CN110045324A - A kind of indoor positioning fusion method based on UWB and Bluetooth technology - Google Patents
A kind of indoor positioning fusion method based on UWB and Bluetooth technology Download PDFInfo
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- CN110045324A CN110045324A CN201910317734.5A CN201910317734A CN110045324A CN 110045324 A CN110045324 A CN 110045324A CN 201910317734 A CN201910317734 A CN 201910317734A CN 110045324 A CN110045324 A CN 110045324A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/30—Monitoring; Testing of propagation channels
- H04B17/309—Measuring or estimating channel quality parameters
- H04B17/318—Received signal strength
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- 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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- Computer Networks & Wireless Communication (AREA)
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Position Fixing By Use Of Radio Waves (AREA)
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Abstract
The indoor positioning fusion method based on UWB and Bluetooth technology that the invention discloses a kind of, combines the advantage of two kinds of indoor positioning schemes, using the small feature of UWB range error, defines the Probability Area of estimated location, reduce solution range；The method that out position is estimated according to ranging relative to tradition, directly utilize the RSSI value of Bluetooth signal, obtain the probability distribution in domain by Bayesian inference to solve position, avoid RSSI signal be calculated as apart from when error introduce, improve positioning accuracy；The positioning accuracy of UWB technology can be obtained at most of conditions using a base station UWB and 2 Bluetooth base. stations, compared to the UWB locating scheme for using 4 base stations UWB, cost can be reduced to a quarter of former cost；The extreme-value problem under inequality constraints is solved using particle swarm optimization algorithm, can obtain locally optimal solution in the case where rssi measurement value error is larger to lead to the minimum value true solution of deviation, there is better practical effect.
Description
Technical field
The invention belongs to Navigation, Guidance and Control technical fields, and in particular to a kind of interior based on UWB and Bluetooth technology
Position fusion method.
Background technique
In modern society, with such as communication, network.Global positioning system (Global Positioning System,
GPS), the rapid development of the technologies such as wireless sensor network (Wireless Sensor Networks, WSNs), location aware meter
It calculates and location based service (Location Based Services, LBS) becomes more and more important in real life.It is fixed
The appearance of position technology greatly facilitates people's lives, and influence has had been extended to general including military, science and technology and people
Various aspects in logical life, and indoor positioning also makes it increasingly obtain the blueness in each field the help of people's daily life
It looks at.Such as the information push in supermarket based on location-based service, people is helped quickly to navigate to some retail shop very inside large supermarket
To being commodity；The for another example only accurate indoor positioning when the emergencies such as fire, earthquake, hostage's abduction, bomb threat occur
It just can be carried out optimal rescue route planning and fast and safely rescue work.
GPS is the most extensive most successful location technology of current application.However the GPS application of mainstream is suitable for outdoor at present
Place, and communication environments are complicated under environment indoors, and GPS signal is easily absorbed by building, metal overcover etc., and
The presence of shelter makes phenomena such as wireless signal generation refraction, reflection and energy attenuation, in addition its higher cost, serious shadow
It has rung GPS and has positioned the development that aspect is applied indoors.Therefore, in order to meet personal and business demand, various indoor positioning technologies
It comes into being.Existing typical indoor positioning technologies have Wi-Fi technology, Bluetooth technology, infrared technique, ultra wide band (UWB) skill
Art etc..According to the actual range for whether needing to measure receiving end and transmitting terminal in position fixing process, existing indoor positioning algorithms
It is divided into based on ranging (range-based) and without ranging (rang-free) algorithm, due to being answered based on distance-measuring and positioning method
For having obtained more being widely applied in engineering practice.Typical ranging technology has time of arrival (toa) TOA (time of
Arrive), signal arrival time difference TDOA (time difference of arrive), direction of arrival AOA (angle of
Arrive), signal strength RSSI (received signal strength indication) etc..But since signal is in room
There are paths when interior propagation it is short, communication environments are complicated the problems such as, the methods of TOA, TDOA, AOA are difficult to realize precise measurement, so
It is difficult to obtain more accurate positioning result with these methods.
