CN105807254B - A kind of wireless location method based on mobile device self information - Google Patents
A kind of wireless location method based on mobile device self information Download PDFInfo
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- CN105807254B CN105807254B CN201610120483.8A CN201610120483A CN105807254B CN 105807254 B CN105807254 B CN 105807254B CN 201610120483 A CN201610120483 A CN 201610120483A CN 105807254 B CN105807254 B CN 105807254B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0273—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves using multipath or indirect path propagation signals in position determination
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mobile Radio Communication Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention relates to a kind of wireless location methods based on mobile device self information, using oriented mobile device as whole anchor points or part anchor point, carry out ranging localization to mobile device to be positioned.The mobile device oriented is positioned into other mobile devices as " mobile anchor point ".Due to oriented with " mobile anchor point " can be served as per family, the quantity of anchor point in environment is considerably increased, it is therefore prevented that the appearance because fixed anchor point quantity is very few to be positioned situations such as greatly improves the positioning rate of mobile device.Present invention introduces Kalman filtering is extended, the influence of multipath effect and range error etc. in environment is reduced, positioning accuracy is further increased.The present invention only needs general positioning node, and to location hardware without excessive requirement, and the computation complexity of algorithm is lower.Compared with traditional locating scheme, the hardware requirement for having overcome node is higher, location algorithm is excessively complicated, increases the deficiencies of positioning cost and computation complexity.
Description
Technical field
The present invention relates to wireless location technology field, more specifically to a kind of based on mobile device self information
Wireless location method.
Background technique
In recent years, wireless location technology is in emergency relief, mobile e-business, military affairs, industry, wireless sensor etc.
Field using more and more extensive.In these areas, carrying out positioning to user on the move is an important application.Example
Such as, the safety accident in the annual construction industry in Hong Kong accounts for 1/5th of safety accident.If safety management system can be constantly
It monitors the position for the worker that these are moved and is sent a warning message when it is close to danger zone, this will greatly reduce safety
The generation of accident.To traditional location technology, more stringent requirements are proposed for this, and on the one hand user on the move can only be passed through
The mode of wireless location, however the jitter of wireless location, vulnerable to environmental disturbances, cause positioning accuracy not high.Another party
Face, indoors in equal environment, conventional GPS signal is not reached, due to being blocked etc. barrier, global position system GPS table
Very big defect is revealed, especially indoors in environment, far can not to the positioning rate and positioning accuracy of mobile device
Meets the needs of people.The signal of fixed anchor point is also blocked vulnerable to barrier, and conventional mapping methods is caused to fail.
Wireless location is broadly divided into based on ranging and is not based on two methods of ranging.
It since the positioning accuracy for being not based on distance measuring method is lower, cannot meet the needs, therefore the localization method based on ranging
Emphasis as people's research.
The main process of traditional localization method based on ranging is by known to measuring signal slave mobile device to position
Fixed anchor point time of arrival (toa) (TOA), signal arrival time difference (TDOA), direction of arrival degree (AOA) and signal
Intensity instruction (RSSI) etc. information obtain the distance between mobile device and anchor point or angle information, then by trilateration,
The location algorithms such as least square method obtain the location information of mobile device.
But there is following deficiency in this method:
First is that the positioning difficult to realize to user when fixed anchor point is less in environment, such as barrier have blocked anchor point
Signal, the signal that mobile device can not obtain 3 or more anchor points simultaneously can not then be positioned with conventional mapping methods；
Second is that indoors in environment exist such as multipath effect, wireless signal interference etc. influence so that positioning accuracy compared with
It is low.Therefore there are many drawbacks to the method that mobile device is positioned for tradition.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of low costs, high positioning rate, high-precision base
In the wireless location method of mobile device self information.
Technical scheme is as follows:
A kind of wireless location method based on mobile device self information, using oriented mobile device as whole anchor points
Or part anchor point, ranging localization is carried out to mobile device to be positioned.
Preferably, oriented mobile device broadcast carries the signal of self ID and timestamp, the signal is received
Fixed anchor point or mobile device calculate at a distance from the oriented mobile device, right according to the range information for calculating acquisition
Equipment to be moved is positioned.
Preferably, when mobile device to be positioned is positioned by mobile device, according in time received information
Timestamp, obtain the distance at current time, then positioned.
