CN102395100A - Body blocking resistant fingerprint positioning method and system - Google Patents
Body blocking resistant fingerprint positioning method and system Download PDFInfo
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- CN102395100A CN102395100A CN2011102576642A CN201110257664A CN102395100A CN 102395100 A CN102395100 A CN 102395100A CN 2011102576642 A CN2011102576642 A CN 2011102576642A CN 201110257664 A CN201110257664 A CN 201110257664A CN 102395100 A CN102395100 A CN 102395100A
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Abstract
The invention relates to a body blocking resistant fingerprint positioning method and system. In order to effectively avoid the influence of multipath and shadow problems on personnel positioning caused by body blocking, two positioning nodes are arranged on a personnel body; broadcast packets are sent by the positioning nodes, the signal strength of the received broadcast packets is measured by the surrounding reference nodes, a fingerprint data base is established with sight distance fingerprints in different positions, and the sight distance fingerprint in the current position is matched with the fingerprints in the fingerprint data base to determine the corresponding position. In order to determine the sight distance fingerprint, a sight distance fingerprint selecting method is designed according to the change rules of sight distance and non sight distance signal strength, the abnormality of non sight distance signal strength is eliminated in a sight distance fingerprint abnormality eliminating method, and the fingerprint data is ensured to be not interfered by the multipath and shadow problems, so under the condition of body blocking, the performance of the sight distance fingerprint positioning method is far higher than that of the existing fingerprint positioning method.
Description
Technical field
The invention belongs to the wireless sensor network field of locating technology, relate to the personnel positioning method and system, relate in particular to fingerprint localization method and system that a kind of anti-person blocks.
Background technology
Have a large amount of sensor network locating methods at present, wherein based on the fingerprint localization method of signal strength signal intensity because of not receiving the restriction of hardware condition, obtained broad research.The fingerprint localization method is divided into off-line and online two stages: wherein off-line phase is that a position is by node reference node broadcast data packet towards periphery in locating area, and this node is called location node.Node generates corresponding received signals fingerprint according to the signal strength values that records on every side, sets up the fingerprint database of all positions with this, and node is called reference node around these.The online stage then is on existing fingerprint database basis, through the coupling of methods such as probability statistics and data mining with fingerprint in observed fingerprint and the database, thereby obtains corresponding position.
Because the user need carry mobile device; Health inevitably occurring blocks; Make signal intensity attenuation serious and health blocks the multipath and the shadow problem that cause, cause the fingerprint algorithm positioning accuracy to descend thereupon, current still do not have effective way and overcome the influence that the person blocks.
RADAR algorithm (P.Bahland and V.N.Padmanabhan; " RADAR:An in-building RF-based user Location and tracking system "; Proc.IEEE INFOCOM, 2000) be to mention the earliest in wireless network, utilizing one of system that fingerprint algorithm positions.This system is under the situation that nobody blocks, and location median error has reached 2.94m.Although this algorithm has also disclosed personal existence of blocking influence, effective solution is not proposed, cause positioning accuracy to be blocked and occur serious decline under the environment at health.COMPASS algorithm (T.King, S.Kopf, T.Haenselmann; C.Lubberger and W.Effelsberg; " COMPASS:A Probabilistic Indoor Positioning System Based on 802.11and Digital Compasses ", Proc.WiNTECH 2006) utilize the node that has digital compass, in the acquired signal fingerprint, also gathered the person towards; The more above-mentioned algorithm of locating accuracy improves; But still can't avoid gathering the non line of sight signal strength signal intensity, not solve health fully and block multipath and the shadow problem of bringing, also bring additional overhead simultaneously as finger print data.
Summary of the invention
The objective of the invention is to overcome the problem that exists in the prior art, propose fingerprint localization method and system that a kind of anti-person blocks, these method and system are specially adapted to the sensor network location.
The fingerprint localization method that the anti-person of the present invention blocks, its step comprises:
1. arrange two location nodes on one's body personnel, dispose reference node in the environment around, the known self-position of reference node is formed orientable sensor network;
2. send broadcast packet by location node; The signal strength signal intensity of the broadcast packet that the reference node measurement is received; For a certain position in the locating area, the line-of-sight signal intensity of selecting all reference nodes to record constitutes the sighting distance fingerprint of this position, sets up fingerprint database with the sighting distance fingerprint of diverse location;
3. measure the sighting distance fingerprint of current location, mate, confirm pairing position with fingerprint in the fingerprint database.
