CN104010274A - Indoor wireless positioning method based on path matching - Google Patents

Abstract

The invention provides an indoor wireless positioning method based on path matching. The indoor wireless positioning method based on path matching comprises the following steps that a movable path is pre-defined; the movable path is tracked; the movable path is matched; system errors are corrected to obtain the final indoor positioning result. The indoor wireless positioning method based on path matching achieves high accuracy and interference resistance of indoor wireless positioning, is used for accurately positioning an indoor worker or a robot, tracking and matching the movable route and warning the worker or the robot when the worker or the robot enters a dangerous area by mistake, and particularly meets the requirements for positioning accuracy and interference resistance of power equipment inspection.

Description

A kind of indoor wireless positioning method based on route matching

Technical field

The present invention relates to a kind of localization method, specifically relate to a kind ofly within the scope of indoor local, the personnel that move or robot are carried out to the method for accurate wireless location according to fixed route.

Background technology

Accurate guiding and location in industrial running environment and overhaul of the equipments operation, can effectively prevent that staff is strayed into deathtrap, guarantees personal safety.At present main location technology is the satellite fix based on GPS, the Big Dipper, but satellite fix is subject to terminal place environmental impact larger, when user is indoor or when underground, positioning precision will reduce greatly, even cannot complete location.Super wideband wireless (UWB) technology is the indoor high precision wireless location technology proposing in recent years, have up to other time resolution of nanosecond, in conjunction with the location algorithm based on the time of advent, the positioning precision of Centimeter Level can be obtained in theory, the location requirement of commercial Application can be met.

Compared with outdoor environment, office work environment is more complicated.Multipath transmisstion, non-line-of-sight propagation in UWB signal communication process is the main reason that positioning precision declines, and patrols and examines in application at power equipment, and electromagnetic interference also can cause certain influence to the positioning precision of UWB.Above-mentioned factor produces two kinds of interference to indoor wireless location: the one, and the systematic error of the similar white noise of formation, reduces indoor wireless positioning precision; On the other hand, the larger interference producing once in a while, can affect the stability of location, particularly, often moves track and occurs irrational abnormal variation at indoor moving in the situation that in personnel or robot, causes the problem that misreport of system is alert.

Application number is that 200410067531.9 patent of invention discloses a kind of WLAN terminal device indoor orientation method, WLAN (wireless local area network) indoor positioning environment construction method, WLAN (wireless local area network) indoor positioning parameter selection method, WLAN (wireless local area network) indoor positioning method of locating terminal are mainly provided, realize the location of indoor local scope based on WLAN (wireless local area network), do not consider the impact of indoor complex environment on radio positioning signal;

In addition, application number is that 201210269419.8 patent of invention discloses a kind of indoor occupant navigation system and method based on path rule and prediction, provide based on path rule and prediction, improve the method for positioning precision based on adjusting point coupling storehouse, but the method positions based on wireless receiving signal strength (RSSI), need in advance indoor RSSI be distributed and be observed, form adjusting point coupling storehouse, adjust in indoor equipment layout, under the condition of electromagnetic interference, RSSI distribution can change, and makes adjusting point coupling storehouse can not reflect actual conditions.

Summary of the invention

In order to solve the high accuracy of indoor wireless location, the problem such as anti-interference, need to be from application demand, the present invention proposes a kind of indoor wireless positioning method based on route matching, for the accurate location of office work personnel or robot, mobile route is followed the tracks of and mated, in the time that personnel or robot are strayed into deathtrap, send alarm, be particularly suitable for power equipment and patrol and examine the requirement to accurate positioning and anti-interference.

In order to realize foregoing invention object, the present invention takes following technical scheme:

The invention provides a kind of indoor wireless positioning method based on route matching, said method comprising the steps of:

Step I: mobile route is carried out to predefine;

Step 2: mobile route is followed the tracks of;

Step 3: mobile route is mated;

Step 4: systematic error is revised, obtained final indoor positioning result.