In existing technology, the UWB technology based on TOF (time of flight) measurement can be real in the environment of indoors
Existing high-precision positioning, and very high coverage rate is possessed due to cheap based on the Bluetooth technology of RSSI.But existing list
As soon as indoor positioning scheme be all based on single location technology, in order to realize degree of precision positioning needs pay it is higher
Economic cost, cause existing technology all not apply in practical application well.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of indoor positioning fusion method based on UWB and Bluetooth technology, it can
To improve positioning accuracy, while reducing cost.
A kind of indoor positioning fusion method realizes indoor positioning, packet using a base station UWB and at least two Bluetooth base. stations
Include following steps:
Step 1, UWB ranging model is expressed by following formula:
Wherein, prAnd pbThe respectively position of receiver and the base station UWB, rTOFIt is distance between the base station UWB and receiver, rD
~N (0, δ2) it is clocking error bring measurement error, it is obtained by demarcating in advance；trAnd tbRespectively receiver is received and is sent out
The time for the number of delivering letters, c are the light velocity；
The mathematical model of bluetooth signal intensity RSSI in bluetooth distance measuring method is expressed as follows:
Wherein, RSSI (d) and P0Receiver and base station are in distance d and reference distance d respectively in bluetooth distance measuring method0Under
Signal receiving strength, n is the path-loss factor of signal, ζ ∈ (0, σ2) be as shadow fading effect and caused by white noise
Acoustic jamming, σ indicate white noise mean square deviation；
It is the probability of actual position according to the position that Bayesian inference is estimated:
Wherein:
diIt is receiver position (x, y) to i-th of Bluetooth base. station position (xi,yiThe distance between),It is the signal strength measurement RSSI that receiver receives i-th of base station signaliWith
Difference between theoretical value, i.e. measurement error；
Step 2, it is obtained limiting range after UWB ranging according to the UWB model in step 1 are as follows:
Wherein, (xa,ya) indicate UWB base station coordinates, rDmaxIndicate the maximum value of clocking error；
Step 3, the probability distribution of the measurement signal of each Bluetooth base. station is calculated, and defining evaluation function is fe, then have:
After formula (4) are substituted into following formula (7), solution formula (7) within the scope of the restriction of formula (5), so that f in formula (7)cTake pole
Small value then finds out the estimated position (x, y) of receiver, realizes positioning；
。
Preferably, the method for solving to formula (7) includes kuhn tucker condition solving method and Lagrange in the step 3
Multiplier method.
Preferably, being solved using PSO algorithm to formula (7) in the step 3.
The invention has the following beneficial effects:
Indoor positioning fusion method proposed by the present invention based on UWB and Bluetooth technology, combines two kinds of indoor positioning sides
The advantage of case defines the Probability Area of estimated location using the small feature of UWB range error, reduces solution range；Relatively
In the method that tradition estimates out position according to ranging, the RSSI value of Bluetooth signal is directly utilized, is asked by Bayesian inference
Probability distribution in solution region solves position, avoid RSSI signal be calculated as apart from when error introduce, it is fixed to improve
Position precision；
The positioning accurate of UWB technology can be obtained at most of conditions using a base station UWB and 2 Bluetooth base. stations
Degree, compared to the UWB locating scheme for using 4 base stations UWB, cost can be reduced to a quarter of former cost.
The present invention solves the extreme-value problem under inequality constraints using particle swarm optimization algorithm, asks compared to Direct extremum
The method of solution can obtain locally optimal solution in the case where rssi measurement value error is larger to lead to the minimum value true solution of deviation,
There is better practical effect.
Detailed description of the invention
Fig. 1 is that the present invention is based on the flow charts of UWB and the indoor positioning blending algorithm of Bluetooth technology.
