CN103033809A - Method of implementing mobile separated management of compression radio frequency tomography - Google Patents
Method of implementing mobile separated management of compression radio frequency tomography Download PDFInfo
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Abstract
The invention provides a method of implementing the mobile separated management of a compression radio frequency tomography. The method has the advantages of small redundancy, flexibility, high sensing efficiency and scale zooming, and can be used for observing various particles. The method is implemented based on mobile platform. The method of implanting the mobile separated management of the compression radio frequency tomography includes the following steps, step 1 is to arrange a mobile platform with a radio frequency sending and receiving device at the sensing area, step 2 is to image coarsely on the whole area and to position a region of interest, step 3 is to imagine finely on the part area of the region of interest, and step 4 is to obtain the resultant image by synthesizing the coarseness imagine of the whole and the fine-grained imagine of the part. The method of implementing the mobile separated management of the compression radio frequency tomography is achieved with the cooperative sensing of a mobile robot.
Description
Technical field
The present invention relates to radio frequency chromatography imaging field, particularly relate to measurement and the realization technology of compression radio frequency tomography.
Background technology
The radio frequency tomography is that a kind of radiofrequency signal of utilizing realizes projection measurement, from the environment perception method of radio frequency link shadow fading signal reconstruct environment shadow fading image and then realize target hand-free location and perspective imaging through walls.The non-intrusion type that provides by means of radiofrequency signal, the sensing pattern that not blocked by illumination variation and barrier to affect, the radio frequency chromatography is imaged on the indoor or hidden aspects such as targets of interest detection, location and tracking, and the irreplaceable advantage of other sensing technology is arranged.Deeply excavate and extensively utilize the advantage of radio frequency chromatography imaging technique and the study hotspot that potentiality are just becoming Intellisense and related application field.
Compressed sensing is a kind of new theory from a small amount of measurement data reconstruct sparse signal.Because the targets of interest signal is sparse in essence in the ambient condition, so compressed sensing is applicable to environment radio frequency tomography, forms compression radio frequency chromatography imaging technique, to reduce required projection measurement link number, economizes on resources and cost, and is significant.
Wireless sensor network is present existing compression radio frequency tomography implementation pattern, be about to the deployment of sensor node as the Main Means of radio frequency link deployment, form the radio frequency sensing network that covers the perception zone, and then choose link by random fashion and carry out projection measurement.Do not having under the situation of priori, depending on the mode of choosing at random link and can guarantee conditionally the reconstruct of target image, but unavoidably producing bulk redundancy, invalid radio frequency link, greatly reducing sensing efficient.In addition, the covering space yardstick of wireless sensor network and observation granularity are changeless, are difficult to satisfy the diversified requirement of yardstick scalability and granularity, and suitable limitation is arranged aspect availability.
Summary of the invention
Deficiency for the wireless sensor network implementation pattern, and there is inherent shortcoming redundant, invalid radio frequency link in random selection mode, the invention provides that a kind of amount of redundancy is little, maneuverability, the movement high, that have yardstick scalability and the diversified compression radio frequency of observation granularity tomography of sensing efficient are divided and ruled implementation method.
For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of movement of compressing radio frequency tomography implementation method of dividing and ruling is provided, and described method movement-based platform is realized, be may further comprise the steps:
Step 3, the local fine granularity imaging of region-of-interest;
Step 4, comprehensive overall coarseness image and local fine granularity image obtain the resultant image in perception zone.
Follow the principle of dividing and ruling, radio frequency chromatography imaging task is resolved into overall coarseness imaging and two links of local fine granularity imaging, the former orients possible region-of-interest, and latter is to be focused to target with region-of-interest.
Further, described mobile platform is the mobile robot, has autonomous location, navigation feature, and can intercom mutually between the mobile robot, can arrive assigned address in the perception zone boundary.
Further, the working frequency range of described radio-frequency (RF) receiving/transmission device is 900MHz or 2.4GHz.
Further, described region-of-interest is for existing the zone that causes shadow fading because of the targets of interest object.
Further, described step 2 adopts horizontal and vertical parallel link deployment strategy, being specially the mobile platform group equally spaced sets up radio frequency link and carries out projection measurement on the border in perception zone, variation according to the received signal strength value, obtain overall coarseness image, thus the location region-of-interest.
