CN101236244A - Wireless positioning method, device and system - Google Patents

Wireless positioning method, device and system Download PDF

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Publication number
CN101236244A
CN101236244A CNA2008100579606A CN200810057960A CN101236244A CN 101236244 A CN101236244 A CN 101236244A CN A2008100579606 A CNA2008100579606 A CN A2008100579606A CN 200810057960 A CN200810057960 A CN 200810057960A CN 101236244 A CN101236244 A CN 101236244A
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stationary nodes
mobile node
weight parameter
nodes
stationary
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徐涛
王瑞
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ProBA Technologies (Beijing) Co., Ltd.
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PROBA TECHNOLOGIES (BEIJING) Co Ltd
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Abstract

The invention provides a radio positioning method, a device and a system. The method of the invention comprises the following steps that: A, weighting parameters of fixed nodes are obtained according to the distance between the fixed nodes and movable nodes, wherein, the weighting parameters of the fixed nodes are reduced with the increasing of the distance; B, normalization weighting parameters of various fixed nodes are obtained after normalization calculation on weighing parameters of a plurality of fixed nodes; C, position coordinates of movable nodes are obtained after accumulation of the product of position coordinates of various fixed nodes in the plurality of fixed nodes and the normalization weighing parameters of the fixed nodes. According to the method, the device and the system of the invention, the precision of positioning results can be improved.

Description

Wireless location method, Apparatus and system
Technical field
The present invention relates to a kind of field of locating technology, be specifically related to a kind of wireless location method, radio positioner and wireless location system.
Background technology
Wireless location system can detect the position of personnel and object by wireless signal.GPS (GPS, Global Position System) be use at present the most ripe the most extensive positioning system.It positions user node by time service and range finding, has advantages such as bearing accuracy height, real-time is good, antijamming capability is strong.But GPS location is applicable to unscreened outdoor environment, the common more complicated of user node, cost is also than higher, this make it and be not suitable for indoor positioning scheme cheaply.
General indoor locating system is by the stationary nodes in indoor layout some, collects the relevant information of mobile node, obtains the position of mobile node by computing.According to the character of positioning result, can be divided into symbol location and coordinate setting to the location.The symbol location just illustrates a spatial dimension, in certain room; Coordinate setting then needs to provide concrete physical coordinates, as planimetric coordinates or three dimensional space coordinate.Can think that generally the symbol location is more rough.Position calculating, need be based on the distance value between described stationary nodes and the mobile node, the Calculation Method that is used for finding range has: time of arrival (toa), signal arrival time difference, signal arrive angle and received signal intensity indication (RSSI, Received Signal StrengthIndicator) etc.Wherein have the advantages that based on the ranging technology of received signal intensity RSSI cost is low, equipment needed thereby is few, be suitable for distance, easily obtain, be more suitable in low energy consumption, indoor positioning scheme cheaply.Be example with RSSI below, ranging technology is made a brief description.
According to Fu Lisi (Friis) propagation model of electromagnetic wave propagation, can obtain the expression formula of the distance relation between signal intensity and the Receiver And Transmitter, be called the Friis formula here, a kind of expression-form of this formula is:
P(r)=P(r 0)-10αlog(r/r 0) (1)
In the following formula, P (r) is the logarithm power of the wireless signal that receives of a given node, and the distance of this a given node and a given transmitter (stationary nodes) is r; r 0It is the reference distance of the relative transmitter got in advance; P (r 0) be the wireless signal logarithm power that the range transmission machine receives for the reference distance place; Parameter alpha is a path loss index.
Further, if consider signal attenuation through walls, following experimental formula is arranged:
P(r)=P(r 0)-10αlog(r/r 0)-l·WAF (2)
Wherein, l is the number of institute's partition wall between the transmitter and receiver; WAF is the partition wall decay factor.
From above formula as can be seen, have mapping relations one by one between P (r) and the r, at P (r), P (r 0), r 0Under the known situation of parameters such as α, just can obtain distance value r by P (r).In addition, the Friis formula has multiple expression-form, can do equivalence transformation according to different application conditions.
Obtaining mobile node behind the distance value of a plurality of stationary nodes,, use location algorithm can obtain the position of mobile node according to distance parameter.Some present location algorithms have trilateration, maximum likelihood estimate and barycenter location algorithm etc.
Wherein, trilateration at first is according to above-mentioned formula (1), calculates the distance parameter r between three stationary nodes and the mobile node i, i=1,2,3.The coordinate of supposing three stationary nodes is (x i, y i) i=1,2,3, the position fixing for the treatment of of mobile node is (x u, y u), the distance between three stationary nodes and the mobile node is r i, i=1,2,3.By Pythagorean theorem, can obtain
(x i-x u) 2+ (y i-y u) 2=r i 2, to i=1,2,3 (3)
The quadratic term of cancellation unknown obtains about x uAnd y uLinear equation:
( x 1 - x u ) 2 - ( x 3 - x u ) 2 + ( y 1 - y u ) 2 - ( y 3 - y u ) 2 = r 1 2 - r 3 2 ( x 2 - x u ) 2 - ( x 3 - x u ) 2 + ( y 2 - y u ) 2 - ( y 3 - y u ) 2 = r 2 2 - r 3 2 - - - ( 4 )
Put in order:
2 ( x 3 - x 1 ) x u + 2 ( y 3 - y 1 ) y u = ( r 1 2 - r 3 2 ) - ( x 1 2 - x 3 2 ) - ( y 1 2 - y 3 2 ) 2 ( x 3 - x 2 ) x u + 2 ( y 3 - u 2 ) y u = ( r 2 2 - r 3 2 ) - ( x 2 2 - x 3 2 ) - ( y 2 2 - y 3 2 ) - - - ( 5 )
Being write as the linear matrix form is exactly:
2 x 3 - x 1 y 3 - y 1 x 3 - x 2 y 3 - y 2 x u y u = ( r 1 2 - r 3 2 ) - ( x 1 2 - x 3 2 ) - ( y 1 2 - y 3 2 ) ( r 2 2 - r 3 2 ) - ( x 2 2 - x 3 2 ) - ( y 2 2 - y 3 ) - - - ( 6 )
In the following formula, equal sign leftmost side matrix and right side vector are known, thereby can calculate the position coordinates of mobile node.
