CN101394672B - High precision wireless positioning method and system based on multipath dispersion information - Google Patents

High precision wireless positioning method and system based on multipath dispersion information Download PDF

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CN101394672B
CN101394672B CN200810201975A CN200810201975A CN101394672B CN 101394672 B CN101394672 B CN 101394672B CN 200810201975 A CN200810201975 A CN 200810201975A CN 200810201975 A CN200810201975 A CN 200810201975A CN 101394672 B CN101394672 B CN 101394672B
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scattering object
transducer
toa
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CN101394672A (en
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石强
方勇
张立禹
余建刚
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University of Shanghai for Science and Technology
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract

The invention relates to a high-precision radio positioning method and a system thereof based on multidiameter scattering information, which can be applied to various positioning environments, particularly the rich multidiameter conditions with an intense scattering environment and many barriers near a mobile terminal that needs to be positioned, such as urban areas, hilly areas and the like. The method is a high-precision practical positioning technology and comprises the following steps: firstly, a reasonable multidiameter scattering radio positioning model which is transmitted by non-line-of-sight electric waves is established according to the actual communication environment; then the scattering information is estimated by the positioning data of the multipacket and multidiameter scattering information detected by a plurality of sensors; then a group of analog sensors are reconfigured by the scattering information; and finally, at the time of final positioning, a new judgment rule and a new algorithm obtained by revision and used for the multidiameter scattering information are put forward, so as to realize precise target positioning. The high-precision radio positioning method and the system thereof can effectively inhibit non-line-of-sight communication errors, and have the advantages of low cost, low energy consumption and very high positioning precision.

Description

High precision wireless positioning method and system based on multipath dispersion information
Technical field
The present invention relates to wireless location method and system in the radio communication, a kind of high precision wireless positioning method and system based on multipath dispersion information particularly is provided.
Background technology
Current quick increase along with data service and multimedia service; People increase the increasing demand based on the new business of wireless location technology; Especially at the scattering environments of complicacy; In environment such as airport hall, exhibition room, warehouse, supermarket, library, underground parking, mine, usually need confirm portable terminal or its holder, facility and article in indoor positional information, these have all promoted the further investigation to wireless location technology.Simultaneously; One of benchmark service that accurate localization information become the new generation of wireless communication system is provided to the user; Wireless location technology also has been applied to aspects such as emergency relief, auto navigation, intelligent transportation, Team Management; With reference to the actual demand of numerous industries, the development prospect of wireless location technology and positioning service will be very wide.But receive the restriction of conditions such as positioning time, positioning accuracy and complicated indoor environment, fairly perfect location technology also can't be utilized at present well.Many location technology solutions will increase new hardware like wireless location technologies such as A-GPS location technology, Bluetooth technology, infrared technologies on portable terminal, this will bring adverse influence to the size and the cost of mobile radio station.Simultaneously, because under the radio propagation environment of complicacies such as city, because barrier is more; Radio propagation environment is abominable; Signal is difficult to directly arrive from the base station travelling carriage, generally will after superrefraction or reflection, produce multipath signal, and the arrival receiving system of non line of sight; The TOA of signal measures and very big error also just occurred, so positioning accuracy can receive very big influence.
Summary of the invention
The object of the present invention is to provide a kind of high precision wireless positioning method and system based on multipath dispersion information; Be applicable to various localizing environments; When particularly near the portable terminal of need location, a lot of barrier being arranged, scattering environments is serious, under the condition that multipath enriches; Such as environment such as city, lofty mountains, be a kind of high accuracy practicability location technology.This method just is based on the scattered information that the characteristics that have multipath in the actual communication environment are utilized multipath signal, comprises that the electric wave time of advent and angle of arrival wait to realize that target accurately locatees.
