CN113702959A - Wireless ranging method and device - Google Patents
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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 application provides a wireless ranging method and a wireless ranging device. The method comprises the steps of calculating a plurality of first distance values according to the received signal power and the transmitted signal power of a plurality of channels respectively, wherein the first distance values represent the length of a wireless signal propagation path; and obtaining a second distance value according to the plurality of first distance values, wherein the second distance value is used as the measured distance between the wireless transmitting equipment and the wireless receiving equipment. The second distance value measured by the method of the application is closer to the real distance value.
Description
Technical Field
The application belongs to the technical field of wireless, and particularly relates to a wireless ranging method and device.
Background
When measuring the distance between a wireless transmitting device (e.g., bluetooth device a) and a wireless receiving device (e.g., bluetooth device B), it is common practice for the wireless transmitting device to transmit a wireless signal on a single channel, compare the difference between the transmitted signal power and the received signal power (i.e., path loss), infer the propagation path length of the wireless signal from a free space loss model, and approximate this length as the distance between the two wireless devices.
Disclosure of Invention
The application aims to provide a wireless ranging method and a wireless ranging device.
The technical scheme is as follows: a wireless ranging method for measuring a distance between a wireless transmitting device and a wireless receiving device, the method comprising:
calculating a plurality of first distance values according to the received signal power and the transmitted signal power of a plurality of channels respectively, wherein the first distance values represent the length of the wireless signal propagation path;
and obtaining a second distance value according to the plurality of first distance values, wherein the second distance value is used as the measured distance between the wireless transmitting equipment and the wireless receiving equipment.
The technical scheme is as follows: a wireless ranging apparatus, comprising:
a first distance calculation module, configured to calculate a plurality of first distance values according to received signal powers and transmitted signal powers of a plurality of channels, respectively, where the first distance values represent lengths of propagation paths of the wireless signals;
and the second distance calculation module is used for obtaining a second distance value according to the plurality of first distance values, and the second distance value is used as the measured distance between the wireless transmitting equipment and the wireless receiving equipment.
The technical scheme is as follows: a wireless ranging apparatus, comprising: a memory storing instructions and a processor executing the instructions to perform the aforementioned wireless ranging method.
Compared with the prior art, the beneficial effect of this application is: because the multipath interference of different channels is different (the channel seriously interfered by the multipath is a few) and the multipath interference of different signals has certain correlation, the second distance value obtained by analyzing a plurality of first distance values obtained by calculating the path loss of different channels can reflect the real distance between the wireless transmitting equipment and the wireless receiving equipment.
Drawings
Fig. 1 is a graph of the RSSI-frequency relationship of different channels obtained by experiments conducted by the inventors of the present application.
Fig. 2 is a flowchart of a wireless ranging method according to an embodiment of the present application.
Fig. 3 is a structural diagram of a neural network according to an embodiment of the present application.
Fig. 4 is a block diagram of a wireless ranging apparatus according to an embodiment of the present application.
Fig. 5 is a block diagram of a wireless ranging apparatus according to another embodiment of the present application.
Detailed Description
In this application, it will be understood that terms such as "including" or "having," or the like, are intended to indicate the presence of the disclosed features, integers, steps, acts, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, acts, components, parts, or combinations thereof.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
The application is further described with reference to examples of embodiments shown in the drawings.
Referring to fig. 1, the inventors of the present application have studied that there are a plurality of propagation paths for a wireless signal transmitted from a wireless transmitting device to reach a wireless receiving device. The wireless signal can be propagated to the wireless receiving equipment along a straight line and can reach the wireless receiving equipment after being reflected by the ground or the wall. Thus, the amplitude and phase of the wireless signal arriving at the wireless receiving device are different. These signals may either enhance or cancel each other. This results in inaccurate distance values between the wireless transmitting device and the wireless receiving device being inferred by virtue of the path loss of a single channel.
Referring to fig. 2, a Received Signal Strength Indication (RSSI) represents a received signal power versus a transmitted signal power. For individual channels, the received signal strength indicator is small, i.e. multipath phenomenon causes the received signal power to be attenuated greatly relative to the transmitted signal power, and accordingly, the distance between the wireless transmitting device and the wireless receiving device is far larger than the real distance between the wireless transmitting device and the wireless receiving device.
Based on the above analysis, embodiments of the present application provide a wireless ranging method for measuring a distance between a wireless transmitting device and a wireless receiving device. Referring to fig. 2, the method includes the following steps.
That is, the wireless transmitting device sequentially transmits wireless signals on different channels. The power of received signals of different channels received by the wireless receiving device is measured. And obtaining the path loss according to the difference between the power of the transmitting signal and the power of the receiving signal. And then calculating to obtain a first distance value according to the free space loss model and the path loss.
Specifically, each channel corresponds to a center frequency.
And 102, obtaining a second distance value according to the plurality of first distance values, wherein the second distance value is used as the measured distance between the wireless transmitting equipment and the wireless receiving equipment.
