TWI435100B - Rss-based doa indoor location estimation system and method - Google Patents

Description

Indoor Positioning Tracking Algorithm and System Using Signal Receiving Direction Based on Received Signal Strength

The present invention relates to an indoor location tracking calculation method and system, and more particularly to a Received Signal Strength (RSS)-based signal arrival direction (Direction-of-Arrival, used in a wireless communication network). DoA) indoor positioning tracking calculation method and system.

In everyday life, positioning or position estimation systems are often used indoors and outdoors for location information. Location information can be used to develop more business applications or enhance their value, such as telecom fraud protection, location awareness, network access, asset tracking, and indoor RF positioning systems. The application of indoor wireless radio frequency positioning system may become more and more in the future, and its application places may include department stores, parking lots, shopping malls, amusement parks, libraries and schools. In the prior art, a method for tracking/locating an electronic device includes transmitting a radio frequency signal using a plurality of satellites of the earth using a Global Position System (GPS) to allow the GPS receiver of the electronic device to receive the These radio frequency signals, in turn, know the exact location of the electronic device for positioning.

However, in the above method, if the electronic device is located indoors, the accuracy of GPS positioning is greatly reduced and often not very effective. In actual situations, the GPS signal is easily diffracted or reflected by the influence of the building, resulting in an error in measuring the distance and reducing the positioning accuracy. Furthermore, in an indoor environment, the signal strength of the GPS signal is reduced due to the blockage of the building, so that the GPS receiver of the electronic device cannot collect sufficient location information from the GPS satellite positioning system. Therefore, it is currently impossible to accurately locate using GPS technology in an indoor environment.

In an attempt to solve the above problems, enabling electronic devices to achieve accurate position tracking in an indoor environment, some non-GPS positioning techniques such as triangulation (such as UWB), proximity (such as RFID), and scene analysis must be used. (For example, wireless network RSS mapping), each of the traditional non-GPS positioning positioning techniques has its advantages and disadvantages resulting in some inaccurate positioning or location estimation. For example, the commercial application of some conventional technologies is too complicated or expensive.

There are two main ways to locate by triangulation: Direction Finding (DF) and range estimation. The direction search uses an estimate of the antenna array's Angle-of-Arrival (AoA) and Direction of Arrival (DoA) to locate a mobile station (MS). The range estimation is to calculate the position of the mobile station by using the distance between the mobile station (MS) and a plurality of base stations (BS) as a radius to calculate the position of the mobile station, and the mobile station and the base station The distance between the estimates can be calculated based on the Time-of-Arrival (ToA) or the Received Signal Strength (RSS) of the RF signal. Due to the nature of the propagation channel, inaccurate positioning position calculations can still occur with direction search and range estimation.

The cost of using the received signal strength for range estimation is lower, however, due to the multiple path effect, the range of indoor environments applied is only about 3 to 5 meters, and the accuracy is low. Another preferred method is to use RSS maps or RSS fingerprints for range estimation for better positioning accuracy. However, these methods still only achieve accuracy of 2 to 3 meters, and require in-situ measurement in the field, and the implementation cost is high. In addition, the direction search using the signal arrival direction can achieve higher accuracy, but its cost is too high and bulky, and is only suitable for military use, and is not suitable for general commercial use.

In accordance with some embodiments of the present invention, the indoor environment location tracking algorithm of the present invention can provide one or more wireless electronic devices within an indoor environment, providing a lower cost and higher accuracy location estimate.

According to some embodiments of the present invention, the indoor environment location tracking calculation method of the present invention can provide location estimation of one or more wireless electronic devices in an indoor environment, and can be applied to support multiple wireless standards without additional The wireless electronic device or hardware device implements the positioning of the wireless electronic device.

According to some embodiments of the present invention, an indoor environment location tracking calculation method for providing location estimation of one or more wireless electronic devices in an indoor environment may have a smaller number of access nodes or locations. Required DoA sensing node.