In order to reach above-mentioned purpose, the technical scheme that the present invention adopts is following:
A kind of high precision wireless positioning method based on multipath dispersion information; The wireless location system that is adopted comprises portable terminal, sensor device and CPU; Said method is used for orienting from the radio wave signal that reaches transducer that receives the exact position of portable terminal; It is characterized in that combining the angle of arrival of multiple scattering body information and measurement and electric wave just can well be implemented in the accurate location under the non-line-of-sight propagation environment time of advent, it comprises the following steps:
(1) under the non-line-of-sight propagation environment; The electric wave of portable terminal emission arrives the transducer receiving system again after a lot of scattering object reflections; The propagation path of electric wave is crooked, and a plurality of scattering point reflections back produces multipath, and these multipath signals arrive sensor device from different directions with different time;
(2) the transducer number of participation location is M1: wherein have one to be master reference, be positioned at CPU; And be a cellular system that radius of society is L with these sensor placements;
(3) the multipath signal number that records of each transducer is the M2 road, the electric wave τ time of advent that is reflected back by scattering object that each transducer can record Ji, j=1,2 ..., M1, i=1,2 ..., M2 after mating, then can release the number and the corresponding reflection wave time of advent thereof of scattering object;
(4) time value of the electric wave time of advent that measures is converted into the electric wave TOA time of advent distance value of measurement; Wherein comprised non-line-of-sight propagation NLOS sum of errors measure error; Set up the TOA error profile model of multiple scattering by above TOA distance value and communication environments, the model mathematical formulae is: l Ji=c τ Ji 0+ c Δ τ Ji=l Ji 0+ l NLOS ji+ l Nji=l Ji'+l Nji, wherein: l Ji 0For portable terminal to the base station apart from true value, l NjiBe its measure error, obeying average is 0, and standard deviation is σ LnGaussian distribution, l NLOS jiBe the range error that non-line-of-sight propagation causes, l Ji' be the radio wave propagation distance, c is an electric wave speed, Δ τ JiBe the total TOA time error in each path;
(5) master reference measures the angle of arrival of coming through each scattering object, sets up the angle of arrival AOA error profile model of multiple scattering in conjunction with communication environments, and the model mathematical formulae is θ i=θ i 0+ Δ θ i, Δ θ iFor AOA measures noise, establishing its obedience average is 0, and standard deviation is σ θ(rad) Gaussian distribution, the Gaussian distribution here are that known classics distribute;
(6) by TOA error profile model and AOA error profile modelling NLOS location model, with above method for building up, and with these measured values as the multipath dispersion information that records, again these multipath dispersion informations are set up position equation: d Ji = ( Sx i - x j ) 2 + ( Sy i - y j ) 2 , d JiBe i scattering object to the distance between j the transducer, sensor coordinates is (x j, y j), the scattering object coordinate is S i(sx i, sy i); Find the solution and Least Square in Processing through matrixing, just obtained the estimated distance d of each scattering object and transducer JiAnd the estimated distance L between each scattering object and the portable terminal iSo, by the position of above data through each scattering object of just having obtained going out according to a preliminary estimate;
(7) owing to have NLOS sum of errors measure error under the nlos environment, the scattering object position that obtains according to a preliminary estimate is not very accurate, continues further to revise again; Adopt the TOA/AOA of multipath dispersion information to mix correction, with d JiAs the TOA measured value of j transducer and i scattering object, combine the AOA information of master reference to set up one group of range finding equation again Sx i ′ ( Tan θ i ) - Sy i ′ = x 1 ( Tan θ i ) - y 1 , Wherein
Figure G2008102019755D0002160432QIETU
Be revised scattering object coordinate, θ iBe the AOA value that i the transducer that records records, the master reference coordinate is (x 1, y 1);
(8) adopt weighted least square algorithm again, separate by each TOA and AOA measured value, just use the associating covariance matrix W of TOA and AOA measured value iApproximate substitution error vector ξ iCovariance matrix, and then construct total error vector ξ iCovariance matrix ζ i
(9) adopt least-squares algorithm to handle to above matrix data; The weighted least-squares first time that obtains is separated and is the value that scattering object is revised for the first time; Position equation by scattering object self continues to adopt weighted least square algorithm again; Having obtained for the second time weighted least-squares separates; The ambiguity that this is separated is eliminated by the prior information of sensor placement sub-district again, has promptly obtained each scattering object through revised accurate coordinates;
Accurately estimate the second time that (10) can obtain each scattering object and transducer apart from d by the position of scattering object Ji' leave, the TOA value of utilizing master reference to record again deduct scattering object arrive transducer apart from d Ji' just obtain portable terminal to the accurate distance measure L that estimates of the secondary of scattering object i', then with scattering object as one group of M2 virtual-sensor, and L i' position estimation as portable terminal to the TOA value of scattering object;
