CN105611629A - 60GHz millimeter wave non-line of sight identification and wireless fingerprint positioning method based on energy detection - Google Patents
60GHz millimeter wave non-line of sight identification and 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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- 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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Abstract
The invention discloses a 60GHz millimeter wave non-line of sight identification and wireless fingerprint positioning method based on energy detection. The method comprises following steps of 1), solving a combined parameter J composed of a skewness and a gradient of a signal, an optimum normalization threshold and a parameter M composed of the gradient and a standard deviation; 2), building a fingerprint database between the J and the optimum normalization threshold; 3), estimating an optimum threshold according to the fingerprint database and the combined parameter J; 4), carrying out non-line of sight identification by using the M; 5), carrying out TOA (Time of Arrival) estimation and further calculating a distance; 6) carrying 60GHz wireless positioning, carrying out wireless positioning based on the 60GHz signal by using a conventional positioning algorithm according to the non-line of sight identification result and the TOA estimation value. The result shows that the NLOS (Non-line of Sight) identification success rate is far higher than that of non-line of sight identification algorithms of the same type; 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 millimeter wave wireless location technology field, specifically non-the looking of 60GHz millimeter wave based on energy measuringApart from identification and wireless fingerprint localization method.
Background technology
Pulse 60GHz wireless communication technology is a kind of without carrier wave, the discontinuous arteries and veins that adopts hundreds of psecs or grow more in short-termRush in a kind of wireless communication technology of Serial Communication. 60GHz wireless communication technology has frequently compared with current existing communication systemSpectrum reusability 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 manyFootpath resolution ratio advantages of higher. Because huge exempting from authorized 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,Thereby make 60GHz technology be particularly suitable for gigabit wireless application. Near impulse radio communications technology 60GHz frequency range byIn having higher temporal resolution, at receiving terminal, more effectively separating multiple diameter signal, divides thereby have more much higher footpathDistinguish rate, can realize even grade precision distance measurement and location of centimetre rank. This in Indoor Robot precision navigation location andThe pinpoint fields of needs centimetre rank such as some special producing industries have important using value.
In order to realize the wireless location of 60GHz, relevant hardware device mainly contains mobile terminal undetermined, locating base station and fixedPosition server composition.
Mobile terminal to be positioned is mobile in locating area, needs the terminal of location, is generally low the sending out of powerInjection device.
Locating base station is by the locating base station being distributed in locating area, can receive that terminal to be positioned sends60GHz signal, and carry out gradient G, standard deviation SD and the isoparametric calculating of degree of bias S, utilize the fingerprint database of design in advance, meterCalculate propagation delay and non line of sight (Non-lineofSight, the NLOS) status recognition of signal, finally result of calculation can be sent outGive location-server. Generally by three above locating base station.
Location-server is generally a computer, can receive and come from the propagation delay that locating base station sends, andIt is carried out data processing, carries out location algorithm.
At present the most frequently used location technology is mostly carried out based on range finding, and this is due to, the non-location skill based on distanceThe general positioning precision of art is poor, and needs the cooperation of a large amount of base stations (terminal of location aware). The most frequently used localization method is passableBe divided into the TOA (TimeofArrival) and the TDOA (TimeDifferenceof that estimate based on receiving time of arrival (toa)Arrival), based on received signal strength estimate RSS (ReceivedSignalStrength) and based on arrive angle estimateThe AOA (AngleofArrival) of meter. Pulse 60GHz signal has high bandwidth, the duration reach hundreds of psecs orShorter, thereby there is very strong time resolution. So in order to make full use of strong this of pulse 60GHz time resolutionCharacteristic, the location technology that uses TOA, TDOA to estimate is best suited for pulse 60GHz's. In these two kinds of methods, affect measure errorPrincipal element be the measurement of propagation delay time and the impact of NLOS environment.
