CN100507600C - Indoor precision orientation method of following multi-moving target - Google Patents
Indoor precision orientation method of following multi-moving target Download PDFInfo
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Abstract
This invention relates to indoor wireless sensor network technique, which is characterized by the following: the badge of this invention is movable and reader is fixed; position computer is to receive badges and reader distance data from different times through connector wire; setting signal alignment and distance computation module at badge, reader and connector CPU; setting computation module at computer and using radio frequency and super wave signals from badge time of arrival to compute distance; using extensive Kalman filter to compute position.
Description
Technical field
The invention belongs to the wireless sensor network field, relate in particular to the indoor wireless sensor network technique.
Background technology
Along with the popularization of GPS (GPS), people more and more need a kind of location-based service service (claiming location-aware services again).These application comprise position navigation, location security monitoring, depend on the information stores of position, the man-machine interaction of location aware, fields such as Spatial Data Mining.For example, Nian Qing father and mother need know child's position (location security monitoring example) at any time; People enter the museum or the market needs system to finish guide or shopping guide's (position navigation example) automatically; People wish can transfer vibration (the man-machine interaction example of location aware) to from jingle bell automatically after mobile phone enters meeting room; Wish that inquiry is from its nearest resource, as (depending on the Information Access example of position) such as printers; Hope is inferred (the Spatial Data Mining examples) such as WC pans that possibility is in bad repair in the location records of certain period.
These location-aware services all have need a key support system---positioning system is position sensing system in other words.Though GPS has obtained widely using in location-based outdoor service, has two factors to stop its application in indoor environment: the one, owing to can't penetrating buildings, the wireless signal of GPS make it in indoor environment, be difficult to work; The 2nd, because the bearing accuracy of GPS is difficult to satisfy the demand of indoor service.The GPS bearing accuracy is several meters (adopting the civilian precision of differential technique is 5 meters), and main targets such as people, household, equipment are generally the size of meter level in indoor environment, in order to distinguish humanoid big wisp, the precision of positioning system wishes to reach decimetre following (being that error is less than 1dm), the accuracy limitations of GPS its application in indoor environment, so people be badly in need of a kind of can be applied to indoor, follow the tracks of a plurality of targets and the positioning system of exact position be provided.
Utilize difference time of arrival of super body ripple and other signals to come the principle of estimated position similar application to be arranged in the Cricket system of Chinese invention patent 01144415.0 and masschusetts, u.s.a Polytechnics.Chinese invention patent 01144415.0 utilizes ultrasonic emitting to cooperate the synchronous method of infrared ray to realize a kind of device of handwriting input, and this device can be surveyed the two-dimensional coordinate position of the employed pen of user on a plane handwriting pad.The time of arrival difference that the Cricket system also is based on super body ripple and radio frequency realizes locating.The reference point of this system fixed position transmits, and the positioning unit received signal that is connected with PDA or computing machine, and on PDA or computing machine, extrapolate the position, this pattern is called the passive positioning pattern.The target that in the Cricket system, is positioned (as the people) not only need to carry positioning unit and also need carry supporting with it computing machine or PDA could realize the location.In addition, computing machine that is connected with positioning unit in the Cricket system or PDA only know the position of oneself, if so the user thought that solution space target complete position also needs other (does not provide Cricket) device itself and step to collect data on each computing machine or the PDA.The system of passive positioning pattern also has a very important shortcoming to be because the system that makes of the restriction of condition simultaneously is not so good as static target to the bearing accuracy of moving target.In the system of passive positioning pattern, transmitter transmits may be at synchronization, for static target, shown in Fig. 2 (a), the different distance values that constantly detect from same transmitter are constant, and system determines that the position of target is the position of target reality really like this; For moving target, shown in Fig. 2 (b), because the distance value of corresponding different transmitters is constantly different, the position of determining according to these different distance value systems constantly often is not the position of target reality.In contrast, in the aggressive mode positioning system, the positioning unit that target is carried transmits, and the reference point received signal of fixed position, the position of target complete is by system's background devices unified calculation and management.In this pattern, because the signal of the object that is positioned that each reference read device receives all is from the same moment, no matter target is static or mobile, and the distance value that is used for position calculation all satisfies condition simultaneously, and the system that makes like this can provide close bearing accuracy to moving with static target.
Summary of the invention
The object of the present invention is to provide a kind of indoor accurate position method and system that adopted aggressive mode.
The system of our invention is a cover wireless sensor network, and its combined echocardiography ripple and radio-frequency technique realize locating.Different with the Cricket system, be a kind of active positioning system.The building block of this system and principle of work are as shown in Figure 3.
As shown in Figure 3, this positioning system mainly is made up of four parts such as badge (CBadge), reader (CReader), connector (BaseCollector) and position calculation unit.Badge carries or is installed on this target by the target of need location, and it launches radio frequency and ultrasonic signal simultaneously according to the channel allocation mechanism of native system, and radiofrequency signal has been modulated the ID (identify label) of this badge.Reader is deployed in indoor fixed position, and on ceiling, its position records in advance.Because radio frequency is different with hyperacoustic velocity of propagation, when receiving radio frequency that badge sends and ultrasonic signal, reader will produce a TDoA, reader can be extrapolated its distance from badge according to this TDoA, and wireless connections pass to connector with range data, by Serial Port Line it are reported to position calculation unit at last.Position calculation unit runs on certain computing machine, and it is collected whole range data and calculates the position of each badge.Application program can be used as the client-access position calculation unit and obtains its needed target location.Fig. 4 is the use scene snapshot of this positioning system.The user carries badge, sends imperceptible ultrasound wave of people and radiofrequency signal, and system realizes the location according to two kinds of signals.In this positioning system, badge, reader, connector are called wireless sensor node.
