CN101938831A - Method for dynamically adjusting positioning frequency - Google Patents
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- CN101938831A CN101938831A CN2010102727968A CN201010272796A CN101938831A CN 101938831 A CN101938831 A CN 101938831A CN 2010102727968 A CN2010102727968 A CN 2010102727968A CN 201010272796 A CN201010272796 A CN 201010272796A CN 101938831 A CN101938831 A CN 101938831A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention discloses a method for dynamically adjusting the positioning frequency, comprising the following steps of: executing a primary positioning process to obtain positioning information; determining a mobile factor of a positioner according to the positioning information; and calculating the time interval between the mobile factor and next positioning. The mobile factor comprises mobile speed, mobile direction and mobile path. The mobile factor is combined by adopting the following mode that the delta t=(a1delta t1+a2delta t2+a3delta t3)/(a1+a2+a3); delta t is the adopted time interval to next positioning; delta t1, delta t2 and delta t3 are respectively the time intervals which are respectively calculated according to the mobile speed, the mobile direction and the mobile path; and the a1, a2 and a3 are weighted value coefficients. By using the invention, the power consumption of the positioner can be reduced on the premise of accurate positioning.
Description
Technical field
The present invention relates to field of locating technology, be meant a kind of dynamic adjusting method of location frequency especially.
Background technology
The ZigBee technology is the wireless network communication technique of a kind of short distance, low data rate, low-power consumption.Show the network diagram that realizes wireless location based on the ZigBee network as Fig. 1.Comprise the base station that is arranged on diverse location (as community's diverse location), can carry out the radio positioner of radio communication with the base station.Wherein, locator can be carried by mobile object (as the user), thereby realizes this is moved the location of object.
Positioning flow as shown in Figure 2 illustrates this concrete position fixing process, comprise: the locator cycle sends 8 broadcast singals, and the response signal of at least three base stations of reception, select three the strongest base stations of signal energy according to the energy of receipts response signal, go out the positional information of this locator then according to the positional information calculation of energy size, spread index and three base stations of response signal.Wherein, the every certain interval of time of above-mentioned positioning flow (being fixed cycle/frequency) is carried out.Patent application as Chinese patent application position 200720029730.X and 200820111002.8 discloses above-mentioned localization method.
Radio positioner is carried by the user, employing be powered battery, therefore need guarantee under the prerequisite of accurate positioning at locator that reducing its power consumption, to reduce power consumption extremely important for locator.
Summary of the invention
In view of this, main purpose of the present invention is to provide a kind of dynamic adjusting method of location frequency, to realize reducing under the accurate positioning prerequisite power consumption of locator.
The method of adjustment of location frequency provided by the invention comprises step:
A, execution one-time positioning process obtain locating information;
B, determine the mobile factor of locator according to locating information;
C, calculate time interval of next time location according to mobile factor.
By last, can realize the change in the time interval of next time location is promptly adjusted location frequency, to realize reducing under the accurate positioning prerequisite power consumption of locator.
Optionally, described mobile factor comprises one of following or combination arbitrarily: translational speed, moving direction, mobile alignment.
By last, can adopt one of aforesaid way or combination that location frequency is adjusted.
Optionally, described mobile factor employing following manner combination: Δ t=(a1 Δ t1+a2 Δ t2+a3 Δ t3)/(a1+a2+a3); Δ t arrives positioning time next time at interval for what will adopt; Δ t1, Δ t2 and Δ t3 are respectively the time interval to location next time of counting out respectively according to translational speed, moving direction, mobile alignment; A1, a2 and a3 are the weighted value coefficient.
By last, by the weighted value coefficient, can be implemented in when location frequency adjusted, by the adopting above-mentioned translational speed, moving direction, mobile alignment factor of different weights.
When wherein, described mobile factor is translational speed; Step B is: according to locator last time with current position location, last time with the time interval compute location device translational speed of this location, the distance of this translational speed=twice position/twice time interval; Step C is: the short length of the time interval that calculates location next time according to the speed of described translational speed.
By last, can be specifically information calculations by twice location go out locator translational speed speed, short long with the time interval that calculates location next time.
Optionally, step C comprises: when translational speed was lower than first preset value, a time interval of growing of selecting this interval value correspondence was as the time interval of carrying out next position fixing process; When translational speed was higher than second preset value, a time interval of lacking of selecting this interval value correspondence was as the time interval of carrying out next position fixing process; When translational speed between first, second preset value, a normal time of selecting this interval value correspondence is at interval as the time interval of carrying out next position fixing process.
