CN104837142A - Calibration method of positioning reference point in wireless positioning system, and wireless positioning system - Google Patents
Calibration method of positioning reference point in wireless positioning system, and wireless positioning system Download PDFInfo
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- CN104837142A CN104837142A CN201510140318.4A CN201510140318A CN104837142A CN 104837142 A CN104837142 A CN 104837142A CN 201510140318 A CN201510140318 A CN 201510140318A CN 104837142 A CN104837142 A CN 104837142A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
- H04W16/18—Network planning tools
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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
- G01S5/021—Calibration, monitoring or correction
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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
- G01S5/0252—Radio frequency fingerprinting
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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
- G01S5/0268—Hybrid positioning by deriving positions from different combinations of signals or of estimated positions in a single positioning system
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The embodiment of the present invention discloses a calibration method of a positioning reference point in a wireless positioning system. The method comprises the steps of setting the coordinate of a first positioning reference point as the origin of a coordinate system; determining the directions of a first coordinate axis and a second coordinate axis of the coordinate system in a plane composed of the first positioning reference point, a second positioning reference point and a third positioning reference point by selecting the second and third positioning reference points, and calculating to obtain the coordinates of the second and third positioning reference points; selecting the rest of positioning reference points in the wireless positioning system one by one, and determining the coordinates of the selected positioning reference points in the coordinate system by calculating the distances between the selected positioning reference points and the at least three positioning reference points of known coordinates. The present invention also discloses the wireless positioning system. According to the present invention, the low maintenance cost can be realized, the artificial position calibration at the initial arrangement is avoided, and the artificial calibration is not needed again at the later beacon adjustment or replacement.
Description
Technical field
The present invention relates to computer network communication field, particularly relate to scaling method and the wireless location system of location reference point in a kind of wireless location system.
Background technology
Along with popularizing of Intelligent mobile equipment (such as mobile phone, wearable device etc.), Smart Home, intelligent market and building etc. are also surging forward.Wireless location technology (comprising indoor positioning technologies) is the basic core technology supporting the sector, it can in real time (or quasi real time, namely triggering in some crucial time point or place) perception carries the user position in the environment of mobile terminal, send background server collection to, gather, and analyze in conjunction with the high amount of traffic of data digging method to personal user or user group, to find valuable knowledge, trend or business opportunity.
In the process implementing wireless location technology, first must arrange multiple anchor node (also referred to as " locating base station ", " location reference point ", " reference point " or " beacon beacon " etc.) in the environment, to realize the effective covering to environmental area.Meanwhile, also need the position demarcating these anchor nodes, as the reference data of follow-up perception location of mobile users.
Be all by manually arranging anchor node at present, and measure, demarcate the position coordinates of each node.When environmental area is very large, usually need layout hundreds and thousands of, anchor node even up to ten thousand.And can imagine, when spreading out related service in the whole nation and even global range, the sum of anchor node will be abnormal huge, thus to cause total manpower to expend with cost will be quite surprising.
In prior art when implementing wireless location system, following two class ways are mainly contained to the demarcation of location reference point:
1, indirect calibration: the position coordinates directly not demarcating each beacon, but after treating that all beacon arrange, (such as some grids are divided at equal intervals by instrument each key position in the environment, get the central point of each grid), measure the signal strength signal intensity (RSSI) of one or more beacon, thus set up RSSI fingerprint database; Follow-up when positioning action is performed to mobile subscriber, by each beacon signal strength signal intensity of Real-time Collection position, and with RSSI fingerprint database in record and carry out matching ratio to (such as nearest neighbour method etc.), determine positional information.
2, directly demarcate: directly measure the position coordinates of each beacon in environment (map), and set up range finding disturbance (error) model of each beacon; Follow-up when positioning action is performed to mobile subscriber, based on multiple sensor information amalgamation method, in conjunction with range finding Disturbance Model, measuring position is revised, obtain final positioning result.
The way of the first type above-mentioned, can be regarded as kind of the mode of " batch processing ", and the follow-up beacon position when certain region adjusts, or quantity increase and decrease, or equipment replacement upgrading etc., all need again to redeterminate region in a big way, maintenance cost is higher.The way of the second type, although can along with the continuous layout of node, dynamically measure the node newly added and demarcate, the follow-up position to adjustment beacon or quantity etc., only need remeasure those beacon changed and demarcate, other beacon can not be affected, maintenance cost is lower comparatively speaking, but the needs when initial placement manually carry out location position, and again need manually to demarcate when later stage beacon adjustment or replacing, human cost is high.
Summary of the invention
Embodiment of the present invention technical problem to be solved is, scaling method and the wireless location system of location reference point in a kind of wireless location system are provided, can maintenance cost be realized low, and without the need to again manually demarcating when needs when avoiding initial placement manually carry out location position and later stage beacon adjustment or change.
In order to solve the problems of the technologies described above, embodiment of the present invention first aspect discloses the scaling method of location reference point in a kind of wireless location system, comprising:
The coordinate arranging the first location reference point is the initial point of coordinate system;
By choosing the second location reference point and the 3rd location reference point, in the plane that described first location reference point, the second location reference point and the 3rd location reference point are formed, determine the first reference axis of described coordinate system and the direction of the second reference axis, and calculate the coordinate of described second location reference point and described 3rd location reference point;
To choose in described wireless location system remaining all location reference point one by one, by calculate the location reference point chosen to determine to the distance of the location reference point of at least three known coordinates described in the coordinate of location reference point in described coordinate system chosen.
