CN104125538B - The secondary localization method and device of RSSI signal intensities based on WIFI network - Google Patents
The secondary localization method and device of RSSI signal intensities based on WIFI network Download PDFInfo
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Abstract
The present invention provides a kind of secondary localization method and device of the RSSI signal intensities based on WIFI network, methods described or device include first positioning and secondary two stages of refinement, wherein, the specific method of refinement using whole AP nodes in WIFI network information, then the larger AP nodes of error are rejected, each iteration chooses the small AP nodes of application condition again, it is the 90% ~ 95% of sum to ensure the quantity of effective AP nodes, by the initial positioning result of continuous iterated revision to obtain more accurate positioning result；The present invention make use of the information of major part AP nodes in WIFI network when secondary refinement, and eliminate the larger AP nodes of error, and on new initial coordinate is chosen again, deployed using Taylor's formula at initial coordinate, so as to make obtained new initial coordinate closer to physical location；In addition, iteration chooses the small most of AP nodes of application condition again every time, initial positioning result is constantly corrected by iteration to obtain more accurate positioning result.
Description
Technical field
The present invention relates to wireless positioning field, more particularly to a kind of indoor orientation method and dress being under WIFI network
Put.
Background technology
According to statistics, have more than 80% relevant with " position " in information used in people.With the development of mobile interchange,
Location-based service (Location Based Severs, LBS) market will obtain development at full speed.With flourishing and big for LBS
It is increasing that type is built, and people are continuously increased to the demand of indoor and outdoor seamless location service, and the requirement for indoor positioning is got over
Come higher, the precision for improving indoor positioning is very crucial.
WIFI is a kind of short-distance wireless transmission technology, and the aerogram of linking Internet can be supported in the range of hundred meter levels
Number, but existing WIFI positioning is still not accurate enough.Existing localization method is generally wrapped in wireless sensing sensor network
Distance (or angle) measurement is included, coordinate is calculated and optional circulation 3 stages of refinement.Wherein, the distance measurement method master
Have based on reaching time-difference (TOA), based on reaching time-difference (TDOA), indicated based on received signal strength (RSSI) etc.；Institute
Stating Coordinate calculation method mainly has trilateration and the maximum-likelihood method estimation technique.By both above-mentioned on range measurement
Node locating result precision obtained by the method calculated with coordinate is general at 3~5 meters, if it is desired to obtain more accurately positioning
Effect, then often will provide the accuracy of positioning using the method for circulation refinement.
The thinking of existing circulation refinement is started with nothing but consideration, i.e., first in terms of two, is obtained using located in connection algorithm
It is to the initial alignment result of unknown node, its adjacent node is as a reference point, recalculate the position of unknown node and incite somebody to action
Meet the result of restrictive condition as the new location estimation of unknown node, into cyclic process next time, stop until meeting circulation
Condition only；Second, part unknown node is determined after self-position, is upgraded to beaconing nodes, into circulating next time, directly
Determine that positioning terminates behind position to all nodes of locations for meeting location condition.Wherein, it is right in the first circulation refinement thinking
In initial coordinate adjacent node selection and unknown node recalculate be determine refinement result key.
In a word, in the positioning of existing WIFI network, if the direct calculation method calculated using range measurement or coordinate,
Its obtained positioning result is often not accurate enough, it is impossible to meet the requirement of indoor accurate position, and this is accomplished by using circulation refinement
To provide the accuracy of positioning.And how come the accuracy for further improving positioning result to be ability using the method for circulation refinement
Field technique personnel are of interest always and the problem of continuous research.
The content of the invention
The shortcoming of prior art in view of the above, it is an object of the invention to provide a kind of RSSI based on WIFI network
The secondary localization method and device of signal intensity, for solving in existing WIFI network location algorithm, direct calculation method
The problem of resulting positioning result is not accurate enough.
