CN106125040B - Improve the method that TOA wireless location system resists moisture content change capability of influence - Google Patents
Improve the method that TOA wireless location system resists moisture content change capability of influence Download PDFInfo
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- CN106125040B CN106125040B CN201610425845.4A CN201610425845A CN106125040B CN 106125040 B CN106125040 B CN 106125040B CN 201610425845 A CN201610425845 A CN 201610425845A CN 106125040 B CN106125040 B CN 106125040B
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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
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0018—Transmission from mobile station to base station
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Abstract
The method disclosed by the invention for improving TOA wireless location system and resisting moisture content change capability of influence, comprising: read base station coordinates；Read all identification of base stations around target to the wireless signal strength that is issued of target T and the distance between；Select three signal qualities best base station A, B, C and its coordinate；The ratio according to the distance between signal issued by target T to base station A, B and C and target T to three base station distance is calculated, coordinate points PB is acquired1、PB2, PA1、PA2, PC1、PC2And its vector distance AA to base station A1And AA2, and be compared respectively with AT, wherein differing smaller with AT is denoted as (x’ a, y’ a), (x can be similarly found out respectively’ b, y’ b) and (x’ c, y’ c)；Triangle is made, and using the intersection point of this Atria side middle line as the position location T of target T‘.The present invention reduces being influenced caused by radio signal propagation speed when base station when positioning calculates at a distance between target as atmospheric water content, the positioning accuracy to target is improved.
Description
Technical field
The present invention relates to wireless communication technology fields, and in particular to improves TOA wireless location system resistance moisture always and contains
The method of amount variation capability of influence.
Background technique
In order to obtain the exact position of specific people and article be it is highly important, at present the problem usually utilize 3 points it is fixed
Position method is resolved, that is, is passed through the coordinate of known three points, measured target to the distance or angle of three points, utilize geometry
Algorithm acquires the position coordinates of target.Angle-measuring method in three-point fix needs expensive intelligent array antenna system, because
This is difficult to promote in the marketization of high accuracy positioning.So generally using distance measuring method in three-point fix.
Generally there are two types of methods for ranging, i.e., in the way of signal strength (RSS) or utilize time of arrival (toa) (TOA) square
Formula.RSS mode has its inherent defect, such as the precision of positioning is relatively low, the range of covering is small, can not work in the presence of a harsh environment
Deng.And these disadvantages can be overcome using TOA technology, positioning accuracy maximum is smaller than 1 meter.
TOA method by measurement wireless signal from target to the propagation time of signal base station, and multiplied by the biography of wireless signal
Broadcast the speed distance away from target that obtains base station.Which has precision is high, base station coverage area is big, is suitable for anti-adverse environment etc.
Advantage.Hardware in this method is made of positioning system components such as server, base station and tag cards.Due in plane positioning
In, it at least will be there are three base station, therefore three or three or more base stations are needed in this method.The coordinate of base station is known and solid
Fixed, i.e., three points in three-point fix, also referred to as anchor point.Tag card is fixed in target to be positioned.The function packet of server
The position for including and completing the equipment management on backstage, show map, calculate tag card according to the distance that mark snaps into multiple base stations is sat
Mark and be shown on map etc..
As shown in Figure 1, under ideal conditions, respectively using three base stations A, B and C as the center of circle, measured with each base station with
Distance between target is that radius (AT, BT and CT) does circle, and the point intersected is coordinates of targets.But as present in air
The speed that moisture can be such that wireless signal propagates in air changes, fast compared with the spread speed measured under standard conditions or slow,
It causes base station actually measured and the distance between target becomes larger or becomes smaller, so that three round intersections are not a bit.Such as
Shown in Fig. 2, in practical applications, generally respectively using the coordinate of tri- base stations A, B and C as the center of circle with measured AT, BT and
CT does circle as radius, acquires three round 6 intersection position.Since the position of target T should be enclosed in tri- base stations A, B and C
At triangle interior, three intersection points (C1, C2 and C3) of requirement can be determined for compliance with accordingly.Using this three intersection points as vertex
Triangle is made, using the center C of the triangle as the position T ' of target.It can be seen from the figure that the influence of moisture in air is dropped
The low precision of three-point positioning method.
