CN103076592B - 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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- CN103076592B CN103076592B CN201210580755.4A CN201210580755A CN103076592B CN 103076592 B CN103076592 B CN 103076592B CN 201210580755 A CN201210580755 A CN 201210580755A CN 103076592 B CN103076592 B CN 103076592B
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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 wireless location technology field, relate to a kind of accurate wireless localization method towards service robot in intelligent space.
Background technology
Along with the continuous expansion of Internet of Things application and deeply, location-aware computing, location-based service seem more and more important, especially in intelligent space, more and more higher to the accurate positioning requirements of position.
At present, indoor positioning technology adopts mostly based on received signal strength indicator RSSI(RSSI, Received singalstrength index) locator meams, 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 complicated interior space environment (as many in tables and chairs), thereby make positioning precision very low, can only reach the precision of 2-3 rice left and right.
Also have some similarly to install, 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 need to realize pinpoint time the service robot in intelligent space, if setting accuracy does not reach requirement, control completes corresponding operating well, now, if by RSSI locator meams, do not reach other claimed accuracy of centimetre-sized, thereby cannot realize the control to robot.Moreover, due to 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 realize the accurate wireless location in intelligent space, thereby realize the location-based sensing service such as controlling service robot.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of accurate wireless localization method towards service robot in intelligent space, adopt this wireless location method can realize other positioning precision of centimetre-sized in complex indoor environment, thereby home services robot can provide more services more accurately according to the positional information of pinpoint accuracy.
For achieving the above object, the invention provides following technical scheme:
Towards an accurate wireless localization method for service robot in intelligent space, comprise the following 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 that judges 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 step 1 comprises a receiving system, and this receiving system comprises radio frequency chip, ultrasonic sensor and singlechip controller; Radio frequency chip is for gathering the radiofrequency signal of target to be positioned; The ultrasonic signal that ultrasonic sensor sends for gathering target ultrasonic sensor to be positioned; Singlechip controller is for 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 transmitting, and the ultrasonic sensor on beaconing nodes adopts 55 ° to 65 ° to receive hyperacoustic sensor TCT40-16R.
Further, the mode that step 2 adopts is: when in room during without any article, the radiofrequency signal data that beaconing nodes in measuring distance target 0.1m-10m to be positioned receives respectively, then between target to be positioned and beaconing nodes, place restraining mass, the radiofrequency signal data that beaconing nodes in measuring distance target 0.1m-10m to be positioned receives respectively in the situation that having restraining mass again, set up prior data bank according to above-mentioned data, and it is analyzed to the relation obtaining between beaconing nodes received RF signal intensity and position location, linear according to the logarithm value of the logarithm value of signal energy and distance, by data are carried out to linear fit, obtain signal energy and the relation of distance under sighting distance and under non line of sight in this room.
Further, described restraining mass adopts the plank of 3cm.
Further, in step 3, judge the sighting distance relation of target to be positioned and beaconing nodes in the following ways: beaconing nodes is fixed on corner, flooring or metope, get 10 points as measurement point to be positioned for every square metre, repeatedly measure the radiofrequency signal time of arrival τ of each measurement point to be positioned with respect to each beaconing nodes, obtain average and the variance of each measurement point to be positioned with respect to radiofrequency signal τ time of arrival of each beaconing nodes, get the variance maximal value σ of each measurement point to be positioned with respect to radiofrequency signal τ time of arrival of each beaconing nodes
max (i)as threshold value, σ
max (i)be the variance maximal value of i beaconing nodes with respect to radiofrequency signal τ time of arrival of each measurement point to be positioned, after measurement in, if repeatedly measure the variances sigma of certain o'clock with respect to radiofrequency signal τ time of arrival of i beaconing nodes
ibe greater than σ
max (i)be considered as non-line-of-sight propagation, and be less than σ
max (i)be considered as line-of-sight propagation.
Further, in step 4, treat localizing objects and carry out Primary Location in the following ways: 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 by the variances sigma of 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 non line of sight, after preference pattern, can obtain the approximate distance of each beaconing nodes and destination node to be positioned by rssi measurement value.
Further, in step 5, utilize ultrasound wave to carry out accurately location and adopt following steps:
A. determine in step 4, select have 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 beaconing nodes according to the size of this distance, and then the threshold value of definite received ultrasonic signal energy size;
B. ignore the ultrasonic signal that is less than threshold value, reduce the error producing due to ultrasound wave multipath transmisstion;
C. realize location based on TDOA algorithm, its process is: the beaconing nodes under sighting distance receives after 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 single-chip microcomputer, after the beaconing nodes under all sighting distances has all been found range, the range data of storing in these beaconing nodes single-chip microcomputers can be carried out to accurate position calculation by being wirelessly transmitted in 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 home services robot can provide more services more accurately according to the positional information of pinpoint accuracy.
Accompanying drawing explanation
In order to make object 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.