Further, described step 3 is specially control mobile platform group at the border in the perception zone deploy radio frequency link relevant with region-of-interest, namely by the radio frequency link of region-of-interest, reconstruct the local fine granularity image of region-of-interest according to the received signal strength value that obtains.
Further, described image all is the shadow fading image, is obtained by the shadow fading signal reconstruct that comprises in the received signal strength.
Further, for the perception task of unknown object imaging in the rectangular area, environment shadow fading Image model turns to the 2D image
, at first pay close attention to its overall coarseness Image model
, to dispose around this modelling radio frequency link, the projection measurement equation model turns to
, wherein
The vector that each radio frequency link received signal strength difference forms when being empty for current and scene,
For
The vectorization representation,
Be the zero-mean Gaussian noise vector,
Be weight matrix, for every delegation, the pixel weight factor that corresponding radio frequency link passes through is made as 1, otherwise is 0, according to
Obtain
, namely
Reconstruct, be designated as
Then determine
The region-of-interest of middle generation shadow fading
, and then clearly go out the local fine granularity Image model of region-of-interest
, namely
, around Image model
, dispose radio frequency link and carry out projection measurement, the fine granularity image of reconstruct region-of-interest
At last, merge
With
, finish the estimation of environment shadow fading image.
Compared with prior art, beneficial effect is: the present invention adopts the imaging pattern of dividing and ruling, and has reduced redundant, invalid link, has promoted the sensing efficient of compressed sensing from two aspects, the Image model of coarseness is adopted in overall situation imaging, has limited the scale of redundant link; The fine granularity imaging only focuses on local possible region-of-interest, has avoided the generation of invalid link.And utilize the mobile robot to carry out the deployment of radio frequency link, so that compression radio frequency chromatography imaging technique is further developed at aspects such as maneuverability, dirigibility, independences; Required parallel link dispose and the local link deployment simple, be suitable for the cooperate realization framework of perception of mobile robot.
Description of drawings
Fig. 1 is the imaging pattern schematic diagram of dividing and ruling;
Fig. 2 is that parallel link is disposed schematic diagram;
Fig. 3 is that local link is disposed schematic diagram;
Fig. 4 is the schematic diagram of the embodiment of the invention;
Fig. 5 is the scene graph of the embodiment of the invention;
Fig. 6 is the ecotopia shadow fading image of the embodiment of the invention;
Fig. 7 is the coarseness image that the overall imaging link of the embodiment of the invention obtains;
Fig. 8 is that local measurement link number is 10 o'clock final reconstruct image in the embodiment of the invention;
Fig. 9 is that local measurement link number is 20 o'clock final reconstruct image in the embodiment of the invention;
Wherein: 1, shelter; 2, target object; 3, the mobile robot; 4, RFID label; 5, RFID reader; 6, ZigBee equipment.
Embodiment
The present invention proposes a kind of movement of compressing radio frequency tomography implementation method of dividing and ruling, the deployment means of radio frequency link have been enriched, and from reduce redundancy, two aspects of invalid link have improved sensing efficient, further promote compression radio frequency chromatography to be imaged on the application in the reality.The present invention is described in detail in conjunction with the embodiments referring to accompanying drawing.
As shown in Figure 1, consider the perception task of unknown object imaging in the rectangular area, environment shadow fading Image model turns to the 2D image
At first pay close attention to its overall coarseness Image model
, to dispose around this modelling radio frequency link, the projection measurement equation model turns to
, wherein
The vector that each radio frequency link received signal strength difference forms when being empty for current and scene,
For
The vectorization representation,
Be the zero-mean Gaussian noise vector,
Be weight matrix, for every delegation, the pixel weight factor that corresponding radio frequency link passes through is made as 1, otherwise is 0.Basis then
Can obtain
, namely
Reconstruct, be designated as
It is to be noted
Dimension much smaller than
, so the required projection measurement link of reconstruct is often less.Especially, consider parallel link deployment strategy, each pixel only needs horizontal and vertical each link by finishing the location of target, and so, the scale of redundant link is controlled, and has improved to a certain extent sensing efficient.According to
Reconstruct, can determine the region-of-interest that shadow fading wherein occurs
, and then clearly go out the local fine granularity Image model of region-of-interest
, namely
, similarly, around Image model
, dispose associated radio frequency link and carry out projection measurement, namely restructural obtains the fine granularity image of region-of-interest
Because this link is only paid close attention to the radio frequency link relevant with region-of-interest, therefore effectively avoided the measurement of invalid link.Finally, merge
With
Then can finish the estimation of environment shadow fading image.
