CN102395100B - Body blocking resistant fingerprint positioning method and system - Google Patents
Body blocking resistant fingerprint positioning method and system Download PDFInfo
- Publication number
- CN102395100B CN102395100B CN2011102576642A CN201110257664A CN102395100B CN 102395100 B CN102395100 B CN 102395100B CN 2011102576642 A CN2011102576642 A CN 2011102576642A CN 201110257664 A CN201110257664 A CN 201110257664A CN 102395100 B CN102395100 B CN 102395100B
- Authority
- CN
- China
- Prior art keywords
- fingerprint
- node
- location
- sighting distance
- nodes
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
- Collating Specific Patterns (AREA)
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 positioning method and system that a kind of anti-human body blocks.
Background technology
Have at present a large amount of sensor network locating methods, wherein the fingerprint positioning method based on signal strength signal intensity, because not being subject to the restriction of hardware condition, has obtained broad research.Fingerprint positioning 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, according to the signal strength values recorded, generates corresponding received signals fingerprint on every side, with this, sets up the fingerprint database of all positions, and around these, node is called reference node.On-line stage is on existing fingerprint database basis, the coupling by methods such as probability statistics and data minings by fingerprint in the fingerprint observed and database, thus obtain corresponding position.
Because the user need to carry mobile device, inevitably occur that health blocks, and health blocks the multipath and the shadow problem that cause, make signal intensity attenuation serious, cause the fingerprint algorithm positioning precision to descend thereupon, currently still without effective way, overcome the impact 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 one of system of utilizing fingerprint algorithm to position in wireless network.This system is in the situation that nobody blocks, and location median error has reached 2.94m.Although this algorithm has also disclosed personal existence of blocking impact, effective solution is not proposed, cause positioning precision degradation to occur under health blocks environment.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 with digital compass, in the collection signal fingerprint, also gathered the person towards, the more above-mentioned algorithm of precision of location improves, but still can't avoid gathering the non line of sight signal strength signal intensity as finger print data, do not solve health fully and block multipath and the shadow problem of bringing, also brought extra expense simultaneously.
Summary of the invention
The object of the invention is to overcome problems of the prior art, propose fingerprint positioning method and system that a kind of anti-human body blocks, the method and system are specially adapted to location in sensors network.
The fingerprint positioning method that anti-human body of the present invention blocks, its step comprises:
1. arrange two location nodes with it personnel, dispose reference node in environment around, the known self-position of reference node, form 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 locating area, select line-of-sight signal intensity that all reference nodes record to form the sighting distance fingerprint of this position, set up fingerprint database with the sighting distance fingerprint of diverse location;
3. measure the sighting distance fingerprint of current location, mated with the fingerprint in fingerprint database, determine corresponding position.
Described in step 1, two location nodes can be arranged in personnel front and behind, or the left side of health and right side etc.
Sighting distance fingerprint described in step 2 and 3 refers to the fingerprint of the line-of-sight signal intensity generation that adopts location node, to avoid the person, blocks impact.
Diverse location in locating area, in order to determine the sighting distance fingerprint, need to determine 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 by experiment in sighting distance and the non line of sight signal strength signal intensity of a plurality of continuous positions, has found relatively rule of line-of-sight signal Strength Changes, as shown in Figure 1.As can be seen from the figure, generally, when a certain reference node and two location nodes on health are respectively that sighting distance is while communicating by letter with non line of sight, line-of-sight signal intensity can obviously be greater than the non line of sight signal strength signal intensity, but because the non line of sight node is subject to the impact of multipath and shade, make the variation of non line of sight node signal intensity present irregularities, thereby occur that indivedual non line of sight node signal intensity levels approach or be greater than the situation of sighting distance node signal intensity level.The present invention, according to the rule of sighting distance and non line of sight change in signal strength, has designed the system of selection of sighting distance fingerprint and the abnormal method for removing of sighting distance fingerprint, to determine the sighting distance fingerprint of diverse location in 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, using signal strength values, larger location node 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 so all reference nodes are corresponding forms the sighting distance fingerprint of this position.