In described step 1, according to interior architecture general layout, apparatus arrangement and job requirement, the mobile route of wireless positioning terminal is carried out to predefine; Have:

$R(x,y)=\left\{\begin{array}{c}{r}_1(x_{a1},y_{a1},x_{b1},y_{b1},l_1)\\ r_2(x_{a1},y_{a1},x_{b1},y_{b1},l_2)\\ ...\\ r_i(x_{\mathrm{ai}},y_{\mathrm{ai}},x_{\mathrm{bi}},y_{\mathrm{bi}},l_i)\\ ...\\ r_n(x_{\mathrm{an}},y_{\mathrm{an}},x_{\mathrm{bn}},y_{\mathrm{bn}},l_n)\end{array},x\∈X,y\∈Y---\left(1\right)\right.$

Wherein, R (x, y) represents the mobile route of wireless positioning terminal, and it is made up of n bar continuous linear section, r _irepresent the 1st to n article straight line path; The starting point that staff or robot move is (x _ai, y _ai), terminal is (x _bi, y _bi), starting point and terminal have determined the mobile route of wireless positioning terminal; l _nrepresent the maximum deviation scope of mobile route; X, Y is respectively the horizontal and vertical maximum orientation range of the room area positioning.

In described step 1, in described step 2, the framing signal about staff or robot to wireless positioning terminal collection is processed, obtain time data based on super wideband wireless, obtain wireless positioning terminal position by TOA location algorithm, the position that is wireless positioning terminal is T (x, y), inquires the current straight line path r that should observe in formula (1) in predefined mobile route set _i, carry out repeated sampling with setting cycle, just obtain at straight line path r _ithe actual mobile route r ' of middle wireless positioning terminal _i, have:

r′ _i＝T ₁，T ₂，…，T _j，…，T _m (2)

Wherein, T _jthe position that represents the j time wireless positioning terminal of obtaining of sampling, m represents sampling number.

In described step 3, at wireless positioning terminal along straight line path r _iin mobile process, realistic border mobile route r ' _iin a series of anchor points to straight line path r _ideviate, i.e. [T in formula (2) ₁, T ₂..., T _j..., T _m] to straight line path r _iminimum distance [| d ₁|, | d ₂| ..., | d _j| ..., | d _m|], thereby obtain mean value ε and the standard deviation sigma of position error, have:

$\mathrm{\ϵ}=\frac{1}{m}{\mathrm{\Σ}}_{i=1}^m\left(d_j\right)---\left(3\right)$

$\mathrm{\σ}=\sqrt{\frac{1}{m}{\mathrm{\Σ}}_{j=1}^m{(d_j-\mathrm{\ϵ})}^2}---\left(4\right)$

Wherein, mean value ε has reflected the deviation between locator data and the physical location obtaining based on super wideband wireless and TOA location algorithm, and standard deviation sigma has been reacted the scope of deviation;

In order to eliminate the deviation of super wideband wireless pulse signal under multipath transmisstion, non-line-of-sight propagation condition, set deviation thresholding λ=M σ based on σ, M gets 3 or 4, when the deviate of anchor point | d _j| while being greater than deviation thresholding λ, think that this locator data is interfered, and re-executes step 2 and gathers framing signal.

Described step 4 comprises the following steps:

Step 4-1: use the method for weighted moving average error to be carried out to smoothing processing, i.e. last 5 position [T to sampling process _m-4, T _m-3, T _m-2, T _m-1, T _m] to straight line path r _ideviate [| d _m-4|, | d _m-3|, | d _m-2|, | d _m-1|, | d _m|] be weighted rolling average, obtain systematic error correction value δ _m, have:

${\mathrm{\δ}}_m={\mathrm{\Σ}}_{j=m-1}^m\left({\mathrm{\ω}}_j{d}_j\right)---\left(5\right)$

Wherein, ω _jrepresent weight factor, use Gaussian function to generate;

Step 4-2: corresponding to actual mobile route r ' _iin anchor point, i.e. [T in formula (2) ₁, T ₂..., T _j..., T _m], by δ _mas anchor point T _mcorrection value, anchor point T _mto straight line path r _ideviation by | d _m| be modified to:

D _m＝|d _m|-δ _m (6)；

Carrying out, after systematic error correction, can obtaining current precise location information; If D _mbe greater than the maximum deviation scope l of current mobile route _n, think that staff or robot depart from predefined mobile route, send alarm.

