| 摘要 |
Method of locating a device E with respect to a device P, at least one of the devices E or P possessing an inertial platform and each of the devices E and P possessing a sender-receiver module, said method comprising the following steps: (i) the devices E and P are initialized by their synchronization with respect to terrestrial magnetic north; (ii) at an instant tn, the device E receives from the device P an RSSI measurement, and the set of possible positions of the device E with respect to P in the metric space of the RSSI measurement is determined; (iii) at the instant tn+1 the device P receives from the device E at least one item of information regarding the displacement of the device E and/or of the device P, namely at least the direction as well as the distance travelled for the interval [tn tn+1]; (iv) said distance is transformed into the "RSSI domain" and a set of positions is determined in the metric space of the RSSI measurement of the device E with respect to the device P; (v) a new RSSI measurement is received at the instant tn+1 and a set of positions of E with respect to P at the instant tn+1 is determined; (vi) the relation is determined between the positions estimated in step (iv) and the position or positions determined of the device E at the instant tn+1 which arise from step (v); (vii) it is determined whether the new position or positions calculated in step (vi) are plausible, possible or likely with respect to the positions determined at the previous instants, and then the position of the device E is determined with respect to the device P. |
