CN105137393A - Spatial multi-sensor quick positioning method for network - Google Patents
Spatial multi-sensor quick positioning method for network Download PDFInfo
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- CN105137393A CN105137393A CN201510461803.1A CN201510461803A CN105137393A CN 105137393 A CN105137393 A CN 105137393A CN 201510461803 A CN201510461803 A CN 201510461803A CN 105137393 A CN105137393 A CN 105137393A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/12—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0018—Transmission from mobile station to base station
- G01S5/0036—Transmission from mobile station to base station of measured values, i.e. measurement on mobile and position calculation on base station
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention relates to the technical field of target detection, and discloses a spatial multi-sensor quick positioning method for a network. The method comprises the steps: selecting a minimum cubic region capable of covering all target points according to the coordinates and distance measurement results of all detection nodes in a multi-sensor network, and carrying out rasterization; enabling the center point of each grid to serve as a to-be-selected target point, selecting a proper to-be-selected target point as an initial target approximate position point through a constraint rule, taking the coordinates of the proper to-be-selected target point as the coordinates of the center point, selecting a cubic coverage region again, carrying out the iterative computation of the target approximate position point till the side length of the cubic coverage region meets the requirements of precisions, and taking the target approximate position point as the target position at the moment. The method can be used for various types of sensor devices based on distance, and completes the quick and precise positioning of a spatial target. Moreover, the method is simple and is high in calculation precision.
Description
Technical field
The present invention relates to target detection technique field, particularly relate to a kind of space multisensor method for rapidly positioning for network.
Background technology
Multiple-sensor network, referring to by certain coverage rate requirement, is the network system that network node forms by the multiple scales being deployed in a certain specific region.Along with developing rapidly of radio mobile communication and mobile terminal technology, multiple-sensor network has started the upsurge of research at civil area.
The principle of work being applied to the multiple-sensor network of target localization is, makes full use of the sensor resource on multiple platform, merges the information data that multiple platform observes, removes unnecessary information, obtains and is familiar with the consistance of measured target.Mode according to perception information is different, and the Main Means of realize target location has ranging localization, DF and location, positioning using TDOA, frequency difference location etc.At present, it is high and there is technical barrier that positioning using TDOA, frequency difference location implements cost, still be restricted in some practical engineering application, and DF and location method exists that algorithm complex is high, precision is low, positioning precision to problems such as direction measuring error are too responsive, therefore ranging localization becomes the conventional means of Multi-Sensor Target location.
In theory, utilize range information to position, then need 4 not coplanar sensor nodes to located space target, with these four nodes for the centre of sphere, find range from the intersection point of four spheres for radius, be target location.But under actual conditions, due to the impact of the factor such as system equipment and environmental interference, make ranging data produce error, cause spherical intersection without solution, affect positioning precision.For improving positioning precision, usually adopt the method increasing probe node quantity (improving the coverage rate of network), but probe node increasing number can increase the time complexity of hardware cost and location algorithm, does not utilize practical engineering application.
Summary of the invention
For overcoming the deficiencies in the prior art, the invention provides a kind of space multisensor method for rapidly positioning for network.The present invention calculates simply, and precision is high, can be applied to all kinds of sensor device based on distance, completes accurately locating fast of extraterrestrial target.
