CN102981164A - Method supporting limited irregular space positioning - Google Patents

Method supporting limited irregular space positioning Download PDF

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Publication number
CN102981164A
CN102981164A CN 201210518211 CN201210518211A CN102981164A CN 102981164 A CN102981164 A CN 102981164A CN 201210518211 CN201210518211 CN 201210518211 CN 201210518211 A CN201210518211 A CN 201210518211A CN 102981164 A CN102981164 A CN 102981164A
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positioning
space
object
method
limited
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CN 201210518211
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Chinese (zh)
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顾玉良
王新社
王玉成
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北京凯思昊鹏软件工程技术有限公司
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Abstract

The invention aims to provide a method for determining a specific target object in limited irregular functional space. Equipment, systems or schemes realized according to the method can satisfy a large number of general positioning requirements. The method considers that the limited irregular space is basically closed, such as typical scenes of a household bedroom and functional unit space therein, and whether a specific object exists in the limited irregular space or not needs to be determined. The positioning requirement considered by the method is different from the common positioning requirement. The common positioning requirement is to establish a three-dimensional or two-dimensional position describing reference system by using a certain physical point in the space as a reference point. The positioning requirement considered by the method is to determine whether the positioned object exists in a group of space units or not, that is, the position of the positioned object is described as the position of a functional space identifier. From the aspect of a positioning technology, a technology of collaborative random pulse encoding and demodulation between the positioned object and an induction receiving object is adopted, and the induction receiving object receives data to conduct correlation detection, so as to guarantee the positioning accuracy.

Description

一种支持有限不规则空间定位的方法 One way limited irregular spatial orientation of support

技术领域 FIELD

[0001] 本发明涉及一种在有限不规则空间中确定特定物体的方法,属于通信和计算机技术领域。 Method [0001] The present invention relates to a method for determining the specific object in a limited irregular space belonging to the communication and computer technologies.

背景技术 Background technique

[0002] 无线传感网络技术是已有网络技术的自然延伸,使人与物理世界的距离大为缩短,可以随时随地收集物理世界的信息,并施以适当的控制。 [0002] The wireless sensor network technology is a natural extension of prior art network, and make the distance much shorter physical world, may gather information from anywhere in the physical world, and subjected to an appropriate control. 同时,无线传感网络的产生和发展对于推动普适计算具有极其重要的意义。 Meanwhile, the emergence and development of wireless sensor network has great significance for the promotion of ubiquitous computing. 经过近些年的发展,无线传感器网络技术及应用已经开始逐渐增加,并在特定领域中发挥了重要作用。 After the development in recent years, wireless sensor network technology and applications have increased gradually, and played an important role in specific areas. 无线传感网络的“感知”特点是将来的通用服务普适化的重要基础。 Wireless sensor networks "perception" is the future of the common characteristics of the universal service of an important foundation. 同时无线传感网络技术可以跟互联网技术很好地集成,产生新型融合型服务,大大扩展现有业务的空间,也使得将来的城市管理和服务的运行更加准确和智慧。 At the same time wireless sensor network technology can be well integrated with Internet technology, produce new converged services, greatly expanding the existing business space, but also makes the operation and services of the future city management more accurate and wisdom.

[0003] 室内定位技术是无线传感网络技术研究的重点和热点技术之一。 [0003] indoor positioning technology is the focus of one of the research of wireless sensor network technology and hot technology. 目前的诸多室内定位技术是考虑一个被定位的对象,相对于某个标准点的一个相对空间位置,以此确定被定位对象在系统中的三维或二维坐标位置的描述。 Currently many indoor positioning technique is a considered object is positioned relative to a certain standard point relative spatial positions, in order to determine the three-dimensional description of the object to be positioned in the system or a two-dimensional coordinate position. 这样的定位要求由于在实际环境中存在大量的不期望的遮挡、反射、能量衰减和空间不规则等不利因素,实际的效果往往是理论研究所未能适用的,相应的理论研究所需要的“严格条件”往往在实际中不具备,从而影响了理论研究的各种定位技术在实际中的应用。 Such positioning requires the presence of a large number of undesirable occlusion in a real environment, reflection, energy attenuation and irregular space and other unfavorable factors, the actual effect is often unable to apply the theory of the Institute, the Institute of Theoretical corresponding need " stringent conditions "are often not available in practice, thus affecting the application of positioning technology theoretical research in practice.

