CN103969625A - Wireless positioning method - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/28—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
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Abstract
本发明提供了一种无线定位方法，属于无线定位领域。所述方法涉及的实体包括待测点和至少三个固定点，将所有固定点设置在一个平面上，分别使用WIFI网络下不同的IP控制指令，测量出待测点与各个固定点的距离，然后通过这些距离确定待测点的位置。本发明方法适用的区域范围较小且要求无阻隔，提高了精度，降低了成本，为无线定位技术的应用提供了很好的补充。
The invention provides a wireless positioning method and belongs to the field of wireless positioning. The entities involved in the method include a point to be measured and at least three fixed points, all the fixed points are set on a plane, and different IP control commands under the WIFI network are used to measure the distance between the point to be measured and each fixed point, Then use these distances to determine the position of the point to be measured. The applicable area of the method of the invention is small and no barrier is required, the accuracy is improved, the cost is reduced, and a good supplement is provided for the application of the wireless positioning technology.
Description
技术领域technical field
本发明属于无线定位领域，具体涉及一种无线定位方法。The invention belongs to the field of wireless positioning, and in particular relates to a wireless positioning method.
背景技术Background technique
当今社会，无线定位技术有多种，因为无线定位的区域范围和使用的场所各有不同，因此无线定位的方式的差别也很大。比如要实现广域范围且精度不高的无线定位，可以选择使用卫星定位。诸如美国GPS定位，俄罗斯“格洛纳斯”定位，以及中国的北斗定位。要实现一个较大范围的区域定位(2-10平方公里)，精度在分米级甚至2厘米以内的定位可以使用差分卫星定位加惯性定位的技术。对于有阻隔的室内环境且要求精度不高的定位，可以采用WLAN加RFID的定位技术。In today's society, there are many kinds of wireless positioning technologies, because the range of wireless positioning and the places where it is used are different, so the ways of wireless positioning are also very different. For example, to achieve wide-area wireless positioning with low accuracy, you can choose to use satellite positioning. Such as US GPS positioning, Russia's "Glonass" positioning, and China's Beidou positioning. To achieve a larger range of regional positioning (2-10 square kilometers), the positioning accuracy at the decimeter level or even within 2 cm can use the technology of differential satellite positioning plus inertial positioning. For positioning in an isolated indoor environment and requiring low precision, the positioning technology of WLAN and RFID can be used.
发明内容Contents of the invention
本发明的目的在于解决上述现有技术中存在的难题，提供一种无线定位方法。The purpose of the present invention is to solve the above problems in the prior art and provide a wireless positioning method.
本发明是通过以下技术方案实现的：The present invention is achieved through the following technical solutions:
一种无线定位方法，所述方法涉及的实体包括待测点和至少三个固定点，将所有固定点设置在一个平面上，分别使用WIFI网络下不同的IP控制指令，测量出待测点与各个固定点的距离，然后通过这些距离确定待测点的位置。A wireless positioning method. The entities involved in the method include a point to be measured and at least three fixed points. All the fixed points are arranged on a plane, and different IP control commands under the WIFI network are used respectively to measure the distance between the point to be measured and the fixed point. The distance between each fixed point, and then determine the position of the point to be measured by these distances.
所述测量出待测点与各个固定点的距离是这样实现的：The measurement of the distance between the point to be measured and each fixed point is achieved in this way:
第一步：待测点使用WIFI网络向固定点发送IP控制指令，并记录指令发送的时间TIME1。Step 1: The point to be tested uses the WIFI network to send an IP control command to the fixed point, and record the time TIME1 when the command is sent.
第二步：固定点在接收到来自WIFI的IP指令后，向待测点发送超声波。Step 2: After the fixed point receives the IP command from WIFI, it sends ultrasonic waves to the point to be measured.
第三步：待测点接收到超声波信号，并记录接收到超声波的时间TIME2。Step 3: The point to be measured receives the ultrasonic signal, and records the time TIME2 when the ultrasonic wave is received.
第四步：待测点计算待测点与该固定点的距离，超声波在空气中的传输速度为：V空气＝340米/秒。因此两者之间的距离为：S＝V空气*(TIME2-TIME1)；Step 4: The point to be measured calculates the distance between the point to be measured and the fixed point, and the transmission speed of the ultrasonic wave in the air is: V air = 340 m/s. So the distance between the two is: S= Vair *(TIME2-TIME1);
对每个固定点重复上面四个步骤，获得待测点与各个固定点的距离。Repeat the above four steps for each fixed point to obtain the distance between the point to be measured and each fixed point.