(11) set up TOA error profile model between portable terminal and the scattering object more again, obtain the maximum likelihood function F of location, through to number conversion, ask that to make the function F maximum obtain one constantly be the nonlinear function of variable with the mobile terminal locations;
(12) the above nonlinear function that obtains is adopted improved genetic algorithm for solving; It is N that the initial population number of individuals is set, and calculates each individual fitness function value, and to the ascending ordering of this N fitness value; The employing roulette is selected, and filters out more excellent individuality;
(13) to the pairing in twos at random of this N individuals, select suitable crossover operator to specify Probability p by one cCarry out interlace operation;
(14), select mutation operator to specify Probability p by one to each variable in each individuality mCarry out mutation operation;
(15) any individual and replace to the optimum individual of record in the step (12) in the deletion population is proceeded genetic evolution and is calculated in the hereditary optimizing regional extent that is provided with, and then exports optimal solution and withdraws from iteration if satisfy the condition of convergence;
(16) adopt a kind of soft-decision criterion to combine the method for prior information at last; Soft-decision promptly carries out obtaining one group of distance value with the distance calculation of each transducer to the positioning result coordinate that obtains; If find original TOA value of this group distance value and the transducer more than 3 very big departing from arranged, irrationally separate data and reject with regard to being used as, rejecting does not simultaneously meet the data of prior information; Prior information is meant in the cellular layout of this location; Can obtain the direction of locating terminal in advance by AOA information, get the exact position that average has promptly obtained portable terminal, just realize high-precision wireless location finally obtaining the result.
A kind of high precision wireless navigation system based on multipath dispersion information; Comprise portable terminal, sensor device and CPU; Said system orients portable terminal from the radio wave signal that reaches transducer that receives exact position; It is characterized in that portable terminal is made up of a wireless signal transmitting module; Sensor device is connected to by the output of a wireless signal receiver module and is connected to a wireless delivery module of data message after a range finder module and the angle measurement module and constitutes, and CPU connects a locating result information display module by a message processing module and constitutes after a location Calculation module; Each selected module model and technical parameter thereof are:
1) angle measurement module: the Schaevitz series angle transducer of York instrument company, angle measuring system; Schaevitz series obliquity sensor can accurately be measured level, angle and gradient, is widely used in area navigation.
2) range finder module: the 10.5G/24G microwave radar tests the speed/distance measuring sensor, Italian INFRA transducer; Remote microwave tests the speed/distance measuring sensor, be used for car, ship, etc. the long distance range finding of target, double end is adopted in transmitting-receiving, voltage+DC (6-12.5V), certainty of measurement is ± 1.5mm.
3) wireless signal receiver module, delivery module: prompt wheat Jammy company model is the transmitting-receiving instrument of C11; Comprise a sending module (C11T) and a receiver module (C11R), the single-shot list is received, and can carry out wireless receiving and dispatching work after joining with separately control circuit respectively.The specified traffic rate of this module is 1200bps; Communication format adopts asynchronous communication, and the nominal operation power supply is DC6V.
4) computing module and message processing module: CS6079 imports 12 counting circuit chips soon; CS6079 is a single chip CMOS computer circuits, and built-in voltage-multiplying circuit can directly drive LCD, and is low in energy consumption.
5) display module: enlightening prestige liquid crystal DV320240F; Be a SED13305 controller, 5.7 cun of AG320240F/A1/AG320240A4 touch screens.
6) power supply of whole device: Switzerland TRACO power supply TOL-C42 model; Voltage 4.5VDC ~ 72VDC.Over-current protection point: 110% ~ 150% working temperature :-25/-40～+ 85 ℃. switching frequency: 150 ~ 200KHz power: 0.1W～6W.
The present invention compared with prior art; Have following conspicuous high-lighting characteristics and remarkable advantage: the present invention is through setting up the multiple scattering wireless location model of rational non line of sight radio wave propagation; The electric wave time of advent of many groups multipath dispersion information that utilization records and electric wave reach the angle and estimate scattered information; Come one group of virtual-sensor of reconstruct by scattered information then, just propose a kind of new decision rule when finally locating and the new algorithm of the multipath dispersion information that obtained by correction realizes that target accurately locatees.High precision wireless positioning method provided by the invention and device can effectively suppress the non-line-of-sight propagation error, and have that cost is low, energy consumption is low and the quite high advantage of positioning accuracy.Because hi-Fix performance of the present invention can make positioning service obtain using more widely.
