CN104469936B - The hybrid locating method and system of radio signal attenuation model based on intelligent space - Google Patents
The hybrid locating method and system of radio signal attenuation model based on intelligent space Download PDFInfo
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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
- G01S5/0257—Hybrid positioning
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Abstract
The hybrid locating method and system of the present invention relates to a kind of radio signal attenuation model based on intelligent space, belong to the intelligent wheel chair field of locating technology of intelligent space.The problem that the present invention causes positioning accuracy relatively low for the randomized jitter for the RSSI value collected in radio signal attenuation model and drift, it proposes through gaussian filtering and averaging method and improves the accuracy for the RSSI value being collected into, range error is excessive caused by solving the problems, such as the randomized jitter because of RSSI to a certain extent；Then due to hardware it is included the location algorithm for being based only upon RSSI it is relatively simple and have certain limitation, in order to be improved to its algorithm, it is proposed the LQI auxiliary positioning algorithm that multivariable is supported, pass through improved RSSI and LQI mixed positioning algorithm, along with weighting dynamic optimization method, substantially reduce the range error measured, so that the precision of indoor positioning is further improved, so that the indoor locating system of intelligent space can satisfy more application fields.
Description
Technical field
The invention belongs to the intelligent wheel chair field of locating technology of intelligent space, are related to a kind of wireless communication based on intelligent space
The hybrid locating method and system of number attenuation model.
Background technique
With the development of the society, science and technology is also constantly developing, today's society people's lives pressure is also continuous
Reinforce, some the elderlys and physical disabilities have often selected to live by oneself to mitigate and give household's bring burden.To intelligent wheel chair
And the research of intelligent living space, safety and easily hommization clothes can not only be brought for the elderly and physical disabilities
Business, moreover it is possible to guardian be allowed to understand their weather in time.Therefore have to the research of intelligent wheel chair intelligent space positioning system
Very real meaning.
Intelligent space is the space system under multi information Cross-environment, and the daily of people is gradually dissolved into its research
In life.It has often been said that internet changes our life, then including the intelligent residence space system of monitoring system
Our definition for family are then overturned, the people for making outside can also understand the situation in family whenever and wherever possible, deepen and family
Connection.In addition, intelligent space and Internet of Things robot technology combine the Public place that can also be applied to each large size.
The major well-known research institute in the whole world and giant company all are being unfolded to study to it, and propose a variety of solutions, these will band
Carry out a new technological revolution.
In information-based society, radio network technique is evolving, and the requirement of wireless location technology is higher and higher, is answered
It is also increasingly wider with field.Location technology under spacious environment outdoor at present is mature, but the research of indoor positioning technologies is rigid
Ground zero.Many technologies are all bad used in indoor positioning effect, can not be up to indoor high-precision location requirement, so indoor positioning
The exploitation and design of system also result in the concern of people.Supermarket, airport, the large-scale public places such as home for destitute are required by room
Interior location information efficiently manages and improves better service to realize.In the medical wireless communication technology, to the intelligence of patient
It is also current important research direction that the follow-up service with position, which can be guarded,.
Wireless sensor network is concentrated-distributed signal acquisition, the network information system of signal transmission and signal processing and one
System, it is known as " fourth industrial revolution " of IT technology.The network is the core of the intelligent space positioning network of this subject study
Heart network, so the positioning system of the intelligent wheel chair based on intelligent space is exactly used in WSN technology.When intelligent wheel chair is in room
Acquisition and the information of environmental information and physiological health when interior mobile, while its spatial positional information can also be obtained.
Intelligent wheel chair is needed as helping the elderly/disabled aiding robot to its modularization, intelligence, personalization and multi-functional etc.
Thoroughgoing and painstaking research is carried out, to reach the level of practical application.This important medical service robot towards intelligent wheel chair,
The exploitation and application study of the intelligent wheel chair positioning system based on intelligent space are carried out, not only can get has international most advanced level
With the scientific and technological achievement of huge market potential, moreover it is possible to effectively push work of helping the disabled of helping the elderly, service the construction of accessible society.
Summary of the invention
In view of this, the mixing of the purpose of the present invention is to provide a kind of radio signal attenuation model based on intelligent space
Localization method and system are declined while controlling intelligent wheel chair movement by ZigBee wireless sensor network signal by wireless signal
Subtract the hybrid locating method of model to improve the positioning accuracy of intelligent space intelligent wheel chair.
