CN104010274B - A kind of indoor wireless positioning method based on route matching - Google Patents
A kind of indoor wireless positioning method based on route matching Download PDFInfo
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- 230000009897 systematic effect Effects 0.000 claims abstract description 10
- 238000005070 sampling Methods 0.000 claims description 12
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 abstract description 4
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Abstract
The present invention provides a kind of indoor wireless positioning method based on route matching, comprises the following steps：Mobile route is predefined；Mobile route is tracked；Mobile route is matched；Systematic error is modified, final indoor positioning result is obtained.The present invention solve indoor wireless positioning it is high-precision, anti-interference the problems such as, for being accurately positioned for office work personnel or robot, mobile route is tracked and matched, alarm is sent when personnel or robot are strayed into danger zone, is particularly suitable for requirement of the power equipment inspection to positioning accuracy and anti-interference.
Description
Technical field
The present invention relates to a kind of localization method, in particular to a kind of local scope indoors, to according to fixed route
The method that mobile personnel or robot carry out accurate wireless positioning.
Background technology
Accurate guiding and positioning in industry park plan environment and overhaul of the equipments operation, effectively can prevent staff from missing
Enter danger zone, guarantee personal safety.Main location technology is the satellite fix based on GPS, the Big Dipper at present, but satellite fix
Larger by ambient influnence where terminal, when user is indoors or during underground, positioning precision will be substantially reduced, or even can not be completed
Positioning.Super wideband wireless (UWB) technology is the indoor high precision wireless location technology proposed in recent years, with up to nanosecond rank
Time resolution, with reference to the location algorithm based on arrival time, the positioning precision of Centimeter Level can be obtained in theory, can be with
Meet the location requirement of commercial Application.
Compared with outdoor environment, office work environment is increasingly complex.Multipath transmisstion in UWB signal communication process, non-regard
It is the main reason that positioning precision declines away from propagation, in power equipment inspection application, positioning precision of the electromagnetic interference to UWB
It will also result in certain influence.Above-mentioned factor produces two kinds of interference to indoor wireless positioning：One is the system to form similar white noise
Error, reduces indoor wireless positioning precision；On the other hand, the larger interference produced once in a while, can influence the stability of positioning, especially
It is, in the case where personnel or robot move indoors, often to occur the irrational exception of movement locus appearance and change, cause
The problem of system false alarm.
The patent of invention of Application No. 200410067531.9 discloses a kind of WLAN terminal device indoor positioning
Method, mainly give WLAN indoor positioning environment construction method, WLAN indoor positioning parameter selection method,
WLAN indoor positioning method of locating terminal, the positioning of indoor local scope is realized based on WLAN, is not considered
Influence of the indoor complex environment to radio positioning signal；
In addition, the patent of invention of Application No. 201210269419.8 discloses a kind of room based on path rule and prediction
Interior personnel location system and method, are given based on path rule and prediction, and positioning precision is improved based on adjusting point matching library
Method, but this method is positioned based on wireless reception of signals field strength (RSSI), it is necessary to which the RSSI distributions to interior are carried out in advance
Observation, forms adjusting point matching library, and device layout indoors occurs under conditions of adjustment, electromagnetic interference, and RSSI distributions can occur
Change, prevents adjusting point matching library from reflecting actual conditions.
The content of the invention
In order to solve indoor wireless positioning it is high-precision, anti-interference the problems such as, it is necessary to which from application demand, the present invention is carried
Go out a kind of indoor wireless positioning method based on route matching, for being accurately positioned for office work personnel or robot, to moving
Dynamic path is tracked and matched, and alarm is sent when personnel or robot are strayed into danger zone, is particularly suitable for power equipment and is patrolled
Examine the requirement to positioning accuracy and anti-interference.
In order to realize foregoing invention purpose, the present invention is adopted the following technical scheme that：
The present invention provides a kind of indoor wireless positioning method based on route matching, the described method comprises the following steps：
Step I：Mobile route is predefined；
Step 2：Mobile route is tracked；
Step 3：Mobile route is matched；
Step 4：Systematic error is modified, final indoor positioning result is obtained.