Two location nodes can be arranged in personnel front and behind described in the step 1, or the left side of health and right side etc.
Sighting distance fingerprint described in the step 2 and 3 is meant the fingerprint of the line-of-sight signal intensity generation of adopting location node, blocks influence to avoid the person.
Diverse location in locating area in order to confirm the sighting distance fingerprint, needs to confirm with respect to each reference node, the sighting distance location node in two location nodes.The present invention has contrasted from the close-by examples to those far off in the sighting distance and the non line of sight signal strength signal intensity of a plurality of continuous positions through experiment, has found relatively rule of line-of-sight signal Strength Changes, and is as shown in Figure 1.As can be seen from the figure; Generally; When a certain reference node and two location nodes on the health are respectively sighting distances when communicating by letter with non line of sight, line-of-sight signal intensity can be obviously greater than the non line of sight signal strength signal intensity, but because the non line of sight node receive the influence of multipath and shade; Make the variation of non line of sight node signal intensity present irregularities, thus occur indivedual non line of sight node signal intensity levels near or greater than the situation of sighting distance node signal intensity level.The present invention has designed system of selection of sighting distance fingerprint and the unusual method for removing of sighting distance fingerprint according to the rule of sighting distance and non line of sight change in signal strength, to confirm the sighting distance fingerprint of diverse location in the locating area, specifically describes as follows:
1) the sighting distance fingerprint is selected
Receive the data of two location nodes at each reference node after; At first calculate the signal strength values of two location nodes; The location node that signal strength values is bigger is as the sighting distance location node of this reference node, and the line-of-sight signal intensity that the signal strength values of this sighting distance location node is arrived in this position probing as this reference node.The line-of-sight signal intensity that all reference nodes are corresponding so constitutes the sighting distance fingerprint of this position.
2) the sighting distance fingerprint is got rid of unusually
Because receive the influence of multipath, the variation of non line of sight node signal intensity presents irregularities, thus occur indivedual non line of sight node signal intensity levels near or greater than the situation of sighting distance node signal intensity level.In step 1), such non line of sight signal strength values will be mistakened as to be made the line-of-sight signal intensity level and handles, and makes the signal strength values that has non line of sight in the original sighting distance fingerprint.To this problem, the present invention proposes a kind of position that relies between the reference node and concern the strategy of getting rid of abnormal data in the sighting distance fingerprint.Main thought be through before the prediction body with the line of demarcation of reference node after one's death, it is unusual to get rid of the non line of sight signal strength signal intensity that reference node collects.Its step is following:
A) according to the system of selection of sighting distance fingerprint, the reference node that to obtain with two location nodes respectively be the sighting distance location node divides into groups, and every group of size according to signal strength values lined up formation.When all reference nodes only belonged to a formation, it is regarded as did not have the non line of sight signal strength signal intensity to exist unusually;
B) signal strength signal intensity formation in dividing into groups according to above-mentioned two reference nodes and the position between each reference node concern the judgement personnel towards;
C) according to the line of demarcation of personnel towards definite reference node, with the reference node separated into two parts in the space, location, and then confirm unusual reference node, it is unusual to get rid of the non line of sight signal strength signal intensity.
The fingerprint navigation system that the anti-person of the present invention blocks comprises the sensor network be made up of two location nodes, some reference nodes and background server; Location node sends broadcast packet to reference node, and each reference node is through wired or wireless mode and background server communication, and background server is installed sighting distance fingerprint handling procedure, the position of all reference nodes that prestore simultaneously.
Compared with prior art, beneficial effect of the present invention is:
Through analyzing the Changing Pattern of sighting distance and non line of sight signal strength signal intensity; Propose a kind of with the fingerprint localization method and the system of line-of-sight signal intensity as finger print data; And designed the unusual method for removing of non line of sight signal strength signal intensity in the system of selection of sighting distance fingerprint and the corresponding sighting distance fingerprint; Thereby guaranteed that finger print data does not receive the interference of multipath and shadow problem, made the performance of under the situation that health blocks sighting distance fingerprint localization method far above existing fingerprint localization method.
