CN106054130B - A kind of indoor orientation method and device based on MUSIC algorithm - Google Patents
A kind of indoor orientation method and device based on MUSIC algorithm Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
Abstract
The invention discloses a kind of indoor orientation method and device based on MUSIC algorithm sets K receiving antenna composition signal receiving array and M signal launch point；Covariance matrix R is calculated using the signal matrix of signal receiving array outputxx；Utilize covariance matrix RxxConstruction feature equation, solution obtain multiple eigenvalue λsiWith feature vector v corresponding with characteristic valuei, and to eigenvalue λiCarry out size sequence；To each eigenvalue λ by sequenceiThe number that master variable and master variable are calculated using the accumulation contribution rate of Principal Component Analysis and setting obtains characteristic value corresponding with signal subspace and noise subspace and feature vector；Spectral function is constructed, M maximum spectral peak is searched out, calculates direction of arrival.This method of the present invention can monitor the beacon point and radio network gateway group-net communication in region by being deployed in, and data are transmitted to cloud through wireless communication module, carry out collaborative sensing, acquisition and the information for positioning signal launch point in network's coverage area.
Description
Technical field
The invention belongs to Internet of Things application field more particularly to a kind of indoor orientation methods and dress based on MUSIC algorithm
It sets.
Background technique
Rapid development and increasingly mature, feature son sky with technologies such as wireless communication, integrated circuit and MESH networks
Between class (MUSIC) algorithm utilize signal subspace and noise subspace orthogonality, construct space spectral function, pass through spectrum peak search
To determine the direction of arrival (DOA) of signal.Its direction finding principle is the theory according to matrix- eigenvector-decomposition, to array output covariance
Matrix RxxFeature decomposition is carried out, the feature vector of covariance matrix belongs to one of two orthogonal subspaces, is referred to as to be characterized sub- sky
Between (signal subspace) and non-master proper subspace (noise subspace).
It but is using finite number sample estimate covariance matrix R in practicexx, all correspond to the spy of noise power
Value indicative is not identical, but the value that one group of difference is little.With to estimate RxxSample number increase, characterize their discrete journeys
The variance of degree is gradually reduced, they will be changed into one group of value relatively, the tuple of minimal eigenvalue once it is determined that, so that it may
To determine the estimation number of signal.Pass through searching and RxxThe corresponding feature vector of small feature value closest to orthogonal guiding to
Amount, can estimate steering vector relevant to signal is received, therefore how different characteristic vector sum characteristic value be corresponded to difference
Subspace be exactly MUSIC algorithm core.
Summary of the invention
In view of the above-mentioned problems, the present invention proposes a kind of indoor orientation method and device based on MUSIC algorithm, this method energy
Enough beacon points and radio network gateway group-net communication, data by being deployed in monitoring region are transmitted to cloud through wireless communication module
End carries out collaborative sensing, acquisition and the information for positioning signal launch point in network's coverage area.
It realizes above-mentioned technical purpose, reaches above-mentioned technical effect, the invention is realized by the following technical scheme:
A kind of indoor orientation method based on MUSIC algorithm, comprising the following steps:
(1) K beacon point is disposed in area to be targeted constitute signal receiving array；
(2) be made of M signaling point M wireless mobile apparatus, M wireless mobile apparatus and signal receiving array directly into
Row communication；
(3) covariance matrix R is calculated using the signal matrix of signal receiving array outputxx；
(4) covariance matrix R is utilizedxxConstruction feature equation | λ I-Rxx|=0, characteristic equation is solved, multiple features are obtained
Value λiWith feature vector v corresponding with characteristic valuei, and to eigenvalue λiCarry out size sequence；
(5) to each eigenvalue λ by sequenceiMain transformer is calculated using Principal Component Analysis and the accumulation contribution rate of setting
The number of amount and master variable, so that characteristic value corresponding with signal subspace and noise subspace and feature vector are obtained,
Form signal subspace and noise subspace；
(6) MUSIC algorithm construction spectral function is utilized, M maximum spectral peak of spectral function is searched out, to calculate Bo Dafang
To orienting the geographical location of M signaling point, M wireless mobile apparatus is by the geographical location of corresponding signaling point and Mac
Address is transferred to radio network gateway, is transferred to cloud monitoring center by radio network gateway；
(7) when M wireless mobile apparatus is moved to other positions, step (2)~(6) is repeated, M nothing is obtained
The new geographical location of line mobile device；
(8) cloud monitoring center finds out 2 different geographical locations with the identical address Mac, carries out route planning, and
It is sent to wireless mobile apparatus, realizes indoor positioning.
