CN109218961A - A kind of multistation co-interfere localization method and system based on dummy node - Google Patents
A kind of multistation co-interfere localization method and system based on dummy node Download PDFInfo
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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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- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract
The invention discloses a kind of multistation co-interfere localization method and system based on dummy node, first three node that the RSSI value that monitoring node receives signal source signal to be positioned is sorted by height is as positioning node, using the maximum positioning node of RSSI value as reference mode, it reaches the transmission time difference of signal source to be positioned and the direction of the second/tri- node reception signal with reference mode respectively according to the coordinate of the second/tri- node, the second/tri- node, determines the coordinate of the second/tri- dummy node；According to one of one of reference mode, second node and second dummy node, third node and third dummy node building bit combination, calculate each combined initial alignment coordinate, according to initial alignment coordinate and with corresponding weighting coefficient, calculate the positioning coordinate of signal source to be positioned.By way of constructing dummy node, the combination of nodes of co-located is enriched, the position error caused by reducing because of Node distribution improves positioning accuracy using the weighting scheme of the positioning result of the different synergistic combinations based on RSSI value.
Description
Technical field
The present invention relates to wireless communication fields, and in particular to a kind of multistation co-interfere positioning side based on dummy node
Method and system.
Background technique
The basic fundamental that passive location uses mainly has the time difference (TDOA) location technology, angle measurement (AOA) cross bearing skill
Art, Doppler frequency difference (FDOA) location technology etc..TDOA location technology is while right due to that can obtain higher positioning accuracy
The requirement of reception system is lower, is easy to networking, thus is more widely applied.TDOA passive location system is usually by multiple prisons
The Distributed positioning system of sensor composition is surveyed, is cooperated between multiple monitoring sensors, in positioning accuracy and polarization
Energy aspect is more excellent compared to single station monitoring.TDOA positioning calculation process is broadly divided into two parts, and the time difference calculates and positioning knot
Fruit calculates.The time difference calculates the main time difference considered according to reception signal calculating information source to two monitoring sensors；Positioning result
Main consideration is calculated to establish positioning equation according to the time difference and solve positioning result.
But existing location algorithm is primarily present following problems: not providing the selection gist of reference mode；Positioning knot
The calculating of fruit does not account for the RSSI that cooperative node receives, and (Received Signal Strength Indication, that is, connect
The signal strength instruction of receipts) influence；The cooperative node selection of current algorithm is all based on the node coordinate of actual deployment, but
In actual deployment, the deployment of monitoring device node can not be rule, so that positioning result precision is not high.
Summary of the invention
Therefore, the present invention provides a kind of multistation co-interfere localization method and system based on dummy node, overcomes existing
The problem for having the node coordinate positioning accuracy in technology based on actual deployment not high.
A kind of multistation co-interfere localization method based on dummy node provided in an embodiment of the present invention, including walk as follows
Rapid: three nodes are as positioning node, respectively reference mode, second node and third node in acquisition monitoring node；It calculates
The second node and the reference mode reach the transmission time difference of signal source to be positioned, third node and the reference mode
Reach the transmission time difference of signal source to be positioned；According to the coordinate of the second node, the second node and the reference mode
The transmission time difference and the second node that reach signal source to be positioned receive the direction of signal, determine the seat of the second dummy node
Mark；The transmission of signal source to be positioned is reached according to the coordinate of the third node, the third node and the reference mode
The time difference and the third node receive the direction of signal, determine the coordinate of third dummy node；According to the reference mode, institute
State one of one of second node and the second dummy node, third node and third dummy node building bit combination；It calculates
The initial alignment coordinate of the corresponding signal source to be positioned of each bit combination；Signal to be positioned is received according to each positioning node
The RSSI value of source signal calculates separately the weighting coefficient that each bit combination corresponds to initial alignment coordinate；According to described initial
Coordinate and corresponding weighting coefficient are positioned, the positioning coordinate of the signal source to be positioned is calculated.
Preferably, the step of three nodes are as positioning node in the acquisition monitoring node, comprising: obtain the prison
The RSSI value that signal source signal to be positioned is received in node is surveyed by first three node of height sequence by first three just to sort
Node is as the positioning node；The RSSI value that signal source signal to be positioned reaches each positioning node is obtained respectively；By institute
The maximum positioning node of RSSI value is stated as the reference mode；Using another two positioning node as the second node,
Third node.
Preferably, letter to be positioned is reached according to the coordinate of the second node, the second node and the reference mode
The step of transmission time difference in number source and the second node receive the direction of signal, calculate the coordinate of the second dummy node, packet
It includes: reaching the transmission time difference of signal source to be positioned according to the second node and the reference mode, calculate the second node
The difference of transmission range between the reference mode；According to the coordinate of the second node, the second node and described
The difference of transmission range between reference mode and the second node receive the direction of signal, determine the described second virtual section
The coordinate of point.
Preferably, described undetermined according to the coordinate, the second node and reference mode arrival of the second node
The step of transmission time difference of position signal source and the second node receive the direction of signal, determine the coordinate of the second dummy node,
It specifically includes: according to radio transmission loss calculation formula, calculating separately first transmission loss of the second node in the case where blocking environment
And the second transmission loss under unobstructed environment；Signal to be positioned is reached according to the second node and the reference mode
The transmission time difference in source calculates the first distance that the second node reaches signal source to be positioned；According to the second node
RSSI value, first transmission loss, the first distance and the reference mode determine at a distance from signal source to be positioned
The RSSI difference of the RSSI value of the second node and the RSSI value of second dummy node；According to the signal to be positioned
The power in source, second transmission loss and the RSSI difference calculate under unobstructed environment the second node with it is described
The second distance of signal source to be positioned；According to the reference mode at a distance from signal source to be positioned, second distance and described
The direction that the coordinate of two nodes and the second node receive signal determines the coordinate of second dummy node.