Because the multipath interference of different channels is different (the channels seriously interfered by the multipath are a few) and the multipath interference of different signals has certain correlation, the second distance value obtained by carrying out statistical analysis on a plurality of first distance values obtained by calculating the path loss of different channels can reflect the real distance between the wireless transmitting equipment and the wireless receiving equipment.
In some embodiments, a first distance value is calculated from the received signal power and the transmitted signal power for each channel according to the following equation:
P1-P2＝32.45+20×log(f)+20×log(d)，
wherein P1 is the transmitted signal power of the channel in dBm, P2 is the received signal power of the channel in dBm, f is the center frequency of the single channel in MHz, and d is the first distance value in Km.
The above is a specific calculation method for obtaining the first distance value by calculating according to the free space loss model and the path loss.
In some embodiments, deriving a second distance value from the plurality of first distance values comprises:
taking a maximum value of the plurality of first distance values as the second distance value; or,
taking a median value of the plurality of first distance values as the second distance value.
This is because only a part of the channels are significantly affected by the multipath interference, and the measured distance value between the wireless transmitting device and the wireless receiving device is relatively more reliable by using the maximum value or median value of the first distance values.
In some embodiments, deriving a second distance value from the plurality of first distance values comprises:
and inputting the plurality of first distance values and the median value and the maximum value thereof into a neural network, wherein the input layer of the neural network is connected (namely, the linear combination of the input values of the neural network is superposed with an offset to obtain a result and then input into a single neuron), and the output of the single neuron is used as the second distance value.
Specifically, referring to FIG. 3, the neural network has only one neuron, signals x1 through xN are N-2 first distance values, median values thereof, and maximum values thereof, w1 through wN are N scaling factors, and b is an offset. It should be noted that the center frequencies corresponding to the N-2 first distance values and their front-to-back ordering are preset.
Optionally, the activation function of the single neuron employs a ReLU activation function. In this way, it can be ensured that the output of the model is a positive value, so that the output of the activation function can be directly used as the second distance value.
In the step of performing parameter optimization on the neural network, for example, Adam algorithm may be used to perform parameter optimization, and the loss function may be selected as a mean square error function.
Data during model training and testing may be measured experimentally. For example, the actual distance between the wireless transmitting device and the wireless receiving device is manually measured, wireless signals are transmitted on different channels, the path loss is calculated, and the first distance value is deduced according to the path loss.
The data in the test data set may also be generated by means of simulation calculations.
Specifically, a plurality of propagation paths with different delays are generated at random (a radio signal is considered to propagate at the speed of light, and one delay corresponds to the length of one propagation path). The path loss of the wireless transmission signal on different propagation paths is then calculated (the path loss can be considered as uniform because the overall frequency difference is small relative to 2.4 GHz. And then converting the received signal in the time domain into the frequency domain, and selecting the signal intensity value corresponding to the frequency value of the single frequency point in the frequency spectrum as the intensity value of the received signal.
In some embodiments, the wireless transmitting device and the wireless receiving device are both bluetooth devices. I.e., both implement wireless ranging by transceiving bluetooth signals in multiple channels in sequence.
The inventor takes bluetooth ranging as an example to perform experiments, and compares the conventional ranging method with the ranging method provided in the embodiments of the present application.
In an indoor environment, the real distance between the Bluetooth transmitting device and the Bluetooth receiving device is less than 10 meters. 40 channels are used for transmission and reception of radio signals, respectively.
The conventional scheme is adopted, namely the correlation between the distance value obtained by calculating the path loss of only one channel and the real distance value is 0.729.
Since only a part of channels are seriously interfered by the multi-path, the correlation between the maximum value of the first distance values calculated by all the channels and the real distance is 0.827.
Since only a part of the channels are affected by the multi-path interference, the correlation between the median value of the first distance values calculated by all the channels and the true distance value is 0.820.
Since the effects of different multipaths on the respective channels are correlated, the correlation between the second distance value and the true distance value obtained by the aforementioned machine learning method is 0.916.
Based on the same inventive concept as the previous embodiment, an embodiment of the present application further provides a wireless ranging apparatus, referring to fig. 4, including:
a first distance calculation module 1, configured to calculate a plurality of first distance values according to received signal powers and transmitted signal powers of a plurality of channels, respectively, where the first distance values represent lengths of propagation paths of the wireless signals;
and the second distance calculation module 2 is configured to obtain a second distance value according to the plurality of first distance values, where the second distance value is used as the measured distance between the wireless transmitting device and the wireless receiving device.
Optionally, the first distance calculating module 1 is specifically configured to calculate a first distance value according to the received signal power and the transmitted signal power of each channel according to the following formula:
P1-P2＝32.45+20×log(f)+20×log(d)，
wherein P1 is the transmitted signal power of the channel in dBm, P2 is the received signal power of the channel in dBm, f is the center frequency of the single channel in MHz, and d is the first distance value in Km.
