CN102045836B - Method and device for positioning entity - Google Patents

Method and device for positioning entity Download PDF

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Publication number
CN102045836B
CN102045836B CN 200910204369 CN200910204369A CN102045836B CN 102045836 B CN102045836 B CN 102045836B CN 200910204369 CN200910204369 CN 200910204369 CN 200910204369 A CN200910204369 A CN 200910204369A CN 102045836 B CN102045836 B CN 102045836B
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anchor node
grid point
wave beam
credible
entity
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CN102045836A (en
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容荣
周元
高加志
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Honor Device Co Ltd
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Huawei Technologies Co Ltd
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Abstract

The invention provides a method and a device for positioning an entity. The method comprises the following steps of: determining a plurality of anchor node groups according to wave beam direction information of anchor nodes and obstacle information in a network; and determining mesh points included in wave beam overlapped areas corresponding to the plurality of credible anchor node groups and determining the actual position of the entity to be positioned according to the included mesh points. The implementation scheme that the entity to be positioned is positioned by combining the wave beam direction information of the nodes according to the anchor node and obstacle information in a communication network is adopted by the embodiment of the invention, so that the entity to be positioned can be positioned conveniently and accurately.

Description

A kind of localization method of entity and device
Technical field
The present invention relates to communication technical field, relate in particular to the location technology in a kind of communication system.
Background technology
At present, the localization method that usually adopts in cordless communication network is mainly realized based on RSSI (received signal strength indicator) or AOA (angle of arrival).
Corresponding employing is according to field test based on the targeting scheme of RSSI, sets up the corresponding relation in RSSI (the perhaps Distribution Statistics of RSSI) and geographical position, afterwards, utilizes the corresponding relation of setting up that terminal is positioned.
Targeting scheme based on AOA then is to utilize the Land station (ground station) of a plurality of known location to position accordingly.Have on the corresponding Land station and can carry out the antenna system that AOA estimates.Just can determine particularly the position of terminal according to the angle that estimates at least two Land station.
In realizing process of the present invention, the inventor finds that there are the following problems at least in the prior art:
, cause requiring a great deal of time and carry out field test owing to need field test based on the targeting scheme of RSSI, increased the complexity of location work.
Based on the targeting scheme of AOA, then because under indoor communications environments, radio channel state is complicated, cause smart antenna often can not accurately identify beam direction, the situation that estimation direction and user's true bearing are misfitted perhaps occurs, and then cause positioning accuracy not high, even not available.
Summary of the invention
Embodiments of the invention provide a kind of localization method and device of entity, thereby can be with the accurate location of lower implementation complexity realization for entity to be positioned.
According to an aspect of the present invention, provide a kind of localization method of entity, comprising:
According to the beam direction information of anchor node and the obstacle information in the network, determine a plurality of credible anchor node groups;
Determine the grid point that wave beam overlapping region corresponding to a plurality of credible anchor node groups comprises, and determine the physical location of entity to be positioned according to the described grid point that comprises.
According to a further aspect in the invention, also provide a kind of positioner of entity, comprising:
Credible anchor node group determining unit is used for according to the beam direction information of anchor node and the obstacle information of network, determines a plurality of credible anchor node groups;
Positioning unit is used for the grid point that definite described credible anchor node group determining unit determinate multitudes wave beam overlapping region corresponding to credible anchor node group comprises, and determines the physical location of entity to be positioned according to the described grid point that comprises.
Can find out that by the technical scheme that the embodiment of the invention described above provides it has adopted according to the anchor node in the communication network and obstacle information, treat position determining entity in conjunction with the beam direction information of node and position to have and realize advantage simple, accurate positioning.
Description of drawings
In order to be illustrated more clearly in the technical scheme of the embodiment of the invention, the accompanying drawing of required use was done to introduce simply during the below will describe embodiment, apparently, accompanying drawing in the following describes only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
The localization process process schematic diagram that Fig. 1 provides for the embodiment of the invention;
Fig. 2 is the specific implementation process schematic diagram of specific embodiment one;
Fig. 3 is the credible anchor node combining form schematic diagram in the embodiment of the invention;
Fig. 4 is the wave beam overlapping region schematic diagram in the embodiment of the invention;
Fig. 5 is the specific implementation process schematic diagram of specific embodiment two;
Fig. 6 is the virtual beams schematic diagram in the embodiment of the invention;
Fig. 7 is the specific implementation process schematic diagram of specific embodiment three;
Fig. 8 is the specific implementation process schematic diagram of specific embodiment four;
Fig. 9 is the specific implementation process schematic diagram of specific embodiment five;
The structural representation one of the device that Figure 10 provides for the embodiment of the invention;
The structural representation two of the device that Figure 11 provides for the embodiment of the invention;
The structural representation three of the device that Figure 12 provides for the embodiment of the invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that obtains under the creative work prerequisite.
In the present embodiment, the localization method of the entity that provides, can be according to the beam direction information of anchor node and the obstacle information in the network, obtain a plurality of credible anchor node groups, determine the grid point that wave beam overlapping region corresponding to a plurality of credible anchor node groups comprises, and determine the physical location of entity to be positioned according to the described grid point that comprises.Certainly, need to obtain a plurality of credible anchor node groups according to the beam direction information of a plurality of anchor nodes and the obstacle information of network.For realizing conveniently can from some alternative anchor nodes, select credible anchor node group, but this kind mode not being unique implementation, and neither obtaining the necessary implementation of credible anchor node group.Certainly, become alternative anchor node need to meet some requirements.In the present embodiment, describe in this way description.
As shown in Figure 1, the processing procedure of the localization method that provides of the embodiment of the invention comprises:
Step 11, selective reception signal strength signal intensity meet a plurality of anchor nodes of pre-provisioning request as alternative anchor node;
Wherein, corresponding received signal strength refers to that specifically anchor node receives the intensity of the signal of entity transmission to be positioned, and entity to be positioned can be terminal or network element device etc.;
The a plurality of anchor nodes that meet accordingly pre-provisioning request can be several anchor nodes that corresponding received signal strength meets predetermined threshold value, perhaps, also can be several anchor nodes of corresponding received signal strength the best, etc.
