CN104459617B - The method of wireless location - Google Patents
The method of wireless location Download PDFInfo
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- CN104459617B CN104459617B CN201410829507.8A CN201410829507A CN104459617B CN 104459617 B CN104459617 B CN 104459617B CN 201410829507 A CN201410829507 A CN 201410829507A CN 104459617 B CN104459617 B CN 104459617B
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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
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Abstract
The present invention provides a kind of method of wireless location, and the method for the wireless location includes：The first weight factor ξ corresponding to the first default frequency range in current environment is calculated respectively1, the second weight factor ξ corresponding to the second default frequency range2And the 3rd the 3rd weight factor ξ corresponding to default frequency range3；Send signal three side positioning of progress to obtain the first label point coordinates with the first frequency in the first default frequency range respectively（X1, Y1）, send signal three side positioning of progress to obtain the second label point coordinates with the second frequency in the second default frequency range（X2, Y2）, send signal three side positioning of progress to obtain the 3rd label point coordinates with the 3rd frequency in the 3rd default frequency range（X3, Y3）；Elements of a fix X is obtained according to the weight factor and corresponding label point coordinates：X=[(ξ1 X1+ξ2 X2+ξ3 X3), (ξ1 Y1+ξ2 Y2+ξ3 Y3)].The method of the present invention reduces the influence of ambient signal, improves the accuracy of wireless location.
Description
Technical field
The present invention relates to mobile communication technology field, more particularly to a kind of method of wireless location.
Background technology
Wireless location is the important technology for personnel and Item Management, there is many wireless location algorithms, including root instantly
Position or positioned according to time of return according to signal intensity.Positioning based on received signal strength is broadly divided into two kinds：
The first is the closest positioning mode based on reference label, and this method is needed in the environment according to certain mode
Reference label known to position is as the benchmark of positioning, the ginseng that the signal intensity not obtained by comparing antenna is not obtained with antenna
Examine the relative size of tag signal strength to be positioned, the shortcoming of this method is to need to arrange substantial amounts of reference label, and
And need to rearrange reference label in different environment, do not possess general applicability.
Second is three-point fox method, i.e., exchange to determine with the wireless signal of three anchor points by label point to be measured
The location of label point.Wireless signal is sent in label point, because the distance of three anchor points of label point distance is different, therefore,
Signal intensity that three anchor points are received is different, according to the signal intensity received, using wireless signal spatial damage
Consume formula to calculate the distance of three anchor points of label point distance, the positioning of label point can be just realized with these three distances.Mesh
Preceding mobile architecture and WIFI positioning uses the method.
But, easily disturbed during wireless location by ambient signal, electromagnetic interference derives from cosmic ray, than
Such as TV, washing machine, the electromagnetic radiation of computer generation, the microwave that micro-wave oven is produced, power transmission line are unstable due to transmission
Can outside radiated electromagnetic wave.Positioning will produce very big error or even completely inaccurate in the environment of having electromagnetic interference.
The content of the invention
The shortcoming of prior art, it is an object of the invention to provide a kind of method of wireless location, is used in view of the above
The problem of positioning inaccurate caused by solving interference in the prior art due to ambient signal.
