CN107219499A - A kind of Uncertainty Analysis Method positioned based on least square - Google Patents
A kind of Uncertainty Analysis Method positioned based on least square Download PDFInfo
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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
- G01S5/0278—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 involving statistical or probabilistic considerations
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Abstract
A kind of Uncertainty Analysis Method positioned based on least square, is related to based on the analysis of uncertainty in least square positioning calculation process.The present invention is to effectively solve the sensitivity analysis based on uncertainty analysis in least square positioning calculation process and uncertain synthtic price index.A kind of uncertain sensibility analysis method based on least square location Calculation of the present invention, measures the uncertainty of each uncertain factor in least square location Calculation first；Then the sensitive factor of each uncertain factor is calculated using the method for partial differential, influence degree of the uncertain factor to location Calculation result is assessed, support is provided to improve least square positioning precision method；Finally uncertainty is integrated, the uncertainty of least square location Calculation result is obtained, the quality of location Calculation result is assessed with this, also reference and decision information is provided for method for subsequent processing such as navigation.
Description
Technical field
The present invention relates to wireless location technology.
Background technology
In actual wireless communication environment, due to the influence of the undesirable elements such as noise, environment and measurement error, cause communication away from
There is larger error from estimation, cause least square positioning result that there is very strong uncertainty, to positioning result in navigation
Challenge is proposed etc. subsequent applications processing method.The present invention is in view of the above-mentioned problems, to uncertain in least square position fixing process
Property factor carry out sensitivity analysis, analyzing causes probabilistic principal element and its influence journey to location Calculation result
Degree, and the uncertainty of location Calculation result is estimated, provide guidance to improve wireless location accuracy method.
The content of the invention
The invention aims to solve sensitivity analysis based on uncertainty analysis in least square positioning calculation process and not
There is provided a kind of Uncertainty Analysis Method positioned based on least square for certainty synthtic price index.
A kind of Uncertainty Analysis Method positioned based on least square of the present invention is comprised the following steps：
Step 1: have I+1 wireless sensor node in system, the anchor node and 1 unknown section of respectively I positioning
Point, they all have nanoLOC rf receiver and transmitters, and can be obtained using bilateral counterpart method measurement between any two node
Range estimation, wherein I is the parameter that user sets, and is positive integer, and 6≤I≤10, in the present invention, and I values are 9；
Step 2: the node of each in system is initialized, unknown node initially sets up wireless network, and waits other sections
Point application adds network；
Step 3: after I anchor node is initialized successfully, the foundation of RF transceiver scanning discovery unknown node is respectively adopted
Wireless network, and network join request packet is sent by RF transceiver, and the wireless network is successfully joined, if added
Network success, then perform step 4, otherwise, performs step 3；
Step 4: unknown node broadcasts Location Request packet by its rf receiver and transmitter, i-th of anchor node is received
After Location Request packet, using bilateral reciprocity distance-finding method, by 4J data-bag interacting between unknown node, the is obtained
Between i anchor node and unknown node apart from diJ measured value：{di1,di2,di3,…,dij,…,diJ, and carry out statistics meter
Calculate, by the average statistical d of measured valuei_ u is as apart from diEstimated result, by the SS difference d of measured valuei_ σ is as apart from di
The uncertainty of estimated result, wherein i are positive integer, and 1≤i≤I, i initial value are positive integer for 1, j, and 1≤j≤J, J
In the positive integer set for user, and 50≤J≤150, the present invention, J values are 100；
Step 5: i=i+1, judges whether i value is more than I, if so, then performing step 6, step 4 is otherwise performed；
Step 6: system obtains the distance estimations result { d between unknown node and I anchor node1_u,d2_u,d3_
u,…,di_u,…,dI_ u }, and their corresponding uncertainty { d1_σ,d2_σ,d3_σ,…,di_σ,…,dI_ σ }, and tie
Close the coordinate of three anchor nodes：{(x1, y1), (x2, y2), (x3, y3),…,(xi, yi),…,(xI, yI), then unknown node
Coordinate (x, y) is calculated by formula (1)：
Wherein
Step 7: the uncertainty (x_ σ, y_ σ) of location Calculation result (x, y) is calculated by formula (2)：
WhereinI is positive integer, and 1≤i≤I,WithRespectively sensitive factor, represents positioning factor respectively
xi、yiAnd di_ u is to the influence degree size of positioning result, by the size of sensitive factor value, may recognize that to positioning effects compared with
Big factor, important references information, x are provided to improve positioning precisioni_ σ and yi_ σ is respectively i-th of anchor node abscissa and vertical
The standard deviation of coordinate, due in the present invention, the position of setting anchor node is exact value, therefore xi_ σ=0, yi_ σ=0, wherein i are
Positive integer, and 1≤i≤I, therefore, formula (2) can be reduced to：
Step 8: judging whether location Calculation task completes, if it is, step 9 is performed, otherwise, in next anchor point
On, perform step 4；
Step 9: terminating least square positioning and its analysis of uncertainty task.