In conjunction with first aspect, in the implementation that the first is possible, described by choosing the second location reference point and the 3rd location reference point, the first reference axis of described coordinate system and the direction of the second reference axis is determined in the plane that described first location reference point, the second location reference point and the 3rd location reference point are formed, and calculate the coordinate of described second location reference point and described 3rd location reference point, comprising:
Choose the second location reference point, according to the direction of the first reference axis determining described coordinate system from described first location reference point to the direction of described second location reference point, and to draw the coordinate of described second location reference point to the distance of described first location reference point by calculating described second location reference point;
Choose the 3rd location reference point, the direction of distance and described first reference axis being clipped to described first location reference point and described second location reference point is divided according to described 3rd location reference point calculated, in the plane that described first location reference point, the second location reference point and the 3rd location reference point are formed, determine the direction of the second reference axis of described coordinate system, and draw the coordinate of described 3rd location reference point.
In conjunction with the first possible implementation of first aspect, in the implementation that the second is possible, described basis determines the direction of the first reference axis of described coordinate system to the direction of described second location reference point from described first location reference point, comprising:
The positive direction of the first reference axis of described coordinate system will be defined as to the direction of described second location reference point from described first location reference point.
In conjunction with the first possible implementation of first aspect, in the implementation that the third is possible, described 3rd location reference point that described basis calculates divides the direction of distance and described first reference axis being clipped to described first location reference point and described second location reference point, the direction of the second reference axis of described coordinate system is determined in the plane that described first location reference point, the second location reference point and the 3rd location reference point are formed, and draw the coordinate of described 3rd location reference point, comprising:
Described 3rd location reference point according to calculating divides the distance being clipped to described first location reference point and described second location reference point, and the coordinate of described second location reference point, adopt the equation set up in advance to solve the coordinate of described 3rd location reference point;
When there being normal solution in the solution obtained, choose the coordinate of described normal solution as described 3rd location reference point.
In conjunction with first aspect, in the 4th kind of possible implementation, described by calculate the location reference point chosen to determine to the distance of the location reference point of at least three known coordinates described in the coordinate of location reference point in described coordinate system chosen, comprising:
By measuring the location reference point the chosen distance to the location reference point of three known coordinates, adopt three point measurement methods calculate described in the coordinate of location reference point in described coordinate system chosen; Or
By measuring the location reference point the chosen distance to the location reference point of at least four known coordinates, the coordinate of location reference point in described coordinate system chosen described in employing multiple-point geostatistics calculates.
In conjunction with the 4th kind of possible implementation of first aspect, in the 5th kind of possible implementation, when adopting the coordinate of the location reference point chosen described in multiple-point geostatistics calculating, also comprise:
The coordinate of the location reference point of the known coordinate closed on by the location reference point chosen described in described multiple-point geostatistics combined optimization, and in described coordinate system optimize after the quadrant belonging to coordinate constant.
In conjunction with first aspect, or the first possible implementation of first aspect, or the implementation that the second of first aspect is possible, or the third possible implementation of first aspect, or the 4th of first aspect the kind of possible implementation, or the 5th of first aspect the kind of possible implementation, in the 6th kind of possible implementation, described calculate the coordinate of described second location reference point and described 3rd location reference point after, described to choose in described wireless location system remaining all location reference point one by one before, also comprise:
Choose the 4th location reference point, described 4th location reference point is not in the plane of described first location reference point, the second location reference point and the 3rd location reference point formation;
Determine the direction of the three axes of described coordinate system to the vertical direction of described plane according to described 4th location reference point, and divide by measuring described 4th location reference point the distance being clipped to described first location reference point, the second location reference point and the 3rd location reference point, adopt three point measurement methods to calculate the coordinate of described 4th location reference point in described coordinate system.
Embodiment of the present invention second aspect discloses a kind of wireless location system, comprising:
First reference point arranges module, is the initial point of coordinate system for arranging the coordinate of the first location reference point;
Coordinate calculation module, for by choosing the second location reference point and the 3rd location reference point, in the plane that described first location reference point, the second location reference point and the 3rd location reference point are formed, determine the first reference axis of described coordinate system and the direction of the second reference axis, and calculate the coordinate of described second location reference point and described 3rd location reference point;
Choose determination module, for choosing in described wireless location system remaining all location reference point one by one, by calculate the location reference point chosen to determine to the distance of the location reference point of at least three known coordinates described in the coordinate of location reference point in described coordinate system chosen.
In conjunction with second aspect, in the implementation that the first is possible, described coordinate calculation module comprises:
Second reference point chooses determining unit, for choosing the second location reference point, according to the direction of the first reference axis determining described coordinate system from described first location reference point to the direction of described second location reference point, and to draw the coordinate of described second location reference point to the distance of described first location reference point by calculating described second location reference point;
3rd reference point chooses determining unit, for choosing the 3rd location reference point, the direction of distance and described first reference axis being clipped to described first location reference point and described second location reference point is divided according to described 3rd location reference point calculated, in the plane that described first location reference point, the second location reference point and the 3rd location reference point are formed, determine the direction of the second reference axis of described coordinate system, and draw the coordinate of described 3rd location reference point.
In conjunction with the first possible implementation of second aspect, in the implementation that the second is possible, described second reference point chooses determining unit according to the direction of the first reference axis determining described coordinate system from described first location reference point to the direction of described second location reference point, specifically comprises:
Described second reference point is chosen determining unit and will be defined as the positive direction of the first reference axis of described coordinate system to the direction of described second location reference point from described first location reference point.
