CN103076592A - Precise wireless positioning method facing service robot in intelligent space - Google Patents
Precise wireless positioning method facing service robot in intelligent space Download PDFInfo
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- CN103076592A CN103076592A CN2012105807554A CN201210580755A CN103076592A CN 103076592 A CN103076592 A CN 103076592A CN 2012105807554 A CN2012105807554 A CN 2012105807554A CN 201210580755 A CN201210580755 A CN 201210580755A CN 103076592 A CN103076592 A CN 103076592A
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Abstract
The invention discloses a precise wireless positioning method facing a service robot in an intelligent space, belonging to the technical field of wireless positioning. The wireless positioning method comprises the following steps of: 1, setting a beacon node; 2, acquiring priori data, establishing a priori database and performing fitting of a model; 3, judging sight distance of a target to be positioned and the beacon node; 4, performing primary positioning on the target to be positioned; and 5, precisely positioning by using ultrasonic wave. By using the wireless positioning method, positioning accuracy of centimeter level in a complex indoor environment can be realized, so that more, and more accurate service is provided by a household service robot according to high-accuracy positional information; and in addition, the wireless positioning method can also be applied to some occasions with positioning accuracy of centimeter level, so that the requirements of high-accuracy positioning are met.
Description
Technical field
The invention belongs to the wireless location technology field, relate to a kind of in the intelligent space accurate wireless localization method of service robot.
Background technology
The continuous expansion of using along with Internet of Things and deeply, location-aware computing, location-based service seem more and more important, and be especially in intelligent space, more and more higher to the accurate positioning requirements of position.
At present, the indoor positioning technology adopts mostly based on received signal strength indicator RSSI(RSSI, Received singalstrength index) locator meams, namely utilize known transmit signal strength, receiving node is according to the signal intensity of receiving, calculate the loss of signal in communication process, use the signal propagation model of theory or experience that propagation loss is converted into distance.In wireless sensor network, in theory by 4 not at grade the RSSI information of node just can determine the locus of a unknown node, but be difficult to determine the size of compensation for the interior space environment (many such as tables and chairs) of complexity, thereby make bearing accuracy very low, can only reach the precision about 2-3 rice.
Also have some similar devices, thereby such as by RSSI and electronic compass location, obtain movement locus of object and RSSI data fusion positioning etc. and by modes such as ultrasound wave location by 3-axis acceleration sensor.
The ubiquitous problem of above localization method is that setting accuracy is not high, especially at some to the exigent occasion of setting accuracy, it is very outstanding that the limitation of these localization methods just seems, such as realizing pinpoint the time the service robot in the intelligent space, control is not finished corresponding operating well if setting accuracy reaches requirement, at this moment, if by the RSSI locator meams then do not reach other claimed accuracy of centimetre-sized, thereby can't realize the control to robot.Moreover, because the general more complicated of indoor environment, simultaneously because ultrasound wave can not pass object and hyperacoustic multipath transmisstion effect, so method for ultrasonic locating can not be applied in the location of complex indoor environment well.
Therefore, need at present a kind of method that can be implemented in the accurate wireless location in the intelligent space, thereby realize the location-based sensing service such as the control service robot.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of in the intelligent space accurate wireless localization method of service robot, adopt this wireless location method to can be implemented in other bearing accuracy of centimetre-sized in the complex indoor environment, thereby the home services robot can provide according to the positional information of pinpoint accuracy more more accurately services.
For achieving the above object, the invention provides following technical scheme:
A kind of in the intelligent space accurate wireless localization method of service robot, may further comprise the steps: step 1: beaconing nodes is set; Step 2: gather priori data, set up prior data bank and carry out models fitting; Step 3: the sighting distance relation of judging target to be positioned and beaconing nodes; Step 4: treat localizing objects and carry out Primary Location; Step 5: utilize ultrasound wave accurately to locate.