Indoor orientation method of the present invention is characterized in that:
1. have following steps successively:
Step (1), sensor is coordinated and distance calculation module each sensor node of packing into:
Described each sensor node comprises following three types:
Badge equals or more than one, is made up of badge power supply, single-chip microcomputer and the ultrasonic transmitter that links to each other with single-chip microcomputer respectively and radio-frequency (RF) transceiver, sensor is housed in this single-chip microcomputer coordinates and distance calculation module; Ultrasonic transmitter adopts the omni-directional design, is made up of 5 orthogonal transmitters; Badge carries or is installed on this target by the target of need location, coordinates and the method for channel allocation described in the distance calculation module according to this sensor, and while emitting radio frequency signal and ultrasonic signal, wherein radiofrequency signal has been modulated the identify label of this badge;
Reader, quantity is deployed in indoor fixed position more than one, is made of ultrasonic receiver, single-chip microcomputer, controlled radio-frequency (RF) transceiver and the interface that is formed on this single-chip microcomputer, and this interface comprises USB and parallel port circuit; Be equipped with in this single-chip microcomputer that sensor is coordinated and distance calculation module, when this reader receives radiofrequency signal that badge sends and ultrasonic signal, record the mistiming of this both arrival, and calculate the distance of this reader and described badge in view of the above;
Connector has only one, and by single-chip microcomputer, the controlled radio-frequency (RF) transceiver that is formed on this single-chip microcomputer, and interface is formed; Sensor is housed in the single-chip microcomputer coordinates and distance calculation module the range data bag that this connector wireless receiving sends from reader;
Described sensor is coordinated and distance calculation module is carried out channel allocation and distance computation routine successively according to the following steps:
Each reader of step (1.a) and badge are intercepted radio-frequency channel;
Step (1.b) badge A launches radio frequency and ultrasonic signal simultaneously;
Certain reader of step (1.c) receives the radiofrequency signal frame, and is appointed as locating frame, signs in;
Step (1.d) counter of described reader opening time and timer; Timing maximum propagation time T millisecond,
Maximum propagation time-radio frequency frame launch time long (formula 1) of T=ultrasound frame in the space
"-" expression is subtracted each other;
The described reader of step (1.e) is intercepted the ultrasound wave channel;
Whether the described reader of step (1.f) is judged has ultrasound wave to arrive in the maximum propagation time T;
If do not arrive, continue execution in step (1.e), when maximum propagation time T, there is not ultrasound wave to arrive, then reported distance is lost, and returns step (1.a).While badge B is emitting radio frequency signal and ultrasonic signal simultaneously;
If there is ultrasound wave to arrive, then close counter, sign in;
Step (1.g) is calculated as follows difference TDoA time of arrival.
TDoA=ultrasound frame time of arrival-radio frequency frame time of arrival (formula 2)
The described reader of step (1.h) is calculated as follows actual difference t time of arrival
Actual:
t
Actual=TDoA+t
Com(formula 3)
t
ComThe difference in the moment of the radio frequency frame of receiving for reader and the moment of badge A emission radio frequency frame.
The temperature value q that step (1.i) provides according to the temperature sensor on the described reader proofreaies and correct velocity of sound v with following formula
Us:
v
Us=331.4+0.6q (formula 4)
Step (1.j) is calculated as follows the distance between badge A and the described reader:
V after the distance=temperature correction
Us* t
Actual(formula 5)
The range data that step (1.k) reader obtains step (1.i) with the form of locating frame to described connector wireless transmission;
Step (2), the position computation module position computer of packing into, position computer is communicated by letter with connector by USB interface, to receive locating frame, position computer links to each other with each reader by the parallel port circuit, and sensor is coordinated and distance calculation module to pack into to this single-chip microcomputer; Position computation module is carried out successively according to the following steps:
Gathering, the distance that step (2.a) is collected from each reader by connector chooses distance value effectively, with gram
To the multipath effect described each reader, step (2.a) contains following steps to the clothes ultrasound wave successively from badge A:
Step (2.a.1) position computer receives the range data with four-tuple [r, b, d, t] expression that described connector is sent by the USB serial ports, and r is a Reader ID, and b is badge ID, and d is a distance value, the system timestamp of badge A oneself when t is the signal emission;
Step (2.a.2) position computer is expressed as two tuples set [t to the range data in the step (2.a.1)
i, d
i], i=1,2 ..., express time, element is by the time series arrangement in the set;
The definition of step (2.a.3) position computer is apart from tuple D
i=[t
i, d
i, v
i], wherein
v
i=(d
i-d
I-1)/(t
i-t
I-1) (formula 6)
v
iBe range difference corresponding to the unit interval;
Step (2.a.4), position computer are set up a moving window, and what whole slide window was stored is the round-robin queue apart from tuple that every pair of reader and badge obtain.The average velocity of definition moving window is:
Step (2.a.5) is received new for tuple N=[t, d, v when position computer] time, if v≤min{ α V, V
Max, v wherein
MaxBe the maximum translational speed of the indoor target set, the peak acceleration of α for setting then included this four-tuple N in the moving window in, otherwise refused as invalid distance;
Step (2.b) position computer is inferred the geometric position that each target from the moving window that step (2.a) obtains.The method of taking is as follows:
The position calculation of this positioning system has adopted the method for EKF.EKF is made up of the round-robin iterator, and each step iteration is called a time step (time-step), and each time step is by predicting and correcting two stages and form, and each new measured value arrives, and promptly receives the new data [t of reader report
i, d
i], i=1,2 ..., all to carry out the calculating of a time step.The EKF state vector of this positioning system is made as 6 dimensional vectors, is designated as X=[x, y, z, v
x, v
y, v
z]
T, wherein (x, y z) are the 3-D coordinate position of badge, and (v
x, v
y, v
z) be the speed of object at 3 change in coordinate axis direction, measuring vectorial m is the measuring distance value d of reader report, is a scalar value.In each time step, position computation module is the predicted value of computing mode vector sum error covariance matrix at first, from sliding window filtrator, read new distance value (tuple) then, according to the measured value calculating K alman factor and correct state vector and error covariance matrix, the location components of the state vector after will correcting afterwards is as the D coordinates value output of badge then.