At present the most frequently used TOA TDOA method of estimation can be divided into substantially correlation reception (as matched filtering detects) withIrrelevant reception (as energy receiver). Based on the coherent detection of matched filtering, be considered to known examining for signal at presentThe best mode of surveying, 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 spectrumThe cognitive radio of sensing, impulse radio ultra-wideband system, sensor network and Terrestrial trunked radio. Energy receivesOwner will comprise an amplifier, squarer, integrator, decision device. Because the frequency spectrum of pulse 60GHz is in higher frequency range(60GHz left and right), thus matched filter detector on realizing, hardware is proposed to higher requirement, in actual applications, relativelyBe difficult to realize. Therefore in the present invention, will first-selected complexity lower to the detection of signal, hardware is realized and required lower energyAmount detects receiver. The TOA of energy detection machine (as shown in Figure 1) estimates it is mainly by the output of integrator and suitable thresholdValue compares, and selects to exceed at first the value that threshold value obtains energy block TOA is estimated. Aspect NLOS identification, currentNLOS recognizer majority is based on channel characteristic estimation and utilizes the mode of correlation reception to process signal. As above instituteState, at 60GHz wireless communication field, there is lot of challenges in correlation receiver, cannot realize smoothly, so base on hardware is realizedCannot effectively use on energy receiver in the NLOS of correlation reception recognizer, and the NLOS receiving based on energy at presentRecognizer cannot be effectively guaranteed aspect accurate identification NLOS.
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 peace that mainly comprises each base station and location-serverDress;
(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 huge difference, particularly complexity between correlation reception and irrelevant reception are low, the energy of low sampling rateAmount receiver can be widely used in numerous environment, so will adopt simple and practical low to hardware requirement in (3)Energy receiver calculates propagation delay and NLOS identification, and the estimated result of propagation delay and NLOS recognition result will be transferred toLocation-server, fully utilizes this information aspect two at location-server end and treats locating terminal and position. At energyReception aspect, the method for at present conventional estimation propagation delay can be divided into two kinds.
Maximum energy method: select maximum energy block position estimate TOA, normally select energy block central authorities doFor the estimated value of TOA. But, ceiling capacity piece position often and the position at non line of sight place, particularly at NLOSUnder 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,First 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. At receiving terminal by normalization thresholding, according to formula α=αnorm(max (z (n))-min (z (n)))+min (z (n)) calculates final threshold value. So problem just becomes how according to signalFingerprint characteristic set suitable normalization thresholding, in threshold method, be the most simply fixing normalization threshold method, Qi ZhongguiOne to change thresholding be a fixing value, and so in actual applications, under varying environment, normalization thresholding changes all the time, soCannot meet application on a large scale. Next is the normalization threshold method based on kurtosis K, although this algorithm complex reduces,But this algorithm is compared with the TOA fingerprint algorithm for estimating of combining based on gradient G, standard deviation SD and degree of bias S proposing in the present invention,No matter in precision or aspect stability, particularly under multipath, NLOS environment, there is a big difference. And in the present inventionThe NLOS recognizer based on energy measuring that we propose no matter in precision or in stability with other based on energyThe NLOS recognizer that amount detects all improves. Especially, NLOS correct recognition rata reaches in some cases based on channelThe discrimination of characteristic estimating algorithm.
Summary of the invention
For existing technological deficiency, the present invention proposes the identification of 60GHz millimeter wave non line of sight based on energy measuring withWireless fingerprint localization method, to overcome the deficiencies in the prior art.