[0004] 本发明试图从实际情况出发,改变需求的形式,并综合运用不同的技术组合和协调,以产生满足更为普遍需求的新型技术。 [0004] The present invention seeks from the actual situation, to change the form of demand, and the integrated use of different combinations of techniques and coordination to produce more to meet the general needs of the new technology.

发明内容 SUMMARY

[0005] 本发明的目的在于提出一种在有限不规则功能空间中确定特定物体位置的方法,按该方法实现的设备、系统或方案可以满足大量的普遍定位需求。 [0005] The object of the present invention is to provide a method for determining the position of the specific object in a limited space in an irregular feature, implemented in the device according to the method, system or scheme to meet the demand a large number of general orientation.

[0006] 考虑在一个有限不规则功能空间中,空间基本封闭,典型的场景如:一般的家庭居室及其中的功能单元,如客厅、卫生间、起居室、卧室、阳台等,需要对这样的规则或不十分规则的空间中确定特定物体是否存在,存在于哪一个空间,及其特定的运动特征。 [0006] In consideration of a function of the limited space in an irregular, substantially enclosed space, such as a typical scenario: the family room and the general functional units, such as living room, bathroom, living room, bedroom, balcony, such rules require a very regular space or determining whether there is a particular object, which exists in the space, and a specific motion feature. 该特定物体本文中称为被定位对象。 The particular object referred to herein as the object is positioned.

[0007] 在该有限不规则空间中,还至少要部署一个特定感应物体,本文中称为感应接受对象。 [0007] In this limited space is irregular, but also at least to deploy a specific sensing object, referred to herein as the induction to accept objects.

[0008] 定位的基本思路是,被定位对象附带一个超声波发射器,其按照特定的规则,编码一串规定信息编码,编码中包含标识被定位对象的信息。 [0008] The basic idea is positioned, the object comes to be positioned one ultrasonic transmitter, which according to a specific rule, a series of predetermined coded information, encoding contains information identifying the object to be positioned. 承载该规定编码的超声波在此有限不规则空间中发射、传递并形成多次的反射。 Encoding the predetermined ultrasonic carrier in this limited space irregular emitted, transmitted and reflected a plurality of times is formed. 考虑到一般建筑物体对于超声波具有较好的遮挡效果,该超声波在经过一定的传播和反射后,由考虑部署位置和方向的感应接受对象有效检测到。 Taking into account the ultrasonic general building object having better shielding effect, the ultrasonic waves after a certain propagation and reflection, considering the deployment location and orientation of the object receiving sensor detected efficiently. 这种有效检测的通常空间范围在实际的需求中并不需要保证在该空间中的100%空间。 This effective range of the space normally detected in the actual demand is not required to ensure 100% of the space in the space. 比如被定位对象是一个老年人,其运动范围是在居室中的中下部分空间,只要适当运用直接传播和多次反射,被定位对象发射的超声波在此有限不规则空间中可以被有效的检测到。 For example the object is located is an old, range of motion which is in the lower portion of the space in the living room, as long as the appropriate use of direct transmission and multiple reflections, the transmitted ultrasonic wave is positioned irregular objects in this limited space can be effectively detected to.

[0009] 本发明最基本的特点是,考虑的定位需求不是相对于空间中某个物理点作为参考点来建立位置坐标描述的参考系,或者说不是用直线距离值作为位置表示的基础,而是只要确定被定位的对象在特定功能空间中是否存在,实际上是相对于该不规则空间的位置描述。 [0009] The basic characteristics of the present invention, the positioning demand is not considered as a reference point to establish a phase reference frame position coordinate space described for a physical point, or is not a linear distance value as represented by the basic position, and as long as the object being positioned is determined whether there is a specific function space, in fact, describes the position relative to the irregular space. 即该定位对象位置从严格的直线坐标值来说是一种模糊位置描述,但这样的位置描述对于在一个功能空间的集合中,确定是哪个功能空间这样一种位置描述是精确的。 I.e., the positioning object position coordinate value of a strictly straight line is a vague description of the location, but such a position function which describes the spatial position of a precise description is set for in a feature space is determined. 这样的位置表述需求在实际生活中普遍存在,并且由于各功能空间在相互边界处的定位需求是允许模糊表示的,即两个相邻的空间A和B,如果其边界开放,在其边界的物体既可以确定在A,也可以确定在B。 Such a position demand ubiquitous expression in real life, and since each functional requirements spatial orientation to each other at a boundary is to allow fuzzy representation, i.e., two adjacent spaces A and B, if it is open borders, at the boundary of the objects may be determined in A, it may be determined in B.

