三边测量法

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 .

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 .

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 .

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 .

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 .