CN104459617A - Wireless positioning method - Google Patents

Wireless positioning method Download PDF

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Publication number
CN104459617A
CN104459617A CN201410829507.8A CN201410829507A CN104459617A CN 104459617 A CN104459617 A CN 104459617A CN 201410829507 A CN201410829507 A CN 201410829507A CN 104459617 A CN104459617 A CN 104459617A
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point
anchor point
label
frequency range
signal
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CN104459617B (en
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王涛
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Shanghai Feixun Data Communication Technology Co Ltd
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Shanghai Feixun Data Communication Technology Co Ltd
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Priority to PCT/CN2015/089494 priority patent/WO2016101656A1/en
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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
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/0215—Interference

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention provides a wireless positioning method. The wireless positioning method includes the steps that a first weight factor zeta 1 corresponding to a first preset frequency band in a current environment, a second weight factor zeta 2 corresponding to a second preset frequency band in the current environment and a third weight factor zeta 3 corresponding to a third preset frequency band in the current environment are calculated respectively; three-side positioning is conducted through a first frequency sending signal in the first preset frequency band, first label point coordinates (X1 and Y1) are acquired, three-side positioning is conducted through a second frequency sending signal in the second preset frequency band, second label point coordinates (X2 and Y2) are acquired, three-side positioning is conducted through a third frequency sending signal in the third preset frequency band, and third label point coordinates (X3 and Y3) are acquired; positioning coordinates X and Y=[(zeta1 X1+zeta2 X2+zeta3 X3), (zeta1 Y1+zeta2 Y2+zeta3 Y3)] are acquired according to the weight factors and the corresponding label point coordinates. By the adoption of the method, the influences of environmental signals are reduced, and wireless positioning accuracy is improved.

Description

The method of wireless location
Technical field
The present invention relates to mobile communication technology field, particularly relate to a kind of method of wireless location.
Background technology
Wireless location is the important technology for personnel and Item Management, instantly has a lot of wireless location algorithm, comprises and locates according to signal intensity or locate according to time of return.Location based on received signal strength is mainly divided into two kinds:
The first is the most positioned adjacent method based on reference label, this method needs in the environment according to the benchmark of the known reference label of certain mode position as location, by compare antenna not signal intensity and antenna not must the relative size of reference label signal intensity position, the shortcoming of this method needs to arrange a large amount of reference label, and need to rearrange reference label in different environment, do not possess general applicability.
The second is three-point fox method, namely exchanges with the wireless signal of three anchor points the position determined residing for label point by label point to be measured.Wireless signal is sent in label point, because the distance of label point distance three anchor points is different, therefore, the signal intensity difference that three anchor points receive, according to the signal intensity received, utilize wireless signal spatial loss formula to calculate label point distance three anchor points distance, just can realize the location of label point by these three distances.Location, current mobile base station and WIFI location all adopt the method.
But, in wireless location process, be easily subject to the interference of ambient signal, electromagnetic interference (EMI) derives from cosmic rays, the electromagnetic radiation that such as TV, washing machine, computer etc. produce, the microwave that micro-wave oven produces, power transmission line due to the instability of transmission also can outside radiated electromagnetic wave.Under the environment having electromagnetic interference (EMI), will to produce very large error even completely inaccurate in location.
Summary of the invention
The shortcoming of prior art in view of the above, the object of the present invention is to provide a kind of method of wireless location, for solving in prior art due to the inaccurate problem in location that the interference of ambient signal causes.
