CN101718860B - Non-cooperative target radio positioning method with unknown signal wave type - Google Patents

Abstract

The invention belongs to a method for positioning an indoor radio-transmission signal source, which comprises the following steps of: establishing a positioning database according to technical background, setting a signal receiver and a monitoring supervisor and adding tracking information databases corresponding to all management targets, and meanwhile, adding positioning chips which can transmit signals and identification codes having the same frequency with that of the signals of the positioning database to the management targets. In the invention, the signals sent from the positioning chips is optimally matched with the basic database so as to determine the position of the target and determine the name of the target in the position through the identification codes; and finally, the names of all management targets and the position information of the management targets are displayed. Therefore, the invention has the characteristics of performing multi-target positioning to the non-cooperative management targets, distinguishing all specific targets, effectively increasing the sensitivity of position difference in the positioning area, positioning accuracy and precision, and reducing the requirements on the synchronicity of time and reducing positioning cost.

Description

The method of the non-cooperative target radio location that a kind of signal waveform is unknown

Technical field

The invention belongs to a kind of indoor positioning technology, particularly a kind of method that target (noncooperative target) with unknown wireless signal waveform is positioned.The present invention sets up location database and cooperates recognition system to one and a plurality of target localization (location estimation) with unknown wireless signal waveform through utilizing known radio signal source; This localization method both can overcome the negative effect that traditional localization method is propagated by multipath transmisstion and indirect wave; And the synchronism requirement to the time between the receiver is not high yet, is a kind of localization method cheaply.

Background technology

Indoor positioning has important use and is worth in fields such as health care, social safety, public service and commercial operations.Indoor positioning can improve the modernization level of medical department's emergency services and personal management.Convene when the emergency case less than relief or nurse personnel under the situation such as not enough the employee of hospital, provide positioning service will play conclusive effect the employee of hospital or the patient who is guarded; Indoor positioning can also effectively be improved medical condition, the equipment control of hospital.Medical Devices than large hospital often have hundreds and thousands of; Care appliances from supply center to the anesthesia patient; Often need know the particular location of various device, if it is in case of emergency can not accurately know the residing position of equipment, will be to the treatment patient very unfavorable even affect adversely treatment opportunity.Indoor positioning can be applied to the management in prison, and management and real-time follow-up through to convict's positional information can effectively reduce the chance that criminal escapes from prison, and Holland is positioned at prison, FilippoGammarelli Si Tade incity and is using indoor locating system; China's mine disaster happens occasionally; Utilize indoor locating system to carry out coal mine production safety monitoring, the informatization work of aspect such as control and enterprise management system automatically;, mine disaster can dynamically grasp personnel in the pit's distribution and operation situation when taking place; Carry out personnel and accurately locate, so that rescue and relief work, safety rescue.Indoor positioning can also be used for kindergarten management child or theme park and follow the tracks of children, and Japan has adopted wireless location system to follow the tracks of the child orientation, prevents children loss or is abducted by the people.Through indoor positioning valuable asset is positioned tracking, will bring huge benefit to jewelry company, museum, bank etc.In addition, indoor positioning can also be applied to the management of management of vehicles in the garage and integrated mill's workshop goods.Indoor positioning is expanded, location, communication, computer information processing and control etc. are constituted an organic whole, more help multiple-information fusion.

Indoor positioning comprises the location to the noncooperative target of the cooperative target of band known waveform signal and band unknown waveforms signal.Localization method commonly used at present has distance-measuring and positioning method, hyperbolic positioning method, angle method and unites range finding angle method, and these localization methods all belong to the parametrization localization method.It is known that this class methods require the funtcional relationship between parameter such as distance, range difference, angle and the target location.Yet; Under the influence of factors such as the non line of sight transmission effects in indoor environment, multipath transmisstion effect, signal attenuation rule complicacy; Parameters such as the distance of utilization reception signal measurement, range difference, angle are not only relevant with the target location, also relevant with concrete indoor signal communication environments.When concrete indoor signal communication environments is unknown; At first utilize the reception signal to carry out parameter estimation such as distance, range difference, angle; And then the parametrization localization method of definite target location estimation; Its performance usually receives having a strong impact on of factors such as non line of sight transmission effects in the indoor environment, multipath transmisstion effect, signal attenuation rule complicacy; And, therefore be difficult to satisfy practical application to needs low-cost, the hi-Fix performance with the disposal route ten minutes complicacy that these factors are used as negative factor and are effectively suppressed.

