CN105554877A - Power line communication-based indoor beacon positioning method and system - Google Patents

Abstract

The invention relates to a power line communication-based indoor beacon positioning method and system. The system comprises a power line network, positioning beacons which are connected into the power line network and a positioning server; the positioning server manages the position information of each node and controls the whole positioning system. In a deployment process, the positioning beacons acquires their own position information from the positioning server and broadcast their own position information to the outside; and a user can know his or her own position through receiving the position information sent by the positioning beacons. According to the power line communication-based indoor beacon positioning method and system of the invention, indoor precise positioning is realized through using existing power line infrastructures. The whole system is simple to realize; the cost of the system is low; and based on the realization of the indoor precise positioning, positioning-based applications can better serve the people, and more and more convenient services can be brought.

Description

Based on indoor beacon localization method and the system of power line communication

Technical field

The present invention relates to indoor positioning technologies field, be specifically related to a kind of indoor beacon localization method based on power line communication and system.

Background technology

As everyone knows, global positioning system (GPS) plays an important role in all trades and professions, but, the obvious deficiency of global positioning system (GPS) be exactly cannot covering chamber's inner position or positioning precision poor, the demand of existing various application cannot be met.Along with the popularization based on pinpoint various application service, all standing, the navigation system of pinpoint accuracy becomes people's problem demanding prompt solution.The indoor locating systems such as ultra broadband location, WiFi location become the focus of people's research, but above-mentioned indoor locating system needs rewiring and disposes beacon, constructs more difficult.

It is medium that power line communication (PowerLineCommunication, PLC) refers to power distribution, utilizes power line network to communicate.Share a power line with power supply and carry out transfer of data, thus existing power line infrastructure can be used, and do not need to lay new communication network.Power line communication technology is experiencing the fast-developing stage.If power line communication technology and location technology can be utilized, build indoor positioning beacon network, be then expected to become the feasible program solving indoor positioning all standing and hi-Fix.

Summary of the invention

To be solved by this invention is that existing navigation system in covering chamber or cannot need the problems such as rewiring, provides a kind of indoor beacon localization method based on power line communication and system.

For solving the problem, the present invention is achieved by the following technical solutions:

Based on an indoor beacon localization method for power line communication, comprise the steps:

The emulation of step 1, power line network; Location-server is accessed in power line network, and according to the topological structure of power line network, the paper channel parameter between each node and location-server of power line network is obtained by emulation, and stored in location-server after the positional information residing for the paper channel parameter of this node and the reality of this node is matched one by one;

The deployment of step 2, localizer beacon;

Step 2.1, in the power line network of locating area, in order to all standing in ensuring coverage area and crucial place, first to select the node of some as preselected node;

Step 2.2, the paper channel parameter between preselected node with location-server to be compared between two, when difference between two paper channel parameters between preselected node and location-server is less than predetermined threshold value, then replace one of them preselected node, until the difference between every two paper channel parameters between preselected node and location-server is all more than or equal to predetermined threshold value, now the preselected node that these meet the demands is defined as disposing node;

Step 2.3, on the deployment node of power line network, access localizer beacon;

Step 3, positioning initialization;

Step 3.1, each localizer beacon send position request information to location-server, and location-server measures the actual channel parameter between each localizer beacon and location-server after receiving the position request information that each localizer beacon sends respectively;

Step 3.2, the actual channel parameter between each localizer beacon with location-server to be mated with paper channel parameter, and by minimum with the difference of actual channel parameter and be less than decision threshold σ _dthe positional information of the node corresponding to paper channel parameter send to this localizer beacon;

After step 3.3, localizer beacon receive the positional information that location-server returns, stop sending position request information, externally continue the positional information of broadcast oneself simultaneously;

Step 4, location realize; When user enters into locating area, by receiving the positional information that nearest localizer beacon is broadcasted, the current residing position of user can be known.

In step 1, the channel parameter between node and location-server is channel impulse response.

In step 2.2, weigh the difference between two paper channel parameters between preselected node and location-server by Euclidean distance, manhatton distance, Chebyshev's distance or included angle cosine.

In step 3.2, weigh the difference between actual channel parameter between node and location-server and the paper channel parameter between this node and location-server by Euclidean distance, manhatton distance, Chebyshev's distance or included angle cosine.

Step 3.3 also comprises further, when localizer beacon does not receive the positional information that location-server returns, then continues to send position request information to location-server, until receive the positional information that location-server returns.