Principal component contributor rate in Principal Component Analysis in the step (5) are as follows:
Accumulate contribution rate are as follows:
In formula: m is represented under the accumulation contribution rate of setting, the number of principal component, m < k.
Spectral function in the step (6) are as follows:
In formula: VSFor the signal characteristic vector matrix constituted using signal characteristic vector, VnTo utilize noise feature vector structure
At noise feature vector matrix.
A kind of indoor orientation method based on MUSIC algorithm further includes that (9) are calculated based on MUSIC algorithm construction
Spectral function variance:
Wherein d=da/d θ, a=exp [j2 π d (i-1) sin θ] are array steering vector；H indicates conjugation means；To connect
Receive array noise variance；T is the scanning cumulative time.
DefinitionThen (4) formula can be written as:
When var value is more than 1, principal component number is added 1, recalculates the accumulation contribution rate PA in formula (2)k。
A kind of device using the indoor orientation method based on MUSIC algorithm, including K beacon point constitute signal and receive
Array, radio network gateway, M wireless mobile apparatus, cloud monitoring center；The K beacon point constitutes signal receiving array minute
Cloth is wireless communication between M wireless mobile apparatus and signal receiving array in area to be targeted；Wireless mobile apparatus passes through
Wireless interface is connect with radio network gateway；Radio network gateway sends information and is transferred to cloud control centre, and receives cloud control centre
The signal of transmission.
The mobile radio terminal is Bluetooth mobile terminal；The radio network gateway is bluetooth radio network gateway；It is described wirelessly to connect
Mouth is bluetooth wireless interface.
Beneficial effects of the present invention:
The present invention proposes a kind of indoor orientation method and device based on MUSIC algorithm, by disposing K in area to be targeted
A beacon point constitutes signal receiving array, constitutes M signaling point using M wireless mobile apparatus, M signaling point and K are a
It being communicated between beacon point, wireless mobile apparatus combination MUSIC location algorithm, Principal Component Analysis obtain direction of arrival information,
To orient the geographical location of signaling point, the geographical location information warp of its mac address information of wireless mobile apparatus and signaling point
It crosses radio network gateway and is transmitted to cloud monitoring center；After M wireless mobile apparatus change of location, its physical location is carried out again
Positioning, and the geographical location information of its mac address information and signaling point is uploaded to cloud monitoring center；Cloud control centre carries out
Route planning, and wireless mobile apparatus is assigned to by reversed communication link, it is realized using the navigation of wireless mobile apparatus anti-
To position is sought, it is highly suitable for underground garage navigation system.
The present invention proposes a kind of indoor orientation method based on MUSIC algorithm, first finds the letter of signal receiving array output
Number covariance matrix RxxCharacteristic value, sorted from large to small, utilize the contribution rate of accumulative total of Principal Component Analysis and setting
The number of master variable and master variable is calculated, so that it is determined that signal subspace and noise subspace out, calculates in conjunction with spectral function
Direction of arrival information out.
The present invention proposes a kind of indoor orientation method based on MUSIC algorithm, have good parameter Estimation performance and compared with
Small calculation amount can obtain the Asymptotic upbiased estimation of parameter, and this method algorithm is simple, is easily programmed realization.To hits
Singular value decomposition is carried out according to matrix or Eigenvalues Decomposition is carried out to the covariance matrix of sampled data, utilizes the resulting signal of decomposition
The orthogonality of subspace and noise subspace carries out indoor positioning.
Detailed description of the invention
Fig. 1 is the flow diagram of method of the invention.
Fig. 2 is that signal receiving array receives signal schematic representation in the present invention.
Fig. 3 is that the aisle in the present invention is laid out schematic block diagram.
Fig. 4 is location simulation figure of the present invention under white Gaussian noise.
Fig. 5 is the location simulation figure under gaussian colored noise of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
Application principle of the invention is explained in detail with reference to the accompanying drawing.