In order to achieve the above objects and other related objects, the present invention provides a kind of method of wireless location, described wireless fixed
The method of position includes：
The first weight factor ξ corresponding to the first default frequency range in current environment is calculated respectively1, the second default frequency range institute it is right
The the second weight factor ξ answered2And the 3rd the 3rd weight factor ξ corresponding to default frequency range3；
Send signal three side positioning of progress to obtain the first label point seat with the first frequency in the first default frequency range respectively
Mark (X1, Y1), send signal three side positioning of progress to obtain the second label point coordinates with the second frequency in the second default frequency range
(X2, Y2), send signal three side positioning of progress to obtain the 3rd label point coordinates (X with the 3rd frequency in the 3rd default frequency range3,
Y3)；
Elements of a fix X is obtained according to the weight factor and corresponding label point coordinates：
X=[(ξ1X1+ξ2X2+ξ3X3), (ξ1Y1+ξ2Y2+ξ3Y3)]。
It is preferred that, the first weight factor ξ calculated respectively in current environment corresponding to the first default frequency range1, second
The second weight factor ξ corresponding to default frequency range2And the 3rd the 3rd weight factor ξ corresponding to default frequency range3The step of wrap
Include：
The signal intensity of each interference signal in current environment is measured, and calculates the signal intensity summation of interference signal；
Each interference signal is divided according to the scope of the first default frequency range, the second default frequency range and the 3rd default frequency range
Class；
By the signal intensity sum and the signal intensity summation of interference signal of the interference signal in the first default frequency range
Ratio be used as the first weight factor ξ1；The signal intensity sum of interference signal in the second default frequency range is believed with interference
Number the ratio of signal intensity summation be used as the second weight factor ξ2；By the signal of the interference signal in the 3rd default frequency range
The ratio of the signal intensity summation of intensity sum and interference signal is used as the 3rd weight factor ξ3。
It is preferred that, the first frequency with the first default frequency range sends signal and carries out three side positioning to obtain the first mark
Sign point coordinates (X1, Y1) the step of include：
Send signal to determine the signal intensity A of reference point according to first frequency1With path attenuation parameter η1；
The signal intensity of label point is measured in the first anchor point, the second anchor point and the 3rd anchor point respectively, every group of pendulous frequency is equal
For N；
Gaussian filtering is carried out to three groups measured N number of signal intensities respectively；
Respectively every group of signal intensity after gaussian filtering is carried out average statistical to obtain mean value signal intensity RSSI (1)；
According to formula RSSI (1)=A1-η1ρ obtains the distance between label point and first anchor point, label point and the second anchor point
The distance between and the distance between label point and the 3rd anchor point, wherein, ρ=10lg (d), d is between label point and anchor point
Distance；
According to the distance between the first anchor point, the second anchor point, the coordinate of the 3rd anchor point and label point and first anchor point, mark
Coordinate (the X of the distance between label point and the distance between the second anchor point and label point and the 3rd anchor point acquisition label point1, Y1)。
It is preferred that, the pendulous frequency N is more than or equal to 100.
It is preferred that, according to formulaGaussian filtering is carried out to the N number of signal intensity measured, its
In：μ is mathematic expectaion, σ2For standard variance.
It is preferred that, according to formulaTo obtain mean value signal intensity RSSI.
It is preferred that, the second frequency with the second default frequency range sends signal and carries out three side positioning to obtain the second mark
Sign point coordinates (X2, Y2) the step of include：
Send signal to determine the signal intensity A of reference point according to second frequency2With path attenuation parameter η2；
The signal intensity of label point is measured in the first anchor point, the second anchor point and the 3rd anchor point respectively, every group of pendulous frequency is equal
For N；
Gaussian filtering is carried out to three groups measured N number of signal intensities respectively；
Respectively every group of signal intensity after gaussian filtering is carried out average statistical to obtain mean value signal intensity RSSI (2)；
According to formula RSSI (2)=A2-η2ρ obtains the distance between label point and first anchor point, label point and the second anchor point
The distance between and the distance between label point and the 3rd anchor point, wherein, ρ=10lg (d), d is between label point and anchor point
Distance；
According to the distance between the first anchor point, the second anchor point, the coordinate of the 3rd anchor point and label point and first anchor point, mark
Coordinate (the X of the distance between label point and the distance between the second anchor point and label point and the 3rd anchor point acquisition label point2, Y2)。
It is preferred that, the 3rd frequency with the 3rd default frequency range sends signal and carries out three side positioning to obtain the second mark
Sign point coordinates (X3, Y3) the step of include：
Send signal to determine the signal intensity A of reference point according to the 3rd frequency3With path attenuation parameter η3；
The signal intensity of label point is measured in the first anchor point, the second anchor point and the 3rd anchor point respectively, every group of pendulous frequency is equal
For N；
Gaussian filtering is carried out to three groups measured N number of signal intensities respectively；
Respectively every group of signal intensity after gaussian filtering is carried out average statistical to obtain mean value signal intensity RSSI (3)；
According to formula RSSI (3)=A3-η3ρ obtains the distance between label point and first anchor point, label point and the second anchor point
The distance between and the distance between label point and the 3rd anchor point, wherein, ρ=10lg (d), d is between label point and anchor point
Distance；
According to the distance between the first anchor point, the second anchor point, the coordinate of the 3rd anchor point and label point and first anchor point, mark
Coordinate (the X of the distance between label point and the distance between the second anchor point and label point and the 3rd anchor point acquisition label point3, Y3)。
It is preferred that, the frequency range of the described first default frequency range is less than or equal to 2GHz；Described second default frequency range
Frequency range be more than 2GHz and less than or equal to 4GHz；The frequency range of described 3rd default frequency range is more than 4GHz.
