CN103501536B - A kind of radio node is to each other from dynamic acquisition method and radio node localization method - Google Patents
A kind of radio node is to each other from dynamic acquisition method and radio node localization method Download PDFInfo
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Abstract
The present invention relates to a kind of radio node to each other from dynamic acquisition method, based on N number of known to each other from reference to radio node, obtain and reference radio node is at the target Radio Node of the same area and with reference to the spacing between radio node, fully take into account the environment that need to position residing for target Radio Node, avoid the conventional needle static acquisition methods to radio node spacing, adopt dynamic acquisition method, substantially increase radio node to each other from acquisition precision; The invention still further relates to a kind of radio node localization method, adopt second positioning, first position with reference to radio node for fixing, again through obtaining target Radio Node and each wireless mode with reference to the spacing between road sign, final realization being accurately positioned target Radio Node, substantially increase the precision of location, it is to avoid the problem that in traditional method, location is difficult, signal receives is poor, precision is low.
Description
Technical field
The present invention relates to a kind of radio node to each other from dynamic acquisition method and radio node localization method.
Background technology
For many years, ubiquitous it is accurately positioned one of principal element of being always up hindering location-based individual service to develop. Existing alignment system and mechanism usually have great limitation. They otherwise need special hardware (such as GPS and A-GPS), it is impossible in most portable node dispose; Or cannot accomplish ubiquitous covering (such as, the region of the WIFI not disposed, the GPS location of shadow region, indoor positioning, or any and aerial gps satellite is absent from the region in directly visible path), or extremely inaccurate (such as, based on the location of wireless cellular network). Existing alignment system and method are all based on single radio node, the process positioning some radio node are kept apart with the process positioning other radio node (hereinafter referred to as " individual location "). Due to a single wireless device can wave point limited, and the restriction of the working method of each independent wave point, therefore there is significant limitation individual location.
Summary of the invention
For above-mentioned technical problem, the technical problem to be solved is to provide a kind of based on dynamic calibration, it is possible to be effectively improved radio node to each other from obtaining the radio node of precision to each other from dynamic acquisition method.
The present invention is to solve above-mentioned technical problem by the following technical solutions: the present invention devises a kind of radio node to each other from dynamic acquisition method, based on N number of known to each other from reference to radio node, N >=2, obtain and reference radio node is at the target Radio Node of the same area and with reference to the spacing between radio node, comprise the steps:
Step 001. N number of known to each other from reference in radio node, selecting k reference radio node as wireless reference road sign, 1��k < N;
It is individual with reference in radio node that step 002. obtains (N-k), and with reference to radio node, relative respectively by each, wireless to send the signal receiving strength matrix P of wireless signal with reference to road sign as follows for each:
Wherein, PiRepresent i-th with reference to radio node relative to each wireless signal receiving strength matrix sending wireless signal with reference to road sign, pijRepresent that i-th is with reference to the radio node signal receiving strength value that with reference to road sign send wireless signal wireless relative to jth, i={1 ..., N-k}, j={1 ..., k};
Step 003. is according to Q=RPT(PPT)-1, it is thus achieved that (N-k) is individual with reference in radio node, and each is with reference to the radio node transformation model Q relative to each wireless signal receiving strength value sending wireless signal with reference to road sign and spacing, wherein, and PTFor the transposed matrix of P, R is in (N-k) individual reference radio node, each reference radio node pitch matrix respectively and between each wireless reference road sign,RiRepresent that i-th is with reference to the pitch matrix between radio node and each wireless reference road sign, rijRepresent that i-th is wireless with reference to the spacing between road sign with reference to radio node and jth;
Step 004. obtains target Radio Node relatively by each wireless signal receiving strength value sending wireless signal with reference to road sign, the transformation model Q according to signal receiving strength value Yu spacing, it is thus achieved that target Radio Node is wireless with reference to the spacing between road sign relative to each.
As a preferred technical solution of the present invention: in described step 002, described wireless signal is cellular network communication signal or WIFI signal or Bluetooth signal or infrared signal or radiofrequency signal.
