CN114269013B - Indoor positioning method for interlayer transition area - Google Patents
Indoor positioning method for interlayer transition area Download PDFInfo
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- CN114269013B CN114269013B CN202111528135.1A CN202111528135A CN114269013B CN 114269013 B CN114269013 B CN 114269013B CN 202111528135 A CN202111528135 A CN 202111528135A CN 114269013 B CN114269013 B CN 114269013B
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Abstract
The invention belongs to the technical field of indoor positioning, and particularly provides an indoor positioning method for an interlayer transition area; according to the invention, the base stations are arranged at the preset positions of the interlayer transition region, so that the tag card is always positioned in the visual range of the two base stations, the vertical plane positioning is carried out on the tag card by utilizing the distance difference between the tag card and the two base stations based on the TDOA algorithm, the vertical position of the tag card is accurately positioned, the height calculation of the tag card is realized, the positioning error caused by the height change of the tag card when the horizontal plane calculation positioning of the traditional interlayer transition region is reduced, the three-dimensional positioning of the interlayer transition region is further realized, and the problem of disordered interlayer positioning in the existing indoor positioning technology is effectively solved; in addition, the invention can effectively control the number of the positioning base stations in the interlayer transition area, and greatly reduce the construction cost and the maintenance cost of the indoor positioning system.
Description
Technical Field
The invention belongs to the technical field of indoor positioning, and particularly relates to an indoor positioning method for an interlayer transition area.
Background
In recent years, with the development of wireless sensor networks, the precision of indoor positioning technology is continuously improved, and more places are provided with accurate positioning information by applying the indoor positioning technology; the current indoor positioning step generally comprises the steps of firstly measuring distance and then resolving, firstly obtaining corresponding distance values by adopting different distance measuring methods, and then performing mathematical operation by using the measured distance values to resolve positioning information of the tag card.
The current indoor positioning technology generally uses a mode of performing two-dimensional positioning by floors, but when an indoor positioning system is used for distance measurement, because the terraces of an interlayer transition region are staggered, the environment is complex, and the range of the Line of Sight (NLOS) of a single terrace is small, a Non-Line of Sight (NLOS) condition possibly exists between a base station and a tag, so that the distance measurement result has errors; moreover, due to the change of the height of the tag, the positioning error calculated by the two-dimensional positioning solution is large, so that the correct floor is difficult to select for two-dimensional positioning, the problem of disordered interlayer positioning is caused, and even the communication between the tag and a positioning system is interrupted and data is lost in severe cases.
Based on the above, the invention provides an indoor positioning method of an interlayer transition region.
Disclosure of Invention
The invention aims to provide an indoor positioning method of an interlayer transition region aiming at the problem of interlayer positioning disorder in the existing indoor positioning technology; according to the invention, the base stations are arranged at the preset positions of the interlayer transition region, so that the tag card is always positioned in the sight distance range of the two base stations, and then the vertical plane positioning is carried out on the tag card by utilizing the distance difference between the tag card and the two base stations based on the TDOA algorithm, so that the vertical position of the tag card is accurately positioned, the positioning of the tag card in the interlayer transition region is further realized, and the accuracy of an indoor positioning system is greatly improved.
In order to achieve the purpose, the invention adopts the technical scheme that:
an indoor positioning method of an interlayer transition area is characterized in that 1 positioning base station is respectively arranged on a ceiling right above the intersection of each ladder section of the interlayer transition area, and any ladder section to be detected is covered in the sight distance of two positioning base stations and marked as a No. 1 positioning base station and a No. 2 positioning base station; the indoor positioning method is characterized by comprising the following steps:
wherein L is the length of the trapezoidal surface, m is the width of the trapezoidal surface, alpha is the inclination angle of the trapezoidal surface, and k = tan alpha;
and 3, calculating the focal length c, the real axis a and the imaginary axis b of the hyperboloid where the label card is positioned according to the distance difference delta d between the label card and the two positioning base stations as follows:
and 4, substituting (y, z) into a single-sheet hyperboloid equation to obtain a group of x values within the range of the coordinates (x, y, z) of the tag card, wherein the single-sheet hyperboloid equation is as follows:
step 5, detecting whether the x value exists or notIf not, executing step 6; if yes, turning to step 7;
and 6, substituting (y, z) into a double-sheet hyperboloid equation to obtain a group of x values in the range of the coordinates (x, y, z) of the tag card, wherein the double-sheet hyperboloid equation is as follows:
step 7. Detecting x valueIf the number of (2) is 1, then takeCorresponding to (y) 0 ,z 0 ) Obtaining the coordinates of the tag cardIf the number of the cells is 2, turning to the step 8;
and 8, judging two possible label points: two are combinedCorresponding (y, z) are respectively noted as (y) 01 ,z 01 )、(y 02 ,z 02 ) Judging whether the Δ d is positive or negative:
if Δ d is greater than or equal to 0, then y is taken 0 =max(y 01 ,y 02 ) Obtaining the coordinates of the tag cardz 0 Is y 0 A corresponding z coordinate;
if Δ d is less than 0, then take y 0 =min(y 01 ,y 02 ) Obtaining the coordinates of the tag cardz 0 Is y 0 The corresponding z coordinate.