Preferably, described that letter to be positioned is reached according to the coordinate, the third node and the reference mode of third node
The step of transmission time difference in number source and the third node receive the direction of signal, calculate the coordinate of third dummy node, specifically
Include: the transmission time difference for reaching signal source to be positioned according to the third node and the reference mode, calculates the third section
The difference of transmission range between point and the reference mode；According to the coordinate of the third node, the third node and institute
The difference and the third node of stating the transmission range between reference mode receive the direction of signal, determine that the third is virtual
The coordinate of node.
Preferably, described that letter to be positioned is reached according to the coordinate, the third node and the reference mode of third node
The step of transmission time difference in number source and the third node receive the direction of signal, calculate the coordinate of third dummy node, specifically
Include: according to radio transmission loss calculation formula, calculate separately third transmission loss of the third node in the case where blocking environment and
The 4th transmission loss under unobstructed environment；Signal source to be positioned is reached according to the third node and the reference mode
The transmission time difference calculates the third distance that the third node reaches signal source to be positioned；According to the RSSI value of the third node,
The third transmission loss, third distance and the reference mode determine the third at a distance from signal source to be positioned
The RSSI difference of the RSSI value of node and the RSSI value of the third dummy node；According to the power of the signal source to be positioned,
4th transmission loss and the RSSI difference calculate the third node and the signal to be positioned under unobstructed environment
4th distance in source；According to the reference mode at a distance from signal source to be positioned, the 4th distance and the third node seat
The direction that mark and the third node receive signal determines the coordinate of the third dummy node.
Preferably, the RSSI value for receiving signal source signal to be positioned according to each positioning node calculates separately described fixed
Bit combination corresponds to the step of weighting coefficient of initial alignment coordinate, specifically includes:
It is calculated by the following formula the average value of each node R SSI value in the bit combination:
Wherein, RSSIiIndicate the average value of each node R SSI value in i-th of bit combination, RSSIijIndicate i-th of positioning
The RSSI value of j-th of node in combination, n indicate the number of the node of every group of combination；
It is calculated by the following formula the corresponding weighting coefficient of the bit combination:
Wherein, wiIndicate the weighting coefficient of i-th of bit combination, RSSIiIndicate each node R SSI in i-th of bit combination
The average value of value, N indicate the quantity of bit combination.
Preferably, described according to the initial alignment coordinate and corresponding weighting coefficient, calculate the letter to be positioned
The step of positioning coordinate in number source, it is calculated by the following formula the positioning coordinate of the signal source to be positioned:
Wherein, wiIndicate that the weighting coefficient of i-th of bit combination, L indicate the positioning coordinate of signal source signal to be positioned, Li
Indicate the initial alignment coordinate of i-th of bit combination.
The embodiment of the present invention also provides a kind of multistation co-interfere positioning system based on dummy node, comprising: positioning section
Point obtains module, for obtaining in monitoring node three nodes as positioning node, respectively reference mode, second node and
Third node；Time difference acquisition module is transmitted, reaches signal source to be positioned for calculating the second node and the reference mode
The transmission time difference, third node and the reference mode reach the transmission time difference of signal source to be positioned；Second dummy node coordinate
Determining module, for reaching signal to be positioned according to the coordinate, the second node and the reference mode of the second node
The transmission time difference in source and the second node receive the direction of signal, determine the coordinate of the second dummy node；Third virtually saves
Point coordinate determining module, for undetermined according to the coordinate, the third node and reference mode arrival of the third node
The transmission time difference of position signal source and the third node receive the direction of signal, determine the coordinate of third dummy node；Positioning group
Close building module, for according to one of the reference mode, the second node and second dummy node, third node and
One of third dummy node constructs bit combination；Initial alignment coordinate calculation module, for calculating each bit combination
The initial alignment coordinate of corresponding signal source to be positioned；Weighting coefficient obtains module, undetermined for being received according to each positioning node
The RSSI value of position signal source signal calculates separately the weighting coefficient that each bit combination corresponds to initial alignment coordinate；Positioning is sat
Computing module is marked, for calculating the signal source to be positioned according to the initial alignment coordinate and corresponding weighting coefficient
Positioning coordinate.
The embodiment of the present invention also provides a kind of computer equipment, comprising: at least one processor, and with it is described at least
The memory of one processor communication connection, wherein the memory is stored with can be by the execution of at least one described processor
Instruction, described instruction executed by least one described processor so that at least one described processor execute it is above-mentioned based on void
The multistation co-interfere localization method of quasi- node.
The embodiment of the present invention also provides a kind of computer readable storage medium, the computer-readable recording medium storage
There is computer instruction, the computer instruction is used to that the computer to be made to execute the above-mentioned multistation collaboration based on dummy node
Interference positioning method.
Technical solution of the present invention has the advantages that
Multistation co-interfere localization method and system provided in an embodiment of the present invention based on dummy node saves monitoring
Point receives RSSI value maximum three of signal source signal to be positioned as positioning node, by the maximum positioning node of RSSI value
As reference mode, the biography of signal source to be positioned is reached according to the coordinate of the second/tri- node, the second/tri- node and reference mode
The defeated time difference and the second/tri- node receive the direction of signal, determine the coordinate of the second/tri- dummy node；According to reference mode,
One of one of two nodes and the second dummy node, third node and third dummy node building bit combination, calculate each group
The initial alignment coordinate of conjunction, according to initial alignment coordinate and with corresponding weighting coefficient, calculate the positioning of signal source to be positioned
Coordinate.By way of constructing dummy node, the combination of nodes of co-located is enriched, caused by reducing because of Node distribution
Position error improves positioning accuracy using the weighting scheme of the positioning result of the different synergistic combinations based on RSSI value.