Summary of the invention
Goal of the invention: in view of the deficiencies of the prior art, raising TOA wireless location system of the invention is resisted moisture content and is become
The method for changing capability of influence, since atmospheric water content is to wireless when base station calculates at a distance between target when reducing positioning
It is influenced caused by signal velocity, improves the positioning accuracy to target.
Technical solution: it is of the present invention mention it is characterized by comprising the following steps:
(1) base station coordinates are read；
(2) read all identification of base stations around target T to the wireless signal strength that is issued of target T and base station to target
The distance between T,；
(3) best base station A, B, the C and its coordinate (x of three signal qualities is selected according to the size of signal strengtha, ya)、
(xb, yb) and (xc, yc)；
(4) speed that base station time and radio wave are propagated in air is reached according to signal, calculated separately according to by mesh
Signal that T is issued is marked to the distance between base station A, B and C AT, BT and CT；
(5) ratio beta of target T to three base station distance is calculatedab=AT/BT, βca=CT/AT and βbc=BT/CT；
(6) quadratic equation group is listed:
β2 ab=AT2/BT2=(x-xa)2+(y-ya)2/(x-xb)2+(y-yb)2(1)；
β2 ca=CT2/AT2=(x-xc)2+(y-yc)2/(x-xa)2+(y-ya)2(2)；
β2 bc=BT2/CT2=(x-xb)2+(y-yb)2/(x-xc)2+(y-yc)2(3)；
Two coordinate points PB are acquired using formula (1) and (3)1(xb1, yb1)、PB2(xb2, yb2), it is obtained by formula (1) and (2)
PA1(xa1, ya1)、PA2(xa2, ya2), PC is obtained by formula (2) and (3)1(xc1, yc1)、PC2(xc2, yc2)；
(7) (x in step (6) is acquireda1, ya1)、(xa2, ya2) to the vector distance AA of base station A1And AA2, and respectively with AT
It is compared, wherein differing smaller with AT is denoted as (x 'a, y 'a), (x ' can be similarly found out respectivelyb, y 'b) and (x 'c, y
’c)；
(8) (x ' in step (7) is utilizeda, y 'a)、(x’b, y 'b) and (x 'c, y 'c) 3 points make triangle, and by this triangle
Position location T ' of the intersection point of three side middle lines as target T.
Further, the wireless signal base station that target T is issued is received in the step (2) and be at least 3, if being less than
It 3, then abandons this time positioning.
Further, the circumscribed circle coverage area of triangle obtained by the step (8) is considered as the error model of target T location
It encloses.
Present aspect additionally provides for realizing the TOA wireless location system of the above method, including at least three base station, positioning
Equipment and target identification card, base station receive the wireless signal that target identification card issues and are transmitted to positioning device, positioning device packet
Include AC-DC conversion module, direct current supply module, switch and reseting module, processor, network transmission module, the calculation of anti-moisture interference
Method module, data memory module, equipment display module, alternating current after AC-DC conversion module, direct current supply module with processing
Device is connected to its power supply, and switch and reseting module are connected to answering for control processor between direct current supply module and processor
Position, network transmission module receive the wireless signal that base station issues and are distributed by processor to anti-moisture algorithm of interference module and carried out
Processing, anti-moisture algorithm of interference module use DSP high-speed computation chip, and processing result deposit data memory module simultaneously passes through equipment
Display module is shown.
The utility model has the advantages that compared with prior art, advantages of the present invention: the method as described in the present invention is based on arrival
It when the wireless location system of time carries out target positioning, does not use directly measured by base station at a distance between target, and makes
Use two base stations measure with target spacing from the ratio between known base station with a distance from as positioning foundation, the method reduce fixed
It is influenced caused by radio signal propagation speed when base station calculates at a distance between target when position as atmospheric water content, is mentioned
The high positioning accuracy to target.