Fig. 2 is localization method of the present invention figure compared with the positioning result of several localization methods known.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
Indoor positioning fusion method location hardware proposed by the present invention is by least one base station UWB and two Bluetooth base. stations
Hardware device composition, carries out fusion positioning according to the features such as two kinds of technological orientation precision and economic cost, and mention under the frame
Go out the indoor positioning blending algorithm based on UWB and Bluetooth technology to be used to solve estimated location, improves positioning accuracy.Blending algorithm
Basic principle be: UWB ranging model is obtained according to the error analysis of UWB ranging, is passed indoors according to wireless sensor signal
Fading characteristics are broadcast, what foundation reception terminal connect receives signal strength (RSSI) and base station and receive terminal apart from mathematical model.By
UWB measurement distance and UWB base station location obtain estimated location and limit range, and according to measurement RSSI value and error distribution according to shellfish
This reasoning of leaf obtains the probability-distribution function of estimated position points, and the overall situation limited in range is acquired using particle swarm optimization algorithm
Optimal solution is exported as estimated location.
Indoor positioning fusion method proposed by the present invention based on UWB and Bluetooth technology, as shown in Figure 1, specific steps are such as
Under:
Step 1, since the error of UWB ranging is mainly caused by the clocking error between the base station UWB and receiver, therefore UWB
Ranging model can be expressed by following formula:
Wherein, prAnd pbThe respectively position of the base station UWB and receiver, rTOFIt is to be measured in UWB distance measuring method using TOF
Distance between the base station UWB arrived and receiver, rD∈N(0,δ2) it is clocking error bring measurement error, by demarcating in advance
It arrives；trAnd tbRespectively receiver time for sending and receiving signal, c is the light velocity, therefore passes through the available UWB's of DATA REASONING
Error is distributed size.
According to wireless sensor signal propagation attenuation feature indoors, the mathematical model of bluetooth signal intensity (RSSI) is such as
Under:
Wherein, RSSI (d) (unit dBm) and P0Respectively receiver and Bluetooth base. station are in distance d and reference distance d0Under
Signal receiving strength, n is the path-loss factor of signal, ζ ∈ (0, σ2) be as shadow fading effect and caused by white noise
Acoustic jamming, wherein the size of white noise meansquaredeviationσ depends on the interference of propagation path.Therefore, when measuring the model in environment
It is true that the position can be obtained according to Bayesian inference after relevant parameter, received signal strength RSSI (d) and estimated location
The probability of position:
Wherein:
diIt is receiver position (x, y) to i-th of base station location (xi,yiThe distance between),It is the signal strength measurement RSSI that receiver receives i-th of base station signaliWith
Difference between theoretical value, i.e. measurement error.I=1,2 ... N, N indicate Bluetooth base. station quantity；When we are in acquisition signal strength
When RSSI, stochastic variable ζ is already contained in wherein, therefore the estimated distance and actual distance that are calculated using model certainly exist mistake
Difference.
Step 2, range is limited according to the available UWB ranging of UWB model in step 1 later are as follows:
Wherein, (xa,ya) indicate UWB base station coordinates；rDmaxIndicate the maximum value of clocking error；
Step 3, due to there are at least two Bluetooth base. stations in systems, so the measurement to each Bluetooth base. station is needed to believe
Number carry out probability distribution calculating, set evaluation function as fe, then have:
Obviously, actual position is function feMaximum solution is calculated since base station number is fixed in order to simplify, we only need
Solve Equation fcMinimum solution:
After formula (4) are substituted into formula (7), solution formula (7) within the scope of the restriction of formula (5), so that fcMinimalization then may be used
Find out the estimated position (x, y) of receiver.