As shown in Figure 1, a kind of indoor orientation method based on MUSIC algorithm, comprising the following steps:
(1) K beacon point is disposed in area to be targeted constitute signal receiving array；
(2) be made of M signaling point M wireless mobile apparatus, M wireless mobile apparatus and signal receiving array directly into
Row communication；
(3) covariance matrix R is calculated using the signal matrix of signal receiving array outputxx；
(4) covariance matrix R is utilizedxxConstruction feature equation | λ I-Rxx|=0, characteristic equation is solved, multiple features are obtained
Value λiWith feature vector v corresponding with characteristic valuei, and to eigenvalue λiCarry out size sequence；
(5) to each eigenvalue λ by sequenceiMain transformer is calculated using Principal Component Analysis and the accumulation contribution rate of setting
The number of amount and master variable, so that characteristic value corresponding with signal subspace and noise subspace and feature vector are obtained,
Form signal subspace and noise subspace；
(6) MUSIC algorithm construction spectral function is utilized, M maximum spectral peak of spectral function is searched out, to calculate Bo Dafang
To orienting the geographical location of M signaling point, M wireless mobile apparatus is by the geographical location of corresponding signaling point and Mac
Address is transferred to radio network gateway, is transferred to cloud monitoring center by radio network gateway；
(7) when M wireless mobile apparatus is moved to other positions, step (2)~(6) is repeated, M nothing is obtained
The new geographical location of line mobile device；
(8) cloud monitoring center finds out 2 different geographical locations with the identical address Mac, carries out route planning, and
It is sent to wireless mobile apparatus, realizes indoor positioning.
Principal component contributor rate in the Principal Component Analysis are as follows:
Accumulate contribution rate are as follows:
In formula: m is represented when accumulation contribution rate is set as 80%, the number of principal component, m < k.
Spectral function in the step (6) are as follows:
In formula: VSFor the signal characteristic vector matrix constituted using signal characteristic vector, VnTo utilize noise feature vector structure
At noise feature vector matrix.
A kind of indoor orientation method based on MUSIC algorithm further includes that (9) are calculated based on MUSIC algorithm construction
Spectral function variance:
Wherein d=da/d θ, a=exp [j2 π d (i-1) sin θ] are array steering vector；H indicates conjugation means；For
Receiving end noise variance；T is the scanning cumulative time.
DefinitionThen (4) formula can be written as:
When var value is more than 1, principal component number is added 1, recalculates the accumulation contribution rate PA in formula (2)k。
As can be seen that when signal-to-noise ratio is bigger, MUSIC performance is closer to CRB, algorithm estimated accuracy when array number is enough
Also higher.
The present invention will be described combined with specific embodiments below:
As shown in Figures 2 and 3, the present invention includes being put to constitute signal receiving array, M by the beacon (array element) that K spacing is d
A signal launch point (stop), corresponding incidence angle are θ, and θ is the angle with normal direction, and the noise of each array element is white Gaussian
Noise, noise is mutually indepedent between each array element, and noise is also mutually indepedent with signal.
The covariance matrix R of signal receiving arrayxxK characteristic value and feature vector, R can be resolved intoxxIt can indicate
Are as follows:
Wherein λi, viRespectively characteristic value and feature vector corresponding with characteristic value, V is with viFor the column matrix of element, Λ
It is the diagonal matrix using characteristic value as element.It is main in all characteristic values due to uncorrelated between each signal and noise
Want characteristic value, that is, signal characteristic value number identical with target number, residue character value is noise；Since signal subspace is corresponding big
Characteristic value, and principal component analysis extraction is exactly to extract master variable, after obtaining master variable number, can be looked for according to characteristic value number
To corresponding noise subspace feature vector.According to MUSIC method, direction of arrival can be obtained according to peak value.Therefore exist
In practical calculating, using Principal Component Analysis for extracting dominant eigenvalue number.
Therefore above formula can be modified are as follows:
Rxx=VsΛsVs H+VnΛnVn H。
Characteristic equation is solved first | λ I-Rxx|=0, so as to find out eigenvalue λ1,…λk, and make its sequence arrangement by size,
Then it is found out respectively corresponding to eigenvalue λiFeature vector vi(i=1,2 ... k).It is main when getting m (m≤k) a principal component
Ingredient PCkContribution rate:Accumulate contribution rate:In an embodiment of the present invention, contribution rate is accumulated
Get 80%.
The above process can be by [PC, latent, explained]=pcacov (X) function in calling matlab to association
Variance matrix carries out principal component analysis, returns to principal component contributor rate (PCk), covariance matrix RxxCharacteristic value (latent) and every
A feature vector is characterized in percentage (explained) shared in observed quantity population variance, can be calculated by percentage tired
Count contribution rate.