By last, can adopt the mode of piecewise function to realize calculating the short length of the time interval of location next time easily according to locator translational speed speed.
Optionally, following formula is adopted in the described calculating of step C: Δ t=f (v); Δ t is the time interval to location next time; V is a translational speed; F is a curvilinear function.
By last, can adopt continuous function to realize calculating the short length of the time interval of location next time according to locator translational speed speed.Under the high-speed situation of movement of locator, Δ t can raise (showing as slope increases) fast when speed raises a little, to be implemented in the timely location under the big displacement situation of following short time of high speed.
When wherein, described mobile factor is moving direction; Step B is: according to preceding twice straight line that the position location constituted of storage, judge the error of position on described straight line when prelocalization; Step C is: the time interval that calculates location next time according to described error size is short long.
By last, can realize the determining of moving direction by preceding twice locating information, thereby according to when the Error Calculation of position on described straight line of prelocalization to next time the location the time interval short long.
Optionally,, also comprise when described error during less than a particular value: according to locator last time with current position location, last time with the time interval compute location device translational speed of this location, the distance of this translational speed=twice position/twice time interval; Before carrying out location next time, according to above-mentioned translational speed, described current location, described rectilinear direction, and to report the position to arrive the described current time interval, calculate the position that this reports position locator constantly.
By last, can realize when the time interval is longer, be when rectilinear direction continues operation, arrive carry out next position fixing process before, adopt the mode of above-mentioned soft location, i.e. the positional information of locator is provided to provide to the user for calculation mode.
When wherein, described mobile factor is mobile alignment; Step B is: judge that according to current position location, map track data running route is the distance size to next route branch; Step C is: the time interval length that calculates location next time according to described distance size.
By last, can pass through twice locating information.The map track data is determined to the distance size of next route branch, calculates the time interval length of location next time according to described distance size.
Optionally, when described distance to next route branch during greater than a particular value, also comprise: according to locator last time and the motion track that obtains of current position location and map track data calculate path length between two position locations, again in conjunction with last time with current time interval compute location device translational speed, this translational speed=described path length/time interval; Before carrying out location next time, according to above-mentioned translational speed, described current location, described map track data, and to report the position to arrive the described current time interval, calculate the position that this reports position locator constantly.
By last, can realize when the time interval is longer, when promptly the next branch of distance is far away, arrive carry out next position fixing process before, adopt the mode of above-mentioned soft location, i.e. the positional information of locator is provided to provide to the user for calculation mode.
Description of drawings
Fig. 1 is the network diagram that realizes the location based on the ZigBee network;
Fig. 2 is the positioning flow figure in existing fixed cycle;
Fig. 3 is the positioning flow figure that location frequency is adjusted according to the locator translational speed;
Fig. 4 is the curvilinear function figure in the time interval of location;
Fig. 5 is the positioning flow figure that location frequency is adjusted according to the locator moving direction;
Fig. 6 is the positioning flow figure that location frequency is adjusted according to the locator shiftable haulage line.
Embodiment
The present invention changes to the execution position fixing process of dynamic frequency with the execution position fixing process of fixed frequency.Specifically, judge the condition that is triggered, during the condition that triggers when meeting, position the adjustment of frequency, be i.e. the time interval of change location next time.These trigger conditions comprise the variation of locator translational speed, the variation of moving direction and the variation of mobile alignment.Wherein, above-mentioned trigger condition can be used separately, also can be used in combination.The present invention is described in detail respectively below.
Show the positioning flow figure that the speed that moves according to locator is adjusted location frequency as Fig. 3, may further comprise the steps:
Translational speed=distance/time interval (1)
When translational speed is lower than certain preset value a (i.e. first preset value), it is slow that the speed that the user of this locator moves is carried in expression, for example for carrying the elderly of this locator or pedestrian etc., then select one this moment than the time interval of the long time interval, promptly reduce and carry out the frequency of locating as the next position fixing process of execution;
When translational speed is higher than certain set point b (i.e. second preset value), it is very fast that the speed ratio that the user of this locator moves is carried in expression, for example for carrying motorcycle, the automobile of this locator, then select one this moment than the time interval of the short time interval, promptly improve and carry out the frequency of locating as the next position fixing process of execution;
When translational speed between set point a and b, then with a normal time at interval as time interval of the next position fixing process of execution; Promptly keep the frequency of carrying out the location.