For achieving the above object and other relevant objects, the invention provides a kind of method of wireless location, the method for described wireless location comprises:
Calculate first default the first weight factor ξ corresponding to frequency range in current environment respectively 1, second preset the second weight factor ξ corresponding to frequency range 2and the 3rd presets the 3rd weight factor ξ corresponding to frequency range 3;
The first frequency preset in frequency range with first respectively sends signal and carries out three location, limit to obtain the first label point coordinate (X 1, Y 1), the second frequency preset in frequency range with second sends signal and carries out three location, limit to obtain the second label point coordinate (X 2, Y 2), the 3rd frequency preset in frequency range with the 3rd sends signal and carries out three location, limit to obtain the 3rd label point coordinate (X 3, Y 3);
Label point coordinate according to described weight factor and correspondence obtains elements of a fix X:
X＝[(ξ 1X 1+ξ 2X 2+ξ 3X 3)，(ξ 1Y 1+ξ 2Y 2+ξ 3Y 3)]。
Preferably, first default the first weight factor ξ corresponding to frequency range in the described current environment of calculating respectively 1, second preset the second weight factor ξ corresponding to frequency range 2and the 3rd presets the 3rd weight factor ξ corresponding to frequency range 3step comprise:
Measure the signal intensity of each undesired signal in current environment, and calculate the signal intensity summation of undesired signal;
Preset frequency range, the second default frequency range and the 3rd scope presetting frequency range according to first to classify to each undesired signal;
The ratio of the signal intensity sum of undesired signal in frequency range and the signal intensity summation of undesired signal is preset as the first weight factor ξ using being in first 1; The ratio of the signal intensity sum of undesired signal in frequency range and the signal intensity summation of undesired signal is preset as the second weight factor ξ using being in second 2; The ratio of the signal intensity sum of undesired signal in frequency range and the signal intensity summation of undesired signal is preset as the 3rd weight factor ξ using being in the 3rd 3.
Preferably, describedly send signal with the first first frequency preset in frequency range and carry out three location, limit to obtain the first label point coordinate (X 1, Y 1) step comprise:
Signal is sent to determine the signal intensity A of reference point according to first frequency 1with path attenuation parameter η 1;
Measure the signal intensity of label point respectively at the first anchor point, the second anchor point and the 3rd anchor point, often organize pendulous frequency and be N;
Respectively gaussian filtering is carried out to the three groups of N number of signal intensities measured;
Respectively average statistical is carried out to obtain mean value signal intensity RSSI (1) to the often group signal intensity after gaussian filtering;
According to formula RSSI (1)=A 1-η 1ρ obtains distance, the distance between label point and the second anchor point and the distance between label point and the 3rd anchor point between label point and the first anchor point, and wherein, ρ=10lg (d), d are the distance between label point and anchor point;
Coordinate (the X of label point is obtained according to the coordinate of the first anchor point, the second anchor point, the 3rd anchor point and the distance between label point and the first anchor point, the distance between label point and the second anchor point and the distance between label point and the 3rd anchor point 1, Y 1).
Preferably, described pendulous frequency N is greater than or equal to 100.
Preferably, according to formula gaussian filtering is carried out to the N number of signal intensity measured, wherein: μ is mathematical expectation, σ 2for standard variance.
Preferably, according to formula obtain mean value signal intensity RSSI.
Preferably, describedly send signal with the second second frequency preset in frequency range and carry out three location, limit to obtain the second label point coordinate (X 2, Y 2) step comprise:
Signal is sent to determine the signal intensity A of reference point according to second frequency 2with path attenuation parameter η 2;
Measure the signal intensity of label point respectively at the first anchor point, the second anchor point and the 3rd anchor point, often organize pendulous frequency and be N;
Respectively gaussian filtering is carried out to the three groups of N number of signal intensities measured;
Respectively average statistical is carried out to obtain mean value signal intensity RSSI (2) to the often group signal intensity after gaussian filtering;
According to formula RSSI (2)=A 2-η 2ρ obtains distance, the distance between label point and the second anchor point and the distance between label point and the 3rd anchor point between label point and the first anchor point, and wherein, ρ=10lg (d), d are the distance between label point and anchor point;
Coordinate (the X of label point is obtained according to the coordinate of the first anchor point, the second anchor point, the 3rd anchor point and the distance between label point and the first anchor point, the distance between label point and the second anchor point and the distance between label point and the 3rd anchor point 2, Y 2).
Preferably, describedly send signal with the 3rd the 3rd frequency preset in frequency range and carry out three location, limit to obtain the second label point coordinate (X 3, Y 3) step comprise:
Signal is sent to determine the signal intensity A of reference point according to second frequency 3with path attenuation parameter η 3;
Measure the signal intensity of label point respectively at the first anchor point, the second anchor point and the 3rd anchor point, often organize pendulous frequency and be N;
Respectively gaussian filtering is carried out to the three groups of N number of signal intensities measured;
Respectively average statistical is carried out to obtain mean value signal intensity RSSI (3) to the often group signal intensity after gaussian filtering;
According to formula RSSI (3)=A 3-η 3ρ obtains distance, the distance between label point and the second anchor point and the distance between label point and the 3rd anchor point between label point and the first anchor point, and wherein, ρ=10lg (d), d are the distance between label point and anchor point;
Coordinate (the X of label point is obtained according to the coordinate of the first anchor point, the second anchor point, the 3rd anchor point and the distance between label point and the first anchor point, the distance between label point and the second anchor point and the distance between label point and the 3rd anchor point 3, Y 3).