The indoor beacon navigation system based on power line communication designed based on said method, comprises power line network, also comprises localizer beacon and location-server further;

Localizer beacon: localizer beacon is directly connected with power line network; Localizer beacon sends position request information to location-server, and the positional information of the node of Optimum Matching is sent to this localizer beacon by location-server, its positional information received of localizer beacon overseas broadcast;

Location-server: location-server is connected with power line network, and be in central status, control whole navigation system; Topological structure according to the power line network of indoor emulates, obtain the paper channel parameter between each node and location-server, and the positional information residing for the reality of each node and the paper channel parameter between this node and location-server that obtains are matched, and be stored in location-server; Actual channel parameter between the position request information measurement and positioning server that location-server sends according to each localizer beacon and each localizer beacon, and by minimum with the difference of actual channel parameter and be less than decision threshold σ _dthe positional information of the node corresponding to paper channel parameter send to this localizer beacon.

Compared with prior art, the indoor orientation method based on power line communication (PLC) that the present invention proposes and system achieve indoor accurate location, utilize existing power line infrastructure simultaneously, and whole system realizes simple, cheap.By realizing indoor accurate location, the various application based on location just can better be served for everybody, also can bring more how more convenient service simultaneously.

Accompanying drawing explanation

Fig. 1 is a kind of schematic diagram of the indoor beacon navigation system based on power line communication.

Fig. 2 is a kind of beacon localization method flow chart based on power line communication.

Embodiment

Based on an indoor beacon navigation system for power line communication, as described in Figure 1, be made up of localizer beacon, location-server and power line network.

Localizer beacon: localizer beacon is directly connected with power line network, when whole indoor locating system is just started working, localizer beacon sends position request information to location-server, when location-server, the match is successful, and after this localizer beacon receives the positional information of oneself, stop sending position request information, pass through the positional information of the wireless transmitting terminals transmission oneself of oneself for user simultaneously, otherwise, send position request information, until the positional information receiving oneself just stops sending position request information to location-server always.

Location-server: location-server is connected with power line network, and be in central status, control whole navigation system.First, the topological structure according to the power line network of indoor emulates, and obtains the channel parameter between each node and location-server.The actual position information of each node and the channel parameter between this node and location-server that obtains are matched, and is stored in location-server.At the initial phase of whole indoor locating system, channel parameter between the position request information measurement and positioning server that location-server sends according to each localizer beacon and each localizer beacon, according to Euclidean distance, manhatton distance, Chebyshev's distance or included angle cosine criterion and decision threshold σ _dmate with the channel parameter between each node with location-server in the power line network deposited in location-server measuring the channel parameter obtained, and corresponding positional information sends to corresponding localizer beacon the match is successful.

Power line network: in whole process, original power line infrastructure remains unchanged, when ensureing normal power supply, realizes indoor location simultaneously.

The deployment of localizer beacon: when indoor power spider lines deploy localizer beacon, the simulation result that will obtain according to indoor power line network topology structure, guarantee that the channel parameter between different localizer beacon and location-server will have marked difference, to avoid the interference between different localizer beacon.By Euclidean distance, manhatton distance, Chebyshev's distance or included angle cosine, weigh the difference between the channel parameter between each localizer beacon and location-server.Preset a distance threshold σ _d, guarantee that the distance between the channel parameter between each localizer beacon and location-server is greater than distance threshold σ _d, to avoid the interference between different localizer beacon, improve the accuracy that localizer beacon is disposed.

Based on a beacon localization method for power line communication, as shown in Figure 2, comprise the steps:

Step 1, power line communication (PLC) network simulation.

Step 1.1, first to obtain the topological structure of indoor power line network, and point number m of power line, every section of power line length l _i, i=1,2 ..., the load impedance z of m and each node _i, i=1,2 ..., the parameters such as m.

Step 1.2, the parameter obtained according to step 1.1, obtained the estimated value of the channel parameter (decay of channel impulse response, signal and the time delay etc. of signal) in power line network between each node and location-server by emulation, we are with the impulse response h of channel here _i, i=1,2 ..., the estimated value of m is that example is described in detail, wherein h _i=(β _i1, β _i2..., β _in).

Step 2, channel parameter and node location match.

Step 2.1, the estimated value (h of the channel parameter between this node and location-server will obtained in the physical location of each node and step 1.2 _i=(β _i1, β _i2..., β _in)) match one by one.