Because the instability of wireless signal itself, and the complexity of environmental baseline, cause the error of the stationary nodes that calculates based on the RSSI value and the distance value between the mobile node bigger, thereby cause the result of the position coordinates of the mobile node obtained based on the bigger distance value of error also to have than mistake.
Maximum likelihood estimate (Maximum Likelihood Estimation) location is by a plurality of, normally more than 4, distance between stationary nodes and the mobile node is calculated the coordinate of mobile node, adopt more stationary nodes,, reduce error so that redundant information to be provided:
The coordinate of supposing a known n stationary nodes is (x 1, y 1), (x 2, y 2), (x 3, y 3) ..., (x n, y n), they are respectively r to the distance of mobile node M 1, r 2, r 3..., r n, the unknown coordinates of mobile node is (x u, y u), can obtain following relational expression (n equation) so:
(x i-x u) 2+ (y i-y u) 2=r i 2, to i=1,2,3 ..., n (7)
From first equation, each equation deducts last equation respectively:
( x 1 - x u ) 2 - ( x n - x u ) 2 + ( y 1 - y u ) 2 - ( y n - y u ) 2 = r 1 2 - r n 2 . . . ( x n - 1 - x u ) 2 - ( x n - x u ) 2 + ( y n - 1 - y u ) 2 - ( y n - y u ) 2 = r n - 1 2 - r n 2 - - - ( 8 )
Put in order:
2 ( x n - x 1 ) x u + 2 ( y n - y 1 ) y u = ( r 1 2 - r n 2 ) - ( x 1 2 - x n 2 ) - ( y 1 2 - y n 2 ) . . . 2 ( x n - x n - 1 ) x u + 2 ( y n - y n - 1 ) y u = ( r n - 1 2 - r n 2 ) - ( x n - 1 2 - x n 2 ) - ( y n - 1 2 - y n 2 ) - - - ( 9 )
Being write as the linear matrix form is exactly:
2 x n - x 1 y n - y 1 . . . . . . x n - x n - 1 y n - y n - 1 x u y u = ( r 1 2 - r n 2 ) - ( x 1 2 - x n 2 ) - ( y 1 2 - y n 2 ) . . . ( r n - 1 2 - r n 2 ) - ( x n - 1 2 - x n 2 ) - ( y n - 1 2 - y n ) - - - ( 10 )
Be the following formula brief note: AX=b,
Wherein, A = 2 ( x n - x 1 ) 2 ( y n - y 1 ) . . . . . . 2 ( x n - x n - 1 ) 2 ( y n - y n - 1 ) , b = ( r 1 2 - r n 2 ) - ( x 1 2 - x n 2 ) - ( y 1 2 - y n 2 ) . . . ( r n - 1 2 - r n 2 ) - ( x n - 1 2 - x n 2 ) - ( y n - 1 2 - y n ) , X = x n y u
According to the principle of least square, we can be by calculating ‖ Ax-b ‖, minimum value obtain unknown coordinates (x u, y u) optimum solution.So demand ‖ Ax-b ‖ 2 2Minimum value.
‖Ax-b‖ 2 2=(AX-b) T(AX-b)=X TA TAX-2(X TA Tb)+b Tb (11)
If (11) formula value minimum above wanting, needing its gradient is 0, that is
2A TAX-2A Tb=0A TAX=A Tb (12)
When matrix A was the situation of full rank, equation (11) had unique solution.The coordinate that obtains mobile node thus is:
X=(A TA) -1A Tb (13)
Adopt the principle of least square, from the viewpoint of measures of mobile node, the error of stationary nodes data nearby is identical with the influence that the error of distant place node data causes for end product.But because the characteristic of wireless channel itself, it is big that the fluctuation of signal intensity fluctuation ratio signal intensity is nearby at a distance wanted, and therefore, the distance error of stationary nodes at a distance is also just bigger.It is final because the signal fluctuation of distant place node causes the fluctuation (error) of last positioning result also just bigger.In practice, for fear of this phenomenon, the general more stationary nodes of employing that requires participates in calculating.But be subject to the complexity of calculating, generally choose n=4, promptly the data of 4 stationary nodes are calculated, and at this moment, this method still can not effectively utilize the more multidata of collecting, to reduce error.
The barycenter location algorithm: polygonal geometric center is called barycenter, and the mean value of polygon vertex coordinate is exactly the coordinate of barycenter node.The barycenter location algorithm is at first determined the zone at mobile node place, calculates this regional barycenter then, and with its position as mobile node.
In the barycenter location algorithm, stationary nodes comprises the identification number and the positional information of stationary nodes periodically to the adjacent node broadcast beacon packets in the beacon packet.After mobile node receives to surpass some thresholdings or certain hour from the beacon packet quantity of different fixing node, just determine the polygonal barycenter that self-position is formed for these stationary nodes.
The barycenter location algorithm network connectivty that places one's entire reliance upon when regional stationary nodes communication failure is arranged, will have a strong impact on positioning result.And, centroid algorithm supposition stationary nodes all has desirable spherical wireless signal propagation model, and in fact the propagation of wireless signal model is really not so, and the level line of the radio signal propagation intensity that obtains by actual measurement has very big difference with desirable spherical model.Adopting the barycenter in zone is exactly a kind of estimation as physical location itself, the degree of accuracy of this estimation and the density of stationary nodes and be distributed with much relations, density is big more, and it is even more to distribute, therefore bearing accuracy is high more, for the higher requirement that is deployed with of stationary nodes.In addition, can layout the irregular or mobile node in zone when layouting the zone boundary, the positioning result error is bigger.
