{"id":4504,"date":"2026-02-08T22:34:55","date_gmt":"2026-02-08T14:34:55","guid":{"rendered":"https:\/\/www.xiaobuwq.com\/blog\/real-time-positioning-location-accuracy-evaluation-methods-standards"},"modified":"2026-02-08T22:34:55","modified_gmt":"2026-02-08T14:34:55","slug":"real-time-positioning-location-accuracy-evaluation-methods-standards","status":"publish","type":"post","link":"https:\/\/www.xiaobuwq.com\/blog\/real-time-positioning-location-accuracy-evaluation-methods-standards","title":{"rendered":"\u5b9e\u65f6\u4f4d\u7f6e\u5b9a\u4f4d\u7684\u5b9a\u4f4d\u7cbe\u5ea6\u662f\u5982\u4f55\u8bc4\u4f30\u7684\uff1f\u65b9\u6cd5\u4e0e\u6807\u51c6"},"content":{"rendered":"<p>\u5b9e\u65f6\u4f4d\u7f6e\u5b9a\u4f4d\u7cbe\u5ea6\u7684\u8bc4\u4f30\uff0c\u662f\u4e00\u4e2a\u901a\u8fc7\u6807\u51c6\u5316\u6d4b\u8bd5\u6d41\u7a0b\uff0c\u5c06\u5b9a\u4f4d\u7cfb\u7edf\u8f93\u51fa\u7684\u6d4b\u91cf\u4f4d\u7f6e\u4e0e\u5df2\u77e5\u201c\u771f\u5b9e\u4f4d\u7f6e\u201d\uff08\u57fa\u51c6\uff09\u8fdb\u884c\u6bd4\u8f83\uff0c\u5e76\u8fd0\u7528\u7edf\u8ba1\u5b66\u6307\u6807\uff08\u5982CEP\u3001RMS\uff09\u6765\u91cf\u5316\u5176\u8bef\u5dee\u5206\u5e03\u4e0e\u7f6e\u4fe1\u5ea6\u7684\u7cfb\u7edf\u6027\u8fc7\u7a0b\u3002\u5176\u6838\u5fc3\u5728\u4e8e\u901a\u8fc7\u4e25\u8c28\u7684\u6d4b\u8bd5\u8bbe\u8ba1\u4e0e\u6570\u636e\u5206\u6790\uff0c\u4e3a\u4e0d\u540c\u6280\u672f\uff08\u5982GPS\u3001UWB\uff09\u5728\u7279\u5b9a\u5e94\u7528\u573a\u666f\u4e0b\u7684\u6027\u80fd\u8868\u73b0\u63d0\u4f9b\u53ef\u9760\u3001\u53ef\u590d\u73b0\u7684\u91cf\u5316\u4f9d\u636e\u3002<\/p>\n<h2>\u57fa\u7840\u6982\u5ff5\uff1a\u7406\u89e3\u5b9a\u4f4d\u7cbe\u5ea6\u4e0e\u76f8\u5173\u672f\u8bed<\/h2>\n<p>\u5728\u6df1\u5165\u63a2\u8ba8\u8bc4\u4f30\u65b9\u6cd5\u4e4b\u524d\uff0c\u6211\u4eec\u5fc5\u987b\u9996\u5148\u5398\u6e05\u51e0\u4e2a\u57fa\u7840\u4f46\u6781\u6613\u6df7\u6dc6\u7684\u6982\u5ff5\u3002\u4efb\u4f55\u8131\u79bb\u4e86\u5bf9\u201c\u51c6\u786e\u5ea6\u201d\u4e0e\u201c\u7cbe\u5ea6\u201d\u7cbe\u786e\u5b9a\u4e49\u7684\u8ba8\u8bba\uff0c\u90fd\u65e0\u5f02\u4e8e\u5728\u6c99\u4e0a\u5efa\u5854\uff0c\u65e0\u6cd5\u6784\u5efa\u8d77\u7a33\u56fa\u7684\u8bc4\u4f30\u4f53\u7cfb\u3002<\/p>\n<h3>\u7cbe\u5ea6 (Precision) vs. \u51c6\u786e\u5ea6 (Accuracy)\uff1a\u6838\u5fc3\u533a\u522b\u662f\u4ec0\u4e48\uff1f<\/h3>\n<p>\u5728\u65e5\u5e38\u8bed\u5883\u4e2d\uff0c\u201c\u51c6\u786e\u5ea6\u201d\u548c\u201c\u7cbe\u5ea6\u201d\u5e38\u88ab\u6df7\u7528\uff0c\u4f46\u5728\u5b9a\u4f4d\u79d1\u5b66\u4e0e\u5de5\u7a0b\u9886\u57df\uff0c\u5b83\u4eec\u662f\u4e24\u4e2a\u622a\u7136\u4e0d\u540c\u7684\u6982\u5ff5\uff0c\u5171\u540c\u63cf\u8ff0\u4e86\u6d4b\u91cf\u8d28\u91cf\u7684\u4e24\u4e2a\u7ef4\u5ea6\u3002<\/p>\n<h4>\u51c6\u786e\u5ea6\uff1a\u6d4b\u91cf\u503c\u4e0e\u771f\u5b9e\u503c\u7684\u63a5\u8fd1\u7a0b\u5ea6<\/h4>\n<p>\u51c6\u786e\u5ea6\uff0c\u6216\u79f0\u201c\u6b63\u786e\u5ea6\u201d\uff0c\u8861\u91cf\u7684\u662f\u5355\u6b21\u6216\u591a\u6b21\u6d4b\u91cf\u7ed3\u679c\u7684\u5e73\u5747\u503c\u4e0e\u201c\u771f\u5b9e\u503c\u201d\u4e4b\u95f4\u7684\u504f\u5dee\u3002\u4e00\u4e2a\u9ad8\u51c6\u786e\u5ea6\u7684\u5b9a\u4f4d\u7cfb\u7edf\uff0c\u5176\u8f93\u51fa\u7684\u4f4d\u7f6e\u5750\u6807\u5728\u6574\u4f53\u4e0a\u975e\u5e38\u8d34\u8fd1\u76ee\u6807\u7684\u771f\u5b9e\u7269\u7406\u4f4d\u7f6e\u3002\u4f4e\u51c6\u786e\u5ea6\u5219\u610f\u5473\u7740\u7cfb\u7edf\u5b58\u5728\u8f83\u5927\u7684\u7cfb\u7edf\u6027\u504f\u5dee\uff08Systematic Error\uff09\uff0c\u5373\u4f7f\u591a\u6b21\u6d4b\u91cf\uff0c\u7ed3\u679c\u4e5f\u4f1a\u7cfb\u7edf\u6027\u5730\u504f\u79bb\u771f\u503c\u3002<\/p>\n<h4>\u7cbe\u5ea6\uff1a\u591a\u6b21\u6d4b\u91cf\u7ed3\u679c\u7684\u79bb\u6563\u7a0b\u5ea6<\/h4>\n<p>\u7cbe\u5ea6\uff0c\u6216\u79f0\u201c\u7cbe\u5bc6\u5ea6\u201d\u3001\u201c\u91cd\u590d\u6027\u201d\uff0c\u63cf\u8ff0\u7684\u662f\u5728\u76f8\u540c\u6761\u4ef6\u4e0b\u8fdb\u884c\u591a\u6b21\u91cd\u590d\u6d4b\u91cf\u65f6\uff0c\u5404\u6d4b\u91cf\u7ed3\u679c\u4e4b\u95f4\u7684\u4e00\u81f4\u6027\u6216\u79bb\u6563\u7a0b\u5ea6\u3002\u9ad8\u7cbe\u5ea6\u610f\u5473\u7740\u6bcf\u6b21\u5b9a\u4f4d\u7684\u7ed3\u679c\u90fd\u975e\u5e38\u96c6\u4e2d\uff0c\u5373\u4f7f\u5b83\u4eec\u53ef\u80fd\u6574\u4f53\u504f\u79bb\u4e86\u771f\u5b9e\u4f4d\u7f6e\u3002\u4f4e\u7cbe\u5ea6\u5219\u8868\u73b0\u4e3a\u5b9a\u4f4d\u7ed3\u679c\u5206\u5e03\u5e7f\u6cdb\u3001\u975e\u5e38\u79bb\u6563\u3002<\/p>\n<p>\u6211\u4eec\u53ef\u4ee5\u901a\u8fc7\u4e00\u4e2a\u7ecf\u5178\u7684\u9776\u5fc3\u56fe\u6765\u7406\u89e3\u8fd9\u56db\u79cd\u7ec4\u5408\uff1a<\/p>\n<p>[\u56fe\u793a]\uff1a\u901a\u8fc7\u9776\u5fc3\u56fe\u6e05\u6670\u5c55\u793a\u9ad8\/\u4f4e\u51c6\u786e\u5ea6\u4e0e\u9ad8\/\u4f4e\u7cbe\u5ea6\u7684\u56db\u79cd\u7ec4\u5408<\/p>\n<ul>\n<li><strong>\u9ad8\u51c6\u786e\u5ea6 & \u9ad8\u7cbe\u5ea6<\/strong>\uff1a\u6240\u6709\u5f39\u7740\u70b9\u90fd\u7d27\u5bc6\u5730\u805a\u96c6\u5728\u9776\u5fc3\u4e2d\u592e\u3002\u8fd9\u662f\u6700\u7406\u60f3\u7684\u72b6\u6001\u3002<\/li>\n<li><strong>\u4f4e\u51c6\u786e\u5ea6 & \u9ad8\u7cbe\u5ea6<\/strong>\uff1a\u6240\u6709\u5f39\u7740\u70b9\u7d27\u5bc6\u805a\u96c6\uff0c\u4f46\u6574\u4f53\u504f\u79bb\u4e86\u9776\u5fc3\u3002\u8fd9\u901a\u5e38\u610f\u5473\u7740\u5b58\u5728\u4e00\u4e2a\u56fa\u5b9a\u7684\u7cfb\u7edf\u8bef\u5dee\uff0c\u53ef\u4ee5\u901a\u8fc7\u6821\u51c6\u6765\u4fee\u6b63\u3002<\/li>\n<li><strong>\u9ad8\u51c6\u786e\u5ea6 & \u4f4e\u7cbe\u5ea6<\/strong>\uff1a\u5f39\u7740\u70b9\u5206\u5e03\u79bb\u6563\uff0c\u4f46\u5176\u5e73\u5747\u4e2d\u5fc3\u70b9\u4f4d\u4e8e\u9776\u5fc3\u3002\u8fd9\u610f\u5473\u7740\u5355\u6b21\u6d4b\u91cf\u7684\u53ef\u4fe1\u5ea6\u4e0d\u9ad8\uff0c\u4f46\u901a\u8fc7\u591a\u6b21\u6d4b\u91cf\u6c42\u5e73\u5747\u503c\u53ef\u4ee5\u5f97\u5230\u63a5\u8fd1\u771f\u503c\u7684\u7ed3\u679c\u3002<\/li>\n<li><strong>\u4f4e\u51c6\u786e\u5ea6 & \u4f4e\u7cbe\u5ea6<\/strong>\uff1a\u5f39\u7740\u70b9\u65e2\u5206\u6563\u53c8\u504f\u79bb\u9776\u5fc3\u3002\u8fd9\u662f\u6700\u5dee\u7684\u6027\u80fd\u8868\u73b0\u3002<\/li>\n<\/ul>\n<p>\u5728\u5b9a\u4f4d\u7cfb\u7edf\u8bc4\u4f30\u4e2d\uff0c\u6211\u4eec\u8ffd\u6c42\u7684\u7ec8\u6781\u76ee\u6807\u662f\u9ad8\u51c6\u786e\u5ea6\u4e0e\u9ad8\u7cbe\u5ea6\u7684\u7edf\u4e00\u3002<\/p>\n<h3>\u4ec0\u4e48\u662f\u5b9a\u4f4d\u8bef\u5dee (Positioning Error)\uff1f<\/h3>\n<h4>\u5b9a\u4e49\uff1a\u5b9a\u4f4d\u7cfb\u7edf\u7ed9\u51fa\u7684\u4f4d\u7f6e\u5750\u6807\u4e0e\u5176\u771f\u5b9e\u4f4d\u7f6e\u5750\u6807\u4e4b\u95f4\u7684\u5411\u91cf\u5dee<\/h4>\n<p>\u5b9a\u4f4d\u8bef\u5dee\u662f\u91cf\u5316\u5b9a\u4f4d\u6027\u80fd\u6700\u76f4\u63a5\u7684\u7269\u7406\u91cf\u3002\u5728\u4e8c\u7ef4\u5e73\u9762\u4e0a\uff0c\u5982\u679c\u771f\u5b9e\u5750\u6807\u4e3a (x, y)\uff0c\u7cfb\u7edf\u6d4b\u91cf\u5750\u6807\u4e3a (x', y')\uff0c\u90a3\u4e48\u5b9a\u4f4d\u8bef\u5dee\u5c31\u662f\u4e00\u4e2a\u4ece (x, y) \u6307\u5411 (x', y') \u7684\u5411\u91cf\uff0c\u5176\u5927\u5c0f\uff08\u5373\u6b27\u6c0f\u8ddd\u79bb\uff09\u662f\u8bc4\u4f30\u7cbe\u5ea6\u7684\u57fa\u7840\u3002<\/p>\n<h4>\u8bef\u5dee\u7684\u6765\u6e90\uff1a\u7cfb\u7edf\u8bef\u5dee\u3001\u968f\u673a\u8bef\u5dee\u3001\u73af\u5883\u5e72\u6270<\/h4>\n<p>\u5b9a\u4f4d\u8bef\u5dee\u5e76\u975e\u5355\u4e00\u56e0\u7d20\u9020\u6210\uff0c\u5176\u6765\u6e90\u590d\u6742\uff0c\u901a\u5e38\u53ef\u5f52\u4e3a\u4e09\u7c7b\uff1a<\/p>\n<ol>\n<li><strong>\u7cfb\u7edf\u8bef\u5dee (Systematic Error)<\/strong>\uff1a\u7531\u7cfb\u7edf\u81ea\u8eab\u56fa\u6709\u7684\u3001\u53ef\u9884\u6d4b\u7684\u56e0\u7d20\u5f15\u8d77\u3002\u4f8b\u5982\uff0c\u536b\u661f\u65f6\u949f\u7684\u5fae\u5c0f\u504f\u5dee\u3001\u4fe1\u53f7\u5728\u5927\u6c14\u5c42\u4e2d\u4f20\u64ad\u7684\u56fa\u5b9a\u5ef6\u8fdf\u6a21\u578b\u4e0d\u51c6\u7b49\u3002\u8fd9\u79cd\u8bef\u5dee\u901a\u5e38\u5177\u6709\u65b9\u5411\u6027\u548c\u56fa\u5b9a\u5927\u5c0f\uff0c\u7406\u8bba\u4e0a\u53ef\u4ee5\u901a\u8fc7\u66f4\u7cbe\u786e\u7684\u6a21\u578b\u6216\u6821\u51c6\u6765\u524a\u5f31\u3002<\/li>\n<li><strong>\u968f\u673a\u8bef\u5dee (Random Error)<\/strong>\uff1a\u7531\u4e0d\u53ef\u9884\u6d4b\u7684\u968f\u673a\u56e0\u7d20\u5f15\u8d77\uff0c\u5982\u4fe1\u53f7\u63a5\u6536\u5668\u5185\u90e8\u7684\u70ed\u566a\u58f0\u3002\u8fd9\u79cd\u8bef\u5dee\u662f\u65e0\u89c4\u5f8b\u7684\uff0c\u4f46\u5176\u957f\u671f\u7edf\u8ba1\u7279\u6027\uff08\u5982\u5747\u503c\u4e3a\u96f6\uff09\u7b26\u5408\u7279\u5b9a\u7684\u6982\u7387\u5206\u5e03\uff0c\u4f8b\u5982\u6b63\u6001\u5206\u5e03\u3002\u6ee4\u6ce2\u7b97\u6cd5\uff08\u5982\u5361\u5c14\u66fc\u6ee4\u6ce2\uff09\u7684\u4e3b\u8981\u4f5c\u7528\u4e4b\u4e00\u5c31\u662f\u6291\u5236\u968f\u673a\u8bef\u5dee\u3002<\/li>\n<li><strong>\u73af\u5883\u5e72\u6270<\/strong>\uff1a\u8fd9\u662f\u5b9e\u65f6\u5b9a\u4f4d\u7cfb\u7edf\uff0c\u5c24\u5176\u662f\u5ba4\u5185\u5b9a\u4f4d\uff0c\u9762\u4e34\u7684\u6700\u5927\u6311\u6218\u3002\u4f8b\u5982\uff0c\u7531\u5efa\u7b51\u7269\u3001\u5899\u4f53\u3001\u91d1\u5c5e\u7269\u4f53\u7b49\u5f15\u8d77\u7684\u4fe1\u53f7\u53cd\u5c04\u3001\u884d\u5c04\u548c\u6563\u5c04\uff0c\u5373<strong>\u591a\u5f84\u6548\u5e94 (Multipath Effect)<\/strong>\uff1b\u4ee5\u53ca\u4fe1\u53f7\u88ab\u969c\u788d\u7269\u5b8c\u5168\u963b\u6321\u7684<strong>\u4fe1\u53f7\u906e\u6321 (Signal Obstruction)<\/strong>\u3002\u8fd9\u4e9b\u56e0\u7d20\u4f1a\u4e25\u91cd\u626d\u66f2\u4fe1\u53f7\u7684\u4f20\u64ad\u8def\u5f84\u6216\u5f3a\u5ea6\uff0c\u5bfc\u81f4\u5de8\u5927\u7684\u5b9a\u4f4d\u8bef\u5dee\u3002<\/li>\n<\/ol>\n<h3>\u9759\u6001\u5b9a\u4f4d\u7cbe\u5ea6 vs. \u52a8\u6001\u5b9a\u4f4d\u7cbe\u5ea6<\/h3>\n<p>\u5bf9\u5b9a\u4f4d\u7cfb\u7edf\u7684\u8bc4\u4f30\uff0c\u5fc5\u987b\u533a\u5206\u5176\u5728\u9759\u6b62\u548c\u8fd0\u52a8\u4e24\u79cd\u72b6\u6001\u4e0b\u7684\u8868\u73b0\u3002<\/p>\n<h4>\u9759\u6001\u7cbe\u5ea6\uff1a\u5728\u56fa\u5b9a\u70b9\u4f4d\u4e0a\u8fdb\u884c\u957f\u65f6\u95f4\u6d4b\u91cf\u7684\u7cbe\u5ea6\u8868\u73b0<\/h4>\n<p>\u9759\u6001\u6d4b\u8bd5\u662f\u5c06\u5f85\u6d4b\u8bbe\u5907\u653e\u7f6e\u5728\u4e00\u4e2a\u5df2\u77e5\u5750\u6807\u7684\u56fa\u5b9a\u70b9\u4e0a\uff0c\u8fde\u7eed\u91c7\u96c6\u5927\u91cf\u7684\u5b9a\u4f4d\u6570\u636e\uff08\u4f8b\u5982\uff0c\u6301\u7eed\u6570\u5c0f\u65f6\uff0c\u91c7\u96c6\u6570\u5343\u4e2a\u70b9\uff09\u3002\u901a\u8fc7\u5206\u6790\u8fd9\u4e9b\u6570\u636e\u70b9\u7684\u5206\u5e03\uff0c\u53ef\u4ee5\u975e\u5e38\u7eaf\u7cb9\u5730\u8bc4\u4f30\u51fa\u7cfb\u7edf\u5728\u7406\u60f3\u6216\u7279\u5b9a\u73af\u5883\u4e0b\u7684\u6700\u4f73\u6027\u80fd\uff0c\u5254\u9664\u4e86\u8fd0\u52a8\u5e26\u6765\u7684\u989d\u5916\u53d8\u91cf\u3002<\/p>\n<h4>\u52a8\u6001\u7cbe\u5ea6\uff1a\u5728\u76ee\u6807\u79fb\u52a8\u8fc7\u7a0b\u4e2d\u7684\u5b9e\u65f6\u5b9a\u4f4d\u7cbe\u5ea6\u8868\u73b0<\/h4>\n<p>\u52a8\u6001\u6d4b\u8bd5\u5219\u662f\u8ba9\u5f85\u6d4b\u8bbe\u5907\u6309\u7167\u9884\u8bbe\u7684\u8f68\u8ff9\uff08\u5982\u76f4\u7ebf\u3001\u66f2\u7ebf\u3001\u590d\u6742\u8def\u5f84\uff09\u79fb\u52a8\uff0c\u5e76\u4e0e\u9ad8\u7cbe\u5ea6\u7684\u57fa\u51c6\u8f68\u8ff9\u8fdb\u884c\u5bf9\u6bd4\u3002\u52a8\u6001\u7cbe\u5ea6\u4e0d\u4ec5\u8003\u9a8c\u5b9a\u4f4d\u7b97\u6cd5\u672c\u8eab\uff0c\u8fd8\u6781\u5927\u5730\u8003\u9a8c\u4e86\u7cfb\u7edf\u7684\u5b9e\u65f6\u6027\u3001\u6570\u636e\u66f4\u65b0\u7387\u4ee5\u53ca\u8fd0\u52a8\u72b6\u6001\u4e0b\u7684\u6ee4\u6ce2\u548c\u9884\u6d4b\u7b97\u6cd5\u6027\u80fd\u3002