According to such as up conversion, position solution procedure becomes the solution solution procedure of the equation most value under the conditions of inequality constraints.Often
The method for solving seen has kuhn tucker condition solving method, method of Lagrange multipliers etc., but since Bluetooth signal has error, because
The minimax solution of this solution of equation not necessarily really solves.Effect is preferably solved in order to obtain, the present invention is estimated using the solution of PSO algorithm
Position is calculated, specifically:
Using geometric coordinate as particle state, fcFitness function as particleIt is complete in range limiting
At the initialization of population, and according to Proper treatmentCalculate the appropriate value of each particle, more new individual optimal value
pbestj(t) and population optimal value gbest (t): using pbestj(t) the appropriateness value of j particle is the smallest when being saved in the t times iteration
Position, and more all pbestj(t), gbest (t) is stored in using the position of the smallest particle of fitness as global optimum's amount
In.
Wherein, speed and location updating are carried out with following particle swarm optimization algorithm:
Xj(t+1)=Xj(t)+Vj(t+1)
Wherein Vj(t) and Xj(t) speed and position of j-th of particle when the number of iterations is t are respectively indicated.
Judge that whether set positioning accuracy or greatest iteration meets, if meeting condition, exports global optimum at this time
It solves gbest (t) to export as estimated location, algorithm terminates, otherwise return step 4, continues iterative process.
It is localization method of the present invention figure compared with the positioning result of several localization methods known, wherein for 5 shown in Fig. 2
The locating effect of example proves, each example using independent UWB positioning, bluetooth positioning, traditional least square method positioning and
Fusion location algorithm is verified.It can be seen that bluetooth position error is larger from example, UWB locating effect is best.Do not melting
The positioning result of conjunction is promoted compared to bluetooth positioning, but larger gap is located in effect and UWB.It is fixed after fusion positioning
Position resultant error magnitude reaches the positioning magnitude of UWB, but due to only using the base station UWB, positioning cost is substantially reduced.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (3)
1. a kind of indoor positioning fusion method, which is characterized in that realize room using a base station UWB and at least two Bluetooth base. stations
Interior positioning, includes the following steps:
Step 1, UWB ranging model is expressed by following formula:
Wherein, prAnd pbThe respectively position of receiver and the base station UWB, rTOFIt is distance between the base station UWB and receiver, rDFor when
Clock error bring measurement error, is obtained by demarcating in advance；trAnd tbRespectively receiver time for sending and receiving signal, c
For the light velocity；
The mathematical model of bluetooth signal intensity RSSI in bluetooth distance measuring method is expressed as follows:
Wherein, RSSI (d) and P0Receiver and base station are in distance d and reference distance d respectively in bluetooth distance measuring method0Under letter
Number receiving intensity, n is the path-loss factor of signal, ζ ∈ (0, σ2) be as shadow fading effect and caused by white noise it is dry
It disturbs, σ indicates white noise mean square deviation；
It is the probability of actual position according to the position that Bayesian inference is estimated:
Wherein:
diIt is receiver position (x, y) to i-th of Bluetooth base. station position (xi,yiThe distance between),It is the signal strength measurement RSSI that receiver receives i-th of base station signaliWith
Difference between theoretical value, i.e. measurement error；
Step 2, it is obtained limiting range after UWB ranging according to the UWB model in step 1 are as follows:
Wherein, (xa,ya) indicate UWB base station coordinates, rDmaxIndicate the maximum value of clocking error；
Step 3, the probability distribution of the measurement signal of each Bluetooth base. station is calculated, and defining evaluation function is fe, then have:
After formula (4) are substituted into following formula (7), solution formula (7) within the scope of the restriction of formula (5), so that f in formula (7)cMinimalization,
The estimated position (x, y) of receiver is then found out, realizes positioning；
2. a kind of indoor positioning fusion method as described in claim 1, which is characterized in that in the step 3, to formula (7)
Method for solving includes kuhn tucker condition solving method and method of Lagrange multipliers.
3. a kind of indoor positioning fusion method as described in claim 1, which is characterized in that in the step 3, calculated using PSO
Method solves formula (7).