Detailed description of the invention
It, below will be to tool in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Body embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing be some embodiments of the present invention, for those of ordinary skill in the art, what is do not made the creative labor
Under the premise of, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is specific for multistation co-interfere localization method one based on dummy node provided in the embodiment of the present invention
The flow chart of embodiment；
Fig. 2 is the flow chart that a specific example of positioning node and reference mode is determined in the embodiment of the present invention；
Fig. 3 is the flow chart that a specific example of the second dummy node coordinate is calculated in the embodiment of the present invention；
Fig. 4 is the schematic diagram that dummy node is constructed in the embodiment of the present invention；
Fig. 5 is the flow chart that another specific example of the second dummy node coordinate is calculated in the embodiment of the present invention；
Fig. 6 is the flow chart that a specific example of third dummy node coordinate is calculated in the embodiment of the present invention；
Fig. 7 is the flow chart that another specific example of third dummy node coordinate is calculated in the embodiment of the present invention；
Fig. 8 is specific for multistation co-interfere positioning system one based on dummy node provided in the embodiment of the present invention
Exemplary flow chart；
Fig. 9 is a kind of flow chart of a specific example of the computer equipment provided in the embodiment of the present invention.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described reality
Applying example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without making creative work belongs to what the present invention protected
Range.
In addition, as long as technical characteristic involved in invention described below different embodiments is each other not
Constituting conflict can be combined with each other.
Embodiment 1
The embodiment of the present invention provides a kind of multistation co-interfere localization method based on dummy node, can be used for interference
Source is positioned, as shown in Figure 1, this method comprises the following steps:
Step S1: obtaining in monitoring node three nodes as positioning node, respectively reference mode, second node and
Third node.
In embodiments of the present invention, signal source to be positioned is an interference source, is connect in the monitoring each monitoring node of background query
Receive interference source receive signal intensity, i.e., each monitoring node RSSI value, to choose positioning node and reference mode, therefore
Above-mentioned step S1, as shown in Fig. 2, specifically comprising the following steps:
Step S11: the RSSI value that signal source signal to be positioned is received in monitoring node is obtained by first three just to sort
Node is by first three node of height sequence as positioning node.
Step S12: the RSSI value that signal source signal to be positioned reaches positioning node is obtained respectively.
Step S13: using the maximum positioning node of RSSI value as reference mode, using another two positioning node as
Second node, third node.
After determining positioning node and reference mode, the information of each positioning node is obtained to interference source according to monitoring backstage
It is positioned, the information of each positioning node includes: that the coordinate of each positioning node, interference source signal reach the biography of each positioning node
The defeated time.In embodiments of the present invention, monitoring backstage is calculated interference source signal using general cross correlation and reaches different positioning
Transmission time between node.
Step S2: calculating second node and reference mode reaches the transmission time difference of signal source to be positioned, third node and ginseng
Examine the transmission time difference that node reaches signal source to be positioned.
In embodiments of the present invention, the transmission time between different positioning nodes is reached according to interference source signal, to calculate the
Two nodes and reference mode reach the transmission time difference of signal source to be positioned, and third node and reference mode reach signal to be positioned
The transmission time difference in source.
Step S3: when reaching the transmission of signal source to be positioned according to the coordinate, second node and reference mode of second node
Difference and second node receive the direction of signal, determine the coordinate of the second dummy node.
In the embodiment of the present invention, reference mode is indicated with N1, and second node is indicated with N2, the second dummy node N2 ' table
Show, it is contemplated that receiving node can divide 4 kinds of scenes to determine the second dummy node whether there is or not being blocked etc. to influence propagation delay time
The coordinate of N2 ':
(1) when reference mode N1 is unobstructed, second node N2 is unobstructed, as shown in figure 3, being calculated by following steps
The coordinate of second dummy node N2 ':
Step S311: reaching the transmission time difference of signal source to be positioned according to second node and reference mode, calculates the second section
The difference of transmission range between point and reference mode.
In the embodiment of the present invention, the difference of the transmission range between second node and reference mode is calculated according to formula (1)
Value:
Wherein, (xi,yi) indicate i-th of node coordinate, (x, y) indicate interference source T coordinate, riIndicate interference source with
The distance between i-th of monitoring node, rjIndicate the distance between interference source and j-th of monitoring node, dijIndicate i-th of He
The difference of the distance between j-th of node, TDOAijThe transmission time difference of signal source to be positioned is reached for i-th and j-th of node
(for example, general cross correlation in the prior art can be used to calculate signal and reach time difference between different monitoring nodes),
N indicates the quantity of monitoring node, and C indicates propagation velocity of electromagnetic wave.
Therefore, the difference d of the transmission range of second node N2 and reference mode N1 can be calculated according to above-mentioned formula (1)12。
Step S312: according to the difference of the transmission range between the coordinate, second node and reference mode of second node and
Second node receives the direction of signal, determines the coordinate of the second dummy node.