Further, beaconing nodes described in the step 1 comprises a receiving system, and this receiving system comprises radio frequency chip, ultrasonic sensor and singlechip controller; Radio frequency chip is used for gathering the radiofrequency signal of target to be positioned; Ultrasonic sensor is used for gathering the ultrasonic signal that target ultrasonic sensor to be positioned sends; Singlechip controller is used for the control signal receiving system; The quantity of beaconing nodes is determined according to the size reasonable of the interior space, so that beaconing nodes can be evenly arranged in the interior space.
Further, described target ultrasonic sensor to be positioned adopts 360 ° of hyperacoustic sensor US40KT-01 of emission, and the ultrasonic sensor on the beaconing nodes adopts 55 ° to 65 ° to receive hyperacoustic sensor TCT40-16R.
Further, the mode that step 2 adopts is: when in the room during without any article, the radiofrequency signal data that receive of the beaconing nodes in the measuring distance target 0.1m-10m to be positioned respectively, then between target to be positioned and beaconing nodes, place restraining mass, the radiofrequency signal data that receive of the beaconing nodes in the measuring distance target 0.1m-10m to be positioned respectively under the situation of restraining mass is arranged again, set up prior data bank according to above-mentioned data, and it is analyzed the relation that obtains between beaconing nodes received RF signal intensity and the position location, logarithm value according to the logarithm value of signal energy and distance is linear, by data are carried out linear fit, obtain signal energy in this room and distance under sighting distance and the relation under the non line of sight.
Further, described restraining mass adopts the plank of 3cm.
Further, judge the sighting distance relation of target to be positioned and beaconing nodes in the step 3 in the following ways: beaconing nodes is fixed on corner, flooring or the metope, get 10 points as measurement point to be positioned for every square metre, repeatedly measure each measurement point to be positioned with respect to radiofrequency signal τ time of arrival of each beaconing nodes, obtain each measurement point to be positioned with respect to average and the variance of radiofrequency signal τ time of arrival of each beaconing nodes, get each measurement point to be positioned with respect to the variance maximal value σ of radiofrequency signal τ time of arrival of each beaconing nodes
Max (i)As threshold value, σ
Max (i)Be i beaconing nodes with respect to the variance maximal value of radiofrequency signal τ time of arrival of each measurement point to be positioned, after measurement in, if repeatedly measure certain o'clock with respect to the variances sigma of radiofrequency signal τ time of arrival of i beaconing nodes
iGreater than σ
Max (i)Then be considered as non-line-of-sight propagation, and less than σ
Max (i)Be considered as line-of-sight propagation.
Further, treat localizing objects in the step 4 and carry out Primary Location in the following ways: at first by target emitting radio frequency signal to be positioned, each beaconing nodes gather respectively radiofrequency signal RSSI numerical value and time of arrival τ, calculate the variances sigma of τ, by the variances sigma with each beaconing nodes
iAnd σ
Max (i)Compare, thereby the propagation model under definite each beaconing nodes selection sighting distance or the propagation model under the non line of sight behind the preference pattern, can obtain the approximate distance of each beaconing nodes and destination node to be positioned by the rssi measurement value.
Further, utilize ultrasound wave accurately to locate the employing following steps in the step 5:
That a. determines to select in step 4 has the threshold value of the beaconing nodes received ultrasonic signal energy size of sighting distance with target to be positioned, its process is: the approximate distance that obtains target to be positioned and beaconing nodes by step 4, thereby determine the gain of ultrasonic sensor in the beaconing nodes and then the threshold value of definite received ultrasonic signal energy size according to the size of this distance;
B. ignore the ultrasonic signal less than threshold value, reduce the error that produces owing to the ultrasound wave multipath transmisstion;
C. realize the location based on the TDOA algorithm, its process is: after the beaconing nodes under the sighting distance receives the radiofrequency signal of target transmission to be positioned, start the timer of single-chip microcomputer, after receiving ultrasonic signal, stop timer, this timing t is hyperacoustic travel-time, and the distance L=340*t of beaconing nodes and localizing objects, range data is stored in the single-chip microcomputer, until the beaconing nodes under all sighting distances all find range finish after, the range data of storing in these beaconing nodes single-chip microcomputers can be carried out accurate position calculation by being wirelessly transmitted in the PC.