It is preferred that, the first frequency is 800MHz；The second frequency is 2.4GHz；3rd frequency is 5GHz.
As described above, the method for the wireless location of the present invention, has the advantages that：
The method of wireless location of the present invention, the weight factor of ambient signal is determined by measurement, with reference to the weight factor
Effectively raise the accuracy of positioning.
Further, measurement signal is filtered by gaussian filtering, so as to eliminate small probability event, improves survey
The precision of amount；In addition, the method for additionally using average statistical further increases the precision of measurement, so as to improve the standard of positioning
Exactness.
Brief description of the drawings
Fig. 1 is shown as the method flow schematic diagram of wireless location of the present invention.
Fig. 2 is shown as obtaining the schematic flow sheet of weight factor in the method for wireless location of the present invention.
Fig. 3 is shown as the model schematic of greatly Similarity algorithm of the invention.
Fig. 4 is shown as the model schematic of three side of the invention location algorithm.
Component label instructions
S1~S3 steps
S11~S13 steps
Embodiment
Illustrate embodiments of the present invention below by way of specific instantiation, those skilled in the art can be by this specification
Disclosed content understands other advantages and effect of the present invention easily.The present invention can also pass through specific realities different in addition
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints with application, without departing from
Various modifications or alterations are carried out under the spirit of the present invention.It should be noted that, in the case where not conflicting, following examples and implementation
Feature in example can be mutually combined.
It should be noted that the diagram provided in following examples only illustrates the basic structure of the present invention in a schematic way
Think, then in schema only display with relevant component in the present invention rather than according to component count, shape and the size during actual implement
Draw, it is actual when implementing, and kenel, quantity and the ratio of each component can be a kind of random change, and its assembly layout kenel
It is likely more complexity.
Referring to Fig. 1, the present invention provides a kind of method of the wireless location, the method for the wireless location includes：
Step S1, calculates the first weight factor ξ corresponding to the first default frequency range in current environment respectively1, second preset
The second weight factor ξ corresponding to frequency range2And the 3rd the 3rd weight factor ξ corresponding to default frequency range3；
Step S2, sends signal three side positioning of progress to obtain the first mark with the first frequency in the first default frequency range respectively
Sign point coordinates (X1, Y1), send signal three side positioning of progress to obtain the second label point with the second frequency in the second default frequency range
Coordinate (X2, Y2), send signal three side positioning of progress to obtain the 3rd label point coordinates with the 3rd frequency in the 3rd default frequency range
(X3, Y3)；
Step S3, elements of a fix X is obtained according to the weight factor and corresponding label point coordinates：
X=[(ξ1X1+ξ2X2+ξ3X3), (ξ1Y1+ξ2Y2+ξ3Y3)](1)。
In the present embodiment, the frequency range of the described first default frequency range is less than or equal to 2GHz；Described second is pre-
If the frequency range of frequency range is more than 2GHz and less than or equal to 4GHz；The frequency range of described 3rd default frequency range be more than
4GHz.The first frequency is 800MHz；The second frequency is 2.4GHz；3rd frequency is 5GHz.For example, in reality
In, 800MHz wireless signal is sent using Zeegbe wireless systems；2.4GHz is sent using 802.11b wireless systems；
5GHz is sent using 802.11a.
Certainly, in other embodiments, can also to the first default frequency range, the second default frequency range, the 3rd default frequency range and
First frequency, second frequency, the 3rd frequency do other settings, and the present invention is without limitation；In addition, more accurate in order to obtain
Positioning, frequency range can also be divided into more than three, be not limited in three in the present embodiment, this should not limit the present invention
Protection domain.