The identification of 60GHz millimeter wave non line of sight and wireless fingerprint localization method based on energy measuring, comprise the following steps:
(1), set up navigation system, related navigation system comprises can receive the many of signal that terminal to be positioned sendsIndividual locating base station, and receive the location-server of the locating information sent of locating base station, and at the beginning of whole navigation system is carried outBeginningization: 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) propagation delay and NLOS identification that, locating base station receives above-mentioned signal and calculates signal;
(4), propagation delay result of calculation and NLOS recognition result are sent to location-server by locating base station;
(5), location-server receives propagation delay and the NLOS recognition result 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 obtainTo integral energy piece, and then obtain combined parameters value, then calculate optimum gate limit value according to combined parameters value, choose and exceed at first thisThe propagation delay that the corresponding moment of center of the energy block of threshold 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, calculate this energy block partiallyDegree S, gradient G and standard deviation SD, and be normalized above-mentioned each variable, by each variable after normalization and then obtainCombined parameters J and variable M, set up combined parameters mean value J2P, TOA evaluated error, tri-parameters of optimum normalization thresholding XFingerprint 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) and variable M, utilize M and the NLOS threshold value of setting in advanceCompare, judge that signal comes from LOS environment or NLOS environment, recognition result is preserved, utilize corresponding relationF, calculates optimum normalization thresholding X, 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 selected oneUnder SNR, determine different channel circumstance and multiple different integration periods, described different channels environment is sighting distance (LineofSight, LOS) and two kinds of varying environments of NLOS, described multiple different integration periods are to select two within the scope of 0.1ns-4nsIndividual or above value is as integration period, and the quantity of selected different integration periods is designated as P, and P is more than or equal to 2 natural number;Can obtain 2P different environment and integration period combination at same SNR;
2), the energy block that obtains according to integral operation, calculate respectively the energy of 2P different environment and integration period combinationDegree of bias S, gradient G and the standard deviation SD of gauge block; The product of compute gradient and standard deviation, is denoted as M=G*SD;
Measure new combined parameters J=N*norm (S)-K*norm (G) according to S and two of G, wherein norm representsTo the normalized of parameter, N, K are that arithmetic number and N are more than or equal to 6K, obtain 2P combined parameters J, and averaging, it is flat to be designated asAll combined parameters J2P;
3) then under same SNR, calculate the optimum normalization under different channel circumstances and multiple different integration periodThresholding:
First calculate TOA evaluated error and best normalization thresholding:
Using (0:0.1:1) or less interval as normalization thresholding, calculate respectively integration energy block at each thresholdingUnder 1000 TOA errors, and average as TOA evaluated error, thereby obtain corresponding with normalization threshold numberMultiple TOA evaluated errors, choose the corresponding normalization thresholding of minimum TOA error as best normalization thresholding;
Under different channels environment (LOS and NLOS), different integration period, can obtain 2P best normalization thresholding,Using the mean value of 2P best normalization thresholding as optimization thresholding X;
4) return to step 1) select next signal to noise ratio, and recalculate corresponding to the average combined parameters under this signal to noise ratioJ2P, 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, asThe fingerprint database being formed by three parameters;
Step B, fingerprint database is carried out curve fitting, utilizes neutral net to train above-mentioned fingerprint database,Finally set up the corresponding relation F of average combined parameters J2P and optimum normalization thresholding X, due to average combined parameters J2P withSNR is relevant, 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 the degree of bias S of the actual signal gathering, gradient G andStandard deviation SD obtains actual average combined parameters J2P and parameter M, utilizes M and the NLOS threshold value of setting in advance to compare, and comesJudge that signal comes from LOS environment or NLOS environment, preserves recognition result; Utilize corresponding relation F, calculate thisThe corresponding normalization thresholding of actual average combined parameters J2P, obtains TOA estimated value according to this normalization thresholding: by gainedActual average combined parameters J2P be input to step B) oneself neutral net through training, can obtain according to corresponding relation FCorresponding normalization thresholding, utilizes normalization thresholding to identify the energy block that exceedes at first this thresholding, with the centre of this energy blockMoment corresponding to position is as TOA estimated value.
In steps A) formula J=N*norm (S)-K*norm (G) in, in order to make the numerical value of J in coordinate diagram picture, oftenA per channel, than having stable variation in scope, can, by selecting suitable coefficient N, K to be achieved, ridden above-mentioned NValue is less than 20.
For simplicity, above-mentioned steps A) formula J=N*norm (S)-K*norm (G) in, N value 12, M value 2.