In the embodiment of the present invention, as shown in figure 4, the second dummy node N2 ' of building, so that second node N2 and second is empty
The distance of quasi- node N2 ' is d12, second node N2 mobile direction is determined according to the sense of received interference source T
(if receiving the signal in left side, it is determined that moving direction is to move to the left, and right side is similarly), with the exhausted of second node N2
It is reference point to coordinate, according to the difference d of the transmission range between second node and reference mode12, in horizontally and vertically direction
Identical distance is moved, respectively to determine the coordinate of the second dummy node N2 '.
(2) when reference mode N1 is unobstructed, second node N2 is blocked, as shown in figure 5, being calculated by following steps
The coordinate of N2 ':
Step S321: according to radio transmission loss calculation formula, first of second node in the case where blocking environment is calculated separately
Transmission loss and the second transmission loss under unobstructed environment.
In the embodiment of the present invention, under the conditions of ideal unobstructed, the radio transmission loss of second transmission loss is calculated
Formula is as follows:
PDamage=32.44+20lgd+20lgf (2),
Have under obstruction conditions, the radio transmission loss formula for calculating first transmission loss is as follows:
PDamage (1)=32.44+20lgd+20lgf+Pw(3),
Wherein, PDamageWireless transmission loss under the conditions of indicating unobstructed, PDamage (1)Indicate the wireless transmission under obstruction conditions
Loss, d is transmission range, and f is interfering frequency, PwLoss caused by expression obstacle, multipath etc. have under obstruction conditions.
Step S322: the second section is calculated according to the transmission time difference that second node and reference mode reach signal source to be positioned
Point reaches the first distance of signal source to be positioned.
In the embodiment of the present invention, first according to SC (shrinking-circle) location algorithm in TDOA location algorithm
The optimum radius for calculating reference mode N1, then according to the optimum radius of reference mode N1 and second node N2 and reference mode
D is calculated in the transmission time difference that N1 reaches signal source to be positioned2。
Step S323: according to the RSSI value of second node, the first transmission loss, first distance and reference mode with it is undetermined
The distance of position signal source determines the RSSI difference of the RSSI value of second node and the RSSI value of the second dummy node.
In the embodiment of the present invention, interference source transmission power is Pf, the received RSSI value of second node N2 is P2, have and block
In the case of,It can be obtained according to formula (3):
Wherein, C 32.44+20lgf because monitoring interfering frequency f be it is known, C is determining value.The present invention
In embodiment, by the conversion formula of power and signal intensity in the prior art, by interference source transmission power PfIt is converted into letter
Difference operation is carried out after the unit of number intensity.
Geometric center for the triangle for forming the nodes such as the second dummy node N2 ' constructed and reference mode N1
For the position of interference source, then the distance that the second dummy node N2 ' reaches interference source should reach interference source with reference mode N1
Distance d1Unanimously, if the value that the second dummy node N2 ' receives RSSI is P2 (1), then
P2 (1)=Pf-20logd2'-C-Pw(5),
Wherein d2' it is the distance between the second dummy node N2 ' and interference source between reference mode N1 and interference source
Distance d1It is identical.
Therefore, the RSSI difference P (Δ) of second node N2 and the second dummy node N2 ' are as follows:
P (Δ)=P2-P2 (1)=20lgd2'-20lgd2(6),
Step S324: it is calculated according to the power of signal source to be positioned, the second transmission loss and RSSI difference in unobstructed ring
The second distance of second node and signal source to be positioned under border.
In embodiments of the present invention, the reception RSSI value of the second dummy node N2 ' under conditions of unobstructed is P2 (2),
It is equidistant at a distance from interference source with reference mode N1 and interference source due to the second dummy node N2 ', and all in ideal nothing
Under obstruction conditions, so
P2 (2)=Pf-20lgd2'-C=P1(7),
Wherein, P1It is the RSSI value that reference mode N1 is received, can be obtained by the directly monitoring of monitoring backstage.
Under the conditions of ideal is unobstructed, the value of the received RSSI of second node N2 is P2', then
P2'=P2 (2)+ P (Δ) (8),
According to above-mentioned formula (4), the distance under ideal scenario at second node N2 apart from interference source can be calculated
d2 *, then
Above-mentioned formula (9) combines formula (7), and distance d of the second node N2 apart from interference source can be calculated2 *。
Step S325: according to reference mode at a distance from signal source to be positioned, the coordinate of second distance and second node and
The direction that second node receives signal determines the coordinate of the second dummy node.
In the embodiment of the present invention, it is d that second node N2 to the second dummy node N2 ', which needs mobile linear distance,2 *-d1,
Using the absolute coordinate of second node N2 as reference point, determine according to the interference signal direction received second node N2 (if connect
Receive the signal in left side, it is determined that moving direction is to move to the left, and right side is similarly), it is moved respectively in horizontally and vertically direction
Identical distance, to determine the coordinate of the second dummy node N2 '.
(3) when reference mode N1 is blocked, second node N2 is unobstructed, the case where being blocked due to reference mode N1
Under, received time delay is elongated, cause reference mode N1 estimate reach interference source distance it is remote, other unobstructed nodes with
It compares, and the delay inequality of calculating is opposite to become smaller, and mobile distance also just shortens, it is contemplated that N1 be as reference mode,
The optimum radius of calculating will provide reference for the building of other dummy nodes, so the radius of the dummy node of building need to be with ginseng
It is consistent to examine node N1, and second node N2 be transmitted under unobstructed environment, although the of reference mode N1 and building
Two dummy node N2 ' become remote apart from interference source, but the two reaches distance unanimously, to the geometric center of the triangle of building
It does not influence, therefore determines that the second dummy node N2 ' seat calibration method is identical as the method for scene (1) here, it is no longer superfluous herein
It states.