\u5bf9\u4e8e\u8f66\u8f86\u5bfc\u822a\u3001\u4eba\u5458\u8ffd\u8e2a\u7b49\u5e94\u7528\uff0c\u52a8\u6001\u7cbe\u5ea6\u663e\u7136\u662f\u66f4\u5177\u73b0\u5b9e\u610f\u4e49\u7684\u8bc4\u4f30\u7ef4\u5ea6\u3002<\/p>\n<h2>\u6838\u5fc3\u8bc4\u4f30\u6307\u6807\uff1a\u91cf\u5316\u5b9a\u4f4d\u7cbe\u5ea6\u7684\u201c\u6807\u5c3a\u201d<\/h2>\n<p>\u6709\u4e86\u5b9a\u4f4d\u8bef\u5dee\u7684\u539f\u59cb\u6570\u636e\uff0c\u6211\u4eec\u9700\u8981\u4e00\u5957\u6807\u51c6\u5316\u7684\u7edf\u8ba1\u201c\u8bed\u8a00\u201d\u6765\u63cf\u8ff0\u8fd9\u4e9b\u8bef\u5dee\u7684\u5206\u5e03\u7279\u5f81\u3002\u8fd9\u5c31\u662f\u8bc4\u4f30\u6307\u6807\u7684\u4f5c\u7528\uff0c\u5b83\u4eec\u5c06\u6210\u5343\u4e0a\u4e07\u4e2a\u8bef\u5dee\u6570\u636e\u70b9\uff0c\u63d0\u70bc\u4e3a\u51e0\u4e2a\u5177\u6709\u660e\u786e\u7edf\u8ba1\u610f\u4e49\u7684\u6570\u503c\u3002<\/p>\n<h3>\u4e8c\u7ef4 (2D) \u7cbe\u5ea6\u6307\u6807<\/h3>\n<p>\u5bf9\u4e8e\u5927\u591a\u6570\u5e73\u9762\u5b9a\u4f4d\u5e94\u7528\uff08\u5982\u5ba4\u5185\u5bfc\u822a\u3001\u8d44\u4ea7\u8ffd\u8e2a\uff09\uff0c\u6211\u4eec\u4e3b\u8981\u5173\u6ce8\u4e8c\u7ef4\u7cbe\u5ea6\u6307\u6807\u3002<\/p>\n<h4>CEP (Circular Error Probable \/ \u5706\u6982\u7387\u8bef\u5dee)<\/h4>\n<h5>\u5b9a\u4e49\uff1a\u4ee5\u771f\u5b9e\u4f4d\u7f6e\u4e3a\u5706\u5fc3\uff0c\u5305\u542b50%\u5b9a\u4f4d\u70b9\u7684\u5706\u5f62\u533a\u57df\u534a\u5f84<\/h5>\n<p>CEP \u662f\u4e00\u4e2a\u975e\u5e38\u76f4\u89c2\u4e14\u5e94\u7528\u5e7f\u6cdb\u7684\u6307\u6807\u3002\u5982\u679c\u4e00\u4e2a\u5b9a\u4f4d\u7cfb\u7edf\u7684\u7cbe\u5ea6\u88ab\u6807\u6ce8\u4e3a CEP = 1\u7c73\uff0c\u8fd9\u610f\u5473\u7740\uff0c\u5f53\u4f60\u8fdb\u884c\u4e00\u6b21\u5b9a\u4f4d\u65f6\uff0c\u670950%\u7684\u6982\u7387\uff0c\u4f60\u7684\u771f\u5b9e\u4f4d\u7f6e\u5c31\u5728\u4ee5\u5b9a\u4f4d\u7ed3\u679c\u4e3a\u5706\u5fc3\u3001\u534a\u5f84\u4e3a1\u7c73\u7684\u5706\u5708\u5185\u90e8\u3002\u5b83\u8861\u91cf\u7684\u662f\u7cfb\u7edf\u201c\u4e00\u534a\u60c5\u51b5\u4e0b\u201d\u7684\u6027\u80fd\u8868\u73b0\u3002<\/p>\n<h5>\u5e94\u7528\u573a\u666f\u4e0e\u89e3\u8bfb\uff1a\u5e38\u7528\u4e8e\u8bc4\u4f30GNSS\u7b49\u4e8c\u7ef4\u5b9a\u4f4d\u7cfb\u7edf<\/h5>\n<p>CEP \u662f\u8bc4\u4f30GNSS\uff08\u5982GPS\uff09\u6c11\u7528\u63a5\u6536\u673a\u7cbe\u5ea6\u7684\u5e38\u7528\u6807\u51c6\u3002\u5b83\u7b80\u5355\u6613\u61c2\uff0c\u80fd\u5f88\u597d\u5730\u53cd\u6620\u7cfb\u7edf\u7684\u5178\u578b\u6027\u80fd\u3002\u4f46\u5b83\u7684\u7f3a\u70b9\u4e5f\u663e\u800c\u6613\u89c1\uff1a\u5b83\u5b8c\u5168\u5ffd\u7565\u4e86\u53e6\u591650%\u7684\u79bb\u7fa4\u70b9\uff08outliers\uff09\u7684\u4fe1\u606f\uff0c\u65e0\u6cd5\u53cd\u6620\u7cfb\u7edf\u7684\u6700\u5dee\u6027\u80fd\u8868\u73b0\u3002<\/p>\n<p>[\u56fe\u793a]\uff1aCEP\u8bef\u5dee\u5706\u793a\u610f\u56fe\uff0c\u5c55\u793a\u4e86\u4ee5\u771f\u503c\u4e3a\u4e2d\u5fc3\uff0c\u5305\u542b50%\u6563\u70b9\u7684\u5706\u3002<\/p>\n<h4>RMS (Root Mean Square \/ \u5747\u65b9\u6839\u8bef\u5dee)<\/h4>\n<h5>\u5b9a\u4e49\uff1a\u5404\u65b9\u5411\u8bef\u5dee\u5e73\u65b9\u548c\u7684\u5747\u503c\u7684\u5e73\u65b9\u6839\uff0c\u53cd\u6620\u8bef\u5dee\u7684\u6574\u4f53\u5927\u5c0f<\/h5>\n<p>RMS \u662f\u4e00\u4e2a\u66f4\u504f\u5411\u4e8e\u7edf\u8ba1\u5b66\u7684\u6307\u6807\uff0c\u5b83\u80fd\u66f4\u597d\u5730\u53cd\u6620\u8bef\u5dee\u7684\u6574\u4f53\u79bb\u6563\u7a0b\u5ea6\u3002<\/p>\n<h5>1DRMS vs. 2DRMS\uff1a\u4e00\u7ef4\u4e0e\u4e8c\u7ef4\u4e0b\u7684\u8ba1\u7b97\u4e0e\u610f\u4e49<\/h5>\n<ul>\n<li><strong>1DRMS<\/strong>\uff1a\u5728\u4e00\u7ef4\u60c5\u51b5\u4e0b\uff08\u4f8b\u5982\uff0c\u53ea\u8003\u8651X\u8f74\u65b9\u5411\u7684\u8bef\u5dee\uff09\uff0c1DRMS\u662f\u6240\u6709X\u8f74\u8bef\u5dee\u5e73\u65b9\u7684\u5e73\u5747\u503c\u7684\u5e73\u65b9\u6839\u3002\u5b83\u4ee3\u8868\u4e86\u8be5\u8f74\u5411\u4e0a\u7684\u8bef\u5dee\u6807\u51c6\u5dee\uff08\u5047\u8bbe\u8bef\u5dee\u5747\u503c\u4e3a0\uff09\u3002<\/li>\n<li><strong>2DRMS<\/strong>\uff1a\u5728\u4e8c\u7ef4\u60c5\u51b5\u4e0b\uff0c2DRMS \u662fX\u8f74\u8bef\u5dee\u76841DRMS\u548cY\u8f74\u8bef\u5dee\u76841DRMS\u7684\u5e73\u65b9\u548c\u7684\u5e73\u65b9\u6839\u3002\u5373 <code>2DRMS = sqrt(1DRMS_x\u00b2 + 1DRMS_y\u00b2)<\/code>\u3002\u5728\u6b63\u6001\u5206\u5e03\u5047\u8bbe\u4e0b\uff0c2DRMS\u6240\u5b9a\u4e49\u7684\u5706\u5708\u5927\u7ea6\u80fd\u5305\u542b63%\u523068%\u7684\u5b9a\u4f4d\u70b9\u3002\u4e0eCEP\u76f8\u6bd4\uff0cRMS\u5bf9\u8f83\u5927\u7684\u8bef\u5dee\u503c\uff08\u79bb\u7fa4\u70b9\uff09\u66f4\u4e3a\u654f\u611f\uff0c\u56e0\u6b64\u80fd\u66f4\u5168\u9762\u5730\u53cd\u6620\u6574\u4f53\u8bef\u5dee\u6c34\u5e73\u3002<\/li>\n<\/ul>\n<h4>R95 (95% Radius)<\/h4>\n<h5>\u5b9a\u4e49\uff1a\u4ee5\u771f\u5b9e\u4f4d\u7f6e\u4e3a\u5706\u5fc3\uff0c\u5305\u542b95%\u5b9a\u4f4d\u70b9\u7684\u5706\u5f62\u533a\u57df\u534a\u5f84<\/h5>\n<p>R95 \u662f\u4e00\u4e2a\u8861\u91cf\u7cfb\u7edf\u53ef\u9760\u6027\u7684\u5173\u952e\u6307\u6807\u3002\u5b83\u56de\u7b54\u4e86\u4e00\u4e2a\u91cd\u8981\u95ee\u9898\uff1a\u201c\u572895%\u7684\u60c5\u51b5\u4e0b\uff0c\u7cfb\u7edf\u7684\u6700\u5927\u8bef\u5dee\u4e0d\u4f1a\u8d85\u8fc7\u591a\u5c11\uff1f\u201d<\/p>\n<h5>\u4e0e2DRMS\u7684\u5173\u7cfb\uff1a\u5728\u6b63\u6001\u5206\u5e03\u4e0b\uff0cR95 \u2248 