CN110022530A - A kind of wireless location method and system for the underground space - Google Patents

A kind of wireless location method and system for the underground space Download PDF

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Publication number
CN110022530A
CN110022530A CN201910203175.5A CN201910203175A CN110022530A CN 110022530 A CN110022530 A CN 110022530A CN 201910203175 A CN201910203175 A CN 201910203175A CN 110022530 A CN110022530 A CN 110022530A
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underground space
access point
target object
wireless access
value
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CN110022530B (en
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王巍
黄森
张宁
王盼
江涛
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Huazhong University of Science and Technology
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Huazhong University of Science and Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • 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
    • G01S5/0294—Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
    • 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
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The invention discloses a kind of wireless location methods and system for the underground space, comprising: arranges wireless access point in the underground space and constructs fingerprint base；It obtains the RSSI information of target object position and is matched with fingerprint base, obtain the predicted value of target object position, obtain inertial data and carry out reckoning, obtain the measured value of target object position；The predicted value and measured value are merged using Kalman filtering, obtain target person position；When not having target object in the underground space, the CSI data sent to wireless access point are handled, and whether real-time detection has illegal invasion.The present invention is merged RSSI fingerprint location with PDR positioning by Kalman filtering, compensates for RSSI fingerprint location and PDR positions respective defect, can be realized the accurate positionin in narrow closing, the longer underground space of distance；Only needing to dispose a small amount of extensive smart phone of wireless access point connected applications can be realized, and cost is relatively low and easy to operate.

Description

A kind of wireless location method and system for the underground space
Technical field
The invention belongs to wireless communication technology fields, more particularly, to a kind of wireless location side for the underground space Method and system.
Background technique
It is well known that the fast development of China's economy, urban underground space construction and maintenance, which become, ensures that city is harmonious steady Fixed key element.Such as subway construction, pipe gallery construction, subsea tunnel construction etc., require personnel and regularly safeguard, This kind of region belongs to sensitive risk region, and does not cover the communications infrastructure generally existing on ground, determines mesh in region The position of mark personnel and status information are conducive to protect maintenance personnel, realize comprehensively detection in real time and scheduling, support area peace Entirely.
Current wireless location technology mainly have based on bluetooth, ZigBee, UWB (Ultra Wide Band, ultra wide band), RFID (Radio frequency Identification, radio frequency identification), WLAN (Wireless Local Area Networks, WLAN) technology etc..Wherein, in recent years WLAN by its long range, high spectrum utilization, The advantages such as anti-interference are substantially developed, and related smart machine quantity is also increasing rapidly, therefore based on WLAN Positioning also obtains with personnel's detection technique and is widely applied space.
It is generally basede on RSSI fingerprinting localization algorithm used in the positioning of WLAN, due to the limitation of equipment, distance The RSSI in the farther away region of wireless access point will not increase with distance there is apparent variation, thus exist narrow closing, The lower disadvantage of ratio of precision is positioned in the longer underground space.Existing underground space positioning system multi-pass, which is crossed, disposes intensively Signal node perhaps ensures positioning accuracy using equipment for customizing however these excessive interstitial contents or to equipment for customizing Demand will bring higher cost input.
In personnel's context of detection, existing common method mainly includes that microwave stops detection, ultrasonic listening, infrared spy Survey, acceleration movement detection, camera are analyzed in real time, they need to additionally introduce microwave sounding module, ultrasonic listening mould The special equipments such as block, infrared thermal releasing module or acceleration sensor module realize, higher cost.
It can be seen that existing underground space wireless location method has that at high cost, positioning accuracy is low.
Summary of the invention
In view of the drawbacks of the prior art, the purpose of the present invention is to provide a kind of wireless location methods for the underground space And system, it is intended to solve the problems, such as existing underground space wireless location method there are positioning accuracies and is low.
To achieve the above object, one aspect of the present invention provides a kind of wireless location method for the underground space, including Following steps:
(1) wireless access point is arranged in the underground space and constructs fingerprint base；
(2) it obtains the RSSI information of target object position and is matched with fingerprint base, obtain target object place The predicted value of position obtains inertial data and carries out reckoning, obtains the measured value of target object position；
(3) predicted value and measured value are merged using Kalman filtering, obtains target person position；
(4) when not having target object in the underground space, the CSI data sent to wireless access point are handled, in real time Illegal invasion is detected whether.