Compared with prior art, beneficial effect of the present invention is:

1. the present invention is by the mobile route predefine to wireless positioning terminal, and mobile route is followed the tracks of, mobile route coupling, and wireless location error correction, finally obtains accurate indoor positioning result, and localization method is simple, is widely used;

2. can be used for the accurate location of office work personnel or robot, mobile route is followed the tracks of and mated, in the time that personnel or robot are strayed into deathtrap, send alarm, be particularly suitable for power equipment and patrol and examine the requirement to accurate positioning and anti-interference.

Brief description of the drawings

Fig. 1 is the indoor wireless positioning method general illustration based on route matching in the embodiment of the present invention;

Fig. 2 is the indoor wireless positioning method flow chart based on route matching in the embodiment of the present invention;

Fig. 3 is the location path schematic diagram of wireless positioning terminal in the embodiment of the present invention;

Fig. 4 is the anchor point correction schematic diagram of wireless positioning terminal in the embodiment of the present invention.

Embodiment

Below in conjunction with accompanying drawing, the present invention is described in further detail.

As Fig. 1 and Fig. 3, the invention provides a kind of indoor wireless positioning method based on route matching, said method comprising the steps of:

Step 1: mobile route is carried out to predefine;

Step 2: mobile route is followed the tracks of;

Step 3: mobile route is mated;

Step 4: systematic error is revised, obtained final indoor positioning result.

In described step 1, according to interior architecture general layout, apparatus arrangement and job requirement, the mobile route of wireless positioning terminal is carried out to predefine; Have:

$R(x,y)=\left\{\begin{array}{c}{r}_1(x_{a1},y_{a1},x_{b1},y_{b1},l_1)\\ r_2(x_{a1},y_{a1},x_{b1},y_{b1},l_2)\\ ...\\ r_i(x_{\mathrm{ai}},y_{\mathrm{ai}},x_{\mathrm{bi}},y_{\mathrm{bi}},l_i)\\ ...\\ r_n(x_{\mathrm{an}},y_{\mathrm{an}},x_{\mathrm{bn}},y_{\mathrm{bn}},l_n)\end{array},x\∈X,y\∈Y---\left(1\right)\right.$

Wherein, R (x, y) represents the mobile route of wireless positioning terminal, as Fig. 2, is made up of r according to the demand mobile route of actual upkeep operation n bar continuous linear section _irepresent the 1st to n article straight line path; The starting point that staff or robot move is (x _ai, y _ai), terminal is (x _bi, y _bi), starting point and terminal have determined the mobile route of wireless positioning terminal; l _nrepresent the maximum deviation scope of mobile route; X, Y is respectively the horizontal and vertical maximum orientation range of the room area positioning.

In described step 1, in described step 2, the framing signal about staff or robot to wireless positioning terminal collection is processed, obtain time data based on super wideband wireless, obtain wireless positioning terminal position by TOA location algorithm, the position that is wireless positioning terminal is T (x, y), inquires the current straight line path r that should observe in formula (1) in predefined mobile route set _i, carry out repeated sampling with setting cycle, just obtain at straight line path r _ithe actual mobile route r ' of middle wireless positioning terminal _i, have:

r′ _i＝T ₁，T ₂，…，T _j，…，T _m (2)

Wherein, T _jthe position that represents the j time wireless positioning terminal of obtaining of sampling, m represents sampling number.