Step (3), system initialization
Step (3.1) is provided with the operational mode and the parameter of each sensor node, and described parameter contains at least:
The ID of badge and reader;
The shortest stand-by period of badge emission locating frame, the shortest stand-by period is maximum propagation time and locating frame emission random wait time to concentrate a little value
,
Be setting value;
The maximum wait time of badge emission locating frame, maximum wait time is maximum propagation time and locating frame emission random wait time to concentrate a big value
Be setting value;
Set hyperacoustic maximum propagation time, unit is us;
Step (3.2) is calculated the CONFIG.SYS that needs to each reader coordinate position writing position, and unit is cm, is integer;
Step (4) user capture position computer (1), the described method of step (2) set by step obtains the target location.
2. in step (1), the T after badge is waited for channel idle is after the time, waits for that again the t time just launches information, t be [
,
] a concentrated random number.
3. in described step (1), each reader needed the τ that waits for a period of time before transmit data frames, τ be [0, Γ
Data] in a kind of random number, Γ wherein
Data≤ T-D
DataD
DataBe Frame launch time.
4. Γ
DataCapping is 45ms, and this moment, the badge maximum coverage range was 15m, and radio frequency frame launch time is 15/331=45ms.
We have developed the prototype version prototype of this positioning system, from prototype system and corresponding test findings thereof, and major advantage below this positioning system:
◆ can in indoor environment, work.
◆ can follow the tracks of a plurality of target localizations simultaneously, not rely on environment (as illumination, user's expression, dress ornament etc.) and distinguish its identity (ID) exactly.
◆ high precision, average positioning error (3 dimension distance error) is less than 1dm.
◆ the bearing accuracy of moving target should be approaching with the static target object; Can refresh the position of target with higher frequency.
◆ the perform region of omni-directional, system all detects the position of the target that is positioned on all directions.The workspace of badge is-180 °～+ 180 ° a domed region, and the unobstructed operating distance of badge is 15m.
◆ wireless sensor node is of a size of: 8.8 * 3.0 * 4.3cm.The weight of badge charged pool (lithium battery) is about 50g.Small and exquisite, light, need not to be attached on other equipment (computing machine, PDA etc.) and also can work, easy to carry.
◆ each wireless sensor node need not other wiring by communicating wireless signals, is convenient to indoor deployment.
Description of drawings
The principle of work of Fig. 1 polygon localization method.
Condition in the time of Fig. 2 Passive Mode positioning system.
The composition of Fig. 3 system and principle of work.
This positioning system of Fig. 4 is used snapshot.
Fig. 5 badge model machine.
Fig. 6 reader model machine.
Fig. 7 connector model machine.
Fig. 8 ultrasound wave and radio frequency frame do not match.
The random back-off CSMA of Fig. 9 band data communication.
Figure 10 positioning signal receiving course.
Figure 11 receives and the distance calculation flow process.
The sliding window filter algorithm of Figure 12.
Figure 13 position calculation step.
The operational mode of Figure 14 badge and parameter setting.
The operational mode of Figure 15 reader and parameter setting.
The operational mode of Figure 16 connector and parameter setting.
The location-based service interface of this positioning system of Figure 17.
The spatial event service interface of this positioning system of Figure 18.
Embodiment
The present invention includes several sections:
I) sensor node circuit
The circuit design that comprises badge, reader, three kinds of nodes of connector.
II) sensor is coordinated and distance calculating method
The sensor control method for coordinating runs on each sensor node.It coordinates the channel allocation of each sensor, and computed range.
III) position calculating method
Position calculating method runs on the position calculation unit.The function that it is finished comprises: the data of collecting each sensor of this positioning system; Calculated target positions; Server as the application program access site.
Be the detailed description of various piece of the present invention below.
1, sensor node circuit
Set up with different configurations with modularized hardware.The title of each module, function and corresponding circuits figure explanation are in table 1.
Each module declaration of table 1 sensor node
| | Function | |
| 1. ultrasonic emitting | Be responsible for the ultrasonic emitting signal. | |
| 2. ultrasound wave receives | Be responsible for received ultrasonic signal. | |
| 3. radiofrequency emitting module | Be responsible for radio-frequency transmissions, the radio communication of badge location, reader all is to adopt this radio-frequency module to finish. | |
| 4. single chip control module | The center control section of sensor is carried out sensor and is coordinated and distance calculating method. | |
| 5. radio frequency-control linkage module | 3. specification module is connected with module circuit 4., two modules can be done together during printed wiring board using them. | |
| 6. power module | The power supply of |
|
| 7. interface module | USB and parallel port circuit that realization is connected with computing machine. | |
| 8. sensor-interface link block | 5. specification module is connected with |
5. module is composite module in table 1, and 4. 3. it be made of with module jointly module.3 kinds of sensor nodes of this positioning system are combined by each module group in the table 1, and we go out model machine for design of node.The block configuration explanation of each sensor node is in table 2, and corresponding model machine is presented among Fig. 5～Fig. 7.
