Computer Engineering and Applications ›› 2020, Vol. 56 ›› Issue (9): 111-116.DOI: 10.3778/j.issn.1002-8331.1901-0156

Previous Articles     Next Articles

Triangulation Algorithm Based on Three-Point Positioning and Weighted Coordinates

XU Le, WEI Yuke   

  1. School of Computer Science, Guangdong University of Technology, Guangzhou 510006, China
  • Online:2020-05-01 Published:2020-04-29



  1. 广东工业大学 计算机学院,广州 510006


To address significant localization errors and results fluctuation arising in the application of the traditional triangulation localization algorithm based on RSSI(Received Signal Strength Indication), the paper offers a triangulation localization algorithm based on three-point localization and weighted coordinates. In this particular algorithm, RSSI data undergo Kalman filtering to reduce the data fluctuation. The filtered data are processed following the RSSI-based three-point localization algorithm to obtain coarse localization coordinates. Three obtained coarse coordinates are dealt with according to the weighted coordinate-based triangulation algorithm to acquire the coordinates of the point to be localized. Experiment results show that the error values from the algorithm proposed in the paper are not greater than 1.602 m, with an average sitting at 0.880 m, provided the fitting of RSSI-distance attenuation model reaches 96%.

Key words: three-point positioning, triangulation algorithm, Received Signal Strength Indication(RSSI) ranging, coordinate weighting


针对传统的基于接收信号强度指示(Received Signal Strength Indication,RSSI)的三角定位算法产生的定位误差大和定位结果波动性大的问题,提出一种基于三点定位与加权坐标的三角定位算法。该算法对RSSI数据进行卡尔曼滤波操作,降低RSSI数据的波动性;将滤波后数据经过基于RSSI选取的三点定位算法,获取粗定位坐标;将获取的三个粗定位坐标基于加权坐标的三角定位算法得到待定位点坐标。实验结果表明,在RSSI-距离衰减模型拟合度为96%的条件下,提出的算法的最大误差为1.602 m,平均误差为0.880 m。

关键词: 三点定位, 三角定位算法, RSSI测距, 坐标加权