Brief description of the drawings
Fig. 1 is a kind of flow chart of the Uncertainty Analysis Method positioned based on least square.
Embodiment
Embodiment one：Illustrate present embodiment with reference to Fig. 1, one kind described in present embodiment is based on least square
The Uncertainty Analysis Method of positioning comprises the following steps：
Step 1: have I+1 wireless sensor node in system, the anchor node and 1 unknown section of respectively I positioning
Point, they all have nanoLOC rf receiver and transmitters, and can be obtained using bilateral counterpart method measurement between any two node
Range estimation, wherein I is the parameter that user sets, and is positive integer, and 6≤I≤10, in the present invention, and I values are 9；
Step 2: the node of each in system is initialized, unknown node initially sets up wireless network, and waits other sections
Point application adds network；
Step 3: after I anchor node is initialized successfully, the foundation of RF transceiver scanning discovery unknown node is respectively adopted
Wireless network, and network join request packet is sent by RF transceiver, and the wireless network is successfully joined, if added
Network success, then perform step 4, otherwise, performs step 3；
Step 4: unknown node broadcasts Location Request packet by its rf receiver and transmitter, i-th of anchor node is received
After Location Request packet, using bilateral reciprocity distance-finding method, by 4J data-bag interacting between unknown node, the is obtained
Between i anchor node and unknown node apart from diJ measured value：{di1,di2,di3,…,dij,…,diJ, and carry out statistics meter
Calculate, by the average statistical d of measured valuei_ u is as apart from diEstimated result, by the SS difference d of measured valuei_ σ is as apart from di
The uncertainty of estimated result, wherein i are positive integer, and 1≤i≤I, i initial value are positive integer for 1, j, and 1≤j≤J, J
In the positive integer set for user, and 50≤J≤150, the present invention, J values are 100；
Step 5: i=i+1, judges whether i value is more than I, if so, then performing step 6, step 4 is otherwise performed；
Step 6: system obtains the distance estimations result { d between unknown node and I anchor node1_u,d2_u,d3_
u,…,di_u,…,dI_ u }, and their corresponding uncertainty { d1_σ,d2_σ,d3_σ,…,di_σ,…,dI_ σ }, and tie
Close the coordinate of three anchor nodes：{(x1, y1), (x2, y2), (x3, y3),…,(xi, yi),…,(xI, yI), then unknown node
Coordinate (x, y) is calculated by formula (1)：
Wherein
Step 7: the uncertainty (x_ σ, y_ σ) of location Calculation result (x, y) is calculated by formula (2)：
WhereinI is positive integer, and 1≤i≤
I,WithRespectively sensitive factor, represent respectively positioning because
Plain xi、yiAnd di_ u, by the size of sensitive factor value, may recognize that to positioning effects to the influence degree size of positioning result
Larger factor, important references information, x are provided to improve positioning precisioni_ σ and yi_ σ be respectively i-th anchor node abscissa and
The standard deviation of ordinate, due in the present invention, the position of setting anchor node is exact value, therefore xi_ σ=0, yi_ σ=0, wherein i
For positive integer, and 1≤i≤I, therefore, formula (2) can be reduced to：
Step 8: judging whether location Calculation task completes, if it is, step 9 is performed, otherwise, in next anchor point
On, perform step 4；
Step 9: terminating least square positioning and its analysis of uncertainty task.
Specific embodiment two, present embodiment is that one kind described in embodiment one is positioned based on least square
Uncertainty Analysis Method be described further, in present embodiment, using the method for partial differential, obtain least square positioning
The sensitive factor of the uncertain factor of each in calculating process, assesses shadow of the uncertainty to location Calculation result of these factors
The degree of sound size.
Specific embodiment three, present embodiment is that one kind described in embodiment one is positioned based on least square
Uncertainty Analysis Method be described further, in present embodiment, by each probabilistic synthesis, obtaining minimum
Two multiply the uncertainty of location Calculation result, are subsequent applications processing method, and decision-making of for example navigating provides reference.