测量点与各个固定点之间的通讯是采用不同的发射频率和接收频率的。The communication between the measuring point and each fixed point adopts different transmitting frequency and receiving frequency.
所述通过这些距离确定待测点的位置是这样实现的：The determination of the position of the point to be measured by these distances is achieved in this way:
分别以各个固定点为球心，以测量点到该固定点的距离为半径画球，通过各个球体的交点求得待测点的位置。Take each fixed point as the center of the sphere, draw a sphere with the distance from the measurement point to the fixed point as the radius, and obtain the position of the point to be measured through the intersection of each sphere.
对于三个固定点的情况，三个球体相交于两点，所计算的待测点位于固定点所在的平面之下，在得到两个交点的坐标值后，将位于固定点所在平面之上的交点舍弃，剩下的交点的坐标值即为待测点的位置。For the case of three fixed points, the three spheres intersect at two points, and the calculated point to be measured is located below the plane where the fixed points are located. After obtaining the coordinate values of the two intersection points, it will be located on the plane where the fixed points are located. The intersection point is discarded, and the coordinate value of the remaining intersection point is the position of the point to be measured.
所述方法在所述待测点上的单片机设有存储功能和计算功能，求得待测点的位置是通过待测点上的单片机完成的。In the method, the single-chip microcomputer on the point to be measured is provided with a storage function and a calculation function, and the position of the point to be measured is obtained through the single-chip microcomputer on the point to be measured.
所述方法中求得待测点的位置是通过数据中心完成的，即待测点将与固定点的距离数据传送到数据中心，由数据中心完成计算。In the method, the position of the point to be measured is obtained through the data center, that is, the distance data between the point to be measured and the fixed point is transmitted to the data center, and the calculation is completed by the data center.
每次采集的数据通过所述应用程序服务器进行计算然后将待测点的坐标信息存入数据库服务器中。The data collected each time is calculated by the application program server and then the coordinate information of the points to be measured is stored in the database server.
与现有技术相比，本发明的有益效果是：本发明采用超声波的无线定位技术，其适用范围是区域在20*20米的范围且其精度达到3毫米。与现有的定位技术相比较，本发明方法适用的区域范围较小且要求无阻隔，提高了精度，降低了成本，为无线定位技术的应用提供了很好的补充。Compared with the prior art, the beneficial effect of the present invention is that the present invention adopts ultrasonic wireless positioning technology, and its application range is within the range of 20*20 meters and its accuracy reaches 3 millimeters. Compared with the existing positioning technology, the applicable area of the method of the present invention is small and requires no barrier, improves the accuracy, reduces the cost, and provides a good supplement for the application of the wireless positioning technology.
附图说明Description of drawings
图1是定位原理图。Figure 1 is a schematic diagram of positioning.
图2是本发明方法的步骤框图。Fig. 2 is a block diagram of the steps of the method of the present invention.
具体实施方式Detailed ways
下面结合附图对本发明作进一步详细描述：Below in conjunction with accompanying drawing, the present invention is described in further detail:
本发明的原理如图1所示，超声波定位原理与GPS定位原理类似。在需要进行定位的区域内设置至少三个已知位置的固定点分别为O、E、F。图1中D点为需要被测定位置的点。如果位于D点的待定位物体可以获得线段DE、DF、DO的距离，根据三点定位原理，可以准确得到D点的位置。本文通过不同频率超声波收发的机制测定DE、DO、DF的距离。The principle of the present invention is shown in Fig. 1, and the ultrasonic positioning principle is similar to the GPS positioning principle. Set at least three fixed points with known positions in the area that needs to be positioned, namely O, E, and F. Point D in Figure 1 is the point that needs to be measured. If the object to be positioned at point D can obtain the distances of line segments DE, DF, DO, the position of point D can be accurately obtained according to the principle of three-point positioning. In this paper, the distances of DE, DO and DF are measured through the mechanism of sending and receiving ultrasonic waves at different frequencies.
已知的多数超声波定位为反射式定位方式来测定发射源和物体之间的距离，如倒车雷达，室内借助墙壁定位等。本文采用的是多发射源的机制，不采用反射方式。现以DE点之间距离测定为例进行说明。Most known ultrasonic positioning is a reflective positioning method to measure the distance between the emission source and the object, such as reversing radar, indoor positioning with the help of walls, etc. This paper adopts the mechanism of multiple emission sources instead of reflection. Now take the distance measurement between DE points as an example to illustrate.
第一步：D点使用WIFI网络向E点发送IP控制指令，并记录指令发送的时间TIME1。Step 1: Point D uses the WIFI network to send an IP control command to Point E, and records the time TIME1 when the command was sent.