Preferably, described first the frequency range of frequency range is preset for being less than or equal to 2GHz; Described second presets the frequency range of frequency range for being greater than 2GHz and being less than or equal to 4GHz; Described 3rd presets the frequency range of frequency range for being greater than 4GHz.
Preferably, described first frequency is 800MHz; Described second frequency is 2.4GHz; Described 3rd frequency is 5GHz.
As mentioned above, the method for wireless location of the present invention, has following beneficial effect:
The method of wireless location of the present invention, by measuring the weight factor determining ambient signal, effectively raises the degree of accuracy of location in conjunction with this weight factor.
Further, by gaussian filtering, measuring-signal is filtered, thus eliminate small probability event, improve the precision of measurement; In addition, the method additionally using average statistical further increases the precision of measurement, thus improves the accuracy of location.
Accompanying drawing explanation
Fig. 1 is shown as the method flow schematic diagram of wireless location of the present invention.
Fig. 2 is shown as the schematic flow sheet obtaining weight factor in the method for wireless location of the present invention.
Fig. 3 is shown as the model schematic of the very big Similarity algorithm of the present invention.
Fig. 4 is shown as the model schematic of the present invention three limit location algorithm.
Element numbers explanation
S1 ~ S3 step
S11 ~ S13 step
Embodiment
Below by way of specific instantiation, embodiments of the present invention are described, those skilled in the art the content disclosed by this instructions can understand other advantages of the present invention and effect easily.The present invention can also be implemented or be applied by embodiments different in addition, and the every details in this instructions also can based on different viewpoints and application, carries out various modification or change not deviating under spirit of the present invention.It should be noted that, when not conflicting, the feature in following examples and embodiment can combine mutually.
It should be noted that, the diagram provided in following examples only illustrates basic conception of the present invention in a schematic way, then only the assembly relevant with the present invention is shown in graphic but not component count, shape and size when implementing according to reality is drawn, it is actual when implementing, and the kenel of each assembly, quantity and ratio can be a kind of change arbitrarily, and its assembly layout kenel also may be more complicated.
Refer to Fig. 1, the invention provides a kind of method of described wireless location, the method for described wireless location comprises:
Step S1, calculates first default the first weight factor ξ corresponding to frequency range in current environment respectively 1, second preset the second weight factor ξ corresponding to frequency range 2and the 3rd presets the 3rd weight factor ξ corresponding to frequency range 3;
Step S2, the first frequency preset in frequency range with first respectively sends signal and carries out three location, limit to obtain the first label point coordinate (X 1, Y 1), the second frequency preset in frequency range with second sends signal and carries out three location, limit to obtain the second label point coordinate (X 2, Y 2), the 3rd frequency preset in frequency range with the 3rd sends signal and carries out three location, limit to obtain the 3rd label point coordinate (X 3, Y 3);
Step S3, the label point coordinate according to described weight factor and correspondence obtains elements of a fix X:
X＝[(ξ 1X 1+ξ 2X 2+ξ 3X 3)，(ξ 1Y 1+ξ 2Y 2+ξ 3Y 3)] (1)。
In the present embodiment, described first the frequency range of frequency range is preset for being less than or equal to 2GHz; Described second presets the frequency range of frequency range for being greater than 2GHz and being less than or equal to 4GHz; Described 3rd presets the frequency range of frequency range for being greater than 4GHz.Described first frequency is 800MHz; Described second frequency is 2.4GHz; Described 3rd frequency is 5GHz.Such as, in actual applications, Zeegbe wireless system is utilized to send the wireless signal of 800MHz; 802.11b wireless system is utilized to send 2.4GHz; 802.11a is utilized to send 5GHz.
