CN105611628A - High precision pulse 60GHz wireless fingerprint positioning method based on energy detection - Google Patents
High precision pulse 60GHz wireless fingerprint positioning method based on energy detection Download PDFInfo
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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
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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
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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Abstract
The invention discloses a high precision pulse 60GHz wireless fingerprint positioning method based on energy detection. The method comprises following steps of 1), solving a combined parameter J composed of a skewness, a kurtosis and a minimum slope of a signal and an optimum normalization threshold demanded for TOA (Time of Arrival) estimation; 2), building a fingerprint database between the J and the optimum normalization threshold; 3), estimating the optimum normalization threshold according to the fingerprint database and the combined parameter J; 4), carrying out the TOA estimation, selecting the intermediate value of an energy block firstly exceeding the threshold as a TOA estimation value, and further calculating a distance; and 5), carrying out 60GHz wireless positioning, carrying out wireless positioning based on 60GHz millimeter waves by using a conventional positioning algorithm according to the TOA estimation value. The result shows that in an IEEE 802.15.3c channel mode, whatever it is line-of-sight or non-line-of-sight, the method has higher precision and better robustness than other detection based on energy in a wide Signal to Noise Ratio range.
Description
Technical field
The invention belongs to wireless location technology field, specifically the high accuracy pulse 60GHz wireless fingerprint based on energy measuring is fixedMethod for position.
Background technology
Pulse 60GHz wireless communication technology is a kind of without carrier wave, adopts hundreds of psecs or long discrete pulse more in short-term to enterA kind of wireless communication technology of Serial Communication. 60GHz wireless communication technology has frequency spectrum compared with current existing communication system canDurability is high, and antijamming capability is strong, and usable spectrum is wide, allows transmitting power large, and power system capacity is large, temporal resolution and multipathResolution ratio advantages of higher. Because huge exempting from authorized frequently in recent years to one of topmost reason of 60GHz technology extensive concernBand bandwidth. Compare with the super-broadband tech of same use licensing free frequency band, the frequency band of 60GHz technology is continuous, and to powerRestriction still less. Because radio ultra wide band system is symbiotic system, therefore to be subject to strict restriction and different specify constraints. 60GHzHuge bandwidth is the licensing free frequency band of maximum that is about to distribution. Huge bandwidth means potential capacity and flexibility, fromAnd make 60GHz technology be particularly suitable for gigabit wireless application. Near impulse radio communications technology 60GHz frequency rangeOwing to thering is higher temporal resolution, thus at receiving terminal, more effectively separating multiple diameter signal, thus have higherMulti-path resolved rate, can realize centimetre even grade precision distance measurement and location. This in Indoor Robot precision navigation location andSome special producing industries (do not need people maybe can not someone participate) etc. the pinpoint field of needs centimetre rank have heavilyThe using value of wanting.
In order to realize the wireless location of 60GHz, relevant hardware device mainly contains mobile terminal undetermined, locating base station and locationServer composition.
Mobile terminal to be positioned is mobile in locating area, needs the terminal of location, is generally the transmitting dress that power is lowPut.
Locating base station is by the locating base station being distributed in locating area, can receive the 60GHz that terminal to be positioned sendsSignal, and carry out degree of bias S, kurtosis K and the isoparametric calculating of minimum slope MS, utilize the fingerprint of design in advanceDatabase, the propagation delay of calculating signal, finally can send to location-server by calculated value. Generally by threeAbove locating base station.
Location-server is generally a computer, can receive and come from the propagation delay that locating base station sends, and to itCarry out data processing, carry out location algorithm.
At present the most frequently used location technology is mostly carried out based on range finding, this be due to, the non-location technology based on distance is generalPositioning precision is poor, and needs the cooperation of a large amount of base stations (terminal of location aware). The most frequently used localization method can be divided into baseThe TOA (TimeofArrival) estimating in reception time of arrival (toa) and TDOA (TimeDifferenceofArrival), baseThe RSS (ReceivedSignalStrength) estimating in received signal strength and the AOA (Angle based on arriving angle estimationOfArrival). Pulse 60GHz signal has high bandwidth, and the duration reaches hundreds of psecs or shorter, thereby has veryStrong time resolution. So in order to make full use of this characteristic that pulse 60GHz time resolution is strong, use TOA,The location technology that TDOA estimates is best suited for pulse 60GHz's. In these two kinds of methods, affect the principal element of measure errorIt is exactly the measurement of propagation delay time.