Description of drawings
Fig. 1 is the two dimensional surface sketch map of the inventive method wireless location model;
Fig. 2 is the workflow sketch map of the inventive method navigation system;
Fig. 3 is the structure chart of high precision wireless navigation system of the present invention;
Embodiment
The preferred embodiments of the present invention accompanying drawings is following: referring to Fig. 1; The wireless location system that adopts based on the high precision wireless positioning method of multipath dispersion information comprises portable terminal, sensor device and CPU; Be used for orienting the exact position of portable terminal from the radio wave signal that reaches transducer that receives; It is characterized in that combining angle of arrival and electric wave time of advent of multiple scattering body information and measurement, be implemented in the accurate location under the non-line-of-sight propagation environment.Concrete performing step is following:
(1) under the non-line-of-sight propagation environment; The electric wave of portable terminal emission arrives the transducer receiving system again after a lot of scattering object reflections; The propagation path of electric wave is crooked, and a plurality of scattering point reflections back produces multipath, and these multipath signals arrive sensor device from different directions with different time;
(2) the transducer number of participation location is M1: wherein have one to be master reference, be positioned at CPU; And be a cellular system that radius of society is L with these sensor placements; Concrete coordinate is distributed as: (0; 0); (0; 2L),
Figure G2008102019755D00051
Figure G2008102019755D00052
Figure G2008102019755D00053
Figure G2008102019755D00055
(3) the multipath signal number that records of each transducer is the M2 road, the electric wave τ time of advent that is reflected back by scattering object that each transducer can record Ji, j=1,2 ..., M1, i=1,2 ..., M2, multipath signal count M2 and the scattering object number has certain relation, can be mated by the size of least mean-square error to draw each self-corresponding electric wave value time of advent, and the computing formula of least mean-square error RMSE is: RMSE = E [ ( Sx ^ i - Sx i ) 2 + ( Sy ^ i - Sy i ) 2 ] , (sx i, sy i) being the scattered information of estimation, mathematic expectaion is asked in E [] expression; After mating, then can release the number and the corresponding reflection wave time of advent thereof of scattering object;
(4) time value of the electric wave time of advent that measures is converted into the electric wave TOA time of advent distance value of measurement; Wherein comprised non-line-of-sight propagation NLOS sum of errors measure error; Set up the TOA error profile model of multiple scattering by above TOA distance value and communication environments, the model mathematical formulae is: l Ji=c τ Ji 0+ c Δ τ Ji=l Ji 0+ l NLOS ji+ l Nji=l Ji'+l Nji, wherein: l Ji 0For portable terminal to the base station apart from true value, l NjiBe its measure error, obeying average is 0, and standard deviation is σ LnGaussian distribution, l NLOS jiBe the range error that non-line-of-sight propagation causes, l Ji' be the radio wave propagation distance, c is an electric wave speed, Δ τ JiBe the total TOA time error in each path;
(5) master reference measures the angle of arrival of coming through each scattering object, sets up the angle of arrival AOA error profile model of multiple scattering in conjunction with communication environments, and the model mathematical formulae is θ i=θ i 0Δ θ i, Δ θ iFor AOA measures noise, establishing its obedience average is 0, and standard deviation is σ θ(rad) Gaussian distribution, the Gaussian distribution here are that known classics distribute;
(6) by TOA error profile model and AOA error profile modelling NLOS location model, with above method for building up, and with these measured values as the multipath dispersion information that records, again these multipath dispersion informations are set up position equation: d Ji = ( Sx i - x j ) 2 + ( Sy i - y j ) 2 , d JiBe i scattering object to the distance between j the transducer, sensor coordinates is (x j, y j), the scattering object coordinate is S i(sx i, sy i); Find the solution and Least Square in Processing through matrixing, just obtained the estimated distance d of each scattering object and transducer JiAnd the estimated distance L between each scattering object and the portable terminal iSo, by the position of above data through each scattering object of just having obtained going out according to a preliminary estimate;