Limit the possible transmitting-receiving position of radio frequency link and be uniformly distributed on the border in perception zone, might as well suppose that two mobile robots are used for the deployment of link, one as radiofrequency signal transmitting terminal (TX1), and another is as receiving end (RX1).Overall situation coarseness imaging link, as shown in Figure 2, two mobile robots only need respectively on the horizontal boundary in perception zone and longitudinal boundary keeping parallelism to move to corresponding transmitting-receiving position to carry out projection measurement and can finish deployment.This link is disposed and is easy to mobile robot's realization, and can finish fast, has guaranteed the ageing of this link imaging.Local fine granularity imaging link, the radio frequency link that obtains by region-of-interest can be added up, i.e. relevant link in the transmitting-receiving position possible according to link.In fact, local fine granularity image generally has sparse property, particularly its discrete gradient, and therefore required projection measurement is that a kind of compression is measured.The projection measurement link can be selected from relevant link at random.As shown in Figure 3, according to selected link, two mobile robots will move to corresponding transmitting-receiving position by autonomous mechanism respectively and carry out projection measurement.So carry out, dispose until finish all links.
For ease of implementing the method for the invention, the inventor provides a specific embodiment.
The schematic diagram of embodiment and scene graph are respectively such as Fig. 4, shown in Figure 5.The perception zone is 3.5m
3.5m the rectangular area, two mobile robots load the deployment that ZigBee equipment is responsible for radio frequency link.The projection measurement data will upload to control center by the base station and preserve and process.Passive RFID tags equally spaced is deployed on the border in perception zone, in conjunction with the RFID reader that is fixed in the robot bottom, provide absolute position coordinates to robot, utilize self scrambler and gyroscope location and the error of navigating and bringing to eliminate the mobile robot.Target object is the plastic containers of filled with water, is positioned at the occlusion area that cystosepiment builds.
Overall situation coarseness imaging link, the spacing of horizontal and vertical parallel link is 0.25m, after measurement is finished, adopts simple Linear back projection algorithm to be reconstructed, and take 2.0dB as threshold value the reconstruct image is carried out binaryzation, then obtains overall coarseness boolean's image.Local fine granularity imaging link limits all transmitting-receiving positions of link and overlaps with the position that the RFID label is demarcated, and measure link will generate from relevant link at random, and utilizes the minimum full variational method to realize image reconstruct.
The imaging effect of the mobile method of dividing and ruling is shown in Fig. 6-9.Fig. 6 is desirable environment shadow fading image, and Fig. 7 is the coarseness image that overall imaging link obtains, and white portion is the interest zone, and it has comprised target object and near zone.Can add up and obtain the link relevant with region-of-interest is 40.The link number of local tomography link projection measurement is designated as N.When the N value was 10 and 20, final reconstruct image was respectively such as Fig. 8, shown in Figure 9.As seen from the figure, just can obtain preferably imaging results when N=10, along with the increase of N, image quality has obtained further raising.Dispose by a small amount of and simple link and just can realize compressing radio frequency chromatography imaging task, reflect movement divide and rule feasibility and the validity of implementation method.
The above only is an example of the present invention; be not so limit claim of the present invention; every equivalent structure or flow process conversion that utilizes instructions of the present invention and accompanying drawing content to do; or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present invention.
Claims (8)
1. a movement of compressing radio frequency tomography implementation method of dividing and ruling is characterized in that, described method movement-based platform is realized, be may further comprise the steps:
Step 1 is carried the mobile platform of radio-frequency (RF) receiving/transmission device at the perception region division;
Step 2, region-of-interest is oriented in overall coarseness imaging;
Step 3, the local fine granularity imaging of region-of-interest;
Step 4, comprehensive overall coarseness image and local fine granularity image obtain the resultant image in perception zone.