In above-mentioned steps C, treat locating terminal transmitting 60GHz pulse sequence signal according to the M of gained and carry out NLOS identificationStep, specific as follows:
1) set thresholding according to formula (1),
In IEEE802.15.3c60GHz channel model, 1000 letters of each generation under LOS and NLOS environment respectivelyRoad shock response, all can obtain corresponding 60GHz signal for each channel impulse response, then to each 60GHz signalAll calculate corresponding gradient G and standard deviation SD, and then obtain gradient/standard deviation product M=G*SD, respectively LOS withThe sample value that obtains 1000 gradient/standard deviation product M under NLOS environment, is denoted as respectively MLOSWith MNLOS, for getting rid of in sample valueThe extremum of the minority existing is on determining the impact of thresholding, respectively by MLOSWith MNLOSArrange by ascending order, choose MLOSWith MNLOSBefore90% sample value is denoted as respectivelyWithCalculate respectivelyWithMean value be denoted asWithChooseWithIn less value identify required thresholding α as final NLOSM；
2) utilize the parameter M calculating and the thresholding of setting in advance relatively to judge terminal transmitting 60GHz arteries and veins to be positionedRush sequence signal and come from LOS environment or NLOS environment; NLOS recognizer is expressed as:
In the time that transmitting antenna is omnidirectional antenna (TX=360 °), as parameter M≤αMThink that signal comes from LOS environment,Otherwise, as parameter M > and αMThink that signal comes from NLOS environment; In the time that transmitting antenna is non-omnidirectional antenna (TX < 360 °), whenParameter M≤αMThink that signal comes from NLOS environment, otherwise, as parameter M > αMThink that signal comes from LOS environment. 3) existIn above-mentioned steps (7), utilize above-mentioned steps 2) LOS/NLOS recognition result, location-server will preferentially utilize LOS environmentUnder TOA estimated value, and in conjunction with the TOA estimated value under NLOS environment, application TOA the location algorithm of TDOA based on distance treatLocating terminal positions, thereby obtains more accurate positioning result.
Invention advantage
In the present invention, the communication environments (LOS and NLOS) of uses energy receiver to signal estimated with propagation delayMeter, the utilization of energy receiver solved correlation receiver necessary to the prior information transmitting (as modulation format, arteries and veinsRush waveform, phase place etc.) shortcoming that cannot accurately estimate. The NLOS recognizer based on energy measuring proposing, knows NLOSOther accuracy rate brings up to 80% far above the current NLOS recognizer 60% based on energy measuring under most of channelAccurate rate. The combined parameters proposing is independent of integration period and channel circumstance (LOS and NLOS) simultaneously. Overcome traditionalSignal transmission delay algorithm for estimating based on energy measuring must be distinguished this shortcoming of integration period, uses ANN simultaneouslyNetwork solves nonlinear problem, makes the non-linear relation between optimum normalization thresholding and combined parameters more accurate, has overcomeTraditional curve cannot accurately be estimated this shortcoming of non-linear relation between input variable and 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.
The flow chart of Fig. 6 steps A of the present invention, B, 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 mode that adopts energy to receive is carried out estimation and the NLOS shape of TOAThe identification of state mainly comprises 3 steps (as Fig. 6):
A, acquired integrated energy block, calculate degree of bias S, gradient G and standard deviation SD, calculates respectively 1 >, gradient G and standard deviation SDProduct, compare with the threshold value of prior setting, thereby carry out the identification of NLOS state; 2 >, degree of bias S and gradient G are enteredRow normalization, comprehensive degree of bias S and gradient G obtain combined parameters J, and combined parameters is averaged, and set up average combined parametersThe fingerprint database of J2P, TOA evaluated error and tri-parameters of optimum normalization thresholding X;
B, utilize fingerprint database is carried out curve fitting, set up and on average combine ginseng corresponding to minimum TOA evaluated errorThe corresponding relation F of number J2P and optimum normalization thresholding X;
C, obtain average combined parameters J2P according to degree of bias S, gradient G and the mean square deviation SD of live signal gathering, it is right to utilizeShould be related to F, obtain optimum normalization thresholding X, obtain TOA estimated value according to this thresholding, and by this TOA estimated value and NLOS identificationResult sends location-server to.