Further, distance is set as within 100 meters between wireless access point described in the step (1).
Further, fingerprint base is constructed described in the step (1), specifically included:
Equidistant region division is carried out between wireless access points, chooses the central point for dividing rear region as fingerprint Point；
RSSI information of the wireless access point at the fingerprint point is obtained, and is uploaded to server, constructs fingerprint base.
Further, the method for fusion described in the step (3) specifically:
The predicted value and measured value are substituted into state equation and renewal equation carries out Kalman filtering:
Xn=Xn-1+K(Zn-Xn-1)
K=P/ (P+R)
P=P-KQ+Q
Wherein, XnFor state vector, system current state, i.e., the target position obtained after fusion, X are indicatedn-1For The position at a moment in system, K are filtering gain, ZnFor RSSI fingerprint location as a result, the i.e. described predicted value, P are system mistake The variance of difference, initial value 1, R are the variance of pedestrian's reckoning, and Q is the variance of system noise.
Before receiving RSSI fingerprint location result, XnInitial value be pedestrian's reckoning as a result, i.e. measured value, is System merges last moment position with current RSSI fingerprint location result, obtains new target position.
Further, the system noise Q is according to target object position auto scaling, to make up RSSI fingerprint Positioning and the respective defect of pedestrian's reckoning, obtain accurately merging positioning result；The system noise Q is according to target object The method of position auto scaling specifically:
When target object moves towards wireless access point, Q value reduces, and fusion results are close to RSSI fingerprint location result；Target pair When as far from wireless access point, Q value increases, and fusion results are close to pedestrian's reckoning positioning result.
Further by above method, at the CSI data sent described in the step (4) to wireless access point Reason, specifically includes:
(41) seek and save in the t period amplitude of CSI information in n data flow between wireless access point；Wherein, n is The product of wireless access point antenna amount；
(42) above-mentioned amplitude respectively is handled using Pearson correlation coefficient, and related to n obtained Pearson came Coefficient is summed；
(43) within the reaction time of setting, the sum of whole Pearson correlation coefficients that will acquire save as vector { Pt Pt+1…Pt+k, wherein k is the number of the sum of Pearson's coefficient obtained in the reaction time；
(44) median absolute difference MAD is calculated；
(45) by median absolute difference and threshold value comparison, when the median absolute difference MAD is more than or equal to threshold value When threshold, then someone invades；When the median absolute difference is less than threshold value threshold, then unmanned intrusion.
Further, the calculation method of median absolute difference MAD described in the step (44) are as follows:
Calculate vector { Pt Pt+1…Pt+kIn the sum of all Pearson's coefficients median；
Calculate the deviation between the sum of each Pearson's coefficient and the median；
Seek the median MAD of all absolute value of the bias.
Preferably, threshold value threshold value range described in the step (45) is 0.08-0.25.
Further, the target object be carry smart machine competent person, the smart machine can with it is described Wireless access point communication, and can obtain and send RSSI information and inertia measurement data.
Preferably, the smart machine is smart phone.
Another aspect of the present invention provides a kind of wireless location system for the underground space, comprising:
Data acquisition module, for obtaining the RSSI information and inertia measurement data of target object position；
Data processing module obtains target object position for matching the RSSI information with fingerprint base Predicted value, and using the inertia measurement data carry out reckoning, obtain the measured value of target object position；
It merges locating module and obtains target for merging the predicted value and measured value using Kalman filtering Personnel position；
Intrusion detection module, the CSI data for obtaining to wireless access point seek Pearson correlation coefficient, and set conjunction Suitable median absolute difference threshold value, and then whether real-time detection has illegal invasion.
Contemplated above technical scheme through the invention, compared with prior art, can obtain it is following the utility model has the advantages that
(1) for the present invention by disposing a small amount of extensive smart phone of wireless access point connected applications, it is legal to can be realized The position detection of personnel, cost is relatively low and easy to operate.