At present the most frequently used TOA TDOA method of estimation can be divided into substantially correlation reception (as matched filtering detects) with non-Correlation reception (as energy receiver). Based on the coherent detection of matched filtering, be considered at present known to signal detectionBest mode, still, it need to for example, about the prior information of the characteristic that transmits (, modulation format, impulse waveform, phasePosition etc.). But in practice, such information can not always be received accurately precognition of machine often, this just cause based onThe correlation receiver of matching detection is infeasible in many cases. Different from correlation reception, complete based on energy detectionThe priori of full undesired signal, and there is the complexity of lower calculating and enforcement, the hardware requirement of docking point is low, is applicable toBe applied in node simple in structure, based on the plurality of advantages of energy receiver, energy detector has been widely used as frequency spectrum senseThe cognitive radio (detecting the existence of authorized user) of surveying, impulse radio ultra-wideband (UWB) system (is used the use from authorizingThe idle channel at family), sensor network and terrestrial trunked radio (TETRA) system. Energy receiver mainly comprises oneAmplifier, squarer, integrator, decision device. Because the frequency spectrum of pulse 60GHz is in higher frequency range (60GHz left and right),So matched filter detector is proposed to higher requirement on hardware is realized, in actual applications, is relatively difficult to realize. ThereforeIn the present invention, will first-selected complexity lower to the detection of signal, hardware is realized to the lower energy detection machine that requires.The TOA of energy detection machine (as shown in Figure 1) estimates it is mainly that the output of integrator and suitable threshold value are compared,Selecting to exceed at first the value that threshold value obtains energy block estimates TOA.
Traditional TOA the basic step following (as shown in Figure 2) of TDOA location algorithm:
(1), whole navigation system is initialized: the soft and hardware that mainly comprises each base station and location-server is installed;
(2), terminal transmitting 60GHz pulse train to be positioned;
(3), locating base station receives signal and calculates the propagation delay of signal;
(4), propagation delay result of calculation is sent to location-server by locating base station;
(5), location-server receives the propagation delay of each base station;
(6), location-server calculates the range finding result of each base station;
(7), location-server application TOA the location algorithm of TDOA based on distance treat locating terminal and position.
In view of the huge difference between correlation reception and irrelevant reception, particularly complexity is low, low sampling rate energy receiverCan be widely used in numerous environment, so will adopt the simple and practical energy receiver low to hardware requirement in (3)Calculate propagation delay. Aspect energy reception, current conventional being used for estimates that the method for propagation delay can be divided into two kinds.
Maximum energy method: select Maximum Energy Product piecemeal position estimate TOA, normally select the central authorities of energy block to doFor the estimated value of TOA. But, ceiling capacity piece position often and the position at non line of sight place, particularly non-Under sighting distance (NLOS) environment. The through energy block through place is before the ceiling capacity piece of being everlasting on average.
Threshold method: i.e. the TOA algorithm for estimating based on thresholding, receive the energy block of signal and suitable thresholding and compare, theA moment corresponding to energy block that exceedes this thresholding is TOA estimated value. But, directly determine that a threshold value is ratioMore difficult, so what adopt frequent is normalized thresholding. According to obtained normalized thresholding, can root at receiving terminalAccording to formula α=αnorm(max (z[n])-min (z[n]))+min (z[n]) calculates final threshold value. So how problem just becomes basisThe fingerprint characteristic of signal is set suitable normalization thresholding, is the most simply fixing normalization threshold method, wherein in threshold methodNormalization thresholding is a fixing value, and so in actual applications, under varying environment, normalization thresholding changes all the time, instituteWith the application in cannot meeting on a large scale. Next is the normalization threshold method based on K, although this algorithm complex reduces,But these algorithms are estimated with the TOA fingerprint of combining based on degree of bias S, kurtosis K and minimum slope MS proposing in the present inventionAlgorithm is compared, and no matter in precision, still aspect stability, particularly under multipath, NLOS environment, is having very large gap.
Summary of the invention
For existing technological deficiency, the present invention proposes the high accuracy pulse 60GHz wireless fingerprint location based on energy measuringMethod, to overcome the deficiencies in the prior art.