第二部：E点在接收到来自WIFI的IP指令后，向D点发送超声波。The second part: Point E sends ultrasound to point D after receiving the IP command from WIFI.
第三部：D点接受到超声波信号，并记录接收到超声波的时间TIME2。The third part: point D receives the ultrasonic signal, and records the time TIME2 when the ultrasonic wave is received.
第四步：D点计算DE的距离，超声波在空气中的传输速度为：V空气＝340米/秒。因此DE之间的距离为：SDE＝V空气*(TIME2-TIME1)。Step 4: Calculate the distance of DE at point D, and the transmission speed of ultrasonic waves in the air is: V air = 340 m/s. Therefore the distance between DE is: S DE = Vair *(TIME2-TIME1).
按照以上四步的做法可以分别使用WIFI网络下不同的IP指令测量出SDO＝DO、SDF＝DF的距离。所有发射和接收频率都不能相同，以免产生混乱。According to the above four steps, the distances of S DO =DO and S DF =DF can be measured by using different IP commands under the WIFI network respectively. All transmit and receive frequencies must not be the same to avoid confusion.
分别以O、E、F为球心，SDO，SDE，SDF为半径画球。三个球体相交于两点，进行定位的固定点设置在一个平面，所计算的待检测点D位于固定点之下，在利用公式进行计算后得到两个坐标值，其中一个坐标的Z坐标大于固定点坐标，则将该组坐标信息舍弃，剩下的点即为被定位的D点。Draw a sphere with O, E, F as the center and S DO , S DE , S DF as the radius. Three spheres intersect at two points, and the fixed point for positioning is set on a plane. The calculated point D to be detected is located below the fixed point. After calculation using the formula, two coordinate values are obtained, and the Z coordinate of one coordinate is greater than If the coordinates of the fixed point are fixed, the set of coordinate information is discarded, and the remaining point is the positioned D point.
理论上来说通过三个固定点就可以判定图1中D点的位置，但为了提高定位的精度，往往设置的固定点超过三个，原则上固定点越多，测量的精度越高。经过实验设置4个固定点进行定位，精度可达3毫米左右。可以满足一般定位的需要。Theoretically speaking, the position of point D in Figure 1 can be determined by three fixed points. However, in order to improve the positioning accuracy, more than three fixed points are often set. In principle, the more fixed points, the higher the measurement accuracy. After setting 4 fixed points for positioning through experiments, the accuracy can reach about 3 mm. Can meet the needs of general positioning.
D点的设备采用单片机和超声波发射模块和超声波接收模块构成。The equipment at point D is composed of single-chip microcomputer, ultrasonic transmitting module and ultrasonic receiving module.
三点定位的计算如下：The three-point positioning is calculated as follows:
如图1所示，设定O点的已知坐标为O(x1，y1，z1)，E点的坐标为E(x2，y2，z2)，F点的坐标为F(x3，y3，z3)。未知点D的坐标为D(x，y，z)。设O点到D点的距离为S1，E点到D点的距离为S2，F点到D点的距离为S3。则三个已知点和一个未知点满足下列方程。As shown in Figure 1, set the known coordinates of point O as O(x1, y1, z1), the coordinates of point E as E(x2, y2, z2), and the coordinates of point F as F(x3, y3, z3 ). The coordinates of the unknown point D are D(x,y,z). Suppose the distance from point O to point D is S1, the distance from point E to point D is S2, and the distance from point F to point D is S3. Then three known points and one unknown point satisfy the following equation.
(x-x1)2+(y-y1)2+(z-z1)2＝S12 (1)(x-x1) 2 +(y-y1) 2 +(z-z1) 2 ＝S1 2 (1)
(x-x2)2+(y-y2)2+(z-z2)2＝S22 (2)(x-x2) 2 +(y-y2) 2 +(z-z2) 2 ＝S2 2 (2)
(x-x3)2+(y-y3)2+(z-z3)2＝S32 (3)(x-x3) 2 +(y-y3) 2 +(z-z3) 2 ＝S3 2 (3)
求解方程组(1)(2)(3)。可计算出未知点D的坐标值。从而实现定位。进行定位的固定点设置在一个平面，所计算的待检测点D位于固定点之下，在利用公式进行计算后得到两个坐标值，其中一个坐标的Z坐标大于固定点坐标，则将该组坐标信息舍弃。Solve the system of equations (1)(2)(3). The coordinate value of the unknown point D can be calculated. So as to achieve positioning. The fixed point for positioning is set on a plane, and the calculated point D to be detected is located below the fixed point. After calculating with the formula, two coordinate values are obtained, and the Z coordinate of one of the coordinates is greater than the coordinate of the fixed point. The coordinate information is discarded.
