CN111398942A - Positioning system and method based on antenna pair - Google Patents
Positioning system and method based on antenna pair Download PDFInfo
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- CN111398942A CN111398942A CN202010419398.8A CN202010419398A CN111398942A CN 111398942 A CN111398942 A CN 111398942A CN 202010419398 A CN202010419398 A CN 202010419398A CN 111398942 A CN111398942 A CN 111398942A
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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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
- G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
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Abstract
The invention discloses a positioning system based on antenna pairs and a method thereof, wherein the system at least comprises a pair of base stations, the base stations are connected with a server terminal through a network switch, the base stations are respectively positioned at two sides of an obstacle, the base stations are provided with antennas, and the antennas of the base stations face the non-shielding direction respectively. The invention solves the problem that the ultrahigh frequency signal can not accurately distinguish two sides of the wall.
Description
Technical Field
The invention relates to an indoor positioning technology, in particular to a positioning system and a positioning method based on an antenna pair.
Background
In the field of indoor positioning, most high-frequency signals have poor anti-interference performance, such as the most widely used 2.4G signals (wifi, bluetooth and the like), and are used for ultra-high precision positioning UWB signals. When these high-frequency signals are blocked by a wall or a human body, the signal changes greatly, and the signals can hardly be used for positioning.
In addition, the above-mentioned positioning technology is a concept having a positioning accuracy, such as 1M accuracy or the like, even without interference in the environment. For most positioning scenes, no problem exists, but in a specific occasion, such as rapid door access judgment, the existing positioning technology is not enough to guarantee that the interior and the exterior of a wall can be rapidly distinguished by hundreds of percent.
Therefore, by utilizing the characteristic that the high-frequency signals are easily interfered by a wall body, the positioning method for accurately distinguishing two sides of the wall body based on the antenna pair is invented, and the more serious the signal is interfered by the wall body, the more effective the method is.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an antenna pair-based positioning system and method for solving the problem that ultrahigh frequency signals cannot accurately distinguish two sides of a wall.
The purpose of the invention is realized by the following technical scheme.
A positioning system based on antenna pairs at least comprises a pair of base stations, wherein the base stations are connected with a server terminal through a network switch, the base stations are respectively positioned on two sides of a barrier, antennas are arranged on the base stations, and the antennas of the base stations face the non-shielding direction respectively.
The base station is a 2.4G base station, and the antenna is a 2.4G antenna.
The antenna is a directional antenna.
A positioning method based on antenna pairs comprises the following steps:
1) setting an area A and an area B on two sides of the obstacle, so that a pair of antennas respectively appear in the area A and the area B, wherein the signal obtained by the antenna in the area A is rsi 1, and the signal obtained by the antenna in the area B is rsi 2;
2) the positioning base station acquires RSSI values of an antenna and a mobile point, (RSSI1, RSSI2) as a signal input;
3) filtering the rssi obtained in step 1) using a confidence threshold thre1, deleting the untrusted "signal inputs";
4) setting a threshold thre2 to filter "signal inputs" where the signal difference is not significant enough;
5) the processed 'signal input' has rsi 1> thre1, rsi 2> thre1, abs (rsi 1-rsi 2) > thre 2;
6) putting the rssi 1-rssi 2 difference result meeting the condition into a sliding window, and maintaining the window by using a FIFO (first in first out) method according to the insertion time sequence;
7) the sliding window has aging time, old data is deleted periodically, and timeliness and accuracy of a window positioning result are guaranteed;
8) the sum of all differences within the window is calculated, indicating rssi1< rssi2, i.e., located in region B, when the sum of all differences within the window is negative, and indicating rssi1> rssi2, i.e., located in region a, when the sum of all differences within the window is positive.
Compared with the prior art, the invention has the advantages that: 1. the invention can effectively distinguish the inside and the outside of the wall body based on the signal attenuation principle of the shielding object. The specific position of the door is judged by the positioning accuracy instead of the positioning accuracy, and the door is suitable for places needing to be judged by entering and exiting the door.
2. The antenna pair positioning algorithm of the invention aims to solve the instability of the ultrahigh frequency signal intensity, increases a smooth window and ensures the reliability of the positioning result based on the signal difference.