High accuracy pulse 60GHz wireless fingerprint localization method based on energy measuring, comprises the following steps:
(1), set up navigation system, related navigation system comprises multiplely can receive the multiple of signal that terminal to be positioned sendsLocating base station, and receive the location-server of the locating information sent of locating base station, and whole navigation system is initialized:Comprise the sample frequency and the integration period T that set each locating base station;
(2), terminal transmitting 60GHz pulse sequence signal to be positioned;
(3), locating base station receives above-mentioned signal and calculates the propagation delay of signal;
(4), propagation delay result of calculation is sent to location-server by locating base station;
(5), location-server receives the propagation delay of each base station;
(6), location-server calculates the range finding result of each base station;
(7), location-server application TOA the location algorithm of TDOA based on distance treat locating terminal and position;
It is characterized in that described step (3) is that locating base station receives above-mentioned signal, this signal is carried out to integral operation and amassedDivide energy block, and then obtain combined parameters value, then calculate optimum gate limit value according to combined parameters value, choose and exceed at first this thresholdingThe propagation delay that the corresponding moment of center of the energy block of value is signal; Comprise tri-steps of following A-C:
A. locating base station is carried out integral operation to the signal of step (2) and is obtained integral energy piece, calculates the degree of bias of this energy blockS, kurtosis K and minimum slope MS, and above-mentioned each variable is normalized, by each variable after normalization and thenObtain combined parameters J, set up the finger of average combined parameters J2P, TOA evaluated error, tri-parameters of optimum normalization thresholding XLine database;
B. fingerprint database is carried out curve fitting, set up the average combined parameters J2P corresponding to minimum TOA evaluated errorCorresponding relation F with optimum normalization thresholding X;
C. the average combined parameters J2P obtaining according to step (A), utilizes corresponding relation F, calculates optimum normalizationThresholding, obtains propagation delay (being TOA estimated value) according to this thresholding;
Specifically, steps A is refined as following calculation procedure:
1), setup parameter value first, within the scope of 4-32dB, select a signal to noise ratio snr, then at a selected SNRDetermine down different channel circumstance and multiple different integration periods, described different channels environment is sighting distance and two kinds of differences of non line of sightEnvironment, described multiple different integration periods are within the scope of 0.1ns-4ns, to select two or more values as integration period, instituteThe quantity of the different integration periods of selecting is designated as P, and P is more than or equal to 2 natural number; Can obtain 2P at same SNRIndividual different environment and integration period combination;
2), the energy block that obtains according to integral operation, calculate respectively the energy block of 2P different environment and integration period combinationDegree of bias S, kurtosis K and minimum slope MS; The ratio that calculates degree of bias S and kurtosis K, is denoted as KS=K/S;
Obtain a new combined parameters J=N*norm (KS)+M*norm (MS), wherein norm according to KS, two combined amount of MSRepresent the normalized to parameter, N, M are that arithmetic number and N are more than or equal to 6M, obtain 2P combined parameters J, getMean value is designated as average combined parameters J2P;
3) then under same SNR, calculate respectively the optimum normalizing under different channel circumstances and multiple different integration periodChange thresholding X:
First calculate TOA evaluated error and best normalization thresholding:
Using (0:0.1:1) or less interval as normalization thresholding, calculate respectively under each thresholding 1000 times of integration energy blockTOA error, and average as TOA evaluated error, thereby the multiple TOAs corresponding with normalization threshold number obtainedEvaluated error, chooses the corresponding normalization thresholding of minimum TOA error as best normalization thresholding;
Under different channels environment (sighting distance and non line of sight), different integration period, can obtain 2P best normalization thresholding, by 2PThe mean value of individual best normalization thresholding is as optimization thresholding X;
4) return to step 1) select next signal to noise ratio, and recalculate corresponding to the average combined parameters J2P under this signal to noise ratio,TOA evaluated error and optimization thresholding X, until go through all over all signal to noise ratios within the scope of 4-32dB;
5) by step 4) value of the 29 groups of average combined parameters J2P, TOA evaluated error and the optimization thresholding X that obtain,As the fingerprint database being formed by three parameters;
Step B, fingerprint database is carried out curve fitting, utilize neutral net to train above-mentioned fingerprint database, finalSet up the corresponding relation F of average combined parameters J2P and optimum normalization thresholding X, due to average combined parameters J2P and SNRRelevant, and optimum normalization thresholding calculates under certain specific SNR, therefore can set up J2P and optimum normalizingChange the corresponding relation of thresholding;
Step C, when signal transmission delay is carried out to Practical Calculation, according to degree of bias S, the kurtosis K of the actual signal gathering andLittle slope MS obtains actual average combined parameters J2P, utilizes corresponding relation F, calculates this actual average combined parameters J2PCorresponding normalization thresholding, obtains TOA estimated value according to this normalization thresholding:
Actual average combined parameters J2P by gained is input to step B) oneself neutral net through training, can be according to correspondenceBe related to that F obtains corresponding normalization thresholding, utilizes normalization thresholding to identify the energy block that exceedes at first this thresholding, with this energyMoment corresponding to the centre position of piece is as TOA estimated value.