In conjunction with the first possible implementation of second aspect, in the implementation that the third is possible, described 3rd reference point is chosen determining unit and is comprised:
Solve unit, for dividing according to described 3rd location reference point calculated the distance being clipped to described first location reference point and described second location reference point, and the coordinate of described second location reference point, adopt the equation set up in advance to solve the coordinate of described 3rd location reference point;
Three-dimensional determining unit, for when there being normal solution in the solution obtained, chooses the coordinate of described normal solution as described 3rd location reference point.
In conjunction with second aspect, in the 4th kind of possible implementation, described in choose determination module and comprise:
Three point measurement unit, for by measuring the location reference point the chosen distance to the location reference point of three known coordinates, adopt three point measurement methods calculate described in the coordinate of location reference point in described coordinate system chosen; Or
Multipoint positioning unit, for by measuring the location reference point the chosen distance to the location reference point of at least four known coordinates, the coordinate of location reference point in described coordinate system chosen described in employing multiple-point geostatistics calculates.
In conjunction with the 4th kind of possible implementation of second aspect, in the 5th kind of possible implementation, described multipoint positioning unit is also for the coordinate of the location reference point of the known coordinate closed on by the location reference point chosen described in described multiple-point geostatistics combined optimization, and the quadrant belonging to coordinate after optimizing in described coordinate system is constant.
In conjunction with second aspect, or the first possible implementation of second aspect, or the implementation that the second of second aspect is possible, or the third possible implementation of second aspect, or the 4th of second aspect the kind of possible implementation, or the 5th of second aspect the kind of possible implementation, in the 6th kind of possible implementation, also comprises:
4th reference point chooses module, for calculate described second location reference point and described 3rd location reference point at described coordinate calculation module coordinate after, describedly choose before determination module to choose in described wireless location system remaining all location reference point one by one, choose the 4th location reference point, described 4th location reference point is not in the plane of described first location reference point, the second location reference point and the 3rd location reference point formation;
4-coordinate computing module, for determining the direction of the three axes of described coordinate system to the vertical direction of described plane according to described 4th location reference point, and divide by measuring described 4th location reference point the distance being clipped to described first location reference point, the second location reference point and the 3rd location reference point, adopt three point measurement methods to calculate the coordinate of described 4th location reference point in described coordinate system.
The embodiment of the present invention third aspect discloses a kind of computer-readable storage medium, described computer-readable storage medium has program stored therein, described program comprises the embodiment of the present invention first aspect when performing, or the first possible implementation of first aspect, or the implementation that the second of first aspect is possible, or the third possible implementation of first aspect, or the 4th of first aspect the kind of possible implementation, or the 5th of first aspect the kind of possible implementation, or the Overall Steps of the scaling method of location reference point in the wireless location system in the 6th of first aspect the kind of possible implementation.
Implement the embodiment of the present invention, by the first location reference point, second location reference point and the 3rd location reference point set up coordinate system, and determine the bearing of trend of this each reference axis of coordinate system, so along with the layout successively of location reference point, by this coordinate system and the coordinate dynamically can determining the location reference point increased newly to the distance of the location reference point of at least three known coordinates, achieve based on each there is identify label location reference point between collaborative ranging localization come automatic Calibration position separately, without the need to manually measuring each location reference point, maintenance cost is low, and the needs solved in prior art when initial placement manually carry out the technical problem that needs when location position and later stage beacon adjust or change again manually to carry out demarcating, the coordinate of the location reference point of known coordinate can also be optimized in addition by correcting algorithm corrections such as multiple-point geostatistics, there is very strong autgmentability and adaptivity.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the application scenarios schematic diagram of the scaling method of location reference point in the wireless location system that provides of the embodiment of the present invention;
Fig. 2 is the method flow schematic diagram of the scaling method of location reference point in the wireless location system that provides of the embodiment of the present invention;
Fig. 3 is the method flow schematic diagram of another embodiment of the scaling method of location reference point in wireless location system provided by the invention;
Fig. 4 is the schematic diagram determining change in coordinate axis direction provided by the invention;
Fig. 5 is the method flow schematic diagram of another embodiment of the scaling method of location reference point in wireless location system provided by the invention;
Fig. 6 is the structural representation of the wireless location system that the embodiment of the present invention provides;
Fig. 7 is the structural representation of the coordinate calculation module that the embodiment of the present invention provides;
Fig. 8 is the structural representation that the 3rd reference point that the embodiment of the present invention provides chooses determining unit;
Fig. 9 is the structural representation choosing determination module that the embodiment of the present invention provides;
Figure 10 is the structural representation of another embodiment of wireless location system provided by the invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Each embodiment of the present invention can be implemented based on the application scenarios shown in Fig. 1, environment layout Figure 10 can be layout in family room, market layout, parking lot layout figure etc. needs the layout carrying out wireless location, location reference point 100 also can " anchor node ", " reference point ", " locating base station " or " beacon " etc., by manually arranging in the environment, can be various wireless signal transmission or receiving system, such as bluetooth, wifi, ZigBee etc., behind the position having demarcated these location reference point 100, using the reference data as follow-up perception location of mobile users, if perception user is at the particular location of family, user's vehicle particular location in parking lot etc.