(4) when reference mode N1 is blocked, second node N2 is blocked, each positioning node is by being influenced to be one
Sample, relative time delay difference is also accurate, therefore the coordinate of the second dummy node N2 ' is calculated according to the method for scene (1),
This is repeated no more.
S4: according to the coordinate of third node, third node and reference mode reach signal source to be positioned the transmission time difference and
Third node receives the direction of signal, determines the coordinate of third dummy node.
In the embodiment of the present invention, reference mode is indicated with N1, and third node is indicated with N3, third dummy node N3 ' table
Show, it is contemplated that receiving node is whether there is or not being blocked etc. to influence propagation delay time, the original with the coordinate for determining the second dummy node N2 '
Reason is the same, divides 4 kinds of scenes to determine the coordinate of third dummy node N3 ':
For scene (one) when reference mode N1 is unobstructed, third node N3 is unobstructed, (three) have screening as reference mode N1
When gear, third node N3 are unobstructed, (four) are when reference mode N1 is blocked, third node N3 is blocked, as shown in fig. 6, packet
Include following steps:
Step S411: reaching the transmission time difference of signal source to be positioned according to third node and reference mode, calculates third section
The difference of transmission range between point and reference mode；
Step S412: according to the difference of the transmission range between the coordinate of third node, third node and reference mode and
Third node receives the direction of signal, determines the coordinate of third dummy node.
It determines as the principle of coordinate of the second dummy node N2 ', repeats no more with above-mentioned scene (1), (3), (4).
Scene (two) is when reference mode N1 is unobstructed, third node N3 is blocked, as shown in fig. 7, passing through following steps
Calculate the coordinate of third dummy node N3 ':
Step S421: according to radio transmission loss calculation formula, third of the third node in the case where blocking environment is calculated separately
Transmission loss and the 4th transmission loss under unobstructed environment.
Step S422: third section is calculated according to the transmission time difference that third node and reference mode reach signal source to be positioned
Point reaches the third distance of signal source to be positioned.
Step S323: according to the RSSI value of third node, the first transmission loss, third distance and reference mode with it is undetermined
The distance of position signal source determines the RSSI difference of the RSSI value of third node and the RSSI value of third dummy node.
Step S324: it is calculated according to the power of signal source to be positioned, the 4th transmission loss and RSSI difference in unobstructed ring
4th distance of third node and signal source to be positioned under border.
Step S325: according to reference mode at a distance from signal source to be positioned, the 4th distance and third node coordinate and
The direction that third node receives signal determines the coordinate of third dummy node.
Above-mentioned scene (two) calculates third and virtually saves when reference mode N1 is unobstructed, third node N3 is blocked
The coordinate of point N3 ' repeats no more as the principle of coordinate for determining the second dummy node N2 ' under above-mentioned scene (2).
Step S5: virtual according to one of reference mode, second node and the second dummy node, third node and third
One of node constructs bit combination.
In the embodiment of the present invention, with (N1, N2, N3), (N1, N2 ', N3), (N1, N2, N3 '), (N1, N2 ', N3 ') building
Four co-located combinations.
Step S6: the initial alignment coordinate of the corresponding signal source to be positioned of each bit combination is calculated.
In the embodiment of the present invention, carried out respectively according to SC in the prior art (shrinking-circle) location algorithm
It calculates, obtains aforementioned four co-located and combine corresponding four initial alignment coordinates L1, L2, L3, L4.
Step S7: each bit combination is calculated separately according to the RSSI value that each positioning node receives signal source signal to be positioned
The weighting coefficient of corresponding initial alignment coordinate.
In the embodiment of the present invention, the second dummy node N2 ' and third dummy node N3 ' due to reference mode N1 distance
Interference source is equidistant, therefore the RSSI value and reference mode of the second dummy node N2 ' and third dummy node N3 '
RSSI value is equal.
In the embodiment of the present invention, it is calculated by the following formula the average value of each node R SSI value in bit combination:
Wherein, RSSIiIndicate the average value of each node R SSI value in i-th of bit combination, RSSIijIndicate i-th of positioning
The RSSI value of j-th of node in combination, n indicate the number of the node of each bit combination.Each positioning in the embodiment of the present invention
It all include three nodes in combination, therefore n is 3.
It is calculated by the following formula the corresponding weighting coefficient of bit combination:
Wherein, wiIndicate the weighting coefficient of i-th of bit combination, RSSIiIndicate each node R SSI in i-th of bit combination
The average value of value, N indicate the quantity of bit combination.In the embodiment of the present invention, there are four bit combinations, therefore N is 4.
Step S8: according to initial alignment coordinate and corresponding weighting coefficient, the positioning for calculating signal source to be positioned is sat
Mark.
In the embodiment of the present invention, it is calculated by the following formula the positioning coordinate of signal source to be positioned:
Wherein, wiIndicate that the weighting coefficient of i-th of bit combination, L indicate the positioning coordinate of signal source signal to be positioned, Li
Indicate the initial alignment coordinate of i-th of bit combination.
