WO2015021903A1 - 目标定位方法及系统 - Google Patents
目标定位方法及系统 Download PDFInfo
- Publication number
- WO2015021903A1 WO2015021903A1 PCT/CN2014/084163 CN2014084163W WO2015021903A1 WO 2015021903 A1 WO2015021903 A1 WO 2015021903A1 CN 2014084163 W CN2014084163 W CN 2014084163W WO 2015021903 A1 WO2015021903 A1 WO 2015021903A1
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- WO
- WIPO (PCT)
- Prior art keywords
- target
- sampling points
- conditional probability
- probability density
- sampling point
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000005070 sampling Methods 0.000 claims abstract description 167
- 230000005672 electromagnetic field Effects 0.000 claims abstract description 29
- 238000000342 Monte Carlo simulation Methods 0.000 claims description 26
- 239000002245 particle Substances 0.000 claims description 20
- 230000000694 effects Effects 0.000 claims description 12
- 238000005259 measurement Methods 0.000 claims description 12
- 238000012952 Resampling Methods 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000009827 uniform distribution Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- 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
- G01S5/0278—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 involving statistical or probabilistic considerations
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/18—Complex mathematical operations for evaluating statistical data, e.g. average values, frequency distributions, probability functions, regression analysis
Definitions
- the invention relates to the field of indoor positioning and simulation, and in particular to a target positioning method and system. Background technique
- Indoor positioning technology is a technology for acquiring location information of people and objects in a room. Based on location information, it can provide users with a variety of services, and has broad application prospects in both military and civilian applications.
- Existing indoor positioning methods include infrared indoor positioning technology, ultrasonic positioning technology, Bluetooth technology, radio frequency identification technology, and wireless sensor network technology. Since the implementation of the above positioning technology relies on the collection of various types of wireless information, when the wireless information of the detection environment is relatively large and the situation is complicated, the existing indoor positioning method will not work normally, thereby affecting the target to be treated. Positioning. Summary of the invention
- an aspect of the present invention provides a target positioning method for determining a current position of a target to be positioned by determining a probability that a target to be positioned is at a sampling point position by measuring the current electromagnetic field.
- a target positioning method provided according to an aspect of the present invention includes:
- Generating a plurality of sampling points in the target activity range map obtaining a conditional probability density of the target to be located at the plurality of sampling points according to an initial electromagnetic field strength of the plurality of sampling points and a current electromagnetic field strength of the target to be positioned;
- the conditional probability density is used to resample the sample point; and the target position to be located is obtained according to the updated sample point coordinate value.
- the step of acquiring a conditional probability density of the target to be located at the plurality of sampling points comprises: updating initial coordinates of the plurality of sampling points according to a Monte Carlo method of motion; The initial electromagnetic field strength and the current electromagnetic field strength of the updated plurality of sampling points are obtained by the Monte Carlo method to obtain the conditional probability density of the target to be positioned at the plurality of sampling points.
- the step of generating a plurality of sampling points in a target range of activity map Including: generating multiple sampling points by a random function in the target activity range map.
- the step of generating a plurality of sampling points in the active range map of the target comprises: generating, in the target active range map, a plurality of sampling points according to the historical sampling point information and the basic series algorithm BSAS.
- the step of updating initial coordinates of the plurality of sampling points according to the Monte Carlo method of motion comprises: operating a model according to a Monte Carlo method + ⁇ Updates the two-dimensional initial coordinates of the plurality of sampling points.
- the initial electromagnetic field strength and the current electromagnetic field strength of the updated plurality of sampling points are used to obtain a conditional probability density of the target to be located at the plurality of sampling points by a Monte Carlo measurement model.
- the step of resampling the sampling point according to the conditional probability density comprises: correcting the sampling according to a random adoption function according to a set sampling number, a conditional probability density of the sampling point The point is resampled to obtain the current sample point.
- the step of acquiring the target position to be located according to the updated sample point coordinate value comprises: determining the target position according to the updated sample point coordinate value and the conditional probability density according to the updated sample point
- the two-dimensional coordinates and the corresponding conditional probability density m are obtained according to the public to be positioned.
- the indoor positioning technology can be solved by the detection environment in the above prior art.
- a target positioning system including:
- a sampling point generating module configured to generate a plurality of samples in the target active range map, *;
- a conditional probability density acquiring module configured to obtain a pending based on an initial electromagnetic field strength of the plurality of sampling points and a current electromagnetic field strength of the target to be positioned a conditional probability density of the bit target at the plurality of sampling points;
- a resampling module configured to resample the sample point according to the conditional probability density
- the positioning module is configured to obtain a target location to be located according to the updated sampling point coordinate value.