In order to achieve the above objectives, the invention provides the following technical scheme:
A kind of hybrid locating method of the radio signal attenuation model based on intelligent space, comprising the following steps: step 1:
The accuracy for the RSSI value being collected into is improved by gaussian filtering and averaging method；Step 2: it is supported with multivariable
LQI auxiliary positioning algorithm is combined by improved RSSI and LQI mixed positioning algorithm and is positioned；Step 3: it uses again
Dynamic optimization algorithm is weighted, the precision of indoor positioning is further improved.
The hybrid location system of the present invention also provides a kind of radio signal attenuation model based on intelligent space, the system
Including CC2430/31 module, computer, intelligent wheel chair ontology；CC2430/31 module is used to carry out the acquisition process of control command
And transmission, while being also responsible for the configuration processing and transmission of RSSI value and LQI value and reference coordinate and positioning coordinate；Computer is made
The transmission of wheel chair sport instruction is completed for the point-to-point connection with wheelchair for the host computer of entire control system；Intelligent wheel chair
It is the slave computer of entire control system, for verifying the realization of motion control.
Further, when realizing positioning using the system, system improves collection by gaussian filtering and averaging method
The accuracy of the RSSI value arrived；And the LQI auxiliary positioning algorithm supported with multivariable, it is mixed by improved RSSI and LQI
Conjunction location algorithm, which combines, to be positioned；Again using weighting dynamic optimization algorithm, the precision of indoor positioning is further improved.
The beneficial effects of the present invention are: the mixed positioning algorithm institute provided by the invention based on radio signal attenuation model
The average range error of acquisition greatly enhances the accuracy of ranging, obtained distance and reality then at 1 meter or so
Distance measurement value very close to solving the problems, such as that the range error measured under true environment is excessive, so that entirely to a certain extent
The positioning accuracy of positioning system is greatly improved, to meet more indoor positioning application studies.
Detailed description of the invention
In order to keep the purpose of the present invention, technical scheme and beneficial effects clearer, the present invention provides following attached drawing and carries out
Illustrate:
Fig. 1 is the flow diagram of the method for the invention；
Fig. 2 is the relational graph of RSSI and distance d；
Fig. 3 is the relational graph of LQI and distance d；
Fig. 4 is that the range error of different conditions compares figure.
Specific embodiment
Below in conjunction with attached drawing, a preferred embodiment of the present invention will be described in detail.
Fig. 1 is the flow diagram of the method for the invention, as shown, this method is by gaussian filtering and averages
Method improves the accuracy of the RSSI value being collected into, and caused by solving the randomized jitter because of RSSI to a certain extent ranging misses
The excessive problem of difference, then due to hardware it is included the location algorithm for being based only upon RSSI it is relatively simple and have certain limitation,
In order to be improved to its algorithm, the LQI auxiliary positioning algorithm that this method uses multivariable to support, by improved RSSI and
LQI mixed positioning algorithm substantially reduces the range error measured along with weighting dynamic optimization method, thus into
One step improves the precision of indoor positioning.
The hybrid location system of the present invention also provides a kind of radio signal attenuation model based on intelligent space, the system
Including CC2430/31 module, computer, intelligent wheel chair ontology；CC2430/31 module is used to carry out the acquisition process of control command
And transmission, while being also responsible for the configuration processing and transmission of RSSI value and LQI value and reference coordinate and positioning coordinate；Computer is made
The transmission of wheel chair sport instruction is completed for the point-to-point connection with wheelchair for the host computer of entire control system；Intelligent wheel chair
It is the slave computer of entire control system, for verifying the realization of motion control.
In order to obtain RSSI true value under indoor complex environment, and the relationship of RSSI value and corresponding distance is ground
Study carefully.In the present embodiment, it is solved using the CC2431 positioning system of CC2430, CC2431 chip of TI company and wireless imperial company
Scheme completes the establishment of the positioning network in space as experiment porch, and the data communication and RSSI signal between node are adopted
Set analysis, and carry out location algorithm improvement.Initial stage has carried out following experiment:
Experimental site is selected in Information barrier-free research and development centre big experiment room, the room collected using the room as RSSI value,
A coordinate origin is selected at the corner in room, reference mode is placed at the coordinate origin in room, and node location determines
And good corresponding parameter is configured in the software of positioning development system.After configuring good each parameter, start positioning node, by fixed
Position node collects RSSI value.Method is to move positioning node in a room, select it is different from this reference mode it is true away from
It is tested from place, distance is set as one group of RSSI value of record of just stopping every one meter, and every group of data include 50 corresponding test points
RSSI value, every group of data acquisition frequency be 1HZ, acquire 20 groups of data altogether.