(7) owing to have NLOS sum of errors measure error under the nlos environment, the scattering object position that obtains according to a preliminary estimate is not very accurate, continues further to revise again; Adopt the TOA/AOA of multipath dispersion information to mix correction, with d JiAs the TOA measured value of j transducer and i scattering object, combine the AOA information of master reference to set up one group of range finding equation again Sx i ′ ( Tan θ i ) - Sy i ′ = x 1 ( Tan θ i ) - y 1 , Wherein
Figure G2008102019755D00063
Be revised scattering object coordinate, θ iBe the AOA value that i the transducer that records records, the master reference coordinate is (x 1, y 1);
(8) adopt weighted least square algorithm again, separate by each TOA and AOA measured value, just use the associating covariance matrix W of TOA and AOA measured value iApproximate substitution error vector ξ iCovariance matrix, and then construct total error vector ξ iCovariance matrix ζ iTotal error vector ξ iCovariance matrix ζ iTOA and AOA mixing by multipath dispersion information confirm that its corresponding error vector is ξ i=h i-g iQ i, wherein
h i = d 1 i 2 - k 1 d 2 i 2 - k 2 d 3 i 2 - k 3 x 1 ( Tan θ i ) - y 1 , g i = - 2 x 1 - 2 y 1 1 - 2 x 2 - 2 y 2 1 - 2 x 3 - 2 y 3 1 Tan θ i - 1 0 , Sensor coordinates is (x j, y j), the CPU position is (x 1, y 1), Q i = ( Sx i ′ , Sy i ′ ) Be revised scattering object coordinate;
(9) adopt least-squares algorithm to handle to above matrix data; The weighted least-squares first time that obtains is separated and is the value that scattering object is revised for the first time; Position equation by scattering object self continues to adopt weighted least square algorithm again; Having obtained for the second time weighted least-squares separates; The ambiguity that this is separated is eliminated by the prior information of sensor placement sub-district again, has promptly obtained each scattering object through revised accurate coordinates;
(10) can obtain the accurate estimated distance d second time of each scattering object and transducer by the position of scattering object Ji', the TOA value of utilizing master reference to record again deduct scattering object arrive transducer apart from d Ji' just obtain portable terminal to the accurate distance measure L that estimates of the secondary of scattering object i', then with scattering object as one group of M2 virtual-sensor, one group of virtual-sensor is confirmed by revised scattering object position, but these virtual-sensors are not necessary being, the scattered information S that obtains after just estimating through least square method i(sx i, sy i), and L i' position estimation as portable terminal to the TOA value of scattering object;
(11) set up TOA error profile model between portable terminal and the scattering object more again; Obtain the maximum likelihood function F of location; Process is to number conversion; Ask that to make the function F maximum obtain one constantly be the nonlinear function of variable with the mobile terminal locations; Maximum likelihood function F that obtains and nonlinear function are based on above-mentioned error profile model, just based on the classical Gaussian error distributed model of being set up by actual environment;
(12) the above nonlinear function that obtains is adopted improved genetic algorithm for solving, the genetic algorithm of employing is improved, is improved through rationally to genetic algorithm by the radio waves propagation model of reality, and is provided with rational population number N, crossover probability p cWith the variation Probability p m, simultaneously, these parameters can be carried out adaptive adjustment according to physical condition; It is N that the initial population number of individuals is set, and calculates each individual fitness function value, and to the ascending ordering of this N fitness value, adopts roulette to select, and filters out more excellent individuality; Concrete little step is following:
1) produce the N individuals at random as initial population, each individuality is a bivector, and the N individuals has constituted the matrix of N * 2;
2) calculate each individual fitness function value, and, adopt roulette to select, filter out more excellent individuality the ascending ordering of this N fitness value;
3) to the pairing in twos at random of this N individuals, select suitable crossover operator to specify Probability p by one cCarry out interlace operation;
4), select mutation operator to specify Probability p by one to each variable in each individuality mCarry out mutation operation;
5) deletion population in an any individual and replace to 2) in the record optimum individual;
6), otherwise turn to (2) step if satisfying the condition of convergence then exports optimal solution and withdraw from iteration.
This step of iteration operation is rejected the data that do not meet prior information, carries out soft-decision, and (x y) is the accurate coordinates of the portable terminal of asking finally to obtain result's average X=.
