CN111031472A - Anti-interference indoor rapid positioning method based on combination of WiFi and UWB - Google Patents

Anti-interference indoor rapid positioning method based on combination of WiFi and UWB Download PDF

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CN111031472A
CN111031472A CN201911218376.9A CN201911218376A CN111031472A CN 111031472 A CN111031472 A CN 111031472A CN 201911218376 A CN201911218376 A CN 201911218376A CN 111031472 A CN111031472 A CN 111031472A
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wifi
uwb
information
positioning
positioning method
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狄长安
陈霄
王飞
伍德勇
陈亚洲
顾美
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Yangzhou Houchao Technology Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • 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
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

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  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
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Abstract

The invention provides an anti-interference indoor quick positioning method based on WiFi and UWB combination. The final position of the single WiFi positioning is obtained from the target position by taking the number of the matched WiFi nodes as the weight of each position. The RSS fingerprint database positioning method based on WiFi does not need to pay attention to whether the RSS fingerprint database is transmitted through line of sight or transmitted through non line of sight, various interferences in a complex environment are inhibited by adopting a technology of inhibiting non line of sight interference, the ranging precision is optimized, and compared with the traditional WiFi positioning technology, the method can improve the precision of an indoor positioning system by 35%.

Description

Anti-interference indoor rapid positioning method based on combination of WiFi and UWB
Technical Field
The invention relates to the technical field of positioning, in particular to an anti-interference indoor rapid positioning method based on a WiFi and UWB combination.
Background
At present, based on WiFi (Wireless Fidelity ) fingerprint positioning and uwb (ultra wide band), the positioning technology is widely applied in the field of short-distance fast Wireless positioning, especially in indoor complex scenes.
The WiFi fingerprint positioning method based on the received signal strength has great advantages in the aspects of economy and system arrangement and application, but due to the fact that WiFi signals are strongly influenced by equipment distribution and indoor environment, RSS values have strong dynamic and randomness, and the positioning accuracy can only reach 3-5 m. For the UWB positioning technology, although the UWB positioning system has the advantages of low power consumption, strong multipath resistance, and capability of implementing centimeter-level positioning, the UWB positioning system is limited by the high layout cost and cannot be generally applied to the positioning requirements of different indoor scenes.
Chinese patent No. 200810016551.1 discloses a vertical intersection location algorithm for wireless sensor networks, which is used for power-limited, randomly distributed wireless sensor networks. The method is based on a mobile beacon which knows the position of the mobile beacon, the mobile beacon continuously broadcasts signals and the current position of the mobile beacon on a mobile track, the node records the point with the highest signal strength by comparing the signal strength, and calculates the position of the node by using a geometric method according to two points with the highest signal strength obtained on every two adjacent edges. It requires that the trajectory of the moving beacon be two sides of an equilateral triangle with a side length equal to the moving beacon propagation radius R.
Chinese patent No. 201710648315.0, which discloses an indoor positioning algorithm based on RFID strap correction, the algorithm includes the following steps: (1) in the data processing process, Gaussian filtering is carried out on the acquired data to construct a fingerprint database; (2) theoretically analyzing and simulating to obtain the number of the optimal neighbor tags; (3) the reference labels are arranged in a triangle to realize a Tri-LANDMAC algorithm; (4) and removing the selected labels through the geometric relation and obtaining corrected coordinates. Through theoretical analysis and experimental verification, the positioning accuracy of the corrected and optimized algorithm is obviously improved.
In the prior art, a combined positioning algorithm which has high positioning accuracy, high interference capability and high response speed and is suitable for positioning requirements of different indoor scenes needs to be developed urgently.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an anti-interference indoor quick positioning method based on the combination of WiFi and UWB.
The technical scheme of the invention is as follows: an anti-interference indoor quick positioning method based on WiFi and UWB combination comprises the following steps:
s1), receiving WiFi scanning information S and UWB ranging information d, wherein,
s＝{MAC1,RSS1；...；MACi,RSSi}；
s2), matching the WiFi scanning information S with the fingerprints in the WiFi fingerprint database to obtain the average Euclidean distance L matched with each fingerprintjAnd the matching number n of the WiFi nodes in each fingerprintj；
Figure RE-GDA0002357743330000021
In the formula, LjThe mean Euclidean distance between an RSS vector measured on line and the jth fingerprint in an RSS fingerprint database is obtained; n isjThe number of WiFi nodes in the RSS vectors measured on line is the same as that in the jth RSS vector in the fingerprint database;
s3), selecting k position points (D) corresponding to the minimum mean Euclidean distance1,...Dk)；
S4), matching number n by using WIFI nodejAs a weight, from k position points (D)1,...Dk) Calculating k +1 estimated position points Dk+1This point is the result of a WIFI fix;
Figure RE-GDA0002357743330000022
s5), calculating the distance between the k +1 points and the UWB node, and selecting the position point corresponding to the value closest to the UWB ranging value d in the result as the final combined positioning result.
Preferably, in step S5), the distance between the coordinates of the k +1 possible point positions and the UWB node is calculated by:
Figure RE-GDA0002357743330000023
in the formula (d)iThe distance between the ith position point in the k +1 possible positions and the UWB node is obtained; (x)j,yj) Is the abscissa and ordinate of the ith position in the k +1 positions; (x)0,y0) Known as the UWB node location abscissa and abscissa.
Preferably, in step S5), the UWB ranging can obtain the distance d between the positioning tag and the UWB node0Selecting the closest d to the UWB node in the k +1 position points0As the final positioning coordinates.