To above-mentioned defective; Employing is the technology that a kind of strength characteristics of utilizing signal to propagate is carried out the imparametrization location based on the localization method that localizing environment receives signal intensity (RSS) database; The enforcement of this imparametrization location technology generally was divided into for two steps; At first be the RSS data of gathering a plurality of settings place in the required locating area, to set up the RSS database, the corresponding certain location of each RSS data; The RSS parameter of the echo signal to be positioned that then receives according to each signal receiver when carrying out real-time positioning adopts matching process from the RSS database, to extract the RSS parameter that matches, and this pairing position of RSS parameter is the position of target to be positioned.The applicant is 200910058721.7 at application number, denomination of invention promptly belongs to this type of technology for disclosed technology in the patent documentation of " based on the matching locating method of wireless channel frequency domain amplitude response ".This technology is provided with on target to be positioned and build the identical signal source of storehouse signal, and the space parallax opposite sex of channel frequency domain amplitude response positions signal source when utilizing radio transmission between each receiver and the target to be positioned; Though overcome the influence that Traditional parameter indoor wireless location technology receives factors such as non line of sight transmission effects, multipath transmisstion effect, signal attenuation rule complicacy, improved bearing accuracy to a certain extent; But this method can only position to the cooperative target that is provided with and builds the identical signal of storehouse signal, and can only confirm the position of target to be positioned, especially multiple goal then is no judge of the title (promptly can not distinguish different targets to be positioned) of (breaking) each objectives.Still adopt the Traditional parameter localization method to the location of the noncooperative target of being with the unknown waveforms signal at present; Thereby still exist and receive factor affecting such as non line of sight transmission effects, multipath transmisstion effect, signal attenuation rule complicacy, and disadvantage such as location cost height.

Summary of the invention

The method that the objective of the invention is the unknown non-cooperative target radio location of a kind of signal waveform of research and design, utilizing the localizing environment database that is obtained by co-operation signal is that the noncooperative target position is confirmed on the basis.Reach not only and can position noncooperative target; And can distinguish, judge each objectives; And raising is to the susceptibility of position difference in the locating area; Reach reduction the synchronism of time required and positioning cost, effectively improve the accuracy and the bearing accuracy of location, so as effectively to manage, follow the tracks of, purpose such as monitoring.

Solution of the present invention is still to set up location database and signalization receiver and corresponding monitors manager (computing machine) by the method for background technology, and sets up corresponding with each management objectives respectively trace information database on this basis; On each management objectives, set up and to launch and the synthetic signal of location database signal same frequency and the positioning chip of identification code; The identification code of each chip emission and signal are sent into computing machine after being received by each receiver; Its signal is handled through Fourier transform respectively and is confirmed its corresponding amplitude spectrum; And then obtain the frequency-domain combined normalization amplitude response in spatial domain separately; Carry out matching treatment between the spatial domain frequency-domain combined normalization amplitude response parameter with the radio propagation channel that writes down in itself and the basic database again; Confirm the location estimation of target to be positioned and then confirm to demonstrate the title of this position target the title of each target and the information of position thereof through visualization interface at last, thereby realize its goal of the invention with the pairing position data of its Optimum Matching through its identification code.Therefore, the inventive method comprises:

A, set up location database: set up location database by background technology, promptly at first set each signal receiver and each node (anchor point) position with respect to each signal receiver in the locating that constitutes by these nodes; Place one on therein 1 node then and build the storehouse signal source; What the emission amplitude spectrum had a normalization line spectrum shape builds the storehouse signal; Each signal receiver receives after this signal; Respectively it being carried out Fourier transform handles; A parameter of the frequency-domain combined normalization amplitude response in spatial domain of radio propagation channel between this signal source node of living in and each receiver in definite thus grid, this parameter and this node location parameter with respect to each signal receiver in locating deposits in the database as the positional parameter of this node in the lump; After this; Repeat aforesaid operations; Adopt the same storehouse signal of building; Confirm successively all the other each nodes in the grid respectively with all receivers between the corresponding parameter of the frequency-domain combined normalization amplitude response in spatial domain of radio propagation channel, and deposit in the database with respect to the positional parameter that the location parameter of each signal receiver is combined into respective nodes, thereby build up the basic database of the present invention location with each node;