Detailed description of the invention
Fig. 1 be three-point fix principle and receive air moisture influence after error schematic diagram.
Fig. 2 is the processing method schematic diagram influenced in three-point positioning method on air moisture.
Fig. 3 is device context arrangement network topological diagram.
Fig. 4 is the equipment and process schematic that positioning device extracts target position information from live base station.
Fig. 5 is positioning device internal structure function schematic diagram
Specific embodiment
Technical solution of the present invention is described in detail below by attached drawing.
Embodiment 1: illustrate the actual use of this method with a specific embodiment.
Test same day humidity is 80%, and test environment is a skyscraper indoor construction scene, 645 squares of live area
Rice.
(1) around the place that need to be positioned, 7 stylobate stations and 1 server are arranged, reads base station coordinates；
(2) when target T enters in orientation range, the signal issued to sender unit entrained by target is connect
Acceptance Tests, selection signal intensity optimal three stylobate station are used to position,
(3) best base station A, B, the C and its coordinate (x of three signal qualities is selected according to the size of signal strengtha, ya)、
(xb, yb) and (xc, yc)；
(4) speed that base station time and radio wave are propagated in air is reached according to signal, calculated separately according to by mesh
Signal that T is issued is marked to the distance between base station A, B and C AT, BT and CT；
(5) ratio beta of target T to three base station distance is calculatedab=AT/BT, βca=CT/AT and βbc=BT/CT；
(6) quadratic equation group is listed:
β2 ab=AT2/BT2=(x-xa)2+(y-ya)2/(x-xb)2+(y-yb)2(1)；
β2 ca=CT2/AT2=(x-xc)2+(y-yc)2/(x-xa)2+(y-ya)2(2)；
β2 bc=BT2/CT2=(x-xb)2+(y-yb)2/(x-xc)2+(y-yc)2(3)；
Two coordinate points PB are acquired using formula (1) and (3)1(xb1, yb1)、PB2(xb2, yb2), it is obtained by formula (1) and (2)
PA1(xa1, ya1)、PA2(xa2, ya2), PC is obtained by formula (2) and (3)1(xc1, yc1)、PC2(xc2, yc2)；
(7) (x in step (6) is acquireda1, ya1)、(xa2, ya2) to the vector distance AA of base station A1And AA2, and respectively with AT
It is compared, wherein differing smaller with AT is denoted as (x 'a, y 'a), (x ' can be similarly found out respectivelyb, y 'b) and (x 'c, y
’c)；
(8) (x ' in step (7) is utilizeda, y 'a)、(x’b, y 'b) and (x 'c, y 'c) 3 points make triangle, and by this triangle
Position location T ' of the intersection point of three side middle lines as target T.
It is positioned when target T is located at coordinate (50,50), target T is positioned using conventional method first
It calculates, the coordinate of available positioning target T1 is (55,54)；Then location Calculation is carried out to target using the method for the present invention:
First from 7 stylobate stations of setting three best base stations of select-out signal intensity, their position be respectively A (20,70), B (30,
20), (70,100) C, the target T that available base station measures at this time at a distance from them for AT=39.48, BT=39.89 and
CT=55.96.By above data, β is obtainedab=0.989, βca=1.417 and βbc=0.713.It is acquired using formula (1) and (3)
Two coordinate points PB1 (- 109.42954,22.20152), PB2 (51.69617,50.63546) are obtained by formula (1) and (2)
PA1 (- 109.42367,22.20235), PA2 (51.69575,50.63537), by formula (2) and (3) obtain PC1 (-
109.42474,22.20706), (51.69571,50.63571) PC2.It can be found that the ratio using distance is made from data
Equation is solved for known quantity, the influence between target and base station apart from order of magnitude to calculated result can be excluded,
No matter distance of the target value apart from a certain base station how much, the result finally obtained is not much different, that is, eliminates moisture to ranging
As a result influence.Abovementioned steps 7) triangle using PB2, PA2 and PC2 as vertex can be obtained, and finding its midpoint coordinates is T
', i.e., the aiming spot T2 (51.69588,50.63551) obtained with methods described herein.This can lock the position T of target point
It is scheduled in a lesser range, although target position absolutely cannot correctly be determined, its deviation has been had been obtained
The diminution of effect.By comparing it is found that measuring actual position (50,50) of the position target T2 away from target T by the method for the invention
Vector distance reduce about 38.2 than conventional method, illustrate positioning accuracy improve；It calculates separately obtained by two kinds of localization methods
The step 8) triangle circumscribed circle, it is found that it is outer obtained by conventional method the external area of a circle of the method for the invention is less than
Connect the area of a circle.Illustrate that the position error of the method for the present invention is better than general localization method.