Certainly, in other embodiments, also can preset frequency range, second to first and preset the setting that frequency range, the 3rd presets frequency range and first frequency, second frequency, the 3rd frequency do other, the present invention does not limit this; In addition, locating more accurately to obtain, frequency range can also be divided into more than three, be not limited in three in the present embodiment, this should not limit the scope of the invention.
With reference to figure 2, in the described current environment of calculating respectively, first presets the first weight factor ξ corresponding to frequency range 1, second preset the second weight factor ξ corresponding to frequency range 2and the 3rd presets the 3rd weight factor ξ corresponding to frequency range 3step comprise:
Step S11, measures the signal intensity of each undesired signal in current environment, and calculates the signal intensity summation of undesired signal;
Step S12, presets frequency range, the second default frequency range and the 3rd scope presetting frequency range according to first and classifies to each undesired signal;
Step S13, presets the ratio of the signal intensity sum of undesired signal in frequency range and the signal intensity summation of undesired signal as the first weight factor ξ using being in first 1; The ratio of the signal intensity sum of undesired signal in frequency range and the signal intensity summation of undesired signal is preset as the second weight factor ξ using being in second 2; The ratio of the signal intensity sum of undesired signal in frequency range and the signal intensity summation of undesired signal is preset as the 3rd weight factor ξ using being in the 3rd 3.
Particularly, by formula: (2) the first weight factor ξ is calculated 1, the second weight factor ξ 2and the 3rd weight factor ξ 3; Wherein, due in the present embodiment, interference is divided into three frequency ranges, therefore, n=3; R represents the interference signal intensity in each frequency range.
In the present embodiment, describedly send signal with the first first frequency preset in frequency range and carry out three location, limit to obtain the first label point coordinate (X 1, Y 1) step comprise:
Step S21, sends signal to determine the signal intensity A of reference point according to first frequency 1with path attenuation parameter η 1; Wherein, reference point is the wireless signal strength RSSI value that wireless transceiver point receives apart from receiving node when being 1m.
Concrete measuring process is: the signal intensity A of reference point in test Zeegbe wireless system 1with path attenuation parameter η 1; Take anchor point as initial point, a sampled point is set at interval of 20cm, 100 sampled points are set altogether.For ensureing the accuracy of measurement data, the signal intensity of each measurement point is surveyed 100 times and is averaged, and measures [the RSSI obtaining 100 groups i, d i] (wherein i=1 ... 100) numerical value.According to formula RSSI=A-η ρ (3), wherein, ρ=10lg (d) (4) tries to achieve path attenuation parameter η, according to formula η = Σ i = 1 n ( ρ i - ρ ‾ ) ( RSSI i - RSSI ‾ ) Σ i = 1 n ( ρ i - ρ ‾ ) 2 (5) reference point A is tried to achieve.
Draw after corresponding to the signal intensity of the reference point of first frequency and path attenuation parameter measuring, perform step S22, measure the signal intensity of label point respectively at the first anchor point, the second anchor point and the 3rd anchor point, often organize pendulous frequency and be N; Described pendulous frequency N is greater than or equal to 100.
Then perform step S23, respectively gaussian filtering is carried out to the three groups of N number of signal intensities measured;
Detailed process is: pass through formula (6) carry out gaussian filtering, remove small probability event, wherein μ is mathematical expectation, σ 2for standard variance.Gauss model data processing principle is: a unknown node may receive n RSSI value at same position, wherein certainly exists small probability event.Chosen the RSSI value of high probability generating region by Gauss model, and then get its geometric mean.The impact that this way decreases some small probabilities, large interference incident is measured entirety, enhances the accuracy of locating information.
In the present embodiment, using 0.6 as critical point.Namely, when gauss of distribution function value is greater than 0.6, think that corresponding RSSI value is high probability occurrence value; When gauss of distribution function value is less than or equal to 0.6, think that corresponding RSSI value is small probability random occurrence.
Then perform step S24, respectively average statistical is carried out to obtain mean value signal intensity RSSI (1) to the often group signal intensity after gaussian filtering;
Average statistical model refers to the average asking these data after unknown node gathers one group of (m) RSSI value.Concrete average statistical formula is: (6).In the model, real-time and accuracy can be balanced by regulating m value.When m is very large, effectively can solve the randomness of data, thus improve precision.