Preferably, specific step is as follows:
1) initial position vector Pre_X, error covariance Pre_p, process noise Q and the measurement for initializing mobile device are made an uproar
Sound R；
2) it is calculated between anchor point and mobile device and between mobile device and mobile device according to signal propagation time
Distance Dij；
3) according to the optimum state at t-1 moment, state vector X_p (t/t-1) estimate covariance P_p (t/ of t moment is predicted
t-1)；
4) the distance vector h_Xp of prediction is calculated according to the state vector X_p (t/t-1) of the t moment of prediction, and according to pre-
The distance vector h_Xp and actual measured value D of surveyijCalculate measurement residual error
5) kalman gain K (t)=P_p (t/t-1) * H* (H*P_p (t/t-1) * H is calculatedT)-1, wherein H is measurement system
The parameter of system；
6) when updating mobile device t according to the state vector X_p (t/t-1) and kalman gain K (t) of the t moment of prediction
The optimum state X_p (t) at quarter=X_p (t/t-1)+K (t) * Y_e；
7) estimate covariance P_p (t)=[eye (length (X_p))] * P_p (t/t-1) is updated；
8) step 2) is repeated to step 7), carries out the positioning at t+1 moment.
Preferably, single mobile device is expressed as follows in the state of t moment with state vector:
X (t)=[Lx (t), Ly (t), Vx (t), Vy (t)]；
Wherein, Lx (t), Ly (t) respectively indicate the x-axis and y-axis coordinate of mobile device, and Vx (t), Vy (t) respectively indicate shifting
Dynamic speed of the equipment in x-axis and y-axis direction；
Then the state equation of n mobile device is expressed as follows:
X (t)=[x1(t), x2(t) ..., xn(t)]T；
Wherein, xi(t) state vector of i-th of mobile subscriber is indicated, T is transposition operator.
Preferably, mobile device goes out by following formula predictions the state of t moment at the t-1 moment:
X (t/t-1)=FX (t-1)+W (t-1)；
Wherein, W (t-1)~N (0, Q) is process noise, and F indicates state-transition matrix.
Preferably, mobile device meets following formula in the state vector Z (t) that the time of day X (t) of t moment is measured:
Z (t)=f (X (t))+V (t)；
Wherein, Δ T indicates that the time updates interval, V (t)~N
(0, R) indicate that measurement noise, Z (t) indicate distance of the mobile device between t moment and fixed anchor point and any mobile device
Vector.
Preferably, taking square composition measurement vector of distance, then
Wherein,Indicate fixed anchor point i and
Between mobile device j distance square (i=1,2 ..., m；J=1,2 ..., n), AixAnd AiyRespectively indicate the x of fixed anchor point i
Axis and y-axis coordinate (i=1,2 ..., m)；
Indicate that mobile device j and movement are set
Square (j, k=1,2 ..., 4, and j ≠ k) of distance, L between standby kjx(t) and Ljy(t) mobile device j is respectively indicated in t moment
X-axis and y-axis coordinate (j=1,2 ..., n).
Beneficial effects of the present invention are as follows:
Method of the present invention carries out other mobile devices using the location information of mobile device after positioning
Positioning, i.e., position other mobile devices as " mobile anchor point " for the mobile device oriented.Due to oriented use
Can serve as per family " mobile anchor point ", considerably increase the quantity of anchor point in environment, it is therefore prevented that because fixed anchor point quantity it is very few without
The appearance for situations such as capable of positioning greatly improves the positioning rate of mobile device.Present invention introduces Kalman filtering is extended, ring is reduced
The influence of multipath effect and range error etc., further increases positioning accuracy in border.
The present invention only needs general positioning node, to location hardware without excessive requirement, and the calculating of algorithm
Complexity is lower.Compared with traditional locating scheme, the hardware requirement for having overcome node is higher, location algorithm is excessively complicated, increases
The deficiencies of having added positioning cost and computation complexity.
Detailed description of the invention
Fig. 1 is the principle of the present invention schematic diagram.
Specific embodiment
The present invention is further described in detail with reference to the accompanying drawings and embodiments.
The present invention in order to solve the deficiencies of positioning probability of the existing technology is low, positioning accuracy is poor, location algorithm is complicated,
A kind of wireless location method based on mobile device self information is provided, using oriented mobile device as whole anchor points or
Part anchor point carries out ranging localization to mobile device to be positioned.
In the present invention, mobile device to be positioned is simultaneously using fixed anchor point and other oriented mobile devices as ginseng
Node is examined to be positioned.Assuming that have the mobile device of fixed anchor point known to a small amount of position and Location-Unknown in environmental area,
Mobile device can communicate with fixed anchor point, and measure mutual distance, and moving equally between equipment can also be into
Row wireless communication and ranging, can be based on TOA, and the technological means such as RSSI, TDOA are realized.
