CN105137393B - A kind of space multisensor method for rapidly positioning for network - Google Patents
A kind of space multisensor method for rapidly positioning for network Download PDFInfo
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- CN105137393B CN105137393B CN201510461803.1A CN201510461803A CN105137393B CN 105137393 B CN105137393 B CN 105137393B CN 201510461803 A CN201510461803 A CN 201510461803A CN 105137393 B CN105137393 B CN 105137393B
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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
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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
- G01S5/0009—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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- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The present invention relates to target detection technique field, a kind of disclosed space multisensor method for rapidly positioning for network, it is the coordinate position and distance measurement result according to each probe node in multiple-sensor network, selection can cover the minimum cubical area of all aiming spots, and carry out rasterizing；And it regard each grid central point as target point to be selected, suitable target point to be selected is chosen by constraint rule and is used as initial target position approximate point, and centered on the point point coordinates, again the cube area of coverage is chosen, iterate to calculate target position approximate point coordinates, until the length of side of the cube area of coverage meets required precision, the target position approximate point as target location now obtained.The present invention can be applied to all kinds of sensor devices based on distance, complete the quick of extraterrestrial target and be accurately positioned.And quick pinpoint method is simple, and computational accuracy is high.
Description
Technical field
Quickly positioned the present invention relates to target detection technique field, more particularly to a kind of space multisensor for network
Method.
Background technology
Multiple-sensor network, refers to by certain coverage rate requirement, by the multiple scales for being deployed in a certain specific region
The network system constituted for network node.With developing rapidly for radio mobile communication and mobile terminal technology, multisensor net
Network has started the upsurge of research in civil area.
The operation principle of the multiple-sensor network positioned applied to target is to make full use of the sensor on multiple platforms to provide
Source, is merged to the information data that multiple platforms are observed, removes unnecessary information, obtains and the uniformity of measured target is recognized
Know.Mode according to perception information is different, realize target positioning Main Means have ranging localization, DF and location, positioning using TDOA,
Frequency difference positioning etc..At present, positioning using TDOA, frequency difference positioning implement cost height and there is technical barrier, in some Practical Projects
Still it is restricted in, and DF and location method has that algorithm complex is high, precision is low, positioning precision is to direction measurement error
Excessively sensitive the problems such as, therefore ranging localization turns into the conventional means that Multi-Sensor Target is positioned.
In theory, positioned using range information, 4 non-coplanar sensor sections are then needed to located space target
Point, using this four nodes as the centre of sphere, institute's ranging is from the intersection point of four spheres for radius, as target location.But actual conditions
Under, due to the influence of the factors such as system equipment and environmental disturbances so that ranging data produces error, causes spherical intersection without solution,
Influence positioning precision.To improve positioning precision, generally using increase probe node quantity（Improve the coverage rate of network）Method,
But probe node increasing number can increase the time complexity of hardware cost and location algorithm, not utilize practical engineering application.
The content of the invention
To overcome the deficiencies in the prior art, the present invention provides a kind of space multisensor for network quickly side of positioning
Method.The present invention calculates simple, and precision is high, can apply to all kinds of sensor devices based on distance, completes the fast of extraterrestrial target
Speed is accurately positioned.