(13) to the pairing in twos at random of this N individuals, select suitable crossover operator to specify Probability p by one cCarry out interlace operation;
(14), select mutation operator to specify Probability p by one to each variable in each individuality mCarry out mutation operation;
(15) any individual and replace to the optimum individual of record in the step (12) in the deletion population is proceeded genetic evolution and is calculated in the hereditary optimizing regional extent that is provided with, and then exports optimal solution and withdraws from iteration if satisfy the condition of convergence;
(16) adopt a kind of soft-decision criterion to combine the method for prior information at last; Soft-decision promptly carries out obtaining one group of distance value with the distance calculation of each transducer to the positioning result coordinate that obtains, if find original TOA value of this group distance value and the transducer more than 3 very big departing from is arranged, and irrationally separates data and rejects with regard to being used as; Reject the data that do not meet prior information simultaneously; Prior information is meant in the cellular layout of this location, can obtain the direction of locating terminal in advance by AOA information, and the soft-decision criterion is used for rejecting puppet and separates data; Be to combine the prior information of sub-district to implement; In the result, just can remove falsity, get the exact position that average has promptly obtained portable terminal, just realize high-precision wireless location finally obtaining the result.
Fig. 1 is the two dimensional surface sketch map of the inventive method wireless location model; As shown in Figure 1; Layout is a cellular system that radius of society is L; The electric wave time of advent of the electric wave that the transducer that each layout has been got well records portable terminal after through the scattering object reflection, master reference can also provide angle of arrival information.Be electric wave through after propagating at wireless space, also just obtained multipath dispersion information, more than only TOA and AOA locator data be exactly the inventive method to utilize, so the condition of required location is less, complete realistic communication environment.Error model by locating information and foundation just can position then.
Be illustrated in figure 2 as the workflow sketch map of the inventive method navigation system.After range finding and one group of angle measurement that the electric wave that is sent by the portable terminal that receives carries out many group multipath dispersion informations handled; Set up error model; Estimation and correction back through to scattered information obtain virtual TOA information; Adopt genetic algorithm for solving then, the data that obtain are carried out just can having obtained the precise position information of portable terminal behind the soft-decision.
As shown in Figure 3; High precision wireless navigation system based on multipath dispersion information; Comprise portable terminal 1, sensor device 2 and CPU 3; It is characterized in that portable terminal 1 is made up of a wireless signal transmitting module 4; Sensor device 2 is connected to by the output of a wireless signal receiver module 5 and is connected to a wireless delivery module 8 of data message after a range finder module 6 and the angle measurement module 7 and constitutes, and CPU 3 connects a locating result information display module 11 by a message processing module 9 and constitutes after a location Calculation module 10; Each selected module model and technical parameter thereof are:
1) angle measurement module 7: the Schaevitz series angle transducer of York instrument company, angle measuring system; Schaevitz series obliquity sensor can accurately be measured level, angle and gradient, is widely used in area navigation.
2) range finder module 6:10.5G/24G microwave radar tests the speed/distance measuring sensor, Italian INFRA transducer; Remote microwave tests the speed/distance measuring sensor, be used for car, ship, etc. the long distance range finding of target, double end is adopted in transmitting-receiving, voltage+DC (6-12.5V), certainty of measurement is ± 1.5mm.
3) the wireless signal receiver module 5, delivery module 8: prompt wheat Jammy company model is the transmitting-receiving instrument of C11; Comprise a sending module (C11T) and a receiver module (C11R), the single-shot list is received, and can carry out wireless receiving and dispatching work after joining with separately control circuit respectively.The specified traffic rate of this module is 1200bps; Communication format adopts asynchronous communication, and the nominal operation power supply is DC6V.
4) 12 counting circuit chips of computing module 10 and the fast input of message processing module 9:CS6079; CS6079 is a single chip CMOS computer circuits, and built-in voltage-multiplying circuit can directly drive LCD, and is low in energy consumption.
5) display module 11: enlightening prestige liquid crystal DV320240F; Be a SED13305 controller, 5.7 cun of AG320240F/A1/AG320240A4 touch screens.
6) power supply of whole device: Switzerland TRACO power supply TOL-C42 model; Voltage 4.5VDC ~ 72VDC.Over-current protection point: 110% ~ 150% working temperature :-25/-40～+ 85 ℃. switching frequency: 150 ~ 200KHz power: 0.1W～6W.