Then, perform step S25, then according to formula RSSI (1)=A 1-η 1ρ (3) obtains distance, the distance between label point and the second anchor point and the distance between label point and the 3rd anchor point between label point and the first anchor point, wherein, ρ=10lg (d) (4), d are the distance between label point and anchor point;
Get the signal intensity A of reference point in the step s 21 1with path attenuation parameter η 1, and get the RSSI value of three anchor points in step s 24 which, the distance between label point and anchor point can be obtained after substituting into the formula of step S25.
Finally, perform step S26, obtain the coordinate (X of label point according to the coordinate of the first anchor point, the second anchor point, the 3rd anchor point and the distance between label point and the first anchor point, the distance between label point and the second anchor point and the distance between label point and the 3rd anchor point 1, Y 1).
With reference to figure 3, very big analogue method can be adopted in the present embodiment to calculate label point coordinate, set up following equation:
( x 1 - x ) 2 + ( y 1 - y ) 2 = d 1 2 . . . ( x n - x ) 2 + ( y n - y ) 2 = d n 2 - - - ( 7 )
AX＝b(8)
Wherein A = 2 ( x 1 - x n ) 2 ( y 1 - y n ) . . . . . . 2 ( x n - 1 - x n ) 2 ( y n - 1 - y n ) , b = x 1 2 - x n 2 + y 1 2 - y n 2 + d n - d 1 . . . x n - 1 2 - x n 2 + y n - 1 2 - y n 2 + d n - d n - 1
Then X=[x y] t(9).
Obtain with least square method solving equation:
X＝ (A TA) -1A Tb (10)
When getting 3 points, as shown in Figure 4, adopting three limit location algorithms, obtaining after bringing formula (10) into:
x y = 2 ( x 1 - x 3 ) 2 ( y 1 - y 3 ) 2 ( x 2 - x 3 ) 2 ( y 1 - y 3 ) - 1 x 1 2 - x 3 2 + y 1 2 - y 3 2 + d 3 2 - d 1 2 x 2 - x 3 2 + y 2 2 - y 3 2 + d 3 2 - d 2 2 - - - ( 11 )
At calculating label point coordinate time, RSSI value is more accurate, then the coordinate of the label point obtained is also more accurate.Due to when measure signal intensity, the inaccurate of measurement result can be caused because of outside electromagnetic interference, when the result of the unstable Timing measurement of outside electromagnetic interference there will be randomness.And use in the present embodiment and substantially reduce random disturbance by gaussian filtering, also further reduce the error to RSSI signal by the method for average statistical in addition.By such mode, the interference of signal in environment greatly can be reduced, thus the effective precision improving location.
With aforementioned to carry out three location, limit by first frequency similar with the coordinate obtaining label point, in the present embodiment, describedly send signal with the second second frequency preset in frequency range and carry out three location, limit to obtain the second label point coordinate (X 2, Y 2) step comprise:
Signal is sent to determine the signal intensity A of reference point according to second frequency 2with path attenuation parameter η 2; Namely the wireless signal of 2.4GHz can be sent to determine the signal intensity A of reference point by 802.11b system 2with path attenuation parameter η 2.
Measure the signal intensity of label point respectively at the first anchor point, the second anchor point and the 3rd anchor point, often organize pendulous frequency and be N;
Respectively gaussian filtering is carried out to the three groups of N number of signal intensities measured;
Respectively average statistical is carried out to obtain mean value signal intensity RSSI (2) to the often group signal intensity after gaussian filtering;
According to formula RSSI (2)=A 2-η 2ρ obtains distance, the distance between label point and the second anchor point and the distance between label point and the 3rd anchor point between label point and the first anchor point, and wherein, ρ=10lg (d), d are the distance between label point and anchor point;
Coordinate (the X of label point is obtained according to the coordinate of the first anchor point, the second anchor point, the 3rd anchor point and the distance between label point and the first anchor point, the distance between label point and the second anchor point and the distance between label point and the 3rd anchor point 2, Y 2).