The RSSI value being collected into is compared and analyzed after obtaining these data.In actual location environment, wireless signal
In attenuation process, with the variation of environment, attenuation degree is also with variation.Generally speaking, RSSI value is answered within the scope of some
This meets certain distribution, facilitates averaging, and measured value is allowed more to restrain.Random error is reduced by the improvement of algorithm again,
The RSSI value finally obtained is more nearly actual value, to achieve the purpose that improve positioning accuracy.
This method is demonstrated by out by the description of point after being averaging the RSSI value being collected into Fig. 2, they correspond to
Be RSSI value in the case of different distance, these points are connected, RSSI value and signal power are proportional, then with letter
Number decaying it is also proportional, therefore obtained signal attenuation curve here.In addition the ranging theoretical model of RSSI is passed through again
Matlab depicts corresponding theoretical value curve as and actual curve is contrasted.From Fig. 2, it can be seen that when between measuring node
When distance is greater than 5 meters, the RSSI value of actual measurement is significantly greater than the RSSI value on theoretical curve.The curve of theoretical value is decayed
Steeper, and real curve is more steady.This explanation makes location algorithm of theoretical value, will have in practical situations certain
Error.By so analyzing, it can be seen that locating wireless signal intensity here is highly susceptible to do under true environment
It disturbs, it is larger to the relative fluctuation of theoretical value, therefore also have large effect to the calculating of last positioning coordinate.Herein by multiple
The RSSI value of measurement is screened, to improve the accuracy of collected RSSI value.
Equally in the environment of laboratory, 1500 groups of RSSI values are collected using CC2340 and CC2431 experiment porch.To receipts
The RSSI value collected is for statistical analysis, carries out the processing of RSSI value using gaussian filtering in the present embodiment.
Gauss of distribution function such as formula (1):
In formula (1):
Given probable range obtains for 0.6 < < F (x) < < 1 :+0.85 σ of μ -0.85 σ≤x≤μ, therefore RSSI value after filtering
Range are as follows: [+0.85 σ of μ -0.85 σ, μ]
As a result in,
By previously described CC2431 positioning set in laboratory, take 6 reference modes and positioning node it
Between tested apart from different situations, 100 groups of RSSI values are recorded at each anchor point.By previously described two methods into
Row filtering processing, finally compare which kind of filtering the case where it is more preferable, details are as shown in table 1, from table 1 it can be seen that, filtering select
It is more preferable to select middle gaussian filtering effect.Filtered RSSI measured value is smoother, solve to a certain extent in this way RSSI value by
The randomized jitter problem that environment influences.
Table 1
RSSI value is stored in the nonvolatile memory of CC2431 chip, can directly be obtained from the BUF of register
Access evidence.And the reflection of LQI value is quality of connection, it is obtained by the structural body in positioning system protocol stack.LQI value with
The quality of signal connection is directly proportional, and value is bigger to illustrate that channel quality of connection is better.In this solution of CC2431, RSSI
Value and LQI value can reflect the influence situation that environmental factor decays to indoor radio signal.Single is calculated with RSSI value
Distance, then the coordinate acquired by engine of positioning is in fact and inaccurate, thus this method acquired by collecting multiple groups LQI value and away from
Relationship from d completes the auxiliary positioning to RSSI value finally by dynamic optimization.Using matlab simulation software, using minimum
Square law curve matching obtains the relationship of distance d between LQI value and measuring node.Here it collects the mode of LQI value and collects RSSI
Mode it is the same, only extract respective value place it is different, one is in the register of hardware, and one is in software protocol
In the data packet of stack.Multiple positioning nodes are equally recorded to the distance and corresponding LQI value of reference mode, are formed more
Group key-value pair { (d1, LQI1) (d2, LQI2) (d3, LQI3) ... (dn, LQIn) }.It is available according to the data of these key-value pairs
The relation curve of LQI and distance d under actual environment, as shown in Figure 3.