[0010] 本发明至少需要配置感应接受对象和被定位对象两个单元,这两个单元之间需要存在无线传感网络的通信信道,同时利用低功率大扇面超声波可以反射,但不适于穿透的特点,作为实现本文中定位需求的辅助媒介。 [0010] The present invention requires at least a sensor arranged to accept the object and the object is positioned two units, a need exists for a communication channel between the wireless sensor network of two units, while utilizing a low power ultrasonic waves may reflect a large sector, but not suitable for penetration characteristics, as herein achieve localization needs auxiliary media.

[0011] 由于超声波在经过多次反射后,以及空间中存在其它超声波,相互之间会发生干扰。 [0011] Since after multiple reflections, as well as presence of other ultrasonic space ultrasonic, will interfere with each other. 在本方法中,每个被定位对象发射的超声波携带特定编码,感应接受对象验证该特定编码。 In this method, each object is positioned ultrasonic waves emitted carrying specific encoding, object verification sensor receiving said specific code. 这个编码在传输、反射的过程中受到环境噪声及反射过程的干扰,本方法采用被定位对象和感应接受对象之间协同的随机脉冲编码及解调技术,并且感应接受对象对接收到的超声波进行相关性检测。 This code is disturbed and the reflection of ambient noise during the transmission process, the reflection, the method uses the object is positioned between the object and the inductive receiving synergy random pulse code and demodulation techniques, and an ultrasound sensor the received objects correlation detection. 满足规定相关性要求的即认为检测到对应的被定位对象存在,根据接收能量的变化范围还可以确定被定位对象是否在活动状态。 Correlation satisfies a predetermined requirement, i.e. that corresponding to the detected presence of the object is positioned according to a change in the energy range of the receiver may also determine whether the object is positioned in the active state. 编码的分布性可以确保被定位对象识别的准确率。 Distribution coding ensures positioning accuracy of the identified objects.

[0012] 由此方法实现的系统,可以在一个规定的被定位对象和规定的有限不规则空间的集合中,有效地确定某个(组)有限不规则空间中是否存在某个被定位对象,检测该被定位对象是否处于静止或活动过程中,也可以发现该被定位对象的一些活动的特征。 [0012] The system thus implemented method, the object can be positioned and set in a predetermined limited space of a predetermined irregular in efficiently determines whether there is positioned an object is a (group) Co., irregular space, detecting whether the object is positioned in a stationary or activities, the features can also be found that the object is located in some of the activities.

附图说明 BRIEF DESCRIPTION

[0013] 图I用于说明在定位过程中,定位要求由无线传感网络中的总控协调对象发起。 [0013] Figure I for explaining the positioning process initiated by the positioning requirements of the wireless sensor network master control coordination object. 在初始化阶段,总控协调对网络中的所有感应接受对象进行配置,并划定可识别的被定位对象的标识,用于相关性检测。 In the initialization phase, the master control coordinates all the accepted sense network configuration objects, identifying and locating objects delineated recognizable for correlation detection. 定位过程由上述标准的对象序列图描述。 Positioning process is described by the standard target sequence in FIG.

具体实施方式 detailed description

[0014] 本发明的目的在于提出一种在有限不规则功能空间中确定特定物体位置的方法,按该方法实现的设备、系统或方案可以满足大量的普遍定位需求。 [0014] The object of the present invention is to provide a method for determining the position of the specific object in a limited space in an irregular feature, implemented in the device according to the method, system or scheme to meet the demand a large number of general orientation.