Similar, describedly send signal with the 3rd the 3rd frequency preset in frequency range and carry out three location, limit to obtain the second label point coordinate (X 3, Y 3) step comprise:
Signal is sent to determine the signal intensity A of reference point according to second frequency 3with path attenuation parameter η 3;
Measure the signal intensity of label point respectively at the first anchor point, the second anchor point and the 3rd anchor point, often organize pendulous frequency and be N;
Respectively gaussian filtering is carried out to the three groups of N number of signal intensities measured;
Respectively average statistical is carried out to obtain mean value signal intensity RSSI (3) to the often group signal intensity after gaussian filtering;
According to formula RSSI (3)=A 3-η 3ρ obtains distance, the distance between label point and the second anchor point and the distance between label point and the 3rd anchor point between label point and the first anchor point, and wherein, ρ=10lg (d), d are the distance between label point and anchor point;
Coordinate (the X of label point is obtained according to the coordinate of the first anchor point, the second anchor point, the 3rd anchor point and the distance between label point and the first anchor point, the distance between label point and the second anchor point and the distance between label point and the 3rd anchor point 3, Y 3).
Obtain the coordinate of label point and similar with the process being obtained the coordinate of label point by first frequency by the step of the coordinate of the 3rd frequency acquisition label point above by second frequency, do not repeat them here.
After having got three label point coordinates, then combine corresponding weight factor acquisition elements of a fix X.Particularly, the first label point coordinate is multiplied with the first weight factor, the second label point coordinate is multiplied with the second weight factor, the 3rd label point coordinate is multiplied with the 3rd weight factor, three product addition can be obtained the final elements of a fix.
The method of wireless location of the present invention, uses three kinds of frequency ranges to carry out wireless location, reduces the inaccurate problem in location that in environment, electromagnetic interference (EMI) causes.The present invention is positioned by three limit location algorithms, and in position fixing process, use gaussian filtering to filter random disturbance to improve the accuracy of location, and the mode additionally using average statistical further reduces the impact of external interference on location.
Further, the present invention, by the intensity of measurement environment signal, determines the weight of undesired signal in each frequency range, can improve interference electromagnetic wave further to the impact of measurement result, thus improve the precision of location in conjunction with weight factor.
Above-described embodiment is illustrative principle of the present invention and effect thereof only, but not for limiting the present invention.Any person skilled in the art scholar all without prejudice under spirit of the present invention and category, can modify above-described embodiment or changes.Therefore, such as have in art usually know the knowledgeable do not depart from complete under disclosed spirit and technological thought all equivalence modify or change, must be contained by claim of the present invention.

Claims (10)

1. a method for wireless location, is characterized in that, the method for described wireless location comprises:
Calculate first default the first weight factor ξ corresponding to frequency range in current environment respectively 1, second preset the second weight factor ξ corresponding to frequency range 2and the 3rd presets the 3rd weight factor ξ corresponding to frequency range 3;
The first frequency preset in frequency range with first respectively sends signal and carries out three location, limit to obtain the first label point coordinate (X 1, Y 1), the second frequency preset in frequency range with second sends signal and carries out three location, limit to obtain the second label point coordinate (X 2, Y 2), the 3rd frequency preset in frequency range with the 3rd sends signal and carries out three location, limit to obtain the 3rd label point coordinate (X 3, Y 3);
Label point coordinate according to described weight factor and correspondence obtains elements of a fix X:
X＝[(ξ 1X 1+ξ 2X 2+ξ 3X 3)，(ξ 1Y 1+ξ 2Y 2+ξ 3Y 3)]。
2. the method for wireless location according to claim 1, is characterized in that, in the described current environment of calculating respectively, first presets the first weight factor ξ corresponding to frequency range 1, second preset the second weight factor ξ corresponding to frequency range 2and the 3rd presets the 3rd weight factor ξ corresponding to frequency range 3step comprise:
Measure the signal intensity of each undesired signal in current environment, and calculate the signal intensity summation of undesired signal;
Preset frequency range, the second default frequency range and the 3rd scope presetting frequency range according to first to classify to each undesired signal;
The ratio of the signal intensity sum of undesired signal in frequency range and the signal intensity summation of undesired signal is preset as the first weight factor ξ using being in first 1; The ratio of the signal intensity sum of undesired signal in frequency range and the signal intensity summation of undesired signal is preset as the second weight factor ξ using being in second 2; The ratio of the signal intensity sum of undesired signal in frequency range and the signal intensity summation of undesired signal is preset as the 3rd weight factor ξ using being in the 3rd 3.