Above-mentioned example has adopted the mode of piecewise function to set corresponding three time intervals of translational speed of third gear, is understood that that can divide as required is thinner.Perhaps adopt the mode of a continuous function, (v), wherein Δ t represents to carry out the time interval of location next time, and v represents the translational speed that calculates as Δ t=f, f represents a continuous function, thus can realize positioning time length at interval at any time translational speed carry out real-time dynamic change slowly soon.Wherein (v) can be direct proportion function, can be curvilinear function as shown in Figure 4 also to Δ t=f, adopts the characteristics of this Fig. 4 curvilinear function to be: move down Δ t in the locator low velocity and change slowlyer, and move down high-speed that Δ t changes very fast.As shown in Figure 4, under the high-speed situation of movement of locator, Δ t can raise (showing as slope increases) fast when speed raises a little, to be implemented in the timely location under the big displacement situation of following short time of high speed.
By last, change owing to carry out the frequency dynamic of location, thereby when using the object translational speed fast, also can upgrade locating information faster, when using the object translational speed slow, prolong the framing signal transmission time interval, reach the purpose of power saving on the accurate positioning basis.
Show as Fig. 5 whether the direction that moves according to locator is the positioning flow figure that straight line is adjusted location frequency.Adopt this mode, being based on the mobile object that carries locator exists straight line at the uniform velocity or approximate situation about at the uniform velocity moving, therefore, position after the translational speed that can be calculated according to above-mentioned steps 32 by the corresponding software in the locator calculates certain hour in conjunction with the time that positional information is provided to the user next time and straight line moving direction, owing to be computed in software, also can be described as soft location.Can avoid initiating a position fixing process as shown in Figure 2 by soft location, thereby reduce power consumption.Error and the user's moving direction of considering soft location again can always not remain unchanged, therefore need in conjunction with judge whether for rectilinear motion to interval positioning time next time, promptly location frequency is adjusted.This positioning flow specifically may further comprise the steps:
Step 53: locator judges that according to preceding twice positional information, current location information of storage current location is in the error size on (allowing certain error) on the straight line that preceding twice position constitute, promptly judge the user whether still keep straight-line may.
Step 54: (promptly mistake is big more more away from the distance of described straight line according to error, or the angle that time once formed straight line more of a specified duration and above-mentioned straight line constitute in current location and preceding twice position mistake is big more more,) the next time interval weak point length of locating with this execution of locating of size adjustment execution, promptly adjust the frequency that execution is located.Be specially:
When judge current location be on the straight line that preceding twice position constitute error more hour, the straight-line tendency of expression user is big more, then selects long time interval as the time interval of carrying out next position fixing process, promptly reduces the frequency of carrying out the location; Otherwise the expression user has changed the direction of motion, when especially error is big, then improves the frequency of carrying out the location.And, when the frequency of location is low, arrive carry out next position fixing process before, adopt the mode of above-mentioned soft location to continue to provide the positional information of locator to the user.
Wherein also can adopt function to determine the time interval, as adopting function: Δ t=f (r); Δ t is the time interval to location next time; R is an error size; F can be one curvilinear function.The principle function class corresponding with Fig. 4 seemingly repeats no more.
Show the positioning flow figure that the circuit that moves according to locator is adjusted location frequency as Fig. 6.This mode needs figure track data in combination, wherein the map track data can be provided (for example map track data provider offer the GPS navigation instrument map track data) by map track data provider, its principle is the removable track that the mobile object of locator is carried in track data prediction according to the map, be mobile alignment, whether exist branch road (promptly whether have only forward-reverse and do not have the route that turns to) that location frequency is adjusted according to user's mobile alignment.This process specifically may further comprise the steps:
Step 61, identical with step 31, repeat no more.
Step 62: the motion track that position when carrying out the location according to locator current location, locator last time of being write down and map track data obtain (is mainly considered the situation that has on-rectilinear movement, so the figure track data can obtain the length of the route between 2 in combination, but not air line distance) calculate path length between two positions, the time interval that goes out twice execution location according to locator current time, the Time Calculation of carrying out locator last time the location that write down, 2 translational speeds that calculate locator according to the following equation then:
Translational speed=path length/the time interval (2)
Step 63: locator according to current location information and map track data, judge the size of mobile alignment the place ahead near branch road;
Step 64: adjust next location and this time interval length of carrying out the location according to described size, specifically comprise near the branch road distance:
Described distance is more little, represents that then the possibility of route of user mobile trend change is bigger, then selects one than the time interval of the short time interval as the next position fixing process of execution, promptly improves the frequency that execution is located; Otherwise, think that the user can continue to move by this route, then reduces the frequency of carrying out the location.And when the frequency of location was hanged down, before arriving the next position fixing process of execution, the circuit of figure track data adopted the mode of above-mentioned soft location to continue to provide the positional information of locator to the user in combination.