Beneficial effect of the present invention is: wireless location method of the present invention can be realized the accurate location of complex indoor environment, its precision can reach a centimetre rank, thereby the home services robot can provide according to the positional information of pinpoint accuracy more more accurately services.
Description of drawings
In order to make purpose of the present invention, technical scheme and beneficial effect clearer, the invention provides following accompanying drawing and describe:
Fig. 1 is the process flow diagram of wireless location method of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail.
Of the present invention in the intelligent space accurate wireless localization method of service robot adopt the RSSI data as assistant analysis, accurately locate with ultrasound wave, by measuring RSSI numerical values recited in the beaconing nodes, target location to be positioned according to a preliminary estimate, find out with target sighting distance to be positioned under beaconing nodes, according to the amplifier gain of ultrasound wave receiver module in the Primary Location location positioning beaconing nodes, accurately locate with the ultrasonic wave module in the beaconing nodes under the sighting distance simultaneously.
Fig. 1 is the process flow diagram of wireless location method of the present invention, and this wireless location method comprises five steps: step 1: beaconing nodes is set; Step 2: gather priori data, set up prior data bank and carry out models fitting; Step 3: the sighting distance relation of judging target to be positioned and beaconing nodes; Step 4: treat localizing objects and carry out Primary Location; Step 5: utilize ultrasound wave accurately to locate.
Beaconing nodes described in the step 1 comprises a receiving system, and this receiving system comprises radio frequency chip, ultrasonic sensor and singlechip controller; Radio frequency chip is used for gathering the radiofrequency signal of target to be positioned; Ultrasonic sensor is used for gathering the ultrasonic signal that target ultrasonic sensor to be positioned sends; Singlechip controller is used for the control signal receiving system; The quantity of beaconing nodes is determined according to the size reasonable of the interior space, so that beaconing nodes can be evenly arranged in the interior space.In the present embodiment, target ultrasonic sensor to be positioned adopts 360 ° of hyperacoustic sensor US40KT-01 of emission, and the ultrasonic sensor on the beaconing nodes adopts 55 ° to 65 ° to receive hyperacoustic sensor TCT40-16R.
In the present embodiment, the concrete mode that step 2 adopts is: when in the room during without any article, and the radiofrequency signal data that receive of the interior beaconing nodes of measuring distance target 0.1m-10m to be positioned respectively; Simultaneously, because generally in the interior space, desk, the thickness of each face of the furniture such as computer desk is usually about 3 centimetres, therefore in the present embodiment, between target to be positioned and beaconing nodes, place the plank of 3 cm thicks, and then the radiofrequency signal data that receive of the beaconing nodes in the measuring distance target 0.1m-10m to be positioned respectively, set up prior data bank according to above-mentioned data, and it is analyzed the relation that obtains between beaconing nodes received RF signal intensity and the position location, logarithm value according to the logarithm value of signal energy and distance is linear, by data are carried out linear fit, obtain signal energy in this room and distance under sighting distance and the relation under the non line of sight.
Judge the sighting distance relation of target to be positioned and beaconing nodes in the step 3 in the following ways: beaconing nodes is fixed on corner, flooring or the metope, get 10 points as measurement point to be positioned for every square metre, repeatedly measure each measurement point to be positioned with respect to radiofrequency signal τ time of arrival of each beaconing nodes, obtain each measurement point to be positioned with respect to average and the variance of radiofrequency signal τ time of arrival of each beaconing nodes, get each measurement point to be positioned with respect to the variance maximal value σ of radiofrequency signal τ time of arrival of each beaconing nodes
Max (i)As threshold value, σ
Max (i)Be i beaconing nodes with respect to the variance maximal value of radiofrequency signal τ time of arrival of each measurement point to be positioned, after measurement in, if repeatedly measure certain o'clock with respect to the variances sigma of radiofrequency signal τ time of arrival of i beaconing nodes
iGreater than σ
Max (i)Then be considered as non-line-of-sight propagation, and less than σ
Max (i)Be considered as line-of-sight propagation.