Available by embodiment, localization method of the present invention is simple, practical, and does not need additional computer and hard
Part resource is supported, when humidity reaches 80%, using the obtained data of original positioning device, can be improved the precision of positioning,
And reduce position error.
The network topological diagram of this equipment is as shown in figure 3, wherein key equipment wireless bridge performance should reach claimed below:
1) operating voltage: alternating current 220V；
2) operating current: 160mA；
3) communication distance: 10 km of CAN bus, 1200 meters of wireless communication distance；
4) traffic rate: 125Kbps；
5) ambient atmosphere pressure 80kPa~110kPa；
6) -20 DEG C~+70 DEG C of environment temperature；
7) surrounding air relative humidity is not more than 95% (at 25 DEG C)；
8) in the environment without the gas and steam for destroying insulation；
9) without the place dripped.
Locating base station should reach claimed below:
1) operating voltage: alternating current 220V；
2) operating current: 160mA；
3) communication distance: 10 km of CAN bus, 1200 meters of wireless communication distance；
4) traffic rate: 125Kbps；
5) ambient atmosphere pressure 80kPa~110kPa；
6) -20 DEG C~+70 DEG C of environment temperature；
7) surrounding air relative humidity is not more than 95% (at 25 DEG C)；
8) in the environment without the gas and steam for destroying insulation；
9) without the place dripped.
TOA wireless location system as shown in Figure 4, Figure 5, including 7 base stations, positioning device, target identification card, base station connects
It receives the wireless signal that target identification card issues and is transmitted to positioning device；Positioning device includes AC-DC conversion module, direct current confession
Electric module, switch and reseting module, network transmission module, anti-moisture algorithm of interference module, data memory module, are set processor
Standby display module, alternating current are connected to its power supply after AC-DC conversion module, direct current supply module with processor, switch and multiple
Position module is connected to the reset that control processor is used between direct current supply module and processor, and network transmission module receives base station
The wireless signal of sending and being distributed by processor to anti-moisture algorithm of interference module is handled, anti-moisture algorithm of interference module
Using DSP high-speed computation chip, processing result deposit data memory module is simultaneously shown by equipment display module.
As described above, must not be explained although the present invention has been indicated and described referring to specific preferred embodiment
For the limitation to invention itself.It without prejudice to the spirit and scope of the invention as defined in the appended claims, can be right
Various changes can be made in the form and details for it.