2) the sighting distance fingerprint is got rid of extremely
Due to the impact that is subject to multipath, the variation of non line of sight node signal intensity presents irregularities, thereby occurs that indivedual non line of sight node signal intensity levels approach or be greater than the situation of sighting distance node signal intensity level.In step 1) in, such non line of sight signal strength values will be mistakened as to be made the line-of-sight signal intensity level and processes, and makes the signal strength values that has non line of sight in original sighting distance fingerprint.For this problem, the present invention proposes the strategy that a kind of position relationship relied between reference node is got rid of abnormal data in the sighting distance fingerprint.Main thought be by before the prediction body with the line of demarcation of reference node after one's death, get rid of the non line of sight signal strength signal intensity that reference node collects abnormal.Its step is as follows:
A) according to the system of selection of sighting distance fingerprint, obtain respectively and take the reference node grouping that two location nodes are the sighting distance location node, every group of size according to signal strength values lined up queue.When all reference nodes only belong to a queue, it is regarded as and there is no the non line of sight signal strength signal intensity extremely;
B) according to the signal strength signal intensity queue in above-mentioned two reference nodes grouping and the position relationship between each reference node judge personnel towards;
C) line of demarcation towards definite reference node according to personnel, be divided into two parts by the reference node in the space, location, and then determine abnormal reference node, gets rid of the non line of sight signal strength signal intensity abnormal.
The fingerprint location system that anti-human body of the present invention blocks, comprise a sensor network be comprised of two location nodes, some reference nodes and background server; Location node sends broadcast packet to reference node, and each reference node is by wired or wireless mode and background server communication, and background server is installed sighting distance finger prints processing program, the position of all reference nodes that simultaneously prestore.
Compared with prior art, beneficial effect of the present invention is:
By analyzing the Changing Pattern of sighting distance and non line of sight signal strength signal intensity, a kind of fingerprint positioning method and the system of line-of-sight signal intensity as finger print data of usining proposed, and designed the abnormal method for removing of non line of sight signal strength signal intensity in the system of selection of sighting distance fingerprint and corresponding sighting distance fingerprint, thereby guaranteed that finger print data is not subject to the interference of multipath and shadow problem, make in the situation that the performance that health blocks the sighting distance fingerprint positioning method far above existing fingerprint positioning method.
The accompanying drawing explanation
Fig. 1 sighting distance and non line of sight change in signal strength contrast schematic diagram
Fig. 2 sighting distance fingerprint location Solution Architecture schematic diagram
Fig. 3 sighting distance fingerprint selection strategy schematic diagram
The flow chart of Fig. 4 embodiment of the present invention sighting distance fingerprint positioning method
Fig. 5 sighting distance fingerprint positioning method, COMPASS algorithm and RADAR algorithm positioning performance be schematic diagram relatively
Embodiment
Describe the present invention below in conjunction with accompanying drawing in detail by most preferred embodiment, but be not construed as limiting the invention.
The present embodiment provides a sighting distance fingerprint location system that adopts localization method of the present invention, and concrete scheme is as follows:
1. two location nodes are placed in respectively to tester's front and behind, dispose reference node in environment around, the known self-position of reference node, form orientable sensor network, as shown in Figure 2.
2. the location node per second is broadcasted the packet that contains node number, bag style number and bag serial number information periodically towards periphery.Reference node receives the signal strength values of calculated data bag after broadcast data packet, and itself and the excessively wired or wireless modes of information exchange such as self node number are sent to background server.Background server has been installed sighting distance finger prints processing program, and application sighting distance fingerprint positioning method, gather the sighting distance fingerprint by the diverse location in locating area and set up fingerprint database, and this process completes under off-line state.
