ri,1,ri,2,...,ri,j,...ri,K is a set formed by adjacent nodes of the positioned node i, R i,j is the j-th adjacent node of the node i, K is the number of adjacent nodes of the positioned node i, delta i,j is the measured distance between the positioned node i and the positioned node j, mui is the m-th historical trust value of the positioned node i, and the upper limit tau of m is 4-5;
3.3 Adjusting the weight parameter alpha occupied by the historical trust value in the current trust value according to the temporary quantity xi:
3.4 Calculating the trust value of the positioned node i according to the weight parameter alpha occupied by the historical trust value in the current trust value:
Wherein d i,j is the calculated distance between the located node i and the located node j obtained according to the location coordinates.
And 4, calculating an initial position l i of the target i to be positioned based on a two-node relative positioning algorithm.
The existing method for calculating the initial position l i of the target i to be positioned comprises a two-node relative positioning algorithm, a TOA algorithm, a TDOA algorithm, an AOA algorithm and the like. The present example uses, but is not limited to, a two-node relative positioning algorithm to calculate the initial position l i of the target i to be positioned, and specifically implements the following:
4.1 Taking all the positioned nodes as virtual base stations, selecting a base station A with the largest trust value and capable of covering a target to be positioned, enabling the position coordinate of the base station A to be (x A,yA), enabling the time point of the last three ranging of the base station A and the target i to be positioned to be t 1、t2、t3 from first to last, and enabling the three ranging results to be d 1、d2、d3 in sequence;
4.2 Let the self-moving direction of the target i to be positioned measured at time t 2 be beta 2 and the moving distance be n 2, let the self-moving direction of the target i to be positioned measured at time t 3 be beta 3 and the moving distance be n 3;
4.3 According to the measured distance between the base station A and the target i to be positioned at the moment t 1、t2 in the step 4.1) and the self-moving direction beta 2 and the moving distance n 2 of the target i to be positioned measured at the moment t 2 in the step 4.2), constructing the following equation set:
Wherein, (x i,yi) is the position coordinate of the target i to be positioned which needs to be solved;
4.4 Solving the equation set, and determining the initial position l i of the target i to be positioned according to the solving result:
if the equation set has no solution, the target i cannot be positioned, and the step 4.1 is returned to when the distance is measured next time;
If the equation set has only one set of solutions, determining the set of solutions as the initial position l i of the target i to be positioned;
if the equation set has two solutions, executing the step 4.5);
4.5 From the two solutions of the above equation set, one of the solutions is selected as the initial position l i of the node i to be located.
4.5.1 Let the two solutions of the equation set be respectivelyCalculating the calculated distance between the base station A and the target i to be positioned at the moment t 3 according to the position coordinate (x A,yA) of the base station A
4.5.2 Calculating the calculated distance between the base station A and the target i to be positioned at time t 3 corresponding to the two solutionsThe difference from the measured distance d 3 is that one set of solutions is selected as the initial position l i of the node i to be located according to the following rule:
If it is Then it is determined thatAn initial position l i for the object i to be positioned;
If it is Then it is determined thatIs the initial position l i of the object i to be positioned.
Step 5, calculating a position compensation vector based on the initial position l i of the object i to be positioned
5.1 Based on the initial position l i of the object i to be positioned, calculating the distance d i',j between the node i to be positioned and the positioned node j:
wherein, (x i',yi') is the initial position l i coordinate of the object i to be positioned, and (x j,yj) is the position coordinate of the positioned node j;
5.2 Based on the initial position l i of the object i to be positioned, calculating a unit vector pointing from the initial position of the object i to be positioned to the positioned node j
5.3 According to the calculated distance d i',j between the node i to be positioned and the node j to be positioned, the unit vector pointing from the target i to be positioned to the node j to be positionedCalculating a position compensation vector
Where u j is the trust value of the located node j and delta i,j is the measured distance between the node i to be located and the located node j.
Step 6, searching the position compensation coefficient beta, combining the position compensation coefficient beta and the position compensation vectorCalculating the position coordinates of the nodes to be positioned after compensationAnd calculates the node to be positioned atPosition compensation vector at
6.1 Using the existing golden section method in the range of [0,8], the position compensation vector at initial position l i along the node to be locatedDirection, search for the position compensation coefficient β;
6.2 Based on the position compensation coefficient beta, the position compensation vector of the node to be positioned at the initial position l i Moving the initial position l i of the target to be positioned to obtain compensated position coordinates
6.3 Make the compensated position coordinatesAccording toCalculating the distance between the node i to be positioned and the positioned node j after position compensation
Wherein, (x j,yj) is the position coordinate of the located node j;
6.4 To make the position coordinates of the node to be positioned after compensation According toCalculating the compensated position from the node i to be positionedUnit vector pointing to located node j
6.5 According to the calculated distance between the node i to be positioned and the positioned node jCalculating the position of the node to be positioned after compensationPosition compensation vector at
Step 7, based on the position of the node to be positioned after compensationPosition compensation vector atThe position of the object i to be located is determined.