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| CN201910317734.5A CN110045324B (en) | 2019-04-19 | 2019-04-19 | Indoor positioning fusion method based on UWB and Bluetooth technology |
| PCT/CN2019/000151 WO2020210923A1 (en) | 2019-04-19 | 2019-07-30 | Indoor positioning fusion method based on uwb and bluetooth technology |
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Cited By (8)
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| CN110824422A (en) * | 2019-11-19 | 2020-02-21 | 国家能源集团谏壁发电厂 | High-precision indoor positioning device positioning method |
| CN111107627A (en) * | 2019-12-30 | 2020-05-05 | 嘉兴太和信息技术有限公司 | Multi-mode fusion wireless positioning system and positioning method thereof |
| CN111595339A (en) * | 2020-03-30 | 2020-08-28 | 杭州微萤科技有限公司 | Method for improving indoor distance measurement precision of UWB and distance measurement system |
| WO2020210923A1 (en) * | 2019-04-19 | 2020-10-22 | 北京理工大学 | Indoor positioning fusion method based on uwb and bluetooth technology |
| CN112533163A (en) * | 2020-11-24 | 2021-03-19 | 厦门大学 | Indoor positioning method based on NB-IoT (NB-IoT) improved fusion ultra-wideband and Bluetooth |
| CN112799011A (en) * | 2019-12-10 | 2021-05-14 | 国网内蒙古东部电力有限公司呼伦贝尔供电公司 | Three-dimensional space positioning method and system |
| CN114513748A (en) * | 2022-03-15 | 2022-05-17 | 北京远特科技股份有限公司 | Indoor high-precision positioning method and device and electronic equipment |
| CN116413658A (en) * | 2023-02-27 | 2023-07-11 | 青岛柯锐思德电子科技有限公司 | UWB and BLE combination-based low-power-consumption ranging method |
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| WO2020210923A1 (en) * | 2019-04-19 | 2020-10-22 | 北京理工大学 | Indoor positioning fusion method based on uwb and bluetooth technology |
| CN110824422A (en) * | 2019-11-19 | 2020-02-21 | 国家能源集团谏壁发电厂 | High-precision indoor positioning device positioning method |
| CN112799011A (en) * | 2019-12-10 | 2021-05-14 | 国网内蒙古东部电力有限公司呼伦贝尔供电公司 | Three-dimensional space positioning method and system |
| CN111107627A (en) * | 2019-12-30 | 2020-05-05 | 嘉兴太和信息技术有限公司 | Multi-mode fusion wireless positioning system and positioning method thereof |
| CN111595339A (en) * | 2020-03-30 | 2020-08-28 | 杭州微萤科技有限公司 | Method for improving indoor distance measurement precision of UWB and distance measurement system |
| CN111595339B (en) * | 2020-03-30 | 2022-05-24 | 杭州微萤科技有限公司 | Method for improving indoor distance measurement precision of UWB and distance measurement system |
| CN112533163A (en) * | 2020-11-24 | 2021-03-19 | 厦门大学 | Indoor positioning method based on NB-IoT (NB-IoT) improved fusion ultra-wideband and Bluetooth |
| CN112533163B (en) * | 2020-11-24 | 2021-09-14 | 厦门大学 | Indoor positioning method based on NB-IoT (NB-IoT) improved fusion ultra-wideband and Bluetooth |
| CN114513748A (en) * | 2022-03-15 | 2022-05-17 | 北京远特科技股份有限公司 | Indoor high-precision positioning method and device and electronic equipment |
| CN114513748B (en) * | 2022-03-15 | 2024-01-30 | 北京远特科技股份有限公司 | Indoor high-precision positioning method and device and electronic equipment |
| CN116413658A (en) * | 2023-02-27 | 2023-07-11 | 青岛柯锐思德电子科技有限公司 | UWB and BLE combination-based low-power-consumption ranging method |
| CN116413658B (en) * | 2023-02-27 | 2023-12-05 | 青岛柯锐思德电子科技有限公司 | UWB and BLE combination-based low-power-consumption ranging method |
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| WO2020210923A1 (en) | 2020-10-22 |
| CN110045324B (en) | 2020-08-11 |
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