In described step 3, at wireless positioning terminal along straight line path r _iin mobile process, realistic border mobile route r ' _iin a series of anchor points to straight line path r _ideviate, i.e. [T in formula (2) ₁, T ₂..., T _j..., T _m] to straight line path r _iminimum distance [| d ₁|, | d ₂| ..., | d _j| ..., | d _m|], thereby obtain mean value ε and the standard deviation sigma of position error, have:

$\mathrm{\ϵ}=\frac{1}{m}{\mathrm{\Σ}}_{i=1}^m\left(d_j\right)---\left(3\right)$

$\mathrm{\σ}=\sqrt{\frac{1}{m}{\mathrm{\Σ}}_{j=1}^m{(d_j-\mathrm{\ϵ})}^2}---\left(4\right)$

Wherein, mean value ε has reflected the deviation between locator data and the physical location obtaining based on super wideband wireless and TOA location algorithm, and standard deviation sigma has been reacted the scope of deviation;

In order to eliminate the deviation of super wideband wireless pulse signal under multipath transmisstion, non-line-of-sight propagation condition, set deviation thresholding λ=M σ based on σ, M gets 3 or 4, when the deviate of anchor point | d _j| while being greater than deviation thresholding λ, think that this locator data is interfered, and re-executes step 2 and gathers framing signal.

Described step 4 comprises the following steps:

Step 4-1: use the method for weighted moving average error to be carried out to smoothing processing, i.e. last 5 position [T to sampling process _m-4, T _m-3, T _m-2, T _m-1, T _m] to straight line path r _ideviate [| d _m-4|, | d _m-3|, | d _m-2|, | d _m-1|, | d _m|] be weighted rolling average, obtain systematic error correction value δ _m, have:

${\mathrm{\δ}}_m={\mathrm{\Σ}}_{j=m-1}^m\left({\mathrm{\ω}}_j{d}_j\right)---\left(5\right)$

Wherein, ω _jrepresent weight factor, use Gaussian function to generate;

Step 4-2: corresponding to actual mobile route r ' _iin anchor point, i.e. [T in formula (2) ₁, T ₂..., T _j..., T _m], by δ _mas anchor point T _mcorrection value, anchor point T _mto straight line path r _ideviation by | d _m| be modified to:

D _m＝|d _m|-δ _m (6)；

As Fig. 4, the locator data in wireless positioning terminal moving process is carried out after systematic error correction, and remove the abnormal data being disturbed, can obtain current precise location information; If D _mbe greater than the maximum deviation scope l of current mobile route _n, think that staff or robot depart from predefined mobile route, send alarm.

The present invention can be used for the accurate location of office work personnel or robot, and mobile route is followed the tracks of and mated, and in the time that personnel or robot are strayed into deathtrap, sends alarm, is particularly suitable for power equipment and patrols and examines the requirement to accurate positioning and anti-interference.

Finally should be noted that: above embodiment is only in order to illustrate that technical scheme of the present invention is not intended to limit, although the present invention is had been described in detail with reference to above-described embodiment, those of ordinary skill in the field are to be understood that: still can modify or be equal to replacement the specific embodiment of the present invention, and do not depart from any amendment of spirit and scope of the invention or be equal to replacement, it all should be encompassed in the middle of claim scope of the present invention.

Claims (5)

1. the indoor wireless positioning method based on route matching, is characterized in that: said method comprising the steps of:

Step 1: mobile route is carried out to predefine;

Step 2: mobile route is followed the tracks of;

Step 3: mobile route is mated;

Step 4: systematic error is revised, obtained final indoor positioning result.

2. the indoor wireless positioning method based on route matching according to claim 1, is characterized in that: in described step 1, according to interior architecture general layout, apparatus arrangement and job requirement, the mobile route of wireless positioning terminal is carried out to predefine; Have:

$R(x,y)=\left\{\begin{array}{c}{r}_1(x_{a1},y_{a1},x_{b1},y_{b1},l_1)\\ r_2(x_{a1},y_{a1},x_{b1},y_{b1},l_2)\\ ...\\ r_i(x_{\mathrm{ai}},y_{\mathrm{ai}},x_{\mathrm{bi}},y_{\mathrm{bi}},l_i)\\ ...\\ r_n(x_{\mathrm{an}},y_{\mathrm{an}},x_{\mathrm{bn}},y_{\mathrm{bn}},l_n)\end{array},x\∈X,y\∈Y---\left(1\right)\right.$

Wherein, R (x, y) represents the mobile route of wireless positioning terminal, and it is made up of n bar continuous linear section, r _irepresent the 1st to n article straight line path; The starting point that staff or robot move is (x _ai, y _ai), terminal is (x _bi, y _bi), starting point and terminal have determined the mobile route of wireless positioning terminal; l _nrepresent the maximum deviation scope of mobile route; X, Y is respectively the horizontal and vertical maximum orientation range of the room area positioning.