Multistation co-interfere localization method provided in an embodiment of the present invention based on dummy node, monitoring node is received
First three node that the RSSI value of signal source signal to be positioned sorts by height is maximum fixed by RSSI value as positioning node
Position node reaches with reference mode to be positioned respectively as reference mode, according to the coordinate of the second/tri- node, the second/tri- node
The transmission time difference of signal source and the second/tri- node receive the direction of signal, determine the coordinate of the second/tri- dummy node；According to ginseng
Examine one of one of node, second node and second dummy node, third node and third dummy node building positioning group
Close, calculate each combined initial alignment coordinate, according to initial alignment coordinate and with corresponding weighting coefficient, calculate letter to be positioned
The positioning coordinate in number source.By way of constructing dummy node, the combination of nodes of co-located is enriched, is reduced because of node point
Position error caused by cloth, using the weighting scheme of the positioning result of the different synergistic combinations based on RSSI value, it is fixed to improve
Position precision.
Embodiment 2
The embodiment of the present invention provides a kind of multistation co-interfere positioning system based on dummy node, should as shown in Fig. 8
Multistation co-interfere positioning system based on dummy node includes:
Positioning node obtains module 1, respectively refers to for obtaining three nodes in monitoring node as positioning node
Node, second node and third node.The method that this module specifically executes step S11~S13 in embodiment 1, it is no longer superfluous herein
It states.
Time difference acquisition module 2 is transmitted, when reaching the transmission of signal source to be positioned for calculating second node and reference mode
Difference, third node and reference mode reach the transmission time difference of signal source to be positioned.This module specifically executes step in embodiment 1
The method of S2, details are not described herein.
Second dummy node coordinate determining module 3, for the coordinate, second node and reference mode according to second node
The transmission time difference and the second node that reach signal source to be positioned receive the direction of signal, determine the seat of the second dummy node
Mark.This module is referring to the step S311~S312, the step S321~S325 that record in embodiment 1, and details are not described herein.
Third dummy node coordinate determining module 4, for the coordinate, third node and reference mode according to third node
The transmission time difference and the third node that reach signal source to be positioned receive the direction of signal, determine the seat of third dummy node
Mark.This module is referring to the step S411~S412, the step S421~S425 that record in embodiment 1, and details are not described herein.
Bit combination constructs module 5, for according to one of reference mode, second node and second dummy node, third
One of node and third dummy node construct bit combination.This module is referring to the step S5 recorded in embodiment 1, herein not
It repeats again.
Initial alignment coordinate calculation module 6, for calculating the initial alignment of the corresponding signal source to be positioned of each bit combination
Coordinate.This module is referring to the step S6 recorded in embodiment 1, and details are not described herein.
Weighting coefficient obtains module 7, and the RSSI value for receiving signal source signal to be positioned according to each positioning node is distinguished
Calculate the weighting coefficient that each bit combination corresponds to initial alignment coordinate；This module referring to the step S7 recorded in embodiment 1,
This is repeated no more.
Coordinate calculation module 8 is positioned, for calculating undetermined according to initial alignment coordinate and corresponding weighting coefficient
The positioning coordinate of position signal source.This module is referring to the step S8 recorded in embodiment 1, and details are not described herein.
Multistation co-interfere positioning system provided in an embodiment of the present invention based on dummy node, monitoring node is received
First three node that the RSSI value of signal source signal to be positioned sorts by height is maximum fixed by RSSI value as positioning node
Position node reaches with reference mode to be positioned respectively as reference mode, according to the coordinate of the second/tri- node, the second/tri- node
The transmission time difference of signal source and the second/tri- node receive the direction of signal, determine the coordinate of the second/tri- dummy node；According to ginseng
Examine one of one of node, second node and second dummy node, third node and third dummy node building positioning group
Close, calculate each combined initial alignment coordinate, according to initial alignment coordinate and with corresponding weighting coefficient, calculate letter to be positioned
The positioning coordinate in number source.By way of constructing dummy node, the combination of nodes of co-located is enriched, is reduced because of node point
Position error caused by cloth, using the weighting scheme of the positioning result of the different synergistic combinations based on RSSI value, it is fixed to improve
Position precision.
Embodiment 3
The embodiment of the present invention provides a kind of computer equipment, as shown in Figure 9, comprising: at least one processor 401, such as
CPU (Central Processing Unit, central processing unit), at least one communication interface 403, memory 404, at least one
A communication bus 402.Wherein, communication bus 402 is for realizing the connection communication between these components.Wherein, communication interface
403 may include display screen (Display), keyboard (Keyboard), and optional communication interface 403 can also include having for standard
Line interface, wireless interface.Memory 404 can be high speed RAM memory (Ramdom Access Memory, effumability with
Machine accesses memory), it is also possible to non-labile memory (non-volatile memory), for example, at least a disk
Memory.Memory 404 optionally can also be that at least one is located remotely from the storage device of aforementioned processor 401.Wherein locate
Reason device 401 can execute the multistation co-interfere localization method based on dummy node of Fig. 1 description, store in memory 404
Batch processing code, and processor 401 calls the program code stored in memory 404, for executing in embodiment 1
Multistation co-interfere localization method based on dummy node.
Wherein, communication bus 402 can be Peripheral Component Interconnect standard (peripheral component
Interconnect, abbreviation PCI) bus or expanding the industrial standard structure (extended industry standard
Architecture, abbreviation EISA) bus etc..Communication bus 402 can be divided into address bus, data/address bus, control bus
Deng.Only to be indicated with a thick line in Fig. 9, it is not intended that an only bus or a type of bus convenient for indicating.
Wherein, memory 404 may include volatile memory (English: volatile memory), such as deposit at random
Access to memory (English: random-access memory, abbreviation: RAM)；Memory also may include nonvolatile memory
(English: non-volatile memory), such as flash memory (English: flash memory), hard disk (English: hard
Disk drive, abbreviation: HDD) or solid state hard disk (English: solid-state drive, abbreviation: SSD)；Memory 404 is also
It may include the combination of the memory of mentioned kind.