According to some embodiments of the present invention, the present invention provides an indoor environment location tracking calculation method for position estimation of one or more wireless electronic devices in an indoor environment, which can be implemented in a DoA algorithm of RSS, whose input is RSS and output is DoA (RSS>DoA).

According to some embodiments of the present invention, the present invention provides an indoor environment location tracking calculation method for position estimation of one or more wireless electronic devices in an indoor environment, which can be implemented in an N-path vector signal deconstructor (VSD).

According to some embodiments of the present invention, the present invention provides an indoor RF positioning system for position estimation of one or more wireless electronic devices in an indoor environment, comprising an antenna array forming a triangle, a wireless network base station unit, and a 1P2T Solid state RF switch, a vector signal disassembly (VSD) electronic circuit. The DoA sensing unit is configured to acquire (θ, Φ) values, respectively.

As described in the following specific embodiments, most wireless communication standards, such as wireless local area network (WLAN), Bluetooth, Zigbee, etc., use Received Signal Strength Indicator in the intermediate frequency (IF) (Received Signal Strength Indicator). , RSSI) to indicate the received signal strength within the channel. RSSI typically has 100 or 127 types/values (~1 dB resolution).

The wireless target of the specific embodiment of the present invention may be a mobile phone, a smart phone, a tablet device, a wireless communication function digital camera, a palmtop computer, a notebook computer, a wireless function computer, a USB wireless device, a wireless function type game controller. , with objects with wireless identification tags, etc... Through the indoor environment location tracking calculation method provided by the invention, the location information of the wireless target can be accurately obtained. The located positioning object can be the wireless target or an object that is in close/direct contact with the wireless target. For example, the wireless target can be a mobile phone, and when a user wants to know his location information, the mobile phone can be placed in the user's pocket, and thus obtained by the indoor environment tracking calculation method of the present invention. The location information is the location information of the wireless target (mobile phone), that is, the location information of the user.

Please refer to Figure 1. 1 illustrates an indoor positioning system employing an indoor environment location tracking calculation method of a first embodiment of the present invention. The indoor environment location tracking calculation method of the present invention is based on a Received Signal Strength (RSS) positioning method to derive a Direction-of-Arrival (DoA) of a wireless target, thereby obtaining the wireless target. Location information. More specifically, the indoor environment location tracking calculation method of the present invention only needs to calculate the phase difference (Ψ ₁₂ ) and the signal strength (A ₁ and A ₂ ) by using the received signal strength. Then, the derived phase difference (Ψ ₁₂ ) can be used to further derive the signal arrival direction (DoA) of the wireless target and the wireless target. In addition, signal strength can also be used to assess multipath interference conditions. In Figure 1, the indoor positioning system has two antennas 3, an antenna 1 and an antenna 2, and a wireless target. Antenna 1 and antenna 2 form a DoA sensing node, and the wireless target can be transceiver 2 (i.e., either as a transmitter or a receiver, respectively). When the DoA sensing node receives one or more wireless signals from the wireless target, the phase difference Ψ ₁₂ can be derived according to the following equation [1] as follows:

Where Φ represents the incident angle of the wireless target, d is the distance between the antenna 1 and the antenna 2, and λ is the wavelength of the operating frequency. According to a preferred embodiment of the present invention, a functional block 1 can be implemented by a Vector Signal De-constructor (VSD) 100. The function block 1 phase shifts the vector signals of the antenna 2 by 0°, 180°, 90°, and 270°, respectively, and adds them to the vector signals of the antenna 1 to generate four vectors and E ₁ , E ₂ , and E, respectively. ₃ , E ₄ , as shown in the following formula [2a~2d]:

RSSI signal transmission has reciprocity and bidirectional characteristics. The RSSI can be implemented on the DoA sensing node to receive the signal strength transmitted by the wireless target from the beam direction of an incident angle Φ. Or the RSSI is implemented in the wireless target, the DoA sensing node transmits from a beam direction of the emission angle Φ, and the wireless target receives the signal strength transmitted by the DoA sensing node. Briefly, in this particular embodiment, the DoA sensing node acts as a receiver and the wireless target acts as a transmitter. After the DoA sensing node transmits the signal packet, the DoA sensing node receives the wireless signal transmitted by the wireless target through the antenna 1 and the antenna 2, and obtains four vectors and E ₁ , E ₂ , E ₃ , and E ₄ by using the above formula. The signal strength (ie | E ₁ | ² , | E ₂ | ² , | E ₃ | ² , | E ₄ | ² ), then calculate the phase difference between antenna 1 and antenna 2, calculated as follows:

Then the calculation method of the incident angle Φ of the wireless target is as follows:

Please refer to Figure 2. FIG. 2 is a flow chart showing the indoor environment location tracking calculation method of the present invention. The indoor environment location tracking calculation method of the present invention only needs the value of RSSI to calculate the signal arrival direction (DoA). In step S201, | E ₁ | ² , | E ₂ | ² , | E ₃ | ² , | E ₄ | ² are selected and calculated from the RSSI values. At step S202, the phase difference Ψ _{12 is} calculated. In step S203, the direction of arrival (DoA) is calculated. The strength of the received signals of antenna 1 and antenna 2 can be expressed as follows:

The strength of the smaller signal =

Greater signal strength =

In this embodiment, antenna 1 and antenna 2 need only four vectors and can calculate the incident angle Φ of the wireless target, thereby providing a low power consumption and eliminating the need to use any continuously adjustable phase shift (ie, An effective method for more expensive options). Assuming that conventional techniques use 1 degree angular accuracy for null scanning, conventional techniques require a total of 180 scans from 0 degrees to 180 degrees. According to the first embodiment of the invention, however, only a total of 4 scans are required under the same conditions. Moreover, in this particular embodiment, multipath interference can also be evaluated only by the vector signal disassembly module without the need for any additional additional elements.

Please refer to Figure 3. FIG. 3 illustrates a vector signal disassembly module 100 of the present invention. The vector signal disassembly module 100 includes a 0° reference line 20, a 0°/90° switching phase shifter 22, a quadrature mixer 24 (half power 90° coupler), and a switch 26. Switch 26 can be a pair of two solid state RF switches (1 pole/2 throw, 1P2T).

Please refer to Figure 4. Figure 4 illustrates another embodiment of a vector signal disassembly module. In FIG. 4, other conventional device/circuit configurations for achieving phase shifts of 0°, 180°, 90°, and 270° of an antenna pair are also available, and four vectors and E ₁ can be obtained as well. , E ₂ , E ₃ , E ₄ .

The flexibility of RSSI signal transmission is reciprocal or bidirectional, and there are at least two options for signal transmission: Option 1: DoA Receive Mode (RSSI at DoA Node); Option 2: DoA Transfer Mode (on Wireless Target) RSSI). Option 1 is suitable for monitoring and security applications; Option 2 is similar to GPS and is suitable for use in public environments. The advantage is that wireless targets are designed less frequently, and because only wireless targets have the authority to obtain positioning results, they can be protected. personal privacy.

Please refer to Figure 5. FIG. 5 illustrates an N-path vector signal disassembly module 110 in accordance with another embodiment of the present invention, where N represents the total number of antennas. Therefore, the N antenna requires 4 (N-1) vector sums to calculate the incident angle Φ and phase difference Ψ of the antenna.

Please refer to Figure 6(A)~6(B). 6 is a flow chart showing an indoor environment location tracking calculation method according to a second embodiment of the present invention. In step S101, a DoA sensing node is deployed in a predetermined indoor space, wherein the DoA sensing node is formed by three antennas A, B, and C to form a triangular antenna array.

