CN107360542A - One kind is based on wireless network indoor article precise positioning algorithm - Google Patents
One kind is based on wireless network indoor article precise positioning algorithm Download PDFInfo
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- CN107360542A CN107360542A CN201710339835.3A CN201710339835A CN107360542A CN 107360542 A CN107360542 A CN 107360542A CN 201710339835 A CN201710339835 A CN 201710339835A CN 107360542 A CN107360542 A CN 107360542A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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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
- G01S5/0252—Radio frequency fingerprinting
-
- 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
-
- 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
- G01S5/12—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 by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Probability & Statistics with Applications (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The present invention relates to the technology in terms of wireless network, location technology and probability theory, the application background of precise positioning is needed for storage, underground parking space etc., on the basis of traditional centroid localization algorithm, combine the concept of noise and probability updating weights, it is proposed that the grid centroid method wireless network target location algorithm of a kind of denoising and probability updating weights.This method mainly solves existing non-market value orientation problem under the nlos environment that the more barrier strips in more base stations come, when this error is that a kind of wireless channel environment is undesirable, signal can not go directly destination in transmitting procedure, refraction and reflection can occur, it can cause extra error to locating and tracking, it is a kind of negative restraining factors for being unfavorable for locating and tracking, therefore need research non-market value causes factor and the regularity of distribution, find out suitable method to suppress it as far as possible, influenceed with reducing it to caused by locating and tracking precision.
Description
Technical field
The present invention is needed for storage, underground parking space etc. under the application background of precise positioning, is related to wireless sensor network
Technology in terms of network, location technology and probability theory, on the basis of traditional centroid localization algorithm, combine noise and probability updating
A kind of concept of weights, it is proposed that the grid centroid method wireless network target location algorithm of denoising and probability updating weights.
Background technology
It is current to have researched and proposed much related algorithms and experimental program on wireless sensor network target positioning.
On the basis of network connectivty, most typical is exactly traditional centroid localization algorithm, and the algorithm is easily realized.This
On this external basis, there is the centroid localization algorithm of weighting.It is right in the case where real-time and computation complexity are very high
In many people it is also proposed that particle filter algorithm, just do not apply to real-time it is very strong wireless sensor network target positioning.It is general
Logical multi grid location algorithm is studied for single target positioning, and the principle of this algorithm is very simple, is easier
Realize, and the complexity calculated can also be adjusted, its positioning precision is better than centroid localization algorithm, but position error is but very
Greatly.In RSSI positioning modes, weights are combined, the precision of positioning improves a lot, there is very much application value realistic.
Current wireless network positioning has very universal application, and the localization method often used is triangle centroid algorithm, but
It using the condition of this algorithm is that place is spacious and accurate positioning to be.But the local environment for generally requiring positioning is typically more multiple
Miscellaneous, positioning is likely to occur error.
In order to solve this problem, the present invention, which proposes, to be removed noise and carries out the centroid algorithm of probability weight, in certain journey
On degree positioning can be made more accurate.
The content of the invention
It is an object of the invention to propose a kind of improved target location algorithm, positioning precision is high, and real-time is good, and counts
It is low to calculate complexity.
To use following methods up to this purpose, the present invention：
(1) assume to position using wireless network, and there are three base stations, can measures reality after base station is communicated with label
When distance.
(2) triangle can be obtained by the test of step (1), here it is traditional triangle centroid algorithm.But
It is that three points at this time measuring to obtain are noisy.Present invention assumes that the communication noise between base station and label obeys Gauss
It is distributed (appropriate distribution can be selected according to specific environment), declinate θ is substantially drawn by calculating, is origin along the angle of entry using base station
Degree θ, which intersects with obtained triangle and draws circle, draws intersecting area.Orientation range can be reduced, reject invalid grid.
(3) accuracy of positioning is further improved finally by the method for probability weight, can be with using the algorithm changed
The final position coordinates of target is obtained, it is as the final target elements of a fix.
Barycenter mentioned above all remaining effective grids of each moment is as a reference point.Assuming that base station coordinates are respectively
(x1,y1)、(x2,y2)、(x3,y3).If reference point (the x at each momentc,yc), according to such selection, mean error can be caused
Very little.
