CN104507102A - Spatial characteristic estimation method based on RSSI (Received Signal Strength Indication) and FMM (Fast Matching Method) - Google Patents

Abstract

The invention relates to the technical field of wireless communication, in particular to a spatial characteristic estimation method based on RSSI (Received Signal Strength Indication) and an FMM (Fast Matching Method). The spatial characteristic estimation method comprises the steps: a signal emitting source emits signals at certain power, and a signal receiving antenna receives the signals and analyzes the received signals, so as to extract an actual RSSI value; a minimal-amplitude-attenuation advancing path between the emitting source and the receiving antenna is found out in a coordinate system by using the FMM, analog transit time between the emitting source and the receiving antenna is calculated, and an analog RSSI value of the path is calculated through the transit time; meanwhile, the analog RSSI value is enabled to be close to the actual RSSI value by using the iteration of an algebraic reconstruction method, so as to obtain the spatial characteristics of each coordinate point on the minimal-amplitude-attenuation advancing path. According to the method, the RSSI and FMM combined thinking is utilized, the spatial characteristics are estimated by making full use of speed and RSSI distribution information acquired from path estimation, an environmental model is obtained, and a basis is provided for subsequent space positioning technologies.

Description

A kind of spatial character method of estimation based on RSSI and FMM

Technical field

The present invention relates to wireless communication technology field, in particular to one based on RSSI (Received Signal Strength Indication, received signal strength indicator) and the spatial character method of estimation of FMM (FastMatching Method, fast marching algorithms).

Background technology

Along with the fast development of wireless technology, mobile communication devices, the understanding of people to the environmental information in complex environment has had increasing demand, just be not satisfied with simple " black box " environmental treatment mode as fingerprint technique formula, but need to carry out concrete estimation to environment propagation channel model, the information requirements of environment inner position have higher accuracy, also will be more accurate to the extraction of channel impulse response CIR (Channal Impulse Response) etc.Because the structures such as the building in complex environment, glass wall can produce serious channel fading, thus cause multipath effect, affect the Precise collection of signal and the expansion of analysis and other work, so the distribution needed badly for object concrete in environment detects, obtain environmental parameter by carrying out concrete estimation to environmental characteristics, thus the application work such as location, extraction in later stage can be carried out.

Time Migration of Elastic Wave Equation can be expressed as: wherein φ represents the scalar potential function of ripple, and F represents velocity of wave, and t is the time.If we suppose that gasoline general solution form is: φ=Aexp [-t ω (T (x)+t)], wherein A=A (x) is amplitude, and ω is angular frequency, and T is equiphase surface, then function phi Laplacian is:

▽ ²φ＝▽ ²Aexp[-tω(T+t)]-tω▽T*▽Aexp[-iω(T+t)]-iω▽A*▽Texp[-iω(T+t)] (2)

-iωA▽ ²Texp[-iω(T+t)]-ω ²A▽T*▽Texp[iω(T+t)]

Function phi to the second dervative of time t is:

Bring (2) (3) into (1) can obtain: ${\▿}^{2}A-{\mathrm{\ω}}^{2}A{|\▿T|}^2-t[2\mathrm{\ω}\▿A*\▿T+\mathrm{\ωA}{\▿}^{2}T]=\frac{-A{\mathrm{\ω}}^2}{F^2}---\left(4\right)$

This equation is divided into real part and imaginary part, if we get its real part equation two ends simultaneously divided by A ω ²:

Be applied in high frequency hypothesis (ω → ∞), then can obtain eikonal equation: | ▽ T|F=1.When this equation illustrates and walks along any grid antenna of wavefront, the size of gradient is inversely proportional to the speed at this point, and speed of this point is larger, then when walking, gradient is less.If we get the imaginary part of equation (4), equation both sides simultaneously divided by ω, then can obtain transmission equation: 2 ▽ A* ▽ T+A ▽ ²t=0, this equation can calculate ripple amplitude in the air.