Step 2.2, by the data of having matched integrally stored in location-server, for beacon deployment phase and navigation system initial phase with inquire about.

Step 3, deployment localizer beacon.

Step 3.1, in the region that navigation system is disposed, in order to all standing in ensuring coverage area and crucial place, first want some nodes of preliminary election.

Step 3.2, in order to avoid the interference between different localizer beacon, guarantee that the channel parameter between each localizer beacon and location-server has marked difference.By Euclidean distance, manhatton distance, Chebyshev's distance or included angle cosine, weigh the difference between the channel parameter between each localizer beacon and location-server.

(1) Euclidean distance.Euclidean distance is the most understandable a kind of distance calculating method, is derived from the range formula of point-to-point transmission in Euclidean space.Two n-dimensional vector h ₁(β ₁₁, β ₁₂..., β _1n) and h ₂(β ₂₁, β ₂₂..., β _2n) between Euclidean distance:

$d_{12}=\sqrt{\underset{k=1}{\overset{n}{\Σ}}{({\mathrm{\β}}_{1k}-{\mathrm{\β}}_{2k})}^2}---\left(1\right)$

(2) manhatton distance.Two n-dimensional vector h ₁=(β ₁₁, β ₁₂..., β _1n) and h ₂(β ₂₁, β ₂₂..., β _2n) between manhatton distance

$d_{12}=\underset{k=1}{\overset{n}{\Σ}}|{\mathrm{\β}}_{1k}-{\mathrm{\β}}_{2k}|---\left(2\right)$

(3) Chebyshev's distance.Two n-dimensional vector h ₁=(β ₁₁, β ₁₂..., β _1n) and h ₂(β ₂₁, β ₂₂..., β _2n) between Chebyshev's distance

$d_{12}=\underset{k}{\max }\left(\right|{\mathrm{\β}}_{1k}-{\mathrm{\β}}_{2k}\left|\right)---\left(3\right)$

(4) included angle cosine.For two n-dimensional vector h ₁=(β ₁₁, β ₁₂..., β _1n) and h ₂(β ₂₁, β ₂₂..., β _2n), represent that the similarity between them is with included angle cosine

$cos\left(\mathrm{\θ}\right)=\frac{{\mathrm{\Σ}}_{k=1}^n{\mathrm{\β}}_{1k}{\mathrm{\β}}_{2k}}{\sqrt{{\mathrm{\Σ}}_{k=1}^n-{{\mathrm{\β}}_{1k}}^2}\sqrt{{\mathrm{\Σ}}_{k=1}^n-{{\mathrm{\β}}_{2k}}^2}}---\left(4\right)$

In the present invention, h ₁=(β ₁₁, β ₁₂..., β _1n) and h ₂(β ₂₁, β ₂₂..., β _2n) represent the channel parameter between different node and location-server in power line network respectively.

Step 3.3, estimated value according to the channel parameter between each node and location-server obtained in step 1.2, obtain the channel parameter between preselected node and location-server.

Step 3.4, a default distance threshold σ _d.By Euclidean distance, manhatton distance, Chebyshev's distance or included angle cosine, weigh the difference between the channel parameter between each preselected node and location-server.

Difference between step 3.5, channel parameter between different preselected node and location-server is less than σ _dtime, replace one of them preselected node, jump to step 3.3, until the distance between channel parameter between each preselected node and location-server is greater than distance threshold σ _d, to avoid the interference between different localizer beacon, improve the accuracy that localizer beacon is disposed.

Step 3.6, the preselected node deploy localizer beacon met the demands chosen.

Step 4, navigation system initialization.

Step 4.1, when starting working based on the indoor beacon navigation system of power line communication (PLC), first, each localizer beacon sends position request information, after location-server receives the position request information that each localizer beacon sends, the channel parameter respectively between measurement and positioning server and each localizer beacon.

Step 4.2, be σ at decision threshold _dthresholding under, the measurement channel parameter between each localizer beacon with location-server obtained and the channel parameter between each node with location-server deposited in location-server are mated according to Euclidean distance, manhatton distance, Chebyshev's distance or the criterion such as included angle cosine.

If the channel parameter deposited in step 4.3 location-server has channel parameter that is multiple and that measure between the localizer beacon that obtains and location-server simultaneously, the match is successful, then what selected distance was minimum is Optimum Matching.