3 power curves that the LQI value that can be obtained these in matlab simulated environment carries out least square method are fitted
It is fitted with 5 power curves, curve matching figure is as shown in Figure 3.The effect of 5 power curves fitting is more preferable as we can see from the figure.Therefore
The present embodiment adopts algorithm of the 5 power least square curve fitting formula as LQI value.The wherein dynamic range ratio RSSI of LQI
Want high.
LQI (d)=p3d3+p2d2+p1d+p0 (4)
Wherein, p0=172.15, p1=-4.6778, p2=0.7417, p3=-0.03068,
LQI (d)=p5d5+p4d4+p3d3+p2d2+p1d+p0 (5)
Wherein, p0=169.4996, p1=-1.4184, p2=0.0273, p3=-0.002, p4=0.000074p5=-
0.0000048。
Since the LQI value at some distance of polynomial solving will appear a variety of situations, therefore there are written in code values to be not allowed
The case where.And RSSI and LQI also have certain relationship, shown in relational expression such as formula (6).
RSSI=- (81- (LQI × 91)/255) (6)
Then by evaluation fitting method, LQI value is fitted to the logarithmic curve close to 5 order polynomials, obtain LQI with away from
Shown in relational expression such as formula (7) from d.
LQI(d2)=172.3348-28.5536lg (d2) (7)
By processing above, the calculating process of euclidean distance between node pair solution can be greatly reduced in code realization.Separately
The slope of the polynomial curve of 5 fittings can also be obtained by derivation outside, and accurate LQI is obtained by the comparison of slope
Value.The two different localization methods of RSSI or LQI can be thus taken at different distances, calculated with most suitable algorithm
Closer to the distance value that really measures, so that solving RSSI value in actual range is more than actual measured value deviation theory after 5 meters
The problem that curve excessively causes range error excessive.
The present invention is respectively adopted two kinds of location algorithms and acquires distance of the positioning node to reference mode, and both methods
Parameter RSSI value and LQI value have certain linear relationship again.Therefore the method for proposition dynamic weighting improves ranging accuracy.
For distance between this laboratory environment lower node within 5 meters, the decaying situation of RSSI value meets theoretical model, therefore uses RSSI value
The distance acquired, the measured distance d between reference mode and anchor point obtained by simplified model1It is more accurate.Similarly, lead to
Crossing LQI and measuring the distance of point-to-point transmission is d2.As the dynamic optimization of the distance to obtained by, to improve the accuracy of ranging between node.
This method is mainly weighted processing, shown in method of weighting such as formula (8).
D=α1d1+α2d2 (8)
Consider that environment factor and the previous experiments in laboratory are resulting as a result, selected 5 meters of a threshold value.When | d1-d2|≤
At this moment 4m needs to correct LQI value, it is added to the wobble variation value Δ LQI of itself, then finds out d by revised value2And
It is brought into ranking operation above.When | d1-d2| at this moment > 4m needs to correct RSSI value, it is added to the wobble variation of itself
It is worth Δ RSSI, d is then found out by revised value1And it is brought into ranking operation above.The choosing of different environment weighted values
It selects and also influences whether positioning result.The present embodiment is using when the distance between reference mode and positioning node is less than 5 meters, d1
Weight value coefficient be 0.8, d2Weight value coefficient be 0.2, when the distance between reference mode and positioning node be greater than 5 meters when,
It is then on the contrary.Since this method is related to the amendment shaken before and after RSSI and LQI value, thus it is more preferable than general dynamic weighting effect.
By the introduction of the algorithm improvement of front, 3 kinds of not Tongfangs are completed using the locating platform of CC2431 solution
The acquisition of range error after the innovatory algorithm of formula.It is the range error based on RSSI algorithm, the ranging based on LQI algorithm respectively
The range error of the mixed positioning algorithm of error and RSSI+LQI.Lower 16 test points of algorithms of different after extracting innovatory algorithm
Average range error be compared, as a result as shown in Figure 4.