- conditional probability density acquisition module includes: a Monte Carlo method model unit configured to update initial coordinates of the plurality of sampling points according to a Monte Carlo method of motion;
- the Monte Carlo method is configured to measure a conditional probability density of the target to be located at the plurality of sampling points by using a Monte Carlo method to measure the initial electromagnetic field strength and the current electromagnetic field strength of the plurality of sample points.
- the sampling point generating module includes:
- Randomly generating a sampling point unit configured to generate a plurality of sampling points by a random function in the target active range map
- the historical sampling point updating unit is configured to generate a plurality of sampling points according to the historical sampling point information and the basic series algorithm BSAS in the target active range map.
- the present invention can at least have the following advantages:
- the BSAS clustering method can effectively solve the problem of effective particle loss in Monte Carlo method.
- FIG. 1 is a schematic diagram of steps of a target positioning method in an embodiment of the present invention.
- FIG. 2 is a schematic view of an indoor magnetic field in an initial state in an embodiment of the present invention
- FIG. 3 is a schematic diagram of an indoor plane of an initial state in the embodiment of the present invention.
- FIG. 4 is a schematic plan view of a sampling point initially generated in an embodiment of the present invention
- FIG. 5 is a schematic diagram of steps of a method for generating a sampling point according to an embodiment of the present invention
- FIG. 7 is a schematic plan view showing a sampling point that has not been resampled and updated in an embodiment of the present invention.
- FIG. 8 is a schematic plan view showing a sampling point resampled and updated in an embodiment of the present invention.
- FIG. 9 is a schematic diagram of a composition of a target positioning system of an electromagnetic field in an embodiment of the present invention.
- the target positioning method includes:
- Step S101 Perform on-the-spot measurement on the indoor location where the target is located, and obtain an indoor plan view.
- the initial magnetic field in the room is checked by a magnetometer to obtain an initial magnetic field map in the room.
- 2 is a schematic diagram showing an indoor plane of an initial state in an embodiment of the present invention, in which the target "A" is the target to be positioned, and the "B" boundary is the indoor activity area of the target "A", when the target "A" is absent
- the magnetic field at each point in the "B” boundary is measured by a magnetometer to obtain the initial magnetic field map of the "B” boundary, as shown in Fig. 3.
- Step S102 uniformly generating a plurality of sampling points on the indoor plan view (shown in FIG. 2) obtained in step S101.
- sampling points can be generated on the indoor floor plan (ie, Figure 2) using the different methods described below.
- the rand() function can be used to generate a sampling point matrix composed of random numbers of "uniform distribution" or other probability distribution types in the x, y directions, respectively. For example, n sample points are randomly generated on the indoor plan (Fig. 3).
- Figure 4 It is a schematic plan view of the initial generation of sampling points in an embodiment of the present invention.
- the basic sequence algorithm BSAS can be used to initialize the historical sample points, including the following steps:
- Step S1022 Calculate the current Euler distance between the plurality of historical sample points extracted in step S1021 and the initial cluster by the formula " ⁇ 1 ) ' ⁇ 1111111 ⁇ 1 )' ⁇ .
- the threshold value ⁇ is 2 m
- A1 is set as the reference sampling point, wherein the Euler distance between the initial cluster 1 and A3 is lm, so the threshold value is less than 2 m.
- the historical sampling point A3 can be classified into the initial cluster 1.
- the Euler distance between the initial cluster 1 and A2 is 3 m, which is greater than the threshold of 2 m, so that the historical sampling point A2 cannot be included in the initial cluster, and the cluster 2 is additionally created.
- Step S1024 After all the sampling points are clustered, if the number of sampling points in one of the clusters is greater than the number n of the set cluster particles, then p particles are selected from the cluster to represent the cluster, The next np particles are reinitialized. The re-initialization process randomly generates n-p uniformly distributed sampling points on the indoor plan through the rand function in the initial positioning.
- a cluster with 80 historical sampling points has been generated.
- the initial cluster 1 is preset. Obtain the Euler distance of a cluster of known historical sample points.
- the threshold value ⁇ is set to 2 to 3 m, and can also be set according to the accuracy requirements. Thereafter, based on a threshold value of 2 to 3 m, a judgment is made for each of the historical sampling points in the cluster. For example, if the historical sampling point is compared with the initial adoption point as lm, then within the threshold value , it is classified into the initial cluster 1. The historical sampling point is 4m compared with the initial adoption point. In addition to the threshold ⁇ , a new cluster 2 is created.
- clusters Judging sequentially, for example, four clusters have been created based on the historical sampling point cluster, wherein cluster 1 (10 sampling points), cluster 2 (40 sampling points), cluster 3 (20 sampling points) ), cluster 4 (10 sample points).
- cluster 1 (10 sampling points)
- cluster 2 40 sampling points
- cluster 3 (20 sampling points)
- cluster 4 (10 sample points).