Step 4.4, after the match is successful, the positional information of depositing the channel parameter that the match is successful corresponding is sent to the localizer beacon matched by location-server.

Step 4.5, when localizer beacon receive location-server send positional information after, stop send position request information, continue by wireless side the positional information sending oneself simultaneously.

Step 4.6, when the interference due to noise etc., location-server coupling is unsuccessful, when localizer beacon cannot receive positional information, localizer beacon continues to send position request information, and location-server remeasures the channel parameter between localizer beacon and location-server.Jump to step 4.2, until location-server the match is successful, the positional information that localizer beacon receives oneself just stops sending position request information.

Step 5, navigation system work.

Step 5.1, when the region that user is with the indoor beacon navigation system based on power line communication (PLC), when needing the position knowing oneself, open the client of oneself, just can know the positional information of oneself fast and accurately.

Claims (6)

1., based on the indoor beacon localization method of power line communication, it is characterized in that, comprise the steps:

The emulation of step 1, power line network; Location-server is accessed in power line network, and according to the topological structure of power line network, the paper channel parameter between each node and location-server of power line network is obtained by emulation, and stored in location-server after the positional information residing for the paper channel parameter of this node and the reality of this node is matched one by one;

The deployment of step 2, localizer beacon;

Step 2.1, in the power line network of locating area, select the node of some as preselected node;

Step 2.2, the paper channel parameter between preselected node with location-server to be compared between two, when difference between two paper channel parameters between preselected node and location-server is less than predetermined threshold value, then replace one of them preselected node, until the difference between every two paper channel parameters between preselected node and location-server is all more than or equal to predetermined threshold value, now the preselected node that these meet the demands is defined as disposing node;

Step 2.3, on the deployment node of power line network, access localizer beacon;

Step 3, positioning initialization;

Step 3.1, each localizer beacon send position request information to location-server, and location-server measures the actual channel parameter between each localizer beacon and location-server after receiving the position request information that each localizer beacon sends respectively;

Step 3.2, the actual channel parameter between each localizer beacon with location-server to be mated with paper channel parameter, and by minimum with the difference of actual channel parameter and be less than the decision threshold σ of setting _dthe positional information of the node corresponding to paper channel parameter send to this localizer beacon;

After step 3.3, localizer beacon receive the positional information that location-server returns, stop sending position request information, externally continue the positional information of broadcast oneself simultaneously;

Step 4, location realize; When user enters into locating area, by receiving the positional information that nearest localizer beacon is broadcasted, the current residing position of user can be known.

2. the indoor beacon localization method based on power line communication according to claim 1, is characterized in that, in step 1, the channel parameter between node and location-server is channel impulse response.

3. the indoor beacon localization method based on power line communication according to claim 1 and 2, it is characterized in that, in step 2.2, weigh the difference between two paper channel parameters between preselected node and location-server by Euclidean distance, manhatton distance, Chebyshev's distance or included angle cosine.

4. the indoor beacon localization method based on power line communication according to claim 1 and 2, it is characterized in that, in step 3.2, weigh the difference between actual channel parameter between node and location-server and the paper channel parameter between this node and location-server by Euclidean distance, manhatton distance, Chebyshev's distance or included angle cosine.

5. the indoor beacon localization method based on power line communication according to claim 1, it is characterized in that, step 3.3 also comprises further, when localizer beacon does not receive the positional information that location-server returns, then continue to send position request information to location-server, until receive the positional information that location-server returns.

6. the indoor beacon navigation system based on power line communication designed based on method described in claim 1, comprises power line network, it is characterized in that, also comprise localizer beacon and location-server further;

Localizer beacon: localizer beacon is directly connected with power line network; Localizer beacon sends position request information to location-server, and the positional information of the node of Optimum Matching is sent to this localizer beacon by location-server, its positional information received of localizer beacon overseas broadcast;

Location-server: location-server is connected with power line network, and be in central status, control whole navigation system; Topological structure according to the power line network of indoor emulates, obtain the paper channel parameter between each node and location-server, and the positional information residing for the reality of each node and the paper channel parameter between this node and location-server that obtains are matched, and be stored in location-server; Actual channel parameter between the position request information measurement and positioning server that location-server sends according to each localizer beacon and each localizer beacon, and by minimum with the difference of actual channel parameter and be less than decision threshold σ _dthe positional information of the node corresponding to paper channel parameter send to this localizer beacon.