Setting a position compensation threshold thr epsilon (0, 1), and carrying out position compensation on a position compensation vector of a target to be positioned after position compensationComparison with a threshold thr:
If it is Then toInstead of position compensation vectorsTo compensate for the positionInstead of the initial position l i, returning to step S6);
If it is Then the compensated coordinates are determinedIs the position of the object i to be positioned.
The above description is only one specific example of the invention and does not constitute any limitation of the invention, and it will be apparent to those skilled in the art that various modifications and changes in form and details may be made without departing from the principles, construction of the invention, but these modifications and changes based on the idea of the invention are still within the scope of the claims of the invention.

Claims (6)

1.一种室内集群目标的定位方法，其特征为，包括如下步骤：1. A method for positioning indoor cluster targets, characterized by comprising the following steps: S1)获取集群中所有节点的测距信息、自移动信息；S1) Obtain ranging information and self-movement information of all nodes in the cluster; S2)将未定位节点按照距离基站的跳数从小到大排序，选择一个距离基站跳数最小的未定位节点作为待定位目标；S2) sorting the unlocated nodes in ascending order according to the number of hops from the base station, and selecting an unlocated node with the smallest number of hops from the base station as the target to be located; S3)计算已定位的每个节点信任值ui：S3) Calculate the trust value u i of each located node: 其中，Ri＝{ri,1,ri,2,...,ri,j,...ri,K}为已定位节点i的邻节点组成的集合，ri,j为已定位节点i的第j个邻节点，K为已定位节点i的邻节点个数；δi,j为已定位节点i与已定位节点j的测量距离；di,j是根据定位坐标获得已定位节点i与已定位节点j的计算距离；mui是已定位节点i的第m个历史信任值；m的上限τ取值为4～5；α是调整历史信任值在当前信任值中所占权重的参数；Wherein, R i ={ri ,1 ,ri ,2 ,...,ri ,j ,...ri ,K } is the set of neighboring nodes of located node i, r i,j is the jth neighboring node of located node i, K is the number of neighboring nodes of located node i; δ i,j is the measured distance between located node i and located node j; d i,j is the calculated distance between located node i and located node j obtained according to the positioning coordinates; m u i is the mth historical trust value of located node i; the upper limit τ of m is 4 to 5; α is a parameter for adjusting the weight of historical trust value in current trust value; S4)将所有已定位节点作为虚拟基站，选取能够覆盖待定位目标的、信任值最大的基站A，基于该基站使用两节点相对定位算法推算待定位目标i的初始位置li；S4) All located nodes are used as virtual base stations, and a base station A with the largest trust value that can cover the target to be located is selected, and the initial position l i of the target to be located i is calculated based on the base station using a two-node relative positioning algorithm; S5)基于待定位目标i的初始位置li，获得的待定位节点i与已定位j的计算距离d'i，j，计算位置补偿矢量 S5) Based on the initial position l i of the target i to be located, the calculated distance d' i,j between the node i to be located and the located node j is obtained, and the position compensation vector is calculated 其中，是从待定位目标i指向其已定位邻节点j的单位向量，uj是已定位节点j的信任值；in, is the unit vector from the target i to be located to its located neighboring node j, and u j is the trust value of the located node j; S6)使用黄金分割法搜索位置补偿系数β，沿着位置补偿矢量方向移动待定位目标的初始位置li，得到补偿后的位置坐标li +，利用步骤S5)的公式计算待定位目标的位置补偿矢量 S6) Use the golden section method to search for the position compensation coefficient β along the position compensation vector The initial position of the target to be located is moved in the direction l i to obtain the position coordinates l i + after compensation, and the position compensation vector of the target to be located is calculated using the formula in step S5). S7)设定阈值thr，将待定位目标的位置补偿矢量与阈值thr比较：S7) Set the threshold thr, and compensate the position vector of the target to be located. Compared with the threshold thr: 若以代替位置补偿矢量以补偿后的位置代替初始位置li，再返回步骤S6)；like by Replacement position compensation vector The position after compensation Replace the initial position l i and return to step S6); 若则确定补偿后的坐标为待定位目标i的位置。like Then determine the coordinates after compensation is the position of the target i to be located. 2.根据权利要求1所述的方法，其特征在于，步骤S3)中根据定位坐标获得已定位节点i与其已定位邻节点j的计算距离di,j，公式如下：2. The method according to claim 1, characterized in that in step S3), the calculated distance d i,j between the located node i and its located neighboring node j is obtained according to the positioning coordinates, and the formula is as follows: 其中，(xi,yi)是已定位节点i的位置坐标，(xj,yj)为已定位节点j的位置坐标。Among them, (x i ,y i ) are the position coordinates of the located node i, and (x j ,y j ) are the position coordinates of the located node j. 3.