Table 2 sensor node module is formed
| Sequence number | Sensor node | Module is formed | Remarks | Model machine figure |
| 1 | |
①+⑤+⑥ | 3. and 4. 5. module be made up of module | Fig. 5 |
| 2 | Reader | ②+⑤+⑥ | 3. and 4. 5. module be made up of module | Fig. 6 |
| 3 | Connector | ⑤+⑦ | Connecting circuit is seen |
Fig. 7 |
As can be seen from Figure 5 in order to overcome the restriction of ultrasonic signal on the direction zone, this positioning system has adopted the design of omni-directional transmitter to badge, and this transmitter is made up of 5 orthogonal sensors.1 yuan of coin and centimetre chi are the objects of reference as its size contrast among the figure.Be noted that sensor node need write the sensor coordination and the distance calculating method of (firing in other words) this positioning system in advance, 7. at this moment used linkage unit all adopts module.In write phase in advance, 7. each sensor is connected with module according to module explanation 8., and module parallel port 7. is connected to the parallel port of computing machine simultaneously, writes each sensor of back (except the connector) and can pull up isolated operation.When 7. module is moved as the part of connector, the parallel port need be pulled up, plug the connecting line of USB mouth, and be connected on the computer by serial by the converter (being called for short the USB-COM converter) of a USB commentaries on classics serial ports.
The chip of sensor node mainly comes from Max[1], Atmel[2] and Chipcon[3] etc. company.For example module microcontroller 4. adopts 8 AVR microcontroller Atmega128L[4 of Atmel company], sheet includes the Electrically Erasable Read Only Memory EEPROM (Electrically Erasable Programmable Read-Only Memory) of 4KB, in order to improve node storage data capability, this module the is external FLASH storer of a 512KB.That and for example the 3. middle radio-frequency transmissions chip of module adopts is the CC1000[5 of Chipcon company], its frequency of operation 433MHz, maximum data transfer rate 19.2Kb/s.The 1. middle ultrasonic emitting of module adopts the rectangular signal of 40KHz to drive.The performance index of sensor node are presented in the table 3.
Table 3 sensor node performance index
| Project | Index |
| EEPROM | 4KB |
| External memorizer | 512KB Flash |
| The radio frequency operation frequency | 433MHz |
| The rf data transfer rate | 19.2Kb/s |
| Ultrasound wave | The 40KHz square wave |
| Power supply | 2 joint AAA type batteries, or external 3V direct current. |
| Operating distance | 15m |
2, sensor is coordinated and distance calculating method
Sensor coordination and distance calculating method write each sensor node in advance before system's operation, be kept among the EEPROM of node.The prototype system of this positioning system realizes that this sensor adopts TinyOS[6 when coordinating with distance calculating method] as its operating system, NesC[7] as programming language (a kind of language that is similar to the C style).According to the division of its function, this sensor is coordinated to comprise 2 modules with distance calculating method: channel assignment module (or claiming the sensor Coordination module), distance calculation module.
1) channel assignment module
This positioning system is one and follows the tracks of multiobject system have a plurality of sensor nodes to work simultaneously in the system, and ultrasound wave still to be radio frequency all belong to a kind of shared channel, promptly can only be monopolized by certain node sometime.How to be the sensor assignment channel, the communication of organizing each sensor simultaneously is the work that positioning system at first will solve, and this work claims to coordinate each sensor node again.The module of finishing this work is a channel assignment module, claims the sensor Coordination module again.We have invented a kind of being called the mechanism of " the random back-off CSMA (Carrier Sense Multiple Access) of band data communication " on this module, are called for short RB-CSMA.
Traditional channel allocation mechanism is medium accesses visit MAC (the Medium Access Control) method that LAN (LAN (Local Area Network)), WLAN (WLAN (wireless local area network)), Cellular Networks etc. adopt.In these methods, what need to solve only is problem for a kind of medium (being wireless signal) allocated channel, and this positioning system faces is will be radio frequency and the ultrasound wave two media problem of allocated channel simultaneously, if adopt traditional MAC mechanism ultrasound wave and the unmatched problem of radio frequency frame can occur on this problem.
As shown in Figure 8, badge A launches radio frequency and ultrasound wave simultaneously, after website B listens to the radiofrequency signal sky after a period of time, and emission radio frequency and ultrasound wave.But certain reader is different to the distance of badge A and B, cause of the ultrasound frame arrival of the ultrasound frame of badge B prior to badge A, because ultrasound frame is not carried id information, to listen to website and take for the corresponding radio frequency frame A of ultrasound frame B, the distance of calculating according to this TDoA but is wrong.Must properly handle this problem when therefore sensor being carried out channel allocation.We have invented the method for a kind of RB-CSMA on this problem, it avoids not matching of ultrasound wave and RF, and realized the dual-use function of location and data communication, the method does not rely on the scheduling of Centroid, do not need complicated code decode algorithm (as Code Division Multiple Access CDMA), do not need strict time synchronized (as time-division multiple access (TDMA) TDMA) yet, realize simple, hardware requirement is low, and channel utilization is than higher.This method is described below:
As shown in Figure 9, in RB-CSMA mechanism, badge requires to wait for a period of time at least when idle and could launch radio frequency and ultrasound wave behind the T listening to radio-frequency channel, wherein:
Maximum propagation time-radio frequency frame launch time long (formula 8) of T=ultrasound frame in the space
Hereinafter T is called for short maximum propagation time.For example the maximum coverage range of the single badge of this positioning system is 15m at present, so the value of T is:
T=15m/v
The velocity of sound-RF frame ≈ launch time 15/331=45ms (formula 9)
In Fig. 9 as can be seen, launched the T of radio frequency and ultrasound frame in the time at certain badge, do not have other badge emissions, and the T time has guaranteed that just ultrasound frame can arrive the space maximum coverage range Anywhere, has avoided not matching of ultrasound wave and RF like this.Launch simultaneously for fear of listening to the badge of channel idle more than latter two, RB-CSMA requires badge to wait for channel idle T after the time, waits for t emission information just after the time again, t be from
A random number of concentrating makes the moment that transmits after each badge channel idle be evenly distributed on like this
In the interval, avoided a plurality of badges to be chosen in synchronization and transmitted and produce conflict.