In the step 1, according to interior architecture general layout, equipment arrangement and job requirement, the movement to wireless positioning terminal
Path is predefined；Have：
Wherein, R (x, y) represents the mobile route of wireless positioning terminal, and it is made up of n bars continuous linear section, riRepresent the 1st
To n bar straight line paths；The starting point of staff or robot movement is (xai, yai), terminal is (xbi, ybi), beginning and end is determined
The mobile route of wireless positioning terminal is determined；lnRepresent the maximum deviation scope of mobile route；X, Y are respectively the room positioned
The horizontal and vertical maximum orientation range of inner region.
In the step 1, in the step 2, the determining on staff or robot gathered to wireless positioning terminal
Position signal is handled, and time data is obtained based on super wideband wireless, and wireless positioning terminal position is obtained by TOA location algorithms
Put, i.e., the position of wireless positioning terminal is T (x, y), and being inquired in formula (1) in predefined mobile route set should currently abide by
The straight line path r kepti, repeated sampling is carried out to set the cycle, is just obtained in straight line path riThe actual shifting of middle wireless positioning terminal
Dynamic path r 'i, have：
r′i=T1, T2..., Tj..., Tm (2)
Wherein, TjThe position for the wireless positioning terminal that jth time sampling is obtained is represented, m represents sampling number.
In the step 3, in wireless positioning terminal along straight line path riIn mobile process, realistic border mobile route r 'iIn
A series of anchor points are to straight line path riDeviation, i.e. [T in formula (2)1, T2..., Tj..., Tm] arrive straight line path riIt is nearest
Distance [| d1|, | d2| ..., | dj| ..., | dm|], so as to obtain the average value ε and standard deviation sigma of position error, have：
Wherein, average value ε reflects the location data and physical location obtained based on super wideband wireless and TOA location algorithms
Between deviation, standard deviation sigma reacted the scope of deviation；
In order to eliminate deviation of the super wideband wireless pulse signal under the conditions of multipath transmisstion, non-line-of-sight propagation, based on σ settings
Deviation threshold λ=M σ, M takes 3 or 4, when the deviation of anchor point | dj| during more than deviation threshold λ, then it is assumed that the location data by
To interference, step 2 collection positioning signal is re-executed.
The step 4 comprises the following steps：
Step 4-1：Error is smoothed using the method for weighted moving average, i.e. last 5 positions to sampling process
Put [Tm-4, Tm-3, Tm-2, Tm-1, Tm] arrive straight line path riDeviation [| dm-4|, | dm-3|, | dm-2|, | dm-1|, | dm|] added
Rolling average is weighed, systematic features value δ is obtainedm, have：
Wherein,ωjWeight factor is represented, is generated using Gaussian function；
Step 4-2：Corresponding to actual mobile route r 'iIn anchor point, i.e. [T in formula (2)1, T2..., Tj..., Tm], will
δmIt is used as anchor point TmCorrection value, anchor point TmTo straight line path riDeviation by | dm| it is modified to：
Dm=| dm|-δm(6)；
After systematic features are carried out, you can obtain current precise location information；If DmMore than current mobile route
Maximum deviation scope ln, then it is assumed that staff or robot deviate predefined mobile route, send alarm.
Compared with prior art, the beneficial effects of the present invention are：
1. the present invention is predefined by the mobile route to wireless positioning terminal, mobile route tracking, mobile route matching,
Wireless location error correction, finally obtains accurate indoor positioning result, and localization method is simple, is widely used；
2. available for being accurately positioned for office work personnel or robot, mobile route is tracked and matched, in people
Member or robot send alarm when being strayed into danger zone, are particularly suitable for power equipment inspection to positioning accuracy and anti-interference
It is required that.