Specifically, steps A, acquired integrated energy block, calculate degree of bias S, gradient G and standard deviation SD, calculates respectively 1 >, ladderThe product of degree G and standard deviation SD, compares with the threshold value of prior setting, thereby carries out the identification of NLOS state; 2 >, to partiallyDegree S and gradient G are normalized, and comprehensive degree of bias S and gradient G obtain combined parameters J, and combined parameters is averaged, and set up flatAll the fingerprint database of combined parameters J2P, TOA evaluated error and tri-parameters of optimum normalization thresholding X can specifically be refined asFollowing calculation procedure:
1., the energy block that collects according to energy measuring, respectively degree of bias S, gradient G and the standard deviation of calculating energy pieceSD. The product of compute gradient G and standard deviation SD is denoted as M=G*SD. Utilize M to carry out NLOS identification, believe at IEEE802.15.3cDiscovery (as 8-40dB) within the scope of very large SNR while carrying out emulation in road model, in the time that transmitting antenna is omnidirectional antenna, LOSM maximum under environment is still also little than the M minimum of a value under NLOS environment. Equally, in the time of the non-omnidirectional antenna of transmitting antenna, LOS ringM minimum of a value under border is still just also large than the M maximum under NLOS environment. So, as long as it is completely passable to set suitable threshold valueNLOS is identified accurately. NLOS recognizer is expressed as:
In the time that transmitting antenna is omnidirectional antenna (TX=360 °), as parameter M≤αMThink that signal comes from LOS environment,Otherwise, as parameter M > and αMThink that signal comes from NLOS environment; In the time that transmitting antenna is non-omnidirectional antenna (TX < 360 °), whenParameter M≤αMThink that signal comes from NLOS environment, otherwise, as parameter M > αMThink that signal comes from LOS environment; 2) doorThe account form of limit value is:
In IEEE802.15.3c60GHz channel model, 1000 letters of each generation under LOS and NLOS environment respectivelyRoad shock response, all can obtain corresponding 60GHz signal for each channel impulse response, then to each 60GHz signalAll calculate corresponding gradient G and standard deviation SD, and then obtain gradient/standard deviation product M=G*SD, respectively LOS withThe sample value that obtains 1000 gradient/standard deviation product M under NLOS environment, is denoted as respectively MLOSWith MNLOS, for getting rid of in sample valueThe extremum of the minority existing is on determining the impact of thresholding, respectively by MLOSWith MNLOSArrange by ascending order, choose MLOSWith MNLOSBefore90% sample value is denoted as respectivelyWithCalculate respectivelyWithMean value be denoted asWithChooseWithIn less value identify required thresholding α as final NLOSM。
2., sample is normalized, the result obtaining is in Fig. 3: no matter result is at LOS and NLOS if showingUnder environment, it is faster but S changes that result shows that S and K increase along with the increase of SNR, and same G, greatest gradient and SD are along with SNRReduce and reduce but G change faster. Faster because S and G change, thus more can reflect SNR information, so be more suitable for forSelect threshold value. Find as SNR S changes sooner when 11dB, but S variation is slower when SNR < 11dB, but now G changes. simultaneouslyHurry up; Contrary when SNR<11dB G change faster, but SNR>G changes slowlyer when 11dB, but now S changes comparatively fast. So only comply withCannot react accurately SNR situation of change by single variable. Therefore, obtain a new ginseng of combining according to S, two combined amount of GNumber J=N*norm (S)-K*norm (G).
Discovery carry out emulation under LOS and NLOS environment time, works as NLOS≠NNLOSWith KLos≠KNLosTime, result shows averageCombined parameters J2P is independent of channel model, is only subject to the impact of integration period, but in actual applications, under varying environment,Integration period can be set at random, and now this algorithm certainly will cannot be widely used in various environment well; But work as NLOS＝NNLOSAnd KLos＝KNLosWhile establishment, J2P is independent of channel model and integration period simultaneously simultaneously, now needn't consider integrationThe variation in cycle is as Fig. 4. It is a monotonically increasing function with respect to SNR that Fig. 4 is presented at J2P within the scope of all SNR, therefore itsMore responsive to SNR than any single parameter. Calculate respectively under identical SNR environment, different normalization thresholding (as [0:0.1:1]) evaluated error of corresponding TOA, choosing the corresponding normalization thresholding of minimum TOA error is best normalization doorLimit. Because channel model and integration step are little on J2P impact, so get the different integrations of different channels in the time setting up corresponding relationThe mean value of step-length as optimization thresholding X as Fig. 5. Do respectively according to the value of the J2P obtaining, TOA error and optimization thresholding XIt is the value of three fingerprint databases.