On the other hand, at T to be launched such as each badge in the time, reader will apart from Frame (following abbreviation Frame, equally with the form emission of radio frequency, for the radiofrequency signal difference of badge emission location usefulness, claim that the latter is a locating frame) form launch.Also to wait for one τ period before each reader transmit data frames, T be from [0, Γ
Data] concentrated random number, wherein a Γ
Data≤ T-D
Data, D
DataFor the launch time of Frame long, and in our test of prototype system Γ
DataGet its upper limit.This mechanism make the probability of reader transmitting range be evenly distributed on (0, Γ
Data) in the time, avoid a plurality of readers to be chosen in the synchronization transmit data frames and produce conflict.
2) distance calculation module
Distance calculation module realizes calculating distance from radio frequency and hyperacoustic TDoA.Problem below in distance calculation, facing aspect several:
◆ the problem how processing signals (ultrasound wave) does not receive
Because ultrasonic propagation stops sensitivity to indoor equipment, make the propagation distance of radio-frequency channel much larger than hyperacoustic propagation distance, reader may receive the radio frequency locating frame, does not but receive ultrasound wave.
◆ reduce actual TDoA
Test by prototype system shows, the Δ t of detected mistiming of system is not that complete correspondence the actual mistiming t that reaches yet
Actual, (transmitting node is a badge among this figure, and receiving node is a reader) as shown in figure 10, it also comprises the needed time of signal Synchronization etc., needs the real TDoA of recovering signal before entering distance calculation.
◆ the velocity of sound is proofreaied and correct
Extrapolate apart from the process from TDoA, the velocity of sound is an important parameter that influences precision.In fact hyperacoustic velocity of propagation neither a fixing value, and it is subjected to Temperature Influence and corresponding fluctuation is arranged.
On this problem, this positioning system adopts the methods such as speed correction of detection effective time, time bias and temperature sensor guiding to overcome above problem respectively.This program circuit as shown in figure 11.
As can be seen from Figure 11, T after reader receives the radio frequency locating frame (maximum propagation time) does not receive ultrasound frame in the time, thinks that then ultrasound frame loses, and handles the problem that processing signals does not receive in this way.The t of Figure 11
ComThe synchronous required time of expression Figure 10, it records by test.The velocity of sound among the figure is to set according to the velocity of sound-hygrometric formula in the physics.
3, position calculating method
Position calculation is finished on position calculation unit, and its work comprises distance filtration and position calculation two parts.The former is used for choosing effective distance value from the distance set that each reader is collected, and the latter is from geometric position that distance is extrapolated each target.Be respectively described below below:
1) apart from filtering module
The distance value of collecting position calculation unit from each reader not all is an effective value.Because facilities such as indoor wall, furniture are to hyperacoustic reflection and stop, make that walk between ultrasound wave is from the badge to the reader is not vision straight line LOS
The multipath effect of (Line-of-Sight), Here it is signal.After producing multipath effect, the distance of calculating from this TDoA is not the length of LOS, but the length of broken line, this distance value is invalid, before calculated the in-position, these invalid datas must be filtered.On this problem, this positioning system using method value of adjusting the distance of sliding window filtrator filter.
Position calculation unit can be expressed as four-tuple [r, b, d from the data that serial ports receives, t], r is a Reader ID, b is badge ID, d is a distance value, the timestamp (this timestamp is the system time of badge oneself, and the time of each badge does not require synchronously) when t is the signal emission.For every pair of reader and badge, its range data can be expressed as two tuples set [t
i, d
i], i=1,2 ..., element is arranged by the time preface in the set.We define apart from tuple D is D
i=[t
i, d
i, v
i], v wherein
i=(d
i-d
I-1)/(t
i-t
I-1).Each moving window (being called for short sliding window) is one and is every pair of reader and the recent round-robin queue apart from tuple of badge storage.The average velocity of the sliding window of definition is
。New when receiving apart from tuple N=[t, d, v] time, if v≤min{ α V, V
Max, then it is gone in moving window, otherwise it is refused as invalid distance.V in the following formula
MaxBe the maximal rate of indoor object, and α represent peak acceleration.The flow process of this method as shown in figure 12.
2) position computation module
Position calculation is finished from distance and is extrapolated the work of the geometric position of each target.In theory, position calculation needs to solve but in fact face many problems as long as adopt triangle or polygon localization method just can realize simply:
◆ calculating location how when the distance value number is not equal to 4
The data that position computation module receives from distance filtering module unit constantly can be expressed as two tuple set: [p
i, d
i] i=0 ..., n-1.P wherein
i=(x
i, y
i, z
i) be the position of i reader, it is known in advance.And n is the number that this reports the reader of coverage value constantly, in other words the coverage number.The note badge position of desiring to ask be φ=(z), polygon localization method position calculation is to find the solution following equation in theory for x, y:
(formula 10) has the condition of unique solution is n=4.Yet in order to pursue the stability that signal covers, the reader quantity that people arrange in certain space may be more than 4, make like this some time be carved with to imitate that distance value can again can be greater than 4.On the other hand, because the noise of environment, the coverage value that receives when making certain can be less than 4.Come DR position if we think to use simply the polygon localization method, when the distance value number was not equal to 4, this method tended to lose efficacy.