Brief description of the drawings
Fig. 1 is the indoor wireless positioning method general illustration based on route matching in the embodiment of the present invention；
Fig. 2 is the indoor wireless positioning method flow chart based on route matching in the embodiment of the present invention；
Fig. 3 is the location path schematic diagram of wireless positioning terminal in the embodiment of the present invention；
Fig. 4 is the anchor point amendment schematic diagram of wireless positioning terminal in the embodiment of the present invention.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
Such as Fig. 1 and Fig. 3, the present invention provides a kind of indoor wireless positioning method based on route matching, and methods described includes
Following steps：
Step 1：Mobile route is predefined；
Step 2：Mobile route is tracked；
Step 3：Mobile route is matched；
Step 4：Systematic error is modified, final indoor positioning result is obtained.
In the step 1, according to interior architecture general layout, equipment arrangement and job requirement, the movement to wireless positioning terminal
Path is predefined；Have：
Wherein, R (x, y) represents the mobile route of wireless positioning terminal, and such as Fig. 2 is moved according to the demand of actual upkeep operation
Dynamic path is made up of n bars continuous linear section, riRepresent the 1st to n articles straight line path；Staff or robot movement starting point be
(xai, yai), terminal is (xbi, ybi), beginning and end determines the mobile route of wireless positioning terminal；lnRepresent mobile route
Maximum deviation scope；X, Y are respectively the horizontal and vertical maximum orientation range of the room area positioned.
In the step 1, in the step 2, the determining on staff or robot gathered to wireless positioning terminal
Position signal is handled, and time data is obtained based on super wideband wireless, and wireless positioning terminal position is obtained by TOA location algorithms
Put, i.e., the position of wireless positioning terminal is T (x, y), and being inquired in formula (1) in predefined mobile route set should currently abide by
The straight line path r kepti, repeated sampling is carried out to set the cycle, is just obtained in straight line path riThe actual shifting of middle wireless positioning terminal
Dynamic path r 'i, have：
r′i=T1, T2..., Tj..., Tm (2)
Wherein, TjThe position for the wireless positioning terminal that jth time sampling is obtained is represented, m represents sampling number.
In the step 3, in wireless positioning terminal along straight line path riIn mobile process, realistic border mobile route r 'iIn
A series of anchor points are to straight line path riDeviation, i.e. [T in formula (2)1, T2..., Tj..., Tm] arrive straight line path riIt is nearest
Distance [| d1|, | d2| ..., | dj| ..., | dm|], so as to obtain the average value ε and standard deviation sigma of position error, have：
Wherein, average value ε reflects the location data and physical location obtained based on super wideband wireless and TOA location algorithms
Between deviation, standard deviation sigma reacted the scope of deviation；
In order to eliminate deviation of the super wideband wireless pulse signal under the conditions of multipath transmisstion, non-line-of-sight propagation, based on σ settings
Deviation threshold λ=M σ, M takes 3 or 4, when the deviation of anchor point | dj| during more than deviation threshold λ, then it is assumed that the location data by
To interference, step 2 collection positioning signal is re-executed.
The step 4 comprises the following steps：
Step 4-1：Error is smoothed using the method for weighted moving average, i.e. last 5 positions to sampling process
Put [Tm-4, Tm-3, Tm-2, Tm-1, Tm] arrive straight line path riDeviation [| dm-4|, | dm-3|, | dm-2|, | dm-1|, | dm|] added
Rolling average is weighed, systematic features value δ is obtainedm, have：
Wherein,ωjWeight factor is represented, is generated using Gaussian function；
Step 4-2：Corresponding to actual mobile route r 'iIn anchor point, i.e. [T in formula (2)1, T2..., Tj..., Tm], will
δmIt is used as anchor point TmCorrection value, anchor point TmTo straight line path riDeviation by | dm| it is modified to：
Dm=| dm|-δm(6)；
Such as Fig. 4, the location data in wireless positioning terminal moving process is carried out after systematic features, and removed by dry
The abnormal data disturbed, you can obtain current precise location information；If DmMore than the maximum deviation scope l of current mobile routen,
Then think that staff or robot deviate predefined mobile route, send alarm.
The present invention is accurately positioned available for office work personnel or robot, and mobile route is tracked and matched,
Alarm is sent when personnel or robot are strayed into danger zone, is particularly suitable for power equipment inspection to positioning accuracy and anti-interference
The requirement of property.