In steps A) formula J=N*norm (KS)+M*norm (MS) in, in order to make the numerical value of J in coordinate diagram picture,Each per channel, can be by selecting suitable coefficient N, M to be achieved, by upper than having stable variation in scopeState N value and be less than 20.
For the sake of simplicity, steps A) formula J=N*norm (KS)+M*norm (MS) in, N value 12, M value 2.
Invention advantage
In the present invention, uses energy receiver is estimated the propagation delay of signal, the combined parameters while independence proposingIn integration period and channel circumstance (sighting distance and non line of sight). Having overcome traditional signal transmission delay based on energy measuring estimatesAlgorithm must be distinguished this shortcoming of integration period, uses artificial neural network to solve nonlinear problem simultaneously, makes optimum normalizationNon-linear relation between thresholding and combined parameters is more accurate, has overcome traditional curve and cannot accurately estimate input variableAnd this shortcoming of non-linear relation between output variable.
Brief description of the drawings
Fig. 1 energy receiver schematic diagram.
The localization method flow chart that Fig. 2 is traditional.
Fig. 3 normalized parameter situation of change.
The situation of change of Fig. 4 combined parameters to signal to noise ratio.
The situation of change of the optimum normalization thresholding of Fig. 5.
Fig. 6 steps A of the present invention B the flow chart of C.
Fig. 7 overview flow chart of the present invention
Detailed description of the invention
Method of the present invention is mainly in step (3), and the estimation that the mode that adopts energy to receive is carried out TOA mainly comprises 3Individual step (as Fig. 6):
A, acquired integrated energy block, calculate degree of bias S, kurtosis K and minimum slope MS, and each variable be normalized,Comprehensive each variable and then obtain combined parameters J, sets up average combined parameters J2P, TOA evaluated error X, optimum normalizationThe fingerprint database of three parameters of thresholding;
B, fingerprint database is carried out curve fitting, set up the average combined parameters J2P corresponding to minimum TOA evaluated errorCorresponding relation F with optimum normalization thresholding X;
C, obtain average combined parameters J2P, profit according to degree of bias S, kurtosis K and the minimum slope MS of live signal gatheringUse corresponding relation F, calculate optimum normalization thresholding, obtain TOA estimated value according to this thresholding.
Specifically, steps A " acquired integrated energy block, calculates degree of bias S, kurtosis K and minimum slope MS, and to respectivelyIndividual variable is normalized, and comprehensively each variable and then obtain combined parameters J is set up average combined parameters J2P, TOA and estimatedThe fingerprint database of error, tri-parameters of optimum normalization thresholding X " can specifically be refined as following calculation procedure:
1 >, the energy block that collects according to energy measuring, respectively degree of bias S, kurtosis K and the minimum slope of calculating energy pieceMS. The ratio that calculates degree of bias S and kurtosis K is denoted as KS=K/S. 1000 obtained samples are being normalizedAfterwards, the normalized result obtaining is in Fig. 3: no matter result is under LOS and NLOS environment if showing, result is aobviousBeing shown in signal to noise ratio > when 10dB, in numerous variable combinations, KS is along with the increase rate of change of signal to noise ratio is the fastest, most equallyPipe in the time of signal to noise ratio < 4dB MS along with SNR to reduce rate of change slower. But when signal to noise ratio is during in (4-10) dB,The rate of change of MS is but the fastest, because KS and MS are faster than other variable change, so they more can reflect differenceSNR information, so be more suitable for for selecting threshold value. Closely be applicable to compared with high s/n ratio based on current all threshold algorithmsUnder environment, so only rely on single variable cannot react accurately the situation of change of SNR. Therefore, according to KS and MSTwo measure a new combined parameters J=N*norm (KS)+M*norm (MS).