In sum; The invention provides a kind of high precision wireless positioning method and device, be applicable to various localizing environments, when particularly near the portable terminal of need location, a lot of barrier being arranged based on multipath dispersion information; Scattering environments is serious; Under the condition that multipath enriches,, be a kind of high accuracy practicability location technology such as environment such as city, lofty mountains.Described wireless location system comprises portable terminal, sensor device and CPU, said device is oriented portable terminal from the radio wave signal that reaches transducer that receives exact position.This method is at first set up the multiple scattering wireless location model of rational non line of sight radio wave propagation according to the communication environment of reality; Estimate that through the locator data of many groups multipath dispersion information of recording scattered information sets up one group of virtual-sensor, through range finding handle, that weighted least-squares is estimated, the improvement of the acquisition of nonlinear function, genetic algorithm and new decision operation arrive target is pinpoint.High precision wireless positioning method provided by the invention and device can effectively suppress the non-line-of-sight propagation error, and have that cost is low, energy consumption is low and the quite high advantage of positioning accuracy.Because hi-Fix performance of the present invention can make positioning service obtain using more widely.

Claims (5)

1. high precision wireless positioning method based on multipath dispersion information; The wireless location system that is adopted comprises portable terminal, sensor device and CPU; Be used for orienting the exact position of portable terminal from the radio wave signal that reaches transducer that receives; It is characterized in that combining angle of arrival and electric wave time of advent of multiple scattering body information and measurement, be implemented in the accurate location under the non-line-of-sight propagation environment, comprise the following steps:
A. under the non-line-of-sight propagation environment; The electric wave of portable terminal emission arrives sensor device again after a lot of scattering object reflections; The propagation path of electric wave is crooked, and a plurality of scattering point reflections back produces multipath, and these multipath signals arrive sensor device from different directions with different time;
The transducer number of b. participating in the location is M1: wherein have one for master reference, be positioned at CPU; With these sensor placements is a cellular system that radius of society is L;
C. the multipath signal number that records of each transducer is the M2 road, the electric wave τ time of advent that is reflected back by scattering object that each transducer can record Ji, j=1,2 ..., M1, i=1,2 ..., M2 after mating, then can release the number and the corresponding reflection wave time of advent thereof of scattering object;
D. the time value of the electric wave time of advent that measures is converted into the electric wave TOA time of advent distance value of measurement; Wherein comprised non-line-of-sight propagation NLOS sum of errors measure error; Set up the TOA error profile model of multiple scattering by above TOA distance value and communication environments, the model mathematical formulae is: l Ji=c τ Ji 0+ c Δ τ Ji=l Ji 0+ l NLOS ji+ l Nji=l Ji'+l Nji, wherein: l Ji 0For portable terminal to the base station apart from true value, l NjiBe its measure error, obeying average is 0, and standard deviation is σ LnGaussian distribution, l NLOS jiBe the range error that non-line-of-sight propagation causes, l Ji' be the radio wave propagation distance, c is an electric wave speed, Δ τ JiBe the total TOA time error in each path;
E. master reference measures the angle of arrival of coming through each scattering object, sets up the angle of arrival AOA error profile model of multiple scattering in conjunction with communication environments, and the model mathematical formulae is θ i=θ i 0+ Δ θ i, Δ θ iFor AOA measures noise, establishing its obedience average is 0, and standard deviation is σ θ(rad) Gaussian distribution, the Gaussian distribution here are that known classics distribute;
F. by TOA error profile model and AOA error profile modelling NLOS location model, with above method for building up, and with these measured values as the multipath dispersion information that records, again these multipath dispersion informations are set up position equation:
Figure FSB00000585770200011
d JiBe i scattering object to the distance between j the transducer, sensor coordinates is (x j, y j), the scattering object coordinate is S i(sx i, sy i); Find the solution and Least Square in Processing through matrixing, just obtained the estimated distance d of each scattering object and transducer JiAnd the estimated distance L between each scattering object and the portable terminal iSo, the position of each scattering object that has just obtained by above treatment step going out according to a preliminary estimate;
G. owing to have NLOS sum of errors measure error under the nlos environment, the scattering object position that obtains according to a preliminary estimate is not very accurate, continues further to revise again; Adopt the TOA/AOA of multipath dispersion information to mix correction, with d JiAs the TOA measured value of j transducer and i scattering object, combine the AOA information of master reference to set up one group of range finding equation sx again i' (tan θ i)-sy i'=x 1(tan θ i)-y 1, (sx wherein i', sy i') be revised scattering object coordinate, θ iBe the AOA value that i the transducer that records records, the master reference coordinate is (x 1, y 1);