In terms of working principle:
the invention provides an indoor positioning method of an interlayer transition region based on a TDOA algorithm, the traditional TDOA algorithm is mainly characterized in that the distance difference between a label and two base stations is obtained by measuring the time difference of signals sent out simultaneously reaching the two base stations and multiplying the time difference by the flight speed c of electromagnetic waves, so that a hyperboloid with the two base stations as focuses on the label is obtained, a plurality of groups of hyperboloids exist between the plurality of groups of base stations and the label, and the intersection point of each hyperboloid is the position of the label; compared with other positioning algorithms, the TDOA algorithm only needs to ensure time synchronization between base stations, which is much easier than ensuring time synchronization between the base stations and the labels; therefore, in order to realize positioning calculation, the traditional TDOA algorithm needs at least 3 positioning base stations to realize two-dimensional positioning and at least 4 base stations to realize three-dimensional positioning, and in order to realize three-dimensional positioning in a floor transition area, a plurality of positioning base stations need to be additionally arranged in the floor transition area; however, in the indoor positioning method for the interlayer transition area provided by the present invention, the positioning base station located at the floor platform can be reused for two-dimensional positioning of the floor, and only 1 positioning base station is added at the landing (the intersection of the stairways), that is, three-dimensional positioning of the interlayer transition area can be realized.
In conclusion, the position of the tag card is positioned and resolved on the vertical surface of the interlayer transition area, so that the height resolution of the tag card is realized, the positioning error caused by the height change of the tag card in the traditional horizontal surface resolution positioning of the interlayer transition area is reduced, the three-dimensional positioning of the interlayer transition area is further realized, and the problem of disordered interlayer positioning in the existing indoor positioning technology is effectively solved; in addition, the invention can effectively control the number of the positioning base stations in the interlayer transition area, thereby greatly reducing the construction cost and the maintenance cost of the indoor positioning system.
Drawings
Fig. 1 is a schematic diagram of the placement of base stations in an interlayer transition area according to an embodiment of the present invention.
Fig. 2 is a flowchart of an indoor positioning method for an interlayer transition area according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of various tread parameters and coordinate systems of an indoor positioning method for an interlayer transition area in an embodiment of the present invention.
Fig. 4 is a schematic diagram illustrating an indoor positioning method of an interlayer transition area according to an embodiment of the present invention.