Detailed process is: oriented mobile device broadcast carries the signal of self ID and timestamp, receives the signal
Fixed anchor point or mobile device calculate at a distance from the oriented mobile device, according to calculate obtain range information,
Mobile device is treated to be positioned.When mobile device to be positioned is positioned by mobile device, according to time received letter
Timestamp in breath obtains the distance at current time, is then positioned.
As shown in Figure 1, for mobile device MS1With mobile device MS3, they can respectively with fixed anchor point BS1,、BS2、
BS3With fixed anchor point BS1、BS4、BS5Communication, and then according to formula di=(ti-t0) * C (i=1,2,3) acquires mobile device MS1
With mobile device MS3Then the distance between these fixed anchor points acquire mobile device MS1With mobile device MS3Position.
And for mobile device MS2, can only be with fixed anchor point BS4Direct communication is difficult to position it in the conventional way.This
In invention, utilization mobile device MS after positioning1With mobile device MS3Serve as mobile device MS2" mobile anchor point ", significantly
Increase mobile device MS2Can refer to anchor point quantity, improve its positioning rate and positioning accuracy.
The present invention is changed into Extended Kalman filter and positions to mobile device, then state model and measurement model are as follows:
Single mobile device is expressed as follows in the state of t moment with state vector:
X (t)=[Lx (t), Ly (t), Vx (t), Vy (t)]；
Wherein, Lx (t), Ly (t) respectively indicate the x-axis and y-axis coordinate of mobile device, and Vx (t), Vy (t) respectively indicate shifting
Dynamic speed of the equipment in x-axis and y-axis direction；
Then the state equation of n mobile device is expressed as follows:
X (t)=[x1(t), x2(t) ..., xn(t)]T；
Wherein, xi(t) state vector of i-th of mobile subscriber is indicated, T is transposition operator.
Mobile device goes out by following formula predictions the state of t moment at the t-1 moment:
X (t/t-1)=FX (t-1)+W (t-1)；
Wherein, W (t-1)~N (0, Q) is process noise, indicates the uncertainty of system, and assume that it is Gauss white noise
Sound, F indicate state-transition matrix, state are transformed into t moment from the t-1 moment.
Mobile device meets following formula in the state vector Z (t) that the time of day X (t) of t moment is measured:
Z (t)=f (X (t))+V (t)；
Wherein, Δ T indicates that the time updates interval, V (t)~N
(0, R) indicate measurement noise, it is also assumed that it is white Gaussian noise, Z (t) indicate mobile device t moment and fixed anchor point with
And the distance between any mobile device vector.
It is a linear equation to guarantee to measure equation, in the present invention, takes square composition measurement vector of distance, then
Wherein,Indicate fixed anchor point i and shifting
Between dynamic equipment j distance square (i=1,2 ..., m；J=1,2 ..., n), AixAnd AiyRespectively indicate the x-axis of fixed anchor point i
With y-axis coordinate (i=1,2 ..., m)；
Indicate that mobile device j and movement are set
Square (j, k=1,2 ..., 4, and j ≠ k) of distance, L between standby kjx(t) and Ljy(t) mobile device j is respectively indicated in t moment
X-axis and y-axis coordinate (j=1,2 ..., n).
Based on above-mentioned state model and measurement model, the specific steps of the present invention are as follows:
1) initial position vector Pre_X, error covariance Pre_p, process noise Q and the measurement for initializing mobile device are made an uproar
Sound R；
2) it is calculated between anchor point and mobile device and between mobile device and mobile device according to signal propagation time
Distance Dij；
3) optimum state for passing through formula X (t/t-1)=FX (t-1)+W (t-1) and t-1 moment, predicts the state of t moment
Vector X_p (t/t-1), estimate covariance P_p (t/t-1)=F*P_p (t-1) * FT+ Q (t-1), wherein F is that state shifts square
Battle array, Q (t-1) are the evaluated error at t-1 moment；
4) the distance vector h_Xp of prediction is calculated according to the state vector X_p (t/t-1) of the t moment of prediction, and according to pre-
The distance vector h_Xp and actual measured value D of surveyijCalculate measurement residual errorThat is premeasuring and actual measurement
Difference between value；
5) kalman gain K (t)=P_p (t/t-1) * H* (H*P_p (t/t-1) * H is calculatedT)-1, wherein H is measurement system
The parameter of system；
6) when updating mobile device t according to the state vector X_p (t/t-1) and kalman gain K (t) of the t moment of prediction
The optimum state X_p (t) at quarter=X_p (t/t-1)+K (t) * Y_e；
7) estimate covariance P_p (t)=[eye (length (X_p))] * P_p (t/t-1) is updated；
8) step 2) is repeated to step 7), carries out the positioning at t+1 moment.