It is worth mentioning that because the RF signal is usually received in an indoor environment, the deviation of the direction calculation may be caused by the reflection of the wall, the floor, or the ceiling. For example, the RF signals received by the antenna A and the antenna B all include the above-mentioned reflection portion, and the direction cannot be accurately calculated. In order to overcome the error caused by signal reflection, the method of the second embodiment is to add an antenna C. The measurement and calculation of the phase difference between the A-C antenna group and the B-C antenna group is utilized, and then a total of three equations are provided to calculate the direction of the transmitter. When the measurements provided by the A-B antenna group, the A-C antenna group, and the B-C antenna group are all in the same direction, the calculation result is not affected by the reflected signal. However, when the calculation results are not identical, the average of the three directions or the signal vectors V1, V2 and V3 received according to the antennas A, B and C are used as the basis for calculation, and the electromagnetic (EM) equation is used to calculate the direction.

In step S102, the wireless target fixed to a positioning object may be one or more. In step S103, the DoA sensing node sends a set of signal packets or beams, each of which includes a fixed sensing node coverage, such as 45°, and the set of signals is used to cover 360° of all indoor spaces. The packet consists of eight packets, which scan the entire interior space in full rotation.

This embodiment uses a triangular antenna array with three antennas, a 1P2T switch, and a vector signal disassembly module (the amplitude and phase solver of the N path). In step S104, each RSSI is calculated to obtain corresponding eight RSSI values (| E ₁ | ² , | E ₂ | ² .... | E ₈ | ² ). The way in which the RSSI is obtained can be obtained from a beam that is wirelessly targeted to the angle of incidence Φ, or from a beam A, B, or C of the DoA sensing node, one of which comes to a beam of incident angle Φ.

In step S105, the DoA sensing node collects eight signal packets and compares the obtained signal packets to obtain a signal packet having the largest RSSI value therein. In step S106, according to the calculation method of the signal arrival direction based on the received signal strength localization method, calculation is performed to obtain the position (θ, Φ) of the positioning object, including the following steps:

(1) (Step S106-1) Obtain the E _Ant1 , E _Ant2 , E _Ant3 signal values, and calculate according to the following equations [6A to 6C]:

Where α is the path loss value of the signal transmission, and the position (θ, Φ) of the positioning object can be derived from Ψ ₂₁ and Ψ ₂₃ ;

(2) (step S106-2) using the following equation [7 to 10] and calculated Ψ ₂₁ Ψ _23, wherein the RSSI value ^{_{| E 1 | 2 ~ | E}} 4 | 2 obtained Ψ _21, and the RSSI values | E ₅ | ² ～| E ₈ | ² Obtained Ψ ₂₃ Calculated as follows:

(3) Calculate sin θsinΦ and sin θcosΦ as follows:

(4) (Step S106-3) The position (θ, Φ) of the positioning object can be derived as follows:

(5) (Step S106-4) Converting the position data of the positioning object located in the predetermined indoor space into (based on) the position (θ, Φ) of the positioning object and the plurality of position data from the position map of the predetermined indoor space. X, Y) data.

In the first and second embodiments, the direction of arrival of the wireless target is obtained from the angle of incidence Φ, for example, according to antenna 1 and antenna 2 in the first embodiment or antenna A and according to the second embodiment. The phase difference Ψ _{12 of the} signals received between the antennas B is calculated. Due to the distance between antenna 1 and antenna 2, or the distance between antenna A and antenna B, very close (less than 5% of the distance from the transmitter), even in the presence of reflection, the signals received by the two antennas The amplitudes are equal, so the phase difference can be used to calculate the angle of incidence Φ.

The above calculation method can be implemented by a software type/software program, and the software program receives the following parameters as input data: (1) the direction of the wireless target is obtained by forming a triangular antenna array by the DoA sensing node, (2) ) The signal strength obtained in the direction of the wireless target (the unit of the RSSI value is dBm), (3) the structure of the building, and (4) the historical position record on each area unit contains different " Deterministic level." In the second embodiment (step S107), assuming that the height of the wireless target is between 100 cm and 180 cm on the ground, the three-path vector signal disassembly module uses the 1P2T switch to switch the position of the object (θ, Φ) to obtain the position (X, Y) of the wireless target.