Describe the embodiment of the scaling method of location reference point in wireless location system of the present invention below in conjunction with Fig. 2 to Fig. 5 in detail, the position of how each location reference point of automatic Calibration be described:
Fig. 2 shows the method flow schematic diagram of the scaling method of location reference point in the wireless location system that the embodiment of the present invention provides, and comprising:
Step S200: the coordinate arranging the first location reference point is the initial point of coordinate system;
Particularly, in wireless location system in each embodiment of the present invention the scaling method of location reference point both can be in the process of arranging dynamically or increment ground complete the arrangement of each location reference point successively, so this first location reference point can be first location reference point of settling; Also can wait until that all location reference point in environment are all settled complete, then synchronous or each location reference point of asynchronous starting, so this first location reference point can from environment a location reference point that is random or that select according to user preferences; And using this first location reference point as the initial point of coordinate system.
Step S202: by choosing the second location reference point and the 3rd location reference point, in the plane that described first location reference point, the second location reference point and the 3rd location reference point are formed, determine the first reference axis of described coordinate system and the direction of the second reference axis, and calculate the coordinate of described second location reference point and described 3rd location reference point;
Particularly, after have chosen the second location reference point and the 3rd location reference point, can confirm that this coordinate system is in the first location reference point, in the plane that second location reference point and the 3rd location reference point are formed, and determine the direction of two reference axis of this coordinate system, such as can determine the direction of the first reference axis to the direction of the second location reference point according to the first location reference point, then the direction of this coordinate system second reference axis can be determined based on the direction of this first reference axis, and by measuring this first location reference point, second location reference point and the 3rd location reference point distance each other, finally calculate the coordinate of the second location reference point and the 3rd location reference point.
It should be noted that, the second location reference point and the 3rd location reference point that how basis is chosen is not limited in the embodiment of the present invention, the first reference axis of described coordinate system and the direction of the second reference axis is determined in the plane that described first location reference point, the second location reference point and the 3rd location reference point are formed, as long as can be implemented in this plane, the coordinate system being initial point with the first location reference point determines two change in coordinate axis direction of this coordinate system.
Will be understood that, similar with above-mentioned first location reference point, this second location reference point chosen can be second location reference point of settling, the 3rd location reference point chosen can be the 3rd location reference point of settling, or can be a location reference point that is random or that select according to user preferences from environment.
Step S204: to choose in described wireless location system remaining all location reference point one by one, by calculate the location reference point chosen to determine to the distance of the location reference point of at least three known coordinates described in the coordinate of location reference point in described coordinate system chosen.
Particularly, after determining the direction of two reference axis of coordinate system and this coordinate system, to the remaining each location reference point in each dynamically newly-increased location reference point or environment, its coordinate in a coordinate system can be confirmed by calculating its distance to the location reference point of at least three known coordinates, thus automatically complete the coordinate setting of all location reference point in environment.
It should be noted that, each location reference point in each embodiment of the present invention can mutual distance measurement, namely each location reference point can mutual perception, mutual communication, and each location reference point has unique corresponding identify label ID separately, to distinguish other location reference point beyond self, namely each location reference point is the location reference point can carrying out identity identification; Will be understood that, this in the communications protocol of bottom, when requiring that each location reference point sends signal, can all add the ID code of oneself; Meanwhile, when receiving other location reference point signals, the ID of the other side can be resolved.Each location reference point has unique ID.Which kind of ID allocative decision and encoding scheme of concrete employing, the embodiment of the present invention does not limit, but all in the scope that the present invention protects.
Implement the embodiment of the present invention, by the first location reference point, second location reference point and the 3rd location reference point set up coordinate system, and determine the bearing of trend of this each reference axis of coordinate system, so along with the layout successively of location reference point, by this coordinate system and the coordinate dynamically can determining the location reference point increased newly to the distance of the location reference point of at least three known coordinates, achieve based on each there is identify label location reference point between collaborative ranging localization come automatic Calibration position separately, without the need to manually measuring each location reference point, maintenance cost is low, and the needs solved in prior art when initial placement manually carry out the technical problem that needs when location position and later stage beacon adjust or change again manually to carry out demarcating.
Further, the method flow schematic diagram of another embodiment of the scaling method of location reference point in wireless location system provided by the invention as shown in Figure 3, comprising:
Step S300: the coordinate arranging the first location reference point is the initial point of coordinate system;
Particularly, with reference to the step S200 in above-mentioned Fig. 2 embodiment, repeat no more here.
Step S302: choose the second location reference point, according to the direction of the first reference axis determining described coordinate system from described first location reference point to the direction of described second location reference point, and to draw the coordinate of described second location reference point to the distance of described first location reference point by calculating described second location reference point;
Particularly, the positive direction of the first reference axis of coordinate system can will be defined as to the direction of this second location reference point from this first location reference point, suppose that this first reference axis is y-axis, this second location reference point such as calculated is k to the distance of this first location reference point, the coordinate that so can draw this second location reference point for (0, k); Also can will be defined as the negative direction of the first reference axis of coordinate system to the direction of this location reference point from this first location reference point, suppose that this first reference axis is x-axis, so can show that the coordinate of this second location reference point is for (-k, 0), etc.It should be noted that, the invention is not restricted to above-mentioned execution mode, as long as can according to the direction of the first reference axis determining this coordinate system from this first location reference point to the direction of this second location reference point, and to draw the coordinate of this second location reference point to the distance of this first location reference point by calculating this second location reference point.