H. adopt weighted least square algorithm again, separate by each TOA and AOA measured value, just use the associating covariance matrix W of TOA and AOA measured value iApproximate substitution error vector ξ iCovariance matrix, and then construct total error vector ξ iCovariance matrix ζ i
I. adopt least-squares algorithm to handle to above matrix data; The weighted least-squares first time that obtains is separated and is the value that scattering object is revised for the first time; Position equation by scattering object self continues to adopt weighted least square algorithm again; Having obtained for the second time weighted least-squares separates; The ambiguity that this is separated is eliminated by the prior information of sensor placement sub-district again, has promptly obtained each scattering object through revised accurate coordinates;
J. can obtain the accurate estimated distance d second time of each scattering object and transducer by the position of scattering object Ji', the TOA value of utilizing master reference to record again deduct scattering object arrive transducer apart from d Ji' just obtain portable terminal to the accurate distance measure L that estimates of the secondary of scattering object i', then with scattering object as one group of M2 virtual-sensor, and L i' position estimation as portable terminal to the TOA value of scattering object;
K. set up TOA error profile model between portable terminal and the scattering object again, obtain the maximum likelihood function F of location, process is to number conversion, and asking and having obtained one when making the function F maximum is the nonlinear function of variable with the mobile terminal locations;
L. the above nonlinear function that obtains is adopted improved genetic algorithm for solving; It is N that the initial population number of individuals is set, and calculates each individual fitness function value, and to the ascending ordering of this N fitness value; The employing roulette is selected, and filters out more excellent individuality;
M. to the pairing in twos at random of this N individuals, select suitable crossover operator to specify Probability p by one cCarry out interlace operation;
N. to each variable in each individuality, select mutation operator to specify Probability p by one mCarry out mutation operation;
O. delete an any individual in the population and replace to the optimum individual of record in the step 1, in the hereditary optimizing regional extent that is provided with, proceed genetic evolution and calculate, then export optimal solution and withdraw from iteration if satisfy the condition of convergence;
P. the last method that adopts a kind of soft-decision criterion to combine prior information; Soft-decision promptly carries out obtaining one group of distance value with the distance calculation of each transducer to the positioning result coordinate that obtains; If find original TOA value of this group distance value and the transducer more than 3 very big departing from arranged, irrationally separate data and reject with regard to being used as, rejecting does not simultaneously meet the data of prior information; Prior information is meant in the cellular layout of this location; Can obtain the direction of locating terminal in advance by AOA information, get the exact position that average has promptly obtained portable terminal, just realize high-precision wireless location finally obtaining the result.
2. the high precision wireless positioning method based on multipath dispersion information as claimed in claim 1 is characterized in that: the total arrangement of transducer described in the step b is a cellular system that radius of society is L, and the concrete coordinate of transducer is distributed as: (0,0), (0,2L), ( 3 L , L ) , ( 3 L , - L ) , ( - 3 L , L ) , ( - 3 L , L ) ( - 3 L , - L ) , To guarantee superior positioning performance.
3. the high precision wireless positioning method based on multipath dispersion information as claimed in claim 1; It is characterized in that: multipath signal described in the step c counts M2 and the scattering object number has certain relation; Can be mated by the size of least mean-square error and draw each self-corresponding electric wave value time of advent, the computing formula of least mean-square error RMSE is:
Figure FSB00000585770200032
(sx i, sy i) being the scattered information of estimation, mathematic expectaion is asked in E [] expression.
4. the high precision wireless positioning method based on multipath dispersion information as claimed in claim 1 is characterized in that: construct total error vector ξ among the step h iCovariance matrix ζ iTOA and AOA mixing by multipath dispersion information confirm that its corresponding error vector is ξ i=h i-g iQ i, wherein
h i = d 1 i 2 - k 1 d 2 i 2 - k 2 d 3 i 2 - k 3 x 1 ( Tan θ i ) - y 1 , g i = - 2 x 1 - 2 y 1 1 - 2 x 2 - 2 y 2 1 - 2 x 3 - 2 y 3 1 Tan θ i - 1 0 , Sensor coordinates is (x j, y j), the CPU position is (x 1, y 1), Q i=(sx i', sy i') be revised scattering object coordinate.
5. the high precision wireless positioning method based on multipath dispersion information as claimed in claim 1; It is characterized in that: the soft-decision criterion among the step p is used for rejecting puppet and separates data; Be to combine the prior information of sub-district to implement; Prior information is meant in the cellular layout of this location, and the direction at the terminal that can be obtained in advance by AOA information locating just can be removed falsity in the result.
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