[0015] 考虑在一个有限不规则功能空间中,空间基本封闭,典型的场景如:一般的家庭居室及其中的功能单元,如客厅、卫生间、起居室、卧室、阳台等,需要对这样的规则或不十分规则的空间中确定特定物体是否存在,存在于哪一个空间,及其特定的运动特征。 [0015] In consideration of a function of the limited space in an irregular, substantially enclosed space, such as a typical scenario: the family room and the general functional units, such as living room, bathroom, living room, bedroom, balcony, such rules require a very regular space or determining whether there is a particular object, which exists in the space, and a specific motion feature. 该特定物体本文中称为被定位对象。 The particular object referred to herein as the object is positioned.

[0016] 在该有限不规则空间中,还至少要部署一个特定感应物体,本文中称为感应接受对象。 [0016] In this limited space is irregular, but also at least to deploy a specific sensing object, referred to herein as the induction to accept objects.

[0017] 定位的基本思路是,被定位对象附带一个超声波发射器,其按照特定的规则,编码一串规定信息编码,编码中包含标识被定位对象的信息。 The basic idea [0017] are positioned, the object to be positioned is provided with a ultrasonic transmitter, which according to a specific rule, a series of predetermined coded information, encoding contains information identifying the object to be positioned. 承载该规定编码的超声波在此有限不规则空间中发射、传递并形成多次的反射。 Encoding the predetermined ultrasonic carrier in this limited space irregular emitted, transmitted and reflected a plurality of times is formed. 考虑到一般建筑物体对于超声波具有较好的遮挡效果,该超声波在经过一定的传播和反射后,由考虑部署位置和方向的感应接受对象有效检测到。 Taking into account the ultrasonic general building object having better shielding effect, the ultrasonic waves after a certain propagation and reflection, considering the deployment location and orientation of the object receiving sensor detected efficiently. 这种有效检测的通常空间范围在实际的需求中并不需要保证在该空间中的100%空间。 This effective range of the space normally detected in the actual demand is not required to ensure 100% of the space in the space. 比如被定位对象是一个老年人,其运动范围是在居室中的中下部分空间,只要适当运用直接传播和多次反射,被定位对象发射的超声波在此有限不规则空间中可以被有效的检测到。 For example the object is located is an old, range of motion which is in the lower portion of the space in the living room, as long as the appropriate use of direct transmission and multiple reflections, the transmitted ultrasonic wave is positioned irregular objects in this limited space can be effectively detected to.

[0018] 本发明最基本的特点是,考虑的定位需求不是相对于空间中某个物理点作为参考点来建立位置坐标描述的参考系,或者说不是用直线距离值作为位置表示的基础,而是只要确定被定位的对象在特定功能空间中是否存在,实际上是相对于该不规则空间的位置描述。 [0018] The basic characteristics of the present invention, the positioning demand is not considered as a reference point to establish a phase reference frame position coordinate space described for a physical point, or is not a linear distance value as represented by the basic position, and as long as the object being positioned is determined whether there is a specific function space, in fact, describes the position relative to the irregular space. 即该定位对象位置从严格的直线坐标值来说是一种模糊位置描述,但这样的位置描述对于在一个功能空间的集合中,确定是哪个功能空间这样一种位置描述是精确的。 I.e., the positioning object position coordinate value of a strictly straight line is a vague description of the location, but such a position function which describes the spatial position of a precise description is set for in a feature space is determined. 这样的位置表述需求在实际生活中普遍存在,并且由于各功能空间在相互边界处的定位需求是允许模糊表示的,即两个相邻的空间A和B,如果其边界开放,在其边界的物体既可以确定在A,也可以确定在B。 Such a position demand ubiquitous expression in real life, and since each functional requirements spatial orientation to each other at a boundary is to allow fuzzy representation, i.e., two adjacent spaces A and B, if it is open borders, at the boundary of the objects may be determined in A, it may be determined in B.