Step B specifically: " fingerprint database is carried out curve fitting, set up putting down corresponding to minimum TOA evaluated errorAll 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 can not keeping away in actual environmentThere are NLOS, multipath, reflection, intersymbol interference, diffraction, decline etc. in that exempts from, that is to say the distance of locating terminal and locating base stationOr the position at angle and locating terminal place is often nonlinear, be difficult to directly calculate with geometric formula, and nerve netNetwork exactly has the non-linear mapping capability of height. So neutral net is used for determining average combined parameters J2P and optimum normalizingChange the corresponding relation of thresholding X. Input layer using average combined parameters J2P as neutral net, optimum normalization thresholding X is as godThrough the output layer of network, in the time determining the number of neutral net hidden layer neuron, estimate according to the distribution probability of mean square deviationMeter. Select mean square deviation to be less than 10-10Ratio while being greater than 90% corresponding neuronic number be hidden layer neuron number.The final corresponding relation of determining average combined parameters J2P and optimum normalization thresholding X.
Step C specifically: " obtain variable M with flat according to degree of bias S, gradient G and the standard deviation SD of the live signal gatheringAll combined parameters J2P, utilize M to compare and obtain NLOS recognition result with the threshold value of setting in advance, and utilize corresponding relation F,Calculate optimum normalization thresholding X, obtain TOA estimated value according to this thresholding, and send NLOS recognition result to location clothesBusiness device " can be detailed be expressed as:
Adopt certain integration step to carry out integration the signal collecting and obtain several energy blocks, try to achieve variable M with flatAll combined parameters J2P, utilize M to compare and obtain NLOS recognition result with the threshold value of setting in advance, will on average combine ginseng simultaneouslyNumber J2P is input to the neutral net having trained, and can obtain corresponding optimum normalization thresholding X, utilizes optimum normalizationThresholding X obtains first energy block that exceedes this thresholding, estimates using the moment that the centre position of this energy block is corresponding as TOAValue, and send NLOS recognition result to location-server.
Under the channel model that adopts the method to provide at IEEE802.15.3c, study, find no matter be at communication barUnder the good environment of part (closely, LOS, transmit signal power large etc.) or communication condition bad (distance (< 20m), NLOS,Transmit signal power is low) environment under, use can improve greatly after above-mentioned steps propagation delay result of calculation accuratelyProperty, thereby the accuracy of guarantee range finding result. For example, shown in table 1, be that various TOA based on energy method of reseptance estimate to existThe mean value situation of error after measuring for 1000 times. Can find that result of the present invention will be better than other algorithm far away. In table 2, giveGone out the accuracy rate of the NLOS recognizer based on energy measuring, result shows, under indoor environment, to most channel ringBorder accuracy rate exceedes 80%.
The various energy receiving algorithm of table 1 error ratio is (ns)
Table 2NLOS state recognition rate
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 thatIn repeatedly measuring. All locating base station that receive this pulse train, are received and are obtained variable M and on average combine by energyParameter J2P, utilizes the identification of only carrying out NLOS state of M, and obtains optimum normalization according to the good neutral net of preconditionThe estimated value of thresholding X, to finally obtain TOA estimated value; NLOS recognition result and TOA estimated result are transferred to positioning serviceDevice; Then at location-server end, according to NLOS recognition result, the measurement distance of gained or the seat of range difference and reference base stationCursor position, utilizes TOA or TDOA location algorithm to determine the locus of terminal to be measured. As shown in Figure 7, mainly comprise following severalIndividual 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 leastNeed 4 locating base station.
The installation of location-server: require to receive the signal biography that each base station sends at location-server endProlong sowing time. Location-server requires function admirable, because location algorithm mainly moves on this server.