In order to achieve the above objects and other related objects, the present invention provides following technical scheme：
A kind of secondary localization method of the RSSI signal intensities based on WIFI network, including：
Obtain the initial coordinate of node to be positioned；
Effective AP nodes in multiple wireless sensor networks are chosen, and calculate the multiple effective AP nodes described in
The signal intensity distance of initial coordinate position；
The multiple effective AP nodes are calculated to the geometric distance of the initial coordinate position；
Each effectively AP nodes are calculated to the geometric distance and signal intensity of the initial coordinate position apart from the total of its difference
With；
The coordinate near the initial coordinate is reacquired, and regard the coordinate as the new first of the node to be positioned
Beginning coordinate；
The multiple effective AP nodes are calculated to the signal intensity distance of the new initial coordinate position；
The multiple effective AP nodes are calculated to the geometric distance of the new initial coordinate position；
Each effectively AP nodes are calculated to the geometric distance and signal intensity of the new initial coordinate position apart from its difference
Summation；
Judge each effectively AP nodes to the geometric distance and signal intensity of the initial coordinate position apart from its difference
Summation and each effectively AP nodes to the new initial coordinate position geometric distance and signal intensity apart from its difference
Whether the difference of summation is less than default threshold value：If so, the positioning of the new initial coordinate as the node to be positioned is sat
Mark；If it is not, the new initial coordinate and is entered as the initial coordinate of the node to be positioned using the secondary localization method
Row is repositioned.
Preferably, it is described to obtain undetermined in the secondary localization method of the above-mentioned RSSI signal intensities based on WIFI network
The specific steps of the initial coordinate of position node include：The average path for obtaining each known AP nodes in wireless sensor network is damaged
Consume index；Multiple known AP nodes are chosen as reference mode；The node to be positioned is set up to the reference mode
Range equation group；Solve the range equation group to obtain the initial coordinate of the node to be positioned using maximum likelihood algorithm.
Preferably, it is the multiple effective in the secondary localization method of the above-mentioned RSSI signal intensities based on WIFI network
AP nodes include nearer and accounting for 90% of AP node total numbers in the wireless sensor network apart from the node to be positioned~
95% known AP nodes.
Preferably, in the secondary localization method of the above-mentioned RSSI signal intensities based on WIFI network, reacquire described
The step of node to be positioned new initial coordinate, specifically includes：Set a coordinate；The multiple effective node is set up to the coordinate
Geometric distance equation group；The geometric distance equation group is done into Taylor's formula exhibition at the initial coordinate of the node to be positioned
Open；The least square method of matrix is used to solve the Taylor's formula to obtain the new initial coordinate of the node to be positioned.
In addition, present invention also offers a kind of secondary positioner of the RSSI signal intensities based on WIFI network, it is described
Device includes：Initial coordinate acquisition module, the initial coordinate for obtaining node to be positioned；First error calculating module, is used for
Effective AP nodes in multiple wireless sensor networks are chosen, and calculate the multiple effective AP nodes to the initial coordinate
Geometric distance of the signal intensity distance and the multiple effective AP nodes of calculating of position to the initial coordinate position；Calculate again
Each effectively AP nodes to the initial coordinate position geometric distance and signal intensity apart from its difference summation；Second error meter
Module is calculated, the node to be positioned is used as reacquiring the coordinate near the initial coordinate, and using the coordinate
New initial coordinate, calculates the multiple effective AP nodes to the signal intensity distance of the new initial coordinate position and the multiple
Geometric distance of effective AP nodes to the new initial coordinate position；Each effective AP nodes are calculated again to the new initial coordinate
Summation of the geometric distance and signal intensity of position apart from its difference；Node determination module to be positioned, judges each effectively AP
Node to the initial coordinate position geometric distance and signal intensity apart from its difference summation and each effectively AP nodes
To the new initial coordinate position geometric distance and signal intensity apart from the summation of its difference difference whether be less than default thresholding
Value：If so, using the new initial coordinate as the node to be positioned the elements of a fix；If it is not, the new initial coordinate is made
For the initial coordinate of the node to be positioned, and repositioned using the secondary localization method.
Preferably, in the secondary positioner of the above-mentioned RSSI signal intensities based on WIFI network, the initial coordinate
Acquisition module is specifically included：Path loss calculation module, for obtaining in wireless sensor network the flat of each known AP nodes
Equal path loss index；Initial coordinate computing module, for choosing multiple known AP nodes as reference mode and setting up
Range equation group of the node to be positioned to the reference mode；Using maximum likelihood algorithm solve the range equation group with
Obtain the initial coordinate of the node to be positioned.
Preferably, in the secondary positioner of the above-mentioned RSSI signal intensities based on WIFI network, in addition to it is new initial
Coordinate obtaining module, for setting up the multiple effective node to the geometric distance equation group of the coordinate of a setting, and will be described
Geometric distance equation group does Taylor's formula expansion at the initial coordinate of the node to be positioned, and then using a most young waiter in a wineshop or an inn for matrix
Multiplication solves the Taylor's formula to obtain the new initial coordinate of the node to be positioned.