Accurate wireless localization method towards service robot in intelligent space of the present invention adopts RSSI data as assistant analysis, accurately locate with ultrasound wave, by measuring RSSI numerical values recited in beaconing nodes, target location to be positioned according to a preliminary estimate, find out with target sighting distance to be positioned under beaconing nodes, simultaneously according to the amplifier gain of ultrasound wave receiver module in Primary Location location positioning beaconing nodes, accurately locate by the ultrasonic wave module in beaconing nodes under sighting distance.
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 that judges 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 step 1 comprises a receiving system, and this receiving system comprises radio frequency chip, ultrasonic sensor and singlechip controller; Radio frequency chip is for gathering the radiofrequency signal of target to be positioned; The ultrasonic signal that ultrasonic sensor sends for gathering target ultrasonic sensor to be positioned; Singlechip controller is for 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 transmitting, and the ultrasonic sensor on 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 room during without any article, and the radiofrequency signal data that the beaconing nodes in measuring distance target 0.1m-10m to be positioned receives respectively, simultaneously, due to generally in the interior space, desk, the thickness of each face of the furniture such as computer desk is conventionally 3 centimetres of left and right, 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 the beaconing nodes in measuring distance target 0.1m-10m to be positioned receives respectively, set up prior data bank according to above-mentioned data, and it is analyzed to the relation obtaining between beaconing nodes received RF signal intensity and position location, linear according to the logarithm value of the logarithm value of signal energy and distance, by data are carried out to linear fit, obtain signal energy and the relation of distance under sighting distance and under non line of sight in this room.
In step 3, judge the sighting distance relation of target to be positioned and beaconing nodes in the following ways: beaconing nodes is fixed on corner, flooring or metope, get 10 points as measurement point to be positioned for every square metre, repeatedly measure the radiofrequency signal time of arrival τ of each measurement point to be positioned with respect to each beaconing nodes, obtain average and the variance of each measurement point to be positioned with respect to radiofrequency signal τ time of arrival of each beaconing nodes, get the variance maximal value σ of each measurement point to be positioned with respect to radiofrequency signal τ time of arrival of each beaconing nodes
max (i)as threshold value, σ
max (i)be the variance maximal value of i beaconing nodes with respect to radiofrequency signal τ time of arrival of each measurement point to be positioned, after measurement in, if repeatedly measure the variances sigma of certain o'clock with respect to radiofrequency signal τ time of arrival of i beaconing nodes
ibe greater than σ
max (i)be considered as non-line-of-sight propagation, and be less than σ
max (i)be considered as line-of-sight propagation.
In step 4, treat localizing objects and carry out Primary Location in the following ways: 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 by the variances sigma of 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 non line of sight, after preference pattern, can obtain the approximate distance of each beaconing nodes and destination node to be positioned by 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 beaconing nodes may receive the ultrasonic signal in different paths, this is hyperacoustic multipath transmisstion problem.Because ultrasound wave is in the time of Propagation, along with the increase of propagation distance, energy is decayed gradually, so by RSSI numerical values recited in beaconing nodes, behind target location, can obtain according to a preliminary estimate the approximate distance of target and beaconing nodes, thereby determine the gain of ultrasound wave receiver module amplifier in beaconing nodes according to the size of this distance, determine the threshold value of received ultrasonic signal energy size, the ultrasonic signal that is less than this threshold value will be ignored, can greatly reduce like this error producing due to ultrasound wave multipath transmisstion, thereby reach pinpoint object.
In the present embodiment, in step 5, utilize ultrasound wave to carry out accurately location and adopt following steps:
A. determine in step 4, select have 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 beaconing nodes according to the size of this distance, and then the threshold value of definite received ultrasonic signal energy size;
B. ignore the ultrasonic signal that is less than threshold value, reduce the error producing due to ultrasound wave multipath transmisstion;
C. realize location based on TDOA algorithm, its process is: the beaconing nodes under sighting distance receives after 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 single-chip microcomputer, after the beaconing nodes under all sighting distances has all been found range, the range data of storing in these beaconing nodes single-chip microcomputers can be carried out to accurate position calculation by being wirelessly transmitted in PC.
By above five steps, can realize the accurate location in intelligent space, thereby provide accurate positional information for wireless sensing service.
Finally explanation is, 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 the claims in the present invention book limited range.
