第11卷第1期导航定位学报Vol.11，No.12023年2月JournalofNavigationandPositioningFeb.，2023引文格式：彭德梅，彭良福.iBeacon天线角度补偿的室内定位技术[J].导航定位学报,2023,11(1):122-128.（PENGDeimei,PENGLiangfu.IndoorpositioningtechnologybasedoniBeaconantennaanglecompensation[J].JournalofNavigationandPositioning,2023,11(1):122-128.）DOI:10.16547/j.cnki.10-1096.20230118.iBeacon天线角度补偿的室内定位技术彭德梅，彭良福（西南民族大学电子信息学院，成都610041）摘要：针对蓝牙设备在进行信号传输时，因设备自身天线角度的变化易引入测距误差的问题，提出一种基于天线角度补偿的室内定位技术：将采集的蓝牙信号依次进行高斯滤波和中值滤波，滤除波动较大的数据；然后在建立测距模型时将设备天线角度变化引入的差异考虑进去，通过探索不同天线角度下信号的变化规律来确定模型参数以达到补偿效果；最后利用距离之和的平均数的倒数的平方作为加权质心算法的权值参与定位计算。实验结果表明，优化后的定位算法平均误差在1m以内，能够满足室内定位的精度需求。关键词：室内定位；蓝牙信号；测距模型；角度补偿；加权质心中图分类号：P228文献标志码：A文章编号：2095-4999(2023)01-0122-07IndoorpositioningtechnologybasedoniBeaconantennaanglecompensationPENGDeimei,PENGLiangfu（CollegeofElectricalInformation,SouthwestMinzuUniversity,Chengdu610041,China）Abstract：Aimingattheproblemthatitisliabletotherangingerrorcausedbytheantennaanglechangeforbluetoothdevicesduringsignaltransmission,thepaperproposedanindoorpositioningtechnologybasedonantennaanglecompensation:thecollectedbluetoothsignalwasprocessedbyGaussianfilterandmedianfilterinturntofilteroutthedatawithlargefluctuation;andthedifferencecausedbythechangeofequipmentantennaangleswastakenintoaccountwhenestablishingtherangingmodel;then,byexploringthevariationlawofsignalunderdifferentantennaangles,themodelparametersweredeterminedtoachievethecompensationeffect;finally,thesquareofthereciprocaloftheaverageofthesumofdistanceswasusedastheweightoftheweightedcentroidalgorithmtoparticipateinthelocationcalculation.Experimentalresultshowedthattheaverageerroroftheoptimizedpositioningalgorithmwouldbeless...