Below simply introduced several localization method of the prior art, as can be seen, because the influence of wireless signal self character and actual transmissions environment, all there are error in the stationary nodes and the distance between the mobile node that calculate, this error has a significant impact positioning result, and this error increases along with the increase of distance, therefore, the far and near different stationary nodes of distance has in various degree influence to positioning result, the stationary nodes that distance is far away more, its distance error is big more, and the coordinate of this stationary nodes gives the location error that the result brings also just big more in location Calculation.And the localization method of prior art can not reduce error in positioning calculation process, can not consider effectively in location Calculation that perhaps the different stationary nodes of distance has different influences to positioning result.
Summary of the invention
Technical matters to be solved by this invention provides a kind of wireless location method, radio positioner and wireless location system, in location Calculation according to the distance between stationary nodes and the mobile node, the weight of each stationary nodes in location Calculation is set, thereby it is far and near different according to distance effectively, adjust of the influence of each stationary nodes, improve good location accuracy positioning result.
For solving the problems of the technologies described above, it is as follows to the invention provides scheme:
A kind of wireless location method may further comprise the steps:
A according to the distance between stationary nodes and the mobile node, obtains the weight parameter of this stationary nodes, and wherein, the weight parameter of described stationary nodes reduces along with the increase of described distance;
B carries out normalization to the weight parameter of a plurality of stationary nodes and calculates, and obtains the normalized weight parameter of each stationary nodes;
C, the product of the normalized weight parameter of the position coordinates of each stationary nodes and this stationary nodes in the described a plurality of stationary nodes that adds up obtains the position coordinates of described mobile node.
Method of the present invention wherein, in the described steps A, further according to the relation that is inversely proportional to apart from exponent number time power of the weight parameter of stationary nodes and described distance, is obtained described weight parameter.
Method of the present invention, wherein, among the described step C,
When the planimetric position coordinate time that calculates mobile node, the planimetric position coordinate of stationary nodes i is (x in described a plurality of stationary nodes i, y i) the planimetric position coordinate (x of described mobile node then u, y u) be:
x u = Σ i = 1 n ω i x i , y u = Σ i = 1 n ω i y i ;
When the three-dimensional space position coordinate time that calculates mobile node, the three-dimensional space position coordinate of stationary nodes i is (x in described a plurality of stationary nodes i, y i, z i), the three-dimensional space position coordinate (x of described mobile node then u, y u, z u) be:
x u = Σ i = 1 n ω i x i , y u = Σ i = 1 n ω i y i , z u = Σ i = 1 n ω i z i
Wherein, ω iThe normalized weight parameter of representing stationary nodes i in described a plurality of stationary nodes, n represents the quantity of the stationary nodes that described a plurality of stationary nodes is included.
Method of the present invention, wherein, mobile node sends wireless signal, stationary nodes receives the wireless signal that mobile node sends, described distance is the signal intensity of the described wireless signal that receives according to stationary nodes, and the Fu Lisi Friis formula according to electromagnetic wave propagation calculates.
Method of the present invention, wherein, described stationary nodes is distributed in each floor level of tier building and the stair place between the floor;
Described a plurality of stationary nodes is selected in such a way:
Determine to receive the position of stationary nodes of the described wireless signal of maximum intensity: if this stationary nodes at the stair place, then from the stationary nodes that is arranged on stair, is selected a plurality of stationary nodes that satisfy predetermined condition; If this stationary nodes on floor level, then the stationary nodes on being arranged on this floor level, is selected a plurality of stationary nodes that satisfy predetermined condition.
Method of the present invention, wherein, described a plurality of stationary nodes are the stationary nodes more than 3, described predetermined condition is that the intensity of the described wireless signal that receives of stationary nodes is greater than predetermined value.
Method of the present invention, wherein, each stationary nodes all sends the wireless signal of equal transmit power, mobile node receives the described wireless signal that stationary nodes sends, described distance is the signal intensity of the wireless signal that sends according to the stationary nodes that mobile node receives, Fu Lisi Friis formula according to electromagnetic wave propagation calculates.
Method of the present invention, wherein, described stationary nodes is distributed in each floor level of tier building and the stair place between the floor;
Described a plurality of stationary nodes is selected in such a way:
Determine the position of the pairing stationary nodes of described wireless signal of the maximum intensity that mobile node receives: if this stationary nodes at the stair place, then from the stationary nodes that is arranged on stair, is selected a plurality of stationary nodes that satisfy predetermined condition; If this stationary nodes on floor level, then the stationary nodes on being arranged on this floor level, is selected a plurality of stationary nodes that satisfy predetermined condition.
Method of the present invention, wherein, described a plurality of stationary nodes are the stationary nodes more than 3, described predetermined condition is that the intensity of the described wireless signal that receives of mobile node is greater than predetermined value.
The present invention also provides a kind of radio positioner, comprising:
The weight parameter acquiring unit is used for obtaining the weight parameter of this stationary nodes according to the distance between stationary nodes and the mobile node, and wherein, the weight parameter of described stationary nodes reduces along with the increase of described distance;
Weight parameter normalization unit is used for that the weight parameter of a plurality of stationary nodes is carried out normalization and calculates, and obtains the normalized weight parameter of each stationary nodes;
The position coordinates acquiring unit, the product of the position coordinates of described a plurality of each stationary nodes of stationary nodes that are used for adding up and the normalized weight parameter of this stationary nodes obtains the position coordinates of described mobile node.
Device of the present invention, wherein, described weight parameter acquiring unit is further used for the relation that is inversely proportional to apart from exponent number time power according to the weight parameter of stationary nodes and described distance, obtains described weight parameter.
Device of the present invention wherein, also comprises:
The stationary nodes selected cell is used for selecting a plurality of stationary nodes according to predetermined selection algorithm;
Range cells is used to calculate a plurality of stationary nodes that described stationary nodes selected cell selects and the distance between the mobile node;
Described weight parameter normalization unit, the weight parameter that is further used for a plurality of stationary nodes that described stationary nodes selected cell is selected carry out normalization and calculate, and obtain the normalized weight parameter of each stationary nodes;
Described position coordinates acquiring unit, the product of the position coordinates of each stationary nodes that the described stationary nodes selected cell that is further used for adding up is selected and the normalized weight parameter of this stationary nodes obtains the position coordinates of described mobile node.