With reference to Fig. 2, the first weight factor ξ calculated respectively in current environment corresponding to the first default frequency range1, second
The second weight factor ξ corresponding to default frequency range2And the 3rd the 3rd weight factor ξ corresponding to default frequency range3The step of wrap
Include：
The signal intensity of each interference signal in step S11, measurement current environment, and it is strong to calculate the signal of interference signal
Spend summation；
Step S12, believes each interference according to the scope of the first default frequency range, the second default frequency range and the 3rd default frequency range
Number classified；
Step S13, by the signal intensity sum and the signal of interference signal of the interference signal in the first default frequency range
The ratio of intensity summation is used as the first weight factor ξ1；By the signal intensity sum of the interference signal in the second default frequency range
The second weight factor ξ is used as with the ratio of the signal intensity summation of interference signal2；By the interference letter in the 3rd default frequency range
Number signal intensity sum and the ratio of signal intensity summation of interference signal be used as the 3rd weight factor ξ3。
Specifically, formula can be passed through：To calculate the first weight factor ξ1, the second weight factor ξ2And the
Three weight factor ξ3；Wherein, due in the present embodiment, interference is divided into three frequency ranges, therefore, n=3；R represents each frequency range
Interior interference signal intensity.
In the present embodiment, the first frequency with the first default frequency range sends signal and carries out three side positioning to obtain
First label point coordinates (X1, Y1) the step of include：
Step S21, sends signal to determine the signal intensity A of reference point according to first frequency1With path attenuation parameter η1；
Wherein, reference point is the wireless signal strength RSSI value that receiving node is received when wireless transceiver point distance is 1m.
Specifically measurement process is：Test the signal intensity A of reference point in Zeegbe wireless systems1With path attenuation parameter η1；
Using anchor point as origin, one sampled point is set at interval of 20cm, 100 sampled points are set altogether.To ensure the standard of measurement data
True property, the signal intensity of each measurement point, which is surveyed 100 times, averages, and measurement obtains 100 groups of [RSSIi, di] (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 formulaTry to achieve reference point A.
After measurement draws signal intensity and path attenuation parameter corresponding to the reference point of first frequency, step is performed
S22, measures the signal intensity of label point, every group of pendulous frequency is N in the first anchor point, the second anchor point and the 3rd anchor point respectively；
The pendulous frequency N is more than or equal to 100.
Then step S23 is performed, gaussian filtering is carried out to three groups measured N number of signal intensities respectively；
Detailed process is：Pass through formulaGaussian filtering is carried out, small probability event is removed,
Wherein μ is mathematic expectaion, σ2For standard variance.Gauss model data processing principle is：One unknown node can in same position
N RSSI value can be received, wherein certainly existing small probability event.The RSSI of high probability generating region is chosen by Gauss model
Value, then takes its geometric mean again.This way reduces the influence of some small probabilities, big interference incident to overall measurement, increases
The strong accuracy of location information.
In the present embodiment, it is used as critical point using 0.6.I.e. when gauss of distribution function value is more than 0.6, it is believed that corresponding
RSSI value is high probability occurrence value；When gauss of distribution function value is less than or equal to 0.6, it is believed that corresponding RSSI value is small probability
Chance event.
Then step S24 is performed, respectively every group of signal intensity after gaussian filtering is carried out average statistical to obtain average
Signal intensity RSSI (1)；
Average statistical model refers to that unknown node gathers the average that these data are sought after one group of (m) RSSI value.Specifically
Average statistical formula is：In the model, real-time and essence can be balanced by adjusting m values
True property.When m is very big, the randomness of data can be effectively solved, so as to improve precision.
Then, step S25 is performed, further according to formula RSSI (1)=A1-η1ρ (3) is obtained between label point and the first anchor point
Distance, the distance between the distance between label point and the second anchor point and label point and the 3rd anchor point, wherein, ρ=10lg
(d) (4), d is the distance between label point and anchor point；
The signal intensity A of reference point has been got in the step s 211With path attenuation parameter η1, and in step S24
In get the RSSI values of three anchor points, the distance between label point and anchor point can be obtained after the formula for substituting into step S25.