Step 12 according to the beam direction information of the obstacle information in the network and each alternative anchor node, is determined a plurality of credible anchor node groups in corresponding alternative anchor node;
In the present embodiment, this step 12 also can be only according to the beam direction information of the obstacle information in the network and anchor node, determine a plurality of credible anchor node groups, do not need the alternative anchor node in the step 12, also can realize from a plurality of anchor nodes, obtaining credible anchor node group.Increasing alternative anchor node can further dwindle the scope of anchor node, can obtain more easily credible anchor node group.
Wherein, anchor node group that each is credible comprises two anchor nodes at least, and the possible position of the entity to be positioned that can determine according at least two anchor nodes that comprise has uniqueness, and beam direction information and the obstacle information of at least two anchor nodes that namely comprise according to corresponding credible anchor node group can uniquely be determined the position that entity to be positioned may be in;
Alternatively, comprise two anchor nodes as example take corresponding credible anchor node group, then the corresponding step of determining a plurality of credible anchor node groups can but be not limited to comprise:
(1) for several anchor node groups that comprise in each alternative anchor node, determines respectively the reference line of the wave beam of two anchor nodes that each anchor node group comprises according to the beam direction information of each alternative anchor node;
Process at the reference line of determining wave beam, specifically can adopt following arbitrary mode:
Mode 1, select two optimal communication wave beams of two anchor nodes, and the reference line of definite two wave beams selecting, namely in the communication beams that each anchor node is used, select respectively an optimal communication wave beam, and line corresponding to the pointing direction of this optimal communication wave beam is the reference line of wave beam corresponding to this anchor node;
Mode 2, select two optimal communication wave beams of two anchor nodes and the adjacent beams of two optimal communication wave beams, and determine respectively the received signal strength of each optimal communication wave beam and adjacent beams, if both received signal strengths are poor less than predetermined value, then the optimal communication wave beam is obtained virtual beams also as the wave beam of selecting for this anchor node after the predetermined angle of adjacent beams direction rotation, otherwise, select the optimal communication wave beam as the wave beam of selecting for this anchor node; After being respectively two anchor nodes selection wave beams, determine the reference line of the wave beam of selection.
(2) according to the obstacle information in the network be defined as after the reference line penetrate thing of the wave beam that anchor node selects intersection point and through the intersection point of barrier reflection;
Corresponding each anchor node group will be determined corresponding a plurality of intersection points;
(3) determining whether each intersection point corresponding to anchor node group is the possible position of entity to be positioned, is the possible position of entity to be positioned if only have an intersection point in each intersection point corresponding to anchor node group, and then this anchor node group is credible anchor node group;
Judge that whether intersection point is specifically can comprise in the process of possible position of entity to be positioned: suppose that entity to be positioned is in current position of intersecting point, and whether the reference line of judging the wave beam that consists of this intersection point is the optimal path that the entity to be positioned on this intersection point is communicated by letter with two anchor nodes, if not, then this intersection point is not the possible position of realization to be positioned, otherwise, think that then this intersection point is the possible position of entity to be positioned.
Step 13 is determined the grid point that wave beam overlapping region corresponding to a plurality of credible anchor node groups comprises, and determines the physical location of entity to be positioned according to the grid point that comprises;
Particularly, still comprise two anchor nodes as example take corresponding credible anchor node group, determine that then the process of the physical location of entity to be positioned can adopt following any mode:
Mode 1, determine two anchor node wave beam overlapping regions that each credible anchor node group comprises, obtain the intersection area of a plurality of wave beam overlapping regions corresponding to a plurality of credible anchor node groups, and with the mean value of the coordinate position of the grid point in the described intersection area physical location as entity to be positioned;
Mode 2, determine two anchor node wave beam overlapping regions that each credible anchor node group comprises, in a plurality of wave beam overlapping regions corresponding to a plurality of credible anchor node group that obtains, the mean value of the coordinate of the grid point that comprises in definite each wave beam overlapping region respectively, and a plurality of mean values that each wave beam overlapping region is corresponding are averaged again or again ask the result of weighted average as the physical location of entity to be positioned;
By the way 1 and mode 2 determine in the process of physical location of entities to be positioned, can also be in wave beam overlapping region corresponding to anchor node group, perhaps, in wave beam overlapping region corresponding to a plurality of anchor node groups (being the intersection area of a plurality of wave beam overlapping regions corresponding to a plurality of credible anchor node groups), perhaps, the overlay area that the wave beam that anchor node that the anchor node group comprises is selected is corresponding (such as the overlay area of the optimal communication wave beam of anchor node), select received signal strength between the grid point that the anchor node in the respective anchors node group comprises in overlay area corresponding to the wave beam of the wave beam overlapping region of correspondence or selection not meet the grid point of pre-provisioning request, and removal does not meet the grid point of pre-provisioning request, in order to remove the location point that entity to be positioned can not be in, thereby further improve the accuracy of locating for entity to be positioned; Particularly, the grid point that comprises in can be according to the wave beam of wave beam overlapping region or the selection corresponding overlay area to the wall penetration body number of anchor node with judge to the wall penetration body number of non-anchor node whether the grid point that the wave beam overlapping region comprises meets pre-provisioning request, if do not meet the Transformatin of the grid point of pre-provisioning request for overlay area corresponding to wave beam of selecting, then need to before the wave beam overlapping region that obtains credible anchor node group, carry out, so that no longer comprise the grid point that does not meet pre-provisioning request in the wave beam overlapping region that obtains.
The embodiment of the invention can position terminal based on antenna system in the specific implementation process, wherein antenna system can be to have the complicated antenna system that AOA estimates, also can be for not possessing the AOA estimated capacity, as long as it is for automatically switching to according to the information such as signal quality in the communication the simple intelligent switched-beam antenna system of optimal communication wave beam.
Utilize the embodiment of the invention, adopted according to the anchor node in the communication network and obstacle information, treating position determining entity in conjunction with the beam direction information of anchor node positions, accurately the terminal in the network or network element are positioned operation, thereby a kind of implementation that can easily and accurately position network entity is provided.Owing to adopted according to the anchor node in the communication network and obstacle information, treating position determining entity in conjunction with the beam direction information of anchor node positions, do not carry out field test thereby do not require a great deal of time, and can avoid often can not accurately identifying beam direction because of radio channel state complex effects smart antenna and cause positioning accuracy not high, even disabled situation occurs.
The embodiment of the invention can also be used for location illegal terminal (mismatching the location such as terminal) or network element.
For ease of the embodiment of the invention there being further understanding, be described in detail below in conjunction with the several different specific implementation processes of accompanying drawing to the embodiment of the invention.