Above-described embodiment is intended merely to illustrate the present invention, and is not used as limitation of the invention.As long as according to this hair
Bright technical spirit is changed above-described embodiment, modification etc. will all be fallen in the scope of the claims of the invention.
Claims (6)
1. a kind of wireless location method based on mobile device self information, which is characterized in that with oriented mobile device work
For whole anchor points or part anchor point, oriented mobile device broadcast carries the signal of self ID and timestamp, receives this
The fixed anchor point or mobile device of signal calculate at a distance from the oriented mobile device, believe according to the distance obtained is calculated
Breath carries out ranging localization to mobile device to be positioned；When mobile device to be positioned is positioned by mobile device, according to
Timestamp in time received information, obtains the distance at current time, is then positioned.
2. the wireless location method according to claim 1 based on mobile device self information, which is characterized in that specific step
It is rapid as follows:
1) initial position vector Pre_X, error covariance Pre_p, process noise Q and the measurement noise R of mobile device are initialized；
2) it is calculated between anchor point and mobile device according to signal propagation time and the distance between mobile device and mobile device
Dij；
3) according to the optimum state at t-1 moment, the state vector X_p (t/t-1) of t moment, estimate covariance P_p (t/t- are predicted
1)；
4) the distance vector h_Xp of prediction is calculated according to the state vector X_p (t/t-1) of the t moment of prediction, and according to prediction
Distance vector h_Xp and the distance between mobile device and mobile device DijCalculate measurement residual error
5) kalman gain K (t)=P_p (t/t-1) * H* (H*P_p (t/t-1) * H is calculatedT)-1, wherein H is measuring system
Parameter；
6) mobile device t moment is updated according to the state vector X_p (t/t-1) and kalman gain K (t) of the t moment of prediction
Optimum state X_p (t)=X_p (t/t-1)+K (t) * Y_e；
7) estimate covariance P_p (t)=[eye (length (X_p))] * P_p (t/t-1) is updated；
8) step 2) is repeated to step 7), carries out the positioning at t+1 moment.
3. the wireless location method according to claim 2 based on mobile device self information, which is characterized in that single to move
Dynamic equipment is expressed as follows in the state of t moment with state vector:
X (t)=[Lx (t), Ly (t), Vx (t), Vy (t)]；
Wherein, Lx (t), Ly (t) respectively indicate the x-axis and y-axis coordinate of mobile device, and Vx (t), Vy (t) respectively indicate movement and set
The standby speed in x-axis and y-axis direction；
Then the state equation of n mobile device is expressed as follows:
X (t)=[x1(t),x2(t),…,xn(t)]T；
Wherein, xi(t) state vector of i-th of mobile device is indicated, T is transposition operator.
4. the wireless location method according to claim 3 based on mobile device self information, which is characterized in that step 3)
In, mobile device goes out by following formula predictions the state of t moment at the t-1 moment:
X (t/t-1)=FX (t-1)+W (t-1)；
Wherein, W (t-1)~N (0, Q) is process noise, and F indicates state-transition matrix.
5. the wireless location method according to claim 4 based on mobile device self information, which is characterized in that movement is set
The state vector Z (t) that the standby time of day X (t) in t moment is measured meets following formula:
Z (t)=f (X (t))+V (t)；
Wherein,Δ T indicates that time update is spaced, V (t)~N (0,
R) indicate measurement noise, Z (t) indicate state of the mobile device between t moment and fixed anchor point and any mobile device to
Amount.
6. the wireless location method according to claim 5 based on mobile device self information, which is characterized in that take distance
Square composition state vector Z (t), then
Wherein,Indicate that fixed anchor point i and movement are set
Between standby j distance square (i=1,2 ..., m；J=1,2 ..., n), AixAnd AiyRespectively indicate the x-axis and y-axis of fixed anchor point i
Coordinate (i=1,2 ..., m)；
Indicate mobile device j and mobile device k
Between distance square (j, k=1,2 ..., 4, and j ≠ k), Ljx(t) and Ljy(t) mobile device j is respectively indicated in the x of t moment
Axis and y-axis coordinate (j=1,2 ..., n).
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| CN106413085A (en) * | 2016-09-09 | 2017-02-15 | 华侨大学 | Mobile anchor localization method based on distributed election |
| CN110493740B (en) * | 2018-05-14 | 2021-01-15 | ***通信有限公司研究院 | Indoor positioning method and positioning server |
| CN109188351A (en) * | 2018-08-16 | 2019-01-11 | 佛山科学技术学院 | A kind of wirelessly anti-interference localization method and device |
| CN113891245B (en) * | 2021-11-17 | 2024-04-26 | 西安邮电大学 | Fire scene firefighter cooperative relay positioning method |
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