Preferably, in the secondary positioner of the above-mentioned RSSI signal intensities based on WIFI network, missed described first
In poor computing module, the multiple effective AP nodes include nearer and account for the wireless senser apart from the node to be positioned
The known AP nodes of the 90%~95% of AP node total numbers in network.
As described above, the invention has the advantages that：The present invention make use of WIFI network when secondary refinement
The information of middle most of AP nodes, and the larger AP nodes of error are eliminated, and on new initial coordinate is chosen again, use
Taylor's formula is deployed at initial coordinate, so as to make obtained new initial coordinate closer to physical location；In addition, every time repeatedly
In generation, chooses the small most of AP nodes of application condition again, initial positioning result is constantly corrected by iteration more accurate to obtain
Positioning result.
Brief description of the drawings
Fig. 1 is shown as the schematic flow sheet of the secondary localization method of the RSSI signal intensities of the invention based on WIFI network.
Fig. 2 is shown as the principle schematic of the secondary positioner of the RSSI signal intensities of the invention based on WIFI network.
Drawing reference numeral explanation
S10~S90 method and steps
Embodiment
Illustrate embodiments of the present invention below by way of specific instantiation, those skilled in the art can be by this specification
Disclosed content understands other advantages and effect of the present invention easily.The present invention can also pass through specific realities different in addition
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints with application, without departing from
Various modifications or alterations are carried out under the spirit of the present invention.It should be noted that, in the case where not conflicting, following examples and implementation
Feature in example can be mutually combined.
Signal intensity for wireless signal can decay with the increase of distance, the shadow of the attenuation degree of signal by environment
Ring than more serious.Distance is calculated according to RSSI value, the algorithm positioning precision of position is calculated further according to mutual distance typically 3~5
Rice or so, such as weighted mass center algorithm.And such positioning precision is for being accurately positioned, error or excessive, thus
Need to be modified on the basis of initial alignment result, reach higher positioning precision.
In order to solve the above-mentioned technical problem, the invention discloses a kind of the secondary of RSSI signal intensities based on WIFI network
Localization method, refer to Fig. 1, the described method comprises the following steps：
Step S10, obtains path loss values of each AP node to point to be determined in network.
Specifically, to be calculated for any one known AP node has all of communication path with other known AP nodes
Path loss values, then try to achieve the average value of these path loss values, and be used as this known AP nodes week using this average value again
Enclose average path loss index
Further, in whole wireless sensor network, the AP nodes of each known location are periodically sent out to surrounding
Penetrate the node name comprising the AP nodes and position coordinates in signal, the signal.When the AP nodes of other known locations are received
To after the signal, the size of received signal strength value and node name and the position coordinates of the signal source node are recorded.Enter
And, according to the described information received calculate the AP nodes of the known location to other a certain known locations AP nodes this
The path loss index in one path.
In addition, before path loss values are calculated, also to carry out mean filter processing to the signal strength values received, so
Afterwards the paths loss value is calculated further according to these data and log-distance path loss model model.For any one known AP
Node will calculate all path loss values for having communication path with other known AP nodes, and these paths damage is then tried to achieve again
The average value of consumption value, and using this average value as any one described known AP node around average path loss index
So, when node to be positioned, which is received, carrys out the known AP node signals since then, the average path loss index is just utilized
Estimated to treat the distance between positioning node and this node.
Step S20, according to distance constraints, sets up equation group, and the initial of point to be determined is calculated using maximum-likelihood method
Coordinate.
Specifically, when node to be positioned, which is received, carrys out a certain known AP node signals since then, the average road is just utilized
Footpath loss indexTo treat the range estimation between positioning node and this node.
Further, the range estimation method is：First, after node to be positioned adds network, it can receive from institute
State the signal strength values of multiple nodes in network, and corresponding node surrounding environment average path loss index, and take n times to believe
Number intensity level, then carries out mean filter processing, and resulting signal strength values are ranked up；Then, from the signal
Selection signal strength values are big in intensity value sequence and stable multiple (at least four) known nodes are used as the known AP positioned for the first time
Node；Then, the known AP nodes are set up to the range equation group of point to be determined；Finally, the maximum-likelihood method of matrix is utilized
Calculate the initial coordinate of the point to be determined.For example, it is assumed that the coordinate of the multiple known AP nodes is：(a1,b1,c1), (a2,b2,
c2) ... ... (an,bn,cn), the node coordinate to be positioned is (x0,y0,z0), then utilize formula
The coordinate (x that solves of maximum likelihood algorithm0,y0,z0)。
However, coordinate (the x solved using maximum likelihood algorithm0,y0,z0), it can be sat for subtracting each other for coordinate to known
Mark information has certain loss, so we will carry out secondary refinement, is further positioned, detailed protocol is as follows.