In following each specific embodiment, need for ease of the location, specifically can be by corresponding system initialization Procedure Acquisition network environment parameter information as positional parameter information before carrying out positioning action, corresponding network environment parameter information comprises position and the beam direction information thereof of AP, and the obstacle information in the network.The process of obtaining accordingly the network environment parameter information specifically can comprise:
(1) sets up coordinate system, to determine each AP position and beam position (being beam direction information) thereof;
In communication network, the orientation of AP position and installation (being beam position) determined when on-premise network, got up as long as obtain corresponding AP position and beam position and preservation in initialization procedure;
(2) set up environmental model, be about to network map and carry out the gridding management;
Particularly gridding mode can comprise: at first, with the plane graph of network map according to certain resolution grid division, whole network map is divided into a plurality of discrete grid points; Then, set up environmental model, specifically comprise and set up body of wall information model (namely setting up the obstacle information model, with information such as the quantity of the barrier in the indication network, positions); Alternatively, can also preserve each grid point to each AP wall penetration body number of (comprising anchor node and non-anchor node), specifically can be by corresponding table storage;
Wherein, corresponding body of wall (being barrier) general reference can make the serious barrier of signal energy decay that passes, such as larger shelf of brick wall or penetration loss etc., corresponding body of wall information specifically can adopt equation to represent, for example, can but be not limited to adopt linear equation to represent the situation of certain body of wall in conjunction with starting point and endpoint information;
The grid point wall penetration body count form specifically can but be not limited to adopt following charting form:
Table 1
Grid point AP AP1 AP2 … APn
x1，y1 1 2 … 0
x2，y1 2 0 … 1
x2，y2 2 3 … 0
… … … … …
xn，yn 4 1 … 2
Specific embodiment one
In this specific embodiment one, as shown in Figure 2, corresponding position fixing process specifically can comprise:
Step 21, the network entity (being referred to as position determining entity) that is used for the execution positioning action obtains the network map information that the system initialization process obtains, and each AP (also can be other entities to be positioned to terminal to be positioned, such as illegal network element etc., the terminal to be positioned of below mentioning is concrete application example, be that corresponding terminal all can replace with other entities to be positioned) communication beams RSSI and the directional information of respective beam, AP information in the corresponding network map packets of information includes network, and obstacle information etc.;
Being referred to as accordingly position determining entity can be certain AP, perhaps, also can be the network elements such as terminal to be positioned or server;
Operating process when particularly, different network elements serves as position determining entity is as follows respectively:
When position determining entity was terminal (hereinafter to be referred as terminal) to be positioned, then terminal was sent Location Request, and each AP that receives request will be handed down to terminal with the wave beam information of terminal communication, and terminal is added up the RSSI information of corresponding wave beam simultaneously; And corresponding network map information then can be obtained by the terminal download online;
When position determining entity is not terminal, then send inquiry information by position determining entity, terminal is received after the inquiry information that this position determining entity sends, send secondary inquiry request, all receive that the AP of secondary inquiry request will be handed down to terminal with the wave beam information of this terminal communication, and terminal is added up the RSSI information of corresponding wave beam simultaneously, and then terminal passes to position determining entity with the information of statistics again.
Step 22, the communication beams RSSI information of each AP that collects according to terminal selects several AP as alternative anchor node in each AP;
In selecting the process of some AP as alternative anchor node, the concrete selection criterion that adopts can be to set thresholding, and RSSI is selected into alternative anchor node greater than the AP of this settings thresholding as alternative anchor node gathers; Perhaps, also can select several AP of RSSI maximum to form alternative anchor node set, for example, can select 3 AP of RSSI maximum to form alternative anchor node set.
Step 23 in corresponding alternative anchor node, is selected credible anchor node group according to body of wall information (being obstacle information), and each anchor node group comprises two anchor nodes;
Specifically can utilize the mode of ray tracing to select credible anchor node group according to body of wall information, judge namely whether corresponding anchor node group can be used for the location, if can, then it is credible anchor node group; For example, optional two AP in alternative anchor node set, such as AP1, AP2, then with reference to shown in Figure 3, the process that corresponding screening obtains credible anchor node group can comprise:
(1) get the communication beams of AP1, AP2, ask respectively reference line SX, the RY of this wave beam, corresponding reference line can be the axis of wave beam, perhaps, also can be other rays of indication beam position;
(2) according to body of wall information, can pass through body of wall intersection point and reflection intersection point afterwards afterwards in the hope of the reference line line, such as the A among Fig. 3, B, four intersection points of C, D, wherein:
Intersection point A is that ray SX and RY pass body of wall intersection point afterwards;
Intersection points B is ray SX produces reflection and ray RY at body of wall intersection point;
The intersection point C reflected ray XB that to be ray SX produce at body of wall and ray RY are at the intersection point of the reflected ray YC of body of wall;
Intersection point D is that ray SX passes the reflected ray intersection point that produces at body of wall with ray RY behind the body of wall.
(3) judge that according to certain criterion A, B, four intersection point possibilities of C, D are the present position of terminal to be positioned;
Suppose that terminal appears at D point position, as can be seen from Figure 3, because intersection point D is the reverse extending line of reflected ray YC and the intersection point of ray SX, if terminal to be positioned appears at the position of intersection point D, then AP1 has selected the wave beam of SX representative to communicate with, and AP2 selects the wave beam of RY representative can not be optimum with its situation that can not communicate by letter or communicate by letter, so intersection point D can not be the position that terminal to be positioned is in;
Suppose that terminal appears at C point position, although then SX can communicate by letter with it by reflection respectively with the wave beam of RY representative, but because all there are sighting distance in C point and AP1 and AP2, and when having sighting distance between terminal and the AP, wave beam and the terminal communication of the line-of-sight transmission that the automatic selective channel decay of smart antenna meeting is less, thereby AP1 and AP2 need should not select reflection could and the wave beam of terminal communication, so intersection point C also can not be the position that terminal to be positioned is in;
In like manner, can judge that intersection points B also can not be the position that terminal to be positioned is in, intersection point A then may be the position that terminal to be positioned is in;
(4) selecting only to have an intersection point may be that the anchor node group of the position that is in of terminal to be positioned is as credible anchor node group;
Particularly, as shown in Figure 3, because in the anchor node group that AP1 and AP2 form, it is the position that terminal may be in that intersection point A is only arranged, and other intersection points B, C, D all can not be the positions that terminal to be positioned is in, so can select AP1 and AP2 to come terminal is positioned, to obtain comparatively accurately positioning result, the anchor node group of namely selecting AP1 and AP2 to form is credible anchor node group.