[0019] 本发明至少需要配置感应接受对象和被定位对象两个单元,这两个单元之间需要存在无线传感网络的通信信道,同时利用低功率大扇面超声波可以反射,但不适于穿透的特点,作为实现本文中定位需求的辅助媒介。 [0019] The present invention requires at least a sensor arranged to accept the object and the object is positioned two units, a need exists for a communication channel between the wireless sensor network of two units, while utilizing a low power ultrasonic waves may reflect a large sector, but not suitable for penetration characteristics, as herein achieve localization needs auxiliary media.

[0020] 由于超声波在经过多次反射后,以及空间中存在其它超声波,相互之间会发生干扰。 [0020] Since after multiple reflections, as well as presence of other ultrasonic space ultrasonic, will interfere with each other. 在本方法中,每个被定位对象发射的超声波携带特定编码,感应接受对象验证该特定编码。 In this method, each object is positioned ultrasonic waves emitted carrying specific encoding, object verification sensor receiving said specific code. 这个编码在传输、反射的过程中受到环境噪声及反射过程的干扰,本方法采用被定位对象和感应接受对象之间协同的随机脉冲编码及解调技术,并且感应接受对象对接收到的超声波进行相关性检测。 This code is disturbed and the reflection of ambient noise during the transmission process, the reflection, the method uses the object is positioned between the object and the inductive receiving synergy random pulse code and demodulation techniques, and an ultrasound sensor the received objects correlation detection. 满足规定相关性要求的即认为检测到对应的被定位对象存在,根据接收能量的变化范围还可以确定被定位对象是否在活动状态。 Correlation satisfies a predetermined requirement, i.e. that corresponding to the detected presence of the object is positioned according to a change in the energy range of the receiver may also determine whether the object is positioned in the active state. 编码的分布性可以确保被定位对象识别的准确率。 Distribution coding ensures positioning accuracy of the identified objects.

[0021] 由此方法实现的系统,可以在一个规定的被定位对象和规定的有限不规则空间的集合中,有效地确定某个(组)有限不规则空间中是否存在某个被定位对象,检测该被定位对象是否处于静止或活动过程中,也可以发现该被定位对象的一些活动的特征。 [0021] The system thus implemented method, the object can be positioned and set in a predetermined limited space of a predetermined irregular in efficiently determines whether there is positioned an object is a (group) Co., irregular space, detecting whether the object is positioned in a stationary or activities, the features can also be found that the object is located in some of the activities.

[0022] 具体识别过程如下(见图I): [0022] specifically identified as follows (see Figure I):

1.在相对封闭的功能空间中,感应接受对象配置了超声波感应接收传感器,以系统规定的规格安装,该功能空间由该感应接受对象所标识;被定位对象配置了超声波发射器; 1. In the relatively closed functional space, the sensing object is configured to accept the received ultrasonic sensing transducer, to a predetermined standard mounting system, the function of the sensing subject receiving space identified; the object is positioned ultrasonic transmitter arranged;

2.被定位对象与感应接受对象分别是无线传感网络的可通信节点,之间存在独立的通信通道chl54,可以进行数据交换; 2. The sensor is positioned to accept the object and the object are communicable wireless sensor network nodes, there is a separate communication channel between chl54, data can be exchanged;

3.如果有被定位对象存在于该功能空间,在被定位对象在通道chl54上接收到定位检测指令后,按规定算法的随机脉冲调制,发射带自身编码信息的超声波; 3. If there is positioned an object is present in the feature space, after being positioned in the location detection object receives instructions on the channel chl54, random pulse modulated in a predetermined algorithm, the ultrasonic emission band itself encoded information;

4.所发射的超声波经过直接传播或周围各种阻挡物体的反射,被感应接受对象检测到;感应接受对象按照规定算法的随机脉冲解调提取超声波中加载的编码信息; 4. The ultrasonic wave transmitted through the direct transmission or reflection various barrier around the object, receiving the detected object is sensed; subject receiving a random pulse induced a predetermined demodulation algorithm to extract coding information of the ultrasonic loaded;

5.被感应接受对象对接受到的信息编码,对比该被定位对象的标识进行相关性检测,如果达到指定的相关性值,即确认编码对应的被定位对象存在于该相对封闭的不规则功能空间; The subject receiving the sensed encoded information received, the comparison identifies the object to be positioned correlation detection, if the correlation reaches a specified value, i.e. acknowledgment code corresponding to the object is positioned relatively close present in the functional space of irregular ;

6.被感应接受对象通过通道chl54通知被定位对象所存在的功能空间标识,即被感应接受对象和被定位对象互为确认。 6. The subject is positioned to accept the sensed object space functions identified by the presence chl54 notification channel, i.e., the object and the sensor is positioned to accept the object to confirm each other.