On location-server, mainly comprise: the locating periodically of locating terminal, the needed finger print data of locating base stationThe range finding number of times (number of transmitted sequence) of storehouse, each location, clock skew, the signal velocity etc. of each base station,And send to terminal to be positioned by wireless transmission method, complete 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 arteries and veinsRush sequence and complete 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, degree of bias S, gradient G and standard deviation SD, calculate respectively the value of M and each variable carried outNormalization, obtains combined parameters J. The energy block collecting according to energy measuring, respectively degree of bias S, the gradient G of calculating energy pieceWith standard deviation SD. The product of compute gradient G and standard deviation SD is denoted as M=G*SD. Measure a new associating according to S, two of GParameter J=N*norm (S)-K*norm (G). In order better to be used the algorithm proposing in the present invention, data are being carried outWhen design, set NLOS＝NNLOSAnd KLos＝KNLos。
2., identify needed threshold value according to the NLOS setting in advance in database, utilize the M obtaining to carry out with itComparison, carries out the identification of NLOS.
3., in the time of actual measurement, return to above-mentioned steps (2), then carry out curve according to pre-determined fingerprint databaseThe corresponding relation F of the average combined parameters J2P that matching obtains and optimum normalization thresholding X calculates optimum normalization thresholding X,Finally obtain suitable threshold value, obtain the central value of the energy block that exceedes at first this threshold value and integration period product as instituteThe TOA estimated value of trying to achieve.
(4), propagation delay result of calculation and NLOS recognition result are sent to location-server by locating base station;
(5), location-server receives propagation delay and the NLOS recognition result of each base station;
According to the fingerprint database of setting before utilizing in (3), the optimum normalization door that average combined parameters J2P obtainsLimit threshold value that X tries to achieve, obtain the central value of the energy block that exceedes at first this threshold value and integration period product as requirementThe TOA estimated value obtaining.
(6), location-server calculates range finding result and the NLOS recognition 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 signalSpread speed, is the range finding result of this locating base station.
(7), location-server is at the preferential TOA coming under LOS environment that utilizes, and considers the TOA under NLOS environmentEstimated value, utilize TOA the location algorithm of TDOA based on distance treat locating terminal and position. According to all base-station transmissionsRange finding result, calculates the coordinate at terminal to be positioned place. Its method mainly contains TOA, TDOA etc., because location algorithm does not belong to thisThe content that invention is protected, so do not describe in detail at this.
Claims (4)
1. the identification of the 60GHz millimeter wave non line of sight based on energy measuring and wireless fingerprint localization method, comprises the following steps:
(1), set up navigation system, related navigation system comprises can receive the multiple fixed of signal that terminal to be positioned sendsBase station, position, 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) propagation delay and NLOS identification that, locating base station receives above-mentioned signal and calculates signal;
(4), propagation delay result of calculation and NLOS recognition result are sent to location-server by locating base station;
(5), location-server receives propagation delay and the NLOS recognition result 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, calculate this energy block degree of bias S,Gradient G and standard deviation SD, and above-mentioned each variable is normalized, by each variable after normalization and then combinedParameter J and gradient/standard deviation product M, set up tri-of combined parameters mean value J2P, TOA evaluated error, optimum normalization thresholding XThe fingerprint database of parameter;
B. fingerprint database is carried out curve fitting, set up corresponding to the average combined parameters J2P of minimum TOA evaluated error withThe corresponding relation F of excellent normalization thresholding X;
C. the average combined parameters J2P obtaining according to steps A and gradient/standard deviation product M, utilize M and the NLOS setting in advanceThreshold value is compared, and judges that signal comes from LOS environment or NLOS environment, and recognition result is preserved, and it is right to utilizeShould be related to F, calculate optimum normalization thresholding X, obtain 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 under a selected SNRDetermine different channel circumstances and multiple different integration period, 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,The quantity of selected different integration periods is designated as P, and P is more than or equal to 2 natural number; Can obtain 2P at same SNRDifferent 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, gradient G and standard deviation SD; The product of compute gradient G and standard deviation SD, is denoted as M=G*SD;