Step 24 is determined the grid point set of terminal possible position according to the wave beam information of the credible anchor node group of determining;
As shown in Figure 4, suppose that the credible anchor node group of selecting is: the anchor node group that AP1 and AP2 form, the anchor node group that AP2 and AP3 form, and the anchor node group of AP1 and AP3 composition.With the grid point information of map partitioning, can obtain the grid point set that grid point that wave beam overlapping region corresponding to each credible anchor point group comprise is the terminal possible position during then according to system initialization;
For example, with reference to shown in Figure 4, the grid point set that the overlapping region of corresponding AP1 and AP2 comprises is A 12, the grid point set that AP2 and AP3 overlapping region comprise is A 23, the grid point set that AP1 and AP3 overlapping region comprise is A 13, these three intersection of sets collection B are: B=A 12∩ A 23∩ A 13, the grid point that comprises in the set B is the grid point set of terminal possible position.
Step 25 is determined terminal location according to the grid point set of the terminal possible position of determining;
Particularly, can calculate grid point coordinate (x in the acquisition set B i, y i) mean value, corresponding mean value is: x = 1 N Σ i = 1 n x i , y = 1 N Σ i = 1 n y i ;
The mean value that above-mentioned calculating obtains namely can be used as the physical location (x, y) of terminal to be positioned.
Specific embodiment two
In this specific embodiment two, be with the difference of specific embodiment one: adopted the implementation of determining the wave beam of each anchor node and entity communication to be positioned based on optimal communication wave beam and the adjacent beams thereof of anchor node, to improve the accuracy of location.
As shown in Figure 5, corresponding position fixing process can comprise:
Step 51, position determining entity are obtained network map information, and each AP is to optimal communication wave beam, the RSSI of adjacent beams and the directional information of respective beam of terminal to be positioned;
Particularly, if position determining entity is terminal, then terminal is sent Location Request, each AP that receives request will be handed down to terminal with the wave beam information of terminal communication, terminal is added up the RSSI information of corresponding wave beam simultaneously, then AP switches to adjacent beams, and wave beam information is handed down to terminal, and terminal is added up adjacent beams information and RSSI information equally; Terminal can obtain by the mode of download online network map information;
If position determining entity is not terminal, then position determining entity sends inquiry information, corresponding terminal is received after the inquiry information that this entity sends, send secondary inquiry request, all receive that the AP of secondary inquiry request will be handed down to terminal with the wave beam information of this terminal communication, terminal is added up the RSSI information of corresponding wave beam simultaneously, then AP switches to adjacent beams, and wave beam information is handed down to terminal, terminal is added up adjacent beams information and RSSI information equally, and last terminal is given the location entity with the information reporting of statistics.
Step 52, the communication beams RSSI information of each AP that collects according to terminal selects several AP as alternative anchor node in each AP;
The concrete operation of carrying out of this step is identical with the operation process that the step 22 in the above-mentioned specific embodiment one is carried out, so do not repeat them here.
Step 53 is determined the wave beam of each anchor node and entity communication to be positioned;
In this step, if consider that antenna gain that communication beams that anchor node AP selects makes progress the party and adjacent beams are in the difference of the antenna gain of correspondence direction during less than this two wave beam of employing and terminal communication during path loss poor, then the communication beams of AP selection is not the wave beam that directly points to the user just, at this moment, the communication beams of selecting based on AP positions and then can cause the location deviation to occur, for this reason, can adopt following processing mode to determine the wave beam of anchor node and entity communication to be positioned in this step:
(1) at first from alternative anchor node set, chooses two AP:AP1, AP2 wantonly; With reference to shown in Figure 6, suppose that A is the optimal communication wave beam that AP selects, B is its adjacent beams; Obtain respectively the received signal strength RSSI of two AP optimal communication wave beams AAnd the received signal strength RSSI of adjacent beams B
(2) difference of above-mentioned two RSSI of calculating, and with corresponding difference and predetermined threshold S (this S value specifically can rule of thumb be chosen) comparison, if less than this predetermined threshold S, that is:
RSSI A-RSSI B＜S；
Then with optimal communication wave beam A to adjacent beams B direction rotation certain angle, obtain virtual beams C as the wave beam of anchor node and entity communication to be positioned, if corresponding difference is not less than predetermined threshold S, then with the wave beam of corresponding optimal communication wave beam as anchor node and entity communication to be positioned.
Respectively each anchor node AP is carried out aforesaid operations, just can obtain the wave beam of each anchor node AP and entity communication to be positioned.
Step 54 in corresponding alternative anchor node, is selected credible anchor node group according to body of wall information (being obstacle information).
Step 55 is determined the grid point set of terminal possible position according to the wave beam information of the credible anchor node group of determining.
Step 56 is determined terminal location according to the grid point set of the terminal possible position of determining.
The processing procedure of the step 23-25 execution in the processing procedure that above-mentioned steps 54-56 carries out and the specific embodiment one is identical, so be not described in detail at this.
Specific embodiment three
In this specific embodiment three, mainly be after in specific embodiment one and specific embodiment two, determining the grid point set of terminal possible position according to the wave beam information of the credible anchor node group of determining, the grid point that in the grid point set can not be the position that is in of entity to be positioned is removed.
As shown in Figure 7, the localization process process that provides of this specific embodiment three can comprise:
The processing procedure that step 71 to step 73 is carried out is identical with the processing procedure that the step 21 in the specific embodiment one is carried out to step 23, and perhaps, the processing procedure of carrying out to step 54 with the step 51 in the specific embodiment two is identical, so be not described in detail at this.