For achieving the above object, the present invention is adopted the following technical scheme that：
A kind of space multisensor method for rapidly positioning for network, according to each probe node in multiple-sensor network
Coordinate position and distance measurement result, selection can cover the minimum cubical area of all aiming spots, and carry out rasterizing；And will
Each grid central point is used as initial target position approximate as target point to be selected by the suitable target point to be selected of constraint rule selection
Point, and the point coordinates centered on the point, again choose the cube area of coverage, iterate to calculate target position approximate point coordinates, until cube
The length of side of the body area of coverage meets required precision, and the target position approximate point as target location now obtained, its step is as follows：
Step one：According to known probe node position, the cube area of coverage is chosen；
Provided with n known sensor probe node, n probe node position and the distance measurement result to target point have been obtained,
Each corresponding possible target location of probe node is centered on this node, using the distance measurement result to target as the sphere of radius
On；The minimum cube area of coverage is chosen, to cover all possibility aiming spots；
Implementation method is：If the position coordinates of n known sensor probe node is respectively Di(xdi,ydi,zdi)（i=1,
2…n）, probe node is d to the distance measurement result of target pointi（i=1,2…n）, then
xmax=max（xd1+d1, xd2+d2, xd3+d3... xdn+dn）
xmin=min（xd1-d1, xd2-d2, xd3-d3... xdn-dn）
ymax=max（yd1+d1, yd2+d2, yd3+d3... ydn+dn）
ymin=min（yd1-d1, yd2-d2, yd3-d3... ydn-dn）
zmax=max（zd1+d1, zd2+d2, zd3+d3... zdn+dn）
zmin=min（zd1-d1, zd2-d2, zd3-d3... zdn-dn）
Then the length of side for obtaining the cube area of coverage is：
L=max（xmax-xmin, ymax-ymin, zmax-zmin）
Using L as the length of side, set up one with（xmax, ymax, zmax）For summit, to（xmin, ymin, zmin）Cube of direction extension
Body overlay area；
Step 2：The rasterizing cube area of coverage, if the cube area of coverage length of side is L, cube length of side decile value value
For a, then the cube area of coverage can grid turn to m small cubes, wherein m=a3, each small cubes length of side is L/a.With each
The central point of small cubes is used as target point T to be selectedj（j=1,2…m）；
Step 3：Initial target position approximate point is obtained, each distance between target point to be selected and all probe nodes, choosing is calculated
Distance and probe node between target point to be selected and probe node is taken to survey the minimum target to be selected of poor quadratic sum of target range
Point is used as initial target position approximate point；
Target point T to be selectedj（j=1,2…m）Distance and probe node have been surveyed the poor of target range and put down between probe node
Side and it is：
RsqjThe poor of target range is obtained for distance and probe node between j-th target point and probe node to be selected to put down
Fang He；
diThe target range obtained for i-th of probe node；
RjiFor the distance of j-th of target point to be selected to i-th of probe node；
Take（Rsq1, Rsq2 …Rsqm）Target point to be selected during middle minimum value is as initial target position approximate point, if target position approximate
Point is completely superposed with real target point, the distance of the distance and real target point to probe node of target position approximate point to probe node
Should be equal, i.e. Rsq=0；Therefore, the R of the target position approximate point obtained in cubesqIt should be minimum, and infinitely approach 0；
Step 4：Centered on the initial target position approximate point obtained in step 3, the cube length of side is halved, delimited again
Cube overlay area, repeat step two, three, four, the general site location of iterative calculation target, until the length of side of the cube area of coverage
Meet required precision, target position approximate point coordinates now is target point space orientation coordinate.
Due to using technical scheme as described above, the present invention has following superiority：
The present invention is the coordinate position and distance measurement result according to each probe node in multiple-sensor network, and selection can cover institute
There is the minimum cubical area of aiming spot, and carry out rasterizing；And using each grid central point as target point to be selected, lead to
Planar Mechanisms rule chooses suitable target point to be selected as initial target position approximate point, and the point coordinates centered on the point, selects again
Take the cube area of coverage, iterate to calculate target position approximate point coordinates, until the length of side of the cube area of coverage meets required precision, now
Obtained target position approximate point as target location.
The present invention is to calculate simple, and precision is high, can apply to all kinds of sensor devices based on distance, completes space mesh
Target is quickly accurately positioned.
Brief description of the drawings
It is that the cube area of coverage chooses schematic diagram shown in Fig. 1.
Fig. 2 and Fig. 3 are respectively Fig. 1 in xy, the top view in xz directions.
It is cube area of coverage rasterizing example when length of side decile value is 2 shown in Fig. 4.
Fig. 5 is a kind of space multisensor method for rapidly positioning flow chart 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 multisensor
The coordinate position and distance measurement result of each probe node in network, selection can cover the minimum cube area of all aiming spots
Domain, and carry out rasterizing；And each grid central point is chosen into suitable mesh to be selected as target point to be selected by constraint rule
Punctuate is as initial target position approximate point, and the point coordinates centered on the point, and the cube area of coverage is chosen again, iterates to calculate target
Position approximate point coordinates, until the length of side of the cube area of coverage meets required precision, the target position approximate point now obtained is target position
Put.
It is that the cube area of coverage chooses schematic diagram shown in Fig. 1, it is assumed that have four probe nodes, respectively D1(xd1,yd1,
zd1)、D2(xd2,yd2,zd2)、D3(xd3,yd3,zd3)、D4(xd4,yd4,zd4), the target range that probe node is each obtained is d1、
d2、d3、d4.With d shown in figure1、d2、d3、d4It is the corresponding possible target location of each probe node for four spheres of radius.