◆ distance value deviates from actual value, how to handle this measurement noise
Owing to, receive the distance value of measuring and how much deviate from actual value from all factors of hardware, software and environment.This deviation is called the measurement noise, and it is inevitable.Although sliding window filtering can filter out the range noise that is caused by multipath effect, it can not handle the noise that is caused by measurement itself.If carefully do not handle this measurement noise well, bring very important influence will certainly for the calculating of position.
◆ range deviation can or can not cause the error on position calculation to amplify
Owing to measure the existence of noise, make reported distance deviate from actual value, this error causes the deviation on the position calculation.Problem is that range deviation can or can not cause the error on position calculation to amplify, is site error along with the increase of calculation procedure can or can not restrain?
◆ how computation complexity is controlled makes it too not big
The complexity of position calculation is unsuitable excessive, otherwise the position that long Time Calculation is come out has a greatly reduced quality its practical significance probably owing to moving of target becomes out-of-date.
On this problem, this positioning system using the method for a kind of extended Kalman filter (EKF, Extended Kalman Filter) come calculated target positions.Extended Kalman filter is based on observed reading system state is carried out the prediction and the correction of iteration, and finally estimates the method for the state of system.
This method has following characteristics:
◆ do not require distance value greater than 4, do not require that it is synchronous yet.
Even only receive a distance value, EKF can calculate the position.Entering EKF calculated distance value does not require yet and is in synchronization.
◆ can guarantee error variance minimum between estimated value and the actual value in the known situation of measuring error feature.
In EKF, if target retention wire sexual state or static, iterative step is many more, and then error can be more little.
◆ computation complexity is low.
In view of above advantage, the position calculation of this positioning system has just adopted the method for EKF.EKF is made up of the round-robin iterator, and each step iteration is called a time step (time-step), and each time step is by predicting and correcting two stages and form, and each new measured value arrives, and promptly receives the new data [t of reader report
i, d
i], i=1,2 ..., all to carry out the calculating of a time step.The EKF state vector of this positioning system is made as 6 dimensional vectors, is designated as X=[x, y, z, v
x, v
y, v
z]
T, wherein (x, y z) are the 3-D coordinate position of badge, and (v
x, v
y, v
z) be the speed of object at 3 change in coordinate axis direction, measuring vectorial m is the measuring distance value d of reader report, is a scalar value.In each time step, position computation module is the predicted value of computing mode vector sum error covariance matrix at first, from sliding window filtrator, read new distance value (tuple) then, according to the measured value calculating K alman factor and correct state vector and error covariance matrix, the location components of the state vector after will correcting afterwards is as the D coordinates value output of badge then.The flow process of whole position computation module as shown in figure 13.
The present invention at present is the development prototype system, and this prototype system is tested in Building 5,3 districts, Tsing-Hua University FIT building.The system performance of test reflection illustrates in " summary of the invention " part.Below in conjunction with accompanying drawing, concrete enforcement of the present invention is elaborated.
Step 1: sensor is coordinated to write each sensor node with distance calculating method.
Step 1.1: sensor node and interface module are connected according to the 8. illustrated mode of the module of table 1.The parallel port of interface module is connected to computing machine, and the USB mouth disconnects.
Step 1.2: operation TinyOS platform on the computing machine, and the content of following 3 catalogues is copied under the system root directory in the software package with native system.
/apps/Cicada/Cicada?application
/apps/Makerules
/tos/platform/Cicada/
Step 1.3: order below the operation then:
#MIB510＝/dev/ttyS0
#make?Cicada?install
Step 2: operational mode and parameter that each sensor node is set.
Step 2.1: sensor node and interface module are connected according to the 8. illustrated mode of the module of table 1.The parallel port of interface module is disconnected, plug the adapter of USB mouth by USB-COM and be connected to computer by serial COM1.
Step 2.2: start hyper terminal,
◆ the user is if the window platform then starts HyperTerminal, and according to table 4 parameter is set.
Table 4 Windows hyper terminal is provided with
◆ the user moves under root directory if the Linux platform then starts Minicom:
minicom-o-s
Be provided with according to table 4 content then.
Step 2.3: operational mode and parameter that sensor node is set under hyper terminal.The command set that uses in the hyper terminal is presented in the table 5.
The command set of table 5 hyper terminal
*The lower bound of the shortest stand-by period=maximum propagation time T+ locating frame emission random wait time collection
, and the maximum wait time=upper bound of maximum propagation time T+ locating frame emission random wait time collection
The order of application table 5 is provided with respectively badge, reader and connector, and it is provided with step and is presented at respectively among Figure 14, Figure 15 and Figure 16.
In being provided with of sensor node that Figure 14～Figure 16 shows,, just can skip corresponding order if the user feels the optimum actual conditions of default value.Be noted that because the MAC mechanism of the RB-CSMA of this positioning system using, when the space orientation target more for a long time, in order to reduce the probability of conflict, locating frame need be launched suitable increase of stand-by period.Table 6 is that the localizing objects that we recommend was provided with the emission stand-by period.
The emission stand-by period of table 6 localizing objects number and recommendation is provided with
Step 3: dispose each reader and CONFIG.SYS is set.
Step 3.1: at each interior volume administration reader.Please note these points during deployment:
◆ dispose 4 (comprising 4) readers in the space of each 10m * 10m * 5m at least, the user can situation occur according to blind area in the indoor environment, suitably increases the reader number.