2DRMS<\/h5>\n<p>\u5728\u8bef\u5dee\u5448\u4e8c\u7ef4\u6b63\u6001\u5206\u5e03\u7684\u7406\u60f3\u5047\u8bbe\u4e0b\uff0cR95\u4e0e2DRMS\u4e4b\u95f4\u5b58\u5728\u8fd1\u4f3c\u7684\u6362\u7b97\u5173\u7cfb\u3002\u8fd9\u4e2a\u5173\u7cfb\u4f7f\u5f97\u6211\u4eec\u53ef\u4ee5\u5728\u4e0d\u540c\u6307\u6807\u95f4\u8fdb\u884c\u4f30\u7b97\u3002<\/p>\n<h5>\u5e94\u7528\u573a\u666f\uff1a\u9002\u7528\u4e8e\u5bf9\u53ef\u9760\u6027\u8981\u6c42\u66f4\u9ad8\u7684\u5e94\u7528<\/h5>\n<p>\u5bf9\u4e8e\u81ea\u52a8\u9a7e\u9a76\u3001\u4eba\u5458\u9632\u78b0\u649e\u3001\u65e0\u4eba\u673a\u7cbe\u51c6\u964d\u843d\u7b49\u5b89\u5168\u6538\u5173\uff08Safety-Critical\uff09\u7684\u5e94\u7528\uff0c\u4ec5\u4ec5\u77e5\u905350%\u7684\u201c\u5e73\u5747\u60c5\u51b5\u201d\uff08CEP\uff09\u662f\u8fdc\u8fdc\u4e0d\u591f\u7684\u3002\u7ba1\u7406\u8005\u548c\u5de5\u7a0b\u5e08\u5fc5\u987b\u5173\u6ce895%\u751a\u81f399%\u7f6e\u4fe1\u5ea6\u4e0b\u7684\u6027\u80fd\u8fb9\u754c\uff0cR95\u56e0\u6b64\u6210\u4e3a\u8fd9\u7c7b\u573a\u666f\u4e0b\u66f4\u5177\u53c2\u8003\u4ef7\u503c\u7684\u6307\u6807\u3002<\/p>\n<h3>\u4e09\u7ef4 (3D) \u7cbe\u5ea6\u6307\u6807<\/h3>\n<p>\u5bf9\u4e8e\u65e0\u4eba\u673a\u3001\u673a\u5668\u4eba\u7b49\u9700\u8981\u5728\u4e09\u7ef4\u7a7a\u95f4\u4e2d\u5b9a\u4f4d\u7684\u5e94\u7528\uff0c\u6211\u4eec\u9700\u8981\u5f15\u5165\u4e09\u7ef4\u7cbe\u5ea6\u6307\u6807\u3002<\/p>\n<h4>SEP (Spherical Error Probable \/ \u7403\u6982\u7387\u8bef\u5dee)<\/h4>\n<h5>\u5b9a\u4e49\uff1a\u4ee5\u771f\u5b9e\u4f4d\u7f6e\u4e3a\u7403\u5fc3\uff0c\u5305\u542b50%\u5b9a\u4f4d\u70b9\u7684\u7403\u4f53\u534a\u5f84<\/h5>\n<p>SEP \u662f CEP \u5728\u4e09\u7ef4\u7a7a\u95f4\u4e2d\u7684\u76f4\u63a5\u5ef6\u4f38\u3002\u5982\u679c\u4e00\u4e2a\u7cfb\u7edf\u7684SEP\u4e3a2\u7c73\uff0c\u5219\u610f\u5473\u7740\u670950%\u7684\u6982\u7387\uff0c\u5b9a\u4f4d\u7ed3\u679c\u4f4d\u4e8e\u4ee5\u771f\u5b9e\u4f4d\u7f6e\u4e3a\u7403\u5fc3\u3001\u534a\u5f84\u4e3a2\u7c73\u7684\u7403\u4f53\u5185\u90e8\u3002<\/p>\n<h3>[\u56fe\u8868]\uff1a\u4e0d\u540c\u6982\u7387\u4e0b\u7684\u7cbe\u5ea6\u6307\u6807\u5173\u7cfb\u5bf9\u7167\u56fe<\/h3>\n<p>\u4e3a\u4e86\u4fbf\u4e8e\u6bd4\u8f83\uff0c\u4e0b\u8868\u5c55\u793a\u4e86\u5728\u7406\u60f3\u4e8c\u7ef4\u6b63\u6001\u5206\u5e03\u5047\u8bbe\u4e0b\uff0c\u4e0d\u540c\u6982\u7387\u6c34\u5e73\u5bf9\u5e94\u7684\u8bef\u5dee\u534a\u5f84\u4e0eRMS\u8bef\u5dee\u4e4b\u95f4\u7684\u8fd1\u4f3c\u5173\u7cfb\u3002<\/p>\n<table>\n<thead>\n<tr>\n<th align=\"left\">\u6307\u6807\u540d\u79f0<\/th>\n<th align=\"left\">\u5305\u542b\u6982\u7387<\/th>\n<th align=\"left\">\u4e0eRMS\u7684\u5173\u7cfb (\u8fd1\u4f3c)<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td align=\"left\">CEP<\/td>\n<td align=\"left\">50%<\/td>\n<td align=\"left\">\u2248 1.2 * RMS<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">RMS<\/td>\n<td align=\"left\">68%<\/td>\n<td align=\"left\">1 * RMS<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">2DRMS<\/td>\n<td align=\"left\">95%<\/td>\n<td align=\"left\">\u2248 2 * RMS<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">R99<\/td>\n<td align=\"left\">99%<\/td>\n<td align=\"left\">\u2248 2.6 * RMS<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p><em>\u6ce8\uff1a\u6b64\u5904\u7684RMS\u6307\u5355\u8f74\u5747\u65b9\u6839\u8bef\u5dee\u30022DRMS\u662f\u4e8c\u7ef4\u5747\u65b9\u6839\u8bef\u5dee\uff0c\u5176\u5b9a\u4e49\u7684\u5706\u5305\u542b\u7ea695%\u7684\u70b9\uff0c\u56e0\u6b64\u5728\u6982\u5ff5\u4e0a\u4e0eR95\u975e\u5e38\u63a5\u8fd1\u3002<\/em><\/p>\n<h2>\u5b9a\u4f4d\u7cbe\u5ea6\u8bc4\u4f30\u7684\u6807\u51c6\u5316\u65b9\u6cd5\u4e0e\u6d41\u7a0b<\/h2>\n<p>\u83b7\u5f97\u53ef\u4fe1\u3001\u53ef\u590d\u73b0\u7684\u8bc4\u4f30\u7ed3\u679c\uff0c\u4f9d\u8d56\u4e8e\u4e00\u5957\u4e25\u8c28\u7684\u3001\u6807\u51c6\u5316\u7684\u6d4b\u8bd5\u6d41\u7a0b\u3002\u8fd9\u7edd\u975e\u7b80\u5355\u5730\u6253\u5f00\u8bbe\u5907\u3001\u8bb0\u5f55\u8bfb\u6570\uff0c\u800c\u662f\u4e00\u4e2a\u7cfb\u7edf\u6027\u7684\u5de5\u7a0b\u3002<\/p>\n<h3>\u7b2c\u4e00\u6b65\uff1a\u6d4b\u8bd5\u73af\u5883\u4e0e\u57fa\u51c6\u7cfb\u7edf\u5efa\u7acb<\/h3>\n<h4>\u573a\u5730\u9009\u62e9\uff1a\u5f00\u653e\u5929\u7a7a\u3001\u57ce\u5e02\u5ce1\u8c37\u3001\u5ba4\u5185\u529e\u516c\u533a\u3001\u5de5\u5382\u8f66\u95f4\u7b49<\/h4>\n<p>\u6d4b\u8bd5\u73af\u5883\u7684\u9009\u62e9\u81f3\u5173\u91cd\u8981\uff0c\u5fc5\u987b\u4e0e\u6280\u672f\u7684\u9884\u5b9a\u5e94\u7528\u573a\u666f\u76f8\u5339\u914d\u3002\u8bc4\u4f30\u8f66\u8f7dGPS\uff0c\u5e94\u9009\u62e9\u5f00\u653e\u5929\u7a7a\u548c\u9ad8\u697c\u6797\u7acb\u7684\u201c\u57ce\u5e02\u5ce1\u8c37\u201d\uff1b\u8bc4\u4f30\u5de5\u5382AGV\u7684UWB\u5b9a\u4f4d\uff0c\u5219\u5fc5\u987b\u5728\u5145\u6ee1\u91d1\u5c5e\u8d27\u67b6\u548c\u79fb\u52a8\u8bbe\u5907\u7684\u771f\u5b9e\u6216\u6a21\u62df\u8f66\u95f4\u4e2d\u8fdb\u884c\u3002<\/p>\n<h4>\u57fa\u51c6\u7cfb\u7edf (Ground Truth) \u7684\u83b7\u53d6<\/h4>\n<p>\u8bc4\u4f30\u7684\u6838\u5fc3\u662f\u6bd4\u8f83\uff0c\u800c\u6bd4\u8f83\u7684\u524d\u63d0\u662f\u62e5\u6709\u4e00\u4e2a\u7edd\u5bf9\u51c6\u786e\u7684\u201c\u771f\u5b9e\u201d\u5750\u6807\uff0c\u5373\u57fa\u51c6\uff08Ground Truth\uff09\u3002\u57fa\u51c6\u7cfb\u7edf\u7684\u7cbe\u5ea6\u5fc5\u987b\u6bd4\u5f85\u6d4b\u7cfb\u7edf\u9ad8\u81f3\u5c11\u4e00\u4e2a\u6570\u91cf\u7ea7\u3002<\/p>\n<h5>\u65b9\u6cd5\uff1a\u4f7f\u7528\u66f4\u9ad8\u7cbe\u5ea6\u7684\u6d4b\u91cf\u8bbe\u5907\uff08\u5982\u5168\u7ad9\u4eea\u3001\u6d4b\u91cf\u7ea7RTK\uff09\u6765\u786e\u5b9a\u201c\u771f\u5b9e\u201d\u5750\u6807<\/h5>\n<ul>\n<li><strong>\u9759\u6001\u6d4b\u8bd5<\/strong>\uff1a\u901a\u5e38\u4f7f\u7528\u6fc0\u5149\u5168\u7ad9\u4eea\u6216\u6d4b\u91cf\u7ea7\u7684RTK-GNSS\u8bbe\u5907\uff0c\u5bf9\u5730\u9762\u4e0a\u7684\u6d4b\u8bd5\u6807\u8bb0\u70b9\u8fdb\u884c\u7cbe\u786e\u5750\u6807\u6d4b\u91cf\uff0c\u5176\u7cbe\u5ea6\u53ef\u8fbe\u6beb\u7c73\u7ea7\u3002\u8fd9\u4e9b\u6807\u8bb0\u70b9\u7684\u5750\u6807\u5c31\u6210\u4e3a\u9759\u6001\u6d4b\u8bd5\u7684\u201c\u771f\u503c\u201d\u3002<\/li>\n<li><strong>\u52a8\u6001\u6d4b\u8bd5<\/strong>\uff1a\u5c06\u9ad8\u7cbe\u5ea6\u6d4b\u91cf\u8bbe\u5907\uff08\u5982\u5e26IMU\u7684RTK\u7cfb\u7edf\uff09\u4e0e\u5f85\u6d4b\u8bbe\u5907\u4e00\u540c\u56fa\u5b9a\u5728\u79fb\u52a8\u8f7d\u4f53\u4e0a\uff0c\u540c\u6b65\u8bb0\u5f55\u4e24\u6761\u8f68\u8ff9\u3002\u9ad8\u7cbe\u5ea6\u7cfb\u7edf\u8f93\u51fa\u7684\u8f68\u8ff9\u5373\u4e3a\u57fa\u51c6\u8f68\u8ff9\u3002<\/li>\n<\/ul>\n<h3>\u7b2c\u4e8c\u6b65\uff1a\u6570\u636e\u91c7\u96c6\u65b9\u6848\u8bbe\u8ba1<\/h3>\n<h4>\u6d4b\u8bd5\u70b9\u4f4d\u5e03\u5c40\uff1a\u7f51\u683c\u6cd5\u3001\u968f\u673a\u6cd5\u3001\u7279\u5b9a\u8def\u5f84\u6cd5<\/h4>\n<ul>\n<li><strong>\u9759\u6001\u70b9<\/strong>\uff1a\u901a\u5e38\u91c7\u7528\u7f51\u683c\u6cd5\uff0c\u5728\u6d4b\u8bd5\u533a\u57df\u5185\u5747\u5300\u5e03\u70b9\uff0c\u4ee5\u8bc4\u4f30\u7cfb\u7edf\u5728\u4e0d\u540c\u4f4d\u7f6e\u7684\u6027\u80fd\u4e00\u81f4\u6027\u3002<\/li>\n<li><strong>\u52a8\u6001\u8def\u5f84<\/strong>\uff1a\u5e94\u8bbe\u8ba1\u5305\u542b\u76f4\u7ebf\u3001\u8f6c\u5f2f\u3001\u52a0\u51cf\u901f\u7b49\u5178\u578b\u8fd0\u52a8\u72b6\u6001\u7684\u8def\u5f84\uff0c\u4ee5\u5168\u9762\u8003\u5bdf\u7cfb\u7edf\u7684\u52a8\u6001\u54cd\u5e94\u80fd\u529b\u3002<\/li>\n<\/ul>\n<h4>\u9759\u6001\u6d4b\u8bd5\u6d41\u7a0b\uff1a\u5728\u6bcf\u4e2a\u70b9\u4f4d\u91c7\u96c6\u8db3\u591f\u6570\u91cf\u7684\u6837\u672c\uff08\u5982>1000\u4e2a\uff09<\/h4>\n<p>\u5728\u6bcf\u4e2a\u9884\u5148\u6807\u5b9a\u7684\u9759\u6001\u6d4b\u8bd5\u70b9\u4e0a\uff0c\u653e\u7f6e\u5f85\u6d4b\u8bbe\u5907\uff0c\u5e76\u786e\u4fdd\u5176\u9759\u6b62\u3002\u7136\u540e\uff0c\u5728\u8bbe\u5b9a\u7684\u65f6\u95f4\u5185\uff08\u598215-30\u5206\u949f\uff09\u8fde\u7eed\u91c7\u96c6\u5b9a\u4f4d\u6570\u636e\u3002\u6837\u672c\u91cf\u9700\u8981\u8db3\u591f\u5927\uff0c\u4ee5\u4fdd\u8bc1\u7edf\u8ba1\u7ed3\u679c\u7684\u53ef\u9760\u6027\u3002<\/p>\n<h4>\u52a8\u6001\u6d4b\u8bd5\u6d41\u7a0b\uff1a\u6309\u7167\u9884\u8bbe\u8f68\u8ff9\uff08\u76f4\u7ebf\u3001\u66f2\u7ebf\uff09\u79fb\u52a8\uff0c\u8bb0\u5f55\u8fde\u7eed\u5b9a\u4f4d\u6570\u636e<\/h4>\n<p>\u8ba9\u627f\u8f7d\u5f85\u6d4b\u8bbe\u5907\u548c\u57fa\u51c6\u7cfb\u7edf\u7684\u8f7d\u4f53\uff0c\u4ee5\u7279\u5b9a\u7684\u901f\u5ea6\uff08\u5982\u6b65\u884c\u901f\u5ea6\u3001\u8f66\u901f\uff09\u6cbf\u9884\u8bbe\u8f68\u8ff9\u79fb\u52a8\uff0c\u5e76\u540c\u6b65\u8bb0\u5f55\u4e24\u5957\u7cfb\u7edf\u7684\u65f6\u95f4\u6233\u548c\u5750\u6807\u6570\u636e\u3002<\/p>\n<h3>\u7b2c\u4e09\u6b65\uff1a\u6570\u636e\u5904\u7406\u4e0e\u5206\u6790<\/h3>\n<h4>\u6570\u636e\u9884\u5904\u7406\uff1a\u5254\u9664\u5f02\u5e38\u503c\uff0c\u4e0e\u57fa\u51c6\u6570\u636e\u8fdb\u884c\u65f6\u95f4\/\u7a7a\u95f4\u5bf9\u9f50<\/h4>\n<p>\u539f\u59cb\u6570\u636e\u53ef\u80fd\u5305\u542b\u56e0\u901a\u4fe1\u4e2d\u65ad\u7b49\u539f\u56e0\u4ea7\u751f\u7684\u660e\u663e\u5f02\u5e38\u70b9\uff0c\u9700\u8981\u8fdb\u884c\u9884\u5148\u5254\u9664\u3002\u66f4\u5173\u952e\u7684\u662f\uff0c\u5fc5\u987b\u901a\u8fc7\u65f6\u95f4\u6233\u5c06\u5f85\u6d4b\u7cfb\u7edf\u7684\u6bcf\u4e00\u4e2a\u5b9a\u4f4d\u70b9\u4e0e\u57fa\u51c6\u7cfb\u7edf\u5728\u540c\u4e00\u65f6\u523b\u7684\u4f4d\u7f6e\u8fdb\u884c\u7cbe\u786e\u5339\u914d\u3002<\/p>\n<h4>\u8bef\u5dee\u8ba1\u7b97\uff1a\u8ba1\u7b97\u6bcf\u4e2a\u5b9a\u4f4d\u70b9\u4e0e\u5bf9\u5e94\u57fa\u51c6\u70b9\u7684\u6b27\u6c0f\u8ddd\u79bb<\/h4>\n<p>\u5bf9\u4e8e\u6bcf\u4e00\u4e2a\u5339\u914d\u597d\u7684\u6570\u636e\u5bf9\uff08\u6d4b\u91cf\u70b9 vs \u57fa\u51c6\u70b9\uff09\uff0c\u8ba1\u7b97\u5b83\u4eec\u5728\u4e8c\u7ef4\u6216\u4e09\u7ef4\u7a7a\u95f4\u4e2d\u7684\u6b27\u6c0f\u8ddd\u79bb\u3002\u8fd9\u6837\u5c31\u5f97\u5230\u4e86\u4e00\u4e2a\u5305\u542b\u6210\u5343\u4e0a\u4e07\u4e2a\u8bef\u5dee\u503c\u7684\u6838\u5fc3\u6570\u636e\u96c6\u3002<\/p>\n<h4>\u7edf\u8ba1\u6307\u6807\u8ba1\u7b97\uff1a\u6839\u636e\u8bef\u5dee\u6570\u636e\u96c6\u8ba1\u7b97CEP, RMS, R95, \u6700\u5927\u8bef\u5dee\u7b49<\/h4>\n<p>\u5229\u7528\u4e0a\u4e00\u6b65\u5f97\u5230\u7684\u8bef\u5dee\u6570\u636e\u96c6\uff0c\u901a\u8fc7\u7edf\u8ba1\u5b66\u8f6f\u4ef6\u6216\u811a\u672c\uff0c\u8ba1\u7b97\u51fa\u524d\u6587\u6240\u8ff0\u7684\u5404\u9879\u6838\u5fc3\u8bc4\u4f30\u6307\u6807\uff0c\u5982CEP\u3001RMS\u3001R95\uff0c\u4ee5\u53ca\u5e73\u5747\u8bef\u5dee\u3001\u6700\u5927\u8bef\u5dee\u3001\u8bef\u5dee\u6807\u51c6\u5dee\u7b49\u3002<\/p>\n<h4>\u7ed3\u679c\u53ef\u89c6\u5316\uff1a\u7ed8\u5236\u8bef\u5dee\u7d2f\u79ef\u5206\u5e03\u51fd\u6570\uff08CDF\uff09\u56fe\u3001\u6563\u70b9\u56fe\u3001\u8f68\u8ff9\u5bf9\u6bd4\u56fe<\/h4>\n<ul>\n<li><strong>CDF\u56fe (Cumulative Distribution Function)<\/strong>\uff1a\u8fd9\u662f\u8bc4\u4f30\u5b9a\u4f4d\u7cbe\u5ea6\u6700\u91cd\u8981\u3001\u6700\u76f4\u89c2\u7684\u56fe\u8868\u4e4b\u4e00\u3002\u5176\u6a2a\u8f74\u4e3a\u8bef\u5dee\u5927\u5c0f\uff0c\u7eb5\u8f74\u4e3a\u5c0f\u4e8e\u8be5\u8bef\u5dee\u7684\u5b9a\u4f4d\u70b9\u6240\u5360\u7684\u767e\u5206\u6bd4\u3002\u901a\u8fc7CDF\u56fe\uff0c\u53ef\u4ee5\u4e00\u76ee\u4e86\u7136\u5730\u8bfb\u51fa\u4efb\u610f\u767e\u5206\u4f4d\uff08\u598250%\u300195%\uff09\u5bf9\u5e94\u7684\u8bef\u5dee\u503c\u3002<\/li>\n<li><strong>\u6563\u70b9\u56fe<\/strong>\uff1a\u5c06\u6240\u6709\u9759\u6001\u5b9a\u4f4d\u70b9\u76f8\u5bf9\u4e8e\u771f\u503c\uff08\u539f\u70b9\uff09\u7684\u504f\u5dee\u7ed8\u5236\u51fa\u6765\uff0c\u53ef\u4ee5\u76f4\u89c2\u5730\u770b\u5230\u8bef\u5dee\u7684\u5206\u5e03\u5f62\u72b6\u3001\u65b9\u5411\u6027\u548c\u79bb\u6563\u7a0b\u5ea6\u3002<\/li>\n<li><strong>\u8f68\u8ff9\u5bf9\u6bd4\u56fe<\/strong>\uff1a\u5c06\u5f85\u6d4b\u8f68\u8ff9\u4e0e\u57fa\u51c6\u8f68\u8ff9\u7ed8\u5236\u5728\u540c\u4e00\u5f20\u56fe\u4e0a\uff0c\u53ef\u4ee5\u76f4\u89c2\u5730\u770b\u51fa\u52a8\u6001\u5b9a\u4f4d\u7684\u504f\u79bb\u3001\u5ef6\u8fdf\u548c\u6296\u52a8\u60c5\u51b5\u3002<\/li>\n<\/ul>\n<h2>\u5173\u952e\u5b9a\u4f4d\u6280\u672f\u7684\u7cbe\u5ea6\u8bc4\u4f30\u4e0e\u5bf9\u6bd4<\/h2>\n<p>\u4e0d\u540c\u7684\u5b9a\u4f4d\u6280\u672f\uff0c\u5176\u7cbe\u5ea6\u8868\u73b0\u548c\u8bc4\u4f30\u91cd\u70b9\u5404\u6709\u4e0d\u540c\u3002<\/p>\n<h3>\u5168\u7403\u5bfc\u822a\u536b\u661f\u7cfb\u7edf (GNSS)<\/h3>\n<h4>GPS\/\u5317\u6597\u7684\u7cbe\u5ea6\u8bc4\u4f30\u8981\u70b9\uff1aDOP\u503c\u7684\u5f71\u54cd\u3001\u591a\u8def\u5f84\u6548\u5e94\u7684\u6291\u5236<\/h4>\n<p>\u8bc4\u4f30GNSS\u6027\u80fd\u65f6\uff0c\u5fc5\u987b\u8bb0\u5f55\u5e76\u5206\u6790DOP\uff08Dilution of Precision\uff0c\u7cbe\u5ea6\u8870\u51cf\u56e0\u5b50\uff09\u503c\u3002DOP\u503c\u53cd\u6620\u4e86\u89c2\u6d4b\u536b\u661f\u7684\u51e0\u4f55\u5206\u5e03\u72b6\u51b5\uff0cDOP\u503c\u8d8a\u4f4e\uff0c\u5b9a\u4f4d\u7cbe\u5ea6\u8d8a\u9ad8\u3002\u5728\u57ce\u5e02\u5ce1\u8c37\u7b49\u573a\u666f\uff0c\u591a\u8def\u5f84\u6548\u5e94\u662f\u4e3b\u8981\u7684\u8bef\u5dee\u6765\u6e90\uff0c\u8bc4\u4f30\u65f6\u9700\u5173\u6ce8\u7cfb\u7edf\u5bf9\u591a\u5f84\u4fe1\u53f7\u7684\u6291\u5236\u80fd\u529b\u3002<\/p>\n<h3>\u8d85\u5bbd\u5e26\u6280\u672f (UWB)<\/h3>\n<h4>UWB\u5b9a\u4f4d\u7cbe\u5ea6\u7684\u4f18\u52bf\u4e0e\u6d4b\u8bd5\u6311\u6218\uff1a\u89c6\u8ddd\uff08LOS\uff09\u4e0e\u975e\u89c6\u8ddd\uff08NLOS\uff09\u73af\u5883\u4e0b\u7684\u5de8\u5927\u5dee\u5f02<\/h4>\n<p>UWB\u4ee5\u5176\u5398\u7c73\u7ea7\u7684\u5b9a\u4f4d\u7cbe\u5ea6\u8457\u79f0\uff0c\u4f46\u8fd9\u4e00\u6027\u80fd\u9ad8\u5ea6\u4f9d\u8d56\u4e8e\u6807\u7b7e\u548c\u57fa\u7ad9\u4e4b\u95f4\u7684\u89c6\u8ddd\uff08Line-of-Sight, LOS\uff09\u4f20\u64ad\u3002\u4e00\u65e6\u51fa\u73b0\u906e\u6321\uff08Non-Line-of-Sight, NLOS\uff09\uff0c\u5176\u7cbe\u5ea6\u4f1a\u6025\u5267\u4e0b\u964d\u3002\u56e0\u6b64\uff0c\u5bf9UWB\u7cfb\u7edf\u7684\u8bc4\u4f30\uff0c\u5fc5\u987b\u5206\u522b\u5728LOS\u548c\u5178\u578b\u7684NLOS\u573a\u666f\u4e0b\u8fdb\u884c\uff0c\u5e76\u660e\u786e\u62a5\u544a\u4e24\u79cd\u60c5\u51b5\u4e0b\u7684\u6027\u80fd\u6570\u636e\u3002<\/p>\n<h3>Wi-Fi \u5b9a\u4f4d\u6280\u672f<\/h3>\n<h4>Wi-Fi RTT (\u5f80\u8fd4\u65f6\u95f4\u6d4b\u8ddd) vs. RSSI (\u4fe1\u53f7\u5f3a\u5ea6\u6307\u793a) \u7684\u7cbe\u5ea6\u8bc4\u4f30\u5dee\u5f02<\/h4>\n<p>\u57fa\u4e8eRSSI\uff08\u63a5\u6536\u4fe1\u53f7\u5f3a\u5ea6\u6307\u793a\uff09\u7684\u4f20\u7edfWi-Fi\u5b9a\u4f4d\uff0c\u7cbe\u5ea6\u901a\u5e38\u57285-15\u7c73\uff0c\u4e14\u7a33\u5b9a\u6027\u5dee\uff0c\u53d7\u73af\u5883\u53d8\u5316\u5f71\u54cd\u6781\u5927\u3002\u800c\u57fa\u4e8eRTT\uff08\u5f80\u8fd4\u65f6\u95f4\uff09\u7684\u65b0\u4e00\u4ee3Wi-Fi\u5b9a\u4f4d\u6280\u672f\uff08802.11mc\u6807\u51c6\uff09\uff0c\u7406\u8bba\u7cbe\u5ea6\u53ef\u8fbe1-2\u7c73\u3002\u8bc4\u4f30\u65f6\u5fc5\u987b\u660e\u786e\u6240\u91c7\u7528\u7684\u6280\u672f\u4f53\u5236\uff0c\u56e0\u4e3a\u4e8c\u8005\u6027\u80fd\u5dee\u5f02\u60ac\u6b8a\u3002<\/p>\n<h3>\u84dd\u7259\u5b9a\u4f4d (Bluetooth AoA\/AoD)<\/h3>\n<h4>\u84dd\u7259AoA\/AoD\u7cbe\u5ea6\u7684\u5173\u952e\u5f71\u54cd\u56e0\u7d20\uff1a\u5929\u7ebf\u9635\u5217\u8bbe\u8ba1\u3001\u7b97\u6cd5\u3001\u73af\u5883\u53cd\u5c04<\/h4>\n<p>\u84dd\u7259AoA\uff08\u5230\u8fbe\u89d2\uff09\/AoD\uff08\u79bb\u5f00\u89d2\uff09\u6280\u672f\u901a\u8fc7\u6d4b\u91cf\u4fe1\u53f7\u5230\u8fbe\u5929\u7ebf\u9635\u5217\u7684\u89d2\u5ea6\u6765\u6d4b\u5b9a\u65b9\u5411\uff0c\u5b9e\u73b0\u4e9a\u7c73\u7ea7\u5b9a\u4f4d\u3002\u5176\u7cbe\u5ea6\u9ad8\u5ea6\u4f9d\u8d56\u4e8e\u57fa\u7ad9\u7aef\u7684\u5929\u7ebf\u9635\u5217\u8bbe\u8ba1\u3001\u89d2\u5ea6\u4f30\u8ba1\u7b97\u6cd5\u7684\u4f18\u52a3\u4ee5\u53ca\u5bf9\u5ba4\u5185\u73af\u5883\u53cd\u5c04\u4fe1\u53f7\u7684\u5904\u7406\u80fd\u529b\u3002\u8bc4\u4f30\u6b64\u7c7b\u7cfb\u7edf\u9700\u8981\u91cd\u70b9\u5173\u6ce8\u5176\u5728\u4e0d\u540c\u53cd\u5c04\u73af\u5883\u4e0b\u7684\u89d2\u5ea6\u6d4b\u91cf\u7cbe\u5ea6\u548c\u7a33\u5b9a\u6027\u3002<\/p>\n<h3>[\u8868\u683c]\uff1a\u4e3b\u6d41\u5b9e\u65f6\u5b9a\u4f4d\u6280\u672f\u7cbe\u5ea6\u5bf9\u6bd4<\/h3>\n<table>\n<thead>\n<tr>\n<th align=\"left\">\u6280\u672f\u7c7b\u578b<\/th>\n<th align=\"left\">\u5178\u578b\u7cbe\u5ea6<\/th>\n<th align=\"left\">\u4f18\u52bf<\/th>\n<th align=\"left\">\u52a3\u52bf<\/th>\n<th align=\"left\">\u4e3b\u8981\u5e94\u7528\u573a\u666f<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td align=\"left\">\u6807\u51c6GNSS<\/td>\n<td align=\"left\">5-10\u7c73<\/td>\n<td align=\"left\">\u5168\u7403\u8986\u76d6\u3001\u7ec8\u7aef\u6210\u672c\u4f4e<\/td>\n<td align=\"left\">\u5ba4\u5185\u65e0\u6548\u3001\u6613\u53d7\u906e\u6321<\/td>\n<td align=\"left\">\u8f66\u8f86\u5bfc\u822a\u3001\u6237\u5916\u8ffd\u8e2a<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">RTK-GNSS<\/td>\n<td align=\"left\">1-3\u5398\u7c73<\/td>\n<td align=\"left\">\u6781\u9ad8\u7cbe\u5ea6<\/td>\n<td align=\"left\">\u9700\u57fa\u7ad9\u3001\u6210\u672c\u9ad8\u3001\u521d\u59cb\u5316\u65f6\u95f4\u957f<\/td>\n<td align=\"left\">\u7cbe\u51c6\u519c\u4e1a\u3001\u6d4b\u7ed8\u3001\u81ea\u52a8\u9a7e\u9a76<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">UWB<\/td>\n<td align=\"left\">10-30\u5398\u7c73<\/td>\n<td align=\"left\">\u7cbe\u5ea6\u9ad8\u3001\u6297\u591a\u5f84\u3001\u4f4e\u529f\u8017<\/td>\n<td align=\"left\">\u8986\u76d6\u8303\u56f4\u5c0f\u3001\u9700\u90e8\u7f72\u57fa\u7ad9\u3001\u6210\u672c\u8f83\u9ad8<\/td>\n<td align=\"left\">\u5de5\u4e1a\u5236\u9020\u3001\u4ed3\u50a8\u7269\u6d41\u3001\u4eba\u5458\u9632\u78b0\u649e<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">Wi-Fi RTT<\/td>\n<td align=\"left\">1-2\u7c73<\/td>\n<td