The algorithm for the placement of base stations of the local positioning system

Problem statement. In the modern world, navigation is a fundamental function necessary for the operation of robotic unmanned systems, solving logistical problems and, of course, user orientation in an unfamiliar landscape. In confined spaces, mines, quarries, as well as near strategic facilities, it is not uncommon for there to be no access to global satellite navigation systems (GNSS). In such cases, local positioning systems come to the rescue, whose base stations are deployed directly in the positioning work area or nearby. Low positioning accuracy, usually associated with uneven coverage of the work area due to its geometric features or the presence of massive obstacles and walls within its boundaries, is an urgent problem for local positioning systems. The measurement error in these systems is formed under the influence of various factors. The configuration of the location of the base stations relative to the device being positioned is one of the main factors affecting the magnitude of the coordinate determination error. Existing placement algorithms that take into account the geometric factor are adapted to perform automatic station placement only in work areas that do not have massive obstacles to signal propagation on their area. Also, the available algorithms require a long time (on the order of several hours) to calculate the optimal configuration for the placement of base stations. Goal. To develop a time-optimized algorithm for finding the location of base stations that minimizes the influence of the geometric factor on the error. Also in this article, the goal is to find a solution for using this algorithm in a work area separated by obstacles. Results. A software algorithm for the placement of base stations in the work area has been developed and tested. The algorithm has an advantage in accuracy and execution time, compared with existing software solutions for placing base stations in a work area with a minimum average value of the geometric factor. Practical significance. The developed software algorithm is a convenient and accurate tool that allows you to quickly plan the placement of base stations in the work area, both at the installation stage of the entire system and for its correction due to the changed geometry of the positioning zone.