首先简述了基于无线通信的室内三维定位技术的发展概况、实现方式以及有待研究解决的问题,然后详细叙述了定位算法的基本原理,分析并解决了病态方程组的求解问题,接着利用实测数据建立了非视距传播环境下(Non-Line Of Sight,NLOS)的测量误差模型,最终通过迭代得到终端的三维定位坐标.实验证明了该定位算法的精度在x、y轴能够达到0.2 m,在z轴能够达到1.8 m.%First, the present situation of the development, the implementation ways and the problems still needed to be researched of the indoor3D localization technology based on wireless communication are introduced briefly. Then, the basic principle of localization algorithm is described in detail, while the morbid equations is solved. Next, measurement error model in NLOS environment was estab-lished based on the measured data. Finally, positioning coordinates is obtained by iteration. Experiments proved that the precision of the localization algorithm can reach 0.2 meters in x、y axle, and can reach 1.8 meters in z axle.
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