(2) present invention is merged RSSI fingerprint location with PDR positioning by Kalman filtering, compensates for RSSI fingerprint Positioning positions respective defect with PDR, can be realized in narrow closing, the accurate positionin in the longer underground space.
(3) present invention is handled the CSI information amplitude that wireless access is sent using Pearson correlation coefficient, by setting Determine threshold value comparison, can simply and accurately detect whether the underground space has personnel's intrusion, there is preferable security effect.
Detailed description of the invention
Fig. 1 is a kind of underground space wireless location method flow diagram provided in an embodiment of the present invention；
Fig. 2 is the method schematic diagram provided in an embodiment of the present invention that wireless access point is arranged in the underground space；
Fig. 3 is the schematic diagram provided in an embodiment of the present invention that fusion positioning is carried out using Kalman filtering；
Fig. 4 is a kind of middle position of Pearson correlation coefficient under nobody and someone's intrusion state provided in an embodiment of the present invention Number absolute difference (MAD) schematic diagram.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and It is not used in the restriction present invention.
On the one hand the embodiment of the present invention provides a kind of wireless location method for the underground space, with reference to Fig. 1, this method Process the following steps are included:
Step 1: arranging wireless access point in the underground space and construct fingerprint base；
As shown in Fig. 2, the wireless access point 1 and wireless access point 2 at a distance of 80 meters are arranged in the underground space, in two nothings Equidistant region division is carried out between line access point, chooses segmented areas central point as fingerprint collecting point label, using intelligence Energy equipment such as smart phone, obtains RSSI information of two wireless access point at fingerprint point, and be uploaded to server end, constructs Fingerprint base.In practical operation, the RSSI information that can be will acquire is stored as fingerprint base matrix L, the i-th row of fingerprint base matrix it is interior Rong WeiWhereinWireless access point 1 and wireless access point 2 are respectively indicated in fingerprint RSSI information at point.
Step 2: obtaining the RSSI information of target object position and matched with fingerprint base, obtain target object institute Predicted value in position obtains inertial data and goes forward side by side every trade people's reckoning, obtains the measured value of target object position；
Specifically, RSSI information can be obtained and be sent by smart phone, and inertia measurement data are by including gyroscope and acceleration The Inertial Measurement Unit measurement of device obtains, and for convenience of carrying and operating, Inertial Measurement Unit be may also be arranged on smart phone, by Smart phone is obtained and is sent；Fingerprint matching is carried out to RSSI information using k nearest neighbor algorithm, obtains the prediction bits of target person It sets；Pedestrian's reckoning is completed using inertia measurement data, obtains the measured value of target object position.
Step 3: the predicted value and measured value being merged using Kalman filtering, it is in place to obtain target person institute It sets；
Specifically, on the one hand since the RSSI information apart from wireless access point compared with far region will not occur as distance increases Significant change, thus cannot be positioned in these regions；On the one hand due to pedestrian's reckoning obtain the result is that one opposite Value, can not be converted into distance, and there are accumulated errors.To solve the above problems, as shown in figure 3, the present invention uses karr The graceful result for obtaining step 2 that filters merges, and the major advantage of Kalman filtering is can be in conjunction with predicted value (RSSI letter Breath) and observation (pedestrian's reckoning) to obtain optimal estimation value, be suitble to use in the system of consecutive variations, and occupancy in Deposit that small, arithmetic speed is fast.
The state equation and renewal equation for the one-dimensional Kalman filtering that the present invention uses are as follows:
Xn=Xn-1+K(Zn-Xn-1)
K=P/ (P+R)
P=P-KQ+Q
Wherein, XnFor state vector, system current state, i.e., the target position obtained after fusion, X are indicatedn-1For The position at a moment in system, K are filtering gain, ZnFor RSSI fingerprint location as a result, i.e. Kalman prediction value, P are The variance of systematic error, initial value 1, R are the variance of pedestrian's reckoning, and Q is the variance of system noise.
Before receiving RSSI fingerprint location result, XnInitial value be pedestrian's reckoning as a result, i.e. Kalman filter Wave measurement value, system are merged last moment position with current fingerprint location result, obtain new target position.