For achieving the above object, the present invention adopts following technical scheme:
For a space multisensor method for rapidly positioning for network, according to coordinate position and the range measurement of probe node each in multiple-sensor network, choose the minimum cubical area that can cover all aiming spot, and carry out rasterizing; And using each grid central point as impact point to be selected, suitable impact point to be selected is chosen as initial target position approximate point by constraint rule, and centered by this some point coordinate, again cube areal coverage is chosen, iterative computation target position approximate point coordinate, until the length of side of cube areal coverage meets accuracy requirement, the target position approximate point now obtained is target location, and its step is as follows:
Step one: according to known probe node position, choose cube areal coverage;
Be provided with n known sensor probe node, obtained n probe node position and the range measurement to impact point, the possible target location that each probe node is corresponding is centered by this node, on the sphere being radius with the range measurement to target; Choose minimum cube areal coverage, to cover all possible aiming spot;
Implementation method is: establish the position coordinates of n known sensor probe node to be respectively D
i(x
di, y
di, z
di) (i=1,2 ... n), probe node is d to the range measurement of impact point
i(i=1,2 ... n), then
x
max=max（x
d1+d
1，x
d2+d
2，x
d3+d
3，…x
dn+d
n）
x
min=min（x
d1-d
1，x
d2-d
2，x
d3-d
3，…x
dn-d
n）
y
max=max（y
d1+d
1，y
d2+d
2，y
d3+d
3，…y
dn+d
n）
y
min=min（y
d1-d
1，y
d2-d
2，y
d3-d
3，…y
dn-d
n）
z
max=max（z
d1+d
1，z
d2+d
2，z
d3+d
3，…z
dn+d
n）
z
min=min（z
d1-d
1，z
d2-d
2，z
d3-d
3，…z
dn-d
n）
Then the length of side obtaining cube areal coverage is:
L=max（x
max-x
min，y
max-y
min，z
max-z
min）
Be the length of side with L, set up one with (x
max, y
max, z
max) be summit, to (x
min, y
min, z
min) direction extend cube overlay area;
Step 2: rasterizing cube areal coverage, if the cube areal coverage length of side is L, cube length of side decile value value is a, then cube areal coverage can turn to m small cubes, wherein m=a by grid
3, each small cubes length of side is L/a.Using the central point of each small cubes as impact point T to be selected
j(j=1,2 ... m);
Step 3: obtain initial target position approximate point, calculate the distance between each impact point to be selected and all probe nodes, choose impact point to be selected and probe node spacing and probe node and surveyed the minimum impact point to be selected of the quadratic sum of the difference of target range as initial target position approximate point;
Impact point T to be selected
j(j=1,2 ... m) quadratic sum having surveyed the difference of target range with probe node spacing and probe node is:
R
sqjfor jth impact point to be selected and probe node spacing and probe node have obtained the quadratic sum of the difference of target range;
D
iit is the target range that i-th probe node obtains;
R
jifor a jth impact point to be selected is to the distance of i-th probe node;
Get (R
sq1, R
sq2r
sqm) in minimum value time impact point to be selected as initial target position approximate point, if target position approximate point overlaps completely with real target point, target position approximate point should be equal to distance and the real target point of probe node to the distance of probe node, i.e. R
sq=0; Therefore, the R of the target position approximate point obtained in cube
sqshould be minimum, and infinitely approach 0;
Step 4: centered by the initial target position approximate point obtained in step 3, the cube length of side is reduced by half, again cube overlay area delimited, repeat step 2, three, four, the general site location of iterative computation target, until the length of side of cube areal coverage meets accuracy requirement, target position approximate point coordinate is now impact point space orientation coordinate.
Owing to adopting technical scheme as above, the present invention has following superiority:
The present invention is coordinate position according to probe node each in multiple-sensor network and range measurement, chooses the minimum cubical area that can cover all aiming spot, and carries out rasterizing; And using each grid central point as impact point to be selected, suitable impact point to be selected is chosen as initial target position approximate point by constraint rule, and centered by this some point coordinate, again cube areal coverage is chosen, iterative computation target position approximate point coordinate, until the length of side of cube areal coverage meets accuracy requirement, the target position approximate point now obtained is target location.
The present invention calculates simply, and precision is high, can be applied to all kinds of sensor device based on distance, completes accurately locating fast of extraterrestrial target.
Accompanying drawing explanation
That schematic diagram is chosen in cube areal coverage shown in Fig. 1.
Fig. 2 and Fig. 3 is respectively the vertical view of Fig. 1 in xy, xz direction.
Cube areal coverage rasterizing example when be length of side decile value shown in Fig. 4 being 2.
Fig. 5 is a kind of space multisensor method for rapidly positioning process flow diagram for network.
Embodiment
As shown in Fig. 1,2,3,4,5, a kind of space multisensor method for rapidly positioning for network, according to coordinate position and the range measurement of probe node each in multiple-sensor network, choose the minimum cubical area that can cover all aiming spot, and carry out rasterizing; And using each grid central point as impact point to be selected, suitable impact point to be selected is chosen as initial target position approximate point by constraint rule, and centered by this some point coordinate, again cube areal coverage is chosen, iterative computation target position approximate point coordinate, until the length of side of cube areal coverage meets accuracy requirement, the target position approximate point now obtained is target location.
Be that schematic diagram is chosen in cube areal coverage shown in Fig. 1, suppose there are four probe nodes, be respectively D
1(x
d1, y
d1, z
d1), D
2(x
d2, y
d2, z
d2), D
3(x
d3, y
d3, z
d3), D
4(x
d4, y
d4, z
d4), the target range that probe node obtains separately is d
1, d
2, d
3, d
4.With d shown in figure
1, d
2, d
3, d
4four spheres for radius are possible target location corresponding to each probe node.Cube areal coverage is the minimum cubical area covering these four spheres, and it is with (x
max, y
max, z
max) be summit, to (x
min, y
min, z
min) extend, the length of side is L.
