CN111007459A - Dynamic topology positioning method - Google Patents

Dynamic topology positioning method Download PDF

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Publication number
CN111007459A
CN111007459A CN201911315976.7A CN201911315976A CN111007459A CN 111007459 A CN111007459 A CN 111007459A CN 201911315976 A CN201911315976 A CN 201911315976A CN 111007459 A CN111007459 A CN 111007459A
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base station
positioning
base stations
label
positioning method
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CN201911315976.7A
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张智
刘子瑜
郑燕女
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Zhijiang College of ZJUT
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Zhijiang College of ZJUT
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Priority to CN201911315976.7A priority Critical patent/CN111007459A/en
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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
    • G01S5/12—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
    • 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
    • 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

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

Abstract

The invention provides a dynamic topological positioning method, which relates to the technical field of positioning and comprises the steps of dynamically deploying at least four base stations; selecting four base stations to establish a three-dimensional coordinate system; measuring distances between base stations; calculating the position coordinates of the base station; measuring the distance between the label to be determined and the base station; and solving the position coordinates of the label. The invention effectively performs topology networking on the deployment of the base station, can enable the mobile equipment to carry the positioning base station, and can provide better personnel positioning and regulating methods in the fields of automation, emergency rescue and relief, medical care, motion tracking wireless indoor positioning and the like. The invention supports dynamic adjustment of the positioning base station, has flexible positioning mode layout and can effectively schedule the mobile positioning base station.