Step 74, in the credible anchor node group of determining, obtain respectively the wave beam overlapping region of each credible anchor node group according to the wave beam information of each anchor node group, and from corresponding wave beam overlapping region, remove can not be the grid point of the position that is in of entity to be positioned after, obtain corresponding grid point set;
Particularly, select the received signal strength between the grid point that the anchor node in the respective anchors node group comprises in the wave beam overlapping region of correspondence not meet the grid point of pre-provisioning request, and remove corresponding grid point, obtain corresponding grid point set;
The grid point set A that can comprise at the wave beam overlapping region of each anchor node group of acquisition further, 12, A 23And A 13After, carry out following the processing for the grid point that comprises in the correspondence set, namely remove wherein can not for the grid point of the position of entity to be positioned, specifically can adopt following processing procedure to judge respectively set A 12, A 23And A 13In grid point whether can keep (judging namely whether each grid point is the grid point that meets pre-provisioning request), corresponding processing procedure comprises:
(1) get certain grid point in the grid point set, obtain this grid point to the wall penetration body number of each AP, corresponding wall penetration body number specifically can obtain by the table of inquiry pre-save;
(2) judge by following formula, if satisfy following formula, then with respective grid points deletion from set;
max i N i - min j M j > S threshold ;
Wherein, N iBe the wall penetration body number of this grid point to i anchor node, M jBe the wall penetration body number of this grid point to j non-anchor node, S ThresholdBe threshold value, can rule of thumb choose;
That is to say, if certain grid point in the grid point set is to the maximum wall penetration body number of anchor node, and this grid point greater than predetermined threshold value, determines then that this grid point can not be the position that entity to be positioned is in to the difference between the minimum wall penetration body number of certain non-anchor node.
(3) will delete the set that remains grid point after can not grid point and be designated as A 12', A 23' and A 13', and ask these intersection of sets collection B:B=A 12' ∩ A 23' ∩ A 13', the grid point among the common factor B is the set of entity possible position to be positioned.
Alternatively, in this step 74, also can be in definite grid point set A 12, A 23And A 13Before, the grid point in overlay area corresponding to the anchor node that respectively credible anchor node group is comprised carries out Transformatin, for example, can remove by the way the grid point that does not meet pre-provisioning request in overlay area corresponding to each anchor node; After carrying out Transformatin, determine respectively again grid point set A corresponding to each credible anchor node group 12, A 23And A 13, and carry out subsequent step;
Perhaps, in this step 74, also can be according to the nexus set A 12, A 23And A 13After determining corresponding common factor, adopt again said method from the grid point that common factor comprises, to remove the grid point that does not meet pre-provisioning request, to obtain to remove the common factor B that obtains behind the grid point.
Step 75 is determined terminal location according to the grid point set of the possible position of the entity to be positioned of determining, there has been description corresponding specific implementation process front, so be not described in detail in this.
Specific embodiment four
In this specific embodiment four, specifically provide the implementation of the definite terminal location of grid point set of the definite terminal possible position of another kind of basis.
As shown in Figure 8, corresponding position fixing process specifically can may further comprise the steps:
The processing procedure that step 81 to step 83 is carried out is identical with the processing procedure that the step 21 of specific embodiment one is carried out to step 23, and perhaps, the processing procedure of carrying out to step 54 with the step 51 in the specific embodiment two is identical, so be not described in detail at this.
Step 84 in the credible anchor node group of determining, is determined the grid point set that each credible anchor node group is corresponding according to the wave beam information of each anchor node group;
Be specially the grid point set that obtains respectively in wave beam overlapping region corresponding to each credible anchor node group, for example, with reference to shown in Figure 4, the grid point set that wave beam overlapping region corresponding to anchor node group that each of acquisition is credible comprises is respectively: A 12, A 23And A 13
Step 85 is determined respectively the mean value of the coordinate of the grid point that each grid point set comprises, and the result that again averages of a plurality of mean values that will obtain is as the physical location of entity to be positioned;
Particularly, can be respectively to the grid point set A 12, A 23And A 13In the grid point coordinate be averaged, obtain the average coordinates (x of the wave beam overlapping region internal net point of each credible anchor node group 12, y 12), (x 23, y 13), (x 13, y 13); Afterwards, the averaging of income coordinate is averaged again, as the physical location of terminal, namely the physical location of terminal is again: x = 1 N Σ i = 1 n x i , y = 1 N Σ i = 1 n y i , Wherein, N=n is the quantity of the average coordinates that obtains, in this embodiment, and according to the grid point set A 12, A 23And A 13The quantity of the average coordinates that obtains is 3, i.e. N=n=3.
Specific embodiment five
In this specific embodiment five, be with the difference of specific embodiment four: when in the end calculating the physical location of entity to be positioned, no longer only average, but adopt the mode of asking weighted average to obtain the physical location of entity to be positioned.
Particularly, as shown in Figure 9, corresponding localization process process can comprise:
The processing procedure that step 91 to step 94 is carried out is identical with the processing procedure that the step 81 in the specific embodiment four is carried out to step 84, so be not described in detail at this.
Step 95, definite each grid point is gathered the mean value of the coordinate of the grid point that comprises respectively, and a plurality of mean values that will obtain ask the result of weighted average as the physical location of entity to be positioned again;
Particularly, respectively to the grid point set A 12, A 23And A 13In the grid point coordinate be averaged after, obtain the average coordinates (x of each anchor node combination wave beam overlapping region internal net point 12, y 12), (x 23, y 13), (x 13, y 13); Then, again to each grid point set A 12, A 23And A 13Ask weighted average, ask accordingly the mode of weighted average to comprise:
(1) gathers (such as A at grid point 12) in, obtain the intersection point (such as the reference line intersection point of AP1 and AP2 optimal communication wave beam) of the corresponding wave beam reference line of anchor node, and determine the grid point nearest with corresponding intersection point;
(2) determine that this nearest grid point to the wall penetration body number of corresponding anchor node (AP1 and AP2), is designated as N=(N Ap1, N Ap2), namely be respectively AP1 and to the wall penetration body number of AP2;
Corresponding wall penetration body number specifically can be definite by tabling look-up;
(3) get successively the grid point set (such as A 12) in the grid point that comprises, and determine each grid point to the wall penetration body number of respective anchors node, be designated as N '=(N ' Ap1, N ' Ap2); And judge whether N '=N sets up, if do not satisfy N '=N, then this grid point is gathered (such as A from grid point 12) middle deletion.Travel through after the grid points all in the grid point set, will not have deleted grid point set to be designated as O 12
(4) the good grid point set O that obtains of statistics 12The number of internal net point and grid point set (A 12) number of internal net point, be designated as respectively L GoodAnd L All, and ask both merchants to be:
P 12＝L good /L all；
By above-mentioned processing mode, can obtain the grid point set A 12, A 23And A 13Each self-corresponding P 12, P 23And P 13Value.