Description of drawings
Fig. 1 sighting distance and non line of sight change in signal strength contrast sketch map
Fig. 2 sighting distance fingerprint navigation system architectural framework sketch map
Fig. 3 sighting distance fingerprint selection strategy sketch map
The flow chart of Fig. 4 embodiment of the invention sighting distance fingerprint localization method
Fig. 5 sighting distance fingerprint localization method, COMPASS algorithm and RADAR algorithm positioning performance be sketch map relatively
Embodiment
Specify the present invention below in conjunction with accompanying drawing through most preferred embodiment, but be not construed as limiting the invention.
Present embodiment provides a sighting distance fingerprint navigation system that adopts localization method of the present invention, and concrete scheme is following:
1. two location nodes are placed in tester's front and behind respectively, dispose reference node in the environment around, the known self-position of reference node is formed orientable sensor network, and is as shown in Figure 2.
2. the broadcasting periodically towards periphery of location node per second contains the packet of node number, bag style number and bag serial number information.Reference node receives the signal strength values of calculated data bag after the broadcast data packet, and itself and information such as self node number are sent to background server through wired or wireless mode.Background server has been installed sighting distance fingerprint handling procedure, uses sighting distance fingerprint localization method, gathers the sighting distance fingerprint through the diverse location in locating area and sets up fingerprint database, and this process is accomplished under off-line state.
3. under the presence, utilize same sighting distance fingerprint localization method to gather sighting distance fingerprint and off-line fingerprint base coupling, the corresponding position of fingerprint positions is the position of being located in the database that the match is successful.
Location node and reference node all adopt the Telosb node of Crossbow company in the present embodiment, and location node is through powered battery, and reference node is through the power supply of USB power supply; Reference node can send to the Sink node through the Zigbee agreement with sensing data; Send to background server by the Sink node at last; Background server has been installed the fingerprint handling procedure by the python language, the position of all reference nodes that prestored simultaneously.
The said sighting distance fingerprint of present embodiment localization method specifically describes as follows:
1. the sighting distance fingerprint is selected
Receive the data of front and latter two location node of the back of the body at each reference node after; At first calculate the signal strength values of two location nodes; The location node that signal strength values is bigger is as the sighting distance location node of this reference node, and the line-of-sight signal intensity that the signal strength values of this sighting distance location node is arrived in this position probing as this reference node.The line-of-sight signal intensity that all reference nodes are corresponding so constitutes the sighting distance fingerprint of this position, as original sighting distance fingerprint.
2. the sighting distance fingerprint is got rid of unusually
According to the system of selection of sighting distance fingerprint, the reference node that to obtain with two location nodes respectively be the sighting distance location node divides into groups, and every group of size according to signal strength values lined up formation.The hypothetical reference node is b
1, b
2, b
x, two reference nodes are grouped into B
1=b
iB
jAnd B
2=b
mB
n, as shown in Figure 3, circular node belongs to B
1Group, three corner nodes belong to B
2Group.When all reference nodes only belonged to a formation, we regard it as did not have the non line of sight fingerprint to exist unusually.Processing method is described below:
The judgement personnel towards: personnel towards the health that is meant the people positive right direction, i.e. the direction of front node.Respectively from B
1And B
2The middle maximum b of signal strength values that selects
iAnd b
mReference node obtains vectorial b
mb
iB wherein
mb
iMould be b
iAnd b
mThe measured signal strengths value with, direction is b
m→ b
iThen from two formations, select two second largest reference node b of signal strength values respectively
kAnd b
1, obtain vectorial b
1b
kIf there is not second largest reference node in any one formation, with largest reference node replacement.With vectorial b
1b
kWith b
mb
iSummation.If with vector and b
mb
iBetween the angular separation less than 15 °, then with vector be personnel towards, otherwise to replace b with vector
mb
iContinue to select the third-largest reference node in the two set of queue, repeat above operation.