Fig. 2 and Fig. 3 is respectively the vertical view of Fig. 1 in xy, xz direction, as can be seen from Figure, and x
max=x
d3+ d
3, x
min=x
d1-d
1, y
max=y
d1+ d
1, y
min=y
d3-d
3, z
min=z
d2+ d
2, z
min=z
d3-d
3.The length of side of cube areal coverage is: L=max(x
max-x
min, y
max-y
min, z
max-z
min).
Cube areal coverage rasterizing example when be length of side decile value shown in Fig. 4 being 2.In figure, summit, cube areal coverage one is (x
max, y
max, z
max), the length of side is L, can be turned to 2 by grid
3=8 small cubes, the central point of each small cubes is as impact point T to be selected
j(j=1,2 ... 8), O point is real target point.T is can be calculated according to step 3
3for optimum solution, therefore choose T
3as target position approximate point, perform step 4.Approached by successive ignition, draw O point coordinate.
Fig. 5 is a kind of space multisensor method for rapidly positioning process flow diagram for network, and its step is as follows:
Step one: probe node position coordinates and each probe node range measurement are sent to positioning host by sensor.Positioning host chooses minimum cube areal coverage, to cover all possible aiming spot after receiving data success.
Implementation method is: establish the position coordinates of n known sensor probe node to be respectively D
i(x
di, y
di, z
di) (i=1,2 ... n), probe node is d to the range measurement of impact point
i(i=1,2 ... n), then
x
max=max（x
d1+d
1，x
d2+d
2，x
d3+d
3，…x
dn+d
n）
x
min=min（x
d1-d
1，x
d2-d
2，x
d3-d
3，…x
dn-d
n）
y
max=max（y
d1+d
1，y
d2+d
2，y
d3+d
3，…y
dn+d
n）
y
min=min（y
d1-d
1，y
d2-d
2，y
d3-d
3，…y
dn-d
n）
z
max=max（z
d1+d
1，z
d2+d
2，z
d3+d
3，…z
dn+d
n）
z
min=min（z
d1-d
1，z
d2-d
2，z
d3-d
3，…z
dn-d
n）
Then the length of side obtaining cube areal coverage is:
L=max（x
max-x
min，y
max-y
min，z
max-z
min）
Be the length of side with L, set up one with (x
max, y
max, z
max) be summit, to (x
min, y
min, z
min) direction extend cube overlay area.
Step 2: choose cube Side length accuracy and length of side decile value, and cube areal coverage is divided into the small cubes of some according to length of side decile value.
Rasterizing cube areal coverage, if the cube areal coverage length of side is L, cube length of side decile value value is a, then cube areal coverage can turn to m small cubes, wherein m=a by grid
3, each small cubes length of side is L/a.Using the central point of each small cubes as impact point T to be selected
j(j=1,2 ... m).
Step 3: after rasterizing has been determined, extracts the center point coordinate of each small cubes, as impact point to be selected.Calculate each impact point to be selected and all sensing point spacings, choose impact point to be selected and probe node spacing and probe node and surveyed the minimum impact point to be selected of the quadratic sum of the difference of target range as target position approximate point.
Step 4: centered by target position approximate point, the cube length of side is reduced by half, again choose cube areal coverage.Judge whether the cube areal coverage length of side is less than selected Side length accuracy, if be greater than Side length accuracy, then repeats step 2, step 3, step 4, the target position approximate point that iterative computation is new; Otherwise then this position approximate point is impact point, exports positioning result, complete target localization.
The inventive method is utilized to carry out l-G simulation test.Choose 40 probe nodes, getting 4 is at random one group, carries out 200 location Calculation, the average of statistics positioning error and variance, be respectively 0.96 and 0.7, test findings shows, the method under the prerequisite meeting certain accuracy requirement, can complete space target positioning fast.
