CN106413050A - NanoLOC wireless communication distance estimation and online assessment method - Google Patents
NanoLOC wireless communication distance estimation and online assessment method Download PDFInfo
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- CN106413050A CN106413050A CN201610436853.9A CN201610436853A CN106413050A CN 106413050 A CN106413050 A CN 106413050A CN 201610436853 A CN201610436853 A CN 201610436853A CN 106413050 A CN106413050 A CN 106413050A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W48/00—Access restriction; Network selection; Access point selection
- H04W48/20—Selecting an access point
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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
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/08—Testing, supervising or monitoring using real traffic
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
- H04W84/10—Small scale networks; Flat hierarchical networks
- H04W84/12—WLAN [Wireless Local Area Networks]
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Computer Security & Cryptography (AREA)
- Mobile Radio Communication Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention provides a nanoLOC wireless communication distance estimation and online assessment method, and relates to a precision communication distance estimation technology in the wireless location environment. The objective of the invention is to solve the problem that the communication distance estimation error is big because of the influences of noise, measurement errors and the non-line of sight in the wireless location. The nanoLOC wireless communication distance estimation and online assessment method comprises: measuring the communication distances between unknown nodes and anchor nodes, employing the sliding window processing strategy, performing sliding filtering and statistical calculation of the communication measurement value sequence, and obtaining the statistical average and the statistical standard deviation of the communication distance measurement value; taking the statistical average as a communication distance estimation result, taking the statistical standard deviation as the quality assessment parameters of the communication distance estimation, realizing the communication distance estimation and quality assessment, and providing important prior knowledge for subsequent location calculation. The nanoLOC wireless communication distance estimation and online assessment method is suitable for the underwater location system based on distance measurement and the underwater location system based on sonar distance measurement.
Description
Technical field
The present invention relates to the distance estimations result in wireless location and its online evaluation technology.
Background technology
High-precision wireless location technology provides important positional information for many wireless communications application, and wireless location skill
The precision of art depends greatly on the precision of distance estimations.And in actual wireless localizing environment, due to noise, measurement by mistake
Difference and the impact of non line of sight transmission, lead to the estimation of communication distance to there is error, reduce the precision of actual wireless positioning.At present
Lack effective communication distance and estimate appraisal procedure it is impossible to provide important priori for follow-up location Calculation.
Content of the invention
The negative shadow of estimated result the invention aims to the uncertainty solving during actual range is estimated is adjusted the distance
The problem of sound, provides a kind of nanoLOC wireless communication distance to estimate and its online evaluation method.
A kind of nanoLOC wireless communication distance of the present invention estimates and its online evaluation method comprises the following steps：
After step one, anchor node initialization, set up a WLAN, and allow other wireless communication nodes to add
Network；After unknown node power-up initializing, apply for and be successfully joined the wireless network of anchor node foundation；
Step 2, unknown node are passed through its nanoLOC wireless transceiver and are sent distance measurement request packet to anchor node, unknown
Node and anchor node, according to bilateral equity range finding flow process, obtain present communications distance measure di, wherein i is sequence number, and i is
Positive integer；
The communication distance value of the continuous measurement of step 3, unknown node constitutes communication distance measurement value sequence, using sliding window
The process strategy of mouth, sliding window width is w, and wherein w is positive integer, and w >=2, w value 4 in the present invention；
Step 4, current time are t, and t is positive integer, and present communications distance measure is dt, then current sliding window mouth is W
={ dt-w+1,dt-w+2,dt-w+3,…,di,…,dt, wherein diFor not estimating the communication distance measured value obtaining in the same time, i be away from
From estimated value sequence number, and t-w+1≤i≤t；
Step 5, while continuous measurement, unknown node carries out glide filter to the communication distance measurement value sequence in W
Process：If the data amount check n in current sliding window mouth W is less than w, sliding averageOtherwise, sliding
Dynamic meansigma methodss Thus the sliding window sequence after formation moving averages Wherein n is positive integer, the sliding window sequence W ' obtaining after moving averages
Width be also set to w；
Step 6, the unknown node communication distance measured value interior to sliding window W ' carries out statistical computation, obtains its statistics
Average u and statistical standard difference σ；Using average statistical u as present communications range estimation, statistical standard difference σ is as present communications
The quality evaluation index of distance estimations：σ value is less, represents the dispersion degree with respect to its average statistical u for the communication distance estimated value
Less, show that it estimates that quality is higher, and output communication distance estimated result and its quality assessment parameter in real time；
Step 7, unknown node judge whether to complete expected communication distance and estimate task, if so, then execution step eight,
Otherwise continue executing with step 2 to step 7, realize follow-up communication distance and estimate and its online evaluation；
Step 8, stopping communication distance being estimated and its online evaluation.