Present fast marching methods FMM is generally applied to the fields such as path planning, Iamge Segmentation, computer vision, the method can carry out path to known image and circuit extracts or corrects, calculate the shortest transit time of advancing to reach, obtain the object of most Fast marching path and circuit.FMM is Eikonal equation | ▽ T (x) | and a kind of numerical computation method of F (x)=1, specifically described is the evolution of closed curve under normal velocity F (x).FMM solves the fast resolution that Eikonal equation is level set (Level Set), achieve the evolution of closed curve, its core concept is for activating arrowband in border peripheral configuration one of advancing, point in arrowband is uncertain for the time of advent, current border of advancing utilizes reverse form outwards to be advanced by current border, just as ripples diffusion, every point be diffused into, freeze its wavefront time of advent, new activating belt is constructed again according to current wavefront, circulation like this, just can obtain the time of advent and the range value of on image often.Concrete FMM traveling process is as shown in Figure 1:

As shown in figure (a), source point S and point of destination D is band of advancing depending on source point S.First, using four points adjoining with source point S as activating arrowband.Then, as shown in figure (b), calculate the transit time of each point in arrowband, select the point in arrowband with minimum transit time increment to add band of advancing, and this point is removed from arrowband.Go down according to the circulation of this process, until destination D is added band of advancing, terminate ergodic process.Finally, as shown in figure (c), according to the TOF calculated with to advance band scope, from destination D reverse search to source point S, the TOF of each point and related data on the most Fast marching path calculated under obtaining FMM thought and calculating path.

RSSI (Received Signal Strength Indication) represents the signal receiving strength instruction of reception antenna, its measurement parameter scope is generally 0 ~ 255, current theory is frequently by the distance of the RSSI value measured signal point received and acceptance point, and then position according to corresponding data, this technology and calculating method that engine of positioning as the ZigBee-network CC2431 chip of wireless sensing just adopts, or be used in CDMA and observe RSSI value to measure reverse interference, RSSI value produces after the filtering of backward channel Baseband Receiver, the instantaneous value that baseband I/Q branch power integration obtains RSSI is carried out in 104 μ s, and in 1s, instantaneous value is averaged and obtains the mean value of RSSI, check that the mean value of RSSI is the important means judging interference, unloaded lower RSSI value is generally about-110dBm, deposit in case in business, RSSI mean value generally can not exceed-95dBm, if find that RSSI value has obvious rising, so certainly, be there is return link interferences.

But, simple path extraction cannot detect the concrete object distribution in environment, cannot extract true environment channel, cannot estimate the spatial character of environment channel model, and then specifying information can not be provided for follow-up physical planning and positioning work.So, be necessary FMM to be applied to object distribution concrete in acquisition environment, make full use of its detection gained information and carry out estimation space characteristic, to set up real environment channel model, obtain ambient Property.Number of patent application is that the spatial character that the patent of CN103647611A is disclosed as based on fast marching algorithms is estimated, adopts FMM to estimate to simulate the transit time of transit time approaching to reality, obtains spatial character whereby.Existing theory implements quite difficulty in actual hardware, because the transit time is very of short duration, actual signal reception antenna cannot extract the so short time, therefore very high to the requirement of actual hardware, cost is very large, and this patent improves this shortcoming, FMM is combined with RSSI value, uses simulation RSSI value to carry out approaching to reality RSSI value, to obtain spatial character distribution, in realistic model antenna, record signal receiving strength is very easy, and hardware requirement is simple, and cost is low.

Summary of the invention

In order to detect existing complex environment, set up environmental model, carry out the estimation of spatial character, in order to improve the shortcoming of method in the past, improve practicality and the convenience of estimation scheme, the present invention proposes a kind of by the modeling method of RSSI and FMM connected applications under complex environment.What this process employs RSSI is convenient to receive, be convenient to the advantage extracted, combines and to estimate environment channel model, can effectively obtain concrete environmental parameter with the FMM method after improving.