为了纠正误差，使得对于D点位置的计算更加精确。可加入多个已知固定点的机制。设定第四个已知固定点G的坐标为G(x4，y4，z4)，G点到D点的距离为S4。则满足如下方程：In order to correct the error, the calculation of the position of point D is made more accurate. Mechanisms for multiple known fixpoints can be added. Set the coordinates of the fourth known fixed point G as G(x4, y4, z4), and the distance from point G to point D as S4. Then the following equation is satisfied:
(x-x4)2+(y-y4)2+(z-z4)2＝S42 (4)(x-x4) 2 +(y-y4) 2 +(z-z4) 2 ＝S4 2 (4)
分别构成方程组(1)(2)(3)、(1)(2)(4)、(1)(3)(4)、(2)(3)(4)。对上述方程组进行求解得到四组D点的坐标值(x’，y’，z’)，(x”，y”，z”)，(x’”，y’”，z’”)，(x””，y””，z””)。则D的实际坐标通过对上述四组坐标值求算术平均得到。如公式(6)、(7)、(8)。Constitute equations (1)(2)(3), (1)(2)(4), (1)(3)(4), (2)(3)(4) respectively. Solve the above equations to get four sets of coordinate values of point D (x', y', z'), (x", y", z"), (x'", y'", z'"), (x"", y"", z""). Then the actual coordinates of D are obtained by calculating the arithmetic mean of the above four sets of coordinate values. Such as formula (6), (7), (8).
由于超声波传感器很难做到通过频率来区分不提供发射点，所以本发明引入了WIFI机制。使用无线WIFI的最大好处在于，定位点D上的设备可以做到最简。对于D点的位置计算也可由上位机来完成。因为WIFI采用802.1g无线电磁波传送，其传播速度为光速，相对超声波的传送速度，其耗时可以忽略不计。其定位流程如图2所示。Since it is difficult for the ultrasonic sensor to distinguish by frequency without providing a transmission point, the present invention introduces a WIFI mechanism. The biggest advantage of using wireless WIFI is that the equipment on the anchor point D can be kept as simple as possible. The calculation of the position of point D can also be done by the host computer. Because WIFI uses 802.1g wireless electromagnetic wave transmission, its propagation speed is the speed of light, and compared with the transmission speed of ultrasonic waves, its time-consuming can be ignored. Its positioning process is shown in Figure 2.
对于D点位置的计算，按照实际需要分为两种方式，第一种是通过D点设备计算D点坐标(这种方式不需要数据中心)。第二种是将与固定点的距离数据传送到上位机。由上位机进行计算。第一种方式需要D点上的单片机系统具有存储和计算功能，如果需要图形化显示还要加载地图信息。如果在实际使用中不能在D点加载高处理性能的计算机系统，则可选择使用第二种方式。For the calculation of the position of the D point, there are two methods according to the actual needs. The first is to calculate the coordinates of the D point through the D point device (this method does not require a data center). The second is to transmit the distance data with the fixed point to the host computer. Calculated by the host computer. The first method requires the single-chip microcomputer system on point D to have storage and calculation functions, and map information must be loaded if graphical display is required. If a computer system with high processing performance cannot be loaded at point D in actual use, the second method can be selected.
数据库中存储基础信息和定时采集的位置信息数据，基础数据包括地图信息；已设置的固定点的坐标信息、IP地址等信息。定时采集的位置信息包括未知点的IP地址、每次定位的时间、坐标信息等。每次采集的数据通过应用程序服务器进行计算然后将待测点的坐标信息存入数据库。应用程序服务器上可建立B/S程序，用户在终端可通过浏览器实时监测待测点的位置信息和行动轨迹。The database stores basic information and location information data collected regularly. The basic data includes map information; coordinate information of fixed points that have been set, IP addresses and other information. The location information collected regularly includes the IP address of the unknown point, the time of each positioning, coordinate information, etc. The data collected each time is calculated by the application server and then the coordinate information of the points to be measured is stored in the database. The B/S program can be established on the application server, and the user can monitor the location information and action track of the point to be measured in real time through the browser on the terminal.
待测点和数据中心采用TCP/IP方式进行通信、为确保定位数据的送达，采用的是面向连接的TCP协议进行传送、数据中心的应用程序服务器为服务端开启监听服务，待测点为客户端。The point to be tested and the data center communicate using TCP/IP. In order to ensure the delivery of positioning data, the connection-oriented TCP protocol is used for transmission. The application server in the data center starts the monitoring service for the server. The point to be tested is client.