Wherein, processor 401 can be central processing unit (English: central processing unit, abbreviation:
CPU), the combination of network processing unit (English: network processor, abbreviation: NP) or CPU and NP.
Wherein, processor 401 can further include hardware chip.Above-mentioned hardware chip can be dedicated integrated electricity
Road (English: application-specific integrated circuit, abbreviation: ASIC), programmable logic device (English
Text: programmable logic device, abbreviation: PLD) or combinations thereof.Above-mentioned PLD can be complicated programmable logic device
Part (English: complex programmable logic device, abbreviation: CPLD), field programmable gate array (English
Text: field-programmable gate array, abbreviation: FPGA), Universal Array Logic (English: generic array
Logic, abbreviation: GAL) or any combination thereof.
Optionally, memory 404 is also used to store program instruction.Processor 401 can be instructed with caller, be realized such as
The multistation co-interfere localization method based on dummy node provided in the embodiment of the present application 1.
The embodiment of the present invention also provides a kind of computer readable storage medium, is stored on computer readable storage medium
Computer executable instructions, the computer executable instructions can be performed in above-mentioned any means embodiment based on dummy node
Multistation co-interfere localization method.Wherein, the storage medium can be magnetic disk, CD, read-only memory (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), flash memory (Flash
Memory), hard disk (Hard Disk Drive, abbreviation: HDD) or solid state hard disk (Solid-State Drive, SSD) etc.；
The storage medium can also include the combination of the memory of mentioned kind.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer journey
Sequence product.Therefore, complete hardware embodiment, complete software embodiment or combining software and hardware aspects can be used in the present invention
The form of embodiment.Moreover, it wherein includes the calculating of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in machine usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that can be realized by computer program instructions each in flowchart and/or the block diagram
The combination of process and/or box in process and/or box and flowchart and/or the block diagram.It can provide these computers
Processor of the program instruction to general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices
To generate a machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute
For realizing the function of being specified in one or more flows of the flowchart and/or one or more blocks of the block diagram
Device.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that instruction stored in the computer readable memory generation includes
The manufacture of command device, the command device are realized in one box of one or more flows of the flowchart and/or block diagram
Or the function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that
Series of operation steps are executed on computer or other programmable devices to generate computer implemented processing, thus calculating
The instruction executed on machine or other programmable devices is provided for realizing in one or more flows of the flowchart and/or side
The step of function of being specified in block diagram one box or multiple boxes.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.
For those of ordinary skill in the art, other various forms of changes can also be made on the basis of the above description
Change or changes.There is no necessity and possibility to exhaust all the enbodiments.And obvious change extended from this
Change or changes still within the protection scope of the invention.
Claims (11)
1. a kind of multistation co-interfere localization method based on dummy node, which comprises the steps of:
Three nodes are as positioning node, respectively reference mode, second node and third node in acquisition monitoring node；
It calculates the second node and the reference mode reaches the transmission time difference of signal source to be positioned, third node and the ginseng
Examine the transmission time difference that node reaches signal source to be positioned；
When reaching the transmission of signal source to be positioned according to the coordinate of the second node, the second node and the reference mode
The poor and described second node receives the direction of signal, determines the coordinate of the second dummy node；
When reaching the transmission of signal source to be positioned according to the coordinate of the third node, the third node and the reference mode
The poor and described third node receives the direction of signal, determines the coordinate of third dummy node；
According to one of the reference mode, the second node and second dummy node, third node and third dummy node
One of building bit combination；
Calculate the initial alignment coordinate of the corresponding signal source to be positioned of each bit combination；
It is corresponding initial that each bit combination is calculated separately according to the RSSI value that each positioning node receives signal source signal to be positioned
Position the weighting coefficient of coordinate；
According to the initial alignment coordinate and corresponding weighting coefficient, the positioning coordinate of the signal source to be positioned is calculated.
2. the multistation co-interfere localization method according to claim 1 based on dummy node, which is characterized in that described to obtain
Take the step of three nodes are as positioning node in monitoring node, comprising:
Obtain first three node conduct that the RSSI value of signal source signal to be positioned is received in the monitoring node by height sequence
The positioning node；
The RSSI value that signal source signal to be positioned reaches each positioning node is obtained respectively；
Using the maximum positioning node of the RSSI value as the reference mode；
Using another two positioning node as the second node, third node.
3. the multistation co-interfere localization method according to claim 2 based on dummy node, which is characterized in that according to institute
State the transmission time difference and described that the coordinate of second node, the second node and the reference mode reach signal source to be positioned
The step of two nodes receive the direction of signal, calculate the coordinate of the second dummy node, comprising:
The transmission time difference that signal source to be positioned is reached according to the second node and the reference mode, calculate the second node
The difference of transmission range between the reference mode；
According to the difference of the transmission range between the coordinate of the second node, the second node and the reference mode and institute
The direction that second node receives signal is stated, determines the coordinate of second dummy node.
4. the multistation co-interfere localization method according to claim 2 based on dummy node, which is characterized in that described
The transmission time difference and the institute of signal source to be positioned are reached according to the coordinate of the second node, the second node and the reference mode
The step of stating the direction that second node receives signal, determining the coordinate of the second dummy node, specifically includes:
According to radio transmission loss calculation formula, first transmission loss of the second node in the case where blocking environment is calculated separately and in nothing
Block the second transmission loss under environment；
The second node is calculated according to the transmission time difference that the second node and the reference mode reach signal source to be positioned
Reach the first distance of signal source to be positioned；
According to the RSSI value of the second node, first transmission loss, the first distance and the reference mode with to
The distance of positioning signal source determines the RSSI difference of the RSSI value of the second node and the RSSI value of second dummy node；
It is calculated according to the power of the signal source to be positioned, second transmission loss and the RSSI difference in unobstructed environment
Under the second node and the signal source to be positioned second distance；
According to the reference mode at a distance from signal source to be positioned, the coordinate and described of second distance and the second node
The direction that two nodes receive signal determines the coordinate of second dummy node.