A kind of radio node of the present invention adopts above technical scheme compared with prior art from dynamic acquisition method to each other, has following technical effect that
(1) radio node of present invention design is to each other from dynamic acquisition method, fully take into account the environment that need to position residing for target Radio Node, based on target Radio Node be positioned at the same area N number of known to each other from reference to radio node, the dynamically accurate spacing obtained between target Radio Node and reference radio node, avoid the conventional needle static acquisition methods to radio node spacing, substantially increase radio node to each other from acquisition precision;
(2) radio node of present invention design is to each other from dynamic acquisition method, selection for wireless signal can adopt cellular network communication signal or WIFI signal or Bluetooth signal or infrared signal or radiofrequency signal etc., the all optional application of multiple wireless signal is in the method, effectively expand this method range of application so that this method can effectively adapt in more situation.
Corresponding to this, for above-mentioned technical problem, the technical problem to be solved is to provide one and obtains from dynamic calibration to each other based on radio node, adopts second positioning to realize pinpoint radio node localization method for target Radio Node.
The present invention is to solve above-mentioned technical problem by the following technical solutions: the present invention devises a kind of radio node localization method, need to have in the target Radio Node region of location N number of known to each other from reference to radio node, and it is N number of fixing with reference to radio node with reference to radio node has k, 1��k < N, radio node localization method comprises the steps:
Step 01. is fixed for k and is positioned with reference to radio node;
Step 02. selects k fixing reference radio node as wireless with reference to road sign, according to claim 1, radio node is to each other from dynamic acquisition method, obtaining target Radio Node and each is wireless with reference to the spacing between road sign, in claim 1, radio node is as follows from dynamic acquisition method to each other:
Step 001. selects k fixing reference radio node as wireless with reference to road sign, 1��k < N;
It is individual with reference in radio node that step 002. obtains (N-k), and with reference to radio node, relative respectively by each, wireless to send the signal receiving strength matrix P of wireless signal with reference to road sign as follows for each:
Wherein, PiRepresent i-th with reference to radio node relative to each wireless signal receiving strength matrix sending wireless signal with reference to road sign, pijRepresent that i-th is with reference to the radio node signal receiving strength value that with reference to road sign send wireless signal wireless relative to jth, i={1 ..., N-k}, j={1 ..., k};
Step 003. is according to Q=RPT(PPT)-1, it is thus achieved that (N-k) is individual with reference in radio node, and each is with reference to the radio node transformation model Q relative to each wireless signal receiving strength value sending wireless signal with reference to road sign and spacing, wherein, and PTFor the transposed matrix of P, R is in (N-k) individual reference radio node, each reference radio node pitch matrix respectively and between each wireless reference road sign,RiRepresent that i-th is with reference to the pitch matrix between radio node and each wireless reference road sign, rijRepresent that i-th is wireless with reference to the spacing between road sign with reference to radio node and jth;
Step 004. obtains target Radio Node relatively by each wireless signal receiving strength value sending wireless signal with reference to road sign, the transformation model Q according to signal receiving strength value Yu spacing, it is thus achieved that target Radio Node is wireless with reference to the spacing between road sign relative to each.
Step 03. is fixing with reference on the oriented basis of radio node at k, according to the spacing between target Radio Node and each wireless reference road sign, the position of location target Radio Node.
As a preferred technical solution of the present invention: in described step 01, adopt GPS or A-GPS or Big Dipper position location satellite to fix k and position with reference to radio node.
As a preferred technical solution of the present invention: in described step 03, according to the spacing between target Radio Node and each wireless reference road sign, adopt three-point fox method, the position of location target Radio Node.
A kind of radio node localization method of the present invention adopts above technical scheme compared with prior art, has following technical effect that
(1) radio node of present invention design is to each other from dynamic acquisition method, adopt second positioning, first position with reference to radio node for fixing in target Radio Node region, mode again through the spacing obtained between target Radio Node and each reference radio node, final realization being accurately positioned target Radio Node, substantially increase the precision of location, it is to avoid the problem that in traditional method, location is difficult, signal receives is poor, precision is low;
(2) radio node of present invention design is to each other from dynamic acquisition method, for one-time positioning, it is possible to adopt multiple satellite fix mode to position, be effectively increased the precision of one-time positioning, unlimited by the restriction of satellite fix mode;
(3) radio node of present invention design is to each other from dynamic acquisition method, obtain target Radio Node relative to each wireless reference road sign between spacing basis on, combining wireless, with reference to the location of road sign, substantially increases the final positioning precision for target Radio Node.