Q value is constant in traditional kalman filtering theory, but since the variation of Q value can significantly affect fusion knot Fruit, the bigger expression of Q value more trusts pedestrian's reckoning as a result, Q value indicates more trust RSSI positioning result, constant Q closer to 0 Value can not play the purpose for eliminating fixed error, and the effect for causing Kalman filtering to merge is undesirable.System noise Q in the present invention According to target object position auto scaling, positioned with making up RSSI fingerprint location and pedestrian's reckoning (PDR, Pedestrian Dead Reckoning) respective defect, it obtains accurately merging positioning result.System noise Q adjust automatically The method of size specifically:
By analysis Kalman filtering fusion as a result, if apart from the closer region of wireless access point, i.e., personnel move towards RSSI accurate positioning region, Q value will reduce automatically therewith；When personnel to it is mobile apart from the farther away region of wireless access point when, Q value It will be automatically increased.
Step 4: as nobody in space to be measured, the CSI data sent to wireless access point are handled, real-time detection Whether illegal invasion is had.
Specifically, some researches show that when nobody in space to be measured enters closed state, if there is invasion people Member, channel state information (Channel State Information, CSI) data between wireless access point will be with nothing For people's state compared to larger fluctuation occurs, the present invention is based on this to handle CSI information, specifically includes the following steps:
Seek and save in the t period amplitude of CSI information in n data flow between wireless access point；Wherein, n is two The product of wireless access point antenna amount；
Above-mentioned amplitude respectively is handled using Pearson correlation coefficient, and to n obtained Pearson correlation coefficient It sums；
Overall process such as following formula:
Wherein, PtIt is the sum of Pearson correlation coefficient, Xi、XjIt is the CSI information width in i-th and j-th of data flow respectively Value,The standard deviation of respectively i-th and the CSI information amplitude in j-th of data flow, cov (Xi,Xj) it is Xi、Xj's Covariance.
Within the reaction time of setting, the sum of whole Pearson correlation coefficients that will acquire save as vector { Pt Pt+1… Pt+k, wherein k is the number of the sum of Pearson's coefficient obtained in the reaction time.
Using median absolute difference and threshold value comparison, judge whether space has personnel's intrusion.
The median absolute difference computation process are as follows: calculate the median of the sum of all Pearson's coefficients in above-mentioned vector； Calculate deviation of the sum of each Pearson's coefficient between median；Seek the median of all absolute value of the bias.Such as Fig. 4 institute Show, in enclosure space nobody when, MAD is smaller；In someone's invasion, MAD is larger.In order to accurate within the reaction time of setting Determine whether personnel's invasion, MAD is made comparisons with suitable threshold value threshold, when MAD is more than or equal to threshold value threshold, Then someone invades；When MAD is less than threshold value threshold, then nobody invades.The value range of threshold value threshold are as follows: 0.08- 0.25。
On the other hand the embodiment of the present invention provides a kind of wireless location system for the underground space, comprising:
Data acquisition module, for obtaining the RSSI information and inertia measurement data of target object position；
Data processing module obtains target object position for matching the RSSI information with fingerprint base Predicted value, and using the inertia measurement data carry out reckoning, obtain the measured value of target object position；
It merges locating module and obtains target for merging the predicted value and measured value using Kalman filtering Personnel position；
Intrusion detection module, the CSI data for obtaining to wireless access point seek Pearson correlation coefficient, and set conjunction Suitable median absolute difference threshold value, and then whether real-time detection has illegal invasion.
In embodiments of the present invention, each module specific implementation can be with reference to retouching in above-mentioned corresponding method embodiment It states, the embodiment of the present invention will be repeated no longer.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include Within protection scope of the present invention.

Claims (10)

1. a kind of wireless location method for the underground space, which comprises the following steps:
(1) wireless access point is arranged in the underground space and constructs fingerprint base；
(2) it obtains the RSSI information of target object position and is matched with fingerprint base, obtain target object position Predicted value, obtain inertial data simultaneously carry out reckoning, obtain the measured value of target object position；
(3) predicted value and measured value are merged using Kalman filtering, obtains target person position；
(4) when not having target object in the underground space, the CSI data sent to wireless access point are handled, real-time detection Whether illegal invasion is had.