A kind of spatial character method of estimation based on RSSI and FMM of the present invention, comprising:

102, signal emitting-source transmits, signal receiving antenna Received signal strength, and signal receiving antenna is analyzed to received signal, extracts actual signal intensity level RSSI _col;

103, utilize FMM in coordinate system, find minimum radius decay travel path between emission source and reception antenna, calculate simulation transit time between the two, then by the analog signal intensity level RSSI of transit time calculating path _sim; Use the iteration of arithmetic reconstruction method simultaneously, simulation RSSI value is approached to true RSSI value, obtain the spatial character of each coordinate points on minimum radius decay travel path, be i.e. the distribution situation of conductivityσ in vacuum.

Preferably, before step 102, also comprise step 101:

In a circle or coffin, multiple signal receiving antenna is evenly set, signal emitting-source is arranged at the central authorities of circle or coffin, arranges multiple barrier, with the geometrical center in space for the origin of coordinates sets up two-dimensional coordinate system in circle or coffin.

Preferably, described 103 specifically comprise:

Velocity amplitude v (x, y)=1 in 103-1, middle coordinate system of supposing to advance in each coordinate points, it represents the Two Dimensional Uniform propagation velocity of electromagnetic field;

103-2, to choose launch point be travel path initial point, reception antenna is travel path terminal, from initial point, velocity amplitude according to hypothesis each on coordinate system distributes, choose travel path has minimum radius pad value in adjacent grid grid as travel path, select successively, until walk to terminal, a travel path can be obtained, and the velocity amplitude of each point on way to acquire;

103-3, pass through eikonal equation with transmission equation 2 ▽ RSSI _sim* ▽ T+RSSI _sim▽ ²t=0, utilizes the velocity amplitude calculating simulation signal strength values RSSI obtained _sim;

103-4, calculating simulation signal strength values RSSI _simwith actual signal intensity level RSSI _coldifference DELTA RSSI _i, Δ RSSI _i=RSSI _col-RSSI _sim, i represents i-th signal receiving antenna;

103-5, judgement Δ RSSI _iwhether reach threshold requirement and Δ RSSI _i≤ s1, if so, then exports final speed value, enters step 103-6; If not, then utilize carry out the iterative computation of arithmetic reconstruction method, and return 103-3; Wherein Δ d represents the distance between coordinate point-to-point, L be extract from signal emitting-source to the length of the travel path of signal receiving antenna i, s1 span is generally taken as 0.1-1dBm;

The dielectric constant of 103-6, our hypothesis space and magnetic permeability are all 1, according to the electricity obtaining coordinate points (x, y) damages the value of parameter and conductivity, and this value is for characterizing the spatial character of coordinate points (x, y).

Preferably, after step 103, comprise 104: the spatial character of the non-minimum amplitude fading travel path coordinate points between signal emitting-source and signal receiving antenna is estimated, comprise and obtain coordinate points velocity amplitude on non-minimum amplitude fading travel path according to each coordinate points velocity amplitude of minimum radius decay travel path, the velocity amplitude of acquisition is brought into the electricity obtaining each coordinate points on non-travel path damages parameter value, and the distribution namely obtaining spatial character on non-travel path is estimated.

Preferably, before electricity final speed value being substituted into each coordinate points in relational expression acquisition space environment damages parameter value, comprise the operation that this coordinate points velocity amplitude is revised, namely first velocity original value v (x is being set, y) while=1, K (x is set, y) initial value is 0, as the v (x of coordinate points, y) often upgrade once, K (the x of this point, y) value is just updated to 1, finally, after each acceptance point renewal terminates, to the K (x of each point, y) superpose, by v (x, y)=v (x, y)/K (x, y) velocity amplitude is more accurately obtained.