Accompanying drawing explanation
Fig. 1 be the present invention design radio node to each other from dynamic acquisition method and radio node localization method work structuring signal.
Detailed description of the invention
Below in conjunction with Figure of description, the specific embodiment of the present invention is described in further detail.
The present invention devises a kind of radio node to each other from dynamic acquisition method, based on N number of known to each other from reference to radio node, N >=2, it is thus achieved that and reference radio node is at the target Radio Node of the same area and with reference to the spacing between radio node, comprises the steps:
Step 001. N number of known to each other from reference in radio node, selecting k reference radio node as wireless reference road sign, 1��k < N;
It is individual with reference in radio node that step 002. obtains (N-k), and with reference to radio node, relative respectively by each, wireless to send the signal receiving strength matrix P of wireless signal with reference to road sign as follows for each:
Wherein, PiRepresent i-th with reference to radio node relative to each wireless signal receiving strength matrix sending wireless signal with reference to road sign, pijRepresent that i-th is with reference to the radio node signal receiving strength value that with reference to road sign send wireless signal wireless relative to jth, i={1 ..., N-k}, j={1 ..., k};
Obtaining (N-k) individual with reference in radio node, the pitch matrix R respectively and between each wireless reference road sign is as follows for each reference radio node:
Wherein, RiRepresent that i-th is with reference to the pitch matrix between radio node and each wireless reference road sign, rijRepresent that i-th is wireless with reference to the spacing between road sign with reference to radio node and jth;
According to pitch matrix R and signal receiving strength matrix P, individual wireless with reference to road sign with reference to each reference radio node in radio node and jth for (N-k), constitute the variance equation of transformed error between signal receiving strength value and spacing as follows:
Wherein, QjRepresent that each is with reference to the transformation model between radio node signal receiving strength value and the spacing sending wireless signal with reference to road sign wireless relative to jth;
Least squares optimization process is carried out, it is thus achieved that Q for equation (1)j=RjPT(PPT)-1, by QjIt is generalized to for all of wireless with reference to road sign, it is thus achieved that Q=RPT(PPT)-1;
Step 003. is according to Q=RPT(PPT)-1, it is thus achieved that (N-k) is individual with reference in radio node, and each is with reference to the radio node transformation model Q relative to each wireless signal receiving strength value sending wireless signal with reference to road sign and spacing, wherein, and PTTransposed matrix for P;
Step 004. obtains target Radio Node relatively by each wireless signal receiving strength value sending wireless signal with reference to road sign, the transformation model Q according to signal receiving strength value Yu spacing, it is thus achieved that target Radio Node is wireless with reference to the spacing between road sign relative to each.
The radio node of invention design is to each other from dynamic acquisition method, fully take into account the environment that need to position residing for target Radio Node, based on target Radio Node be positioned at the same area N number of known to each other from reference to radio node, the dynamically accurate spacing obtained between target Radio Node and reference radio node, avoid the conventional needle static acquisition methods to radio node spacing, substantially increase radio node to each other from acquisition precision.
As a preferred technical solution of the present invention: in described step 002, described wireless signal is cellular network communication signal or WIFI signal or Bluetooth signal or infrared signal or radiofrequency signal.
The radio node of present invention design is to each other from dynamic acquisition method, selection for wireless signal can adopt cellular network communication signal or WIFI signal or Bluetooth signal or infrared signal or radiofrequency signal etc., the all optional application of multiple wireless signal is in the method, effectively expand this method range of application so that this method can effectively adapt in more situation.