(5) according to the above-mentioned merchant who tries to achieve, calculate the weights of each grid point set, specifically can ask weights corresponding to each grid point set to be by following formula:
w ij = P ij Σ m , n P mn ;
Wherein, the molecule on above-mentioned equation the right is the merchant who tries to achieve in the step (4), denominator for merchant corresponding to all grid points set with;
(6) according to the average coordinates (x of the weights of obtaining to grid point corresponding to each grid point set 12, y 12), (x 23, y 13), (x 13, y 13) get weighted average, as the final position of terminal, namely as the physical location that obtains after the terminal positioning, be specifically as follows: x = Σ i , j w ij x ij , y = Σ i , j w ij x ij .
The embodiment of the invention not only can be used for locating terminal, can also be used for locating illegal network entity, corresponding illegal network entity refers to the legal control that it is not subjected to network, but the AP that disposes can receive the signal of this illegal network entity, and can tell signal from this illegal network entity, and corresponding illegal network entity may be disoperative terminal or rogue AP etc.
Particularly, in the process that illegal network entity is positioned, be used for the network entity of location after sending Location Request, each AP that receives Location Request needs conversion self wave beam, receive respectively the signal that illegal network entity sends, and record the RSSI that each wave beam receives illegal network entity signal; Afterwards, each AP will receive the position network entity that wave beam information that RSSI is the strongest and corresponding RSSI report to locate.The implementation that like this, just can adopt the embodiment of the invention provide according to the information that each AP reports for the position network entity of locating positions illegal network entity and has operated.
One of ordinary skill in the art will appreciate that all or part of flow process that realizes in above-described embodiment method, to come the relevant hardware of instruction to finish by computer program, described program can be stored in the computer read/write memory medium, this program can comprise the flow process such as the embodiment of above-mentioned each side method when carrying out.Wherein, described storage medium can be magnetic disc, CD, read-only store-memory body (Read-Only Memory, ROM) or store-memory body (Random Access Memory, RAM) etc. at random.
The embodiment of the invention also provides a kind of positioner of entity, and its specific implementation structure can comprise as shown in figure 10:
Credible anchor node group determining unit 102 is used for the beam direction information according to obstacle information and the anchor node of network, determines a plurality of credible anchor node groups;
Positioning unit 103 is used for the grid point that definite described credible anchor node group determining unit 102 determinate multitudes wave beam overlapping region corresponding to credible anchor node group comprises, and determines the physical location of entity to be positioned according to the described grid point that comprises.
Further, such as Figure 11 and shown in Figure 12, this device can also comprise anchor node selected cell 101, is used for receiving according to anchor node the received signal strength of the signal of entity transmission to be positioned, selects described received signal strength to meet a plurality of anchor nodes of pre-provisioning request as alternative anchor node.And the beam direction information of above-mentioned credible anchor node group determining unit 102 concrete each alternative anchor node for selecting according to obstacle information and the described anchor node selected cell 101 of network is determined a plurality of credible anchor node groups in alternative anchor node; Corresponding each credible anchor node group can comprise at least two anchor nodes, and the possible position of the entity to be positioned that can determine according at least two anchor nodes that comprise has uniqueness;
Further, such as Figure 11 and shown in Figure 12, corresponding credible anchor node group determining unit 102 specifically can comprise following intersection point determining unit 1021 and credible anchor node group selection unit 1022, wherein:
Corresponding intersection point determining unit 1021 for several anchor node groups that comprise for each alternative anchor node, is determined respectively the reference line of the wave beam of at least two anchor nodes that each anchor node group comprises according to the beam direction information of each alternative anchor node; And according to the obstacle information in the network determine after the described reference line penetrate thing intersection point and through the intersection point of barrier reflection;
Wherein, the process of the reference line of definite described wave beam of these intersection point determining unit 1021 execution specifically can comprise following arbitrary mode:
Select two optimal communication wave beams of described at least two anchor nodes as the wave beam of anchor node communication usefulness, and determine the reference line of two wave beams of selection;
Perhaps,
Select two optimal communication wave beams of described at least two anchor nodes and the adjacent beams of two optimal communication wave beams, and determine respectively the received signal strength of each optimal communication wave beam and adjacent beams, if both received signal strengths are poor less than predetermined value, the wave beam that the virtual beams that then the optimal communication wave beam is obtained behind the adjacent beams direction rotation predetermined angular is selected as anchor node, otherwise, select the optimal communication wave beam as the wave beam of anchor node; Be respectively after two anchor nodes select corresponding wave beam, then can determining the reference line of the wave beam selected.
Corresponding credible anchor node group selection unit 1022, be used for determining whether each intersection point corresponding to an anchor node group that described intersection point determining unit 1021 is determined is the possible position of entity to be positioned, if only having an intersection point in each intersection point corresponding to anchor node group is the possible position of entity to be positioned, then this anchor node group is credible anchor node group.
Still with reference to Figure 11 and shown in Figure 12, corresponding positioning unit 103 specifically can comprise:
The first positioning unit 1031, be used at least two anchor node wave beam overlapping regions that definite described credible anchor node group determining unit 102 each definite credible anchor node group comprise, obtain the intersection area of a plurality of wave beam overlapping regions corresponding to a plurality of credible anchor node groups, and with the mean value of the coordinate position of the grid point in the described intersection area physical location as entity to be positioned;
Perhaps,
The second positioning unit 1032, be used at least two anchor node wave beam overlapping regions that definite described credible anchor node group determining unit 102 each definite credible anchor node group comprise, in a plurality of wave beam overlapping regions corresponding to a plurality of credible anchor node group that obtains, the mean value of the coordinate of the grid point that comprises in definite each wave beam overlapping region respectively, and a plurality of mean values that each wave beam overlapping region is corresponding are averaged again or again ask the result of weighted average as the physical location of entity to be positioned;
Wherein, comprise two anchor nodes as example take described credible anchor node group, then the process of again asking weighted average of corresponding the second positioning unit 1032 execution specifically can may further comprise the steps:
In the grid point set, obtain the intersection point of the reference line of wave beam corresponding to anchor node, and grid point definite and that this intersection point is nearest;
Determine that this nearest grid point to the wall penetration body number of described anchor node, is designated as N=(N Ap1, N Ap2), represent that this nearest grid point divides the wall penetration body number that is clipped to two anchor node AP1 and AP2;
Get successively the grid point that comprises in the grid point set, and determine each grid point to the wall penetration body number of described anchor node, be designated as N '=(N ' Ap1, N ' Ap2);
Judge whether N '=N sets up, if be false, then with the deletion from the grid point set of this grid point; Travel through after the grid points all in the grid point set, will not have deleted grid point set to be designated as O 12
According to not having deleted grid point set O 12The merchant of the quantity of the quantity of internal net point and grid point set internal net point determines that the weights of this grid point set are: w ij = P ij Σ m , n P mn , Wherein, the molecule on the equation the right described merchant that behaves, denominator for described merchant corresponding to all grid points set with;
According to the described weights of obtaining the average coordinates of grid point corresponding to each grid point set is got weighted average again, obtain average weighted result.