Treat localizing objects in the step 4 and carry out Primary Location in the following ways: at first by target emitting radio frequency signal to be positioned, each beaconing nodes gather respectively radiofrequency signal RSSI numerical value and time of arrival τ, calculate the variances sigma of τ, by the variances sigma with each beaconing nodes
iAnd σ
Max (i)Compare, thereby the propagation model under definite each beaconing nodes selection sighting distance or the propagation model under the non line of sight behind the preference pattern, can obtain the approximate distance of each beaconing nodes and destination node to be positioned by the rssi measurement value.
The step 5 of wireless location method of the present invention is to utilize ultrasound wave to realize accurately location, because ultrasound wave has reflectivity, so the ultrasound wave receiver module in the beaconing nodes may receive the ultrasonic signal in different paths, this is hyperacoustic multipath transmisstion problem.Because ultrasound wave is when Propagation, increase along with propagation distance, energy is decayed gradually, so by RSSI numerical values recited in the beaconing nodes, can obtain according to a preliminary estimate the approximate distance of target and beaconing nodes behind the target location, thereby determine the gain of ultrasound wave receiver module amplifier in the beaconing nodes according to the size of this distance, determine the threshold value of received ultrasonic signal energy size, to ignore the ultrasonic signal less than this threshold value, can greatly reduce the error that produces owing to the ultrasound wave multipath transmisstion like this, thereby reach pinpoint purpose.
In the present embodiment, utilize ultrasound wave accurately to locate the employing following steps in the step 5:
That a. determines to select in step 4 has the threshold value of the beaconing nodes received ultrasonic signal energy size of sighting distance with target to be positioned, its process is: the approximate distance that obtains target to be positioned and beaconing nodes by step 4, thereby determine the gain of ultrasonic sensor in the beaconing nodes and then the threshold value of definite received ultrasonic signal energy size according to the size of this distance;
B. ignore the ultrasonic signal less than threshold value, reduce the error that produces owing to the ultrasound wave multipath transmisstion;
C. realize the location based on the TDOA algorithm, its process is: after the beaconing nodes under the sighting distance receives the radiofrequency signal of target transmission to be positioned, start the timer of single-chip microcomputer, after receiving ultrasonic signal, stop timer, this timing t is hyperacoustic travel-time, and the distance L=340*t of beaconing nodes and localizing objects, range data is stored in the single-chip microcomputer, until the beaconing nodes under all sighting distances all find range finish after, the range data of storing in these beaconing nodes single-chip microcomputers can be carried out accurate position calculation by being wirelessly transmitted in the PC.
By above five steps, can realize the accurate location in the intelligent space, thereby provide accurate positional information for the wireless sensing service.
Explanation is at last, above preferred embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is described in detail by above preferred embodiment, but those skilled in the art are to be understood that, can make various changes to it in the form and details, and not depart from claims limited range of the present invention.
Claims (8)
1. the accurate wireless localization method of a service robot in the intelligent space is characterized in that: may further comprise the steps:
Step 1: beaconing nodes is set;
Step 2: gather priori data, set up prior data bank and carry out models fitting;
Step 3: the sighting distance relation of judging target to be positioned and beaconing nodes;
Step 4: treat localizing objects and carry out Primary Location;
Step 5: utilize ultrasound wave accurately to locate.