Discovery carry out emulation under LOS and NLOS environment time, works as NLOS≠NNLOSWith MLOS≠MNLOSTime, result shows associatingParameter J is independent of channel model, is only subject to the impact of integration period, however in actual applications, under varying environment, integrationCycle can be set at random, and now this algorithm certainly will cannot be widely used in various environment well; But work as MLOS＝MNLOSAnd NLOS＝NNLOSWhile establishment, combined parameters J is independent of channel model and integration period simultaneously simultaneously, now needn't consider to amassDivide the variation in cycle as Fig. 4. It is that a dullness is passed with respect to SNR that Fig. 4 is presented at combined parameters J within the scope of all SNRIncreasing function, therefore it is more responsive to SNR than any single parameter. Calculate respectively under identical SNR environment, different returnsOne changes the evaluated error of the corresponding TOA of thresholding (as [0:0.1:1]), chooses the corresponding normalization door of minimum TOA errorBe limited to best normalization thresholding. Because channel model and integration step are little on J impact, so get not in the time setting up corresponding relationThe mean value of the different integration steps of cochannel as optimization thresholding as Fig. 5.
According to the combined parameters J2P obtaining, the value of TOA error and optimization thresholding X is respectively as three fingerprint databasesValue.
" fingerprint database is carried out curve fitting, and foundation is average corresponding to minimum TOA evaluated error for step B specificallyThe corresponding relation F of combined parameters J2P and optimum normalization thresholding X " can be detailed be expressed as:
In recent years, artificial neural network is used widely in signal process field, owing to inevitably depositing in actual environmentIn NLOS, multipath, reflection, intersymbol interference, diffraction, decline etc., that is to say locating terminal and locating base station distance orThe position at angle and locating terminal place is often nonlinear, be difficult to directly calculate with geometric formula, and neutral net is properJust there is the non-linear mapping capability of height. So neutral net is used for determining the corresponding pass of combined parameters J and normalization thresholdingSystem. Input layer using combined parameters J as neutral net, normalization thresholding, as the output layer of neutral net, is being determined nerveWhen the number of network hidden layer neuron, estimate according to the distribution probability of standard deviation. Select mean square deviation MSE < 10-10RatioWhile being greater than 90%, corresponding neuronic number is hidden layer neuron number. Final definite average combined parameters J2P is with optimumThe corresponding relation of normalization thresholding X.
Step C " is on average combined according to degree of bias S, kurtosis K and the minimum slope MS of the live signal gathering specificallyParameter J2P, utilizes corresponding relation F, calculates optimum normalization thresholding, obtains TOA estimated value according to this thresholding " passableDetailed is expressed as:
Adopting certain integration step to carry out integration the signal collecting obtains several energy blocks, tries to achieve average combined parameters J2PValue, J2P is input to the neutral net having trained, can obtain corresponding optimum normalization thresholding X, utilize normalizingChange thresholding and obtain the energy block that first exceedes this thresholding, estimate as TOA using the moment that the centre position of this energy block is correspondingValue.
Under the channel model that adopts the method to provide at IEEE802.15.3c, study, no matter good at communication condition findUnder environment, (closely, LOS, transmit signal power large etc.) or communication condition are bad (distance (< 20m), NLOS, sends outPenetrate signal power low) environment under, use the accuracy that can improve greatly the result of calculation of propagation delay after above-mentioned steps,Thereby ensure the accuracy of range finding result. For example, shown in table 1, be that the various TOA based on energy method of reseptance estimate 1000The mean value situation of error after inferior measurement. Can find that result of the present invention will be better than other algorithm far away.
The various energy receiving algorithm of table 1 error ratio is (ns)
Embodiment
In the time carrying out wireless location, terminal to be positioned arranges according to it, the multiple 60GHz pulse train of timed sending, so thatRepeatedly measure. All locating base station that receive this pulse train, receive by energy the value that obtains average combined parameters withAfter, obtain the estimated value of optimum normalization thresholding according to the good neutral net of precondition, to finally obtain TOA estimated value;And result of calculation is transferred to location-server; Then at location-server end, according to measure the distance of gained or range difference andThe coordinate position of reference base station, utilizes TOA or TDOA location algorithm to determine the locus of terminal to be measured. As Fig. 7 instituteShow, mainly comprise following step:
(1), system initialization
System initialization, comprises installation and the relevant configuration of software and hardware.