Device of the present invention, wherein, described range cells, the signal intensity of the wireless signal that the mobile node that is further used for receiving according to stationary nodes sends, or the signal intensity of the wireless signal that sends of the stationary nodes that receives according to mobile node, calculate described distance according to the Friis formula.
The present invention also provides a kind of wireless location system, comprising: the stationary nodes of a plurality of location awares, position mobile node undetermined, and radio positioner,
Described radio positioner comprises:
The stationary nodes selected cell is used for selecting a plurality of stationary nodes according to predetermined selection algorithm;
Range cells is used to calculate each stationary nodes that described stationary nodes selected cell selects and the distance between the mobile node;
The weight parameter acquiring unit is used for obtaining the weight parameter of this stationary nodes according to the distance between stationary nodes and the mobile node, and wherein, the weight parameter of described stationary nodes reduces along with the increase of described distance;
Described weight parameter normalization unit, the weight parameter that is used for a plurality of stationary nodes that described stationary nodes selected cell is selected carry out normalization and calculate, and obtain the normalized weight parameter of each stationary nodes;
Described position coordinates acquiring unit, the product of the position coordinates of each stationary nodes that the described stationary nodes selected cell that is further used for adding up is selected and the normalized weight parameter of this stationary nodes obtains the position coordinates of described mobile node.
Wireless location system of the present invention, wherein, described stationary nodes is distributed in each floor level of tier building and the stair place between the floor, and described stationary nodes receives the wireless signal that mobile node sends;
Described stationary nodes selected cell, be further used for determining receiving the position of stationary nodes of the described wireless signal of maximum intensity: if this stationary nodes is at the stair place, then from the stationary nodes that is arranged on stair, select a plurality of stationary nodes that satisfy predetermined condition; If this stationary nodes on floor level, then the stationary nodes on being arranged on this floor level, is selected a plurality of stationary nodes that satisfy predetermined condition;
Described range cells, the signal intensity of the wireless signal that the mobile node that is further used for receiving according to stationary nodes sends is calculated described distance according to the Friis formula.
Wireless location system of the present invention, wherein, described stationary nodes is distributed in each floor level of tier building and the stair place between the floor, and each stationary nodes all sends the wireless signal of equal transmit power, the described wireless signal that mobile node reception stationary nodes sends;
Described stationary nodes selected cell, the position of the pairing stationary nodes of described wireless signal of the maximum intensity that is further used for determining that described mobile node receives: if this stationary nodes is at the stair place, then from the stationary nodes that is arranged on stair, select a plurality of stationary nodes that satisfy predetermined condition; If this stationary nodes on floor level, then the stationary nodes on being arranged on this floor level, is selected a plurality of stationary nodes that satisfy predetermined condition;
Described range cells is further used for receiving the signal intensity of fixing the wireless signal that sends according to described mobile node, calculates described distance according to the Friis formula.
Wireless location system of the present invention, wherein, described radio positioner is arranged in stationary nodes, mobile node or the calculation server.
From the above as can be seen, wireless location method provided by the invention, radio positioner and wireless location system, consider that the far and near different stationary nodes of distance has in various degree influence to the positioning result of mobile node, thereby in location Calculation, a weighted value corresponding with distance is set, reduce the distance weight of stationary nodes in location Calculation far away, thereby improved bearing accuracy.And, in the embodiment of the invention, also, select suitable stationary nodes to be used for location Calculation according to the position of the maximum stationary nodes of RSSI value, further improved good location accuracy.At last, in the embodiment of the invention, owing to need not to carry out complicated matrix computations, thereby its computation complexity is low, and the embodiment of the invention to the deployment of stationary nodes require low, realize comparatively simple,
Description of drawings
Fig. 1 is the process flow diagram of the described wireless location method of first embodiment of the invention;
Fig. 2 is the structural representation of the described radio positioner of first embodiment of the invention.
Embodiment
The present invention is according to the distance between stationary nodes and the mobile node, for stationary nodes is provided with a weight, in location Calculation, consider the weight of this stationary nodes, thus far and near different according to distance effectively, adjust of the influence of each stationary nodes, improve good location accuracy positioning result.The invention will be further described by specific embodiment below in conjunction with accompanying drawing.
<the first embodiment 〉
Present embodiment has proposed a kind of based on distance weighted wireless location method, and as shown in Figure 1, this method may further comprise the steps:
Step 11 according to the distance between stationary nodes and the mobile node, according to the relation that is inversely proportional to apart from exponent number time power of the weight parameter of stationary nodes and described distance, calculates the weight parameter of this stationary nodes.
Suppose to get access to the distance of mobile node, for example,,, calculated described distance by the Friis formula according to the intensity RSSI value of the wireless signal that receives to n stationary nodes.Here, the position coordinates of supposing this n stationary nodes is respectively (x 1, y 1), (x 2, y 2), (x 3, y 3) ..., (x n, y n), they are respectively r to the distance of mobile node M 1, r 2, r 3..., r n, the general value of n (comprises 3) more than 3.Can according to the following equation distance value be converted into weight parameter:
ρ i = 1 r i k , i=1,2,…n
Wherein, ρ iThe weight parameter of expression stationary nodes i; K is apart from exponent number, determines that according to concrete environment generally getting k is 3,3.5,4 or 5.
In the following formula, the molecule of equal sign the right fraction also can be other positive number, for example 1.2,2 or 0.8 etc.At concrete applied environment, can pass through actual measured results, carry out suitable adjustment to described molecule with apart from exponent number, make it to meet better the current application environment.