What it is due to the present embodiment selection is the attenuation model based on wireless signal, and what is mainly acquired is RSSI value, and because
There are certain shakes at the same sampled point for the signal value, biggish range error are eventually caused, by sampled data
Analysis, RSSI value is filtered using the method for gaussian filtering.Become more gentle by the RSSI value after gaussian filtering,
Thus can solve RSSI value jitter range at test point it is excessive and the problem of increase range error, to improve indirectly
Positioning accuracy.In addition, that the present embodiment selection is CC2431 solution party, the included location algorithm of the hardware system in scheme only has
RSSI value completes location algorithm, and locating effect is bad, and link-quality LQI and RSSI is linear also complies with simultaneously
With the attenuation relation of distance, the LQI auxiliary positioning algorithm then supported using multivariable is first passed through curve-fitting method and finds out one
It is more conform with the relation formula of the LQI value and distance under true environment, meanwhile, optimize measured two using dynamic weighting method
Distance between point compensates for only RSSI value location algorithm inaccurate problem of range accuracy when actual range is greater than 5 meters, into
One step reduces range error, to improve whole positioning accuracy.
Pass through the comparison of the experimental data of test point in Fig. 4, it can be deduced that the average range that RSSI value obtains only is used only
The average range error of LQI value acquisition is only used only at 3.5 meters or so at 2.5 meters or so in error, and proposed in this paper based on nothing
The mixed positioning algorithm average range error obtained of wire signal attenuation model greatly enhances then at 1 meter or so
The accuracy of ranging, obtained distance and practical distance measurement value are closest, solve measure under true environment to a certain extent
The excessive problem of range error, so that the positioning accuracy of entire positioning system is greatly improved, it is more to meet
Indoor positioning application study.
Finally, it is stated that preferred embodiment above is only used to illustrate the technical scheme of the present invention and not to limit it, although logical
It crosses above preferred embodiment the present invention is described in detail, however, those skilled in the art should understand that, can be
Various changes are made to it in form and in details, without departing from claims of the present invention limited range.
Claims (1)
1. a kind of hybrid locating method of the radio signal attenuation model based on intelligent space, it is characterised in that: including following step
It is rapid:
Step 1: the accuracy for the RSSI value being collected into is improved by gaussian filtering and averaging method；
Step 2: the LQI auxiliary positioning algorithm supported with multivariable passes through improved RSSI and LQI mixed positioning algorithm
It combines and is positioned；
Specifically: the algorithm using 5 power least square curve fitting formula as LQI value:
LQI (d)=p5d5+p4d4+p3d3+p2d2+p1d+p0；
RSSI=- (81- (LQI × 91)/255)；
By evaluation fitting method, LQI value is fitted to the logarithmic curve close to 5 order polynomials；
Step 3: again using weighting dynamic optimization algorithm, the precision of indoor positioning is further improved；
The weighting dynamic optimization algorithm meets:
D=α1d1+α2d2
Wherein, d1Measured distance between reference mode and anchor point, d2For the distance for measuring point-to-point transmission by LQI, door is selected
Limit value 5m, when | d1-d2At this moment |≤4m needs to correct LQI value, it is added to the wobble variation value Δ LQI of itself, is then passed through
Revised value finds out d2And it is brought into ranking operation；
When | d1-d2| at this moment > 4m needs to correct RSSI value, it is added to the wobble variation value Δ RSSI of itself, then by repairing
Value after just finds out d1And it is brought into ranking operation.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104898087A (en) * | 2015-04-13 | 2015-09-09 | 福建师范大学 | Particle filter indoor locating method and particle filter indoor locating system based on dynamic environment attenuation factor |
| CN105872064A (en) * | 2016-04-21 | 2016-08-17 | 珠海市埃帝尔软件技术有限公司 | System and method for indoor monitoring positioning based on cloud computing and sensor network |
| CN106102078B (en) * | 2016-06-06 | 2019-07-16 | 南京邮电大学 | A kind of interaction ZigBee node localization method based on RSSI-LQI |
| CN106454725B (en) * | 2016-09-23 | 2019-07-09 | 上海图聚智能科技股份有限公司 | The anti-shaking method of more example engine of positioning data fusions |
| CN108495265B (en) * | 2018-04-19 | 2020-07-03 | 北京邮电大学 | Indoor positioning method and device and computing equipment |
| CN108680897B (en) * | 2018-05-07 | 2020-05-29 | 北京邮电大学 | Indoor positioning method and device, electronic equipment and storage medium |
| CN113993068B (en) * | 2021-10-18 | 2024-01-30 | 郑州大学 | Positioning and direction finding system, method and BLE positioning equipment |
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