The installation of base station: if two-dimensional localization at least needs 3 locating base station; If three-dimensional localization at least needs4 locating base station.
The installation of location-server: in the time that location-server end requires to receive signal that each base station sends over and propagatesProlong. Location-server requires function admirable, because location algorithm mainly moves on this server.
On location-server, arrange: the locating periodically of locating terminal, the needed fingerprint database of locating base station, location at every turnRange finding number of times (number of transmitted sequence), clock skew, the signal velocity etc. of each base station, and by wirelessTransmission means sends to terminal to be positioned, completes the setting to locating terminal.
(2), band locating terminal is launched multiple 60GHz pulse train
In the time that terminal to be positioned will position, will send multiple pulse train according to settings in advance. Each pulse trainComplete the estimation (namely distance estimations) of a normalization thresholding, completing one-time positioning need to repeatedly find range.
(3), locating base station receives signal and calculates signal transmission delay
1. acquired integrated energy block, calculates degree of bias S, kurtosis K and minimum slope MS, and each variable is normalized,Comprehensive each variable and then obtain combined parameters;
The energy block collecting according to energy measuring, respectively degree of bias S, kurtosis K and the minimum slope MS of calculating energy piece.The ratio that calculates degree of bias S and kurtosis K is denoted as KS=K/S. Measure a new combined parameters according to KS, two of MSJ=N*norm (KS)+M*norm (MS). The mean value that calculates combined parameters is denoted as J2P, under LOS and NLOS environment, entersWhen row emulation, find, work as NLOS≠NNLOSWith MLOS≠MNLOSTime, result shows that average combined parameters J2P is independent of channel model,Only be subject to the impact of integration period, but in actual applications, under varying environment, integration period can be set at random, nowThis algorithm certainly will cannot be widely used in various environment well; But work as MLOS＝MNLOSAnd NLOS＝NNLOSSet up simultaneouslyTime, combined parameters J is independent of channel model and integration period simultaneously, now needn't consider the variation of integration period, soIn the present invention, setup parameter is got identical value.
2. in the time of actual measurement, return to above-mentioned steps (2), then carry out curve fitting according to pre-determined fingerprint databaseTo average combined parameters J2P and the corresponding relation of optimum normalization thresholding X calculate optimum normalization thresholding, finalTo suitable threshold value, obtain the central value of the energy block that exceedes at first this threshold value and integration period product as trying to achieveTOA estimated value.
(4), propagation delay result of calculation is sent to location-server by locating base station;
(5), location-server receives the propagation delay of each base station;
According to the fingerprint database of setting before utilizing in (3), the optimum normalization thresholding that average combined parameters J2P obtainsThe threshold value of trying to achieve, obtains the central value of the energy block that exceedes at first this threshold value and integration period product as trying to achieveTOA estimated value.
(6), location-server calculates the range finding result of each base station;
Utilize the TOA estimated value of trying to achieve in (5) to deduct the clock skew causing due to sending and receiving and be multiplied by again signal propagation speedSpend, be the range finding result of this locating base station.
(7), location-server application TOA the location algorithm of TDOA based on distance treat locating terminal and position.
According to the range finding result of all base-station transmissions, calculate the coordinate at terminal to be positioned place. Its method mainly contains TOA, TDOADeng, because location algorithm does not belong to the content that this invention is protected, so do not describe in detail at this.