The cube area of coverage for cover this four spheres minimum cubical area, it with（xmax, ymax, zmax）For summit, to（xmin,
ymin, zmin）Extension, the length of side is L.
Fig. 2 and Fig. 3 are respectively Fig. 1 in xy, the top view in xz directions, as can be seen from Figure, xmax= xd3+d3, xmin= xd1-
d1, ymax= yd1+ d1, ymin= yd3-d3, zmin= zd2+d2, zmin= zd3-d3.The length of side of the cube area of coverage is：L=max
（xmax-xmin, ymax-ymin, zmax-zmin）.
It is cube area of coverage rasterizing example when length of side decile value is 2 shown in Fig. 4.The cube area of coverage one is pushed up in figure
Put and be（xmax, ymax, zmax）, the length of side is L, can be rasterized into as 23=8 small cubes, the central point conduct of each small cubes
Target point T to be selectedj（j=1,2…8）, O points are real target point.T can be calculated according to step 33For optimal solution, therefore choose
T3As target position approximate point, step 4 is performed.Approached by successive ignition, draw O point coordinates.
Fig. 5 is a kind of space multisensor method for rapidly positioning flow chart for network, and its step is as follows：
Step one：Sensor sends probe node position coordinates and each probe node distance measurement result to positioning host.It is fixed
After the host receiving data success of position, the minimum cube area of coverage is chosen, to cover all possibility aiming spots.
Implementation method is：If the position coordinates of n known sensor probe node is respectively Di(xdi,ydi,zdi)（i=1,
2…n）, probe node is d to the distance measurement result of target pointi（i=1,2…n）, then
xmax=max（xd1+d1, xd2+d2, xd3+d3... xdn+dn）
xmin=min（xd1-d1, xd2-d2, xd3-d3... xdn-dn）
ymax=max（yd1+d1, yd2+d2, yd3+d3... ydn+dn）
ymin=min（yd1-d1, yd2-d2, yd3-d3... ydn-dn）
zmax=max（zd1+d1, zd2+d2, zd3+d3... zdn+dn）
zmin=min（zd1-d1, zd2-d2, zd3-d3... zdn-dn）
Then the length of side for obtaining the cube area of coverage is：
L=max（xmax-xmin, ymax-ymin, zmax-zmin）
Using L as the length of side, set up one with（xmax, ymax, zmax）For summit, to（xmin, ymin, zmin）Cube of direction extension
Body overlay area.
Step 2：Cube Side length accuracy and length of side decile value are chosen, and by the cube area of coverage according to length of side decile value
It is divided into a number of small cubes.
The rasterizing cube area of coverage, if the cube area of coverage length of side is L, cube length of side decile value value is a, then stands
The cube area of coverage can grid turn to m small cubes, wherein m=a3, each small cubes length of side is L/a.With each small cubes
Central point be used as target point T to be selectedj（j=1,2…m）.
Step 3：After the completion of rasterizing is determined, the center point coordinate of each small cubes is extracted, target point to be selected is used as.
Each distance between target point to be selected and all sensing points is calculated, distance and probe node between target point to be selected and probe node is chosen
The target point to be selected of poor quadratic sum minimum of target range has been surveyed as target position approximate point.
Step 4：Centered on target position approximate point, the cube length of side is halved, the cube area of coverage is chosen again.Judge
Whether the cube area of coverage length of side is less than selected Side length accuracy, if more than Side length accuracy, repeat step two, Step 3: step
Four, iterate to calculate new target position approximate point；Conversely, then this position approximate point is target point, positioning result is exported, target is completed and determines
Position.
L-G simulation test is carried out using the inventive method.40 probe nodes are chosen, it is one group that 4 are taken at random, is carried out 200 times
Location Calculation, the average and variance of statistics position error, respectively 0.96 and 0.7, result of the test shows, this method can be full
On the premise of the certain required precision of foot, space target positioning is rapidly completed.