Brief description
Fig. 1 is the flow chart of a kind of nanoLOC wireless communication distance estimation and its online evaluation method.
Specific embodiment
Specific embodiment one：Present embodiment is that a kind of nanoLOC wireless communication distance is estimated and its online evaluation side
Method is described further, and in present embodiment, the unknown node in system is that positional information is unknown, node to be positioned；Anchor section
Point is node known to positional information；They all have NanoLOC radio transceiver, can measure anchor node and unknown node
Between distance.System includes a unknown node and an anchor node.
Specific embodiment two：In conjunction with Fig. 1, present embodiment is described, a kind of nanoLOC described in present embodiment is wireless
Communication distance is estimated and its online evaluation method comprises the following steps：
After step one, anchor node initialization, set up a WLAN, and allow other wireless communication nodes to add
Network；After unknown node power-up initializing, apply for and be successfully joined the wireless network of anchor node foundation；
Step 2, unknown node are passed through its nanoLOC wireless transceiver and are sent distance measurement request packet to anchor node, unknown
Node and anchor node, according to bilateral equity range finding flow process, obtain present communications distance measure di, wherein i is sequence number, and i is just
Integer；
The communication distance value of the continuous measurement of step 3, unknown node constitutes communication distance measurement value sequence, using sliding window
The process strategy of mouth, sliding window width is w, and wherein w is positive integer, and w >=2, w value 4 in the present invention；
Step 4, current time are t, and t is positive integer, and present communications distance measure is dt, then current sliding window mouth be
W={ dt-w+1,dt-w+2,dt-w+3,…,di,…,dt, wherein diFor not estimating the communication distance measured value obtaining in the same time, i is
Range estimation sequence number, and t-w+1≤i≤t；
Step 5, while continuous measurement, unknown node carries out glide filter to the communication distance measurement value sequence in W
Process：If the data amount check n in current sliding window mouth W is less than w, sliding averageOtherwise, sliding
Dynamic meansigma methodss Thus the sliding window sequence after formation moving averages Wherein n is positive integer, the sliding window sequence W ' obtaining after moving averages
Width be also set to w；
Step 6, the unknown node communication distance measured value interior to sliding window W ' carries out statistical computation, obtains its statistics
Average u and statistical standard difference σ；Using average statistical u as present communications range estimation, statistical standard difference σ is as present communications
The quality evaluation index of distance estimations：σ value is less, represents the dispersion degree with respect to its average statistical u for the communication distance estimated value
Less, show that it estimates that quality is higher, and output communication distance estimated result and its quality assessment parameter in real time；
Step 7, unknown node judge whether to complete expected communication distance and estimate task, if so, then execution step eight,
Otherwise continue executing with step 2 to step 7, realize follow-up communication distance and estimate and its online evaluation；
Step 8, stopping communication distance being estimated and its online evaluation.
Specific embodiments three, present embodiment is to a kind of nanoLOC radio communication described in specific embodiment two
Distance estimations and its online evaluation method are described further, and in present embodiment, using sliding window strategy, realize to communication
The online treatment of range measurement, including assessment and the statistical computation of sliding, realizes communication distance high accuracy estimation and its quality is commented
Estimate, provide for dynamic positioning and support.
Specific embodiments four, present embodiment is to a kind of nanoLOC radio communication described in specific embodiment two
Distance estimations and its online evaluation method are described further, in present embodiment, using moving average method, reduce communication away from
The harmful effect that error in estimation procedure is estimated to communication distance.
Specific embodiments five, present embodiment is to a kind of nanoLOC radio communication described in specific embodiment two
Distance estimations and its online evaluation method are described further, and in present embodiment, step 6 is described further, and its feature exists
It is calculated as follows formula and is calculated in average statistical u and statistical standard difference σ：
Wherein, n is the interior data amount check of sliding window W '.
Specific embodiments six, present embodiment is to a kind of nanoLOC radio communication described in specific embodiment two
Distance estimations and its online evaluation method are described further, in present embodiment, with statistical standard difference assessment distance estimations
Quality, provides important references for location Calculation, thus realizing the positioning result of degree of precision.With respect to do not adopt moving averages and
The localization method of online evaluation, the localization method using both approaches can improve positioning precision 30%-50%, for follow-up nothing
Line positioning provides strong technical support.The method field of locating technology be applied to wireless environment, can also extend simultaneously
Arrive in location technology application under water.