After obtaining principal component number m, according to total characteristic value number, can approximate calculation go out small characteristic value number, thus
Signal characteristic vector and noise feature vector are calculated, and obtains corresponding signal subspace eigenvectors matrix and noise sky
Between eigenvectors matrix.
Pass through MUSIC algorithmic formula:
Wherein VSAnd VnRespectively signal and noise vector.
By seeking spectral function maximum value in space spectral domain, the corresponding angle of spectral peak is the estimation at arrival bearing angle.
Calculate the variance of the spectral function based on MUSIC algorithm construction:
Wherein d=da/d θ, a=exp [j2 π d (i-1) sin θ] are array steering vector；Subscript H indicates conjugation means；
For receiving end noise variance；T is the scanning cumulative time.
DefinitionThen (4) formula can be written as:
As can be seen that when signal-to-noise ratio is bigger, MUSIC performance is closer to CRB, algorithm estimated accuracy when array number is enough
Also higher.
As shown in figure 4, the MUSIC location simulation figure under white Gaussian noise, the signal-to-noise ratio under white Gaussian noise are
20dB, number of snapshots 256.As shown in figure 5, the MUSIC location simulation figure under gaussian colored noise, the noise power difference
For [3,3,3,3,16,2,20,80,2,2], mean power 13.4, signal-to-noise ratio 2dB.
A kind of device using the indoor orientation method based on MUSIC algorithm, including K beacon point constitute signal and receive
Array, radio network gateway, M wireless mobile apparatus, cloud monitoring center；The K beacon point constitutes signal receiving array minute
Cloth is wireless communication between M wireless mobile apparatus and signal receiving array in area to be targeted；Wireless mobile apparatus passes through
Wireless interface is connect with radio network gateway；Radio network gateway sends information and is transferred to cloud control centre, and receives cloud control centre
The signal of transmission.
In the present invention, main equipment of the radio network gateway as network, wireless mobile apparatus such as mobile phone, which is used as from node, to be dissipated
Cloth constitutes network in specified communication range, through ad hoc network mode.
The mobile radio terminal is Bluetooth mobile terminal；The radio network gateway is bluetooth radio network gateway；It is described wirelessly to connect
Mouth is bluetooth wireless interface.
The course of work of the device of indoor orientation method of the utilization based on MUSIC algorithm of the invention is as follows:
(1) signal is emitted by M wireless mobile apparatus first, K beacon point constitutes signal receiving array and receive simultaneously
Feedback information is to wireless mobile apparatus；In area to be targeted, all wireless mobile apparatus can directly with each beacon
Point is communicated, and the MAC Address of each wireless mobile apparatus enters and leaves ad hoc network mode and constitutes network in which can be convenient；
(2) wireless mobile apparatus carries out location Calculation according to Music algorithm, obtains the ground of each wireless mobile apparatus this moment
Managing location information then will be wireless specifically using step (2)-(5) in the indoor orientation method based on MUSIC algorithm
The geographical location information of the Mac address information and wireless mobile apparatus of mobile device this moment, is sent to cloud by radio network gateway
Monitoring center is stored；Specifically: wireless mobile apparatus is pressed local data information by its internal wireless communication module
It is packaged according to the data format set, packed data is sent to radio network gateway by wireless interface；Wirelessly
Gateway will transfer data to cloud monitoring center；
(3) after wireless mobile apparatus changing position, want the position for finding out original place, then calculated again according to Music
Method carries out location Calculation, the geographical location information of each wireless mobile apparatus this moment is obtained, then by the Mac of wireless mobile apparatus
The geographical location information of address information and wireless mobile apparatus this moment is sent to cloud monitoring center by radio network gateway, carries out
Storage；Specifically: when cloud remotely controls wireless mobile apparatus, by various instructions according to the data format being set
It is packaged, wireless mobile apparatus is sent to by wireless interface.