Step 12 is carried out normalization to the weight parameter of a said n stationary nodes and is calculated, and obtains the normalized weight parameter of each stationary nodes.The concrete normalized weight parameter ω that can calculate stationary nodes i according to the following equation i:
sum = Σ i = 1 n ρ i , ω i = ρ i sum
Step 13, the product of the normalized weight parameter of the position coordinates of each stationary nodes and this stationary nodes in the described n stationary nodes that adds up obtains the position coordinates (x of mobile node u, y u), that is:
x u = Σ i = 1 n ω i x i , y u = Σ i = 1 n ω i y i
The position coordinates of a said n stationary nodes and mobile node is the planimetric position coordinate that comprises x, y direction.Above-mentioned based on distance weighted wireless location method, suitable equally for three-dimensional x, y and the z direction three dimensional space coordinate of comprising, promptly the position coordinates when stationary nodes is (x i, y i, z i), i=1,2 ... during n, the position coordinates (x of mobile node u, y u, z u) can calculate according to following formula:
x u = Σ i = 1 n ω i x i , y u = Σ i = 1 n ω i y i , z u = Σ i = 1 n ω i z i
From the above as can be seen, in the present embodiment, described weight parameter (or normalized weight parameter) reduces along with the increase of distance.Thereby, in location Calculation, by weight parameter, adjust of the influence of the position coordinates of the different stationary nodes of distance distance, thereby reduced the error of positioning result final positioning result, improved bearing accuracy.
Based on last fast wireless location method, correspondingly provide a kind of radio positioner in the present embodiment.As shown in Figure 2, this radio positioner 200 specifically comprises:
Weight parameter acquiring unit 21 is used for according to the distance between stationary nodes and the mobile node, according to the relation that is inversely proportional to apart from exponent number time power of the weight parameter of stationary nodes and described distance, calculates the weight parameter of this stationary nodes;
Weight parameter normalization unit 22 is used for that the weight parameter of a plurality of stationary nodes is carried out normalization and calculates, and obtains the normalized weight parameter of each stationary nodes;
Position coordinates acquiring unit 23, the product of the position coordinates of described a plurality of each stationary nodes of stationary nodes that are used for adding up and the normalized weight parameter of this stationary nodes obtains the position coordinates of described mobile node.Here, position coordinates acquiring unit 23 can be preserved the location coordinate information of each stationary nodes in advance.
Here, described weight parameter acquiring unit 21 is further used for according to formula ρ i = 1 r i k , Calculate the weight parameter ρ of stationary nodes i i, wherein, r iRepresent the distance between described mobile node and the stationary nodes i, k is predefined apart from exponent number; Described weight parameter normalization unit is further used for according to formula ω i = ρ i Σ i = 1 n ρ i , I=1,2 ... n calculates the normalized weight parameter ω of stationary nodes i in described a plurality of stationary nodes i, wherein, ρ iThe weight parameter of expression stationary nodes i, n represents the quantity of the stationary nodes that described a plurality of stationary nodes is included.
<the second embodiment 〉
Present embodiment has proposed a kind of wireless location system, wireless location method and device.The described system of present embodiment comprises: the mobile node that the position is undetermined, the stationary nodes of location aware and radio positioner.Wherein, the location coordinate information of each stationary nodes can be kept in radio positioner or other servers in advance.According to the difference of wireless signal collection mode and location requirement, radio positioner can be arranged at mobile node, stationary nodes or independently in the location-server.Described wireless location system can also comprise the locating and monitoring server, is used for the position coordinates according to mobile node, shows the position of described mobile node by monitored picture, and the positional information of record mobile node etc.
In the described wireless location system of present embodiment, stationary nodes distributes and is arranged on each floor level of a tier building and the stair place between the floor, and the position coordinates of each stationary nodes is known, and can be kept in the radio positioner.Mobile node can move arbitrarily in this tier building.
The described wireless location method of present embodiment, signal intensity (RSSI value) based on the wireless signal of receiving and dispatching between mobile node and the stationary nodes, carry out wireless distance finding, obtain the distance between stationary nodes and the mobile node, and then determine the positional information of mobile node according to described distance, specifically can be in such a way:
1) each stationary nodes periodically sends identification number and the positional information of oneself by wireless signal, and mobile node is collected these information, and by being arranged on the current coordinate that radio positioner in this mobile node calculates this mobile node.
2) mobile node periodically sends orientation triggering message by wireless signal.After near the mobile node stationary nodes is received above-mentioned wireless signal, information wherein is aggregated on certain stationary nodes (determining a stationary nodes by node election or load balancing principle), by the coordinate that is arranged on the radio positioner calculating mobile node on this stationary nodes, can also send to mobile node to positioning result then, and/or send to monitoring server in this wireless location system, by monitored picture mobile node is shown, and the positional information of this mobile node is deposited in the database.
3) mobile node periodically sends orientation triggering message by wireless signal.After near the mobile node stationary nodes is received above-mentioned wireless signal, information wherein is aggregated on the location-server, by being arranged on the coordinate that radio positioner on the location-server calculates mobile node, then positioning result is sent to mobile node, perhaps send to the monitoring server of system, be presented on the monitored picture, and the positional information of this mobile node is deposited in the database.
Below by in the above described manner 3) be example, be described further, for mode 1) and 2) realization, can pass through with reference to mode 3), reach similar realization.Mode 3) idiographic flow comprises:
Step 31, mobile node send orientation triggering message periodically by wireless signal to stationary nodes.Comprise this mobile node sign (ID) in the described orientation triggering message, trigger message numbering etc.
Step 32: stationary nodes receives described orientation triggering message, measure the signal intensity of the wireless signal that sends this orientation triggering message, obtain the RSSI value (corresponding to the P in the formula 1 (r)) of described wireless signal, and the information such as ID of this RSSI value and mobile node are sent to location-server.