Claims (5)

  1. 1. 一种支持有限不规则空间定位的方法,其特征在于:1-1)在一个相对封闭的功能空间里,其定位的结果是判定被定位对象(目标对象)是否存在于该空间里,该空间标识即为定位单元标识;和1-2)该空间至少部署一个作为这个功能空间标识的感应接受对象,感应接受对象配置了超声波感应接收传感器;被定位对象配置了超声波发射器;和1-3)被定位对象与感应接受对象之间存在独立的通信通道,可以进行数据交换;和1-4)无线传感网络和超声波为本发明中完成定位需求的两个相互协调配合的媒介系统。 1. A method for positioning a limited irregularly spaced support, wherein: 1-1) function in a relatively closed space, it is determined whether the positioning result by the positioning object (target object) is present in the space, the space ID is the identifier locating unit; and 1-2) deploying at least the space as a function of the sensing space accepts an object identifier, the object sensor configured to accept the received ultrasonic sensing transducer; the object is positioned ultrasonic transmitter arranged; and an -3) is positioned to accept the object and sensing the presence of objects between the separate communication channel, data may be exchanged; and 1-4) to complete the wireless sensor network of the present invention and an ultrasound locating system needs two media coordination with each other .
  2. 2.根据权利要求1-1所述的有限不规则空间定位的方法,其特征在于:定位的单元描述为功能空间标识,而非以距离描述的三维或二维坐标。 The method according to claim 1-1 finite irregular spatial orientation claim, wherein: the functional units described positioning space identifier, rather than a two-dimensional or three-dimensional coordinate distance described.
  3. 3.根据权利要求1-2所述的有限不规则空间定位的方法,其特征在于:感应接受对象与超声波感应接收传感器,被定位对象与超声波发射器是绑定在一起的。 3. The method of claim 1-2 finite irregular spatial orientation claim, wherein: the subject receiving sensor receives ultrasonic sensing transducer, and the object is positioned ultrasonic transmitters are bound together.
  4. 4.根据权利要求1-3所述的有限不规则空间定位的方法,其特征在于:被定位对象与感应接受对象是无线网络中的节点,它们之间存在通信通道可以直接寻址。 4. The method of claim 1-3 finite irregular spatial orientation claim, wherein: the object is positioned to accept the object and the sensing node in a wireless network, communication channels exist between them can be directly addressed.
  5. 5.根据权利要求1-4所述的有限不规则空间定位的方法,其特征在于:5-1)总控协调对象通过无线信道向被定位对象发送定位检测指令;5-2)被定位对象采用发射超声波采用随机位置脉冲编码;5-3)感应接受对象对5-2描述的编码进行解调,并做相关性计算,以验证被定位对象在本功能空间中的存在性;5-4)确定检测到被定位对象后,发送确认信息给对应的被定位对象;5-5)被定位对象被确认后,记录自己被特定感应接受对象确认,这样被定位对象与感应接受对象相互确认被定位对象的存在和所在的功能空间标识。 5. The method of claim 1-4 finite irregular spatial orientation claim, wherein: 5-1) total control coordination object through a wireless channel transmitting the position detection instruction to the object is positioned; 5-2) positioned objects transmitting ultrasound waves using a random pulse position coding; 5-3) induced a subject receiving an encoded description 5-2 demodulates, and make correlation calculation to verify the existence of the object to be positioned in this space function; 5-4 ) is determined upon detecting an object being positioned, sends an acknowledgment message to the corresponding subject is positioned; 5-5) positioned after the object is confirmed, they have been recorded to confirm specific sensing accepts an object, the object is positioned so that the object receiving the induced mutual confirmation is there is a positioning objects and functional space in which to identify.
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JP2001337157A (en) * 2000-05-26 2001-12-07 Toyo System Kk Local positioning system using ultrasonic wave
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