(4) cloud monitoring center is according to the information of storage, finds out the corresponding 2 different geographical locations in the identical address Mac,
Route planning is carried out, and is sent to wireless mobile apparatus, realizes indoor positioning.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (4)
1. a kind of indoor orientation method based on MUSIC algorithm, which comprises the following steps:
(1) K beacon point is disposed in area to be targeted constitute signal receiving array；
(2) M signaling point is made of M wireless mobile apparatus, M wireless mobile apparatus is directly led to signal receiving array
Letter；
(3) covariance matrix R is calculated using the signal matrix of signal receiving array outputxx；
(4) covariance matrix R is utilizedxxConstruction feature equation | λ I-Rxx|=0, characteristic equation is solved, multiple eigenvalue λs are obtainediWith
Feature vector v corresponding with characteristic valuei, and to eigenvalue λiCarry out size sequence；
(5) to each eigenvalue λ by sequenceiUsing the accumulation contribution rate of Principal Component Analysis and setting calculate master variable and
The number of master variable is formed to obtain characteristic value corresponding with signal subspace and noise subspace and feature vector
Signal subspace and noise subspace；Principal component contributor rate in the Principal Component Analysis are as follows:
Accumulate contribution rate are as follows:
In formula: m is represented under the accumulation contribution rate of setting, the number of principal component, m < k；
(6) MUSIC algorithm construction spectral function is utilized, M maximum spectral peak of spectral function is searched out, so that direction of arrival is calculated,
The geographical location of M signaling point is oriented, M wireless mobile apparatus is by the geographical location of corresponding signaling point and Mac
Location is transferred to radio network gateway, is transferred to cloud monitoring center by radio network gateway；
(7) when M wireless mobile apparatus is moved to other positions, step (2)~(6) are repeated, obtain M wireless shiftings
The new geographical location of dynamic equipment；
(8) cloud monitoring center finds out 2 different geographical locations with the identical address Mac, carries out route planning, and send
To wireless mobile apparatus, indoor positioning is realized；
Calculate the variance of the spectral function based on MUSIC algorithm construction:
Wherein d=da/d θ, a=exp [j2 π d (i-1) sin θ] are array steering vector；H indicates conjugation means；To receive battle array
Column noise variance；T is the scanning cumulative time；
DefinitionThen (4) formula can be written as:
When the value of var is more than 1, principal component number is added 1, recalculates the accumulation contribution rate PA in formula (2)k。
2. a kind of indoor orientation method based on MUSIC algorithm according to claim 1, it is characterised in that: the step
(6) spectral function in are as follows:
In formula: VSFor the signal characteristic vector matrix constituted using signal characteristic vector, VnFor what is constituted using noise feature vector
Noise feature vector matrix.
3. a kind of device using the indoor orientation method described in claim 1 based on MUSIC algorithm, it is characterised in that: packet
It includes K beacon point and constitutes signal receiving array, radio network gateway, M wireless mobile apparatus, cloud monitoring center；The K
Beacon point constitutes signal receiving array and is distributed in area to be targeted, between M wireless mobile apparatus and signal receiving array
For wireless communication；Wireless mobile apparatus is connect by wireless interface with radio network gateway；Radio network gateway sends information and is transferred to cloud
Control centre, and receive the signal of cloud control centre transmission.
4. the device of the indoor orientation method according to claim 3 based on MUSIC algorithm, it is characterised in that: the nothing
Line mobile terminal is Bluetooth mobile terminal；The radio network gateway is bluetooth radio network gateway；The wireless interface is that bluetooth wirelessly connects
Mouthful.
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| CN106500698A (en) * | 2016-10-31 | 2017-03-15 | 南京工程学院 | A kind of indoor orientation method and device based on propagation operator |
| CN106507473A (en) * | 2016-11-01 | 2017-03-15 | 南京工程学院 | A kind of indoor orientation method and device based on compressed sensing algorithm |
| CN106844886B (en) * | 2016-12-29 | 2020-04-10 | 西安电子科技大学 | Target direction of arrival acquisition method based on principal component analysis |
| US10928496B2 (en) * | 2017-01-06 | 2021-02-23 | Panasonic Intellectual Property Management Co., Ltd. | Sensor and method for estimating position of living body |
| CN109061564B (en) * | 2018-08-13 | 2022-08-12 | 西北工业大学 | Simplified near-field positioning method based on high-order cumulant |
| CN110133588B (en) * | 2019-05-14 | 2021-08-06 | 普联技术有限公司 | Antenna positioning method, device and equipment |
| CN110334638B (en) * | 2019-06-28 | 2021-09-10 | 西安理工大学 | Road double yellow line detection method based on rapid MUSIC algorithm |
| CN113050036B (en) * | 2021-03-16 | 2022-05-17 | 国网山东省电力公司东营供电公司 | GIS beam forming positioning method based on multi-resonance point microphone array |
| CN115201753B (en) * | 2022-09-19 | 2022-11-29 | 泉州市音符算子科技有限公司 | Low-power-consumption multi-spectral-resolution voice positioning method |
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