3. the method for wireless location according to claim 1, is characterized in that, describedly sends signal with the first first frequency preset in frequency range and carries out three location, limit to obtain the first label point coordinate (X 1, Y 1) step comprise:
Signal is sent to determine the signal intensity A of reference point according to first frequency 1with path attenuation parameter η 1;
Measure the signal intensity of label point respectively at the first anchor point, the second anchor point and the 3rd anchor point, often organize pendulous frequency and be N;
Respectively gaussian filtering is carried out to the three groups of N number of signal intensities measured;
Respectively average statistical is carried out to obtain mean value signal intensity RSSI (1) to the often group signal intensity after gaussian filtering;
According to formula RSSI (1)=A 1-η 1ρ obtains distance, the distance between label point and the second anchor point and the distance between label point and the 3rd anchor point between label point and the first anchor point, and wherein, ρ=10lg (d), d are the distance between label point and anchor point;
Coordinate (the X of label point is obtained according to the coordinate of the first anchor point, the second anchor point, the 3rd anchor point and the distance between label point and the first anchor point, the distance between label point and the second anchor point and the distance between label point and the 3rd anchor point 1, Y 1).
4. the method for wireless location according to claim 3, is characterized in that, described pendulous frequency N is greater than or equal to 100.
5. the method for wireless location according to claim 3, is characterized in that, according to formula gaussian filtering is carried out to the N number of signal intensity measured, wherein: μ is mathematical expectation, σ 2for standard variance.
6. the method for wireless location according to claim 3, is characterized in that, according to formula obtain mean value signal intensity RSSI.
7. the method for wireless location according to claim 1, is characterized in that, describedly sends signal with the second second frequency preset in frequency range and carries out three location, limit to obtain the second label point coordinate (X 2, Y 2) step comprise:
Signal is sent to determine the signal intensity A of reference point according to second frequency 2with path attenuation parameter η 2;
Measure the signal intensity of label point respectively at the first anchor point, the second anchor point and the 3rd anchor point, often organize pendulous frequency and be N;
Respectively gaussian filtering is carried out to the three groups of N number of signal intensities measured;
Respectively average statistical is carried out to obtain mean value signal intensity RSSI (2) to the often group signal intensity after gaussian filtering;
According to formula RSSI (2)=A 2-η 2ρ obtains distance, the distance between label point and the second anchor point and the distance between label point and the 3rd anchor point between label point and the first anchor point, and wherein, ρ=10lg (d), d are the distance between label point and anchor point;
Coordinate (the X of label point is obtained according to the coordinate of the first anchor point, the second anchor point, the 3rd anchor point and the distance between label point and the first anchor point, the distance between label point and the second anchor point and the distance between label point and the 3rd anchor point 2, Y 2).
8. the method for wireless location according to claim 1, is characterized in that, describedly sends signal with the 3rd the 3rd frequency preset in frequency range and carries out three location, limit to obtain the second label point coordinate (X 3, Y 3) step comprise:
Signal is sent to determine the signal intensity A of reference point according to second frequency 3with path attenuation parameter η 3;
Measure the signal intensity of label point respectively at the first anchor point, the second anchor point and the 3rd anchor point, often organize pendulous frequency and be N;
Respectively gaussian filtering is carried out to the three groups of N number of signal intensities measured;
Respectively average statistical is carried out to obtain mean value signal intensity RSSI (3) to the often group signal intensity after gaussian filtering;
According to formula RSSI (3)=A 3-η 3ρ obtains distance, the distance between label point and the second anchor point and the distance between label point and the 3rd anchor point between label point and the first anchor point, and wherein, ρ=10lg (d), d are the distance between label point and anchor point;
Coordinate (the X of label point is obtained according to the coordinate of the first anchor point, the second anchor point, the 3rd anchor point and the distance between label point and the first anchor point, the distance between label point and the second anchor point and the distance between label point and the 3rd anchor point 3, Y 3).
9. the method for wireless location according to claim 1, is characterized in that, described first presets the frequency range of frequency range for being less than or equal to 2GHz; Described second presets the frequency range of frequency range for being greater than 2GHz and being less than or equal to 4GHz; Described 3rd presets the frequency range of frequency range for being greater than 4GHz.
10. the method for wireless location according to claim 9, is characterized in that, described first frequency is 800MHz; Described second frequency is 2.4GHz; Described 3rd frequency is 5GHz.
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