Wherein also can adopt function to determine the time interval, as adopting function: Δ t=f (d); Δ t is the time interval to location next time; D is the distance that current location arrives branch road; F can be one curvilinear function.The principle function class corresponding with Fig. 4 seemingly repeats no more.
In addition, above-mentioned several method can use separately, also can be used in combination arbitrarily, for example, can above several method be carried out combination by following manner:
The arrival that the above-mentioned three kinds of methods according to the location frequency adjustment of supposing calculate respectively is spaced apart Δ t1, Δ t2 and Δ t3 positioning time next time, can adopt following formula 3 to calculate positioning time next time at interval so:
Δt＝(a1Δt1+a2Δt2+a3Δt3)/(a1+a2+a3) (3)
Wherein, Δ t is next positioning time of the interval that calculates, and a1, a2 and a3 are the weighted value coefficient, can value be to be not less than zero number.
As above formula 3, when weighted value coefficient a1 and a2 are zero, are exactly the frequency adjusting method that the location of a3 correspondence is only adopted in expression in fact.When a1 was zero, then the combination of frequency adjusting method of two kinds of location of a2 and a3 correspondence was only adopted in expression.
The above only is preferred embodiment of the present invention, and is in order to restriction the present invention, within the spirit and principles in the present invention not all, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. the dynamic adjusting method of a location frequency is characterized in that, comprises step:
A, execution one-time positioning process obtain locating information;
B, determine the mobile factor of locator according to described locating information;
C, calculate time interval of next time location according to described mobile factor.
2. method according to claim 1 is characterized in that, described mobile factor comprises one of following or combination arbitrarily:
Translational speed, moving direction, mobile alignment.
3. method according to claim 2 is characterized in that, described mobile factor adopts the following manner combination:
Δt＝(a1Δt1+a2Δt2+a3Δt3)/(a1+a2+a3)；
Δ t arrives positioning time next time at interval for what will adopt; Δ t1, Δ t2 and Δ t3 are respectively the time interval to location next time of counting out respectively according to translational speed, moving direction, mobile alignment; A1, a2 and a3 are the weighted value coefficient.
4. method according to claim 3 is characterized in that, when described mobile factor is translational speed;
Step B is: according to locator last time with current position location, last time with the time interval compute location device translational speed of this location, the distance of this translational speed=twice position/twice time interval;
Step C is: the short length of the time interval that calculates location next time according to the speed of described translational speed.
5. method according to claim 4 is characterized in that step C comprises:
When translational speed was lower than first preset value, a time interval of growing of selecting this interval value correspondence was as the time interval of carrying out next position fixing process;
When translational speed was higher than second preset value, a time interval of lacking of selecting this interval value correspondence was as the time interval of carrying out next position fixing process;
When translational speed between first, second preset value, select this interval value correspondence with a normal time at interval as time interval of the next position fixing process of execution.
6. method according to claim 4 is characterized in that, following formula is adopted in the described calculating of step C:
Δt＝f(v)；
Δ t is the time interval to location next time; V is a translational speed; F is a curvilinear function.
7. method according to claim 3 is characterized in that, when described mobile factor is moving direction;
Step B is: according to preceding twice straight line that the position location constituted of storage, judge the error of position on described straight line when prelocalization;
Step C is: the time interval that calculates location next time according to described error size is short long.
8. method according to claim 7 is characterized in that, when described error during less than a particular value, also comprises:
According to locator last time with current position location, last time with the time interval compute location device translational speed of this location, the distance of this translational speed=twice position/twice time interval;
Before carrying out location next time, according to above-mentioned translational speed, described current location, described rectilinear direction, and to report the position to arrive the described current time interval, calculate the position that this reports position locator constantly.
9. method according to claim 3 is characterized in that, when described mobile factor is mobile alignment;
Step B is: judge that according to current position location, map track data running route is the distance size to next route branch;
Step C is: the time interval length that calculates location next time according to described distance size.
10. method according to claim 9 is characterized in that, when described distance to next route branch during greater than a particular value, also comprises:
According to locator last time and the motion track that obtains of current position location and map track data calculate path length between two position locations, again in conjunction with last time with current time interval compute location device translational speed, this translational speed=described path length/time interval;
Before carrying out location next time, according to above-mentioned translational speed, described current location, described map track data, and to report the position to arrive the described current time interval, calculate the position that this reports position locator constantly.
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