Alternatively, in this device, also comprise the grid point adjustment unit 104 that is connected with positioning unit 103, for described wave beam overlapping region corresponding to anchor node group of determining at positioning unit 103, perhaps, in wave beam overlapping region corresponding to a plurality of anchor node groups, perhaps, in overlay area corresponding to the wave beam of the anchor node selection that the anchor node group comprises, select the received signal strength between the grid point that the anchor node in the described anchor node group comprises in overlay area corresponding to the wave beam of described wave beam overlapping region or selection not meet the grid point of pre-provisioning request, and remove the described grid point that does not meet pre-provisioning request.
With reference to Figure 11 and shown in Figure 12, this device can also comprise positional parameter storage unit 105, is used for before carrying out positioning action pre-save obstacle information, and the position of each anchor node and beam direction information thereof; Perhaps, before carrying out positioning action, pre-save obstacle information, and the position of each anchor node and beam direction information thereof are also preserved in the network each location point to the barrier quantity information of anchor node and non-anchor node process.
In the device that the embodiment of the invention provides, specifically can realize corresponding positioning action based on the AP that uses wave beam to switch antenna system, this device specifically can be arranged at for the position network entity of carrying out positioning action, and corresponding position network entity can be that terminal also can be AP or other network element etc.; Corresponding wave beam switches antenna system can select optimum wave beam and communicating with terminal user according to certain criterion (best such as communication quality, signal strength signal intensity is maximum etc.).
The device that provides by the invention described above embodiment can adopt according to the anchor node in the communication network and obstacle information, treating position determining entity in conjunction with the beam direction information of anchor node positions, accurately the terminal in the network or network element are positioned operation, thereby a kind of implementation that can easily and accurately position network entity is provided.Owing to adopted according to the anchor node in the communication network and obstacle information, treating position determining entity in conjunction with the beam direction information of anchor node positions, do not carry out field test thereby do not require a great deal of time, and can avoid often can not accurately identifying beam direction because of radio channel state complex effects smart antenna and cause positioning accuracy not high, even disabled situation occurs.
The above; only for the better embodiment of the present invention, but protection scope of the present invention is not limited to this, anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection range of claim.

Claims (12)

1. the localization method of an entity is characterized in that, comprising:
According to the beam direction information of anchor node and the obstacle information in the network, determine a plurality of credible anchor node groups;
Determine the grid point that wave beam overlapping region corresponding to a plurality of credible anchor node groups comprises, and determine the physical location of entity to be positioned according to the described grid point that comprises;
Described according to the beam direction information of anchor node and the obstacle information in the network, determine that the step of a plurality of credible anchor node groups comprises:
Receive the received signal strength of the signal that entity to be positioned sends according to anchor node, select described received signal strength to meet a plurality of anchor nodes of pre-provisioning request as alternative anchor node;
According to the beam direction information of the obstacle information in the network and each alternative anchor node, in described alternative anchor node, determine a plurality of credible anchor node groups;
Each is credible, and the anchor node group comprises at least two anchor nodes, and the possible position of the entity to be positioned that can determine according to described at least two anchor nodes that comprise has uniqueness;
The step of described definite a plurality of credible anchor node groups comprises:
For several anchor node groups that comprise in each alternative anchor node, determine respectively the reference line of the wave beam of at least two anchor nodes that each anchor node group comprises according to the beam direction information of each alternative anchor node;
Determine described reference line penetrate thing intersection point afterwards and the intersection point that reflects through barrier according to the obstacle information in the network;
Determining whether each intersection point corresponding to anchor node group is the possible position of entity to be positioned, is the possible position of entity to be positioned if only have an intersection point in each intersection point corresponding to anchor node group, and then this anchor node group is credible anchor node group.
2. method according to claim 1 is characterized in that, the step of the reference line of described definite described wave beam comprises:
Select two optimal communication wave beams of described at least two anchor nodes, and determine the reference line of two wave beams of selection;
Perhaps,
Select the adjacent beams of two optimal communication wave beams and corresponding at least two optimal communication wave beams of described at least two anchor nodes, and determine respectively the received signal strength of each optimal communication wave beam and adjacent beams, if both received signal strengths are poor less than predetermined value, the virtual beams that then the optimal communication wave beam is obtained after the predetermined angle of adjacent beams direction rotation is as the wave beam of selecting, otherwise, select the optimal communication wave beam; After being respectively two anchor nodes selection wave beams, determine the reference line of the wave beam of selection.
3. method according to claim 1 and 2 is characterized in that, the step of the physical location of described definite entity to be positioned comprises:
Determine at least two anchor node wave beam overlapping regions that each credible anchor node group comprises, obtain the intersection area of a plurality of wave beam overlapping regions corresponding to a plurality of credible anchor node groups, and with the mean value of the coordinate position of the grid point in the described intersection area physical location as entity to be positioned;
Perhaps,
Determine at least two anchor node wave beam overlapping regions that each credible anchor node group comprises, in a plurality of wave beam overlapping regions corresponding to a plurality of credible anchor node group that obtains, the mean value of the coordinate of the grid point that comprises in definite each wave beam overlapping region respectively, and a plurality of mean values that each wave beam overlapping region is corresponding are averaged again or again ask the result of weighted average as the physical location of entity to be positioned.
4. method according to claim 3 is characterized in that, the method also comprises:
In described wave beam overlapping region corresponding to credible anchor node group, perhaps, in wave beam overlapping region corresponding to a plurality of credible anchor node groups, perhaps, in overlay area corresponding to the wave beam of the anchor node selection that credible anchor node group comprises, select the received signal strength between the grid point that the anchor node in the described credible anchor node group comprises in overlay area corresponding to the wave beam of described wave beam overlapping region or selection not meet the grid point of pre-provisioning request, and remove the described grid point that does not meet pre-provisioning request.