In step S108, the location (X, Y) data of the wireless target is transmitted to the wireless network base station (AP) to the computer host for further processing.

Please refer to Figure 7. Figure 7 illustrates an indoor positioning system 250 employing an indoor environment location tracking algorithm in accordance with a third embodiment of the present invention. The indoor positioning system 250 is a receiving signal strength-signal arrival direction positioning method design for a wireless target according to a second embodiment of the present invention. The indoor positioning system 250 includes a single DoA sensing node 111, which is deployed on the ceiling in the middle of the room, such as Figure 7 shows. The DoA sensing node 111 sends a set of signal packets, each of which includes a fixed sensing node coverage area 123 (eg, 45°), and the set of signal packets includes a total of eight packets in order to cover 360° of all indoor space. , scan all indoor spaces with full rotation.

Please refer to FIG. 8 and FIG. 9. The 1P2T solid state RF switch switches the DoA sensing node 111 of the triangular array antenna. In this embodiment, antennas A, B, and C are placed at the vertices of an equilateral triangle formed by a triangular antenna array, and thereby obtain eight RSSI values (in dBm), such as | E ₁ | ² , | E ₂ | ² .....| E ₈ | ² . The DoA sensing node 111 calculates the position (θ, Φ) of the positioning object using the positioning calculation method and the vector signal disassembly module of the first embodiment of the present invention, and then converts the position (X, Y) coordinates of the positioning object. .

Please refer to FIG. 10 and FIG. Figure 10 illustrates a vector signal disassembly module 100 for use in accordance with the second and third embodiments of the present invention. FIG. 11 illustrates eight vectors and E ₁ , E ₂ , E ₃ , E ₄ , E ₅ , E ₆ , E ₇ , and E ₈ obtained by the vector signal disassembly module 100 of FIG.

The DoA sensing node 111 is only able to obtain the θ value and the Φ value of the wireless target (that is, the position of the positioning object), which means that the data of the r value (X, Y, Z axis) is still not found. However, if the predetermined indoor space is relatively small, for example, 5 meters by 5 meters, and the object is positioned, such as a person and holds a wireless target, such as a mobile phone, 100 cm to 180 cm on the indoor space. between. Therefore, the DoA sensing node 111 is disposed at a central position in an indoor space (2.5 meters, 2.5 meters, 3 meters). The predetermined indoor space size is, for example, 5 meters (length) x 5 meters (width) x 3 meters (height). The DoA senses the position of the node 111 to form a set of three antennas at (3 meters, 3 meters, 2.5 meters). The test height (the height of the wireless target above the ground) is exemplified by 1.4 meters, and the multipath coefficient K is exemplified by 10 decibels. By performing the corresponding calculations, the estimated error is approximately 65 cm and this should be an acceptable margin of error.

The Cumulative Distribution Function (CDF) or the percentage of cumulative probability of the positioning error is used to evaluate the performance of the indoor environment positioning system of the present embodiment.

The indoor environment location tracking calculation method according to the second embodiment of the present invention performs computer simulation research in a space of 5 meters (length) x 5 meters (width) x 3 meters (height). Referring to Figure 11 and Table 1, when a triangular antenna array and vector signal disassembly module 100 are used, the percentile and average accuracy are significantly improved. Referring to Fig. 12A (Case 1), a DoA sensing node 111 is located at a position (2.5 meters, 2.5 meters, 3 meters) in the middle of a room. Referring to Figure 12B (Case 2), the two conventional RSS sensing nodes 115 are located in the lower left corner (0 meters, 0 meters, 1.4 meters) and the lower right corner of the room (5 meters, 0 meters, 1.4 meters). ruler). The target has a height of 1.4 meters and a target position of (2.5 meters, 2.5 meters, 1.4 meters). Sample size: a total of 300 points. The Rayleigh K factor is set to 10 decibels (experimental multipath conditions in an indoor environment). The cumulative probability distribution is set as follows: target position (X, Y, 1.4 meters), 0 X 5 and 0 Y 5 random sampling, the number of samples: a total of 2000 points; Rayleigh K coefficient is 10 decibels. Refer to Figure 12. The cumulative probability simulation results of Figure 12A (case 1) and Figure 12B (case 2) are integrated in Figure 13. Table 1 below is an overview:

Referring to the data of Table 1, the indoor environment location tracking calculation method (calculation method of signal arrival direction based on received signal strength) of the second embodiment of the present invention (case 1) is compared with two conventional RSS sensing nodes 115 ( Case 2) has significant improvements. In other embodiments, more than one DoA sensing node can accommodate together providing location information and locating object pairs for each wireless target.

In addition, regarding the multipath interference problem encountered in the embodiment of the present invention, a multipath coefficient MP is provided as follows, which is defined as follows:

And if Equal to zero, then MP is equal to 1.

The information obtained from the received signal strength combined with the multipath coefficient MP value can be used to evaluate whether there is any obstacle in the current signal transmission path. The higher the multipath coefficient MP value, the greater the obstruction of the received obstacle and the worse the signal quality. Conversely, the lower the multipath coefficient MP value, the better the signal quality of the corresponding DoA sensing node 111 of the wireless target. Therefore, an optimal DoA sensing node is selected from the plurality of DoA sensing nodes according to the multipath coefficient MP value and the received signal strength value to obtain more effective indoor wireless target and positioning tracking of the positioning object.

It is reported that on-site analysis techniques, compared to conventional conventional RSSI techniques, are generally considered to provide more accurate positioning results, but require costly in-situ measurements. The calculation method and the positioning system for the indoor environment tracking and positioning provided by the present invention can reduce the cost compared with the pure field analysis technology by using the calculation method of the signal arrival direction based on the received signal strength.

100. . . Vector signal disassembly module

1. . . Functional block

2. . . transceiver

20. . . 0° baseline

twenty two. . . 0°/90° switching phase shifter

twenty four. . . Orthogonal mixer

26. . . switch

111, 115. . . Sensing node

123. . . Coverage

1 is a schematic diagram of a positioning system employing an indoor environment location tracking calculation method according to a first preferred embodiment of the present invention.

FIG. 2 is a flow chart showing an indoor environment location tracking algorithm based on the signal arrival direction based on the received signal strength localization method.

3 is a schematic diagram of a vector signal disassembly module according to a first embodiment of the present invention.

4 is a schematic diagram showing four vector sums obtained by a vector signal disassembly module according to a first embodiment of the present invention.

FIG. 5 is a schematic diagram of an N-path vector signal disassembly module.

6(A)-6(B) are flow diagrams showing a method of positioning a wireless target in one or more wireless electronic devices provided in an indoor environment according to a second embodiment of the present invention.

FIG. 7 is a schematic diagram of an indoor environment location tracking calculation positioning system according to a third embodiment of the present invention.

FIG. 8 is a block diagram showing an antenna layout and configuration according to a third embodiment of the present invention.

FIG. 9 is a schematic diagram showing how Φ and θ angles are defined according to a wireless target and an antenna according to a third embodiment of the present invention.

FIG. 10 is a schematic diagram of a vector signal disassembly module according to second and third embodiments of the present invention.

FIG. 11 is a schematic diagram showing eight vector sums obtained by the vector signal disassembly module of FIG.

12(A) to 12(B) are diagrams showing a configuration simulation diagram of an indoor environment positioning system according to an embodiment of the present invention.

Fig. 13 is a simulation result of the cumulative probability shown by the operations of Figs. 12(A) to 12(B).