Finally it should be noted that：The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof, to the greatest extent
The present invention is described in detail with reference to above-described embodiment for pipe, those of ordinary skills in the art should understand that：Still
The embodiment of the present invention can be modified or equivalent substitution, and without departing from any of spirit and scope of the invention
Modification or equivalent substitution, it all should cover among scope of the presently claimed invention.
Claims (1)
1. a kind of indoor wireless positioning method based on route matching, it is characterised in that：It the described method comprises the following steps：
Step 1：Mobile route is predefined；
Step 2：Mobile route is tracked；
Step 3：Mobile route is matched；
Step 4：Systematic error is modified, final indoor positioning result is obtained；
In the step 1, according to interior architecture general layout, equipment arrangement and job requirement, to the mobile route of wireless positioning terminal
Predefined；Have：
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Wherein, R (x, y) represents the mobile route of wireless positioning terminal, and it is made up of n bars continuous linear section, riRepresent the 1st to n articles
Straight line path；The starting point of staff or robot movement is (xai,yai), terminal is (xbi,ybi), beginning and end is determined
The mobile route of wireless positioning terminal；lnRepresent the maximum deviation scope of mobile route；X, Y are respectively the indoor area positioned
The horizontal and vertical maximum orientation range in domain；
In the step 2, the positioning signal on staff or robot that wireless positioning terminal is gathered is handled, base
Time data is obtained in super wideband wireless, wireless positioning terminal position, i.e. wireless positioning terminal are obtained by TOA location algorithms
Position is T (x, y), inquires the straight line path r that should currently observe in predefined mobile route set in formula (1)i, to set
Fixed cycle carries out repeated sampling, just obtains in straight line path riThe actual mobile route r of middle wireless positioning terminali', have：
r′i=T1, T2..., Tj..., Tm (2)
Wherein, TjThe position for the wireless positioning terminal that jth time sampling is obtained is represented, m represents sampling number；
In the step 3, in wireless positioning terminal along straight line path riIn mobile process, realistic border mobile route r 'iIn one be
Row anchor point is to straight line path riDeviation, i.e. [T in formula (2)1, T2..., Tj..., Tm] arrive straight line path riMinimum distance
[|d1|, | d2| ..., | dj| ..., | dm|], so as to obtain the average value ε and standard deviation sigma of position error, have：
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Wherein, average value ε is reflected between the location data obtained based on super wideband wireless and TOA location algorithms and physical location
Deviation, standard deviation sigma reacted the scope of deviation；
In order to eliminate deviation of the super wideband wireless pulse signal under the conditions of multipath transmisstion, non-line-of-sight propagation, deviation is set based on σ
Thresholding λ=M σ, M takes 3 or 4, when the deviation of anchor point | dj| during more than deviation threshold λ, then it is assumed that the location data is by dry
Disturb, re-execute step 2 collection positioning signal；
The step 4 comprises the following steps：
Step 4-1：Error is smoothed using the method for weighted moving average, i.e. last 5 positions to sampling process
[Tm-4, Tm-3, Tm-2, Tm-1, Tm] arrive straight line path riDeviation [| dm-4|, | dm-3|, | dm-2|, | dm-1|, | dm|] be weighted
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Wherein,ωjWeight factor is represented, is generated using Gaussian function；
Step 4-2：Corresponding to actual mobile route ri' in anchor point, i.e. [T in formula (2)1, T2..., Tj..., Tm], by δmMake
For anchor point TmCorrection value, anchor point TmTo straight line path riDeviation by | dm| it is modified to：
Dm=| dm|-δm(6)；
After systematic features are carried out, you can obtain current precise location information；If DmMore than the maximum of current mobile route
Deviation range kn, then it is assumed that staff or robot deviate predefined mobile route, send alarm.
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| CN105234921B (en) * | 2015-11-19 | 2019-06-25 | 国网宁夏电力公司检修公司 | Indoor intelligent crusing robot system based on H-type combined orbit |
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| CN109429177A (en) * | 2017-06-27 | 2019-03-05 | 华为技术有限公司 | A kind of positioning and rectifying method and device |
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