According to claim 1 in the intelligent space accurate wireless localization method of service robot, it is characterized in that: beaconing nodes described in the step 1 comprises a receiving system, and this receiving system comprises radio frequency chip, ultrasonic sensor and singlechip controller; Radio frequency chip is used for gathering the radiofrequency signal of target to be positioned; Ultrasonic sensor is used for gathering the ultrasonic signal that target ultrasonic sensor to be positioned sends; Singlechip controller is used for the control signal receiving system; The quantity of beaconing nodes is determined according to the size reasonable of the interior space, so that beaconing nodes can be evenly arranged in the interior space.
According to claim 2 in the intelligent space accurate wireless localization method of service robot, it is characterized in that: described target ultrasonic sensor to be positioned adopts 360 ° of hyperacoustic sensor US40KT-01 of emission, and the ultrasonic sensor on the beaconing nodes adopts 55 ° to 65 ° to receive hyperacoustic sensor TCT40-16R.
According to claim 1 in the intelligent space accurate wireless localization method of service robot, it is characterized in that: step 2 in the following ways: when in the room during without any article, the radiofrequency signal data that receive of the beaconing nodes in the measuring distance target 0.1m-10m to be positioned respectively, then between target to be positioned and beaconing nodes, place restraining mass, the radiofrequency signal data that receive of the beaconing nodes in the measuring distance target 0.1m-10m to be positioned respectively under the situation of restraining mass is arranged again, set up prior data bank according to above-mentioned data, and it is analyzed the relation that obtains between beaconing nodes received RF signal intensity and the position location, logarithm value according to the logarithm value of signal energy and distance is linear, by data are carried out linear fit, obtain signal energy in this room and distance under sighting distance and the relation under the non line of sight.
According to claim 4 in the intelligent space accurate wireless localization method of service robot, it is characterized in that: described restraining mass adopts the plank of 3cm.
According to claim 1 in the intelligent space accurate wireless localization method of service robot, it is characterized in that: judge the sighting distance relation of target to be positioned and beaconing nodes in the step 3 in the following ways: beaconing nodes is fixed on corner, flooring or the metope, get 10 points as measurement point to be positioned for every square metre, repeatedly measure each measurement point to be positioned with respect to radiofrequency signal τ time of arrival of each beaconing nodes, obtain each measurement point to be positioned with respect to average and the variance of radiofrequency signal τ time of arrival of each beaconing nodes, get each measurement point to be positioned with respect to the variance maximal value σ of radiofrequency signal τ time of arrival of each beaconing nodes
Max (i)As threshold value, σ
Max (i)Be i beaconing nodes with respect to the variance maximal value of radiofrequency signal τ time of arrival of each measurement point to be positioned, after measurement in, if repeatedly measure certain o'clock with respect to the variances sigma of radiofrequency signal τ time of arrival of i beaconing nodes
iGreater than σ
Max (i)Then be considered as non-line-of-sight propagation, and less than σ
Max (i)Be considered as line-of-sight propagation.
According to claim 6 in the intelligent space accurate wireless localization method of service robot, it is characterized in that: treat localizing objects in the step 4 and carry out Primary Location in the following ways: at first by target emitting radio frequency signal to be positioned, each beaconing nodes gather respectively radiofrequency signal RSSI numerical value and time of arrival τ, calculate the variances sigma of τ, by the variances sigma with each beaconing nodes
iAnd σ
Max (i)Compare, thereby the propagation model under definite each beaconing nodes selection sighting distance or the propagation model under the non line of sight behind the preference pattern, can obtain the approximate distance of each beaconing nodes and destination node to be positioned by the rssi measurement value.