Detailed Description
The invention is further explained in detail with the embodiments in the following figures; it should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
The invention provides an indoor positioning method of an interlayer transition area, which firstly needs to arrange a base station at a preset position of the interlayer transition area, as shown in figure 1, the interlayer transition area schematic diagram comprises the following steps: in the staircase, a white cube in figure 1 represents a positioning base station and is arranged on a ceiling right above the intersection of the stairways, and as can be seen from the figure, the stairway a is covered by a base station No. 1 and a base station No. 2 in an unobstructed manner;
based on the base station No. 1 and the base station No. 2, the indoor positioning method of the interlayer transition region in the invention is shown in fig. 2, and specifically comprises the following steps:
and 3, obtaining the distance difference delta d between the tag card and two base stations (the base station No. 1 and the base station No. 2) through the base station, wherein the distance difference delta d is data (known) returned by the two base stations and is defined as:
the distance difference between the label card and the two base stations is known, and the label card is located on a hyperboloid with the two base stations as focuses, the focal length of the hyperboloid is one half of the distance between the two base stations, and the real axis of the hyperboloid is one half of | Δ d |, that is, the focal length c, the real axis a and the imaginary axis b of the hyperboloid are calculated as:
step 4, obtaining the range of the label coordinates (x, y, z) from the step 2, and substituting the value of each (y, z) into a single-sheet hyperboloid equationObtaining a group of x, as shown in fig. 4, where the rectangular surface is a rectangular surface where the tag card is located, the hyperboloid is a hyperboloid where the tag card is located and two base stations are focal points, and an x coordinate of a curve where the two surfaces intersect is a group of x values obtained in this step;
step 5, detecting whether the x value obtained in the step 4 exists or notIf not, executing step 6; if yes, turning to step 7;
step 6, substituting the values of (y, z) into a double-sheet hyperboloid equationObtaining a group x;
step 7, detecting the obtained x valueIf the number of (2) is 1, then takeCorresponding to (y) 0 ,z 0 ) Obtaining the coordinates of the tag cardIf 2, turning to step 8;
step 8, judging the obtained two possible label points, specifically: two are combinedCorresponding (y, z) are respectively noted as (y) 01 ,z 01 )、(y 02 ,z 02 ) (ii) a Judging whether the delta d is positive or negative:
if delta d is more than or equal to 0 (namely the tag card is closer to the base station No. 2), then y is taken 0 =max(y 01 ,y 02 ) Obtaining the coordinates of the tag cardz 0 Is y 0 A corresponding z coordinate;
if Δ d < 0 (i.e., the tag card is closer to base station number 1), then take y 0 =min(y 01 ,y 02 ) Obtaining the coordinates of the tag cardz 0 Is y 0 The corresponding z coordinate.
Example 1
The embodiment provides an indoor positioning method for an interlayer transition region, which comprises the following steps:
and 3, obtaining the distance difference delta d from the tag card to two base stations (the base station No. 1 and the base station No. 2) through the base station, wherein the distance difference delta d is the data (known) returned by the two base stations:
Δd=-289.258
the distance difference between the label card and the two base stations is known, and the label card is located on a hyperboloid with the two base stations as focuses, the focal length of the hyperboloid is one half of the distance between the two base stations, and the real axis of the hyperboloid is one half of | Δ d |, that is, the focal length c, the real axis a and the imaginary axis b of the hyperboloid are calculated as:
c=234.787,a=144.629,b=184.953
step 4, obtaining the range of the label coordinates (x, y, z) from the step 2, and substituting the value of each (y, z) into a single-sheet hyperboloid equationObtaining a group of x, as shown in fig. 4, where the rectangular surface is a rectangular surface where the tag card is located, the hyperboloid is a hyperboloid where the tag card is located and two base stations are focal points, and an x coordinate of a curve where the two surfaces intersect is a group of x values obtained in this step;
step 7, detecting the obtained x valueIf the number of (2) is 1, then takeCorresponding y, z coordinates (-244.942, -268.328), resulting in tag card coordinates (75, -244.942, -268.328).
It should be noted that: in the embodiment, in the process of positioning the label card on any section of the scissor-type staircase, the x-axis coordinate is positioned on the middle line of the stair surface by default, and the z-axis coordinate is kept unchanged, namely the positioning target is to position the position of the label card on the y axis, so that the errors in the directions of the x axis and the z axis are not considered; on the basis, the parameters of the stair model single-step stair used in the embodiment are 30cm long and 15cm high, the length of the range of the single-step stair in the y-axis direction is 33.541cm, while the error of the label obtained in the embodiment on the y-axis is 15.814cm, and the error in the y-axis direction is obviously smaller than the length of the single-step stair in the y-axis direction, so that the method can position the step on which the label card is positioned, namely realize the positioning of the interlayer transition region.