Claims (3)
1., for a space multisensor method for rapidly positioning for network, according to coordinate position and the range measurement of probe node each in multiple-sensor network, choose the minimum cubical area that can cover all aiming spot, and carry out rasterizing; And using each grid central point as impact point to be selected, suitable impact point to be selected is chosen as initial target position approximate point by constraint rule, and centered by this some point coordinate, again cube areal coverage is chosen, iterative computation target position approximate point coordinate, until the length of side of cube areal coverage meets accuracy requirement, the target position approximate point now obtained is target location, and its step is as follows:
Step one: according to known probe node position, choose cube areal coverage;
Be provided with n known sensor probe node, obtained n probe node position and the range measurement to impact point, the possible target location that each probe node is corresponding is centered by this node, on the sphere being radius with the range measurement to target; Choose minimum cube areal coverage, to cover all possible aiming spot;
Step 2: rasterizing cube areal coverage, if the cube areal coverage length of side is L, cube length of side decile value value is a, then cube areal coverage can turn to m small cubes, wherein m=a by grid
3, each small cubes length of side is L/a; Using the central point of each small cubes as impact point T to be selected
j(j=1,2 ... m);
Step 3: obtain initial target position approximate point, calculate the distance between each impact point to be selected and all probe nodes, choose impact point to be selected and probe node spacing and probe node and surveyed the minimum impact point to be selected of the quadratic sum of the difference of target range as initial target position approximate point;
Step 4: centered by the initial target position approximate point obtained in step 3, the cube length of side is reduced by half, again cube overlay area delimited, repeat step 2, three, four, the general site location of iterative computation target, until the length of side of cube areal coverage meets accuracy requirement, target position approximate point coordinate is now impact point space orientation coordinate.
2. a kind of space multisensor method for rapidly positioning for network according to claim 1, is characterized in that: choose minimum cube areal coverage in described step one, with cover likely aiming spot; Implementation method is: establish the position coordinates of n known sensor probe node to be respectively D
i(x
di, y
di, z
di) (i=1,2 ... n), probe node is d to the range measurement of impact point
i(i=1,2 ... n), then
x
max=max（x
d1+d
1，x
d2+d
2，x
d3+d
3，…x
dn+d
n）
x
min=min（x
d1-d
1，x
d2-d
2，x
d3-d
3，…x
dn-d
n）
y
max=max（y
d1+d
1，y
d2+d
2，y
d3+d
3，…y
dn+d
n）
y
min=min（y
d1-d
1，y
d2-d
2，y
d3-d
3，…y
dn-d
n）
z
max=max（z
d1+d
1，z
d2+d
2，z
d3+d
3，…z
dn+d
n）
z
min=min（z
d1-d
1，z
d2-d
2，z
d3-d
3，…z
dn-d
n）
Then the length of side obtaining cube areal coverage is:
L=max（x
max-x
min，y
max-y
min，z
max-z
min）
Be the length of side with L, set up one with (x
max, y
max, z
max) be summit, to (x
min, y
min, z
min) direction extend cube overlay area.
3. a kind of space multisensor method for rapidly positioning for network according to claim 1, is characterized in that: impact point T to be selected in described step 3
j(j=1,2 ... m) quadratic sum having surveyed the difference of target range with probe node spacing and probe node is:
R
sqjfor jth impact point to be selected and probe node spacing and probe node have obtained the quadratic sum of the difference of target range;
D
iit is the target range that i-th probe node obtains;
R
jifor a jth impact point to be selected is to the distance of i-th probe node;
Get (R
sq1, R
sq2r
sqm) in minimum value time impact point to be selected as initial target position approximate point, if target position approximate point overlaps completely with real target point, target position approximate point should be equal to distance and the real target point O of probe node to the distance of probe node, i.e. R
sq=0; Therefore, the R of the target position approximate point obtained in cube
sqshould be minimum, and infinitely approach 0.
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| CN105137393B CN105137393B (en) | 2017-08-01 |
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ID=54722799
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110456308A (en) * | 2019-07-08 | 2019-11-15 | 广西工业职业技术学院 | A kind of three dimension location method for fast searching |
| CN111356225A (en) * | 2018-12-20 | 2020-06-30 | 广州电力设计院有限公司 | Node positioning method, device and storage medium of wireless sensor network |
| CN112923849A (en) * | 2021-01-27 | 2021-06-08 | 长春涵智科技有限公司 | Space positioning method and system based on contour sensor |
| US11510171B2 (en) * | 2019-06-24 | 2022-11-22 | Allied Telesis Holdings K.K. | Apparatus and method for position estimation |
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| CN102480379A (en) * | 2010-11-29 | 2012-05-30 | 江南大学 | Binary system sensor network correction weight grid centroid method object positioning strategy |
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| CN111356225A (en) * | 2018-12-20 | 2020-06-30 | 广州电力设计院有限公司 | Node positioning method, device and storage medium of wireless sensor network |
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|---|---|
| CN105137393B (en) | 2017-08-01 |
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