Step S304: choose the 3rd location reference point, the direction of distance and described first reference axis being clipped to described first location reference point and described second location reference point is divided according to described 3rd location reference point calculated, in the plane that described first location reference point, the second location reference point and the 3rd location reference point are formed, determine the direction of the second reference axis of described coordinate system, and draw the coordinate of described 3rd location reference point;
Particularly, the schematic diagram determining change in coordinate axis direction provided by the invention shown in composition graphs 4, wherein A point expression first location reference point, B point expression second location reference point, C point expression the 3rd location reference point, and the positive direction of the first reference axis of coordinate system will be defined as to the direction of this location reference point from this first location reference point in hypothesis step S302, and this first reference axis is y-axis, so the coordinate of B point confirms as (0
coordinate (the x of the 3rd location reference point
c, y
c) distance of A point and B point can be clipped to according to the C point minute calculated
with
and the coordinate of B point (0,
), adopt the equation set up in advance to solve, this equation can be as follows:
X in the solution of wherein aforesaid equation
cgenerally have two groups of solutions, wherein one group is normal solution, and another group is separated for negative, can choose wherein one group as equational solution, thus obtain the coordinate of the 3rd location reference point; Wherein, if when choosing the coordinate of normal solution as the 3rd location reference point, the positive direction showing to determine this second reference axis points to the 3rd location reference point side, namely the 3rd location reference point drops on the positive direction region of this second reference axis, if when choosing the coordinate of negative solution as the 3rd location reference point, the negative direction showing to determine this second reference axis points to the 3rd location reference point side, and namely the 3rd location reference point drops on the negative direction region of this second reference axis.Preferably, the coordinate of normal solution as the 3rd location reference point can be chosen.
It should be noted that, Fig. 4 is a citing of the embodiment of the present invention, should as the protection range of the restriction embodiment of the present invention.
Step S306: to choose in described wireless location system remaining all location reference point one by one, by calculate the location reference point chosen to determine to the distance of the location reference point of at least three known coordinates described in the coordinate of location reference point in described coordinate system chosen.
Particularly, as shown in Figure 4, the 4th location reference point D point can go out three the location reference point As of D point to known coordinate, the distance of B and C by computation and measurement, thus determines the coordinate of D point.
Further, the location reference point that step S306 can be chosen by measurement, to the distance of the location reference point of three known coordinates, adopts three point measurement methods to calculate this location reference point chosen coordinate in the coordinate system; Or the location reference point can chosen by measurement is to the distance of the location reference point of at least four known coordinates, multiple-point geostatistics is adopted to calculate this location reference point chosen coordinate in the coordinate system.
Particularly, above-mentioned selected location reference point is in the distance of the location reference point of three known coordinates, the location reference point of these three known coordinates can be three location reference point the most contiguous with this location reference point selected, because each location reference point in wireless location system can mutual perception automatically measure the distance of other location reference point, therefore three location reference point that the location reference point selected with this is the most contiguous can be determined, or user generally arranges each reference point successively by region in the process of arranging location reference point, close on a location reference point often to arrange next location reference point, therefore can determine that three location reference point of arranging recently are as the most contiguous three location reference point of next location reference point of arranging, then three point measurement methods are adopted to calculate three the most contiguous location reference point of this selected location reference point,
Further, when adopting multiple-point geostatistics to calculate the coordinate of the location reference point that this is chosen, can also comprise: the coordinate of the location reference point of the known coordinate closed on by this location reference point chosen of this multiple-point geostatistics combined optimization, and in the coordinate system optimize after the quadrant belonging to coordinate constant.
Particularly, the coordinate of the location reference point of the known coordinate that can be closed on the location reference point chosen by multiple-point geostatistics is carried out correction and optimizes or correct, but the positive and negative inconvenience of the coordinate be corrected, the quadrant belonging to coordinate after namely optimizing in the coordinate system is constant; The coordinate be such as corrected is (-2,5), and so no matter how numerical value is revised, and its value in x-axis should be still negative value, the value of y-axis should be still on the occasion of.
Again further, although only describe the situation of two reference axis in coordinate system in the description of above-mentioned Fig. 2 to Fig. 4 embodiment, but the embodiment of the present invention can be applied in three-dimensional space, and the wireless location of carrying out three-dimensional space usually also can be needed when Practical Project is implemented, namely can on the basis of above-mentioned floor plan location reference point, settle other apart from other location reference point of this plane; Particularly, the method flow schematic diagram of another embodiment of the scaling method of location reference point in wireless location system provided by the invention as shown in Figure 5, comprising:
Step S500: the coordinate arranging the first location reference point is the initial point of coordinate system;
Step S502: choose the second location reference point, according to the direction of the first reference axis determining described coordinate system from described first location reference point to the direction of described second location reference point, and to draw the coordinate of described second location reference point to the distance of described first location reference point by calculating described second location reference point;
Step S504: choose the 3rd location reference point, the direction of distance and described first reference axis being clipped to described first location reference point and described second location reference point is divided according to described 3rd location reference point calculated, in the plane that described first location reference point, the second location reference point and the 3rd location reference point are formed, determine the direction of the second reference axis of described coordinate system, and draw the coordinate of described 3rd location reference point;
Particularly, step S500 to step S504 with reference to the step S300 in above-mentioned Fig. 3 embodiment to step S304, can repeat no more here.