Get rid of unusual: suppose final gained and b
mb
iBetween the angular separation be b less than 15 ° vector
1b
k, calculate b
iAnd b
kThe measured signal strengths value and be S
Ik, b
mAnd b
1The measured signal strengths value and be S
MlAs shown in Figure 3 and vectorial direction be personnel towards, will press S with vector
Ik: S
MlRatio do vertical line, be the line of demarcation, with the reference node separated into two parts of location in the space.Be positioned at b so
iHomonymy and belong to B
2The node of group is an abnormal nodes, is positioned at b
iHeteropleural and belong to B
1The node of group also is an abnormal nodes, and for these unusual reference nodes, it is unusual that we make that signal strength signal intensity that is not used as original sighting distance fingerprint in two location nodes of its selection can get rid of the sighting distance fingerprint as line-of-sight signal intensity.
The flow process of present embodiment sighting distance fingerprint localization method is as shown in Figure 4, and it comprises:
Confirm that off-line phase still is the online stage, off-line phase need be carried out sighting distance fingerprint selection operation to each position.And the online stage is only gathered the sighting distance fingerprint to current location.
No matter off-line still is the online stage, and all according to the system of selection of sighting distance fingerprint, which is that the sighting distance location node is set up original sighting distance fingerprint in two location nodes through differentiating
No matter off-line still is the online stage, all according to the unusual method for removing of sighting distance fingerprint, at first the sighting distance fingerprint is divided into two groups according to belonging to which sighting distance location node, utilize the signal strength values of reference node in two groups of sighting distance fingerprints come the judgement personnel towards.Get rid of the unusual line-of-sight signal in the original sighting distance fingerprint according to orientation information then, thereby set up final sighting distance fingerprint.The sighting distance fingerprint database that the sighting distance fingerprint and the off-line phase of online stage foundation are set up matees, and utilizes existing matching algorithm to confirm the position of being located.
Present embodiment has carried out performance relatively to this sighting distance fingerprint localization method and COMPASS algorithm, RADAR algorithm under the experimental situation that has multipath and shade; The result shows that sighting distance fingerprint localization method can obviously slow down the influence to positioning accuracy of multipath and shade, and is as shown in Figure 5.The median error that can find out the RADAR algorithm has surpassed 6m, and the median error of COMPASS algorithm makes moderate progress, and reached 4.2m, and sighting distance fingerprint localization method can obtain 2m median error performance.The 4m precision that while sighting distance fingerprint localization method can reach with 90% probability also is better than the 9m precision of RADAR algorithm and the 10.5m precision of COMPASS algorithm respectively.
Claims (10)
1. fingerprint localization method that the anti-person blocks, its step comprises:
1) arrange two location nodes on one's body personnel, dispose reference node in the environment around, the known self-position of reference node is formed orientable sensor network;
2) send broadcast packet by location node; The signal strength signal intensity of the broadcast packet that the reference node measurement is received; For a certain position in the locating area, the line-of-sight signal intensity of selecting all reference nodes to record constitutes the sighting distance fingerprint of this position, sets up fingerprint database with the sighting distance fingerprint of diverse location;
3) measure the sighting distance fingerprint of current location, mate, confirm pairing position with fingerprint in the fingerprint database.
2. the fingerprint localization method that the anti-person as claimed in claim 1 blocks is characterized in that, said two location nodes are arranged in front and behind, or left side and right side.
3. the fingerprint localization method that the anti-person as claimed in claim 1 blocks is characterized in that, said broadcast packet contains node number, bag style number and bag serial number information.
4. the fingerprint localization method that the anti-person as claimed in claim 1 blocks is characterized in that, said location node and reference node all adopt the Telosb node of Crossbow company.
5. the fingerprint localization method that the anti-person as claimed in claim 1 blocks is characterized in that, step 1)-2) under off-line state, to accomplish, said step 3) is accomplished under presence.
6. the fingerprint localization method that the anti-person as claimed in claim 1 blocks; It is characterized in that; Step 2) saidly set up fingerprint database and step 3) is accomplished at background server, said background server is installed fingerprint handling procedure, the position of all reference nodes that prestore simultaneously.