3. under presence, utilize same sighting distance fingerprint positioning method to gather sighting distance fingerprint and off-line fingerprint base coupling, in the database that the match is successful, position corresponding to fingerprint positions is located position.
In the present embodiment, location node and reference node all adopt the Telosb node of Crossbow company, and location node is by powered battery, and reference node is by the USB Power supply; Reference node can send to the Sink node by the Zigbee agreement by sensing data, finally by the Sink node, send to background server, background server has been installed the finger prints processing program by the python language compilation, the position of all reference nodes that simultaneously prestored.
The described sighting distance fingerprint positioning method of the present embodiment 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, using signal strength values, larger location node 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 so all reference nodes are corresponding forms the sighting distance fingerprint of this position, as original sighting distance fingerprint.
2. the sighting distance fingerprint is got rid of extremely
According to the system of selection of sighting distance fingerprint, obtain respectively and take the reference node grouping that two location nodes are the sighting distance location node, every group of size according to signal strength values lined up queue.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 belong to a queue, we regard it there is no the non line of sight fingerprint extremely as.Processing method is described below:
The judgement personnel towards: personnel are towards the right direction in health front that refers to the people, the i.e. direction of front node.Respectively from B
1and B
2the b of middle selection signal strength values maximum
iand b
mreference node, obtain vectorial b
mb
i.B wherein
mb
imould be b
iand b
mthe signal strength values of measuring and, direction is b
m→ b
i.Then select respectively two second largest reference node b of signal strength values from two queues
kand b
1, obtain vectorial b
1b
k.If do not have second largest reference node in any one queue, with largest reference node, replace it.By vectorial b
1b
kwith b
mb
isummation.And if vector and b
mb
ibetween angular separation be less than 15 °, with vector direction be personnel towards, otherwise with vector, to replace b
mb
icontinue to select the third-largest reference node in two set of queue, repeat above operation.
Get rid of abnormal: suppose final gained and b
mb
ibetween to be less than the vector of 15 ° be b in angular separation
1b
k, calculate b
iand b
kthe signal strength values of measuring and be S
ik, b
mand b
1the signal strength values of measuring and be S
ml.As shown in Figure 3, and the direction of vector be personnel towards, will press S with vector
ik: S
mlratio do vertical line, be line of demarcation, the reference node by location in space is divided into two parts.Be positioned at so b
ihomonymy and belong to B
2the node of group is abnormal nodes, is positioned at b
iheteropleural and belong to B
1the node of group is also abnormal nodes, and for these abnormal reference nodes, it is abnormal 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.
As shown in Figure 4, it comprises the flow process of the present embodiment sighting distance fingerprint positioning method:
Determine it is off-line phase or on-line stage, off-line phase, need to carry out the sighting distance fingerprint to each position and select operation.And on-line stage only gathers the sighting distance fingerprint to current location.
No matter off-line or on-line stage, all according to the system of selection of sighting distance fingerprint, by differentiating, in two location nodes, which is that the sighting distance location node is set up original sighting distance fingerprint
No matter off-line or on-line stage, all according to the abnormal method for removing of sighting distance fingerprint, at first be divided into two groups by the sighting distance fingerprint 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.Then get rid of the abnormal line-of-sight signal in original sighting distance fingerprint according to orientation information, thereby set up final sighting distance fingerprint.The sighting distance fingerprint database that the sighting distance fingerprint that on-line stage is set up and off-line phase are set up is mated, the position that utilizes existing matching algorithm to locate.
The present embodiment has carried out Performance Ratio to this sighting distance fingerprint positioning method and COMPASS algorithm, RADAR algorithm under the experimental situation that has multipath and shade, result shows that the sighting distance fingerprint positioning method can obviously slow down the impact on positioning precision of multipath and shade, 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 the sighting distance fingerprint positioning method can obtain 2m median error performance.The 4m precision that the sighting distance fingerprint positioning method can reach with 90% probability simultaneously, also be better than respectively the 9m precision of RADAR algorithm and the 10.5m precision of COMPASS algorithm.