2. a kind of wireless location method for the underground space according to claim 1, which is characterized in that the step (1) distance is set as within 100 meters between wireless access point described in.
3. a kind of wireless location method for the underground space according to claim 1 or 2, which is characterized in that the step Suddenly fingerprint base is constructed described in (1), specifically included:
Equidistant region division is carried out between wireless access points, chooses the central point for dividing rear region as fingerprint point；
RSSI information of the wireless access point at the fingerprint point is obtained, and is uploaded to server, constructs fingerprint base.
4. a kind of wireless location method for the underground space according to claim 1, which is characterized in that the step (3) method of fusion described in specifically:
The predicted value and measured value are substituted into following equation and carry out Kalman filtering:
Xn=Xn-1+K(Zn-Xn-1)
K=P/ (P+R)
P=P-KQ+Q
Wherein, XnFor state vector, system current state, i.e., the target position obtained after fusion, X are indicatedn-1For system The position at a upper moment, K are filtering gain, ZnFor RSSI fingerprint location as a result, the i.e. described predicted value, P are systematic error Variance, initial value 1, R are the variance of pedestrian's reckoning, and Q is the variance of system noise.
Before receiving RSSI fingerprint location result, XnInitial value be pedestrian's reckoning as a result, by last moment position with Current RSSI fingerprint location result fusion, obtains new target position.
5. a kind of wireless location method for the underground space according to claim 4, which is characterized in that the system noise Sound Q auto scaling in accordance with the following methods:
When target object moves towards wireless access point, Q value reduces, and fusion results are closer to RSSI fingerprint location result；Target object When far from wireless access point, Q value increases, and fusion results are closer to pedestrian's reckoning positioning result.
6. a kind of wireless location method for the underground space according to claim 1, which is characterized in that the step (4) the CSI data sent described in wireless access point are handled, and are specifically included:
(41) seek and save in the t period amplitude of CSI information in n data flow between wireless access point；Wherein, n is wireless The product of access point antenna quantity；
(42) above-mentioned amplitude respectively is handled using Pearson correlation coefficient, and to n obtained Pearson correlation coefficient It sums；
(43) within the reaction time of setting, the sum of whole Pearson correlation coefficients that will acquire save as vector { PtPt+1… Pt+k, wherein k is the number of the sum of Pearson's coefficient obtained in the reaction time；
(44) median absolute difference MAD is calculated；
(45) by median absolute difference and threshold value comparison, when the median absolute difference MAD is more than or equal to threshold value threshold When, then someone invades；When the median absolute difference is less than threshold value threshold, then unmanned intrusion.
7. a kind of wireless location method for the underground space according to claim 6, which is characterized in that the step (44) calculation method of the MAD of median absolute difference described in are as follows:
Seek vector { PtPt+1…Pt+kIn the sum of all Pearson's coefficients median；
Seek the deviation between the sum of each Pearson's coefficient and the median；
Seek the median MAD of all absolute value of the bias.
8. a kind of wireless location method for the underground space according to claim 6, which is characterized in that the step (45) value range of threshold value threshold described in is 0.08-0.25.
9. a kind of wireless location method for the underground space according to claim 1-8, which is characterized in that institute Stating target object is the competent person for carrying smart machine, and the smart machine can be communicated with the wireless access point, and energy It obtains and sends RSSI information and inertia measurement data.
10. a kind of wireless location system for the underground space characterized by comprising
Data acquisition module, for obtaining the RSSI information and inertia measurement data of target object position；
Data processing module obtains the pre- of target object position for matching the RSSI information with fingerprint base Measured value, and reckoning is carried out using the inertia measurement data, obtain the measured value of target object position；
It merges locating module and obtains target person for merging the predicted value and measured value using Kalman filtering Position；
Intrusion detection module, the CSI data for obtaining to wireless access point seek Pearson correlation coefficient, and set suitably Median absolute difference threshold value, and then whether real-time detection has illegal invasion.
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