Finally, step S26 is performed, according to the first anchor point, the second anchor point, the coordinate of the 3rd anchor point and label point and first
The distance between the distance between the distance between anchor point, label point and the second anchor point and label point and the 3rd anchor point, which are obtained, to be marked
Sign the coordinate (X of point1, Y1)。
With reference to Fig. 3, label point coordinates can be calculated using very big analogue method in the present embodiment, set up equation below：
AX=b (8)
Wherein
Then X=[x y]T (9)。
Equation is solved with least square method to obtain：
X=(AT A)-1ATb (10)
When taking at 3, as shown in figure 4, using three side location algorithms, bringing into after formula (10) and obtaining：
When calculating label point coordinates, RSSI value is more accurate, then the coordinate of the label point obtained is also more accurate.Due to surveying
, can be because outside electromagnetic interference causes the inaccurate of measurement result, when outside electromagnetic interference is unstable when measuring signal intensity
When the result that measures randomness occurs.And using random disturbances are substantially reduced by gaussian filtering in the present embodiment, in addition
The error to RSSI signals is also further reduced by the method for average statistical.By such mode, it can substantially reduce
The interference of signal in environment, so as to effectively improve the precision of positioning.
With mentioned by first frequency carry out three side positioning it is similar with the coordinate for obtaining label point, in the present embodiment,
The second frequency with the second default frequency range sends signal and carries out three side positioning to obtain the second label point coordinates (X2, Y2)
The step of include：
Send signal to determine the signal intensity A of reference point according to second frequency2With path attenuation parameter η2；It can lead to
802.11b systems are crossed to send 2.4GHz wireless signal to determine the signal intensity A of reference point2With path attenuation parameter η2。
The signal intensity of label point is measured in the first anchor point, the second anchor point and the 3rd anchor point respectively, every group of pendulous frequency is equal
For N；
Gaussian filtering is carried out to three groups measured N number of signal intensities respectively；
Respectively every group of signal intensity after gaussian filtering is carried out average statistical to obtain mean value signal intensity RSSI (2)；
According to formula RSSI (2)=A2-η2ρ obtains the distance between label point and first anchor point, label point and the second anchor point
The distance between and the distance between label point and the 3rd anchor point, wherein, ρ=10lg (d), d is between label point and anchor point
Distance；
According to the distance between the first anchor point, the second anchor point, the coordinate of the 3rd anchor point and label point and first anchor point, mark
Coordinate (the X of the distance between label point and the distance between the second anchor point and label point and the 3rd anchor point acquisition label point2, Y2)。
Similar, the 3rd frequency with the 3rd default frequency range sends signal and carries out three side positioning to obtain the second mark
Sign point coordinates (X3, Y3) the step of include：
Send signal to determine the signal intensity A of reference point according to the 3rd frequency3With path attenuation parameter η3；
The signal intensity of label point is measured in the first anchor point, the second anchor point and the 3rd anchor point respectively, every group of pendulous frequency is equal
For N；
Gaussian filtering is carried out to three groups measured N number of signal intensities respectively；
Respectively every group of signal intensity after gaussian filtering is carried out average statistical to obtain mean value signal intensity RSSI (3)；
According to formula RSSI (3)=A3-η3ρ obtains the distance between label point and first anchor point, label point and the second anchor point
The distance between and the distance between label point and the 3rd anchor point, wherein, ρ=10lg (d), d is between label point and anchor point
Distance；
According to the distance between the first anchor point, the second anchor point, the coordinate of the 3rd anchor point and label point and first anchor point, mark
Coordinate (the X of the distance between label point and the distance between the second anchor point and label point and the 3rd anchor point acquisition label point3, Y3)。
Above by the step of the coordinate of second frequency acquisition label point and the coordinate by the 3rd frequency acquisition label point
Suddenly the process of the coordinate with obtaining label point by first frequency is similar, will not be repeated here.
After three label point coordinates have been got, elements of a fix X is obtained in conjunction with corresponding weight factor.Specifically,
First label point coordinates is multiplied with the first weight factor, the second label point coordinates is multiplied with the second weight factor, by the 3rd
Label point coordinates is multiplied with the 3rd weight factor, is that can obtain the final elements of a fix by three product additions.
The method of wireless location of the present invention, wireless location is carried out using three kinds of frequency ranges, is reduced electromagnetic interference in environment and is caused
Positioning it is inaccurate the problem of.The present invention is positioned by three side location algorithms, and is filtered in position fixing process using Gauss
Ripple filters random disturbances to improve the accuracy of positioning, also, additionally uses the mode of average statistical and further reduce the external world
Disturb the influence to positioning.