Claims (9)
1. the fingerprint positioning method that anti-human body blocks, its step comprises:
1) arrange two location nodes with it personnel, dispose reference node in environment around, the known self-position of reference node, form 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, using signal strength values, larger location node 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; For a certain position in locating area, background server selects line-of-sight signal intensity that all reference nodes record to form the sighting distance fingerprint of this position, with the sighting distance fingerprint of diverse location, sets up fingerprint database;
3) background server is measured the sighting distance fingerprint of current location, with the fingerprint in fingerprint database, is mated, and determines corresponding position.
2. the fingerprint positioning method that anti-human body as claimed in claim 1 blocks, is characterized in that, described two location nodes are arranged in front and behind, or left side and right side.
3. the fingerprint positioning method that anti-human body as claimed in claim 1 blocks, is characterized in that, described broadcast packet contains node number, bag style number and bag serial number information.
4. the fingerprint positioning method that anti-human body as claimed in claim 1 blocks, is characterized in that, described location node and reference node all adopt the Telosb node of Crossbow company.
5. the fingerprint positioning method that anti-human body as claimed in claim 1 blocks, is characterized in that, step 1)-2) under off-line state, complete, described step 3) completes under presence.
6. the fingerprint positioning method that anti-human body as claimed in claim 1 blocks, is characterized in that, described background server is installed finger prints processing program, the position of all reference nodes that simultaneously prestore.
7. the fingerprint positioning method that anti-human body as claimed in claim 1 blocks, is characterized in that, reference node, when determining described line-of-sight signal intensity, also comprises and gets rid of the abnormal step of non line of sight signal strength signal intensity:
1) obtain and take the reference node grouping that two location nodes are the sighting distance location node, every group of size according to signal strength values lined up queue; When all reference nodes only belong to a queue, be considered as that line-of-sight signal intensity is abnormal nothing but;
2) according to the signal strength signal intensity queue in above-mentioned two reference nodes groupings and the position relationship between each reference node judge personnel towards;
3) line of demarcation towards definite reference node according to personnel, be divided into two parts by the reference node in the space, location, and then determine abnormal reference node, gets rid of the non line of sight signal strength signal intensity abnormal.
8. the fingerprint positioning method that anti-human body as claimed in claim 7 blocks, is characterized in that, when two nodes are front and while arranging after one's death, described personnel are towards the right direction in health front by the people, the i.e. direction of front node.
9. the fingerprint location system that the anti-human body that adopts the described method of claim 1 blocks, comprise a sensor network be comprised of two location nodes, some reference nodes and background server;
Described location node is for sending broadcast packet to described reference node;
Described reference node is for measuring the signal strength signal intensity of the broadcast packet of receiving, using signal strength values, larger location node 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;
Described background server and each reference node, by wired or wireless mode communication, are installed sighting distance finger prints processing program, the position of all reference nodes that simultaneously prestore in it; This background server selects line-of-sight signal intensity that all reference nodes record to form the sighting distance fingerprint of this position, set up fingerprint database with the sighting distance fingerprint of diverse location, and then the sighting distance fingerprint by measuring current location being mated with the fingerprint in fingerprint database, determine corresponding position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011102576642A CN102395100B (en) | 2011-09-01 | 2011-09-01 | Body blocking resistant fingerprint positioning method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011102576642A CN102395100B (en) | 2011-09-01 | 2011-09-01 | Body blocking resistant fingerprint positioning method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102395100A CN102395100A (en) | 2012-03-28 |