Measure new combined parameters J=N*norm (S)-K*norm (G) according to S and two of G, wherein norm represents ginsengThe normalized of number, N, K are that arithmetic number and N are more than or equal to 6K, obtain 2P combined parameters J, averaging, it is average to be designated asClose parameter J2P;
3) then under same SNR, calculate the optimum normalization door under different channel circumstances and multiple different integration periodLimit:
First calculate TOA evaluated error and best normalization thresholding:
Using (0:0.1:1) or less interval as normalization thresholding, calculate respectively integration energy block under each thresholding1000 TOA errors, and averaging as TOA evaluated error, thus obtain corresponding with normalization threshold number multipleTOA evaluated 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,Using the mean value of 2P best normalization thresholding 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 by threeThe fingerprint database of individual parameter composition;
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, because on average combined parameters J2P and SNR haveClose, and optimum normalization thresholding calculates under certain specific SNR, therefore can set up J2P and optimum normalization doorThe corresponding relation of limit;
Step C, when signal transmission delay is carried out to Practical Calculation, according to degree of bias S, gradient G and the standard of the actual signal gatheringPoor SD obtains actual average combined parameters J2P and gradient/standard deviation product M, utilizes M and the NLOS threshold value of setting in advance to carry outComparison, judges that signal comes from LOS environment or NLOS environment, preserves recognition result; Utilize corresponding relation F, meterCalculation obtains the corresponding normalization thresholding of this actual average combined parameters J2P, 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, close according to correspondenceBe that F obtains corresponding normalization thresholding, utilize normalization thresholding to identify the energy block that exceedes at first this thresholding, with this energy blockMoment corresponding to centre position as TOA estimated value.
2. the identification of 60GHz millimeter wave non line of sight and 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 (S)-K*norm (G) in, above-mentioned N value is less than 20.
3. the identification of 60GHz millimeter wave non line of sight and 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 (S)-K*norm (G) in, N value 12, K value 2.
4. the identification of 60GHz millimeter wave non line of sight and wireless fingerprint localization method based on energy measuring as claimed in claim 1,It is characterized in that in above-mentioned steps C, treat locating terminal transmitting 60GHz pulse sequence signal according to the M of gained and carry out NLOSThe step of identification, specific as follows:
1) set thresholding according to formula (1),
Thresholding αMComputational methods are:
In IEEE802.15.3c60GHz channel model, 1000 channels punchings of each generation under LOS and NLOS environment respectivelyHit response, all can obtain corresponding 60GHz signal for each channel impulse response, then each 60GHz signal is all countedCalculation obtains corresponding gradient G and standard deviation SD, and then obtains gradient/standard deviation product M=G*SD, respectively at LOS and NLOSThe sample value that obtains 1000 gradient/standard deviation product M under environment, is denoted as respectively MLOSWith MNLOS, for getting rid of lacking of existing in sample valueThe extremum of number is on determining the impact of thresholding, respectively by MLOSWith MNLOSArrange by ascending order, choose MLOSWith MNLOSFront 90% sampleValue is denoted as respectivelyWithCalculate respectivelyWithMean value be denoted asWithChooseWithIn less value identify required thresholding α as final NLOSM。
2) utilize steps A-2) gradient/standard deviation product M calculating and the thresholding α setting in advanceMRelatively judge to be positionedTerminal transmitting 60GHz pulse sequence signal comes from LOS environment or NLOS environment; NLOS recognizer is expressed as:
In the time that transmitting antenna is omnidirectional antenna (TX=360 °), as parameter M≤αMThink that signal comes from LOS environment, otherwise,As parameter M > αMThink that signal comes from NLOS environment; In the time that transmitting antenna is non-omnidirectional antenna (TX < 360 °), as parameter M≤αMThink that signal comes from NLOS environment, otherwise, as parameter M > αMThink that signal comes from LOS environment.
3) in above-mentioned steps (7), utilize above-mentioned steps 2) LOS/NLOS recognition result, location-server will preferentially utilizeTOA estimated value under LOS environment, and in conjunction with the TOA estimated value under nlos environment, application TOA the location of TDOA based on distanceAlgorithm is treated locating terminal and is positioned, thereby obtains more accurate positioning result.
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