According to claim 1 in 7 each described in the intelligent space accurate wireless localization method of service robot, it is characterized in that: utilize ultrasound wave accurately to locate the employing following steps in the step 5:
That a. determines to select in step 4 has the threshold value of the beaconing nodes received ultrasonic signal energy size of sighting distance with target to be positioned, its process is: the approximate distance that obtains target to be positioned and beaconing nodes by step 4, thereby determine the gain of ultrasonic sensor in the beaconing nodes and then the threshold value of definite received ultrasonic signal energy size according to the size of this distance;
B. ignore the ultrasonic signal less than threshold value, reduce the error that produces owing to the ultrasound wave multipath transmisstion;
C. realize the location based on the TDOA algorithm, its process is: after the beaconing nodes under the sighting distance receives the radiofrequency signal of target transmission to be positioned, start the timer of single-chip microcomputer, after receiving ultrasonic signal, stop timer, this timing t is hyperacoustic travel-time, and the distance L=340*t of beaconing nodes and localizing objects, range data is stored in the single-chip microcomputer, until the beaconing nodes under all sighting distances all find range finish after, the range data of storing in these beaconing nodes single-chip microcomputers can be carried out accurate position calculation by being wirelessly transmitted in the PC.
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| CN103777200A (en) * | 2013-12-16 | 2014-05-07 | 重庆大学 | RFID positioning node arrangement method for mobile robot, and RFID auxiliary positioning navigation method for mobile robot |
| CN104950300A (en) * | 2015-05-28 | 2015-09-30 | 北京科技大学 | TOA (time of arrival) range error correcting method and system based on visibility and non-visibility range judgement |
| CN105717485A (en) * | 2016-02-26 | 2016-06-29 | 北京邮电大学 | Indoor positioning method and device |
| CN106054648A (en) * | 2016-07-11 | 2016-10-26 | 张晶晶 | Ultrasonic mobile positioning and unspecified human voice recognition combined intelligent household control system |
| WO2017024673A1 (en) * | 2015-08-12 | 2017-02-16 | 西安斯凯智能科技有限公司 | Target positioning system and method based on radio frequency and binocular vision |
| CN106772229A (en) * | 2015-11-25 | 2017-05-31 | 华为技术有限公司 | Indoor orientation method and relevant device |
| CN106851820A (en) * | 2017-03-07 | 2017-06-13 | 西南石油大学 | A kind of localization method of downhole wireless sensing network |
| CN108243475A (en) * | 2016-12-26 | 2018-07-03 | 华为技术有限公司 | Identify the method and wireless device of sight line path |
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| CN109934031A (en) * | 2019-03-20 | 2019-06-25 | 中南大学 | The method and system of differentiation LOS/NLOS based on RFID system |
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| CN103777200A (en) * | 2013-12-16 | 2014-05-07 | 重庆大学 | RFID positioning node arrangement method for mobile robot, and RFID auxiliary positioning navigation method for mobile robot |
| CN104950300A (en) * | 2015-05-28 | 2015-09-30 | 北京科技大学 | TOA (time of arrival) range error correcting method and system based on visibility and non-visibility range judgement |
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| CN106851820B (en) * | 2017-03-07 | 2020-02-07 | 西南石油大学 | Positioning method of underground wireless sensor network |
| CN106851820A (en) * | 2017-03-07 | 2017-06-13 | 西南石油大学 | A kind of localization method of downhole wireless sensing network |
| CN111164448A (en) * | 2017-06-12 | 2020-05-15 | 所尼托技术股份公司 | Transmitting device for use in a position determination system |
| CN111164448B (en) * | 2017-06-12 | 2024-03-26 | 所尼托技术股份公司 | Transmitting apparatus for use in position determining system |
| CN109934031A (en) * | 2019-03-20 | 2019-06-25 | 中南大学 | The method and system of differentiation LOS/NLOS based on RFID system |
| CN110267342A (en) * | 2019-05-09 | 2019-09-20 | 南京工程学院 | Localization method based on WIFI under a kind of complex indoor scene |
| CN110267342B (en) * | 2019-05-09 | 2021-08-31 | 南京工程学院 | Positioning method based on WIFI in complex indoor scene |
| CN114364018A (en) * | 2021-12-24 | 2022-04-15 | 盒马(中国)有限公司 | Positioning method and device |
| CN114364018B (en) * | 2021-12-24 | 2023-10-13 | 盒马(中国)有限公司 | Positioning method and device |
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