Description

Dynamic topology positioning method
Technical Field
The invention relates to a positioning method, in particular to a positioning method of a dynamic topology deployment base station.
Background
The requirement for realizing accurate real-time positioning of indoor personnel and materials is strong at present. Under the conditions of fire, anti-terrorism, security protection and the like which are full of potential safety hazards and under the construction environments of multiple accidents and complex management such as tunnels, underground rail transit, mines and the like, the indoor positioning technology can efficiently and accurately master the positions of personnel and can timely carry out emergency rescue under special conditions.
Satellite-based positioning systems are typical applications of wireless communication in the positioning field, such as a GPS positioning system, a GLONASS positioning system, a galileo positioning system, and a beidou navigation positioning system, and are widely used in people's daily life. However, under the condition that indoor signals are weak, positioning accuracy performance of the systems is not ideal, so that an algorithm for assisting satellite positioning through a mobile network or WiFi is provided, but positioning errors are often more than 1 meter, and WiFi positioning is easily interfered by the environment, so that the requirement of people for indoor high-accuracy positioning is still difficult to meet. In addition, indoor positioning technologies based on RFID, bluetooth, Zigbee, ultra-wideband, etc. are also proposed, where the positioning technologies based on RFID, bluetooth, Zigbee have a short transmission distance and low accuracy, and the ultra-wideband positioning technology has a long transmission distance and high accuracy, but the difficult problems of effective topology networking and accurate indoor positioning need to be solved. The traditional positioning technology cannot meet the requirement of indoor positioning due to technical limitation.
The present application was made based on this.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a dynamic topological positioning method which can meet the indoor positioning requirement.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a dynamic topological positioning method comprises the following steps:
(1) dynamically deploying at least four base stations;
(2) selecting four base stations to establish a three-dimensional coordinate system;
(3) measuring distances between base stations;
(4) calculating the position coordinates of the base station;
(5) measuring the distance between the label to be positioned and the base station;
(6) and solving the position coordinates of the label to be positioned.
In the step (1), dynamic deployment ensures that any two base stations are not co-located, any three base stations are not co-linear, and any four base stations are not co-planar.
In the step (3) and the step (5), the distance range between the base station and the base station or between the base station and the label is 0-200 m, and the base station is considered to be absent at the distance outside the range.
The step (2) is to take the base station 1 as the origin of coordinates and the coordinates of the base station 2 as (x)2,0,0),x2Coordinate of base station 3 is (x) 03,y3,0),y30, base station 4 has coordinates of (x)4,y4,z4),z4＞0。
In the step (3), the distance between each base station is respectively measured in a bilateral two-way ranging or bilateral one-way ranging mode, the ultra-wideband technology is adopted to realize accurate ranging, and the distance from the ith base station to the jth base station is recorded as dij,i∈[1,M],j∈[1,M]。
In the step (4), the specific calculation formula is (x)i-xj)2+(yi-yj)2+(zi-zj)2＝dij 2,i∈[1,M],j∈[1,M]I ≠ j, where x1＝0，x2＞0，y1＝0，y2＝0，y3＞0，z1＝0，z2＝0，z3＝0，z4＞0。
In the step (5), each base station communicates with the tag to be positioned respectively, and the distance d between the base station i and the tag k to be positioned is obtained in a bilateral two-way ranging or bilateral one-way ranging modeikWhere k is [1, N ]],i∈[1,M]And N represents the total number of the tags, and preferably, double-side ranging is adopted, so that the error can be reduced compared with single-side ranging.
In the step (6), the position (x) of the label k to be positioned on the three-dimensional plane is calculated through the 4 positioning base stations with the nearest measured distancesk,yk,zk) The relation formula between the base station i and the label k is (x)k-xi)2+(yk-yi)2+(zk-zi)2＝dki 2,k∈[1,N],i∈[1,M]。
The invention can realize the following technical effects:
(1) the invention effectively performs topology networking on the deployment of the base station, can enable the mobile equipment to carry the positioning base station, and can provide better personnel positioning and regulating methods in the fields of automation, emergency rescue and relief, medical care, motion tracking wireless indoor positioning and the like.
(2) The invention supports dynamic adjustment of the positioning base station, has flexible positioning mode layout and can effectively schedule the mobile positioning base station.
(3) Compared with positioning technologies based on RFID, Bluetooth and Zigbee, the positioning method has the advantage that the positioning method has smaller errors in precision.
Drawings
FIG. 1 is a basic flow diagram of the present invention;
FIG. 2 is a schematic diagram of deployment coordinates of a base station according to the present invention;
fig. 3 is a schematic diagram of a positioning algorithm of the present invention.
Detailed Description
In order to make the technical means of the present invention and the technical effects achieved thereby clearer and more complete, an embodiment is provided, and the following detailed description is made with reference to the accompanying drawings:
in order to make the layout of the positioning system flexible and dynamically optimized, realize accurate positioning of indoor personnel and improve the convenience of managing and regulating personnel, the embodiment provides a dynamic topological positioning method. When personnel are under the situations that fire rescue, anti-terrorism and the like are inconvenient to arrange base stations in advance, the base stations need to be dynamically arranged on site, and the coordinate positions of the base stations cannot be preset; because the effective communication distance between base stations, between the base stations and the tags is dozens of meters to two hundred meters, for wide areas such as high buildings or battlefields, effective topology needs to be carried out on the deployment of the base stations, and effective coverage of a positioning interval is ensured. The basic idea of this embodiment is to dynamically deploy the mobile positioning base station, and the mobile base station can be carried by unmanned aerial vehicles, and the like, and the position of the tag in the three-dimensional space is determined by different base station combinations in the space, so as to reduce the error.
As shown in fig. 1, the basic flow chart of the present invention includes the following steps:
(1) establishing a three-dimensional coordinate system:
selecting a base station as a base station 1, and setting the base station 1 as a coordinate origin; selecting a base station as a base station 2, determining an x axis by the base station 1 and the base station 2, and taking the direction of the base station 2 as the positive direction of the x axis and the coordinate of the base station 2 as (x)2,0,0),x2Is greater than 0; selecting a base station as a base station 3, determining an x-y plane by the base station 1, the base station 2 and the base station 3 together, and taking the direction of the base station 3 as a positive direction of a y axis and the coordinate of the base station 3 as (x)3,y3,0),y3Is greater than 0; selecting a base station as a base station 4, determining an x-y-z three-dimensional coordinate system by the base station 1, the base station 2, the base station 3 and the base station 4 together, and taking the direction of the base station 4 as the positive direction of a z axis, (x)4,y4,z4),z4Is greater than 0. Fig. 2 is a schematic diagram of deployment coordinates of base stations according to the present invention, where black dots represent base stations, and 4 base stations are taken as an example in the diagram, any two base stations cannot be co-located, any three base stations cannot be co-linear, and any four base stations cannot be co-planar. If co-point, co-linear, or co-planar conditions occur, one or more of the base stations may be moved to achieve the deployment requirements described above.
(2) Measuring distance between base stations:
respectively measuring the distance between M base stations by bilateral two-way ranging or bilateral one-way ranging, and realizing accurate ranging by Ultra Wide Band (UWB) technology, wherein the distance from the ith base station to the jth base station is recorded as dij,i∈[1,M],j∈[1,M]。
(3) Calculating the position coordinates of the base station:
after the distance is measured, the position of each base station can be deduced, and the relation satisfied by the coordinates is shown as formula 1:
equation 1: (x)i-xj)2+(yi-yj)2+(zi-zj)2＝dij 2,i∈[1,M],j∈[1,M]I ≠ j where x1＝0，x2＞0，y1＝0，y2＝0，y3＞0，z1＝0，z2＝0，z3＝0，z4Is greater than 0. The three-dimensional coordinate position of each base station can be calculated by solving the equation system.
(4) Measuring the distance between the label to be positioned and the base station;
each base station is communicated with the label to be positioned respectively, and the distance d between the base station i and the label k to be positioned is obtained in a bilateral two-way ranging mode or a bilateral one-way ranging modeikWhere k is [1, N ]],i∈[1,M]And N represents the total number of tags.
(5) Solving the position coordinates of the label to be positioned;
calculating the position (x) of the label k to be positioned on the three-dimensional plane through the 4 positioning base stations with the nearest measured distancesk,yx,zk) The relation between the base station i and the label k is shown in formula 2;
equation 2: (x)k-xi)2+(yk-yi)2+(zk-zi)2＝dki 2,k∈[1,N],i∈[1,M]
The three-dimensional coordinate position of each label can be calculated by solving the equation system. Fig. 3 is a schematic diagram of a positioning algorithm according to the present invention, which is a schematic diagram for solving the position of a certain label, wherein 4 origins in the schematic diagram represent base stations closest to the label to be positioned, five-pointed stars represent the label to be positioned, the four base stations are taken as the spherical centers, the distances between the four base stations and the label are taken as radii to make spherical surfaces, and the center of gravity of the intersected space region of several spherical surfaces is the position of the label.
The range of the distance between the base station and the base station or between the base station and the label is 0-200 m during ranging, and the distance outside the range is considered to be that the base station does not exist.
Deploying base stations in a three-dimensional space, wherein the number of the base stations is not less than 4; dynamic deployment should ensure that the base stations are as far apart as possible.
The above description is provided for the purpose of further elaboration of the technical solutions provided in connection with the preferred embodiments of the present invention, and it should not be understood that the embodiments of the present invention are limited to the above description, and it should be understood that various simple deductions or substitutions can be made by those skilled in the art without departing from the spirit of the present invention, and all such alternatives are included in the scope of the present invention.