B, positioning chip is set and deposits its information parameter in database: can launch and build the synthetic signal source of storehouse signal same frequency and setting identification code respectively on each positioning chip being provided with on each positioning chip in each management objectives; Then each positioning chip is placed respectively on each management objectives, simultaneously with each identification code and corresponding management objectives title also as one group of trace information of each target deposit in respectively in another database, subsequent use;

C, confirm the position at management objectives places: after each receiver is received the information parameter that the chip of arbitrary management objectives sends; Respectively wherein signal data is carried out the amplitude spectrum that Fourier transform is handled, confirmed each receiver received signal; And then obtain the frequency-domain combined normalization amplitude response in spatial domain separately; Carry out matching treatment between the spatial domain frequency-domain combined normalization amplitude response parameter with the radio propagation channel that writes down in itself and the basic database again, the spatial domain of the radio propagation channel of Optimum Matching frequency-domain combined normalization amplitude response parameter in basic database pairing locus, be the position of this target; And then through the comparison of the identification code in the chip institute photos and sending messages and the identification code in the trace information database, wherein contain the title that is these management objectives with the pairing target designation of chip same identification code parameters, from and confirmed the title of these position management objectives;

D, show the current location of each management objectives: each receiver locks all the other each management objectives simultaneously successively; And handle automatically by the C step; Thereby confirm the current position of each management objectives, and on visualization interface, demonstrate the information of all target designations and present position thereof; Carry out the location and the demonstration of next each target of circulation then.

The said signal that can launch and build storehouse signal same frequency synthesized source that on each positioning chip, is provided with is:

$v\left(t\right)=\underset{\mathrm{\ω}=1}{\overset{W}{\mathrm{\Σ}}}{\mathrm{\α}}_{\mathrm{\ω}}\sin (2\mathrm{\π}{f}_{\mathrm{\ω}}t+{\mathrm{\β}}_{\mathrm{\ω}})$

Wherein, f _ωThe frequency of ω the line spectrum that transmits for the echo signal source, ω is the line spectrum number; α _ωIt is the random magnitude of ω line spectrum; β _ωIt is the first phase at random of ω line spectrum.

The signal that said each receiver receives the emission of echo signal source is:

$r(t,p_n,p_u)=v\left(t\right)\⊗h(t,p_n,p_u)$

T is duration, the t=1 that signal source transmits, 2 ..., T, n are number, the n=1 of receiver, 2 ..., N; V (t) is (the unknown) waveform signal of management objectives emission; p _uIt is the unknown position of management objectives; p _nIt is the position at n receiver place; H (t, p _n, p _u) be the radio channel response function.

Saidly respectively the signal data that receives is carried out the amplitude spectrum that Fourier transform is handled, confirmed each receiver received signal; Its amplitude spectrum is:

$R=(f_{\mathrm{\ω}},p_n,p_u)=\frac{1}{\sqrt{T}}\underset{t=1}{\overset{T}{\mathrm{\Σ}}}r(t,p_n,p_u)e^{j\frac{2\mathrm{\π}}{T}{f}_{\mathrm{\ω}}t}=H(f_{\mathrm{\ω}},p_n,p_u)V\left(f_{\mathrm{\ω}}\right)$

Wherein: f _ωBe frequency, ω=1,2 of building ω the line spectrum that the storehouse signal source transmits ..., W, H (f _ω, p _n, p _u) be radio channel response function h (t, p _n, p _u) Fourier transform; V (f _ω) be the Fourier transform of the unknown waveforms signal v (t) of management objectives emission.