The present invention design radio node to each other from dynamic acquisition method in actual application, for N number of known to each other from reference to radio node, obtain and reference radio node is in the target Radio Node and the wireless process with reference to the spacing between road sign of the same area, radio node can be the cellular data signal base station in practical application, wireless signal base station, wireless routing, hands machine, notebooks etc. are fixed or on-fixed radio node, based on N number of known to each other from reference to radio node, and each is relative to each wireless signal receiving strength sending wireless signal with reference to road sign respectively with reference to radio node, owing to being positioned at the same area with reference to radio node and target Radio Node, so known to each other from reference between radio node, the signal receiving strength value of wireless signal and the relation of spacing can represent the relation of the signal receiving strength value of wireless signal and spacing under its region environment, closing to tie up to by this is applied on target Radio Node, can accurately obtain target Radio Node and wireless with reference to the spacing between road sign, no matter avoiding environment in traditional method, no matter it is regional, all adopt the method that the signal receiving strength value of unique wireless signal and the relation of spacing go to obtain radio node spacing, substantially increase target Radio Node and wireless with reference to the acquisition precision of spacing between road sign.
Corresponding to this, the present invention devises a kind of radio node localization method, need to have in the target Radio Node region of location N number of known to each other from reference to radio node, and it is N number of fixing with reference to radio node with reference to radio node has k, 1��k < N, radio node localization method comprises the steps:
Step 01. is fixed for k and is positioned with reference to radio node;
Step 02. selects k fixing reference radio node as wireless with reference to road sign, according to claim 1, radio node is to each other from dynamic acquisition method, obtaining target Radio Node and each is wireless with reference to the spacing between road sign, in claim 1, radio node is as follows from dynamic acquisition method to each other:
Step 001. selects k fixing reference radio node as wireless with reference to road sign, 1��k < N;
It is individual with reference in radio node that step 002. obtains (N-k), and with reference to radio node, relative respectively by each, wireless to send the signal receiving strength matrix P of wireless signal with reference to road sign as follows for each:
Wherein, PiRepresent i-th with reference to radio node relative to each wireless signal receiving strength matrix sending wireless signal with reference to road sign, pijRepresent that i-th is with reference to the radio node signal receiving strength value that with reference to road sign send wireless signal wireless relative to jth, i={1 ..., N-k}, j={1 ..., k};
Obtaining (N-k) individual with reference in radio node, the pitch matrix R respectively and between each wireless reference road sign is as follows for each reference radio node:
Wherein, RiRepresent that i-th is with reference to the pitch matrix between radio node and each wireless reference road sign, rijRepresent that i-th is wireless with reference to the spacing between road sign, i={1 ..., N-k}, j={1 ..., k} with reference to radio node and jth;
According to pitch matrix R and signal receiving strength matrix P, individual wireless with reference to road sign with reference to each reference radio node in radio node and jth for (N-k), constitute the variance equation of transformed error between signal receiving strength value and spacing as follows:
Wherein, QjRepresent that each is with reference to the transformation model between radio node signal receiving strength value and the spacing sending wireless signal with reference to road sign wireless relative to jth;
Least squares optimization process is carried out, it is thus achieved that Q for equation (1)j=RjPT(PPT)-1, by QjIt is generalized to for all of wireless with reference to road sign, it is thus achieved that Q=RPT(PPT)-1;
Step 003. is according to Q=RPT(PPT)-1, it is thus achieved that (N-k) is individual with reference in radio node, and each is with reference to the radio node transformation model Q relative to each wireless signal receiving strength value sending wireless signal with reference to road sign and spacing, wherein, and PTTransposed matrix for P;
Step 004. obtains target Radio Node relatively by each wireless signal receiving strength value sending wireless signal with reference to road sign, the transformation model Q according to signal receiving strength value Yu spacing, it is thus achieved that target Radio Node is wireless with reference to the spacing between road sign relative to each.
Step 03. is fixing with reference on the oriented basis of radio node at k, according to the spacing between target Radio Node and each wireless reference road sign, the position of location target Radio Node.
The radio node of present invention design is to each other from dynamic acquisition method, adopt second positioning, first position with reference to radio node for fixing in target Radio Node region, mode again through the spacing obtained between target Radio Node and each reference radio node, final realization being accurately positioned target Radio Node, substantially increase the precision of location, it is to avoid the problem that in traditional method, location is difficult, signal receives is poor, precision is low.
As a preferred technical solution of the present invention: in described step 01, adopt GPS or A-GPS or Big Dipper position location satellite to fix k and position with reference to radio node.
The radio node of present invention design is to each other from dynamic acquisition method, for one-time positioning, it is possible to adopt multiple satellite fix mode to position, be effectively increased the precision of one-time positioning, unlimited by the restriction of satellite fix mode.