Claims (1)
1. towards an accurate wireless localization method for service robot in intelligent space, comprise the following 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 that judges 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 step 1 comprises a receiving system, and this receiving system comprises radio frequency chip, ultrasonic sensor and singlechip controller; Radio frequency chip is for gathering the radiofrequency signal of target to be positioned; The ultrasonic signal that ultrasonic sensor sends for gathering target ultrasonic sensor to be positioned; Singlechip controller is for 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;
Described target ultrasonic sensor to be positioned adopts 360 ° of hyperacoustic sensor US40KT-01 of transmitting, and the ultrasonic sensor on beaconing nodes adopts 55 ° to 65 ° to receive hyperacoustic sensor TCT40-16R;
Step 2 is in the following ways: when in room during without any article, the radiofrequency signal data that beaconing nodes in measuring distance target 0.1m-10m to be positioned receives respectively, then between target to be positioned and beaconing nodes, place restraining mass, the radiofrequency signal data that beaconing nodes in measuring distance target 0.1m-10m to be positioned receives respectively in the situation that having restraining mass again, set up prior data bank according to above-mentioned data, and it is analyzed to the relation obtaining between beaconing nodes received RF signal intensity and position location, linear according to the logarithm value of the logarithm value of signal energy and distance, by data are carried out to linear fit, obtain signal energy and the relation of distance under sighting distance and under non line of sight in this room,
Described restraining mass adopts the plank of 3cm;
In step 3, judge the sighting distance relation of target to be positioned and beaconing nodes in the following ways: beaconing nodes is fixed on corner, flooring or metope, get 10 points as measurement point to be positioned for every square metre, repeatedly measure the radiofrequency signal time of arrival τ of each measurement point to be positioned with respect to each beaconing nodes, obtain average and the variance of each measurement point to be positioned with respect to radiofrequency signal τ time of arrival of each beaconing nodes, get the variance maximal value σ of each measurement point to be positioned with respect to radiofrequency signal τ time of arrival of each beaconing nodes
max (i)as threshold value, σ
max (i)be the variance maximal value of i beaconing nodes with respect to radiofrequency signal τ time of arrival of each measurement point to be positioned, after measurement in, if repeatedly measure the variances sigma of certain o'clock with respect to radiofrequency signal τ time of arrival of i beaconing nodes
ibe greater than σ
max (i)be considered as non-line-of-sight propagation, and be less than σ
max (i)be considered as line-of-sight propagation;
In step 4, treat localizing objects and carry out Primary Location in the following ways: 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 by the variances sigma of 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 non line of sight, after preference pattern, obtain the approximate distance of each beaconing nodes and destination node to be positioned by rssi measurement value;
It is characterized in that: in step 5, utilize ultrasound wave to carry out accurately location and adopt following steps:
A. determine in step 4, select have the beaconing nodes received ultrasonic signal of sighting distance with target to be positioned
The threshold value of energy size, its process is: obtain target to be positioned and beaconing nodes by step 4
Approximate distance, thus determine the gain of ultrasonic sensor in beaconing nodes according to the size of this distance,
And then the threshold value of definite received ultrasonic signal energy size;
B. ignore the ultrasonic signal that is less than threshold value, reduce the error producing due to ultrasound wave multipath transmisstion;
C. realize location based on TDOA algorithm, its process is: the beaconing nodes under sighting distance receives after 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 single-chip microcomputer, after the beaconing nodes under all sighting distances has all been found range, the range data of storing in these beaconing nodes single-chip microcomputers can be carried out to accurate position calculation by being wirelessly transmitted in PC.
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Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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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 |
| CN104950300B (en) * | 2015-05-28 | 2017-08-11 | 北京科技大学 | A kind of TOA range errors correcting method differentiated based on sighting distance and non line of sight and system |
| CN105182319A (en) * | 2015-08-12 | 2015-12-23 | 西安斯凯智能科技有限公司 | Target positioning system and target positioning method based on radio frequency and binocular vision |
| US20170131402A1 (en) * | 2015-11-06 | 2017-05-11 | Mitsubishi Electric Research Laboratories, Inc. | System and Method for Augmented Localization of WiFi Devices |
| CN106772229B (en) * | 2015-11-25 | 2020-02-14 | 华为技术有限公司 | Indoor positioning method and related equipment |
| CN105717485B (en) * | 2016-02-26 | 2020-11-20 | 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 |
| CN108243475B (en) * | 2016-12-26 | 2021-06-22 | 华为技术有限公司 | Positioning method based on wireless network and wireless equipment |
| CN106851820B (en) * | 2017-03-07 | 2020-02-07 | 西南石油大学 | Positioning method of underground wireless sensor network |
| US10908280B2 (en) * | 2017-06-12 | 2021-02-02 | Sonitor Technologies As | Transmitting device for use in location determination systems |
| CN109934031B (en) * | 2019-03-20 | 2021-09-21 | 中南大学 | LOS/NLOS distinguishing method and system based on RFID system |
| CN110267342B (en) * | 2019-05-09 | 2021-08-31 | 南京工程学院 | Positioning method based on WIFI in complex indoor scene |
| CN114364018B (en) * | 2021-12-24 | 2023-10-13 | 盒马(中国)有限公司 | Positioning method and device |
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| WO2006102844A1 (en) * | 2005-03-29 | 2006-10-05 | Matsushita Electric Industrial Co., Ltd. | A rssi and ultrasonic based hybrid ranging technology |
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