Claims (1)
1. a kind of space multisensor method for rapidly positioning for network, according to the seat of each probe node in multiple-sensor network
Cursor position and distance measurement result, selection can cover the minimum cubical area of all aiming spots, and carry out rasterizing；And will be every
Individual grid central point is used as initial target position approximate as target point to be selected by the suitable target point to be selected of constraint rule selection
Point, and the point coordinates centered on the point, again choose the cube area of coverage, iterate to calculate target position approximate point coordinates, until cube
The length of side of the body area of coverage meets required precision, and the target position approximate point as target location now obtained, its step is as follows：
Step one：According to known probe node position, the cube area of coverage is chosen；
Provided with n known sensor probe node, n probe node position and the distance measurement result to target point are obtained, each
The corresponding possible target location of probe node be centered on this node, using the distance measurement result to target as the sphere of radius on；
The minimum cube area of coverage is chosen, to cover all possibility aiming spots；
Step 2：The rasterizing cube area of coverage, if the cube area of coverage length of side is L, cube length of side decile value value is a,
Then the cube area of coverage can grid turn to m small cubes, wherein m=a3, each small cubes length of side is L/a；With each small vertical
The central point of cube is used as target point T to be selectedj（j=1,2…m）；
Step 3：Initial target position approximate point is obtained, each distance between target point to be selected and all probe nodes is calculated, selection is treated
The target point to be selected of the poor quadratic sum minimum that distance and probe node have surveyed target range between target point and probe node is selected to make
For initial target position approximate point；
Step 4：Centered on the initial target position approximate point obtained in step 3, the cube length of side is halved, again delimitation cube
Body overlay area, repeat step two, three, four, the general site location of iterative calculation target, until the length of side of the cube area of coverage meets
Required precision, target position approximate point coordinates now is target point space orientation coordinate；
Wherein, the cube area of coverage of minimum is chosen in described step one, to cover be possible to aiming spot；Realize
Method is：If the position coordinates of n known sensor probe node is respectively Di(xdi,ydi,zdi)（i=1,2…n）, detection section
Point is d to the distance measurement result of target pointi（i=1,2…n）, then
xmax=max（xd1+d1, xd2+d2, xd3+d3... xdn+dn）
xmin=min（xd1-d1, xd2-d2, xd3-d3... xdn-dn）
ymax=max（yd1+d1, yd2+d2, yd3+d3... ydn+dn）
ymin=min（yd1-d1, yd2-d2, yd3-d3... ydn-dn）
zmax=max（zd1+d1, zd2+d2, zd3+d3... zdn+dn）
zmin=min（zd1-d1, zd2-d2, zd3-d3... zdn-dn）
Then the length of side for obtaining the cube area of coverage is：
L=max（xmax-xmin, ymax-ymin, zmax-zmin）
Using L as the length of side, set up one with（xmax, ymax, zmax）For summit, to（xmin, ymin, zmin）The cube of direction extension covers
Cover area；
Wherein, target point T to be selected in described step threej（j=1,2…m）Distance and probe node have surveyed mesh between probe node
The poor quadratic sum of subject distance is：
RsqjThe poor quadratic sum of target range has been obtained for distance and probe node between j-th target point and probe node to be selected；
diThe target range obtained for i-th of probe node；
RjiFor the distance of j-th of target point to be selected to i-th of probe node；
Take（Rsq1, Rsq2 …Rsqm）Target point to be selected during middle minimum value as initial target position approximate point, if target position approximate point with
Real target point is completely superposed, and the distance of target position approximate point to probe node should with real target point O to probe node distance
It is equal, i.e. Rsq=0；Therefore, the R of the target position approximate point obtained in cubesqIt should be minimum, and infinitely approach 0.
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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 |
| JP7320387B2 (en) * | 2019-06-24 | 2023-08-03 | アライドテレシスホールディングス株式会社 | Location estimation device and method |
| CN110456308B (en) * | 2019-07-08 | 2021-05-04 | 广西工业职业技术学院 | Three-dimensional space positioning rapid searching method |
| CN112923849B (en) * | 2021-01-27 | 2022-09-13 | 长春涵智科技有限公司 | Space positioning method and system based on contour sensor |
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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 |
| DE102013217869A1 (en) * | 2013-09-06 | 2015-03-12 | Continental Teves Ag & Co. Ohg | Method and communication device for validating a data content of a wirelessly received communication signal and use of the communication device |
| CN103533652B (en) * | 2013-11-05 | 2016-05-25 | 山东省计算中心 | A kind of node positioning method of underwater sensor network |
| CN104080169B (en) * | 2014-07-10 | 2017-11-14 | 中国人民解放军海军航空工程学院 | A kind of underwater wireless sensor network dynamic self-adapting localization method |
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