2. implementation method according to claim 1 is characterized in that, described mobile platform is the mobile robot, has autonomous location, navigation feature, and can intercom mutually between the mobile robot.
3. implementation method according to claim 1 is characterized in that, the working frequency range of described radio-frequency (RF) receiving/transmission device is 900MHz or 2.4GHz.
4. implementation method according to claim 1 is characterized in that, described region-of-interest is for existing the zone that causes shadow fading because of the targets of interest object.
5. implementation method according to claim 1, it is characterized in that, described step 2 is specially the mobile platform group and equally spaced sets up radio frequency link carry out projection measurement on the border in perception zone, according to the variation of received signal strength value, obtain overall coarseness image, thereby orient region-of-interest.
6. implementation method according to claim 1, it is characterized in that, described step 3 is specially control mobile platform group at the border in the perception zone deploy radio frequency link relevant with region-of-interest, namely by the radio frequency link of region-of-interest, reconstruct the local fine granularity image of region-of-interest according to the received signal strength value that obtains.
7. according to claim 1--6 each described implementation methods, it is characterized in that, described image all is the shadow fading image, is obtained by the shadow fading signal reconstruct that comprises in the received signal strength.
8. implementation method according to claim 1 is characterized in that, for the perception task of unknown object imaging in the rectangular area, environment shadow fading Image model turns to the 2D image
, at first pay close attention to its overall coarseness Image model
, to dispose around this modelling radio frequency link, the projection measurement equation model turns to
, wherein
The vector that each radio frequency link received signal strength difference forms when being empty for current and scene,
For
The vectorization representation,
Be the zero-mean Gaussian noise vector,
Be weight matrix, for every delegation, the pixel weight factor that corresponding radio frequency link passes through is made as 1, otherwise is 0, according to
Obtain
, namely
Reconstruct, be designated as
Then determine
The region-of-interest of middle generation shadow fading
, and then clearly go out the local fine granularity Image model of region-of-interest
, namely
, around Image model
, dispose radio frequency link and carry out projection measurement, reconstruct the fine granularity image of region-of-interest
At last, merge
With
, finish the estimation of environment shadow fading image.
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| CN106228585A (en) * | 2016-07-26 | 2016-12-14 | 中国科学院工程热物理研究所 | Electricity chromatography imaging method based on Robust Principal Component Analysis and system |
| CN106919931A (en) * | 2017-03-13 | 2017-07-04 | 中山大学 | A kind of 3D imagings and human body recognition method based on detectable signal |
| CN107480606A (en) * | 2017-07-28 | 2017-12-15 | 天津大学 | Pseudo- target identification method based on radio frequency tomography |
| CN109862518A (en) * | 2019-01-11 | 2019-06-07 | 福州大学 | It is a kind of that equipment localization method is exempted from based on sparse analytic modell analytical model altogether |
| CN111313999A (en) * | 2020-02-18 | 2020-06-19 | 五邑大学 | Radio frequency tomography method based on zero sparse data driven weight model |
| CN111314000A (en) * | 2020-02-18 | 2020-06-19 | 五邑大学 | Radio frequency tomography method based on low-rank data-driven weight model |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106228585A (en) * | 2016-07-26 | 2016-12-14 | 中国科学院工程热物理研究所 | Electricity chromatography imaging method based on Robust Principal Component Analysis and system |
| CN106919931A (en) * | 2017-03-13 | 2017-07-04 | 中山大学 | A kind of 3D imagings and human body recognition method based on detectable signal |
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| CN107480606A (en) * | 2017-07-28 | 2017-12-15 | 天津大学 | Pseudo- target identification method based on radio frequency tomography |
| CN109862518A (en) * | 2019-01-11 | 2019-06-07 | 福州大学 | It is a kind of that equipment localization method is exempted from based on sparse analytic modell analytical model altogether |
| CN109862518B (en) * | 2019-01-11 | 2021-05-18 | 福州大学 | Equipment-free positioning method based on common sparse analysis model |
| CN111313999A (en) * | 2020-02-18 | 2020-06-19 | 五邑大学 | Radio frequency tomography method based on zero sparse data driven weight model |
| CN111314000A (en) * | 2020-02-18 | 2020-06-19 | 五邑大学 | Radio frequency tomography method based on low-rank data-driven weight model |
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