Step S506: choose the 4th location reference point, described 4th location reference point is not in the plane of described first location reference point, the second location reference point and the 3rd location reference point formation;
Step S508: the direction determining the three axes of described coordinate system according to described 4th location reference point to the vertical direction of described plane, and divide by measuring described 4th location reference point the distance being clipped to described first location reference point, the second location reference point and the 3rd location reference point, adopt three point measurement methods to calculate the coordinate of described 4th location reference point in described coordinate system;
Particularly, can be that example is described equally with Fig. 4, now the setting coordinate of A be (0,0,0), the coordinate of B can be (0,
0), the coordinate of C calculates (x
c, y
c, 0), x
cand y
cequally can by calculating described by Fig. 3 embodiment, suppose the 4th location reference point D point not with A, the co-planar that B and C is formed, namely the 4th location reference point is not in the plane of this first location reference point, the second location reference point and the 3rd location reference point formation, so divide the distance being clipped to this first location reference point, the second location reference point and the 3rd location reference point, the coordinate (x of the D adopting three point measurement methods to try to achieve by measuring the 4th location reference point
d, y
d, z
d) there are two solutions, can arrange to get normal solution or negative solution, if when choosing the coordinate of normal solution as the 4th location reference point, the positive direction showing to determine this three axes points to the 4th location reference point side, namely the 4th location reference point drops on the positive direction region of this three axes, if when choosing the coordinate of negative solution as the 4th location reference point, the negative direction showing to determine this three axes points to the 4th location reference point side, and namely the 4th location reference point drops on the negative direction region of this three axes.Preferably, the coordinate of normal solution as the 4th location reference point can be chosen.
Step S510: to choose in described wireless location system remaining all location reference point one by one, by calculate the location reference point chosen to determine to the distance of the location reference point of at least three known coordinates described in the coordinate of location reference point in described coordinate system chosen.
Particularly, with reference to the execution mode of above-described embodiment, can repeat no more here.
Implement the embodiment of the present invention, by the first location reference point, second location reference point and the 3rd location reference point set up coordinate system, and determine the bearing of trend of this each reference axis of coordinate system, so along with the layout successively of location reference point, by this coordinate system and the coordinate dynamically can determining the location reference point increased newly to the distance of the location reference point of at least three known coordinates, achieve based on each there is identify label location reference point between collaborative ranging localization come automatic Calibration position separately, without the need to manually measuring each location reference point, maintenance cost is low, and the needs solved in prior art when initial placement manually carry out the technical problem that needs when location position and later stage beacon adjust or change again manually to carry out demarcating, the coordinate of the location reference point of known coordinate can also be optimized in addition by correcting algorithm corrections such as multiple-point geostatistics, there is very strong autgmentability and adaptivity.
For the ease of implementing the such scheme of the embodiment of the present invention better, the present invention also correspondence provides a kind of wireless location system, the structural representation of the wireless location system that the embodiment of the present invention as shown in Figure 6 provides, wireless location system 60 can comprise: the first reference point arranges module 600, coordinate calculation module 602 and chooses determination module 604, wherein
It is the initial point of coordinate system that first reference point arranges module 600 for arranging the coordinate of the first location reference point;
Coordinate calculation module 602 is for by choosing the second location reference point and the 3rd location reference point, in the plane that described first location reference point, the second location reference point and the 3rd location reference point are formed, determine the first reference axis of described coordinate system and the direction of the second reference axis, and calculate the coordinate of described second location reference point and described 3rd location reference point;
Choose determination module 604 for choosing in described wireless location system remaining all location reference point one by one, by calculate the location reference point chosen to determine to the distance of the location reference point of at least three known coordinates described in the coordinate of location reference point in described coordinate system chosen.
Particularly, the structural representation of the coordinate calculation module that the embodiment of the present invention as shown in Figure 7 provides, coordinate calculation module 602 can comprise the second reference point and choose determining unit 6020 and the 3rd reference point chooses determining unit 6022, wherein
Second reference point chooses determining unit 6020 for choosing the second location reference point, according to the direction of the first reference axis determining described coordinate system from described first location reference point to the direction of described second location reference point, and to draw the coordinate of described second location reference point to the distance of described first location reference point by calculating described second location reference point;
3rd reference point chooses determining unit 6022 for choosing the 3rd location reference point, the direction of distance and described first reference axis being clipped to described first location reference point and described second location reference point is divided according to described 3rd location reference point calculated, in the plane that described first location reference point, the second location reference point and the 3rd location reference point are formed, determine the direction of the second reference axis of described coordinate system, and draw the coordinate of described 3rd location reference point.
Further, second reference point chooses determining unit 6020 according to the direction of the first reference axis determining described coordinate system from described first location reference point to the direction of described second location reference point, specifically comprises: the second reference point is chosen determining unit 6020 and will be defined as the positive direction of the first reference axis of described coordinate system to the direction of described second location reference point from described first location reference point.
Again further, the 3rd reference point that the embodiment of the present invention as shown in Figure 8 provides chooses the structural representation of determining unit, and the 3rd reference point is chosen determining unit 6022 and can be comprised: solve unit 60220 and three-dimensional determining unit 60222, wherein
Solve unit 60220 for dividing according to described 3rd location reference point calculated the distance being clipped to described first location reference point and described second location reference point, and the coordinate of described second location reference point, adopt the equation set up in advance to solve the coordinate of described 3rd location reference point;
Three-dimensional determining unit 60222, for when there being normal solution in the solution obtained, chooses the coordinate of described normal solution as described 3rd location reference point.
Again further, the structural representation of what the embodiment of the present invention as shown in Figure 9 provided choose determination module, choose determination module 604 can comprise: three point measurement unit 6040 or multipoint positioning unit 6042, all to comprise three point measurement unit 6040 and multipoint positioning unit 6042 is described in figure, wherein
Three point measurement unit 6040 for by measuring the location reference point the chosen distance to the location reference point of three known coordinates, adopt three point measurement methods calculate described in the coordinate of location reference point in described coordinate system chosen;
Multipoint positioning unit 6042 for by measuring the location reference point the chosen distance to the location reference point of at least four known coordinates, the coordinate of location reference point in described coordinate system chosen described in employing multiple-point geostatistics calculates.