Step 33: the radio positioner on the location-server receives the information such as RSSI value that each stationary nodes sends, and judges whether to position calculating according to pre-conditioned, when satisfying when pre-conditioned operation location Calculation, the position coordinates of acquisition mobile node.Here, described pre-conditioned can be that the time is overtime, such as apart from this mobile node last time location Calculation the time interval surpassed m1 second, or the quality of data is enough good, reach the requirement of location Calculation, surpassed m2 etc. greater than the quantity of the stationary nodes of predetermined threshold value such as the RSSI value.
Step 34: the radio positioner on the location-server, according to described in first embodiment based on distance weighted wireless location method, calculate the position coordinate value of mobile node, the position coordinates of this mobile node can also be sent to the locating and monitoring server, store and show by it.
Wherein, in step 34, when calculating the position coordinates of mobile node, the parameter that inputs to radio positioner is: [A, b, n, rssi 1... rssi i..., rssi n].Wherein, A is illustrated in apart from 1 meter distance far away of mobile node, and the average power content of the wireless signal that this mobile node that receives sends is (corresponding to the P (r in the formula 1 0)), get the absolute value of dBm here, general value 45~49.Here, the value of A can be to measure in advance and be kept in the self attributes of mobile node at each mobile node, sends to stationary nodes by orientation triggering message then.B represents the path loss index (corresponding to the α in the formula 1) propagated, general value 3.25~4.5.N represents the number of effective RSSI value in the array of back, and general value is more than or equal to 3.Rssi iID and the RSSI value of representing i stationary nodes.Like this, just can calculate the distance between each stationary nodes and the mobile node according to Fu Lisi Friss formula (formula 1), so according to described in first embodiment based on distance weighted wireless location method, calculate the position coordinates of mobile node.
Here, because the wireless transmission environment difference between mobile node and each stationary nodes, for example, in tier building, when mobile node during in the 2nd buildings, be positioned at stationary nodes on the plane, the 2nd building with respect to the stationary nodes that is positioned on the plane, the 3rd building, the former is because the loss between itself and the mobile node is little usually, and the location Calculation that is used for preferably; Again for example, when mobile node is in stair, be arranged on stationary nodes in the stair with respect to the stationary nodes on the floor level, the location Calculation that is used for preferably.Therefore, for further improving good location accuracy, described step 34 specifically can may further comprise the steps:
Step 341, determine to receive the residing position of stationary nodes (being the maximum stationary nodes of RSSI value) of the described wireless signal of maximum intensity: if this stationary nodes is at the stair place, then from the stationary nodes that is arranged on stair, select a plurality of stationary nodes that satisfy predetermined condition; If this stationary nodes on floor level, then the stationary nodes on being arranged on this floor level, is selected a plurality of stationary nodes that satisfy predetermined condition.Here, described predetermined condition can be made as: the intensity (being the RSSI value) of the wireless signal that the mobile node that stationary nodes receives sends is greater than predetermined value.
Step 342 is calculated according to the Friis formula (formula 1) of electromagnetic wave propagation and the parameter value A and the b of input, the RSSI value of selected a plurality of stationary nodes in the step 341 is converted to the numerical value r of the distance between this stationary nodes and the mobile node i
Step 343 is according to the r that obtains in the step 342 iWith the coordinate of stationary nodes, by based on distance weighted wireless location method, calculate the coordinate of mobile node, and the position coordinates of this mobile node is sent to the locating and monitoring server, store and show by it.Here, the representation of the position coordinates of final mobile node can be three dimensional space coordinate (x u, y u, z u), can also be the form of planimetric coordinates+floor number, as [x, y, floor number], wherein said floor number is the maximum stationary nodes place floor number of RSSI value.
If mode 1) realization in, and each stationary nodes all sends the wireless signal of equal transmit power, then in step 341, can select a plurality of stationary nodes of suitable location Calculation in such a way: the position of determining the pairing stationary nodes of described wireless signal of the maximum intensity that mobile node receives: if this stationary nodes is at the stair place, then from the stationary nodes that is arranged on stair, select a plurality of stationary nodes that satisfy predetermined condition; If this stationary nodes on floor level, then the stationary nodes on being arranged on this floor level, is selected a plurality of stationary nodes that satisfy predetermined condition.Similarly, the predetermined condition here can be set to the intensity of the wireless signal that stationary nodes that mobile node receives sends greater than predetermined value.
Based on above-mentioned wireless location method, present embodiment also provides a kind of radio positioner.The described radio positioner of present embodiment specifically comprises:
The stationary nodes selected cell is used for selecting a plurality of stationary nodes according to predetermined selection algorithm;
Range cells is used to calculate each stationary nodes that described stationary nodes selected cell selects and the distance between the mobile node;
The weight parameter acquiring unit, be used for according to the distance between stationary nodes and the mobile node, according to the relation that is inversely proportional to apart from exponent number time power of the weight parameter of stationary nodes and described distance, calculate the weight parameter of the stationary nodes that described stationary nodes selected cell selects;
Described weight parameter normalization unit, the weight parameter that is used for a plurality of stationary nodes that described stationary nodes selected cell is selected carry out normalization and calculate, and obtain the heavy parameter of normalization wooden fork of each stationary nodes;
Described position coordinates acquiring unit, the product of the position coordinates of each stationary nodes that the described stationary nodes selected cell that is further used for adding up is selected and the normalized weight parameter of this stationary nodes obtains the position coordinates of described mobile node.
Here, described range cells, the signal intensity of the wireless signal that the mobile node that is further used for receiving according to stationary nodes sends, Fu Lisi Friis formula according to electromagnetic wave propagation, calculate described distance, or the signal intensity of the wireless signal that sends of the stationary nodes that receives according to mobile node, the Fu Lisi Friis formula according to electromagnetic wave propagation calculates described distance.