100. . . Vector signal disassembly module

1. . . Functional block

2. . . transceiver

20. . . 0° baseline

twenty two. . . 0°/90° switching phase shifter

twenty four. . . Orthogonal mixer

26. . . switch

111, 115. . . Sensing node

123. . . Coverage

Claims (13)

A received signal strength based (RSS-based) signal arrival direction (DoA) indoor environment location tracking algorithm for one or more wireless targets, comprising: providing and configuring a signal arrival direction sensing node, the signal arrives The direction sensing node includes three antennas: an antenna A, an antenna B, and an antenna C, forming a triangular antenna array disposed substantially at an intermediate position within a predetermined indoor space; setting one or more wireless targets to one or more positioning objects Transmitting a plurality of packet signals from the signal arrival direction sensing node to the wireless target, each packet includes a fixed sensing node coverage, and the combined packet signal covers all of the predetermined indoor space; using the triangular antenna array a 1P2T switch, and a vector signal disassembly module, transmitting a plurality of beams from the wireless target having a plurality of incident angles θ and Φ, and obtaining received signal strength indication values (RSSIvalues) of the individual received signal strength indication states; Use the signal to reach the direction sensing node, collect and compare the eight packets of the signal, so that one has the largest Receiving the strongest packet signal of the signal strength indication value; and calculating a position of the one of the locating objects using the received signal strength (RSS) signal arrival direction (DoA) algorithm to obtain the strongest packet signal of the obtained data (θ, Φ ), which has the largest received signal strength indication value, and the execution of the received signal strength signal arrival direction algorithm (RSS to DoA) comprises the following steps: a) calculating θ and using E _Ant1 , E _Ant2 , E _Ant3 and three sets of equations Φ: b) Use the following two equations, where Ψ ₂₁ is obtained from the received signal strength indicator | E ₁ | ² ~| E ₄ | ² , and Ψ ₂₃ is obtained from the received signal strength indicator | E ₅ | ² ~| E ₈ | ² , used to calculate multiple phase differences, Ψ ₂₁ and Ψ ₂₃ , as follows: c) Calculate the position (θ, Φ) of the locating object using Ψ ₂₁ and Ψ ₂₃ and the following two equations: d) converting the position (θ, Φ) of the positioning object and the plurality of position data obtained from the position map of the predetermined indoor space into (X, Y) data of the positioning object. For example, the signal arrival direction positioning tracking calculation method based on the received signal strength according to the first aspect of the patent application scope, wherein the vector signal disassembly module combines multiple signals from each antenna to generate a plurality of vector sums. For example, the second aspect of the patent application is based on the received signal strength based signal arrival direction location tracking calculation method, wherein the four vector sum is the vector signal of the first antenna plus the vector signal of the second antenna and 0°, 180 The phase shifts of the angles of °, 90°, and 270°, respectively, and only the four vectors needed to calculate the incident angle Φ for each dual antenna. For example, the signal arrival direction positioning tracking calculation method based on the received signal strength signal according to the second item of the patent application scope, wherein the vector signal disassembly module is an N-path vector signal disassembly module, and N represents the total number of antennas used, thereby A total of 4 (N-1) vectors are needed to obtain the phase difference of the antenna as well as the angle of incidence Φ. The signal arrival direction positioning tracking calculation method based on the received signal strength signal according to the first item of the patent application scope, wherein the vector signal disassembly module comprises a 0° reference line, and a 0°/90° switching phase shifter , an orthogonal mixer, and a switch. For example, the method for tracking and calculating the signal arrival direction of the received signal strength signal according to the first item of the patent application scope is implemented in a software program, and the software program receives the direction of the wireless target by the DoA sensing node. Forming a triangular antenna array to obtain the signal strength of the signal obtained by determining the direction of the wireless target, the structure of the building, and the historical location record per unit of area, including a plurality of deterministic levels as inputs value. For example, the signal arrival direction positioning tracking calculation method based on the received signal strength signal according to Item 1 of the patent application scope, wherein the amplitudes of the signals received by the antenna are regarded as equal, and the phase difference is directly used to calculate the incident angle Φ. For example, the signal arrival direction positioning tracking calculation method based on the received signal strength signal according to the first aspect of the patent application