Step S30, gives up AP nodes distant in network, it is ensured that it is total that effectively known AP nodes account for AP nodes in network
Several 90%~95%, by the signal intensity distance of the effectively known AP nodes of RSSI rangings formula to calculating to point to be determined.
Specifically, if accurate apart from the RSSI ranging formula that loss model is set up by logarithm, then directly can be by positioning
Equipment directly measures the RSSI value that effectively known AP nodes are sent, by formulaIt can calculate
Go out effectively known AP nodes to the signal intensity distance of point to be determined.If location equipment is when anchor point measures RSSI value, with
Initial coordinate is unrelated, and initial coordinate is calculated by step S20.
Step S40, according to effective AP coordinate and the initial coordinate of point to be determined, calculates all effectively known AP nodes pair
The geometric distance answered.
Specifically, in secondary refinement, make positioning more accurate using initial coordinate information.Assuming that each effectively known AP section
Point AP1, AP2... ... APnThe coordinate of node is respectively (a1,b1,c1), (a2,b2,c2) ... ... (an,bn,cn) it is known, institute
It is all that have chosen the near node of distance in network to state effectively known AP nodes, accounts for the 90%~95% of whole node total numbers.According to
Above-mentioned initial alignment coordinate (x0,y0,z0), this can be calculated and be positioned the distance for a little arriving all effectively known AP nodes, be designated as
" geometric distance ", be respectively：
A coordinate near step S50, setting initial alignment point initial coordinate, represents that effectively known AP nodes are arrived again
The signal intensity of point to be determined is apart from Sn。
Specifically, it is assumed that initial coordinate (x0,y0,z0) more nearby (x, y, z), location equipment is just entered at point (x, y, z) place
Row ranging.If accurate positioning, then (x0,y0,z0) and (x, y, z) be same point, then SnIt can be expressed as again
Further, similarly assume that the modeling of RSSI to range formula is accurate, be a little accurately positioned if be positioned, then
The difference of coordinate distance and signal intensity distance should be 0, i.e., | d1-S1|=0, | d2-S2|=0 ... | dn-Sn|=0.
Step S60, using initial coordinate and the coordinate of effective known AP nodes, calculates all geometric distances and signal intensity
Apart from the summation of its difference.
Specifically, if f1For all geometric distances and the summation of the difference of signal intensity, thenBy step
Described in 205, due to the presence of error, there must be difference between coordinate distance and signal intensity distance, then and value f1It is one
The numerical value that must be not zero.
Step S70, according to Taylor's formula obtain point to be determined initial coordinate near the coordinate of a bit, again represent geometry away from
From.
Further, due to subtracting each other the initial coordinate to obtain in step S20 by coordinate, there is certain lose for information
Lose, by Taylor expansion, further make initial coordinate (x0,y0,z0) more nearby (x, y, z) be more nearly point to be determined
Coordinate.By initial coordinate (x0,y0,z0), and
In (x0,y0,z0) place is deployed using Taylor's formula, and make
Then
And by the least square method of matrix, h, k are solved, l obtains new coordinate and is：
(4) are brought into formula：
Draw now dn.NowIt is used as new initial coordinate.
Step S80, reuses new initial coordinateWith each AP coordinate, calculating is all to be had
The geometric distance and signal intensity of the known AP nodes of effect apart from its difference summation with step S60, utilize
Step S90, judges f1-f2＜ ethresholdWhether set up.
If f1-f2＜ ethresholdSet up then refinement to terminate, nowAs required coordinate.
If f1-f2＜ ethresholdIt is invalid, willIt is used as the initial coordinate of refinement next time
Continue iteration, until eligible.Change threshold value ethresholdSize, can further obtain the accurate elements of a fix.