In the described wireless location system of present embodiment, if described stationary nodes is distributed in each floor level of tier building and the stair place between the floor, and described stationary nodes receives the wireless signal that mobile node sends, at this moment, described stationary nodes selected cell, can also be further used for determining receiving the position of stationary nodes of the described wireless signal of maximum intensity: if this stationary nodes is at the stair place, then from the stationary nodes that is arranged on stair, select a plurality of stationary nodes that satisfy predetermined condition; If this stationary nodes on floor level, then the stationary nodes on being arranged on this floor level, is selected a plurality of stationary nodes that satisfy predetermined condition;
Described range cells, the signal intensity of the wireless signal that the mobile node that is further used for receiving according to stationary nodes sends, the Fu Lisi Friis formula according to electromagnetic wave propagation calculates described distance.
In the described wireless location system of present embodiment, if described stationary nodes is distributed in each floor level of tier building and the stair place between the floor, and each stationary nodes all sends the wireless signal of equal transmit power, mobile node receives the described wireless signal that stationary nodes sends, at this moment, described stationary nodes selected cell, the position of the pairing stationary nodes of described wireless signal of the maximum intensity that can also be further used for determining that described mobile node receives: if this stationary nodes is at the stair place, then from the stationary nodes that is arranged on stair, select a plurality of stationary nodes that satisfy predetermined condition; If this stationary nodes on floor level, then the stationary nodes on being arranged on this floor level, is selected a plurality of stationary nodes that satisfy predetermined condition;
Described range cells is further used for receiving the signal intensity of fixing the wireless signal that sends according to described mobile node, and the Fu Lisi Friis formula according to electromagnetic wave propagation calculates described distance.
More than by two embodiment wireless location method of the present invention, device and system are described respectively.More than among two embodiment, the described weight parameter of stationary nodes, and described distance (this stationary nodes and and mobile node between distance) apart from the exponent number time power relation of being inversely proportional to.Among the present invention, be not limited to described inverse relation between described weight parameter and the described distance.In concrete applied environment, can be according to measured data of experiment, the best relation of environment before selector is fated, to obtain the corresponding weight parameter of described distance, but a total prerequisite is: the weight parameter of described stationary nodes reduces along with the increase of described distance, and is less to guarantee the distance weight of stationary nodes in location Calculation far away.For example, described weight parameter ρ iCan also be:
ρ i = 1 r i k , i?=1,2,…n,
Wherein, k is not a preset parameter, but along with distance r iIncrease and the positive variable that increases; Described weight parameter ρ iCan also be:
ρ i = 1 wr i , i=1,2,…n
Wherein, w is along with distance r iIncrease and the positive variable that increases.
In sum, as can be seen: in the embodiment of the invention, consider that the far and near different stationary nodes of distance has in various degree influence to the positioning result of mobile node, thereby, in location Calculation, according to described distance the weight parameter of a correspondence is set, reduces the distance weight of stationary nodes in location Calculation far away, thereby improved bearing accuracy.And, in the embodiment of the invention, also, select suitable stationary nodes to be used for location Calculation according to the position of the maximum stationary nodes of RSSI value, further improved good location accuracy.At last, in the embodiment of the invention, the location Calculation complexity is low, realizes simply, and is lower to the requirement of positioning system.
The described wireless location method of the embodiment of the invention, radio positioner and wireless location system, be not restricted to listed utilization in instructions and the embodiment, it can be applied to various suitable the present invention's field fully, for those skilled in the art, can easily realize additional advantage and make amendment, therefore under the situation of the spirit and scope of the universal that does not deviate from claim and equivalency range and limited, the examples shown that the present invention is not limited to specific details, representational equipment and illustrates here and describe.

Claims (17)

1. a wireless location method is characterized in that, may further comprise the steps:
A according to the distance between stationary nodes and the mobile node, obtains the weight parameter of this stationary nodes, and wherein, the weight parameter of described stationary nodes reduces along with the increase of described distance;
B carries out normalization to the weight parameter of a plurality of stationary nodes and calculates, and obtains the normalized weight parameter of each stationary nodes;
C, the product of the normalized weight parameter of the position coordinates of each stationary nodes and this stationary nodes in the described a plurality of stationary nodes that adds up obtains the position coordinates of described mobile node.
2. the method for claim 1 is characterized in that,
In the described steps A, further, obtain described weight parameter according to the relation that is inversely proportional to apart from exponent number time power of the weight parameter of stationary nodes and described distance.
3. method as claimed in claim 2 is characterized in that, among the described step C,
When the planimetric position coordinate time that calculates mobile node, the planimetric position coordinate of stationary nodes i is (x in described a plurality of stationary nodes i, y i), the planimetric position coordinate (x of described mobile node then u, y u) be:
x u = Σ i = 1 n ω i x i , y u = Σ i = 1 n ω i y i ;
When the three-dimensional space position coordinate time that calculates mobile node, the three-dimensional space position coordinate of stationary nodes i is (x in described a plurality of stationary nodes i, y i, z i), the three-dimensional space position coordinate (x of described mobile node then u, y u, z u) be:
x u = Σ i = 1 n ω i x i , y u = Σ i = 1 n ω i y i , z u = Σ i = 1 n ω i z i
Wherein, ω iThe normalized weight parameter of representing stationary nodes i in described a plurality of stationary nodes, n represents the quantity of the stationary nodes that described a plurality of stationary nodes is included.
4. the method for claim 1, it is characterized in that, mobile node sends wireless signal, stationary nodes receives the wireless signal that mobile node sends, described distance is the signal intensity of the described wireless signal that receives according to stationary nodes, Fu Lisi Friis formula according to electromagnetic wave propagation calculates.
5. method as claimed in claim 4 is characterized in that, described stationary nodes is distributed in each floor level of tier building and the stair place between the floor;
Described a plurality of stationary nodes is selected in such a way:
Determine to receive the position of stationary nodes of the described wireless signal of maximum intensity: if this stationary nodes at the stair place, then from the stationary nodes that is arranged on stair, is selected a plurality of stationary nodes that satisfy predetermined condition; If this stationary nodes on floor level, then the stationary nodes on being arranged on this floor level, is selected a plurality of stationary nodes that satisfy predetermined condition.