The thought that the present invention utilizes RSSI and FMM to combine, utilize the speed on the theoretical acquisition approach of the FMM after improving and amplitude distribution information, path spatial character is estimated, obtain environmental model, compared with the processing method carrying out estimating with adopting the transit time being difficult to extract in prior art, the present invention can use the RSSI value being simple and easy to measure to carry out spatial character estimation to indoor environment, improve practicality and hardware simplicity rate, reduce cost, for indoor positioning technologies afterwards lays a solid foundation.

Accompanying drawing explanation

In order to make object of the present invention, technical scheme and beneficial effect clearly understand, below in conjunction with accompanying drawing, the present invention is described in further details, wherein:

Fig. 1 is the traveling process schematic diagram of prior art fast marching methods;

Fig. 2 is the spatial character method of estimation first preferred embodiment schematic flow sheet based on RSSI and FMM;

Fig. 3 is the spatial character schematic flow sheet of each coordinate points of spatial character method of estimation preferred embodiment acquisition minimum radius decay travel path based on RSSI and FMM;

Fig. 4 is the spatial character method of estimation second preferred embodiment schematic flow sheet based on RSSI and FMM;

Fig. 5 sets up structural representation based on the spatial character method of estimation second preferred embodiment model of RSSI and FMM;

Fig. 6 is spatial character method of estimation the 3rd preferred embodiment schematic flow sheet based on RSSI and FMM.

Embodiment

In order to detect existing complex environment, set up environmental model, carry out the estimation of spatial character, in order to improve the shortcoming of method in the past, improve practicality and the convenience of estimation scheme, the present invention proposes a kind of by the modeling method of RSSI and FMM connected applications under complex environment.What this process employs RSSI is convenient to receive, be convenient to the advantage extracted, combines and to estimate environment channel model, can effectively obtain concrete environmental parameter with the FMM method after improving.

Below with reference to accompanying drawing, by describing the specific embodiment that a preferred two dimensional surface environment is estimated in detail, the present invention is described in detail; Should be appreciated that preferred embodiment only in order to the present invention is described, and can not be used for limiting the scope of the invention.

The estimation implementation procedure of the present invention to true environment channel model comprises: utilize RSSI and the FMM (its principle of advancing illustrates in Fig. 1) after improving to combine the path data calculated between dual-mode antenna, comprise path, propagation velocity and RSSI value etc., comparing calculation gained RSSI value and the true RSSI value extracted from reception antenna, comparatively real propagation velocity distribution map is obtained by constantly approaching, complete the foundation of environmental model, namely the spatial character σ (electricity damages parameter or conductivity) in environmental model space in all coordinate points is estimated, as shown in Figure 2, comprise:

102, signal emitting-source transmits, signal receiving antenna Received signal strength, and signal receiving antenna is analyzed to received signal, extracts actual signal intensity level RSSI _col.

The measurement of true RSSI value is extracted and is required depending on concrete signal, current use is select based on the hardware platform of Zigbee as radio communication platform comparatively widely, uses radio transmitting and receiving chip CC2430 of TI company etc. to complete the collection of communication between emission source and reception antenna and RSSI.The compatible IEEE802.15.4 specification of its chip, its power output arranges 8 power output stages by software programming, and wherein, 0dBm is the acquiescence power output of chip.Dual-mode antenna adopts omnidirectional antenna, after receiving the packet of emission source transmitting, then packet is converted into corresponding RSSI value according to certain standard.

103, utilize FMM in coordinate system, find minimum radius decay travel path between emission source and reception antenna, calculate simulation transit time between the two, then by the analog signal intensity level RSSI of transit time calculating path _sim; Use the iteration of arithmetic reconstruction method simultaneously, simulation RSSI value approached to true RSSI value, obtain the spatial character of each coordinate points on minimum radius decay travel path, be i.e. the distribution situation of conductivityσ in vacuum, as shown in Figure 3, specifically comprise:

103-1, suppose velocity amplitude v (x, y)=1 of advancing in each coordinate points of middle coordinate system, it represents the Two Dimensional Uniform propagation velocity of electromagnetic field.