align=\"left\">\u53ef\u5229\u7528\u73b0\u6709Wi-Fi\u8bbe\u65bd\u3001\u90e8\u7f72\u76f8\u5bf9\u4fbf\u6377<\/td>\n<td align=\"left\">\u7ec8\u7aef\u652f\u6301\u6709\u9650\u3001\u6613\u53d7\u540c\u9891\u5e72\u6270<\/td>\n<td align=\"left\">\u5ba4\u5185\u5bfc\u822a\u3001\u5927\u578b\u573a\u9986\u8d44\u4ea7\u76d8\u70b9<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">Wi-Fi RSSI<\/td>\n<td align=\"left\">5-15\u7c73<\/td>\n<td align=\"left\">\u90e8\u7f72\u6210\u672c\u6781\u4f4e\u3001\u7ec8\u7aef\u666e\u53ca\u7387\u9ad8<\/td>\n<td align=\"left\">\u7cbe\u5ea6\u4f4e\u3001\u7a33\u5b9a\u6027\u5dee\u3001\u6613\u53d7\u73af\u5883\u5f71\u54cd<\/td>\n<td align=\"left\">\u7c97\u7565\u5b9a\u4f4d\u3001\u5ba2\u6d41\u5206\u6790\u3001\u7535\u5b50\u56f4\u680f<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u84dd\u7259 AoA<\/td>\n<td align=\"left\">0.5-1\u7c73<\/td>\n<td align=\"left\">\u529f\u8017\u4f4e\u3001\u6807\u7b7e\u6210\u672c\u4f4e\u3001\u7cbe\u5ea6\u8f83\u9ad8<\/td>\n<td align=\"left\">\u6613\u53d7\u5e72\u6270\u3001\u57fa\u7ad9\u8ba1\u7b97\u590d\u6742\u3001\u9700\u4e13\u4e1a\u90e8\u7f72<\/td>\n<td align=\"left\">\u5ba4\u5185\u5bfc\u822a\u3001\u7269\u54c1\u67e5\u627e\u3001\u667a\u6167\u96f6\u552e<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h2>\u884c\u4e1a\u4e0e\u56fd\u9645\u6807\u51c6\uff1a\u5b9a\u4f4d\u7cbe\u5ea6\u7684\u201c\u6cd5\u5f8b\u6cd5\u89c4\u201d<\/h2>\n<p>\u4e3a\u4e86\u786e\u4fdd\u4e0d\u540c\u5382\u5546\u3001\u4e0d\u540c\u6280\u672f\u4e4b\u95f4\u7684\u8bc4\u4f30\u7ed3\u679c\u5177\u6709\u53ef\u6bd4\u6027\uff0c\u9075\u5faa\u516c\u8ba4\u7684\u884c\u4e1a\u4e0e\u56fd\u9645\u6807\u51c6\u81f3\u5173\u91cd\u8981\u3002<\/p>\n<h3>ISO\/IEC 18305:2016<\/h3>\n<h4>\u6807\u51c6\u6982\u8ff0\uff1a\u9488\u5bf9UWB\u6280\u672f\u5728\u7269\u54c1\u7ba1\u7406\u5e94\u7528\u4e2d\u7684\u6027\u80fd\u6d4b\u8bd5\u65b9\u6cd5<\/h4>\n<p>\u8be5\u6807\u51c6\u662f\u9488\u5bf9\u5ba4\u5185\u5b9a\u4f4d\u9886\u57df\u4e00\u4e2a\u975e\u5e38\u91cd\u8981\u7684\u56fd\u9645\u6807\u51c6\u3002\u5b83\u8be6\u7ec6\u89c4\u5b9a\u4e86\u7528\u4e8e\u6d4b\u8bd5\u5b9e\u65f6\u5b9a\u4f4d\u7cfb\u7edf\uff08RTLS\uff09\u5728\u7279\u5b9a\u7528\u4f8b\uff08\u5982\u7269\u54c1\u7ba1\u7406\uff09\u4e0b\u6027\u80fd\u7684\u901a\u7528\u65b9\u6cd5\u3002<\/p>\n<h4>\u6838\u5fc3\u8981\u6c42\uff1a\u5b9a\u4e49\u4e86\u6d4b\u8bd5\u73af\u5883\u3001\u6d41\u7a0b\u548c\u9700\u8981\u62a5\u544a\u7684\u6027\u80fd\u6307\u6807<\/h4>\n<p>ISO\/IEC 18305\u4e0d\u4ec5\u5b9a\u4e49\u4e86\u6807\u51c6\u7684\u6d4b\u8bd5\u573a\u5730\u5e03\u5c40\uff08\u598210m x 10m\u7684\u533a\u57df\uff09\u3001\u57fa\u51c6\u7cfb\u7edf\u7684\u8981\u6c42\uff0c\u8fd8\u660e\u786e\u4e86\u9700\u8981\u6d4b\u91cf\u7684\u6027\u80fd\u6307\u6807\uff0c\u5305\u62ec\u5b9a\u4f4d\u7cbe\u5ea6\u3001\u66f4\u65b0\u7387\u3001\u5ef6\u8fdf\u7b49\uff0c\u5e76\u8981\u6c42\u5728LOS\u548cNLOS\u4e24\u79cd\u6761\u4ef6\u4e0b\u5206\u522b\u62a5\u544a\u7ed3\u679c\u3002<\/p>\n<h3>\u5176\u4ed6\u76f8\u5173\u884c\u4e1a\u89c4\u8303<\/h3>\n<h4>\u4f8b\u5982\uff1a3GPP\u5bf95G\u5b9a\u4f4d\u7cbe\u5ea6\u7684\u5b9a\u4e49\u4e0e\u6d4b\u8bd5\u6807\u51c6<\/h4>\n<p>\u968f\u77405G\u6280\u672f\u7684\u53d1\u5c55\uff0c\u5176\u5b9a\u4f4d\u80fd\u529b\u4e5f\u6210\u4e3a\u6807\u51c6\u5316\u7684\u91cd\u8981\u90e8\u5206\u30023GPP\uff08\u7b2c\u4e09\u4ee3\u5408\u4f5c\u4f19\u4f34\u8ba1\u5212\uff09\u5728\u5176\u6807\u51c6\u7248\u672c\u4e2d\uff0c\u5bf9\u4e0d\u540c\u573a\u666f\u4e0b\u76845G\u5b9a\u4f4d\u7cbe\u5ea6\uff08\u5982\u5ba4\u5185<3\u7c73\uff0c\u5ba4\u5916<10\u7c73\uff09\u548c\u65f6\u5ef6\u63d0\u51fa\u4e86\u660e\u786e\u7684\u8981\u6c42\u548c\u6d4b\u8bd5\u7528\u4f8b\u3002<\/p>\n<h3>\u4e3a\u4f55\u9075\u5faa\u6807\u51c6\u81f3-\u5173\u91cd\u8981\uff1f<\/h3>\n<h4>\u786e\u4fdd\u8bc4\u4f30\u7ed3\u679c\u7684\u53ef\u6bd4\u6027\u3001\u53ef\u590d\u73b0\u6027\u548c\u6743\u5a01\u6027<\/h4>\n<p>\u9075\u5faa\u6807\u51c6\uff0c\u610f\u5473\u7740\u6240\u6709\u53c2\u4e0e\u8005\u90fd\u5728\u540c\u4e00\u5957\u201c\u6e38\u620f\u89c4\u5219\u201d\u4e0b\u8fdb\u884c\u6d4b\u8bd5\u3002\u8fd9\u4f7f\u5f97\u7528\u6237\u548c\u96c6\u6210\u5546\u53ef\u4ee5\u57fa\u4e8e\u7edf\u4e00\u7684\u5c3a\u5ea6\uff0c\u516c\u5e73\u5730\u6bd4\u8f83\u6765\u81ea\u4e0d\u540c\u4f9b\u5e94\u5546\u7684\u89e3\u51b3\u65b9\u6848\u3002\u540c\u65f6\uff0c\u6807\u51c6\u5316\u7684\u6d41\u7a0b\u4fdd\u8bc1\u4e86\u6d4b\u8bd5\u7ed3\u679c\u7684\u53ef\u590d\u73b0\u6027\uff0c\u907f\u514d\u4e86\u56e0\u6d4b\u8bd5\u65b9\u6cd5\u4e0d\u4e00\u5bfc\u81f4\u7684\u201c\u81ea\u8bf4\u81ea\u8bdd\u201d\u7684\u5c40\u9762\uff0c\u5927\u5927\u63d0\u5347\u4e86\u8bc4\u4f30\u7ed3\u679c\u7684\u6743\u5a01\u6027\u3002<\/p>\n<h2>\u5e38\u89c1\u95ee\u9898\u89e3\u7b54 (FAQ)<\/h2>\n<h3>Q1: \u5982\u4f55\u6709\u6548\u63d0\u9ad8\u5b9e\u65f6\u5b9a\u4f4d\u7cfb\u7edf\u7684\u5b9a\u4f4d\u7cbe\u5ea6\uff1f<\/h3>\n<p>\u63d0\u9ad8\u5b9a\u4f4d\u7cbe\u5ea6\u662f\u4e00\u4e2a\u7cfb\u7edf\u5de5\u7a0b\uff0c\u53ef\u4ee5\u4ece\u591a\u4e2a\u5c42\u9762\u5165\u624b\uff1a<\/p>\n<ul>\n<li><strong>\u786c\u4ef6\u5c42\u9762<\/strong>\uff1a\u9009\u62e9\u66f4\u9ad8\u6027\u80fd\u7684\u82af\u7247\uff08\u5982\u66f4\u9ad8\u65f6\u95f4\u5206\u8fa8\u7387\u7684UWB\u82af\u7247\uff09\u548c\u8bbe\u8ba1\u66f4\u4f18\u7684\u5929\u7ebf\uff0c\u662f\u63d0\u5347\u539f\u59cb\u6d4b\u91cf\u8d28\u91cf\u7684\u57fa\u7840\u3002<\/li>\n<li><strong>\u7b97\u6cd5\u5c42\u9762<\/strong>\uff1a\u91c7\u7528\u66f4\u5148\u8fdb\u7684\u6ee4\u6ce2\u7b97\u6cd5\uff08\u5982\u6269\u5c55\u5361\u5c14\u66fc\u6ee4\u6ce2\u3001\u7c92\u5b50\u6ee4\u6ce2\uff09\u6765\u5e73\u6ed1\u6570\u636e\u3001\u6291\u5236\u566a\u58f0\u3002\u4f7f\u7528\u66f4\u9c81\u68d2\u7