The frequency-domain combined normalization amplitude response in spatial domain of radio propagation channel is between said definite each management objectives and each receiver:

$G(f_{\mathrm{\ω}},p_n,p_u)=\frac{\left|R(f_{\mathrm{\ω}},p_n,p_u)\right|}{D\left(p_u\right)}$

Wherein: $D\left(p_u\right)=\sqrt{\underset{n=1}{\overset{N}{\mathrm{\Σ}}}\underset{\mathrm{\ω}=1}{\overset{W}{\mathrm{\Σ}}}{\left|R(f_{\mathrm{\ω}},p_n,p_u)\right|}^2}$

The location estimation of said definite management objectives, the coupling of carrying out between the frequency-domain combined normalization amplitude response in spatial domain of the radio propagation channel in the frequency-domain combined normalization amplitude response in spatial domain of each receiver reception signal and the location database in corresponding each bar data recording is:

$Q\left(m\right)=\underset{\mathrm{\ω}=1}{\overset{W}{\mathrm{\Σ}}}\underset{n=1}{\overset{N}{\mathrm{\Σ}}}G(f_{\mathrm{\ω}},p_n,p_m)G(f_{\mathrm{\ω}},p_n,p_u)$

Wherein, n is the number of receiver, and m is data recording bar number, m=1 in the location database, 2 ..., M, p _mIt is the node location in the grid; When:

p _m=p _uThe time, Q (m) obtains maximal value, is Optimum Matching.

The present invention is owing to utilize the method for background technology to set up location database and signalization receiver and corresponding monitors manager (computing machine), and sets up corresponding with each management objectives respectively trace information database on this basis; On each management objectives, set up and to launch and the synthetic signal of location database signal same frequency and the positioning chip of identification code; The identification code of each chip emission and signal are sent into Computer Processing after being received by each receiver; Data after the processing again with basic database in corresponding parameters carry out Optimum Matching, to confirm the position of target; Confirm the title of this position target again through its identification code; Demonstrate the title of each management objectives and the information of position thereof through visualization interface at last.Therefore the inventive method can carry out the title that each target also can be confirmed in the multiple goal location to noncooperative management objectives owing to need not know the signal waveform of management objectives emission; Again because of having utilized in target to be positioned and the positioning system space parallax opposite sex that multipath transmisstion and indirect wave are propagated between each signal receiver, thus can also overcome multipath transmisstion with indirect wave propagation treat the negative effect of the location estimation of localizing objects.Thereby; The present invention has and can carry out the multiple goal location and can distinguish each objectives noncooperative management objectives; Effectively improved the susceptibility of position difference in the locating area and the accuracy and the bearing accuracy of location, reduced that the synchronism of time is required and characteristics such as positioning cost.

Description of drawings

Fig. 1 is the inventive method schematic flow sheet (block scheme).

Embodiment

Two-dimensional localization of target indoor to be positioned to be positioned at 7 meters wide 6 meters of length is an example, 4 signal receiver p ₁, p ₂, p ₃, p ₄Be located at respectively on the point that coordinate equals (0.25,0.25), (0.25,5.75), (6.75,5.75) and (6.75,0.25), unit is rice (m); And indoorly sampled point, totally 143 nodes are set by 0.5 * 0.5 meter interval whole;

A. set up location database: utilize the ZigBee location development system of producing by the wireless imperial communication in Chengdu Science and Technology Ltd. (product specification is C51RF-CC2431-ZDK) to set up database.Promptly the node coordinate (0.5,0.5) of locating go up place one transmit into:

$s\left(t\right)=\frac{1}{A}d\left(t\right)$

Build storehouse signal source S,

Wherein: t=1,2 ..., 256; $d\left(t\right)=\underset{\mathrm{\ω}=1}{\overset{256}{\mathrm{\Σ}}}\mathrm{Sin}(2\mathrm{\π}{f}_{\mathrm{\ω}}t+{\mathrm{\φ}}_{\mathrm{\ω}})$ Expression is by the synthetic signal of 256 line spectrums; Frequency f _ω=ω/512, ω is the line spectrum number, promptly 256 value of frequency point are: 0.0020,0.0039,0.0059 ..., 0.5; And the amplitude spectrum S (f of 256 line spectrums _ω)=0.5 (being that each amplitude spectrum is constant 0.5);

Each signal receiver receive signal do $r(t,p_n,\left(\mathrm{0.5,0.5}\right))=s\left(t\right)\⊗h(t,p_n,\left(\mathrm{0.5,0.5}\right)),$ Wherein, first signal receiver P ₁The signal that receives is:

$r(t,\left(\mathrm{0.25,0.25}\right),\left(\mathrm{0.5,0.5}\right))=s\left(t\right)\⊗h(t,\left(\mathrm{0.25,0.25}\right),\left(\mathrm{0.5,0.5}\right))$

Wherein, t=1,2 ..., 256, h (t, (0.25,0.25), (0.5,0.5)) builds storehouse signal source and first receiver p for this ₁Between the radio channel response function;

Signal receiver p ₂, p ₃, p ₄Also receive respectively with its coordinate (0.25,5.75), (6.75,5.75) and (6.75,0.25) because of source location is identical and to build the storehouse signal accordingly; H (t, p _n, (0.5,0.5)) in, at p _nBe the coordinate time of the 2nd, 3,4 signal receiver, then be respectively this and build the radio channel response function between storehouse signal source and second and third, four receivers;

The signal that receives to four receivers carries out Fourier transform respectively and passes through:

R (f _ω, p _n, (0.5,0.5))=H (f _ω, p _n, (0.5,0.5)) and S (f _ω)=0.5H (f _ω, p _n, (0.5,0.5)) handle; Result to first receiver received signal then is:

R(f _ω，(0.25，0.25)，(0.5，0.5))＝H(f _ω，(0.25，0.25)，(0.5，0.5))S(f _ω)

＝0.5H(f _ω，(0.25，0.25)，(0.5，0.5))

Wherein: ω=1,2 ..., 256, H (f _ω, (0.25,0.25), (0.5,0.5)) and build storehouse signal source and first receiver p for this ₁Between the Fourier transform of radio channel response function h (t, (0.25,0.25), (0.5,0.5));

Work as p _nFor second and third, during the coordinate figure of four receivers, then obtain result to corresponding receiver received signal; At H (f _ω, p _n, (0.5,0.5)) in, when n is 2,3,4, then be respectively the Fourier transform of building the radio channel response function between storehouse signal source and the corresponding receiver; Through:

$G(f_{\mathrm{\ω}},p_n,\left(\mathrm{0.5,0.5}\right))=\frac{\left|H(f_{\mathrm{\ω}},p_n,\left(\mathrm{0.5,0.5}\right))\right|}{D\left((\mathrm{0.5,0}..5)\right)},\mathrm{\ω}=\mathrm{1,2},...,256$

$D\left(\left(\mathrm{0.5,0.5}\right)\right)=(\underset{\mathrm{\ω}=1}{\overset{256}{\mathrm{\Σ}}}{\left|H(f_{\mathrm{\ω}},\left(\mathrm{0.25,0.25}\right),\left(\mathrm{0.5,0.5}\right))\right|}^2+\underset{\mathrm{\ω}=1}{\overset{256}{\mathrm{\Σ}}}{\left|H(f_{\mathrm{\ω}},\left(\mathrm{0.25,5.75}\right),\left(\mathrm{0.5,0.5}\right))\right|}^2+$

$\underset{\mathrm{\ω}=1}{\overset{256}{\mathrm{\Σ}}}{\left|H(f_{\mathrm{\ω}},\left(\mathrm{6.75,0.25}\right),\left(\mathrm{0.5,0.5}\right))\right|}^2+\underset{\mathrm{\ω}=1}{\overset{256}{\mathrm{\Σ}}}{\left|H(f_{\mathrm{\ω}},\left(\mathrm{6.75,5.75}\right),\left(\mathrm{0.5,0.5}\right))\right|}^2{)}^{1/2}$

Confirm this frequency-domain combined normalization amplitude response in spatial domain of building radio propagation channel between storehouse signal source and each receiver; Wherein this frequency-domain combined normalization amplitude response in spatial domain of building radio propagation channel between storehouse signal source and first receiver is:

$G(f_{\mathrm{\ω}},\left(\mathrm{0.25,0.25}\right),\left(\mathrm{0.5,0.5}\right))=\frac{\left|H(f_{\mathrm{\ω}},\left(\mathrm{0.25,0.25}\right),\left(\mathrm{0.5,0.5}\right))\right|}{D\left(\left(\mathrm{0.5,0.5}\right)\right)}$