◆ reader is not deployed on the same circle.
◆ reader is preferably away from fluorescent light.Test shows that the interference ratio to system during fluorescent lamp operation is bigger, causes bearing accuracy to descend.
Step 3.2: determine the coordinate system of system, and measure the 3-D coordinate of each reader under this coordinate system.Be noted that this coordinate system is the unique coordinate system of this positioning system, the target location also is to represent with the 3-D coordinate of this coordinate system.
Step 3.3: with each reader coordinate position writing system configuration file CReaderLoc.ini.CReaderLoc.ini is a text, and reader of each line display is in the position in space, and with the carriage return character ending, its form is as shown in table 7.Separate with space or Tab key between each in the table, X, Y, Z coordinate figure all are to be the integer of unit with cm, that is to say to measure to be accurate to cm.Please the user fill in each reader coordinate position in the space according to form in the table.
Table 7 CONFIG.SYS form
| The ID of reader | The X coordinate figure | The Y coordinate figure | The Z coordinate figure |
Step 4: prepare and operational system.
Step 4.1: the sensor node and the interface module that will be set to connector connect according to the 8. illustrated mode of the module of table 1, and the parallel port of interface module is disconnected, and plug the adapter of USB mouth by USB-COM and are connected to computer by serial COM1.
Step 4.2: the power switch of each reader is opened.
Step 4.3: at the windows platform LocServer.exe that runs application.Note to guarantee that CONFIG.SYS and application program are under same file before the operation.
Step 4.4: with badge binding or be worn to and need on the localizing objects, open the power switch of badge.Static or mobile along with localizing objects like this, this positioning system can on average provide the position of target every the time interval of (the shortest stand-by period+maximum wait time)/2 (inverse that claims the position refreshing frequency again).Notice that when badge was worked, the amber light on the plate will glimmer, represent that it is launching ultrasound wave.
Step 5: this positioning system of application access obtains the position or monitors its operation.Two steps listing below are arranged side by side, and one is used for this positioning system of application access acquisition position, and another is the tool software of this positioning system of monitoring operation.
Use one: visit this positioning system and obtain the position.Application can come the position of query aim by this positioning system of access application program with the LocRec.txt under the file.LocRec.txt is a text, belongs to the character stream form, each line item the position sometime of certain target.The form of each row is as shown in table 8.
Table 8 target location output file row format
| Target id | The X coordinate figure | The Y coordinate figure | The Z coordinate figure | System timestamp |
Target id is the ID of badge in the table 8, and system timestamp represents that this positioning system calculates the time of this position, illustrates that just each separates with ", " in the table in the position of this moment target.
Use two: the monitoring tools of this positioning system.In order dynamically to show the operation result of this positioning system, we are attached software---the LocClient that develops the operation of graphical this positioning system of monitoring.Move this positioning system application program and promptly enter the monitoring of this positioning system with the LocClient.exe program under the file.LocClient is in the position of a 3-D coordinate timely display-object identical with this positioning system position refreshing frequency, and this 3-D coordinate system can drag arbitrarily and regulate the visual angle, and its runnable interface as shown in figure 17.In addition, this positioning system also provides some spatial event service, as, when target enters/leave certain space, holding badge (be equal to and enter spatial event)/pass badge moment such as (are equal to and leave spatial event) can provide the events corresponding notice.The spatial event service interface of this positioning system as shown in figure 18.
List of references
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[2]http://www.atme.com
[3]
http://www.chipcon.com
[4]Atme?Corporation.8-bit?Microcontroer?with?128K?Bytes?In-System?Programmabe?Fash：ATmega?128/ATmega?128L.http://www.atme.com，2004
[5]Chipcon?Corporation.SmartRF
?CC1000?Datasheet.http://www.chipcon.com，2004
[6]
http://www.tinyos.net
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Claims (4)
1. a following multi-moving target indoor accurate position method is characterized in that, has following steps successively:
Step (1), sensor is coordinated and distance calculation module each sensor node of packing into:
Described each sensor node comprises following three types;
Badge equals or more than one, is made up of badge power supply, single-chip microcomputer and the ultrasonic transmitter that links to each other with single-chip microcomputer respectively and radio-frequency (RF) transceiver, sensor is housed in this single-chip microcomputer coordinates and distance calculation module; Ultrasonic transmitter adopts the omni-directional design, is made up of 5 orthogonal transmitters; Badge carries or is installed on this target by the target of need location, coordinates and the method for channel allocation described in the distance calculation module according to this sensor, and while emitting radio frequency signal and ultrasonic signal, wherein radiofrequency signal has been modulated the identify label of this badge;
Reader, quantity is deployed in indoor fixed position more than one, is made of ultrasonic receiver, single-chip microcomputer, controlled radio-frequency (RF) transceiver and the interface that is formed on this single-chip microcomputer, and this interface comprises USB and parallel port circuit; Be equipped with in this single-chip microcomputer that sensor is coordinated and distance calculation module, when this reader receives radiofrequency signal that badge sends and ultrasonic signal, record the mistiming of this both arrival, and calculate the distance of this reader and described badge in view of the above;
Connector has only one, and by single-chip microcomputer, the controlled radio-frequency (RF) transceiver that is formed on this single-chip microcomputer, and interface is formed; Sensor is housed in the single-chip microcomputer coordinates and distance calculation module the range data bag that this connector wireless receiving sends from reader;
Described sensor is coordinated and distance calculation module is carried out channel allocation and distance computation routine successively according to the following steps:
Each reader of step (1.a) and badge are intercepted radio-frequency channel;
Step (1.b) badge A launches radio frequency and ultrasonic signal simultaneously;
Certain reader of step (1.c) receives the radiofrequency signal frame, and is appointed as locating frame, signs in;
Step (1.d) counter of described reader opening time and timer; Timing maximum propagation time T millisecond,
The T=ultrasound frame in the space maximum propagation time-radio frequency frame is long launch time
"-" expression is subtracted each other;
The described reader of step (1.e) is intercepted the ultrasound wave channel;
Whether the described reader of step (1.f) is judged has ultrasound wave to arrive in the maximum propagation time T;
If do not arrive, continue execution in step (1.e), when maximum propagation time T, there is not ultrasound wave to arrive, then reported distance is lost, and returns step (1.a); While badge B is emitting radio frequency signal and ultrasonic signal simultaneously;
If there is ultrasound wave to arrive, then close counter, sign in;
Step (1.g) is calculated as follows difference TDoA time of arrival:
Time of arrival TDoA=ultrasound frame time of arrival-radio frequency frame
The described reader of step (1.h) is calculated as follows actual difference t time of arrival
Actual:
t
actual＝TDoA+t
com
t
ComThe difference in the moment of the radio frequency frame of receiving for reader and the moment of badge A emission radio frequency frame;
The temperature value q that step (1.i) provides according to the temperature sensor on the described reader proofreaies and correct velocity of sound v with following formula
Us:
v
us＝331.4+0.6q，
Step (1.j) is calculated as follows the distance between badge A and the described reader:
V after the distance=temperature correction
Us* t
Actual
The range data that step (1.k) reader obtains step (1.i) with the form of locating frame to described connector wireless transmission;
Step (2), the position computation module position computer of packing into, position computer is communicated by letter with connector by USB interface, and to receive locating frame, position computer links to each other with each reader by the parallel port circuit; Described position computation module is carried out successively according to the following steps:
Step (2.a) is chosen the effective distance value of deviation in the certain limit by connector from the distance set that each reader is collected, with overcome ultrasound wave from badge A to the multipath effect described each reader, step (2.a) contains following steps successively:
Step (2.a.1) position computer receives the range data with four-tuple [r, b, d, t] expression that described connector is sent by the USB serial ports, and r is a Reader ID, and b is badge ID, and d is a distance value, the system timestamp of badge A oneself when t is the signal emission;
Step (2.a.2) position computer is expressed as two tuples set [t to the range data in the step (2.a.1)
i, d
i], i=1,2 ..., express time, element is by the time series arrangement in the set;
The definition of step (2.a.3) position computer is apart from tuple D
i=[t
i, d
i, v
i], v wherein
i=(d
i-d
I-1)/(t
i-t
I-1)
v
iBe range difference corresponding to the unit interval;
Step (2.a.4), position computer are set up a moving window, and what whole slide window was stored is the round-robin queue apart from tuple that every pair of reader and badge obtain; The average velocity of definition moving window is:
Step (2.a.5) is received new for tuple N=[t, d, v when position computer] time, if v≤min{ α V, V
Max, v wherein
MaxBe the maximum translational speed of the indoor target set, the peak acceleration of α for setting then included this four-tuple N in the moving window in, otherwise refused as invalid distance;
Step (2.b) position computer is inferred the geometric position that each target from the moving window that step (2.a) obtains; The method of taking is as follows:
The position calculation of this positioning system has adopted the method for EKF; EKF is made up of the round-robin iterator, and each step iteration is called a time step time-step, and each time step is by predicting and correcting two stages and form, and each new measured value arrives, and promptly receives the new data [t of reader report
i, d
i], i=1,2 ..., all to carry out the calculating of a time step; The EKF state vector of this positioning system is made as 6 dimensional vectors, is designated as X=[x, y, z, v
x, v
y, v
z]
T, wherein (x, y z) are the 3-D coordinate position of badge, and (v
x, v
y, v
z) be the speed of object at 3 change in coordinate axis direction, measuring vectorial m is the measuring distance value d of reader report, is a scalar value; In each time step, position computation module is the predicted value of computing mode vector sum error covariance matrix at first, from sliding window filtrator, read new distance value then, according to the measured value calculating K alman factor and correct state vector and error covariance matrix, the location components of the state vector after will correcting afterwards is as the D coordinates value output of badge then;
Step (3), system initialization
Step (3.1) is provided with the operational mode and the parameter of each sensor node, and described parameter contains at least:
The ID of badge and reader;
The shortest stand-by period of badge emission locating frame, the shortest stand-by period is maximum propagation time and locating frame emission random wait time to concentrate a little value
Be setting value;
The maximum wait time of badge emission locating frame, maximum wait time is maximum propagation time and locating frame emission random wait time to concentrate a big value
Be setting value;
Set hyperacoustic maximum propagation time, unit is us;
Step (3.2) is calculated the CONFIG.SYS that needs with each reader coordinate position writing position, and unit is cm, is integer;
Step (4) user capture position computer (1), the described method of step (2) set by step obtains the target location.
2. according to claim 1, described a kind of following multi-moving target indoor accurate position method is characterized in that, in step (1), the T after badge is waited for channel idle is after the time, waits for that again the t time just launches information, and t is
A random number of concentrating.
3. according to claim 1, described a kind of following multi-moving target indoor accurate position method is characterized in that in described step (1), each reader needed the τ that waits for a period of time before transmit data frames, τ be [0, Γ
Data] in a kind of random number, Γ wherein
Data≤ T-D
DataD
DataBe Frame launch time.
4. according to claim 3, described a kind of following multi-moving target indoor accurate position method is characterized in that Γ
DataCapping is 45ms, and this moment, the badge maximum coverage range was 15m, and radio frequency frame launch time is 15/331=45ms.
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