3. the indoor wireless positioning method based on route matching according to claim 1, it is characterized in that: in described step 1, in described step 2, the framing signal about staff or robot to wireless positioning terminal collection is processed, obtain time data based on super wideband wireless, obtain wireless positioning terminal position by TOA location algorithm, the position that is wireless positioning terminal is T (x, y), in formula (1), in predefined mobile route set, inquire the current straight line path r that should observe _i, carry out repeated sampling with setting cycle, just obtain at straight line path r _ithe actual mobile route r ' of middle wireless positioning terminal _i, have:

r′ _i＝T ₁，T ₂，…，T _j，…，T _m (2)

Wherein, T _jthe position that represents the j time wireless positioning terminal of obtaining of sampling, m represents sampling number.

4. the indoor wireless positioning method based on route matching according to claim 1, is characterized in that: in described step 1, in described step 3, at wireless positioning terminal along straight line path r _iin mobile process, realistic border mobile route r ' _iin a series of anchor points to straight line path r _ideviate, i.e. [T in formula (2) ₁, T ₂..., T _j..., T _m] to straight line path r _iminimum distance [| d ₁|, | d ₂| ..., | d _j| ..., | d _m|], thereby obtain mean value ε and the standard deviation sigma of position error, have:

$\mathrm{\ϵ}=\frac{1}{m}{\mathrm{\Σ}}_{i=1}^m\left(d_j\right)---\left(3\right)$

$\mathrm{\σ}=\sqrt{\frac{1}{m}{\mathrm{\Σ}}_{j=1}^m{(d_j-\mathrm{\ϵ})}^2}---\left(4\right)$

Wherein, mean value ε has reflected the deviation between locator data and the physical location obtaining based on super wideband wireless and TOA location algorithm, and standard deviation sigma has been reacted the scope of deviation;

In order to eliminate the deviation of super wideband wireless pulse signal under multipath transmisstion, non-line-of-sight propagation condition, set deviation thresholding λ=M σ based on σ, M gets 3 or 4, when the deviate of anchor point | d _j| while being greater than deviation thresholding λ, think that this locator data is interfered, and re-executes step 2 and gathers framing signal.

5. the indoor wireless positioning method based on route matching according to claim 1, is characterized in that: in described step 1, described step 4 comprises the following steps:

Step 4-1: use the method for weighted moving average error to be carried out to smoothing processing, i.e. last 5 position [T to sampling process _m-4, T _m-3, T _m-2, T _m-1, T _m] to straight line path r _ideviate [| d _m-4|, | d _m-3|, | d _m-2|, | d _m-1|, | d _m|] be weighted rolling average, obtain systematic error correction value δ _m, have:

${\mathrm{\δ}}_m={\mathrm{\Σ}}_{j=m-1}^m\left({\mathrm{\ω}}_j{d}_j\right)---\left(5\right)$

Wherein, ω _jrepresent weight factor, use Gaussian function to generate;

Step 4-2: corresponding to actual mobile route r ' _iin anchor point, i.e. [T in formula (2) ₁, T ₂..., T _j..., T _m], by δ _mas anchor point T _mcorrection value, anchor point T _mto straight line path r _ideviation by | d _m| be modified to:

D _m＝|d _m|-δ _m (6)；

Carrying out, after systematic error correction, can obtaining current precise location information; If D _mbe greater than the maximum deviation scope l of current mobile route _n, think that staff or robot depart from predefined mobile route, send alarm.