Claims (8)

1. A dynamic topological positioning method comprises the following steps:
(1) dynamically deploying at least four base stations;
(2) selecting four base stations to establish a three-dimensional coordinate system;
(3) measuring distances between base stations;
(4) calculating the position coordinates of the base station;
(5) measuring the distance between the label to be positioned and the base station;
(6) and solving the position coordinates of the label to be positioned.
2. A dynamic topological positioning method according to claim 1, characterized in that: in the step (1), dynamic deployment ensures that any two base stations are not co-located, any three base stations are not co-linear, and any four base stations are not co-planar.
3. A dynamic topological positioning method according to claim 1, characterized in that: in the step (3) and the step (5), the distance range between the base station and the base station or between the base station and the label is 0-200 m, and the base station is considered to be absent at the distance outside the range.
4. A dynamic topological positioning method according to claim 1, characterized in that: the step (2) is to take the base station 1 as the origin of coordinates and the coordinates of the base station 2 as (x)2,0,0),x2Coordinate of base station 3 is (x) 03,y3,0),y30, base station 4 has coordinates of (x)4,y4,z4),z4＞0。
5. The dynamic topological positioning method according to claim 4, characterized in that: in the step (3), the distance between each base station is respectively measured in a bilateral two-way ranging or bilateral one-way ranging mode, the ultra-wideband technology is adopted to realize accurate ranging, and the distance from the ith base station to the jth base station is recorded as dij,i∈[1,M],j∈[1,M]。
6. The dynamic topological positioning method of claim 5, wherein: in the step (4), the specific calculation formula is (x)i-xj)2+(yi-yj)2+(zi-zj)2＝dij 2,i∈[1,M],j∈[1,M]I ≠ j, where x1＝0，x2＞0，y1＝0，y2＝0，y3＞0，z1＝0，z2＝0，z3＝0，z4＞0。
7. A dynamic topological positioning method according to claim 6, characterized in that: in the step (5), each base station communicates with the tag to be positioned respectively, and the distance d between the base station i and the tag k to be positioned is obtained in a bilateral two-way ranging or bilateral one-way ranging modeikWhere k is [1, N ]],i∈[1,M]And N represents the total number of tags.
8. A dynamic topological positioning method according to claim 7, characterized in that: in the step (6), the position (x) of the label k to be positioned on the three-dimensional plane is calculated through the 4 positioning base stations with the nearest measured distancesk,yk,zk) The relation formula between the base station i and the label k to be positioned is (x)k-xi)2+(yk-yi)2+(zk-zi)2＝dki 2,k∈[1,N],i∈[1,M]。
CN201911315976.7A 2019-12-19 2019-12-19 Dynamic topology positioning method Pending CN111007459A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112180321A (en) * 2020-08-21 2021-01-05 天津市山石机器人有限责任公司 Adjusting method applied to relative position of control coordinate system of 3D positioning system
CN112180322A (en) * 2020-08-21 2021-01-05 天津市山石机器人有限责任公司 Method for establishing basic coordinate system of space positioning system
CN112180319A (en) * 2020-08-21 2021-01-05 天津市山石机器人有限责任公司 Space positioning system based on left and right chirality and positioning method thereof
CN114513739A (en) * 2020-10-27 2022-05-17 Oppo广东移动通信有限公司 Indoor positioning system, indoor positioning method and related products

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CN109640256A (en) * 2019-01-28 2019-04-16 东北大学秦皇岛分校 Layered stereoscopic monitoring method and system based on UWB positioning
CN110177337A (en) * 2019-05-30 2019-08-27 河南大学 Indoor orientation method and indoor positioning shopping cart system

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CN101965052A (en) * 2010-10-15 2011-02-02 浙江工业大学 Wireless sensing network node positioning method based on optimal beacon set
CN108072860A (en) * 2016-11-18 2018-05-25 南京大学 A kind of 3-D positioning method based on radio communication base station
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112180321A (en) * 2020-08-21 2021-01-05 天津市山石机器人有限责任公司 Adjusting method applied to relative position of control coordinate system of 3D positioning system
CN112180322A (en) * 2020-08-21 2021-01-05 天津市山石机器人有限责任公司 Method for establishing basic coordinate system of space positioning system
CN112180319A (en) * 2020-08-21 2021-01-05 天津市山石机器人有限责任公司 Space positioning system based on left and right chirality and positioning method thereof
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CN114513739A (en) * 2020-10-27 2022-05-17 Oppo广东移动通信有限公司 Indoor positioning system, indoor positioning method and related products

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Application publication date: 20200414