Particularly, multipoint positioning unit 6042 is also for the coordinate of the location reference point of the known coordinate closed on by the location reference point chosen described in described multiple-point geostatistics combined optimization, and the quadrant belonging to coordinate after optimizing in described coordinate system is constant.
Again further, the structural representation of another embodiment of wireless location system provided by the invention as shown in Figure 10, wireless location system 60 comprises the first reference point and arranges module 600, coordinate calculation module 602 and choose outside determination module 604, the 4th reference point can also be comprised and choose module 606 and 4-coordinate computing module 608, wherein
4th reference point choose module 606 for calculate described second location reference point and described 3rd location reference point at coordinate calculation module 602 coordinate after, choose before determination module 604 to choose in described wireless location system remaining all location reference point one by one, choose the 4th location reference point, described 4th location reference point is not in the plane of described first location reference point, the second location reference point and the 3rd location reference point formation;
4-coordinate computing module 608 is for determining the direction of the three axes of described coordinate system to the vertical direction of described plane according to described 4th location reference point, and divide by measuring described 4th location reference point the distance being clipped to described first location reference point, the second location reference point and the 3rd location reference point, adopt three point measurement methods to calculate the coordinate of described 4th location reference point in described coordinate system.
It should be noted that, the function of each functional module of the wireless location system 60 in the embodiment of the present invention can according to the method specific implementation in said method embodiment, and its specific implementation process with reference to the associated description of said method embodiment, can repeat no more herein.
In sum, by the first location reference point, second location reference point and the 3rd location reference point set up coordinate system, and determine the bearing of trend of this each reference axis of coordinate system, so along with the layout successively of location reference point, by this coordinate system and the coordinate dynamically can determining the location reference point increased newly to the distance of the location reference point of at least three known coordinates, achieve based on each there is identify label location reference point between collaborative ranging localization come automatic Calibration position separately, without the need to manually measuring each location reference point, maintenance cost is low, and the needs solved in prior art when initial placement manually carry out the technical problem that needs when location position and later stage beacon adjust or change again manually to carry out demarcating, the coordinate of the location reference point of known coordinate can also be optimized in addition by correcting algorithm corrections such as multiple-point geostatistics, there is very strong autgmentability and adaptivity.
One of ordinary skill in the art will appreciate that all or part of flow process realized in above-described embodiment method, that the hardware that can carry out instruction relevant by computer program has come, described program can be stored in a computer read/write memory medium, this program, when performing, can comprise the flow process of the embodiment as above-mentioned each side method.Wherein, described storage medium can be magnetic disc, CD, read-only store-memory body (Read-Only Memory, ROM) or random store-memory body (Random Access Memory, RAM) etc.
Above disclosedly be only present pre-ferred embodiments, certainly can not limit the interest field of the present invention with this, therefore according to the equivalent variations that the claims in the present invention are done, still belong to the scope that the present invention is contained.
Claims (14)
1. the scaling method of location reference point in wireless location system, is characterized in that, comprising:
The coordinate arranging the first location reference point is the initial point of coordinate system;
By choosing the second location reference point and the 3rd location reference point, in the plane that described first location reference point, the second location reference point and the 3rd location reference point are formed, determine the first reference axis of described coordinate system and the direction of the second reference axis, and calculate the coordinate of described second location reference point and described 3rd location reference point;
To choose in described wireless location system remaining all location reference point one by one, by calculate the location reference point chosen to determine to the distance of the location reference point of at least three known coordinates described in the coordinate of location reference point in described coordinate system chosen.
2. the method for claim 1, it is characterized in that, described by choosing the second location reference point and the 3rd location reference point, the first reference axis of described coordinate system and the direction of the second reference axis is determined in the plane that described first location reference point, the second location reference point and the 3rd location reference point are formed, and calculate the coordinate of described second location reference point and described 3rd location reference point, comprising:
Choose the second location reference point, according to the direction of the first reference axis determining described coordinate system from described first location reference point to the direction of described second location reference point, and to draw the coordinate of described second location reference point to the distance of described first location reference point by calculating described second location reference point;
Choose the 3rd location reference point, the direction of distance and described first reference axis being clipped to described first location reference point and described second location reference point is divided according to described 3rd location reference point calculated, in the plane that described first location reference point, the second location reference point and the 3rd location reference point are formed, determine the direction of the second reference axis of described coordinate system, and draw the coordinate of described 3rd location reference point.
3. method as claimed in claim 2, it is characterized in that, described basis determines the direction of the first reference axis of described coordinate system to the direction of described second location reference point from described first location reference point, comprising:
The positive direction of the first reference axis of described coordinate system will be defined as to the direction of described second location reference point from described first location reference point.
4. method as claimed in claim 2, it is characterized in that, described 3rd location reference point that described basis calculates divides the direction of distance and described first reference axis being clipped to described first location reference point and described second location reference point, the direction of the second reference axis of described coordinate system is determined in the plane that described first location reference point, the second location reference point and the 3rd location reference point are formed, and draw the coordinate of described 3rd location reference point, comprising:
Described 3rd location reference point according to calculating divides the distance being clipped to described first location reference point and described second location reference point, and the coordinate of described second location reference point, adopt the equation set up in advance to solve the coordinate of described 3rd location reference point;
When there being normal solution in the solution obtained, choose the coordinate of described normal solution as described 3rd location reference point.