7. the fingerprint localization method that the anti-person as claimed in claim 1 blocks; It is characterized in that; After each reference node is received the signal of two location nodes broadcasting; The location node that signal strength values is bigger is as the sighting distance location node of this reference node, the line-of-sight signal intensity that the signal strength values of this sighting distance location node is arrived in this position probing as this reference node.
8. the fingerprint localization method that the anti-person as claimed in claim 7 blocks is characterized in that, also comprises getting rid of the unusual step of non line of sight signal strength signal intensity:
1) obtaining with two location nodes is the reference node grouping of sighting distance location node, and every group of size according to signal strength values lined up formation; When all reference nodes only belong to a formation, be regarded as that line-of-sight signal intensity is unusual nothing but;
2) signal strength signal intensity formation in dividing into groups according to above-mentioned two reference nodes and the position between each reference node concern the judgement personnel towards;
3) according to the line of demarcation of personnel towards definite reference node, with the reference node separated into two parts in the space, location, and then confirm unusual reference node, it is unusual to get rid of the non line of sight signal strength signal intensity.
9. the fingerprint localization method that the anti-person as claimed in claim 8 blocks is characterized in that, when two nodes are front and when arranging after one's death, said personnel towards the health that is the people positive right front node direction.
10. fingerprint navigation system that the anti-person blocks comprises the sensor network be made up of two location nodes, some reference nodes and background server; Location node sends broadcast packet to reference node, and each reference node is through wired or wireless mode and background server communication, and background server is installed sighting distance fingerprint handling procedure, the position of all reference nodes that prestore simultaneously.
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Cited By (6)
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| CN103442431A (en) * | 2013-08-09 | 2013-12-11 | 京信通信系统（中国）有限公司 | Fingerprint locating method and server |
| CN104360311A (en) * | 2014-11-13 | 2015-02-18 | 三一重型装备有限公司 | Positioning and monitoring system for coal mine machines |
| CN106231564A (en) * | 2016-07-20 | 2016-12-14 | 湖南大学 | The location fingerprint indoor orientation method that a kind of orientation is preferential |
| CN108196246A (en) * | 2017-12-29 | 2018-06-22 | 创业软件股份有限公司 | The medical system indoor positioning error correction method excavated based on associated data |
| CN110800323A (en) * | 2017-05-05 | 2020-02-14 | Pcms控股公司 | Privacy preserving location based services |
| CN112954749A (en) * | 2019-12-11 | 2021-06-11 | 华为技术有限公司 | Network switching method and electronic equipment |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103442431A (en) * | 2013-08-09 | 2013-12-11 | 京信通信系统（中国）有限公司 | Fingerprint locating method and server |
| CN103442431B (en) * | 2013-08-09 | 2016-06-15 | 京信通信系统（中国）有限公司 | Fingerprint positioning method and server |
| CN104360311A (en) * | 2014-11-13 | 2015-02-18 | 三一重型装备有限公司 | Positioning and monitoring system for coal mine machines |
| CN106231564A (en) * | 2016-07-20 | 2016-12-14 | 湖南大学 | The location fingerprint indoor orientation method that a kind of orientation is preferential |
| CN106231564B (en) * | 2016-07-20 | 2019-11-12 | 湖南大学 | A kind of location fingerprint indoor orientation method that orientation is preferential |
| CN110800323A (en) * | 2017-05-05 | 2020-02-14 | Pcms控股公司 | Privacy preserving location based services |
| US11496865B2 (en) | 2017-05-05 | 2022-11-08 | Pcms Holdings, Inc. | Privacy-preserving location based services |
| CN110800323B (en) * | 2017-05-05 | 2022-11-15 | Pcms控股公司 | Privacy preserving location based services |
| CN108196246A (en) * | 2017-12-29 | 2018-06-22 | 创业软件股份有限公司 | The medical system indoor positioning error correction method excavated based on associated data |
| CN108196246B (en) * | 2017-12-29 | 2020-04-07 | 创业软件股份有限公司 | Medical system indoor positioning error correction method based on associated data mining |
| CN112954749A (en) * | 2019-12-11 | 2021-06-11 | 华为技术有限公司 | Network switching method and electronic equipment |
| CN112954749B (en) * | 2019-12-11 | 2022-05-10 | 华为技术有限公司 | Network switching method and electronic equipment |
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