- 40 sampling points in the cluster 2 exceed the set value 30
- 30 particles are selected from the cluster 2 to represent the cluster, and 10 sample points are left to be regrouped.
- Step S1025 The sampling points in all the clusters determined in the above step S1024 are determined as the current sampling point(s).
- Step S103 First, the initial coordinates of the 80 sampling points generated in step S102 are updated according to the Monte Carlo method of motion.
- Monte Carlo motion model which means that for each particle 1, the particle state is updated at an arbitrary speed at an arbitrary angle to obtain a new set of sample values ⁇ , that is, new position sample values of 80 sample points.
- the sampling point A is randomly moved from the initial position 11 to 12 by the Monte Carlo motion model (one of any random moving positions shown as the initial position 11).
- the advantage of the Monte Carlo motion model to simulate the target to be located is that it can give a realistic simulation of human behavior or robot motion, so that the target location is more accurate.
- the probability density corresponding to the sampled point after moving is ⁇ 12 ⁇ , where the probability density ⁇ (
- the current direction angle ⁇ is randomly generated, and the current position X, y is added according to the formula (X ⁇ ) W to update the position.
- the magnetometer obtains the current magnetic field strength value of the target to be located in the room, that is, obtains the measured value ⁇ .
- the measurement model is used to indicate the conditional probability density when the target is measured at the state x t as z t.
- the Gaussian process can be specifically used to perform the operation, and h map is the initial magnetic field map value.
- the magnetic field value Ux can be obtained by the magnetic field map search, and the current target to be positioned is measured as z, and p(z
- Point si the current weight value.
- the sampling point si changes through the position coordinates of the motion model.
- the same magnetic field value hx, y ) also changes, and the current weight value is obtained by using the Gaussian formula according to the measured value z of the current target to be positioned.
- the current weight value is multiplied by the weight value of the previous moment to obtain the weight value of S1, that is, the conditional probability density.
- Step S104 Resampling each sampling point according to a random sampling function according to the set sampling number and the conditional probability density of each sampling point obtained in S103.
- the random sampling function can be selected from the randsample ( ) function in matlab software. Get the current sampling point after filtering. As shown in Figure 7, there are 500 sample points sl-s500, each of which has a corresponding normalized weight value. The 500 sample points are resampled using the randsample function, and the weight value of each point determines the probability that the point will be sampled. For 500 samplings, the probability that the points with significant weight are sampled is large. After resampling, the distribution of 500 sample points will change. The resampling results are shown in Figure 8.
- Step S105 According to the two-dimensional coordinate value of the current sampling point updated in step S104, the position of the target to be positioned on the indoor plane map can be directly determined. As shown in the sampling point shown in Fig. 8, the central area of the dense position where the point is used in the figure can be determined as the position of the target to be positioned.
- conditional probability density m corresponding to the sampling point combined with the formula Get the 2D coordinates of the current target. Thereby making the positioning of the target more accurate.
- Positioning can be achieved by obtaining a flat map and a magnetic field map plus a common electromagnetic sensor.
- the Monte Carlo method adopted by the invention is simple, flexible and easy to implement, has good real-time performance and stable performance; and the BSAS clustering method can effectively solve the problem of effective particle loss in Monte Carlo method.
- the method of the invention has low requirements on computer hardware.
- the dynamic map method can be used to dynamically segment the map to ensure that the running time is within an acceptable range.
- an embodiment of the present invention further provides a target positioning system, including:
- the sample point generation module 201 is configured to generate a plurality of sample points in the target activity range map.
- the conditional probability density acquisition module 202 is configured to obtain a conditional probability density of the target to be located at a plurality of sampling points according to the initial electromagnetic field strength of the plurality of sampling points and the current electromagnetic field strength of the target to be positioned.
- the resampling module 203 is configured to resample the sample points according to the conditional probability density. Among them, the resampling function is the randsample function.
- the positioning module 204 is configured to obtain a target location to be located according to the updated sampling point coordinate value. Specifically, the method includes: obtaining a target position to be located according to the two-dimensional coordinates of the updated sampling point. Or according to the updated two-dimensional coordinates of the sampling point and the corresponding conditional probability density m, according to the formula
- the method includes:
- the Monte Carlo motion model unit 2021 is configured to update the initial coordinates of the plurality of sampling points according to the Monte Carlo motion model.
- the Monte Carlo method of action is
- the Monte Carlo method model unit 2022 is configured to pass the Monte Carlo based on the initial electromagnetic field strength of the updated plurality of sampling points and the current electromagnetic field strength of the target to be positioned.
- the Luofa measurement model obtains the conditional probability density of the target to be located at multiple sampling points. The specific step is, for each sampling point,
- the sampling point generating module 201 includes:
- the historical sampling point updating unit 2012 is configured to generate a plurality of sampling points according to the historical sampling point information and the basic series algorithm BSAS in the target active range map.