3. Compared with the traditional positioning means, such as three-point positioning and the like, the area positioning system based on the antenna pair can finish the judgment of the entrance and exit by only one pair of antennas, does not need to be intensively arranged in the environment, and has the advantages of simple implementation and low equipment consumption.
4. The area positioning system based on the antenna pair can regard the pair of antennas as a sensor for judging the entering and exiting, is convenient to flexibly deploy the sensor for judging the entering and exiting, and can be dynamically expanded and used in a target environment.
Drawings
FIG. 1 is a system configuration diagram of the present invention.
Fig. 2 is a schematic diagram of the positioning method of the present invention.
FIG. 3 is a flow chart of a positioning method according to the present invention.
Detailed Description
The invention is described in detail below with reference to the drawings and specific examples.
As shown in fig. 1, a typical scenario includes 2 2.4G base stations (including 2.4G antennas), 1 server terminal, 1 network switch, and a plurality of mobile stations to be located.
1. 2 2.4G base stations are installed back to back on both sides of the shelter wall. The 2.4G base station comprises a 2.4G antenna, if the built-in antenna is a directional antenna, the effect is better, and the antennas are arranged back to back and face towards the non-shielding direction respectively. The 2.4G base station can receive and send 2.4G signals and can acquire the RSSI signal strength value of the 2.4G signals.
2. The 2.4G base station is connected with the server terminal through the network switch, and the 2.4G base station uploads the RSSI value received in real time to the server terminal.
3. And the server terminal runs an antenna-to-area positioning algorithm. The algorithm can complete area positioning by utilizing two paired 2.4G antenna signals, and identify which measurement of a moving point to be positioned on a wall shelter. For any mobile point, the signal difference of two directional base stations mainly comes from wall interference.
As shown in fig. 2, antenna a and antenna b form an antenna pair with a wall therebetween. For mobile station 1, the attenuation of antenna a is mainly due to the solid wall, while antenna b is line-of-sight and has no obstruction, so that the signal strength of antenna a received by mobile station 1 should be smaller than that of antenna b. For the mobile station 2, the attenuation of the antenna a is mainly solid wall + shelter, and the attenuation of the antenna b is mainly shelter, so that the signal strength of the mobile station 2 receiving the antenna a should be smaller than that of the antenna b. In any positioning area, two sides of the wall can be distinguished through the antenna pair.
As shown in fig. 3, a positioning method based on antenna pairs includes the steps of:
1) setting an area A and an area B on two sides of the obstacle, so that a pair of antennas respectively appear in the area A and the area B, wherein the signal obtained by the antenna in the area A is rsi 1, and the signal obtained by the antenna in the area B is rsi 2;
2) the positioning base station acquires RSSI values of an antenna and a mobile point, (RSSI1, RSSI2) as a signal input;
3) considering the attenuation of wireless signals, no distinguishing condition is provided at a far distance, and the interference of obstacles on the signal strength of the two antennas is not obvious.
Therefore, the RSSI obtained in step 1 is filtered using a confidence threshold thre1 (determined from experience of hardware devices, typically RSSI values at a longer distance), and the untrusted "signal input" is deleted for the wireless signal RSSI and the distance relationship RSSI ═ 10n L nd + a, where n is the path loss index and is related to the environment, a is an intrinsic value related to the hardware, RSSI and distance show a logarithmic trend of change, and the change of RSSI is less obvious the farther the distance is, after actual environment measurement, a certain value with insignificant RSSI discrimination is obtained as thre1, RSSI that satisfies thre1 is obvious with distance change, RSSI that does not satisfy thre1 is not obvious with distance change, wherein for 2.4G signals, RSSI that generally does not change obviously at a distance of 10 meters, and the average RSSI at 10 meters can be taken as thre 1.
4) Considering the interference characteristics of an obstacle, two antennas will have a fixed signal difference, and a threshold thre2 is set to filter "signal inputs" where the signal difference is not significant enough. The threshold thre2 is generally a fluctuation error of rssi, and measurement acquisition needs to be performed for an actual wireless system, for example, in a certain system, if rssi satisfies thre1, the system is kept still, and if the amplitude of signal fluctuation of the wireless system is x, thre2 is set to x.