Preferably, in step S1), the obtained WiFi scanning information S is obtained by taking an average of multiple measurements, so as to improve the fault tolerance rate, and further reduce the influence of the multipath interference on the WiFi strength;
and processing the UWB ranging information d through an edge detection or MUSIC technology to improve the UWB ranging precision.
Preferably, in step S1), kalman filtering or particle filtering is performed on the obtained WiFi scanning information S and UWB ranging information d to avoid interference of the environment on the WiFi scanning information S and the UWB ranging information d.
Preferably, in step S2), the WiFi fingerprint database is constructed by: after the positioning tag scans WiFi information at a fixed position, writing the MAC address and the strength of WiFi into a database; and scanning WiFi information around the position, and extracting and writing the MAC address and the signal strength in the scanned WiFi information into a database.
Preferably, the positioning tag is used as a client, continuously scans WiFi signals, then transmits information to a server, and then the server calculates the position;
preferably, the positioning tag is connected with the server through a Socket service protocol, then enters a cycle, continuously scans the WiFi information, extracts the MAC address and the strength in each WiFi information, and sends the MAC address and the strength to the server.
The invention has the beneficial effects that:
1. the invention can be suitable for the positioning requirements of different indoor scenes and has good reliability;
2. by combining hardware equipment, the algorithm has high positioning precision, high interference capability and high response speed.
3. The RSS fingerprint database positioning method based on WiFi does not need to pay attention to whether the RSS fingerprint database is transmitted through line of sight or transmitted through non line of sight, various interferences in a complex environment are inhibited by adopting a technology of inhibiting non line of sight interference, the ranging precision is optimized, and compared with the traditional WiFi positioning technology, the method can improve the precision of an indoor positioning system by 35%.
Drawings
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a flow chart of the present invention for interference rejection;
FIG. 3 is a flow chart of the present invention for constructing a fingerprint database;
FIG. 4 is a flow chart of the online positioning of the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings:
as shown in fig. 1, an anti-interference indoor fast positioning method based on WiFi and UWB combination includes the following steps:
s1), receiving WiFi scanning information S and UWB ranging information d, wherein,
s＝{MAC1,RSS1；...；MACi,RSSi}；
s2), matching the WiFi scanning information S with the fingerprints in the WiFi fingerprint database to obtain the average Euclidean distance L matched with each fingerprintjAnd the matching number n of the WiFi nodes in each fingerprintj；
Figure RE-GDA0002357743330000041
In the formula, LjThe mean Euclidean distance between an RSS vector measured on line and the jth fingerprint in an RSS fingerprint database is obtained; n isjThe number of WiFi nodes in the RSS vectors measured on line is the same as that in the jth RSS vector in the fingerprint database;
s3), obtaining all average Euclidean distances, selecting position points (D) corresponding to k minimum average Euclidean distances1,...Dk) As possible target location points for positioning;
s4), matching number n by using WIFI nodejAs a weight for each position, from k position points (D)1,...Dk) Calculating k +1 estimated position points Dk+1This point is the result of a WIFI fix;
Figure RE-GDA0002357743330000042
s5), calculating the distance between k +1 points and the UWB node, wherein the calculation formula is as follows:
Figure RE-GDA0002357743330000043
UWB ranging can obtain the distance d between the positioning label and the UWB node0Selecting the closest d to the UWB node in the k +1 position points0As the final positioning coordinates.
In the formula (d)iThe distance between the ith position point in the k +1 possible positions and the UWB node is obtained; (x)j,yj) Is the ith position of the k +1 positionsThe horizontal and vertical coordinates of (1); (x)0,y0) Known as the UWB node location abscissa and abscissa.
Preferably, in step S1), the multi-path interference may not only bring errors to the WiFi positioning based on the RSS fingerprint database, but also may cause errors to the UWB ranging. In the combined positioning, when the WiFi label measures the WiFi signal strength, a method of measuring and averaging for multiple times can be adopted to improve the fault tolerance rate, and further the influence of multipath interference on the WiFi strength is weakened. In UWB ranging, technologies such as edge detection or MUSIC are added to effectively improve UWB ranging accuracy.
When the positioning is combined, the positioning device is easily interfered by external environment change. When positioning, due to the movement of people or the movement of objects, the WiFi signals can be shielded and absorbed, so that the signal strength received by the receiving end of the positioning label is greatly attenuated, and positioning errors are caused. The moving person or object can shield the UWB signal, so that the UWB signal is refracted or emitted, the refracted or reflected signal can reach the receiving end of the tag, the distance measured by the UWB is increased, and the error is increased. Kalman filtering or particle filtering is added in the processing process to perform certain correction on the positioning result, as shown in fig. 2.
Preferably, in step S2), the WiFi fingerprint database is constructed by: after the positioning tag scans WiFi information at a fixed position, writing the MAC address and the strength of WiFi into a database; and scanning WiFi information around the position, extracting the MAC address and signal strength in the scanned WiFi information and writing them into the database, as shown in fig. 3.
Preferably, the positioning tag is used as a client, continuously scans WiFi signals, then transmits information to a server, and then the server calculates the position; the positioning tag is connected with the server through a Socket service protocol, then enters a loop, continuously scans WiFi information, extracts MAC addresses and strength in all WiFi information and sends the MAC addresses and the strength to the server, and the method is shown in figure 4.
The foregoing embodiments and description have been presented only to illustrate the principles and preferred embodiments of the invention, and various changes and modifications may be made therein without departing from the spirit and scope of the invention as hereinafter claimed.