In addition, refer to Fig. 2, present invention also offers a kind of secondary positioning of the RSSI signal intensities based on WIFI network
Device, described device includes：
Initial coordinate acquisition module, the initial coordinate for obtaining node to be positioned；
First error calculating module, for choosing effective AP nodes in multiple wireless sensor networks, and calculates institute
Multiple effective AP nodes are stated to the signal intensity distance of the initial coordinate position and the multiple effective AP nodes are calculated to institute
State the geometric distance of initial coordinate position；Each effective AP nodes are calculated again to the geometric distance and letter of the initial coordinate position
The summation of number intensity apart from its difference；
Second error calculating module, makees for reacquiring the coordinate near the initial coordinate, and by the coordinate
For the new initial coordinate of the node to be positioned, the multiple effective AP nodes are calculated to the signal of the new initial coordinate position
The geometric distance of intensity distance and the multiple effective AP nodes to the new initial coordinate position；Each effective AP sections are calculated again
Point arrives the summation of geometric distance and signal intensity apart from its difference of the new initial coordinate position；
Node determination module to be positioned, judges each geometric distance of the effectively AP nodes to the initial coordinate position
And signal intensity apart from the summation of its difference and the geometric distance of each effectively AP nodes to the new initial coordinate position and
Whether signal intensity is less than default threshold value apart from the difference of the summation of its difference：If so, using the new initial coordinate as described
The elements of a fix of node to be positioned；If it is not, the new initial coordinate and is utilized as the initial coordinate of the node to be positioned
The secondary localization method is repositioned.
Further, in the secondary positioner of the above-mentioned RSSI signal intensities based on WIFI network, the initial seat
Mark acquisition module is specifically included：Path loss calculation module, for obtaining each known AP nodes in wireless sensor network
Average path loss index；Initial coordinate computing module, for choosing multiple known AP nodes as reference mode and building
The node to be positioned is found to the range equation group of the reference mode；The range equation group is solved using maximum likelihood algorithm
To obtain the initial coordinate of the node to be positioned.
Further, in the secondary positioner of the above-mentioned RSSI signal intensities based on WIFI network, in addition to it is new first
Beginning coordinate obtaining module, for setting up the multiple effective node to the geometric distance equation group of the coordinate of a setting, and by institute
State geometric distance equation group and Taylor's formula expansion is done at the initial coordinate of the node to be positioned, and then using the minimum of matrix
Square law solves the Taylor's formula to obtain the new initial coordinate of the node to be positioned.
Further, in the secondary positioner of the above-mentioned RSSI signal intensities based on WIFI network, described first
In error calculating module, the multiple effective AP nodes include nearer and account for the wireless sensing apart from the node to be positioned
The known AP nodes of the 90%~95% of AP node total numbers in device network.
As described above, the invention has the advantages that：The present invention make use of WIFI network when secondary refinement
The information of middle most of AP nodes, and the larger AP nodes of error are eliminated, and on new initial coordinate is chosen again, use
Taylor's formula is deployed at initial coordinate, so as to make obtained new initial coordinate closer to physical location；In addition, every time repeatedly
In generation, chooses the small most of AP nodes of application condition again, initial positioning result is constantly corrected by iteration more accurate to obtain
Positioning result, specifically can accuracy within 3 meters.So, the present invention effectively overcome various shortcoming of the prior art and
Has high industrial utilization.
The above-described embodiments merely illustrate the principles and effects of the present invention, not for the limitation present invention.It is any ripe
Know the personage of this technology all can carry out modifications and changes under the spirit and scope without prejudice to the present invention to above-described embodiment.Cause
This, those of ordinary skill in the art is complete without departing from disclosed spirit and institute under technological thought such as
Into all equivalent modifications or change, should by the present invention claim be covered.
Claims (8)
1. a kind of secondary localization method of the RSSI signal intensities based on WIFI network, it is characterised in that the secondary positioning side
Method includes：
Obtain the initial coordinate of node to be positioned；
Choose effective AP nodes in multiple wireless sensor networks, and calculate the multiple effective AP nodes to described initial
The signal intensity distance of coordinate position；
The multiple effective AP nodes are calculated to the geometric distance of the initial coordinate position；
Calculate each effectively AP nodes to the initial coordinate position geometric distance and signal intensity apart from its difference summation；
Reacquire the coordinate near the initial coordinate, and initial sat the coordinate as the new of the node to be positioned
Mark；
The multiple effective AP nodes are calculated to the signal intensity distance of the new initial coordinate position；
The multiple effective AP nodes are calculated to the geometric distance of the new initial coordinate position；
Calculate each effectively AP nodes to the new initial coordinate position geometric distance and signal intensity apart from its difference summation；
Judge each effectively AP nodes to the geometric distance and signal intensity of the initial coordinate position apart from the total of its difference
With the geometric distance and signal intensity with each effectively AP nodes to the new initial coordinate position apart from its difference summation
Difference whether be less than default threshold value：
If so, using the new initial coordinate as the node to be positioned the elements of a fix；
If it is not, using the new initial coordinate as the node to be positioned initial coordinate, and utilize the secondary localization method
Repositioned.