Specific embodiment four, present embodiment is that one kind described in embodiment one is positioned based on least square
Uncertainty Analysis Method be described further, in present embodiment, can effectively in least square location Calculation not
Certainty is analyzed, and the uncertainty in improved least square positioning calculation process effectively can also be analyzed.
Specific embodiment five, present embodiment is that one kind described in embodiment one is positioned based on least square
Uncertainty Analysis Method be described further, in present embodiment, effectively the uncertainty in location Calculation can be entered
Row analysis, can also be analyzed the uncertainty in three-dimensional and multidimensional positioning calculation process.
Claims (5)
1. a kind of Uncertainty Analysis Method positioned based on least square, it is characterised in that the described method comprises the following steps：
Step 1: there is I+1 wireless sensor node in system, the anchor node and 1 unknown node of respectively I positioning, it
All there is nanoLOC rf receiver and transmitters, and can be obtained using bilateral counterpart method measurement between any two node away from
From estimate, wherein I is the parameter that user sets, and is positive integer, and 6≤I≤10, and in the present invention, I values are 9；
Step 2: the node of each in system is initialized, unknown node initially sets up wireless network, and waits other node Shens
It please add network；
Step 3: after I anchor node is initialized successfully, the wireless of RF transceiver scanning discovery unknown node foundation is respectively adopted
Network, and network join request packet is sent by RF transceiver, and the wireless network is successfully joined, if adding network
Success, then perform step 4, otherwise, performs step 3；
Step 4: unknown node broadcasts Location Request packet by its rf receiver and transmitter, i-th of anchor node receives positioning
After request data package, using bilateral reciprocity distance-finding method, by 4J data-bag interacting between unknown node, obtain i-th
Between anchor node and unknown node apart from diJ measured value：{di1,di2,di3,…,dij,…,diJ, and carry out statistics calculating,
By the average statistical d of measured valuei_ u is as apart from diEstimated result, by the SS difference d of measured valuei_ σ is as apart from diEstimate
The uncertainty of result is counted, wherein i is positive integer, and 1≤i≤I, i initial value are positive integer for 1, j, and 1≤j≤J, J are
In the positive integer of user's setting, and 50≤J≤150, the present invention, J values are 100；
Step 5: i=i+1, judges whether i value is more than I, if so, then performing step 6, step 4 is otherwise performed；
Step 6: system obtains the distance estimations result { d between unknown node and I anchor node1_u,d2_u,d3_u,…,di_
u,…,dI_ u }, and their corresponding uncertainty { d1_σ,d2_σ,d3_σ,…,di_σ,…,dI_ σ }, and combine three anchors
The coordinate of node：{(x1, y1), (x2, y2), (x3, y3),…,(xi, yi),…,(xI, yI), then the coordinate (x, y) of unknown node
Calculated by formula (1)：
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xi、yiAnd di_ u is to the influence degree size of positioning result, by the size of sensitive factor value, may recognize that to positioning effects compared with
Big factor, important references information, x are provided to improve positioning precisioni_ σ and yi_ σ is respectively i-th of anchor node abscissa and vertical
The standard deviation of coordinate, due in the present invention, the position of setting anchor node is exact value, therefore xi_ σ=0, yi_ σ=0, wherein i are
Positive integer, and 1≤i≤I, therefore, formula (2) can be reduced to：
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Step 8: judge whether location Calculation task completes, if it is, step 9 is performed, otherwise, on next anchor point,
Perform step 4；
Step 9: terminating least square positioning and its analysis of uncertainty task.
2. a kind of Uncertainty Analysis Method positioned based on least square according to claim 1 is described further,
It is characterized in that using the method for partial differential, obtain each uncertain factor in least square positioning calculation process it is sensitive because
Son, assesses influence degree size of the uncertainty to location Calculation result of these factors.
3. a kind of Uncertainty Analysis Method positioned based on least square according to claim 1 is described further,
It is characterized in that by each probabilistic synthesis, obtaining the uncertainty of least square location Calculation result, being follow-up
Application processing method, decision-making of for example navigating provides reference.
4. a kind of Uncertainty Analysis Method positioned based on least square according to claim 1 is described further,
It is characterized in that can effectively to based in least square location Calculation uncertainty analyze, can also to it is improved most
The uncertainty that a young waiter in a wineshop or an inn multiplies in positioning calculation process is effectively analyzed.
5. a kind of Uncertainty Analysis Method positioned based on least square according to claim 1 is described further,
It is characterized in that effectively the uncertainty in location Calculation can be analyzed, can also be to three-dimensional and multidimensional location Calculation mistake
Uncertainty in journey is analyzed.
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