Example 2
The embodiment provides an indoor positioning method for an interlayer transition region, which comprises the following steps:
and 3, obtaining the distance difference delta d from the tag card to two base stations (the base station No. 1 and the base station No. 2) through the base station, wherein the distance difference delta d is the data (known) returned by the two base stations:
Δd=-31.905
the distance difference between the label card and the two base stations is known, and the label card is located on a hyperboloid with the two base stations as focal points, the focal distance of the hyperboloid is one half of the distance between the two base stations, and the real axis of the hyperboloid is one half of | Δ d |, that is, the focal distance c, the real axis a and the imaginary axis b of the hyperboloid are calculated as:
c=234.787,a=15.952,b=234.245
and 4, obtaining the range of the label coordinates (x, y, z) in the step 2, and substituting the value of each (y, z) into a single-sheet hyperboloid equationObtaining a group of x, as shown in fig. 4, where the rectangular surface is a rectangular surface where the label card is located, the hyperboloid is a hyperboloid where the label card is located and two base stations are focal points, and an x coordinate of a curve where the two surfaces intersect is a group of x values obtained in this step;
step 6, substituting the values of (y, z) into a double-sheet hyperboloid equationObtaining a group x;
step 8, judging the obtained two possible label points, specifically: two are combinedCorresponding (y, z) are respectively noted as (y) 01 ,z 01 )、(y 02 ,z 02 ) (ii) a Wherein, y 01 =-24.795、z 01 =-268.328、y 02 =24.840、z 02 =-268.328;
Since Δ d < 0 (i.e., the tag card is closer to base station number 1), then take y 0 =min(y 01 ,y 02 )=-24.795,z 0 Is y 0 Corresponding z coordinate, z 0 = -268.328, resulting in tag card coordinates (75, -24.795, -268.328).
As in embodiment 1, the error of the label card on the y axis obtained in this embodiment is 1.252cm, and it can be seen that the calculated y axis direction error is significantly smaller than the length of the single-step stair in the y axis direction, and thus this embodiment can also achieve the positioning of the interlayer transition region.
Where mentioned above are merely embodiments of the invention, any feature disclosed in this specification may, unless stated otherwise, be replaced by alternative features serving equivalent or similar purposes; all of the disclosed features, or all of the method or process steps, may be combined in any combination, except mutually exclusive features and/or steps.
Claims (4)
1. An indoor positioning method of an interlayer transition area is characterized in that 1 positioning base station is respectively arranged on a ceiling right above the intersection of each ladder section of the interlayer transition area, and any ladder section to be detected is covered in the sight distance of two positioning base stations and marked as a No. 1 positioning base station and a No. 2 positioning base station; the indoor positioning method is characterized by comprising the following steps:
step 1, using the middle points of the two positioning base stations as the origin points and the long edge direction of the treadEstablishing a coordinate system for the y axis, the direction of the wide edge of the stair surface as the x axis and the direction vertical to the stair surface as the z axis to obtain the position coordinate (x) of the No. 1 base station 1 ,y 1 ,z 1 ) And the position coordinate of the No. 2 base station is (x) 2 ,y 2 ,z 2 );
Step 2, setting the positioning height of the label card as B, and calculating the range of coordinates (x, y, z) of the label card, specifically:
wherein L is the length of the trapezoidal surface, m is the width of the trapezoidal surface, alpha is the inclination angle of the trapezoidal surface, and k = tan alpha;
step 3, calculating the focal length c, the real axis a and the imaginary axis b of the hyperboloid where the label card is located according to the distance difference delta d between the label card and the two positioning base stations;
step 4, substituting (y, z) into a single-sheet hyperboloid equation to obtain a group of x values within the range of the coordinates (x, y, z) of the tag card;
step 5, detecting whether the x value exists or notIf not, executing the step 6, and if yes, turning to the step 7;
step 6, substituting (y, z) into a double-sheet hyperboloid equation to obtain a group of x values in the range of the coordinates (x, y, z) of the tag card;
step 7. Detecting x valueIf the number of (2) is 1, then takeCorresponding to (y) 0 ,z 0 ) Obtaining the coordinates of the tag cardIf the number of the cells is 2, executing a step 8;
and 8, judging two possible label points: two are combinedCorresponding (y, z) are respectively noted as (y) 01 ,z 01 )、(y 02 ,z 02 ) Judging whether the Δ d is positive or negative:
if Δ d is greater than or equal to 0, then y is taken 0 =max(y 01 ,y 02 ) Obtaining the coordinates of the tag cardz 0 Is y 0 A corresponding z coordinate;
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