103-2, to choose launch point be travel path initial point, reception antenna is travel path terminal, from initial point, the velocity amplitude according to hypothesis each on coordinate system distributes, choose travel path has minimum radius pad value in adjacent grid grid as travel path, select successively, until walk to terminal, a travel path can be obtained, and the velocity amplitude of each point on way to acquire, each reception antenna carries out successively, and changes in coordinates process as shown in Figure 1.

103-3, pass through eikonal equation with transmission equation 2 ▽ RSSI _sim* ▽ T+RSSI _sim▽ ²t=0, utilizes the velocity amplitude calculating simulation signal strength values RSSI obtained _sim.

103-4, calculating simulation signal strength values RSSI _simwith actual signal intensity level RSSI _coldifference DELTA RSSI _i, Δ RSSI _i=RSSI _col-RSSI _sim, i represents i-th signal receiving antenna.

103-5, judgement Δ RSSI _iwhether reach threshold requirement and Δ RSSI _i≤ s1, if so, then exports final speed value, enters step 103-6; If not, then utilize carry out the iterative computation of arithmetic reconstruction method, and return 103-3; Wherein Δ d represents the distance between coordinate point-to-point, L be extract from signal emitting-source to the length of the travel path of signal receiving antenna i, s1 span is generally taken as 0.1 ~ 1dBm.

By estimating the distribution of multiple reception antenna propagation path, thus reach the estimation to whole spatial character, preferably, for the space environment having the distribution of multiple acceptance point to estimate, the renewal for coordinate points velocity amplitude each in environment provides with under type:

After multiple reception antenna has been upgraded successively, need the velocity amplitude superposing the coordinate points that each paths upgrades respectively, to complete the renewal of whole environment.Because some coordinate points may be present on mulitpath, its update times may be repeatedly, in order to improve the accuracy of these coordinate points velocity amplitude values, revises this coordinate points velocity amplitude; Velocity original value v (x is being set, y) while=1, K (x is set, y) initial value is 0, when the v (x, y) of coordinate points often upgrades once, K (the x of this point, y) value is just updated to 1 (recording the update times K (x, y) of coordinate points (x, y)); Finally, after each acceptance point renewal terminates, the K (x, y) of each point is superposed, now K (x, y) is the update times of each coordinate points, by v (x, y)=v (x, y)/K (x, y) can obtain velocity amplitude more accurately.

The dielectric constant of 103-6, our hypothesis space and magnetic permeability are all 1, according to the electricity obtaining coordinate points (x, y) damages the value of parameter and conductivity, and this value is for characterizing the spatial character of coordinate points (x, y).

Spatial character method of estimation through above based on RSSI and FMM: by calculating the minimum radius fading propagation path between signal source point and reception antenna, obtain the VELOCITY DISTRIBUTION on propagation path and RSSI value distribution, thus the spatial character σ (electricity damages parameter or conductivity) of corresponding coordinate point on path is estimated, the spatial character of all coordinate points on minimum radius fading propagation path can be obtained, thus the true environment model in Confirming model space on minimum radius decay travel path.

Preferably, before 102, also comprise the step 101 of building of carrying out environmental model, as shown in Figure 4, environmental model built various ways, preferably, as a kind of embodiment, the invention provides and build mode below:

Such as shown in Fig. 5, in a circle or coffin, evenly arrange multiple signal receiving antenna, signal emitting-source is arranged at circle or coffin central authorities, in circle or coffin, multiple barrier is set, with the geometrical center in space for the origin of coordinates sets up two-dimensional coordinate system.

Above by estimating the environment point on propagation path between signal emitting-source and signal receiving antenna, substantially the estimation of space environmental characteristic on minimum radius decay travel path can be realized, on this minimum radius decay travel path, the estimation of space environmental characteristic can characterize the feature in whole space substantially, but, in order to the accuracy of further room for promotion feature assessment, coordinate points on non-minimum amplitude fading path is estimated further again, fully demonstrate the true environment characteristic distribution in whole space, improve the accuracy estimated.