Claims (6)
1. a kind of nanoLOC wireless communication distance estimate and its online evaluation method it is characterised in that methods described include following
Step：
After step one, anchor node initialization, set up a WLAN, and allow other wireless communication nodes to add net
Network；After unknown node power-up initializing, apply for and be successfully joined the wireless network of anchor node foundation；
Step 2, unknown node are passed through its nanoLOC wireless transceiver and are sent distance measurement request packet, unknown node to anchor node
With anchor node according to bilateral equity range finding flow process, obtain present communications distance measure di, wherein i is sequence number, and i is just whole
Number；
The communication distance value of the continuous measurement of step 3, unknown node constitutes communication distance measurement value sequence, using sliding window
Process strategy, sliding window width is w, wherein w is positive integer, and w >=2, w value 4 in the present invention；
Step 4, current time are t, and t is positive integer, and present communications distance measure is dt, then current sliding window mouth is W=
{dt-w+1,dt-w+2,dt-w+3,…,di,…,dt, wherein diFor not estimating the communication distance measured value obtaining in the same time, i is distance
Estimated value sequence number, and t-w+1≤i≤t；
Step 5, while continuous measurement, unknown node is carried out at glide filter to the communication distance measurement value sequence in W
Reason：If the data amount check n in current sliding window mouth W is less than w, sliding averageOtherwise, slide and put down
AverageThus sliding window sequence W after formation moving averages '={ d 't-w+1,d′t-w+2,d
′t-w+3,…,d′t, wherein n be positive integer, sliding window sequence W obtaining after moving averages ' width be also set to w；
Step 6, unknown node carry out statistical computation to the communication distance measured value in sliding window W ', obtain its average statistical u
σ poor with statistical standard；Using average statistical u as present communications range estimation, statistical standard difference σ estimates as present communications distance
The quality evaluation index of meter：σ value is less, represents that communication distance estimated value is less with respect to the dispersion degree of its average statistical u, table
Bright its estimates that quality is higher, and output communication distance estimated result and its quality assessment parameter in real time；
Step 7, unknown node judge whether to complete expected communication distance and estimate task, if so, then execution step eight, otherwise
Continue executing with step 2 to step 7, realize follow-up communication distance and estimate and its online evaluation；
Step 8, stopping communication distance being estimated and its online evaluation.
2. a kind of wireless communication distance according to claim 1 is estimated and its online evaluation method is described further, and is
Unknown node in system is that positional information is unknown, node to be positioned；Anchor node is node known to positional information；They all have
There is nanoLOC radio transceiver, the distance between anchor node and unknown node can be measured.System includes a unknown section
Point and an anchor node.
3. a kind of nanoLOC wireless communication distance according to claim 1 is estimated and its online evaluation method is made further
Illustrating, it is characterised in that adopting sliding window strategy, to realize the online treatment that communication distance is estimated, being Dynamic High-accuracy positioning
There is provided and support.
4. a kind of nanoLOC wireless communication distance according to claim 1 is estimated and its online evaluation method is made further
Illustrating it is characterised in that adopting moving average method, reducing the error during distance estimations and adjusting the distance the harmful effect of estimation.
5. the step 6 of a kind of nanoLOC wireless communication distance estimation according to claim 1 and its online evaluation method
It is described further it is characterised in that average statistical u and statistical standard difference σ is calculated as follows formula and is calculated：
Wherein, n is the data amount check in sliding window W '.
6. a kind of nanoLOC wireless communication distance according to claim 1 is estimated and its online evaluation method is made further
Illustrate, it is characterised in that assess the quality of distance estimations using statistical standard difference, to provide important references for location Calculation, thus real
The positioning result of existing degree of precision.