Claims (4)
1. improving the method that TOA wireless location system resists moisture content change capability of influence, which is characterized in that including walking as follows
It is rapid:
(1) base station coordinates are read；
(2) read all identification of base stations around target T to the wireless signal strength that is issued of target T；
(3) best base station A, B, the C and its coordinate (x of three signal qualities is selected according to the size of signal strengtha, ya)、(xb, yb)
(xc, yc)；
(4) speed that base station time and radio wave are propagated in air is reached according to signal, calculates separately basis and is sent out by target T
Signal out is to the distance between base station A, B and C AT, BT and CT；
(5) ratio beta of target T to three base station distance is calculatedab=AT/BT, βca=CT/AT and βbc=BT/CT；
(6) quadratic equation group is listed:
β2 ab=AT2/BT2=(x-xa)2+(y-ya)2/(x-xb)2+(y-yb)2(1)；
β2 ca=CT2/AT2=(x-xc)2+(y-yc)2/(x-xa)2+(y-ya)2(2)；
β2 bc=BT2/CT2=(x-xb)2+(y-yb)2/(x-xc)2+(y-yc)2(3)；
Two coordinate points PB are acquired using formula (1) and (3)1(xb1, yb1)、PB2(xb2, yb2), PA is obtained by formula (1) and (2)1
(xa1, ya1)、PA2(xa2, ya2), PC is obtained by formula (2) and (3)1(xc1, yc1)、PC2(xc2, yc2)；
(7) (x in step (6) is acquireda1, ya1)、(xa2, ya2) to the vector distance AA of base station A1And AA2, and compared respectively with AT
Compared with wherein differing smaller with AT is denoted as (x 'a, y 'a), (x ' can be similarly found out respectivelyb, y 'b) and (x 'c, y 'c)；
(8) (x ' in step (7) is utilizeda, y 'a)、(x’b, y 'b) and (x 'c, y 'c) 3 points make triangle, and by this Atria side
Position location T ' of the intersection point of middle line as target T.
2. the method according to claim 1 for improving TOA wireless location system and resisting moisture content change capability of influence,
It is characterized in that: receiving the wireless signal base station that target T is issued in the step (2) and be at least 3, if being put less than 3
It abandons and this time positions.
3. the method according to claim 1 for improving TOA wireless location system and resisting moisture content change capability of influence,
Be characterized in that: the circumscribed circle coverage area of triangle obtained by the step (8) is considered as the error range of target T location.
4. a kind of TOA wireless location system for realizing any the method for claims 1 to 3, it is characterised in that: including at least 3
A base station, positioning device and target identification card, base station receive the wireless signal that target identification card issues and are transmitted to positioning device,
Positioning device includes AC-DC conversion module, direct current supply module, switch and reseting module, processor, network transmission module, prevents
Moisture interference algoritic module, data memory module, equipment display module, alternating current is through AC-DC conversion module, direct current supply mould
Its power supply is connected to after block with processor, switch and reseting module are connected between direct current supply module and processor for controlling
The reset of processor, network transmission module receive the wireless signal that base station issues and are distributed by processor to anti-moisture interference and calculated
Method module is handled, and anti-moisture algorithm of interference module uses DSP high-speed computation chip, and processing result is stored in data memory module
And it is shown by equipment display module.
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| CN108169769B (en) * | 2017-12-29 | 2021-11-23 | 中国建筑第五工程局有限公司 | Method for preventing collision of grouped towers |
| CN108693548B (en) * | 2018-05-18 | 2021-10-22 | 中国科学院光电研究院 | Navigation method and system based on scene target recognition |
| CN113473363B (en) * | 2021-07-01 | 2024-03-19 | 江苏希塔信息科技有限公司 | Intersecting circle indoor positioning method based on scaling |
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Address after: 100000, room 10, building 1001, block 15, Zhongjian building, No. three Li River Road, Beijing, Haidian District, Co-patentee after: CHINA STATE CONSTRUCTION ENGINEERING CORPORATION Ltd. Patentee after: Zhongjian Electronic Information Technology Co.,Ltd. Co-patentee after: CHINA CONSTRUCTION INDUSTRIAL & ENERGY ENGINEERING GROUP Co.,Ltd. Address before: 100000, room 10, building 1001, block 15, Zhongjian building, No. three Li River Road, Beijing, Haidian District, Co-patentee before: CHINA STATE CONSTRUCTION ENGINEERING CORPORATION Ltd. Patentee before: Zhongjian Electronic Information Technology Co.,Ltd. Co-patentee before: CCEED INDUSTRIAL EQUIPMENT INSTALLATION Co.,Ltd. |
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