Preferably, for realizing the estimation of larger wider area, as shown in Figure 6, after step 103, also comprise:

104, to the estimation of the coordinate points spatial character on the non-minimum amplitude fading travel path between signal emitting-source and signal receiving antenna.

Can implementation as one, in order to accurately estimate the velocity amplitude of each coordinate points on non-minimum amplitude fading propagation path, to realize in environment under diffusion profile evenly estimation, comprising:

(x ± a, y ± a)=v (x, y), wherein, the positional distance of each coordinate points of travel path that a represents and minimum radius is decayed, this distance value is according to the distance length L of the point on minimum radius decay travel path apart from transmitting anchor aerial position to choose v _nand angulation θ and determining between adjacent reception antenna and transmitting antenna, wherein n is total number of reception antenna.

Preferably, after the velocity amplitude iteration of not accomplishing on non-minimum amplitude fading travel path upgrades and terminates, marginal position due to propagation path region may be repeated to upgrade iteration repeatedly, cause the cumulative of speed, so with the processing mode of 103-5, this coordinate points velocity amplitude is revised: velocity original value v (x is being set, y) while=1, K (x is set, y) initial value is 0, as the v (x of coordinate points, y) often upgrade once, K (the x of this point, y) value is just updated to 1 (to coordinate points (x, y) update times K (x, y) record), finally, after each acceptance point renewal terminates, the K (x, y) of each point is superposed, now K (x, y) is the update times of each coordinate points, by v (x, y)=v (x, y)/K (x, y) can obtain velocity amplitude more accurately.

Then, the dielectric constant of our hypothesis space and magnetic permeability are all 1, according to final speed value substituted into, the electricity obtaining each coordinate points on space non-minimum amplitude fading propagation path damages the value of parameter and conductivity, and the electricity namely on often damages parameter value and all estimated more accurately, optimization obtain space true environment model.

The estimation in larger wider space can be realized by above execution mode, coordinate points spatial character on non-minimum amplitude fading propagation path between signal emitting-source and signal receiving antenna is estimated, the distribution character that whole space is more complete can be obtained, improve estimated quality.

The thought that the present invention utilizes RSSI and FMM to combine, utilize the speed on the theoretical acquisition approach of the FMM after improving and amplitude distribution information, path spatial character is estimated, obtain environmental model, compared with the processing method carrying out estimating with adopting the transit time being difficult to extract in prior art, the present invention can use the RSSI value being simple and easy to measure to carry out spatial character estimation to indoor environment, improve practicality and hardware simplicity rate, reduce cost, for indoor positioning technologies afterwards lays a solid foundation.

Be understood that; above lifted execution mode or embodiment are only the preferred embodiment of the present invention; not in order to limit the present invention; all within the spirit and principles in the present invention the present invention is made any amendment, equivalent replacement, improvement etc., all should protection scope of the present invention be included in.

Claims (6)

1., based on a spatial character method of estimation of RSSI and FMM, it is characterized in that, comprising:

102, signal emitting-source transmits, signal receiving antenna Received signal strength, and signal receiving antenna is analyzed to received signal, extracts actual signal intensity level RSSI _col;

103, utilize FMM in coordinate system, find minimum radius decay travel path between emission source and reception antenna, calculate simulation transit time between the two, then by the analog signal intensity level RSSI of transit time calculating path _sim; Use the iteration of arithmetic reconstruction method simultaneously, simulation RSSI value is approached to true RSSI value, obtain the spatial character of each coordinate points on minimum radius decay travel path, be i.e. the distribution situation of conductivityσ in vacuum.

2., according to claim 1 based on the spatial character method of estimation of RSSI and FMM, it is characterized in that, before step 102, also comprise step 101:

In a circle or coffin, multiple signal receiving antenna is evenly set, signal emitting-source is arranged at the central authorities of circle or coffin, arranges multiple barrier, with the geometrical center in space for the origin of coordinates sets up two-dimensional coordinate system in circle or coffin.