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Cited By (16)
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| CN107192979A (en) * | 2017-05-23 | 2017-09-22 | 哈尔滨工业大学（威海） | A kind of Uncertainty Analysis Method of maximum likelihood location Calculation |
| CN107219499A (en) * | 2017-05-23 | 2017-09-29 | 哈尔滨工业大学（威海） | A kind of Uncertainty Analysis Method positioned based on least square |
| CN107229045A (en) * | 2017-05-23 | 2017-10-03 | 哈尔滨工业大学（威海） | A kind of Uncertainty Analysis Method estimated based on TOA communication distances |
| CN107271950A (en) * | 2017-05-23 | 2017-10-20 | 哈尔滨工业大学（威海） | A kind of Uncertainty Analysis Method based on trilateration location Calculation |
| CN107367708A (en) * | 2017-08-24 | 2017-11-21 | 哈尔滨工业大学（威海） | A kind of weighted mass center localization method of the anchor node optimum choice based on minimum sandards difference |
| CN107404708A (en) * | 2017-08-24 | 2017-11-28 | 哈尔滨工业大学（威海） | A kind of maximum likelihood localization method of the anchor node optimum choice based on minimum sandards difference |
| CN107404707A (en) * | 2017-08-24 | 2017-11-28 | 哈尔滨工业大学（威海） | A kind of least square localization method for the anchor node optimum choice propagated based on minimal error |
| CN107454570A (en) * | 2017-08-24 | 2017-12-08 | 中国电子科技集团公司第五十四研究所 | Maximum likelihood localization method with optimum choice is propagated based on minimal error |
| CN107479026A (en) * | 2017-08-24 | 2017-12-15 | 哈尔滨工业大学（威海） | A kind of weighted mass center localization method for the anchor node optimum choice propagated based on minimal error |
| CN107479027A (en) * | 2017-08-24 | 2017-12-15 | 哈尔滨工业大学（威海） | A kind of maximum likelihood localization method for the anchor node optimum choice propagated based on minimal error |
| CN107517500A (en) * | 2017-08-24 | 2017-12-26 | 哈尔滨工业大学（威海） | A kind of trilateration localization method for the anchor node optimum choice propagated based on minimal error |
| CN107526060A (en) * | 2017-08-24 | 2017-12-29 | 哈尔滨工业大学（威海） | A kind of trilateration localization method of the anchor node optimum choice based on minimum sandards difference |
| CN107580295A (en) * | 2017-08-24 | 2018-01-12 | 中国电子科技集团公司第五十四研究所 | Trilateration localization method with optimum choice is propagated based on minimal error |
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| WO2023134615A1 (en) * | 2022-01-14 | 2023-07-20 | 华为技术有限公司 | Communication method and communication apparatus |
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| CN107192979A (en) * | 2017-05-23 | 2017-09-22 | 哈尔滨工业大学（威海） | A kind of Uncertainty Analysis Method of maximum likelihood location Calculation |
| CN107219499A (en) * | 2017-05-23 | 2017-09-29 | 哈尔滨工业大学（威海） | A kind of Uncertainty Analysis Method positioned based on least square |
| CN107229045A (en) * | 2017-05-23 | 2017-10-03 | 哈尔滨工业大学（威海） | A kind of Uncertainty Analysis Method estimated based on TOA communication distances |
| CN107271950A (en) * | 2017-05-23 | 2017-10-20 | 哈尔滨工业大学（威海） | A kind of Uncertainty Analysis Method based on trilateration location Calculation |
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| CN107404707A (en) * | 2017-08-24 | 2017-11-28 | 哈尔滨工业大学（威海） | A kind of least square localization method for the anchor node optimum choice propagated based on minimal error |
| CN107454570A (en) * | 2017-08-24 | 2017-12-08 | 中国电子科技集团公司第五十四研究所 | Maximum likelihood localization method with optimum choice is propagated based on minimal error |
| CN107479026A (en) * | 2017-08-24 | 2017-12-15 | 哈尔滨工业大学（威海） | A kind of weighted mass center localization method for the anchor node optimum choice propagated based on minimal error |
| CN107479027A (en) * | 2017-08-24 | 2017-12-15 | 哈尔滨工业大学（威海） | A kind of maximum likelihood localization method for the anchor node optimum choice propagated based on minimal error |
| CN107517500A (en) * | 2017-08-24 | 2017-12-26 | 哈尔滨工业大学（威海） | A kind of trilateration localization method for the anchor node optimum choice propagated based on minimal error |
| CN107526060A (en) * | 2017-08-24 | 2017-12-29 | 哈尔滨工业大学（威海） | A kind of trilateration localization method of the anchor node optimum choice based on minimum sandards difference |
| CN107580295A (en) * | 2017-08-24 | 2018-01-12 | 中国电子科技集团公司第五十四研究所 | Trilateration localization method with optimum choice is propagated based on minimal error |
| CN107589400A (en) * | 2017-08-24 | 2018-01-16 | 中国电子科技集团公司第五十四研究所 | Least square localization method with optimum choice is propagated based on minimal error |
| CN108337638A (en) * | 2017-08-24 | 2018-07-27 | 哈尔滨工业大学（威海） | A kind of least square localization method of the anchor node optimum choice based on minimum sandards difference |
| WO2023134615A1 (en) * | 2022-01-14 | 2023-07-20 | 华为技术有限公司 | Communication method and communication apparatus |
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