5. the multistation co-interfere localization method according to claim 2 based on dummy node, which is characterized in that described
Third described in the transmission time difference of signal source to be positioned is reached according to the coordinate of third node, the third node and the reference mode
The step of node receives the direction of signal, calculates the coordinate of third dummy node, specifically includes:
The transmission time difference that signal source to be positioned is reached according to the third node and the reference mode, calculate the third node
The difference of transmission range between the reference mode；
According to the difference of the transmission range between the coordinate of the third node, the third node and the reference mode and institute
The direction that third node receives signal is stated, determines the coordinate of the third dummy node.
6. the multistation co-interfere localization method according to claim 2 based on dummy node, which is characterized in that described
The transmission time difference and described the of signal source to be positioned is reached according to the coordinate of third node, the third node and the reference mode
The step of three nodes receive the direction of signal, calculate the coordinate of third dummy node, specifically includes:
According to radio transmission loss calculation formula, third transmission loss of the third node in the case where blocking environment is calculated separately and in nothing
Block the 4th transmission loss under environment；
The third node is calculated according to the transmission time difference that the third node and the reference mode reach signal source to be positioned
Reach the third distance of signal source to be positioned；
According to the RSSI value of the third node, the third transmission loss, the third distance and the reference mode with to
The distance of positioning signal source determines the RSSI difference of the RSSI value of the third node and the RSSI value of the third dummy node；
It is calculated according to the power of the signal source to be positioned, the 4th transmission loss and the RSSI difference in unobstructed environment
Under the third node and the signal source to be positioned the 4th distance；
According to the reference mode at a distance from signal source to be positioned, the coordinate and described the of the 4th distance and the third node
The direction that three nodes receive signal determines the coordinate of the third dummy node.
7. -6 any multistation co-interfere localization method based on dummy node according to claim 1, which is characterized in that
It is corresponding initial fixed that the RSSI value for receiving signal source signal to be positioned according to each positioning node calculates separately the bit combination
It the step of weighting coefficient of position coordinate, specifically includes:
It is calculated by the following formula the average value of each node R SSI value in the bit combination:
Wherein, RSSIiIndicate the average value of each node R SSI value in i-th of bit combination, RSSIijIndicate i-th of bit combination
In j-th of node RSSI value, n indicates the number of the node of every group of combination；
It is calculated by the following formula the corresponding weighting coefficient of the bit combination:
Wherein, wiIndicate the weighting coefficient of i-th of bit combination, RSSIiIndicate each node R SSI value in i-th of bit combination
Average value, N indicate the quantity of bit combination.
8. the multistation co-interfere localization method according to claim 7 based on dummy node, which is characterized in that described
According to the initial alignment coordinate and corresponding weighting coefficient, the step of calculating the positioning coordinate of the signal source to be positioned,
It is calculated by the following formula the positioning coordinate of the signal source to be positioned:
Wherein, wiIndicate that the weighting coefficient of i-th of bit combination, L indicate the positioning coordinate of signal source signal to be positioned, LiIt indicates
The initial alignment coordinate of i-th of bit combination.
9. a kind of multistation co-interfere positioning system based on dummy node characterized by comprising
Positioning node obtains module, for obtaining in monitoring node three nodes as positioning node, respectively reference mode, the
Two nodes and third node；
Time difference acquisition module is transmitted, reaches the transmission of signal source to be positioned for calculating the second node and the reference mode
The time difference, third node and the reference mode reach the transmission time difference of signal source to be positioned；
Second dummy node coordinate determining module, for the coordinate, the second node and the ginseng according to the second node
It examines node and reaches the transmission time difference of signal source to be positioned and the direction of second node reception signal, determine the second dummy node
Coordinate；
Third dummy node coordinate determining module, for the coordinate, the third node and the ginseng according to the third node
It examines node and reaches the transmission time difference of signal source to be positioned and the direction of third node reception signal, determine third dummy node
Coordinate；
Bit combination constructs module, for according to one of the reference mode, the second node and second dummy node, the
One of three nodes and third dummy node construct bit combination；
Initial alignment coordinate calculation module, the initial alignment for calculating the corresponding signal source to be positioned of each bit combination are sat
Mark；
Weighting coefficient obtains module, and the RSSI value for receiving signal source signal to be positioned according to each positioning node calculates separately respectively
The bit combination corresponds to the weighting coefficient of initial alignment coordinate；
Position coordinate calculation module, for according to the initial alignment coordinate and corresponding weighting coefficient, calculate it is described to
The positioning coordinate of positioning signal source.
10. a kind of computer equipment characterized by comprising at least one processor, and at least one described processor
The memory of communication connection, wherein the memory is stored with the instruction that can be executed by least one described processor, the finger
It enables and being executed by least one described processor, so that at least one described processor executes any institute in the claims 1-8
The multistation co-interfere localization method based on dummy node stated.
11. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage has computer to refer to
It enables, it is any described based on dummy node in the claims 1-8 that the computer instruction is used to making the computer to execute
Multistation co-interfere localization method.
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