At G (f _ω, p _n, (0.5,0.5)) in, when n is 2,3,4, then be respectively the frequency-domain combined normalization amplitude response in spatial domain that this builds radio propagation channel between storehouse signal source and second and third, four receivers; Build the spatial domain frequency-domain combined normalization amplitude response parameter of four groups of radio propagation channel of coordinate position (0.5,0.5) and gained of storehouse signal source S and form corresponding in a location database positional parameter in the lump with this coordinate position;

Other node in the locating is repeated aforesaid operations, thereby obtain in the location database and 143 143 positional parameters that anchor point is corresponding;

B. confirm target to be positioned: each target to be positioned all has a wireless location chip CC2431 who is produced by the wireless imperial communication in Chengdu Science and Technology Ltd.; Before target localization; Computing machine is to all prior physical address of initialization of each the wireless location chip that adds this net; Thus management objectives according to separately with wireless location chip and identification code that is associated with physical address of corresponding acquisition, different management objectives can be distinguished through corresponding identification code each other.

C. signal that definite each receiver is received and the amplitude spectrum between the management objectives:

Target in getting into the area to be targeted is launched and when building storehouse signal signal inequality, the signal that each signal receiver receives is:

$r(t,p_n,(x_0,y_0))=v\left(t\right)\⊗h(t,p_n,(x_0,y_0))$

Wherein, t=1,2 ..., 256, (x ₀, y ₀) be the coordinate of management objectives, $v\left(t\right)=\underset{\mathrm{\ω}=1}{\overset{256}{\mathrm{\Σ}}}{\mathrm{\α}}_{\mathrm{\ω}}\mathrm{Sin}(2\mathrm{\π}{f}_{\mathrm{\ω}}t+{\mathrm{\β}}_{\mathrm{\ω}}),$ Frequency f _ω=ω/512, ω is the line spectrum number, promptly 256 value of frequency point are: 0.0020,0.0039,0.0059 ..., 0.5, α _ωBe the random magnitude of ω line spectrum, in (0,1) scope, obey independently evenly distribution, β _ωBe the first phase at random of ω line spectrum, [0,2 π) the independently evenly distribution of the interior obedience of scope.First signal receiver P then ₁The echo signal that receives is:

$r(t,\left(\mathrm{0.25,0.25}\right),(x_0,y_0))=v\left(t\right)\⊗h(t,\left(\mathrm{0.25,0.25}\right),(x_0,y_0))$

Wherein, h (t, (0.25,0.25), (x ₀, y ₀)) be this echo signal source and first receiver p ₁Between the radio channel response function;

Signal receiver p ₂, p ₃, p ₄Identical because of the echo signal source position, also receive respectively and its coordinate (0.25,5.75), (6.75,5.75) and (6.75,0.25) corresponding echo signal; At h (t, p _n, (x ₀, y ₀)) in, when n is 2,3,4, then be respectively the radio channel response function between this echo signal source and second and third, four receivers;

Carry out Fourier transform to the received signal respectively and pass through to above-mentioned four receivers:

R(f _ω，p _n，(x ₀，y ₀))＝H(f _ω，p _n，(x ₀，y ₀))V(f _ω)，ω＝1，2，…，256

Handle; Result to first receiver received signal is:

R(f _ω，(0.25，0.25)，(x ₀，y ₀))＝H(f _ω，(0.25，0.25)，(x ₀，y ₀))V(f _ω)

Wherein: H (f _ω, (0.25,0.25), (x ₀, y ₀)) be this echo signal source and first receiver p ₁Between radio channel response function h (t, (0.25,0.25), (x ₀, y ₀)) Fourier transform; At H (f _ω, p _n, (x ₀, y ₀)) in, when n is 2,3,4, then be respectively the Fourier transform of the radio channel response function between management objectives signal source and the corresponding receiver;

D. confirm the position of management objectives: the management objectives chip signal that receives according to each receiver of step C gained is through the amplitude spectrum after the radio propagation channel, from location database, search out and the positional parameter of these management objectives between have a maximum match value the spatial domain pairing coordinate of frequency-domain combined normalization amplitude response do $({\hat{x}}_0,{\hat{y}}_0)=\left(\mathrm{10.875,5.25}\right)$ , and display result be (10.875,5.25), the position coordinates that promptly adopts this embodiment to record management objectives does $({\hat{x}}_0,{\hat{y}}_0)=\left(\mathrm{10.875,5.25}\right);$