5. method according to claim 3 is characterized in that, the described step of weighted average of again asking comprises:
In the grid point set, obtain the intersection point of the reference line of wave beam corresponding to anchor node, and grid point definite and that this intersection point is nearest arrives the wall penetration body number of described anchor node;
Get successively the grid point that comprises in the grid point set, and determine that each grid point is to the wall penetration body number of described anchor node;
Judge that whether the grid point of described nearest grid point in the wall penetration body number of described anchor node and the grid point set equates to the wall penetration body number of described anchor node, if unequal, then deletes this grid point from grid point is gathered; Travel through after the grid points all in the grid point set, obtain not have deleted grid point set in the described grid point set;
Merchant according to the quantity that does not have deleted grid point set internal net point and the quantity of grid point set internal net point determines the weights that this grid point is gathered;
According to the described weights of obtaining the average coordinates of grid point corresponding to each grid point set is got weighted average again, obtain average weighted result.
6. method according to claim 1 and 2 is characterized in that, the method also comprises:
Before carrying out positioning action, pre-save obstacle information, and the position of each anchor node and beam direction information thereof;
Perhaps,
Before carrying out positioning action, pre-save obstacle information, and the position of each anchor node and beam direction information thereof are also preserved in the network each location point to the barrier quantity information of anchor node and non-anchor node process.
7. the positioner of an entity is characterized in that, comprising:
Credible anchor node group determining unit is used for the beam direction information according to obstacle information and the anchor node of network, determines a plurality of credible anchor node groups;
Positioning unit is used for the grid point that definite described credible anchor node group determining unit determinate multitudes wave beam overlapping region corresponding to credible anchor node group comprises, and determines the physical location of entity to be positioned according to the described grid point that comprises;
Described device also comprises:
The anchor node selected cell for the received signal strength of the signal that receives entity transmission to be positioned according to anchor node, selects described received signal strength to meet a plurality of anchor nodes of pre-provisioning request as alternative anchor node;
Described credible anchor node group determining unit is used for the beam direction information according to obstacle information and the described alternative anchor node of network, determines a plurality of credible anchor node groups in described alternative anchor node;
Wherein, each is credible, and the anchor node group comprises at least two anchor nodes, and the possible position of the entity to be positioned that can determine according at least two anchor nodes that comprise has uniqueness;
Described credible anchor node group determining unit comprises:
The intersection point determining unit for several anchor node groups that comprise for each alternative anchor node, is determined respectively the reference line of the wave beam of two anchor nodes that each anchor node group comprises according to the beam direction information of each alternative anchor node; And according to the obstacle information in the network determine after the described reference line penetrate thing intersection point and through the intersection point of barrier reflection;
Credible anchor node group selection unit, be used for determining whether each intersection point corresponding to an anchor node group that described intersection point determining unit is determined is the possible position of entity to be positioned, if only having an intersection point in each intersection point corresponding to anchor node group is the possible position of entity to be positioned, then this anchor node group is credible anchor node group.
8. device according to claim 7 is characterized in that, the process of the reference line of definite described wave beam that described intersection point determining unit is carried out comprises:
Select two optimal communication wave beams of described at least two anchor nodes, and determine the reference line of two wave beams of selection;
Perhaps,
Select two optimal communication wave beams of described at least two anchor nodes and the adjacent beams of two optimal communication wave beams, and determine respectively the received signal strength of each optimal communication wave beam and adjacent beams, if both received signal strengths are poor less than predetermined value, the virtual beams that then the optimal communication wave beam is obtained after the predetermined angle of adjacent beams direction rotation is as the wave beam of selecting, otherwise, select the optimal communication wave beam; After being respectively two anchor nodes selection wave beams, determine the reference line of the wave beam of selection.
9. according to claim 7 or 8 described devices, it is characterized in that described positioning unit specifically comprises:
The first positioning unit, be used at least two anchor node wave beam overlapping regions that each definite credible anchor node group of definite described credible anchor node group determining unit comprises, obtain the intersection area of a plurality of wave beam overlapping regions corresponding to a plurality of credible anchor node groups, and with the mean value of the coordinate position of the grid point in the described intersection area physical location as entity to be positioned;
Perhaps,
The second positioning unit, be used at least two anchor node wave beam overlapping regions that each definite credible anchor node group of definite described credible anchor node group determining unit comprises, in a plurality of wave beam overlapping regions corresponding to a plurality of credible anchor node group that obtains, the mean value of the coordinate of the grid point that comprises in definite each wave beam overlapping region respectively, and a plurality of mean values that each wave beam overlapping region is corresponding are averaged again or again ask the result of weighted average as the physical location of entity to be positioned.
10. device according to claim 9 is characterized in that, this device also comprises:
The grid point adjustment unit, be used at definite described wave beam overlapping region corresponding to anchor node group of described positioning unit, perhaps, in wave beam overlapping region corresponding to a plurality of anchor node groups, perhaps, in overlay area corresponding to the wave beam of the anchor node selection that the anchor node group comprises, select the received signal strength between the grid point that the anchor node in the described anchor node group comprises in overlay area corresponding to the wave beam of described wave beam overlapping region or selection not meet the grid point of pre-provisioning request, and remove the described grid point that does not meet pre-provisioning request.
11. device according to claim 9 is characterized in that, the process of again asking weighted average that described the second positioning unit is carried out comprises:
In the grid point set, obtain the intersection point of the reference line of wave beam corresponding to anchor node, and grid point definite and that this intersection point is nearest arrives the wall penetration body number of described anchor node;
Get successively the grid point that comprises in the grid point set, and determine that each grid point is to the wall penetration body number of described anchor node;
Judge that whether the grid point of described nearest grid point in the wall penetration body number of described anchor node and the grid point set equates to the wall penetration body number of described anchor node, if unequal, then deletes this grid point from grid point is gathered; Travel through after the grid points all in the grid point set, will obtain not have deleted grid point set in the described grid point set;
Merchant according to the quantity that does not have deleted grid point set internal net point and the quantity of grid point set internal net point determines the weights that this grid point is gathered;
According to the described weights of obtaining the average coordinates of grid point corresponding to each grid point set is got weighted average again, obtain average weighted result.
12. according to claim 7 or 8 described devices, it is characterized in that this device also comprises:
The positional parameter storage unit was used for before carrying out positioning action pre-save obstacle information, and the position of each anchor node and beam direction information thereof; Perhaps, before carrying out positioning action, pre-save obstacle information, and the position of each anchor node and beam direction information thereof are also preserved in the network each location point to the barrier quantity information of anchor node and non-anchor node process.
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