2. the secondary localization method of the RSSI signal intensities according to claim 1 based on WIFI network, it is characterised in that
The specific steps of the initial coordinate for obtaining node to be positioned include：
Obtain the average path loss index of each known AP nodes in wireless sensor network；
Multiple known AP nodes are chosen as reference mode；
The node to be positioned is set up to the range equation group of the reference mode；
Solve the range equation group to obtain the initial coordinate of the node to be positioned using maximum likelihood algorithm.
3. the secondary localization method of the RSSI signal intensities according to claim 1 based on WIFI network, it is characterised in that
The multiple effective AP nodes include nearer and account for AP nodes in the wireless sensor network apart from the node to be positioned
90%~95% known AP nodes of sum.
4. the secondary localization method of the RSSI signal intensities according to claim 1 based on WIFI network, it is characterised in that
The step of reacquiring the node to be positioned new initial coordinate includes：
Set a coordinate；
The multiple effective node is set up to the geometric distance equation group of the coordinate；
The geometric distance equation group is done into Taylor's formula expansion at the initial coordinate of the node to be positioned；
The least square method of matrix is used to solve the Taylor's formula to obtain the new initial coordinate of the node to be positioned.
5. a kind of secondary positioner of the RSSI signal intensities based on WIFI network, it is characterised in that the secondary positioning dress
Put including：
Initial coordinate acquisition module, the initial coordinate for obtaining node to be positioned；
First error calculating module, for choosing effective AP nodes in multiple wireless sensor networks, and is calculated described many
Individual effective AP nodes to the initial coordinate position signal intensity distance and calculate the multiple effective AP nodes at the beginning of described
The geometric distance of beginning coordinate position；The geometric distance and signal for calculating each effective AP nodes to the initial coordinate position again are strong
Spend the summation apart from its difference；
Second error calculating module, institute is used as reacquiring the coordinate near the initial coordinate, and using the coordinate
The new initial coordinate of node to be positioned is stated, the multiple effective AP nodes are calculated to the signal intensity of the new initial coordinate position
The geometric distance of distance and the multiple effective AP nodes to the new initial coordinate position；Each effective AP nodes are calculated again to arrive
Summation of the geometric distance and signal intensity of the new initial coordinate position apart from its difference；
Node determination module to be positioned, judges each geometric distance and letter of the effectively AP nodes to the initial coordinate position
The summation and each geometric distance and signal of the effectively AP nodes to the new initial coordinate position of number intensity apart from its difference
Whether intensity is less than default threshold value apart from the difference of the summation of its difference：If so, using the new initial coordinate as described undetermined
The elements of a fix of position node；If it is not, using the new initial coordinate as the node to be positioned initial coordinate, and using described
Secondary localization method is repositioned.
6. the secondary positioner of the RSSI signal intensities according to claim 5 based on WIFI network, it is characterised in that
The initial coordinate acquisition module is specifically included：
Path loss calculation module, the average path loss for obtaining each known AP nodes in wireless sensor network refers to
Number；
Initial coordinate computing module, for choosing multiple known AP nodes as reference mode and setting up the section to be positioned
Range equation group of the point to the reference mode；It is described undetermined to obtain that the range equation group is solved using maximum likelihood algorithm
The initial coordinate of position node.
7. the secondary positioner of the RSSI signal intensities according to claim 5 based on WIFI network, it is characterised in that
Also include new initial coordinate acquisition module, for setting up the multiple effective node to the geometric distance equation of the coordinate of a setting
Group, and the geometric distance equation group is done into Taylor's formula expansion at the initial coordinate of the node to be positioned, and then use
The least square method of matrix solves the Taylor's formula to obtain the new initial coordinate of the node to be positioned.
8. the secondary positioner of the RSSI signal intensities according to claim 5 based on WIFI network, it is characterised in that
In first error calculating module, the multiple effective AP nodes include nearer and account for institute apart from the node to be positioned
State 90%~95% known AP nodes of AP node total numbers in wireless sensor network.
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