5. the method for claim 1, is characterized in that, described by calculate the location reference point chosen to determine to the distance of the location reference point of at least three known coordinates described in the coordinate of location reference point in described coordinate system chosen, comprising:
By measuring the location reference point the chosen distance to the location reference point of three known coordinates, adopt three point measurement methods calculate described in the coordinate of location reference point in described coordinate system chosen; Or
By measuring the location reference point the chosen distance to the location reference point of at least four known coordinates, the coordinate of location reference point in described coordinate system chosen described in employing multiple-point geostatistics calculates.
6. method as claimed in claim 5, is characterized in that, when adopting the coordinate of the location reference point chosen described in multiple-point geostatistics calculating, also comprises:
The coordinate of the location reference point of the known coordinate closed on by the location reference point chosen described in described multiple-point geostatistics combined optimization, and in described coordinate system optimize after the quadrant belonging to coordinate constant.
7. the method as described in any one of claim 1-6, it is characterized in that, described calculate the coordinate of described second location reference point and described 3rd location reference point after, described to choose in described wireless location system remaining all location reference point one by one before, also comprise:
Choose the 4th location reference point, described 4th location reference point is not in the plane of described first location reference point, the second location reference point and the 3rd location reference point formation;
Determine the direction of the three axes of described coordinate system to the vertical direction of described plane according to described 4th location reference point, and divide by measuring described 4th location reference point the distance being clipped to described first location reference point, the second location reference point and the 3rd location reference point, adopt three point measurement methods to calculate the coordinate of described 4th location reference point in described coordinate system.
8. a wireless location system, is characterized in that, comprising:
First reference point arranges module, is the initial point of coordinate system for arranging the coordinate of the first location reference point;
Coordinate calculation module, for by choosing the second location reference point and the 3rd location reference point, in the plane that described first location reference point, the second location reference point and the 3rd location reference point are formed, determine the first reference axis of described coordinate system and the direction of the second reference axis, and calculate the coordinate of described second location reference point and described 3rd location reference point;
Choose determination module, for choosing in described wireless location system remaining all location reference point one by one, by calculate the location reference point chosen to determine to the distance of the location reference point of at least three known coordinates described in the coordinate of location reference point in described coordinate system chosen.
9. system as claimed in claim 8, it is characterized in that, described coordinate calculation module comprises:
Second reference point chooses determining unit, for choosing the second location reference point, according to the direction of the first reference axis determining described coordinate system from described first location reference point to the direction of described second location reference point, and to draw the coordinate of described second location reference point to the distance of described first location reference point by calculating described second location reference point;
3rd reference point chooses determining unit, for choosing the 3rd location reference point, the direction of distance and described first reference axis being clipped to described first location reference point and described second location reference point is divided according to described 3rd location reference point calculated, in the plane that described first location reference point, the second location reference point and the 3rd location reference point are formed, determine the direction of the second reference axis of described coordinate system, and draw the coordinate of described 3rd location reference point.
10. system as claimed in claim 9, is characterized in that, described second reference point chooses determining unit according to the direction of the first reference axis determining described coordinate system from described first location reference point to the direction of described second location reference point, specifically comprises:
Described second reference point is chosen determining unit and will be defined as the positive direction of the first reference axis of described coordinate system to the direction of described second location reference point from described first location reference point.
11. systems as claimed in claim 9, is characterized in that, described 3rd reference point is chosen determining unit and comprised:
Solve unit, for dividing according to described 3rd location reference point calculated the distance being clipped to described first location reference point and described second location reference point, and the coordinate of described second location reference point, adopt the equation set up in advance to solve the coordinate of described 3rd location reference point;
Three-dimensional determining unit, for when there being normal solution in the solution obtained, chooses the coordinate of described normal solution as described 3rd location reference point.
12. systems as claimed in claim 8, is characterized in that, described in choose determination module and comprise:
Three point measurement unit, for by measuring the location reference point the chosen distance to the location reference point of three known coordinates, adopt three point measurement methods calculate described in the coordinate of location reference point in described coordinate system chosen; Or
Multipoint positioning unit, for by measuring the location reference point the chosen distance to the location reference point of at least four known coordinates, the coordinate of location reference point in described coordinate system chosen described in employing multiple-point geostatistics calculates.
13. systems as claimed in claim 12, it is characterized in that, described multipoint positioning unit is also for the coordinate of the location reference point of the known coordinate closed on by the location reference point chosen described in described multiple-point geostatistics combined optimization, and the quadrant belonging to coordinate after optimizing in described coordinate system is constant.
14. systems as described in any one of claim 8-13, is characterized in that, also comprise:
4th reference point chooses module, for calculate described second location reference point and described 3rd location reference point at described coordinate calculation module coordinate after, describedly choose before determination module to choose in described wireless location system remaining all location reference point one by one, choose the 4th location reference point, described 4th location reference point is not in the plane of described first location reference point, the second location reference point and the 3rd location reference point formation;
4-coordinate computing module, for determining the direction of the three axes of described coordinate system to the vertical direction of described plane according to described 4th location reference point, and divide by measuring described 4th location reference point the distance being clipped to described first location reference point, the second location reference point and the 3rd location reference point, adopt three point measurement methods to calculate the coordinate of described 4th location reference point in described coordinate system.
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| CN111239681A (en) * | 2020-02-14 | 2020-06-05 | 深圳空循环科技有限公司 | Positioning method and device and electronic equipment |
| CN111654813A (en) * | 2020-05-18 | 2020-09-11 | 上海图趣信息科技有限公司 | Network anchor node equipment for realizing self-positioning and self-positioning method thereof |
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