Further, the present invention determines the weight of interference signal in each frequency range, with reference to power by the intensity of measuring environment signal
Repeated factor can further improve influence of the interference electromagnetic wave to measurement result, so as to improve the precision of positioning.
The above-described embodiments merely illustrate the principles and effects of the present invention, not for the limitation present invention.It is any ripe
Know the personage of this technology all can carry out modifications and changes under the spirit and scope without prejudice to the present invention to above-described embodiment.Cause
This, those of ordinary skill in the art is complete without departing from disclosed spirit and institute under technological thought such as
Into all equivalent modifications or change, should by the present invention claim be covered.
Claims (6)
1. a kind of method of wireless location, it is characterised in that the method for the wireless location includes：
The first weight factor ξ corresponding to the first default frequency range in current environment is calculated respectively1, corresponding to the second default frequency range
Second weight factor ξ2And the 3rd the 3rd weight factor ξ corresponding to default frequency range3；
Send signal three side positioning of progress to obtain the first label point coordinates (X with the first frequency in the first default frequency range respectively1,
Y1), send signal three side positioning of progress to obtain the second label point coordinates (X with the second frequency in the second default frequency range2, Y2),
Send signal three side positioning of progress to obtain the 3rd label point coordinates (X with the 3rd frequency in the 3rd default frequency range3, Y3)；
The first frequency with the first default frequency range sends signal and carries out three side positioning to obtain the first label point coordinates (X1,
Y1) the step of include：
Send signal to determine the signal intensity A of reference point according to first frequency1With path attenuation parameter η1；
The signal intensity of the first label point is measured in the first anchor point, the second anchor point and the 3rd anchor point respectively, every group of pendulous frequency is equal
For N；
Gaussian filtering is carried out to three groups measured N number of signal intensities respectively；
Respectively every group of signal intensity after gaussian filtering is carried out average statistical to obtain mean value signal intensity RSSI (1)；
According to formula RSSI (1)=A1-η1ρ obtains the distance between the first label point and first anchor point, the first label point and second
The distance between the distance between anchor point and the first label point and the 3rd anchor point, wherein, ρ=10lg (d), d is the first label
The distance between point and anchor point；
According to the distance between the first anchor point, the second anchor point, the coordinate of the 3rd anchor point and the first label point and first anchor point, the
The distance between the distance between one label point and the second anchor point and the first label point and the 3rd anchor point obtain the first label point
Coordinate (X1, Y1)；
The second frequency with the second default frequency range sends signal and carries out three side positioning to obtain the second label point coordinates (X2,
Y2) the step of include：
Send signal to determine the signal intensity A of reference point according to second frequency2With path attenuation parameter η2；
The signal intensity of the second label point is measured in the first anchor point, the second anchor point and the 3rd anchor point respectively, every group of pendulous frequency is equal
For N；
Gaussian filtering is carried out to three groups measured N number of signal intensities respectively；
Respectively every group of signal intensity after gaussian filtering is carried out average statistical to obtain mean value signal intensity RSSI (2)；
According to formula RSSI (2)=A2-η2ρ obtains the distance between the second label point and first anchor point, the second label point and second
The distance between the distance between anchor point and the second label point and the 3rd anchor point, wherein, ρ=10lg (d), d is the second label
The distance between point and anchor point；
According to the distance between the first anchor point, the second anchor point, the coordinate of the 3rd anchor point and the second label point and first anchor point, the
The distance between the distance between two label points and the second anchor point and the second label point and the 3rd anchor point obtain the second label point
Coordinate (X2, Y2)；
The 3rd frequency with the 3rd default frequency range sends signal and carries out three side positioning to obtain the 3rd label point coordinates (X3,
Y3) the step of include：
Send signal to determine the signal intensity A of reference point according to the 3rd frequency3With path attenuation parameter η3；