Claims (8)

1. An anti-interference indoor quick positioning method based on WiFi and UWB combination is characterized by comprising the following steps:
s1), receiving WiFi scanning information S and UWB ranging information d, wherein,
s＝{MAC1,RSS1；...；MACi,RSSi}；
s2), matching the WiFi scanning information S with the fingerprints in the WiFi fingerprint database to obtain the average Euclidean distance L matched with each fingerprintjAnd the matching number n of the WiFi nodes in each fingerprintj；
Figure FDA0002300114620000011
In the formula, LjThe mean Euclidean distance between an RSS vector measured on line and the jth fingerprint in an RSS fingerprint database is obtained; n isjThe number of WiFi nodes in the RSS vectors measured on line is the same as that in the jth RSS vector in the fingerprint database;
s3), selecting k position points (D) corresponding to the minimum mean Euclidean distance1,...Dk)；
S4), matching number n by using WIFI nodejAs a weight, from k position points (D)1,...Dk) Calculating k +1 estimated position points Dk+1This point is the result of a WIFI fix;
Figure FDA0002300114620000012
s5), calculating the distance between the k +1 points and the UWB node, and selecting the position point corresponding to the value closest to the UWB ranging value d in the result as the final combined positioning result.
2. The combined WiFi and UWB based anti-jamming indoor fast positioning method of claim 1, characterized in that: in step S1), the obtained WiFi scanning information S is obtained by a method of averaging multiple measurements;
and processing the UWB ranging information d through an edge detection or MUSIC technology to improve the UWB ranging precision.
3. The combined WiFi and UWB based anti-jamming indoor fast positioning method of claim 1, characterized in that: step S1), performing kalman filtering or particle filtering on the obtained WiFi scanning information S and UWB ranging information d to avoid the interference of the environment on the WiFi scanning information S and the UWB ranging information d.
4. The combined WiFi and UWB based anti-jamming indoor fast positioning method of claim 1, characterized in that: in step S2), the WiFi fingerprint database is constructed as follows: after the positioning tag scans WiFi information at a fixed position, writing the MAC address and the strength of WiFi into a database; and scanning WiFi information around the position, and extracting and writing the MAC address and the signal strength in the scanned WiFi information into a database.
5. The combined WiFi and UWB based anti-interference indoor fast positioning method of claim 4, wherein the method comprises the following steps: the positioning label is used as a client, continuously scans WiFi signals, then transmits information to the server, and then the server calculates the position.
6. The combined WiFi and UWB based anti-interference indoor fast positioning method of claim 5, wherein the method comprises the following steps: the positioning label is connected with the server through a Socket service protocol, then enters a circulation mode, continuously scans WiFi information, extracts MAC addresses and strength in all WiFi information and sends the MAC addresses and the strength to the server.
7. The combined WiFi and UWB based anti-jamming indoor fast positioning method of claim 1, characterized in that: step S5), the distance between the position coordinates of the k +1 possible points and the UWB node is calculated as:
Figure FDA0002300114620000021
in the formula (d)iThe distance between the ith position point in the k +1 possible positions and the UWB node is obtained; (x)j,yj) Is the abscissa and ordinate of the ith position in the k +1 positions; (x)0,y0) Known as the UWB node location abscissa and abscissa.
8. The combined WiFi and UWB based anti-jamming indoor fast positioning method of claim 7, wherein: step S5), UWB ranging can obtain the distance d between the positioning label and the UWB node0Selecting the closest d to the UWB node in the k +1 position points0As the final positioning coordinates.
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Application publication date: 20200417