Claims (3)
1. the high accuracy pulse 60GHz wireless fingerprint localization method based on energy measuring, comprises the following steps:
(1), set up navigation system, related navigation system comprises multiplely can receive the multiple of signal that terminal to be positioned sendsLocating base station, and receive the location-server of the locating information sent of locating base station, and whole navigation system is initialized:Comprise the sample frequency and the integration period T that set each locating base station;
(2), terminal transmitting 60GHz pulse sequence signal to be positioned;
(3), locating base station receives above-mentioned signal and calculates the propagation delay of signal;
(4), propagation delay result of calculation is sent to location-server by locating base station;
(5), location-server receives the propagation delay of each base station;
(6), location-server calculates the range finding result of each base station;
(7), location-server application TOA the location algorithm of TDOA based on distance treat locating terminal and position;
It is characterized in that described step (3) comprises tri-steps of following A-C:
A. locating base station is carried out integral operation to the signal of step (2) and is obtained integral energy piece, calculates the degree of bias of this energy blockS, kurtosis K and minimum slope MS, and above-mentioned each variable is normalized, by each variable after normalization and thenObtain combined parameters J, set up the finger of average combined parameters J2P, TOA evaluated error, tri-parameters of optimum normalization thresholding XLine database;
B. fingerprint database is carried out curve fitting, set up the average combined parameters J2P corresponding to minimum TOA evaluated errorCorresponding relation F with optimum normalization thresholding X;
C. the average combined parameters J2P obtaining according to step (A), utilizes corresponding relation F, calculates optimum normalizationThresholding, obtains propagation delay (being TOA estimated value) according to this thresholding;
Specifically, steps A is refined as following calculation procedure:
1), setup parameter value first, within the scope of 4-32dB, select a signal to noise ratio snr, then at a selected SNRDetermine down different channel circumstance and multiple different integration periods, described different channels environment is sighting distance and two kinds of differences of non line of sightEnvironment, described multiple different integration periods are within the scope of 0.1ns-4ns, to select two or more values as integration period, instituteThe quantity of the different integration periods of selecting is designated as P, and P is more than or equal to 2 natural number; Can obtain 2P at same SNRIndividual different environment and integration period combination;
2), the energy block that obtains according to integral operation, calculate respectively the energy block of 2P different environment and integration period combinationDegree of bias S, kurtosis K and minimum slope MS; The ratio that calculates degree of bias S and kurtosis K, is denoted as KS=K/S;Obtain a new combined parameters J=N*norm (KS)+M*norm (MS), wherein norm according to KS, two combined amount of MSRepresent the normalized to parameter, N, M are that arithmetic number and N are more than or equal to 6M, obtain 2P combined parameters J, getMean value is designated as average combined parameters J2P;
3) then under same SNR, calculate respectively the optimum normalizing under different channel circumstances and multiple different integration periodChange thresholding X:
First calculate TOA evaluated error and best normalization thresholding:
Using (0:0.1:1) or less interval as normalization thresholding, calculate respectively under each thresholding 1000 times of integration energy blockTOA error, and average as TOA evaluated error, thereby the multiple TOAs corresponding with normalization threshold number obtainedEvaluated error, chooses the corresponding normalization thresholding of minimum TOA error as best normalization thresholding;
Under different channels environment (sighting distance and non line of sight), different integration period, can obtain 2P best normalization thresholding, by 2PThe mean value of individual best normalization thresholding is as optimization thresholding X;
4) return to step 1) select next signal to noise ratio, and recalculate corresponding to the average combined parameters J2P under this signal to noise ratio,TOA evaluated error and optimization thresholding X, until go through all over all signal to noise ratios within the scope of 4-32dB;
5) by step 4) value of the 29 groups of average combined parameters J2P, TOA evaluated error and the optimization thresholding X that obtain,As the fingerprint database being formed by three parameters;
Step B, fingerprint database is carried out curve fitting, utilize neutral net to train above-mentioned fingerprint database, finalSet up the corresponding relation F of average combined parameters J2P and optimum normalization thresholding X, due to average combined parameters J2P and SNRRelevant, and optimum normalization thresholding calculates under certain specific SNR, therefore can set up J2P and optimum normalizingChange the corresponding relation of thresholding;
Step C, when signal transmission delay is carried out to Practical Calculation, according to degree of bias S, the kurtosis K of the actual signal gathering andLittle slope MS obtains actual average combined parameters J2P, utilizes corresponding relation F, calculates this actual average combined parameters J2PCorresponding normalization thresholding, obtains TOA estimated value according to this normalization thresholding:
Actual average combined parameters J2P by gained is input to step B) oneself neutral net through training, can be according to correspondenceBe related to that F obtains corresponding normalization thresholding, utilizes normalization thresholding to identify the energy block that exceedes at first this thresholding, with this energyMoment corresponding to the centre position of piece is as TOA estimated value.
2. a kind of high accuracy pulse 60GHz wireless fingerprint localization method based on energy measuring as claimed in claim 1,It is characterized in that in steps A) formula J=N*norm (KS)+M*norm (MS) in, above-mentioned N value is less than 20.
3. the high accuracy pulse 60GHz wireless fingerprint localization method based on energy measuring as claimed in claim 1, its spyLevy and be in steps A) formula J=N*norm (KS)+M*norm (MS) in, N value 12, M value 2.
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