The signal intensity of the 3rd label point is measured in the first anchor point, the second anchor point and the 3rd anchor point respectively, every group of pendulous frequency is equal
For N；
Gaussian filtering is carried out to three groups measured N number of signal intensities respectively；
Respectively every group of signal intensity after gaussian filtering is carried out average statistical to obtain mean value signal intensity RSSI (3)；
According to formula RSSI (3)=A3-η3ρ obtains the distance between the 3rd label point and first anchor point, the 3rd label point and second
The distance between the distance between anchor point and the 3rd label point and the 3rd anchor point, wherein, ρ=10lg (d), d is the 3rd label
The distance between point and anchor point；
According to the distance between the first anchor point, the second anchor point, the coordinate of the 3rd anchor point and the 3rd label point and first anchor point, the
The distance between the distance between three label points and the second anchor point and the 3rd label point and the 3rd anchor point obtain the 3rd label point
Coordinate (X3, Y3)；
Elements of a fix X is obtained according to the weight factor and corresponding label point coordinates：
X=[(ξ1X1+ξ2X2+ξ3X3), (ξ1Y1+ξ2Y2+ξ3Y3)]；
Wherein, the first weight factor ξ calculated respectively in current environment corresponding to the first default frequency range1, the second default frequency range
The second corresponding weight factor ξ2And the 3rd the 3rd weight factor ξ corresponding to default frequency range3The step of include：
The signal intensity of each interference signal in current environment is measured, and calculates the signal intensity summation of interference signal；
Each interference signal is classified according to the scope of the first default frequency range, the second default frequency range and the 3rd default frequency range；
By the ratio of the signal intensity sum of the interference signal in the first default frequency range and the signal intensity summation of interference signal
Value is used as the first weight factor ξ1；By the signal intensity sum of the interference signal in the second default frequency range and interference signal
The ratio of signal intensity summation is used as the second weight factor ξ2；By the signal intensity of the interference signal in the 3rd default frequency range
The ratio of the signal intensity summation of sum and interference signal is used as the 3rd weight factor ξ3。
2. the method for wireless location according to claim 1, it is characterised in that the pendulous frequency N is more than or equal to
100。
3. the method for wireless location according to claim 1, it is characterised in that according to formula
Gaussian filtering is carried out to the N number of signal intensity measured, wherein：μ is mathematic expectaion, σ2For standard variance.
4. the method for wireless location according to claim 1, it is characterised in that according to formulaCome
Obtain mean value signal intensity RSSI.
5. the method for wireless location according to claim 1, it is characterised in that the frequency range of the described first default frequency range
For less than or equal to 2GHz；The frequency range of described second default frequency range is more than 2GHz and less than or equal to 4GHz；Institute
The frequency range for stating the 3rd default frequency range is more than 4GHz.
6. the method for wireless location according to claim 5, it is characterised in that the first frequency is 800MHz；It is described
Second frequency is 2.4GHz；3rd frequency is 5GHz.
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| CN104459617B (en) * | 2014-12-22 | 2017-08-04 | 上海斐讯数据通信技术有限公司 | The method of wireless location |
| CN105068123B (en) * | 2015-08-05 | 2019-09-03 | 中国矿业大学 | A kind of coal rock dynamic disaster electromagnetic radiation localization method |
| EP3335055A1 (en) * | 2015-08-14 | 2018-06-20 | Sony Mobile Communications Inc. | Determining a relative position between devices |
| CN107302793B (en) * | 2016-04-15 | 2020-10-23 | 华为技术有限公司 | Positioning method, server, terminal and system based on wireless signals |
| CN108490318A (en) * | 2018-02-05 | 2018-09-04 | 天津大学 | Shelf depreciation whole station synthesized positioning method based on Waveform Matching and sensor |
| CN109798917B (en) * | 2018-12-19 | 2021-05-28 | 如皋市勘测院有限公司 | Positioning precision inspection method |
| CN112055409B (en) * | 2020-08-04 | 2022-02-18 | 暨南大学 | RFID indoor positioning method based on power control |
| CN113465616B (en) * | 2021-06-28 | 2023-06-16 | 湖北亿咖通科技有限公司 | Track abnormal point detection method and device, electronic equipment and storage medium |
| CN114051207B (en) * | 2021-11-12 | 2023-12-15 | 武汉理工大学重庆研究院 | Ultra-wideband accurate positioning method and device under signal interference and electronic equipment |
| CN113922897B (en) * | 2021-11-18 | 2023-06-27 | 国网湖南省电力有限公司 | Positioning method and positioning device for wireless interference source |
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