根据权利要求1所述的方法，其特征在于，步骤S3)中调整历史信任值在当前信任值中所占权重的参数α，实现如下：3. The method according to claim 1 is characterized in that the parameter α of adjusting the weight of the historical trust value in the current trust value in step S3) is implemented as follows: S3a)根据已定位节点i与已定位节点j的测量距离、已定位节点i与邻节点j的计算距离di,j，计算临时量ξ：S3a) Calculate the temporary amount ξ according to the measured distance between the located node i and the located node j and the calculated distance d i,j between the located node i and the neighboring node j: S3b)根据临时量ξ调整历史信任值在当前信任值中所占的权重参数α：S3b) Adjust the weight parameter α of the historical trust value in the current trust value according to the temporary amount ξ: 4.根据权利要求1所述的方法，其特征在于，步骤S4)中基于选取的基站A使用两节点相对定位算法推算待定位目标i的初始位置li，实现如下：4. The method according to claim 1, characterized in that in step S4), the initial position l i of the target i to be located is calculated based on the selected base station A using a two-node relative positioning algorithm, which is implemented as follows: S4a)令基站A的位置坐标为(xA,yA)，基站A与待定位目标i的最近三次测距的时间点从先到后依次为t1、t2、t3，这三次测距结果依次为d1、d2、d3；S4a) Let the position coordinates of base station A be (x A , y A ), the time points of the three most recent distance measurements between base station A and target i to be located are t 1 , t 2 , t 3 , and the results of the three distance measurements are d 1 , d 2 , d 3 ; S4b)令t2时刻测量的待定位目标i的自移动方向为β2、移动距离为n2；令t3时刻测量的待定位目标i的自移动方向为β3、移动距离为n3；S4b) Let the self-moving direction of the target i to be located measured at time t2 be β2 and the moving distance be n2 ; let the self-moving direction of the target i to be located measured at time t3 be β3 and the moving distance be n3 ; S4c)根据步骤S4a)中t1、t2时刻基站A与待定位目标i的测量距离、步骤S4b)中t2时刻测量的待定位目标i的自移动方向β2、移动距离n2，构建如下方程组：S4c) constructing the following equations according to the measured distances between the base station A and the target i to be located at time t 1 and time t 2 in step S4a) and the self-moving direction β 2 and moving distance n 2 of the target i to be located measured at time t 2 in step S4b) : 其中，(xi,yi)为需要求解的待定位目标i位置坐标；Among them, (x i , y i ) is the position coordinate of the target i to be located; S4d)求解上述方程组，确定待定位目标i的初始位置li：S4d) Solve the above equations to determine the initial position l i of the target i to be located: 若方程组无解，则无法定位目标i，待下次测距时再返回步骤S4a)；If the system of equations has no solution, target i cannot be located, and the process returns to step S4a) when the next distance measurement is performed; 若方程组仅有一组解，则确定这组解为待定位目标i的初始位置li；If the system of equations has only one set of solutions, then this set of solutions is determined as the initial position l i of the target i to be located; 若方程组有两组解，则执行步骤S4e)；If the system of equations has two solutions, execute step S4e); S4e)令方程组的两组解分别为根据基站A的位置坐标(xA,yA)计算t3时刻基站A与待定位目标i的计算距离 S4e) Let the two sets of solutions of the equations be Calculate the distance between base station A and target i at time t 3 according to the location coordinates of base station A (x A , y A ) S4f)计算两组解对应的t3时刻基站A与待定位目标i的计算距离与测量距离d3之差，按如下规则选取其中一组解作为待定位节点i的初始位置li：S4f) Calculate the calculated distance between base station A and the target i to be located at time t3 corresponding to the two sets of solutions The difference between the measured distance d 3 and the measured distance d 3 is used to select one of the solutions as the initial position l i of the node i to be located according to the following rules: 若则确定为待定位目标i的初始位置li；like Then confirm is the initial position l i of the target i to be located; 若则确定为待定位目标i的初始位置li。like Then confirm is the initial position l i of the target i to be located. 5.根据权利要求1所述的方法，其特征在于，所述步骤S5)中基于待定位目标i的初始位置li，计算待定位节点i与已定位节点j的距离d'i,j，公式如下：5. The method according to claim 1, characterized in that in the step S5), based on the initial position l i of the target i to be located, the distance d' i,j between the node to be located i and the located node j is calculated by the following formula: 其中，(x'i,y'i)是待定位目标i的初始位置li坐标，(xj,yj)为已定位节点j的位置坐标。Among them, ( x'i , y'i ) is the initial position l i coordinate of the target i to be located, and ( xj , yj ) is the position coordinate of the located node j. 6.根据权利要求1所述的方法，其特征在于，所述步骤S6)中基于位置补偿矢量和位置补偿系数β移动待定位目标i的初始位置li，获得补偿后的待定位目标i的位置坐标li +，公式如下：。6. The method according to claim 1, characterized in that in step S6), based on the position compensation vector The initial position l i of the target i to be located is moved by the position compensation coefficient β to obtain the position coordinate l i + of the target i to be located after compensation. The formula is as follows: .
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