As a preferred technical solution of the present invention: in described step 03, according to the spacing between target Radio Node and each wireless reference road sign, adopt three-point fox method, the position of location target Radio Node.
The radio node of present invention design is to each other from dynamic acquisition method, obtain target Radio Node relative to each wireless reference road sign between spacing basis on, combining wireless, with reference to the location of road sign, substantially increases the final positioning precision for target Radio Node.
As shown in Figure 1, a kind of radio node localization method of present invention design is in the middle of actual application, radio node can be the cellular data signal base station in practical application, wireless signal base station, wireless routing, hands machine, notebooks etc. are fixed or on-fixed radio node, wherein N number of known to each other from reference in radio node, have k fixing reference radio node, first pass through GPS or A-GPS or Big Dipper position location satellite fixing to position with reference to radio node described, select cellular data signal base station, wireless signal base station, the fixing reference radio node such as wireless routing is as wireless reference road sign, again based on need location target Radio Node region in have N number of known to each other from reference to radio node basis on, (N-k) is obtained individual with reference in radio node by dynamic approach, each is with reference to radio node and the wireless relation with reference to the signal receiving strength value of wireless signal between road sign with spacing, owing to the signal receiving strength value of this wireless signal and the relation of spacing can represent the relation of the signal receiving strength value of wireless signal and spacing under its region environment, closing to tie up to by this is applied on target Radio Node, can accurately obtain target Radio Node and wireless with reference to the spacing between road sign, no matter avoiding environment in traditional method, no matter it is regional, the signal receiving strength value of unique wireless signal and the relation of spacing is all adopted to go to obtain radio node and wireless with reference to the method for spacing between road sign, substantially increase target Radio Node and wireless with reference to the acquisition precision of spacing between road sign, the relatively wireless accurate location information with reference to road sign of target Radio Node can be accurately known on this basis by triangulation location, in conjunction with before fixing with reference to the oriented information of radio node, can accurately know the exact position of target Radio Node, the method more than adopting twice location can improve the positioning precision of target Radio Node, and overcome the shortcoming of location in prior art, as at occlusion area, satellite-signal is difficult to arrive or receive not good situation, use this method, can first position with reference to radio node for fixing, on this basis again through high-precision radio node spacing acquisition methods, until the hi-Fix of final goal radio node, the process that satellite positions is used for target in compared to existing technology, substantially increase the precision of location.
A kind of radio node localization method of present invention design is in the middle of actual application, owing to the position of the fixed wireless nodes such as cellular data signal base station, wireless signal base station, wireless routing can be by what the modes such as map accurately obtained, so for N number of known to each other from reference to radio node, select the fixed wireless nodes such as cellular data signal base station, wireless signal base station, wireless routing as wireless with reference to road sign, the positioning precision of target Radio Node may finally be greatly improved;Wherein, when after the spacing accurately known between target Radio Node and each wireless reference road sign, owing to the wireless position with reference to road sign is accurately known, natural target radio node is relatively wireless can be accurately obtained with reference to road sign position, and then can improve the positioning precision of final goal radio node.
The radio node localization method of present invention design improves conventional mapping methods, first positions with reference to radio node for fixing. Each radio node has different positioning functions, and to be positioned with other geographically or radio node after positioning is close. The present invention is based on such a reality, i.e. reciprocity discovery feature ubiquity between one group of local wireless node, including adopting WIFI, bluetooth, infrared ray, cellular network and RFID etc. By these short-range wireless communication signal, each radio node can determine that the distance relation between self local wireless node adjacent with other. According to the distance relation between radio node, the group of one group of radio node positions the independent individual location of relative individual node, has higher accuracy, availability, and practicality.
The alignment quality of one group of radio node is depended on accuracy and the promptness of distance between adjacent objects or radio node. The radio node of present invention design is to each other from dynamic acquisition method, it is possible to adapt to the change of actual environment, it is achieved the transformational relation between accurate measured value and distance in real time.
Above in conjunction with accompanying drawing, embodiments of the present invention are explained in detail, but the present invention is not limited to above-mentioned embodiment, in the ken that those of ordinary skill in the art possess, it is also possible to make a variety of changes under the premise without departing from present inventive concept.