超声波的传输距离跟超声波发生器的功率相关，因为超声波的传输距离有限，该系统不适合广域范围的定位。如果待测点的活动范围较大可采用多建立固定点的方法来扩大使用面积。理论上来说只要固定点的设置范围不超过WIFI网络的覆盖范围就可以实现定位，但是在实际应用中，固定点数量的增多也会增加固定点网络性能检测和位置数据计算的负担。The ultrasonic transmission distance is related to the power of the ultrasonic generator, because the ultrasonic transmission distance is limited, the system is not suitable for wide-area positioning. If the activity range of the points to be measured is large, the method of establishing more fixed points can be adopted to expand the use area. Theoretically, positioning can be achieved as long as the setting range of fixed points does not exceed the coverage of the WIFI network, but in practical applications, the increase in the number of fixed points will also increase the burden of fixed point network performance detection and location data calculation.
上述技术方案只是本发明的一种实施方式，对于本领域内的技术人员而言，在本发明公开了应用方法和原理的基础上，很容易做出各种类型的改进或变形，而不仅限于本发明上述具体实施方式所描述的方法，因此前面描述的方式只是优选的，而并不具有限制性的意义。The above-mentioned technical solution is only an embodiment of the present invention. For those skilled in the art, on the basis of the application methods and principles disclosed in the present invention, it is easy to make various types of improvements or deformations, and is not limited to The methods described in the above specific embodiments of the present invention, therefore, the above-described methods are only preferred and not limiting.
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| CN105203996A (en) * | 2015-09-16 | 2015-12-30 | 上海智臻智能网络科技股份有限公司 | Mobile device and indoor positioning method, system and device as well as anchor nodes thereof |
| CN106249263A (en) * | 2016-07-06 | 2016-12-21 | 北京南科大蓝色科技有限公司 | A kind of high-precision point positioning method based on electronic chart |
| CN106291463A (en) * | 2016-07-27 | 2017-01-04 | 南京崇山通信科技有限公司 | A kind of indoor orientation method combined based on WiFi and sound wave |
| CN106570925A (en) * | 2016-10-25 | 2017-04-19 | 北京强度环境研究所 | General 3D model rendering method |
| CN107290723A (en) * | 2017-06-22 | 2017-10-24 | 北京地平线信息技术有限公司 | Sound localization method, device and electronic equipment |
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| CN118731849A (en) * | 2024-08-02 | 2024-10-01 | 天津卓大科技发展集团有限公司 | A method and device for rapid location of earthquake source based on earthquake data |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105203996A (en) * | 2015-09-16 | 2015-12-30 | 上海智臻智能网络科技股份有限公司 | Mobile device and indoor positioning method, system and device as well as anchor nodes thereof |
| CN108139460A (en) * | 2015-12-07 | 2018-06-08 | 谷歌有限责任公司 | Coordinate alignment system using the cloud of ultrasonic pulse and radio signal |
| CN106249263A (en) * | 2016-07-06 | 2016-12-21 | 北京南科大蓝色科技有限公司 | A kind of high-precision point positioning method based on electronic chart |
| CN106291463A (en) * | 2016-07-27 | 2017-01-04 | 南京崇山通信科技有限公司 | A kind of indoor orientation method combined based on WiFi and sound wave |
| CN106291463B (en) * | 2016-07-27 | 2018-10-23 | 南京崇山通信科技有限公司 | A kind of indoor orientation method combined based on WiFi and sound wave |
| CN106570925A (en) * | 2016-10-25 | 2017-04-19 | 北京强度环境研究所 | General 3D model rendering method |
| CN107290723A (en) * | 2017-06-22 | 2017-10-24 | 北京地平线信息技术有限公司 | Sound localization method, device and electronic equipment |
| CN107290723B (en) * | 2017-06-22 | 2019-11-05 | 北京地平线信息技术有限公司 | Sound localization method, device and electronic equipment |
| CN107846721A (en) * | 2017-10-23 | 2018-03-27 | 林楚莲 | A kind of alignment system and its method based on Wi Fi direct-connecting technologies |
| CN109462851A (en) * | 2018-12-28 | 2019-03-12 | 北京奇安信科技有限公司 | Fishing hot spot detecting method, device, electronic equipment and storage medium |
| CN118731849A (en) * | 2024-08-02 | 2024-10-01 | 天津卓大科技发展集团有限公司 | A method and device for rapid location of earthquake source based on earthquake data |
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