6. method as claimed in claim 5 is characterized in that, described a plurality of stationary nodes are the stationary nodes more than 3, and described predetermined condition is that the intensity of the described wireless signal that receives of stationary nodes is greater than predetermined value.
7. the method for claim 1, it is characterized in that, each stationary nodes all sends the wireless signal of equal transmit power, mobile node receives the described wireless signal that stationary nodes sends, described distance is the signal intensity of the wireless signal that sends according to the stationary nodes that mobile node receives, Fu Lisi Friis formula according to electromagnetic wave propagation calculates.
8. method as claimed in claim 7 is characterized in that, described stationary nodes is distributed in each floor level of tier building and the stair place between the floor;
Described a plurality of stationary nodes is selected in such a way:
Determine the position of the pairing stationary nodes of described wireless signal of the maximum intensity that mobile node receives: if this stationary nodes at the stair place, then from the stationary nodes that is arranged on stair, is selected a plurality of stationary nodes that satisfy predetermined condition; If this stationary nodes on floor level, then the stationary nodes on being arranged on this floor level, is selected a plurality of stationary nodes that satisfy predetermined condition.
9. method as claimed in claim 8 is characterized in that, described a plurality of stationary nodes are the stationary nodes more than 3, and described predetermined condition is that the intensity of the described wireless signal that receives of mobile node is greater than predetermined value.
10. a radio positioner is characterized in that, comprising:
The weight parameter acquiring unit is used for obtaining the weight parameter of this stationary nodes according to the distance between stationary nodes and the mobile node, and wherein, the weight parameter of described stationary nodes reduces along with the increase of described distance;
Weight parameter normalization unit is used for that the weight parameter of a plurality of stationary nodes is carried out normalization and calculates, and obtains the normalized weight parameter of each stationary nodes;
The position coordinates acquiring unit, the product of the position coordinates of described a plurality of each stationary nodes of stationary nodes that are used for adding up and the normalized weight parameter of this stationary nodes obtains the position coordinates of described mobile node.
11. will remove 10 described devices as right, it is characterized in that,
Described weight parameter acquiring unit is further used for the relation that is inversely proportional to apart from the inferior power of exponent number according to the heavy parameter of the wooden fork of stationary nodes and described distance, obtains described weight parameter.
12. will remove 10 described devices as right, it is characterized in that, also comprise:
The stationary nodes selected cell is used for selecting a plurality of stationary nodes according to predetermined selection algorithm;
Range cells is used to calculate a plurality of stationary nodes that described stationary nodes selected cell selects and the distance between the mobile node;
Described weight parameter normalization unit, the weight parameter that is further used for a plurality of stationary nodes that described stationary nodes selected cell is selected carry out normalization and calculate, and obtain the normalized weight parameter of each stationary nodes;
Described position coordinates acquiring unit, the product of the position coordinates of each stationary nodes that the described stationary nodes selected cell that is further used for adding up is selected and the normalized weight parameter of this stationary nodes obtains the position coordinates of described mobile node.
13. will remove 12 described devices as right, it is characterized in that,
Described range cells is further used for the signal intensity of the wireless signal that the mobile node that receives according to stationary nodes sends, or the signal intensity of the wireless signal that sends according to the stationary nodes that mobile node receives, and calculates described distance according to the Friis formula.
14. a wireless location system comprises: the stationary nodes of a plurality of location awares, position mobile node undetermined, and radio positioner, it is characterized in that,
Described radio positioner comprises:
The stationary nodes selected cell is used for selecting a plurality of stationary nodes according to predetermined selection algorithm;
Range cells is used to calculate each stationary nodes that described stationary nodes selected cell selects and the distance between the mobile node;
The weight parameter acquiring unit is used for obtaining the weight parameter of this stationary nodes according to the distance between stationary nodes and the mobile node, and wherein, the weight parameter of described stationary nodes reduces along with the increase of described distance;
The heavy parameter normalization of described wooden fork unit, the weight parameter that is used for a plurality of stationary nodes that described stationary nodes selected cell is selected carry out normalization and calculate, and obtain the normalized weight parameter of each stationary nodes;
Described position coordinates acquiring unit, the product of the position coordinates of each stationary nodes that the described stationary nodes selected cell that is further used for adding up is selected and the normalized weight parameter of this stationary nodes obtains the position coordinates of described mobile node.
15. will remove 14 described wireless location systems, it is characterized in that described stationary nodes is distributed in each floor level of tier building and the stair place between the floor, and described stationary nodes receives the wireless signal that mobile node sends as right;
Described stationary nodes selected cell, be further used for determining receiving the position of stationary nodes of the described wireless signal of maximum intensity: if this stationary nodes is at the stair place, then from the stationary nodes that is arranged on stair, select a plurality of stationary nodes that satisfy predetermined condition; If this stationary nodes on floor level, then the stationary nodes on being arranged on this floor level, is selected a plurality of stationary nodes that satisfy predetermined condition;
Described range cells, the signal intensity of the wireless signal that the mobile node that is further used for receiving according to stationary nodes sends is calculated described distance according to the Friis formula.
16. will remove 14 described wireless location systems as right, it is characterized in that, described stationary nodes is distributed in each floor level of tier building and the stair place between the floor, and each stationary nodes all sends the wireless signal of equal transmit power, and mobile node receives the described wireless signal that stationary nodes sends;
Described stationary nodes selected cell, the position of the pairing stationary nodes of described wireless signal of the maximum intensity that is further used for determining that described mobile node receives: if this stationary nodes is at the stair place, then from the stationary nodes that is arranged on stair, select a plurality of stationary nodes that satisfy predetermined condition; If this stationary nodes on floor level, then the stationary nodes on being arranged on this floor level, is selected a plurality of stationary nodes that satisfy predetermined condition;
Described range cells is further used for receiving the signal intensity of fixing the wireless signal that sends according to described mobile node, calculates described distance according to the Friis formula.
17. will remove 14 described wireless location systems, it is characterized in that described radio positioner is arranged in stationary nodes, mobile node or the calculation server as right.
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