684\u5b9a\u4f4d\u89e3\u7b97\u5f15\u64ce\u6765\u5904\u7406NLOS\u7b49\u5f02\u5e38\u60c5\u51b5\u3002<\/li>\n<li><strong>\u90e8\u7f72\u5c42\u9762<\/strong>\uff1a\u5bf9\u4e8e\u9700\u8981\u90e8\u7f72\u57fa\u7ad9\u7684\u7cfb\u7edf\uff08\u5982UWB\u3001\u84dd\u7259AoA\uff09\uff0c\u589e\u52a0\u57fa\u7ad9\/\u951a\u70b9\u5bc6\u5ea6\u3001\u4f18\u5316\u57fa\u7ad9\u7684\u51e0\u4f55\u5e03\u5c40\uff08\u907f\u514d\u57fa\u7ad9\u5171\u7ebf\uff09\uff0c\u4ee5\u53ca\u5bf9\u90e8\u7f72\u73af\u5883\u8fdb\u884c\u73b0\u573a\u6821\u51c6\uff0c\u90fd\u80fd\u663e\u8457\u63d0\u5347\u7cbe\u5ea6\u3002<\/li>\n<li><strong>\u878d\u5408\u6280\u672f<\/strong>\uff1a\u5c06\u5b9a\u4f4d\u6280\u672f\u4e0eIMU\uff08\u60ef\u6027\u6d4b\u91cf\u5355\u5143\uff09\u7b49\u4f20\u611f\u5668\u8fdb\u884c\u878d\u5408\u3002IMU\u53ef\u4ee5\u63d0\u4f9b\u9ad8\u9891\u7387\u7684\u76f8\u5bf9\u4f4d\u7f6e\u548c\u59ff\u6001\u66f4\u65b0\uff0c\u7528\u4e8e\u586b\u8865\u5b9a\u4f4d\u7cfb\u7edf\u66f4\u65b0\u7684\u95f4\u9699\uff0c\u5e76\u901a\u8fc7\u822a\u4f4d\u63a8\u7b97\uff08Dead Reckoning\uff09\u7b97\u6cd5\u5e73\u6ed1\u8f68\u8ff9\u3001\u4fee\u6b63\u6f02\u79fb\uff0c\u5b9e\u73b0\u66f4\u9ad8\u7cbe\u5ea6\u548c\u66f4\u5f3a\u9c81\u68d2\u6027\u7684\u7ec4\u5408\u5bfc\u822a\u3002<\/li>\n<\/ul>\n<h3>Q2: \u5b9a\u4f4d\u7cbe\u5ea6\u548c\u7cfb\u7edf\u6210\u672c\u4e4b\u95f4\u5982\u4f55\u6743\u8861\uff1f<\/h3>\n<p>\u7cbe\u5ea6\u4e0e\u6210\u672c\u4e4b\u95f4\u901a\u5e38\u5448\u73b0\u975e\u7ebf\u6027\u7684\u6b63\u76f8\u5173\u5173\u7cfb\u3002\u4ece\u7c73\u7ea7\u7cbe\u5ea6\u63d0\u5347\u5230\u5206\u7c73\u7ea7\uff0c\u6210\u672c\u53ef\u80fd\u589e\u52a0\u6570\u500d\uff1b\u800c\u8981\u8fbe\u5230\u5398\u7c73\u7ea7\u7cbe\u5ea6\uff0c\u6210\u672c\uff08\u5305\u62ec\u786c\u4ef6\u3001\u90e8\u7f72\u548c\u7ef4\u62a4\uff09\u5219\u53ef\u80fd\u5448\u6307\u6570\u7ea7\u589e\u957f\u3002\u51b3\u7b56\u7684\u4f9d\u636e\u5e94\u4e25\u683c\u9075\u5faa\u201c\u9002\u7528\u5373\u53ef\u201d\u7684\u539f\u5219\u3002\u5fc5\u987b\u9996\u5148\u5206\u6790\u5177\u4f53\u5e94\u7528\u573a\u666f\u5bf9\u7cbe\u5ea6\u7684\u201c\u6700\u4f4e\u53ef\u63a5\u53d7\u8981\u6c42\u201d\u3002\u4f8b\u5982\uff0c\u5546\u573a\u5185\u7684\u5ba2\u6d41\u5206\u6790\uff0c5\u7c73\u5de6\u53f3\u7684Wi-Fi RSSI\u5b9a\u4f4d\u5df2\u8db3\u591f\uff1b\u800c\u5bf9\u4e8e\u4ea7\u7ebf\u4e0a\u7684\u7cbe\u5bc6\u88c5\u914d\u5f15\u5bfc\uff0c\u5219\u5fc5\u987b\u91c7\u7528\u5398\u7c73\u7ea7\u7684UWB\u6216\u5149\u5b66\u5b9a\u4f4d\u7cfb\u7edf\u3002\u4e3a\u8d85\u51fa\u9700\u6c42\u7684\u7cbe\u5ea6\u652f\u4ed8\u989d\u5916\u6210\u672c\uff0c\u662f\u4e0d\u660e\u667a\u7684\u6295\u8d44\u3002<\/p>\n<h3>Q3: \u4ec0\u4e48\u662f\u201c\u9996\u6b21\u5b9a\u4f4d\u65f6\u95f4\uff08TTFF\uff09\u201d\uff1f\u5b83\u548c\u7cbe\u5ea6\u6709\u5173\u7cfb\u5417\uff1f<\/h3>\n<p>TTFF\uff08Time to First Fix\uff09\u662f\u8861\u91cf\u7cfb\u7edf\u542f\u52a8\u901f\u5ea6\u7684\u6027\u80fd\u6307\u6807\uff0c\u6307\u8bbe\u5907\u4ece\u51b7\u542f\u52a8\uff08\u5b8c\u5168\u65e0\u5148\u9a8c\u4fe1\u606f\uff09\u5230\u9996\u6b21\u8f93\u51fa\u6709\u6548\u5b9a\u4f4d\u7ed3\u679c\u6240\u9700\u7684\u65f6\u95f4\u3002\u5b83\u4e0e\u7cbe\u5ea6\u662f\u4e24\u4e2a\u72ec\u7acb\u7684\u8bc4\u4f30\u7ef4\u5ea6\uff0c\u5171\u540c\u51b3\u5b9a\u4e86\u5b9a\u4f4d\u7cfb\u7edf\u7684\u7528\u6237\u4f53\u9a8c\u3002\u4e00\u4e2a\u7cfb\u7edf\u53ef\u80fd\u7cbe\u5ea6\u5f88\u9ad8\uff0c\u4f46\u82e5TTFF\u957f\u8fbe\u6570\u5206\u949f\uff0c\u5728\u5f88\u591a\u5373\u65f6\u6027\u5e94\u7528\u4e2d\u662f\u65e0\u6cd5\u63a5\u53d7\u7684\u3002\u53cd\u4e4b\u4ea6\u7136\u3002\u56e0\u6b64\uff0c\u5728\u8bc4\u4f30\u7cfb\u7edf\u65f6\uff0c\u5e94\u5c06\u7cbe\u5ea6\u3001TTFF\u3001\u66f4\u65b0\u7387\u3001\u529f\u8017\u7b49\u6307\u6807\u7efc\u5408\u8003\u91cf\u3002<\/p>\n<h3>Q4: \u5728\u5ba4\u5185\u590d\u6742\u73af\u5883\u4e0b\uff0c\u54ea\u79cd\u5b9a\u4f4d\u6280\u672f\u7684\u7cbe\u5ea6\u8868\u73b0\u6700\u597d\uff1f<\/h3>\n<p>\u901a\u5e38\u60c5\u51b5\u4e0b\uff0cUWB\uff08\u8d85\u5bbd\u5e26\uff09\u6280\u672f\u56e0\u5176\u6781\u5bbd\u7684\u5e26\u5bbd\u5e26\u6765\u4e86\u6781\u9ad8\u7684\u65f6\u95f4\u5206\u8fa8\u7387\uff0c\u4f7f\u5176\u5728\u6297\u591a\u5f84\u5e72\u6270\u65b9\u9762\u8868\u73b0\u51fa\u8272\uff0c\u88ab\u516c\u8ba4\u4e3a\u5728\u5ba4\u5185\u590d\u6742\u73af\u5883\u4e0b\uff08\u5c24\u5176\u662f\u6709\u91d1\u5c5e\u3001\u8bbe\u5907\u5e72\u6270\u7684\u5de5\u4e1a\u73af\u5883\uff09\u80fd\u63d0\u4f9b\u6700\u9ad8\u7cbe\u5ea6\u7684\u65e0\u7ebf\u5b9a\u4f4d\u6280\u672f\u3002\u7136\u800c\uff0c\u6700\u7ec8\u7684\u6280\u672f\u9009\u578b\u4ecd\u9700\u7efc\u5408\u8003\u8651\u6210\u672c\u3001\u529f\u8017\u3001\u90e8\u7f72\u590d\u6742\u5ea6\u4ee5\u53ca\u7ec8\u7aef\u8bbe\u5907\u7684\u96c6\u6210\u96be\u5ea6\u3002\u5728\u67d0\u4e9b\u573a\u666f\u4e0b\uff0c\u7cbe\u5ea6\u7a0d\u4f4e\u4f46\u90e8\u7f72\u66f4\u4fbf\u6377\u7684Wi-Fi RTT\u6216\u84dd\u7259AoA\u53ef\u80fd\u662f\u66f4\u5177\u6027\u4ef7\u6bd4\u7684\u9009\u62e9\u3002<\/p>\n<h3>Q5: CEP(50%) \u548c R95(95%) \u54ea\u4e2a\u6307\u6807\u66f4\u6709\u53c2\u8003\u4ef7\u503c\uff1f<\/h3>\n<p>\u8fd9\u4e24\u4e2a\u6307\u6807\u6ca1\u6709\u7edd\u5bf9\u7684\u4f18\u52a3\u4e4b\u5206\uff0c\u5176\u53c2\u8003\u4ef7\u503c\u53d6\u51b3\u4e8e\u5e94\u7528\u573a\u666f\u7684\u98ce\u9669\u5bb9\u5fcd\u5ea6\u3002<\/p>\n<ul>\n<li><strong>CEP<\/strong> \u53cd\u6620\u4e86\u7cfb\u7edf\u7684\u201c\u5e73\u5747\u201d\u6216\u201c\u5178\u578b\u201d\u6027\u80fd\u6c34\u5e73\uff0c\u9002\u5408\u7528\u4e8e\u5bf9\u7cfb\u7edf\u8fdb\u884c\u4e00\u822c\u6027\u7684\u6027\u80fd\u6478\u5e95\u548c\u6a2a\u5411\u6bd4\u8f83\u3002<\/li>\n<li><strong>R95<\/strong> 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