5) The processed 'signal input' has rsi 1> thre1, rsi 2> thre1, abs (rsi 1-rsi 2) > thre 2;
6) putting the rssi 1-rssi 2 difference result meeting the condition into a sliding window, and maintaining the window by using a FIFO (first in first out) method according to the insertion time sequence;
7) the sliding window has aging time, old data is deleted periodically, and timeliness and accuracy of a window positioning result are guaranteed;
8) the sum of all differences within the window is calculated, indicating rssi1< rssi2, i.e., located in region B, when the sum of all differences within the window is negative, and indicating rssi1> rssi2, i.e., located in region a, when the sum of all differences within the window is positive.
Real-time RSSI signals have been acquired for the mobile station with respect to all the positioning base stations.
All RSSI signals are combined into a feature vector<rssit1，rssit2，rssit3，......，rssitn>。
And the distance of the feature vector is calculated for each simulated reference node (i.e., the gray circle position in the graph). The simulated reference node feature vectors have been generated during the offline acquisition phase, as described in detail in fig. 2.
And selecting a plurality of positions of the simulation reference nodes which are closest to each other, such as the positions of the moving points in the graph 2, and calculating the average coordinates of the positions, namely the coordinates of the final positioning points to finish positioning.
Claims (4)
1. A positioning system based on antenna pairs is characterized by at least comprising a pair of base stations, wherein the base stations are connected with a server terminal through a network switch, the base stations are respectively positioned on two sides of an obstacle, the base stations are provided with antennas, and the antennas of the base stations face the non-shielding direction respectively.
2. An antenna pair based positioning system according to claim 1, wherein said base station is a 2.4G base station and said antenna is a 2.4G antenna.
3. An antenna pair based positioning system according to claim 1 or 2, characterized in that the antennas are directional antennas.
4. A positioning method based on antenna pairs is characterized by comprising the following steps:
1) setting an area A and an area B on two sides of the obstacle, so that a pair of antennas respectively appear in the area A and the area B, wherein the signal obtained by the antenna in the area A is rsi 1, and the signal obtained by the antenna in the area B is rsi 2;
2) the positioning base station acquires RSSI values of an antenna and a mobile point, (RSSI1, RSSI2) as a signal input;
3) filtering the rssi obtained in step 1) using a confidence threshold thre1, deleting the untrusted "signal inputs";
4) setting a threshold thre2 to filter "signal inputs" where the signal difference is not significant enough;
5) the processed 'signal input' has rsi 1> thre1, rsi 2> thre1, abs (rsi 1-rsi 2) > thre 2;
6) putting the rssi 1-rssi 2 difference result meeting the condition into a sliding window, and maintaining the window by using a FIFO (first in first out) method according to the insertion time sequence;
7) the sliding window has aging time, old data is deleted periodically, and timeliness and accuracy of a window positioning result are guaranteed;
8) the sum of all differences within the window is calculated, indicating rssi1< rssi2, i.e., located in region B, when the sum of all differences within the window is negative, and indicating rssi1> rssi2, i.e., located in region a, when the sum of all differences within the window is positive.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112578333A (en) * | 2020-12-24 | 2021-03-30 | 江苏新冠亿科技有限公司 | Intelligent trolley initial coordinate detection method, intelligent trolley and storage medium |
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- 2020-05-18 CN CN202010419398.8A patent/CN111398942A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001065795A1 (en) * | 2000-02-28 | 2001-09-07 | Golden Bridge Technology Inc. | Sectorized smart antenna system and method |
| CN101604397A (en) * | 2009-07-17 | 2009-12-16 | 公安部第三研究所 | Passive ultra-high frequency rfid indoor positioning system |
| JP5555347B1 (en) * | 2013-03-13 | 2014-07-23 | 中国電力株式会社 | Position detection system and position detection method |
| CN104363652A (en) * | 2014-10-11 | 2015-02-18 | 大连诚高科技股份有限公司 | Positioning method and positioning system capable of precisely judging area boundaries in real time |
| CN105510875A (en) * | 2015-11-24 | 2016-04-20 | 四川中电昆辰科技有限公司 | Base station, positioning system and positioning method for multi-area positioning |
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