| CN102395100B true CN102395100B (en) | 2013-12-11 |
Family
ID=45862295
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011102576642A Expired - Fee Related CN102395100B (en) | 2011-09-01 | 2011-09-01 | Body blocking resistant fingerprint positioning method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102395100B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106231564B (en) * | 2016-07-20 | 2019-11-12 | 湖南大学 | A kind of location fingerprint indoor orientation method that orientation is preferential |
| CN110800323B (en) * | 2017-05-05 | 2022-11-15 | Pcms控股公司 | Privacy preserving location based services |
| 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 |
| CN115396964A (en) * | 2019-12-11 | 2022-11-25 | 华为技术有限公司 | Network switching method and electronic equipment |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102111872A (en) * | 2009-12-23 | 2011-06-29 | 中国移动通信集团公司 | Location method and device based on fingerprint location technology |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2004305877B2 (en) * | 2003-09-26 | 2010-09-23 | Institut National De La Recherche Scientifique (Inrs) | Method and system for indoor geolocation using an impulse response fingerprinting technique |
-
2011
- 2011-09-01 CN CN2011102576642A patent/CN102395100B/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102111872A (en) * | 2009-12-23 | 2011-06-29 | 中国移动通信集团公司 | Location method and device based on fingerprint location technology |
Non-Patent Citations (2)
| Title |
|---|
| "COMPASS: A Probabilistic Indoor Positioning System Based on 802.11 and Digital Compasses";THOMAS KING等;《Proc of the first ACM International workshop on WiNETCH》;20060930;第34-40页 * |
| THOMAS KING等."COMPASS: A Probabilistic Indoor Positioning System Based on 802.11 and Digital Compasses".《Proc of the first ACM International workshop on WiNETCH》.2006,34-40. |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102395100A (en) | 2012-03-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102395100B (en) | Body blocking resistant fingerprint positioning method and system | |
| Kim et al. | Distance estimation with weighted least squares for mobile beacon-based localization in wireless sensor networks | |
| CN102573049B (en) | Method and system for indoor positioning | |
| Xu et al. | SCPL: Indoor device-free multi-subject counting and localization using radio signal strength | |
| CN103476115B (en) | A kind of Wi-Fi fingerprint positioning method based on AP collection similarity | |
| CN105093177B (en) | A kind of RSSI localization methods based on frequency hopping | |
| CN102665277B (en) | A kind of method that wireless sensor network interior joint is positioned | |
| CN106604228B (en) | A kind of fingerprint positioning method based on LTE signaling data | |
| CN104469942B (en) | A kind of indoor orientation method based on HMM | |
| CN105682224B (en) | A kind of distributed wireless fingerprint positioning method for exempting from off-line training | |
| CN102695272B (en) | Matching location method and mobile terminal | |
| CN103281777B (en) | A kind of Differential positioning method based on WiFi | |
| CN104754735B (en) | Localization method based on location fingerprint storehouse | |
| CN105554879B (en) | A kind of room area positioning and optimizing method and system | |
| CN100566345C (en) | Wireless sensor network node locating method based on ultra broadband | |
| CN106597370B (en) | A kind of indoor wireless positioning method based on RFID | |
| CN109511085A (en) | A kind of UWB fingerprint positioning method based on MeanShift and weighting k nearest neighbor algorithm | |
| Xu et al. | Self-adapting multi-fingerprints joint indoor positioning algorithm in WLAN based on database of AP ID | |
| CN103945526A (en) | Wireless equipment positioning method and system based on induced detection technology | |
| CN107708202A (en) | A kind of wireless sensor network node locating method based on DV Hop | |
| CN106686720A (en) | Wireless fingerprint positioning method and system based on time dimension | |
| CN103619062A (en) | Method for positioning unknown nodes in field environment wireless sensor network | |
| CN104683953B (en) | Indoor WLAN based on SimRank Similar Composite Systems neighborhood graph structure positions network-building method | |
| CN105866732A (en) | Improved MK model and WKNN algorithm combined mixed indoor positioning method | |
| CN107087252A (en) | A kind of method that Bluetooth broadcast carries out data transmission |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131211 Termination date: 20180901 |