3., according to claim 1 based on the spatial character method of estimation of RSSI and FMM, it is characterized in that, described 103 specifically comprise:

Velocity amplitude v (x, y)=1 in 103-1, middle coordinate system of supposing to advance in each coordinate points, it represents the Two Dimensional Uniform propagation velocity of electromagnetic field;

103-2, to choose launch point be travel path initial point, reception antenna is travel path terminal, from initial point, velocity amplitude according to hypothesis each on coordinate system distributes, choose travel path has minimum radius pad value in adjacent grid grid as travel path, select successively, until walk to terminal, a travel path can be obtained, and the velocity amplitude of each point on way to acquire;

103-3, pass through eikonal equation ${|\▿T|}^2=\frac{1}{v{(x,y)}^2}$ And transmission equation $2\▿{\mathrm{RSSI}}_{\mathrm{sim}}*\▿T+{\mathrm{RSSI}}_{\mathrm{sim}}{\▿}^{2}T=0,$ Utilize the velocity amplitude calculating simulation signal strength values RSSI obtained _sim;

103-4, calculating simulation signal strength values RSSI _simwith actual signal intensity level RSSI _coldifference DELTA RSSI _i, Δ RSSI _i=RSSI _col-RSSI _sim, i represents i-th signal receiving antenna;

103-5, judgement Δ RSSI _iwhether reach threshold requirement and Δ RSSI _i≤ s1, if so, then exports final speed value, enters step 103-6; If not, then utilize carry out the iterative computation of arithmetic reconstruction method, and return 103-3; Wherein Δ d represents the distance between coordinate point-to-point, L be extract from signal emitting-source to the length of the travel path of signal receiving antenna i, s1 span is generally taken as 0.1-1dBm;

The dielectric constant of 103-6, our hypothesis space and magnetic permeability are all 1, according to the electricity obtaining coordinate points (x, y) damages the value of parameter and conductivity, and this value is for characterizing the spatial character of coordinate points (x, y).

4. according to claim 1 based on the spatial character method of estimation of RSSI and FMM, it is characterized in that, comprise 104: the spatial character of the non-minimum amplitude fading travel path coordinate points between signal emitting-source and signal receiving antenna is estimated, comprise and obtain coordinate points velocity amplitude on non-minimum amplitude fading travel path according to each coordinate points velocity amplitude of minimum radius decay travel path, the velocity amplitude of acquisition is brought into the electricity obtaining each coordinate points on non-travel path damages parameter value, and the distribution namely obtaining spatial character on non-travel path is estimated.

5. according to claim 4 based on the spatial character method of estimation of RSSI and FMM, it is characterized in that, describedly obtain coordinate points velocity amplitude on non-most Fast marching path according to minimum radius decay travel path each coordinate points velocity amplitude and be: get v (x ± a, y ± a)=v (x, y), wherein, the positional distance of each coordinate points of travel path that a represents and minimum radius is decayed, this distance value is according to the distance length L of the point on minimum radius decay travel path apart from transmitting anchor aerial position _nand angulation θ and determining between adjacent reception antenna and transmitting antenna, wherein n is total number of reception antenna.

6. according to claim 3 or 4 based on the spatial character method of estimation of RSSI and FMM, it is characterized in that, in described basis final speed value is substituted into, before obtaining the electricity damage parameter value of each coordinate points in space environment, comprise the operation that this coordinate points velocity amplitude is revised, namely first velocity original value v (x is being set, y) while=1, K (x is set, y) initial value is 0, as the v (x of coordinate points, y) often upgrade once, K (x, the y) value of this point is just updated to 1 (to coordinate points (x, y) update times K (x, y) records); Finally, after each acceptance point renewal terminates, the K (x, y) of each point is superposed, now K (x, y) is the update times of each coordinate points, by v (x, y)=v (x, y)/K (x, y) can obtain velocity amplitude more accurately.