Verify through actual measurement: the accurate coordinate that this management objectives actual measurement obtains is (x ₀, y ₀)=(10.82,5.21), adopt the root-mean-square error of its location of this embodiment to be:

$\sqrt{{({\hat{x}}_0-x_0)}^2+{({\hat{y}}_0-y_0)}^2}=\sqrt{{(10.875-10.82)}^2+{(5.21-5.25)}^2}=0.068$ Rice

In order further to verify the accuracy of the inventive method; Adopt this embodiment 1000 targets to be positioned that are positioned at diverse location to be done emulation testing indoor; When positioning measurement with above-mentioned four signal receivers and location database; Its average error is 0.19 meter; Wherein error is less than 0.40 meter reach more than 90%, and the average positioning error when adopting 3,2 signal receivers wherein to position respectively to measure is respectively 0.19 meter, 0.22 meter, the former error less than 0.40 meter, latter's error less than 0.50 meter all reach 90%.

Can find out from above-mentioned checking result: no matter be adopt 4, or the precision difference that adopts 3 or 2 signal receivers to position little; With regard to this embodiment, adopt 2 signal receivers to position, its accuracy can satisfy conventional positioning requirements fully; Thereby, adopt the inventive method guaranteeing under the condition of bearing accuracy, also can effectively reduce positioning cost.

Claims (2)

1. the method for the non-cooperative target radio location that a signal waveform is unknown comprises:

A, set up location database: at first set each signal receiver and each node position with respect to each signal receiver in the locating that constitutes by these nodes; Place one on therein 1 node then and build the storehouse signal source; What the emission amplitude spectrum had a normalization line spectrum shape builds the storehouse signal; Each signal receiver receives after this signal; Respectively it being carried out Fourier transform handles; A parameter of the frequency-domain combined normalization amplitude response in spatial domain of radio propagation channel between this signal source node of living in and each receiver in definite thus grid, this parameter and this node location parameter with respect to each signal receiver in locating deposits in the database as the positional parameter of this node in the lump; After this; Repeat aforesaid operations; Adopt the same storehouse signal of building; Confirm successively all the other each nodes in the grid respectively with all receivers between the corresponding parameter of the frequency-domain combined normalization amplitude response in spatial domain of radio propagation channel, and deposit in the database with respect to the positional parameter that the location parameter of each signal receiver is combined into respective nodes, thereby build up location database with each node;

B, positioning chip is set and deposits its information parameter in database: can launch and build the synthetic signal source of storehouse signal same frequency and setting identification code respectively on each positioning chip being provided with on each positioning chip in each management objectives; Then each positioning chip is placed respectively on each management objectives, simultaneously with each identification code and corresponding management objectives title also as one group of trace information of each target deposit in respectively in the trace information database, subsequent use;

C, confirm the position at management objectives places: after each receiver is received the information parameter that the chip of arbitrary management objectives sends; Respectively wherein signal data is carried out the amplitude spectrum that Fourier transform is handled, confirmed each receiver institute receiving management echo signal; And then obtain the frequency-domain combined normalization amplitude response in spatial domain separately; Carry out matching treatment between the spatial domain frequency-domain combined normalization amplitude response parameter with the radio propagation channel that writes down in itself and the location database again, the spatial domain of the radio propagation channel of Optimum Matching frequency-domain combined normalization amplitude response parameter in location database pairing locus, be the position of this target; And then through the comparison of the identification code in the chip institute photos and sending messages and the identification code in the trace information database, wherein contain the title that is these management objectives with the pairing target designation of chip same identification code parameters, from and confirmed the title of these position management objectives;

D, show the current location of each management objectives: each receiver locks all the other each management objectives simultaneously successively; And handle automatically by the C step; Thereby confirm the current position of each management objectives, and on visualization interface, demonstrate the information of all target designations and present position thereof; Carry out the location and the demonstration of next each target of circulation then.

2. by the method for the unknown non-cooperative target radio location of the said a kind of signal waveform of claim 1, it is characterized in that the said signal that can launch and build storehouse signal same frequency synthesized source that on each positioning chip, is provided with is:

。

Images