D in formulaiIt is that effective base station i arrives the distance between reference Point C.
The positioning precision of target can be improved by being modified to these weights.The present invention is exactly by denoising, amendment
The thought of weights, it is added in common grid centroid localization algorithm, then after correspondingly deforming and improving, so that it may draw down
The calculation formula of Area Objects positioning：
By above formula, we are can be found that after by modified weight, such that some are away from target actual bit
The weights for the small grid put can become very little, can thus embody the non-dominant of these grids；And distance objective is actual
The near small grid in position, weights will not diminish, and the leading position in actual location just more will not be by those apart from remote net
Lattice are flooded, and so just more conform to reality.Therefore the weights of these grids are first obtained according to formula (1), then their centers is sat
Mark combines.According to formula (2), primary Calculation goes out target position location coordinate (x, y), goes hot-tempered weighting by following probability afterwards
Method formula (3-7), more accurately target location can be calculated and come.
Existing non-market value under the nlos environment come due to the more barrier strips in more base stations (Non-Line-of-Sight,
NLOS), when it is that a kind of wireless channel environment is undesirable, signal can not go directly destination in transmitting procedure, it may occur that refraction
With reflection, it can cause extra error to locating and tracking, be a kind of negative restraining factors for being unfavorable for locating and tracking, it is therefore desirable to
Research non-market value causes factor and the regularity of distribution, finds out suitable method and it is suppressed as far as possible, right to reduce its
Influence caused by locating and tracking precision.
Assuming that scattering object number is Nm, it is evenly distributed on using target MS as the center of circle, with RdInside the solid disk of radius.
Because scattering object obstructs direct signal, base station BSiThe signal received for it is a plurality of reached after scattering object is reflected, reflected it is more
Footpath signal, i.e. multipath arrival time TOA, it is assumed that the multipath number that each base station receives is Nm, use lijRepresent wherein i-th of base station
J-th strip path NLOS TOA.If mobile target MS coordinate is xms=[xms yms]T, base station BSiCoordinate be xi=
[xi yi]T,BSiTo MS actual range Ri：
NLOS errors are represented by ηij=lij-Ri。
In the disk scattering model (Disk of Scatterers Model, DOS) of similar cellular communication, it is assumed that scattering
Body xs=[v w]TMeet to be uniformly distributed inside disk, probability density function is：
Formula (2) can obtain the joint probability of time of arrival (toa) TOA and angle of arrival AOA measurements in the case of NLOS by conversion
Density function pDOS(lij, φ), then AOA is integrated, BS can be obtainediThe probability density function of multipath NLOS TOA measured values：
Wherein：
Model needs to meet constraints：
Ri<lij≤Ri+2Rd (7)
During probability density function asymmetry, multipath NLOS TOA measured values lijTend to RiProbability it is larger, can be used for changing
Enter positioning precision.
Claims (2)
1. the present invention relates to the technology in terms of wireless network, location technology and probability theory, needed for storage, underground parking space etc.
The application background of precise positioning, it is characterised in that：On the basis of traditional centroid localization algorithm, noise and probability updating are combined
A kind of concept of weights, it is proposed that the grid centroid method wireless network target location algorithm of denoising and probability updating weights.
2. the present invention on the basis of the claim 1 for the more barrier strips in more base stations come nlos environment under existing non line of sight
Error location problem, by consider non-market value to cause factor and the regularity of distribution to improve wireless channel environment undesirable
When, signal can not go directly destination in transmitting procedure, it may occur that refraction and reflection, can cause extra error to locating and tracking
Situation, noise suppressed is use up to it so as to obtain appropriate method, influenceed with reducing it to caused by locating and tracking precision.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113945888A (en) * | 2021-10-19 | 2022-01-18 | 江南大学 | Interval passive positioning method and system based on TDOA |
| US20220061014A1 (en) * | 2020-08-20 | 2022-02-24 | Qualcomm Incorporated | Reporting measurement distribution for positioning |
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| CN113945888A (en) * | 2021-10-19 | 2022-01-18 | 江南大学 | Interval passive positioning method and system based on TDOA |
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