Claims (5)
1. a radio node is to each other from dynamic acquisition method, it is characterized in that: based on N number of known to each other from reference to radio node, N >=2, it is thus achieved that and reference radio node is at the target Radio Node of the same area and with reference to the spacing between radio node, comprises the steps:
Step 001. N number of known to each other from reference in radio node, selecting k reference radio node as wireless reference road sign, 1��k < N;
It is individual with reference in radio node that step 002. obtains (N-k), and with reference to radio node, relative respectively by each, wireless to send the signal receiving strength matrix P of wireless signal with reference to road sign as follows for each:
Wherein, PiRepresent i-th with reference to radio node relative to each wireless signal receiving strength matrix sending wireless signal with reference to road sign, pijRepresent that i-th sends the signal receiving strength i={1 ... of wireless signal, N-k}, j={1 ..., k} with reference to radio node is wireless relative to jth with reference to road sign;
Step 003. is according to Q=RPT(PPT)-1, it is thus achieved that (N-k) is individual with reference in radio node, and each is with reference to the radio node transformation model Q relative to each wireless signal receiving strength value sending wireless signal with reference to road sign and spacing, wherein, and PTFor the transposed matrix of P, R is in (N-k) individual reference radio node, each reference radio node pitch matrix respectively and between each wireless reference road sign,RiRepresent that i-th is with reference to the pitch matrix between radio node and each wireless reference road sign, rijRepresent that i-th is wireless with reference to the spacing between road sign with reference to radio node and jth;
Step 004. obtains target Radio Node relatively by each wireless signal receiving strength value sending wireless signal with reference to road sign, the transformation model Q according to signal receiving strength value Yu spacing, it is thus achieved that target Radio Node is wireless with reference to the spacing between road sign relative to each.
2. according to claim 1 a kind of radio node to each other from dynamic acquisition method, it is characterised in that: in described step 002, described wireless signal is cellular network communication signal or WIFI signal or Bluetooth signal or infrared signal or radiofrequency signal.
3. a radio node localization method, it is characterized in that: need to have in the target Radio Node region of location N number of known to each other from reference to radio node, and it is N number of fixing with reference to radio node with reference to radio node has k, 1��k < N, radio node localization method comprises the steps:
Step 01. is fixed for k and is positioned with reference to radio node;
Step 02. selects k fixing reference radio node as wireless with reference to road sign, and radio node is to each other from dynamic acquisition method according to claim 1, obtains target Radio Node and each is wireless with reference to the spacing between road sign;
Step 03. is fixing with reference on the oriented basis of radio node at k, according to the spacing between target Radio Node and each wireless reference road sign, the position of location target Radio Node.
4. a kind of radio node localization method according to claim 3, it is characterised in that: in described step 01, adopt GPS or A-GPS or Big Dipper position location satellite fixing to position with reference to radio node k.
5. a kind of radio node localization method according to claim 3, it is characterised in that: in described step 03, according to target Radio Node and each is wireless with reference to the spacing between road sign, adopt three-point fox method, the position of location target Radio Node.
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| US7536482B1 (en) * | 2003-02-04 | 2009-05-19 | Cisco Technology, Inc. | Methods and devices for enabling a mobile network device to select a foreign agent |
| CN101576615A (en) * | 2008-05-05 | 2009-11-11 | 北京银易通网络科技有限公司 | System and method model for hybrid positioning of WSN |
| CN102707259A (en) * | 2012-06-15 | 2012-10-03 | 广州市香港科大霍英东研究院 | Signal intensity-based multi-object positioning method in dynamic environment |
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| US7536482B1 (en) * | 2003-02-04 | 2009-05-19 | Cisco Technology, Inc. | Methods and devices for enabling a mobile network device to select a foreign agent |
| CN101576615A (en) * | 2008-05-05 | 2009-11-11 | 北京银易通网络科技有限公司 | System and method model for hybrid positioning of WSN |
| CN102707259A (en) * | 2012-06-15 | 2012-10-03 | 广州市香港科大霍英东研究院 | Signal intensity-based multi-object positioning method in dynamic environment |
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