三边测量

整个扫描流程是基于三边测量法，三个探针可测出2D平面上的一个点，四个探针则可测到一个3D空间上的确定点。

The scanning process is based upon a trilateration system , where three probes are used to find a specific point in a2D plane , and a fourth probe is used to find the specific point on a3D axis .

设计了基于加权三边测量定位算法、人员定位模型和环境衰减因素模型的定位策略，在硬件平台（CC2430）及软件平台（自行开发的WSNstack）上实现了该定位策略。

Integrated weighted trilateration localization algorithm , compensated model and environment degradation factor model , a new localization strategy is put forward . The strategy is implemented on hardware platform ( CC2430 ) and software platform ( WSN stack ) .

研究了无线传感器节点定位问题，在三边测量法定位基础上提出了一种基于RSSI的灵活的节点定位机制（FTL）。

The node localization technology in wireless sensor networks was studied , and a flexible trilateration localization ( FTL ) based on RSSI was presented .

RSSI技术利用射频芯片中特有的射频信号强度测量功能，然后根据信号传播衰减模型将衰减量转变成节点之间的距离，利用三边测量法或极大似然法计算未知节点的位置信息。

RSSI technique uses radio RF signal strength measurements , and the signal attenuation models to calculate the distance between the nodes , and then use trilateration method or maximum likelihood method to calculate the unknown node location information .

然后基于成本、精确度、可行性等的分析，选择了基于RSSI测距和三边测量的定位算法，并通过改进算法提高了系统的定位精度。

Analysis based on costs , precisions and probabilities has been done , RSSI-based measurements and trilateration method were chosen for this system . Besides , we improved localization algorithm to improve the positioning precision , which present a higher precision .

这样的三边测量锁的方位误差容易迅速积累。

Such trilateration is liable to rapid accumulation of azimuth error .

当系统对能耗要求严格时，可采用改进三边测量法或加权最小二乘估计替代抗差最小二乘估计。

When the energy consumption is more important , the improved three-sided measurement or the weighted least square estimation method is preferred .

因为三角测量和三边测量术观察没有包括第三方面的信息，所以介绍余下的站台的椭圆体高度作为观测参量。

Since the triangulation and trilateration observations do not contain much information in the third dimension , the ellipsoidal heights of the remaining stations are introduced as observed parameters .

具体工作分为以下几点：设计和实现了超声波定位系统的硬件部分和通信协议，选择三边测量法完成受控物体在运动空间的位姿计算。

Specific works were as following : Designed and implemented ultrasonic positioning system and communication protocols of ultrasonic network were designed and implemented , choosing trilateration to complete the pose calculation of controlled object in sports space .

本文主要研究成果包括如下三个方面：①提出了基于锚节点优选策略和角度权重函数的加权三边测量定位算法。

The important research results are as follows : ① A weighted trilateration localization algorithm based on anchor node selection strategy and angle weighted function is put forward .