Optionally, the second distance calculating module 2 is specifically configured to:
taking a maximum value of the plurality of first distance values as the second distance value; or,
taking a median value of the plurality of first distance values as the second distance value.
Optionally, the second distance calculating module 2 is specifically configured to:
inputting the plurality of first distance values and median and maximum values thereof into a neural network, wherein input layers of the neural network are connected to a single neuron, and an output of the single neuron is used as the second distance value.
Optionally, the activation function of the single neuron employs a ReLU activation function.
Optionally, the wireless sending device and the wireless receiving device are both bluetooth devices.
Referring to fig. 5, an embodiment of the present application further provides a wireless ranging apparatus, including: a memory storing instructions and a processor executing the instructions to perform the aforementioned wireless ranging method.
The embodiments in the present application are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments.
The protective scope of the present application is not limited to the above-described embodiments, and it is apparent that various modifications and variations can be made to the present application by those skilled in the art without departing from the scope and spirit of the present application. It is intended that the present application also include such modifications and variations as come within the scope of the appended claims and their equivalents.
Claims (13)
1. A wireless ranging method for measuring a distance between a wireless transmitting device and a wireless receiving device, the method comprising:
calculating a plurality of first distance values according to the received signal power and the transmitted signal power of a plurality of channels respectively, wherein the first distance values represent the length of the wireless signal propagation path;
and obtaining a second distance value according to the plurality of first distance values, wherein the second distance value is used as the measured distance between the wireless transmitting equipment and the wireless receiving equipment.
2. The method of claim 1, wherein a first distance value is calculated from the received signal power and the transmitted signal power for each channel according to the following equation:
P1-P2＝32.45+20×log(f)+20×log(d)，
wherein P1 is the transmitted signal power of the channel in dBm, P2 is the received signal power of the channel in dBm, f is the center frequency of the single channel in MHz, and d is the first distance value in Km.
3. The method of claim 1, wherein deriving a second distance value from the plurality of first distance values comprises:
taking a maximum value of the plurality of first distance values as the second distance value; or,
taking a median value of the plurality of first distance values as the second distance value.
4. The method of claim 1, wherein deriving a second distance value from the plurality of first distance values comprises:
and inputting a result obtained after the linear combination of the plurality of first distance values, the median value thereof and the maximum value thereof is superposed by an offset into an activation function, and taking the output of the activation function as the second distance value.
5. The method of claim 4, wherein the activation function is a ReLU activation function.
6. The method of claim 1, wherein the wireless transmitting device and the wireless receiving device are both bluetooth devices.
7. A wireless ranging apparatus, comprising:
a first distance calculation module, configured to calculate a plurality of first distance values according to received signal powers and transmitted signal powers of a plurality of channels, respectively, where the first distance values represent lengths of propagation paths of the wireless signals;
and the second distance calculation module is used for obtaining a second distance value according to the plurality of first distance values, and the second distance value is used as the measured distance between the wireless transmitting equipment and the wireless receiving equipment.
8. The apparatus of claim 7, wherein the first distance calculating module is specifically configured to calculate a first distance value according to the received signal power and the transmitted signal power of each channel according to the following formula:
P1-P2＝32.45+20×log(f)+20×log(d)，
wherein P1 is the transmitted signal power of the channel in dBm, P2 is the received signal power of the channel in dBm, f is the center frequency of the single channel in MHz, and d is the first distance value in Km.
9. The apparatus of claim 7, wherein the second distance calculation module is specifically configured to:
taking a maximum value of the plurality of first distance values as the second distance value; or,
taking a median value of the plurality of first distance values as the second distance value.
10. The apparatus of claim 7, wherein the second distance calculation module is specifically configured to:
and inputting a result obtained after the linear combination of the plurality of first distance values, the median value thereof and the maximum value thereof is superposed by an offset into an activation function, and taking the output of the activation function as the second distance value.
11. The apparatus of claim 10, wherein the activation function of the single neuron employs a ReLU activation function.
12. The apparatus of claim 7, wherein the wireless transmitting device and the wireless receiving device are both Bluetooth devices.
13. A wireless ranging apparatus, comprising: a memory storing instructions and a processor executing the instructions to perform the method of any of claims 1 to 6.
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| CN115494489A (en) * | 2022-11-21 | 2022-12-20 | 蔚来汽车科技(安徽)有限公司 | Ranging method, medium, and electronic device based on radio signal reception intensity |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115494489A (en) * | 2022-11-21 | 2022-12-20 | 蔚来汽车科技(安徽)有限公司 | Ranging method, medium, and electronic device based on radio signal reception intensity |
| WO2024109338A1 (en) * | 2022-11-21 | 2024-05-30 | 蔚来汽车科技(安徽)有限公司 | Ranging method based on received radio-signal strength, and medium and electronic device |
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