scope, wherein the phase difference measurement and calculation between the AC antenna group and the BC antenna group: if all three calculation quantities are provided In the AB antenna group, the AC antenna group and the BC antenna group are all in the same direction, the calculation result is not affected by the reflection, and if the three calculation results are not identical, the average value of the three directions is obtained or the electromagnetic equation is used, according to the antenna The plurality of signal vectors V1, V2, and V3 received by A, B, and C are the basis of calculation for calculating the direction. For example, the signal arrival direction location tracking calculation method based on the received signal strength signal according to the first item of the patent application scope is used to overcome the multipath interference problem, and a multipath coefficient MP is defined as follows: And if Equal to zero, then the multipath coefficient MP is equal to one. This multipath coefficient is evaluated only by the vector signal disassembly module and also uses signal strength to evaluate multipath interference. The information obtained from the received signal strength is combined with the multipath coefficient for evaluating whether any obstacle is in the signal transmission path and determining which signal arrives at the direction sensing node being selected for positioning of the wireless target. A method for providing one or more wireless electronic devices in a room environment as a wireless target for positioning includes the steps of: providing a signal to a direction sensing node comprising: three antennas forming a triangular antenna array, including a first day a line, a second antenna, and a third antenna, and deploying the signal to the direction sensing node in the middle of a predetermined indoor space; setting one or more wireless targets to a positioning object; sensing the direction of arrival by the signal The node sends a plurality of signal packets, each of which includes a fixed sensing node coverage, and each complete rotation scan includes a total of eight packets covering the entire indoor space of 360 degrees; using the triangular antenna array, a switch And a vector signal disassembly module obtains a plurality of received signal strength indication values for respective received signal strength indication states; the signal arrival direction sensing node collects and compares the packet signals to obtain the strongest packet signal thereof, and has the largest Receiving the signal strength indication value (RSSI value), according to the receiving message as in the first item of the patent application scope The intensity-based signal arrival direction positioning method is calculated, where α is the path loss value of the signal transmission, and the position of the positioning object (the letter, Φ is derived from Ψ ₂₁ and Ψ ₂₃ ; the position of the positioning object is used ( θ, Φ), from a plurality of position data of a predetermined indoor space, the position data of the positioning object located in the predetermined indoor space is converted into (X, Y) data; and the wireless target is obtained from the (θ, Φ) of the positioning object Position (X, Y) data, where the assumed height of the wireless target is set between 100 cm and 180 cm above the ground; and the location (X, Y) of the wireless target is transmitted to the wireless network base station, and then to the computer The host computer performs further processing. The received signal strength indication includes a plurality of signals from which the wireless target has an incident angle Φ or a plurality of signals from which the signal arrival direction sensing node has an incident angle Φ, and a signal transmission of the received signal strength indication Contains two-way features. The wireless electronic device indoor environment positioning method according to claim 10, wherein the received signal strength indication signal transmission has a bidirectional characteristic, and operates in a DoA reception mode or operates in a DoA transmission mode. A receiving signal strength based signal arrival direction (RSS to DoA) positioning system, using the positioning tracking calculation method of claim 1 of the patent scope, the positioning system comprises: a signal arrival direction sensing node; a triangular antenna array comprising three An antenna, wherein each antenna is sized and configured; an indoor positioning space; one or more wireless targets; and one or more positioning objects; wherein the signal arrival direction sensing node is deployed on a ceiling in the middle of the indoor positioning space And the antenna is placed at the apex of an equilateral triangle formed by the triangular antenna array. The positioning system of claim 12, wherein the wireless target is a mobile device, a smart phone, a tablet device, a wireless communication function digital camera, a palmtop computer, a notebook computer, and a wireless device. a function computer, a USB wireless device, a wireless game controller, or a wireless identification tag object, and the positioned positioning object is in close proximity or in direct contact with a wireless target, the purpose of which is to obtain the quilt Position the exact location of the object, or the location of a person.