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Abstract
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Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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KR1020167006590A KR101912233B1 (ko) | 2013-08-12 | 2014-08-12 | 물체의 위치를 결정하기 위한 시스템 및 방법 |
JP2016533803A JP2016539333A (ja) | 2013-08-12 | 2014-08-12 | ターゲットの位置決め方法及びシステム |
US14/911,865 US20160195401A1 (en) | 2013-08-12 | 2014-08-12 | Method and system for locating an object |
EP14835947.4A EP3034998A4 (en) | 2013-08-12 | 2014-08-12 | Target positioning method and system |
Applications Claiming Priority (2)
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CN201310350209.6A CN104375117B (zh) | 2013-08-12 | 2013-08-12 | 目标定位方法及系统 |
CN201310350209.6 | 2013-08-12 |
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PCT/CN2014/084163 WO2015021903A1 (zh) | 2013-08-12 | 2014-08-12 | 目标定位方法及系统 |
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US (1) | US20160195401A1 (zh) |
EP (1) | EP3034998A4 (zh) |
JP (1) | JP2016539333A (zh) |
KR (1) | KR101912233B1 (zh) |
CN (1) | CN104375117B (zh) |
WO (1) | WO2015021903A1 (zh) |
Families Citing this family (13)
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CN105118015A (zh) * | 2015-09-21 | 2015-12-02 | 无锡知谷网络科技有限公司 | 用于公共场所的信息提示方法及移动服务终端 |
CN107132504B (zh) * | 2016-02-29 | 2020-12-22 | 富士通株式会社 | 基于粒子滤波的定位追踪装置、方法及电子设备 |
CN106289242B (zh) * | 2016-07-18 | 2019-03-22 | 北京方位捷讯科技有限公司 | 基于地磁的粒子滤波定位方法及装置 |
US10650621B1 (en) | 2016-09-13 | 2020-05-12 | Iocurrents, Inc. | Interfacing with a vehicular controller area network |
CN106441279B (zh) * | 2016-12-08 | 2019-03-29 | 速感科技(北京)有限公司 | 基于自主定位和边缘探索的机器人定位方法、系统 |
CN106767828A (zh) * | 2016-12-29 | 2017-05-31 | 南京邮电大学 | 一种手机室内定位解决方法 |
CN107976184A (zh) * | 2017-02-15 | 2018-05-01 | 北京金坤科创技术有限公司 | 一种基于地磁信号极值检测与特征匹配的定位方法 |
US10739318B2 (en) * | 2017-04-19 | 2020-08-11 | Baker Hughes, A Ge Company, Llc | Detection system including sensors and method of operating such |
CN107132521B (zh) * | 2017-05-16 | 2019-12-06 | 哈尔滨工程大学 | 一种bslam中地形匹配结果正确性判别方法 |
CN107526801A (zh) * | 2017-08-21 | 2017-12-29 | 浙江理工大学 | 一种基于布朗桥的移动对象跟随模式挖掘方法 |
CN108399377B (zh) * | 2018-02-08 | 2022-04-08 | 北京理工大学 | 一种基于模式分类的光学定位方法 |
CN109579824B (zh) * | 2018-10-31 | 2022-12-27 | 重庆邮电大学 | 一种融入二维码信息的自适应蒙特卡诺定位方法 |
CN112268561A (zh) * | 2020-10-12 | 2021-01-26 | 西北工业大学 | 一种融合磁场信息的机器人蒙特卡罗定位方法 |
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- 2013-08-12 CN CN201310350209.6A patent/CN104375117B/zh active Active
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- 2014-08-12 KR KR1020167006590A patent/KR101912233B1/ko active IP Right Grant
- 2014-08-12 US US14/911,865 patent/US20160195401A1/en not_active Abandoned
- 2014-08-12 JP JP2016533803A patent/JP2016539333A/ja active Pending
- 2014-08-12 WO PCT/CN2014/084163 patent/WO2015021903A1/zh active Application Filing
- 2014-08-12 EP EP14835947.4A patent/EP3034998A4/en not_active Withdrawn
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CN103175529A (zh) * | 2013-03-01 | 2013-06-26 | 上海美迪索科电子科技有限公司 | 基于室内磁场特征辅助的行人惯性定位系统 |
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EP3034998A1 (en) | 2016-06-22 |
JP2016539333A (ja) | 2016-12-15 |
CN104375117A (zh) | 2015-02-25 |
CN104375117B (zh) | 2018-05-04 |
KR101912233B1 (ko) | 2018-10-26 |
US20160195401A1 (en) | 2016-07-07 |
EP3034998A4 (en) | 2017-05-10 |
KR20160042126A (ko) | 2016-04-18 |
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