CN106950540B - Indoor positioning method based on residual error weighting - Google Patents
Indoor positioning method based on residual error weighting Download PDFInfo
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- CN106950540B CN106950540B CN201710177163.0A CN201710177163A CN106950540B CN 106950540 B CN106950540 B CN 106950540B CN 201710177163 A CN201710177163 A CN 201710177163A CN 106950540 B CN106950540 B CN 106950540B
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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
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
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Abstract
The invention provides an indoor positioning method based on residual weighting, which obtains distance information between a mobile point and a fixed base station arranged in space through wireless signals, screens measurement information by adopting a residual weighting method, defines the weight occupied by each piece of ranging information in positioning calculation by calculating the influence of the existence of the ranging information on the calculated residual, and then performs the weighted positioning calculation. The method is simple and convenient, has high reliability, and can improve the indoor positioning precision.
Description
Technical Field
The invention relates to an indoor positioning method, in particular to an indoor positioning method based on ranging by adopting a wireless signal technology.
Background
Currently, research on indoor positioning technology focuses on wireless signal technology-based approaches. Common positioning methods are classified into an indoor positioning method that does not require ranging and an indoor positioning method based on ranging. The indoor positioning method based on ranging is convenient and easy to popularize, and is favored in practical application.
The indoor positioning method based on distance measurement is that the distance between a moving point and a fixed point arranged in advance is measured through different wireless signal technologies, and finally the relative position of the moving point in space is deduced according to the geometric relationship by utilizing the distance information and the position of the fixed point. The commonly used wireless signal technologies mainly include Wi-Fi, Bluetooth (Bluetooth), Ultra Wideband (UWB), and the like. The distance between a moving point and a fixed point is obtained mainly by using methods such as Time of Arrival (TOA), Time Difference of Arrival (TDOA), Angle of Arrival (AOA), and signal Strength Indicator (RSSI). The indoor positioning system based on the distance measurement is easy to arrange, the portability of the positioning algorithm is strong, and the influence of environmental change is small.
The distance measurement of the wireless technology has inevitable errors, and the installation position of the fixed point has certain errors. These errors will all contribute to the resulting accuracy of the indoor positioning. The indoor environment needing positioning is often complex and wide, a plurality of fixed points need to be arranged in the space to achieve the positioning purpose, and different sensors need to be arranged under special conditions to obtain measurement results with different precisions. Therefore, the ranging information needs to be filtered and weighted to improve the positioning accuracy. In the prior art, the ML algorithm for weighting and positioning by directly using the reciprocal of the variance of the distance measurement value as the reliability standard of the distance measurement information is not high in reliability. And the RWGH algorithm is used for calculating different ranging signal combinations to obtain positions and residual errors, weighting the obtained positions by using the residual errors to obtain final positions, and the calculation complexity is high.
Disclosure of Invention
In view of this, the invention provides an indoor positioning method based on residual error weighting, and the method adopting residual error weighting is adopted to screen the measurement information, so that the method is simple and convenient, has high reliability, and can improve the indoor positioning accuracy.
An indoor positioning method based on residual error weighting comprises the following steps:
the method comprises the following steps: obtaining distance measurement information between a mobile point and a fixed base station through wireless signal measurement;
step two: using distance measurement information diAnd i is 1, 2, … …, n, positioning calculation is carried out to obtain the initial position of the moving point and the initial residual r0；
Step three: if the number n of the distance measurement information is less than four, directly taking the initial position in the step two as a final calculation result, and finishing the calculation;
if the number n of the distance measurement information is more than or equal to four, different distance measurement information d in the n distance measurement information is removed in sequenceiAnd performing positioning calculation again on the remaining n-1 distance measurement information to obtain the residual error (r) of n positioning calculationsi(i ═ 1, 2, … …, n }, proceed to step four;
step four: residual r obtained by repositioning calculation in step threeiAnd the preliminary residual r in the step two0The change between as the weight w of the residuali；
Step five: for the distance measurement information d in the step twoiWeight w to add residualiAnd obtaining distance measurement information with weight, and performing positioning calculation again to obtain the accurate position of the moving point.
Further, the air conditioner is provided with a fan,the weight is calculated in a manner of wi＝ri/r0。
Further, the residual error is solved based on a least square method.
Further, before the second step, the method further comprises: and (4) screening distance information in the effective range of the fixed base station from the distance measurement information in the first step.
Has the advantages that:
1. according to the invention, the measurement information is screened by adopting a residual error weighting method, so that the indoor positioning precision can be improved.
2. The method is based on the least square method to solve the residual error, and is convenient and simple.
Drawings
Fig. 1 is a flow chart of a positioning method of the present invention.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention provides an indoor positioning method based on residual error weighting, which has the following basic principles: the method comprises the steps of obtaining distance information between a mobile point and a fixed base station arranged in space through wireless signals, screening measurement information by adopting a residual error weighting method, and determining the accuracy of the distance information according to the residual error change size calculated again before and after each distance information is removed, so as to obtain the weight occupied by the distance information in calculation. When the residual error obtained by solving after removing a certain distance information becomes larger, the distance information is more accurate, and the larger the residual error becomes, the more accurate the information is, and the larger the weight occupied in the calculation is. Therefore, the measurement information is screened by using the residual error weighting method, and the indoor positioning precision can be improved.
Adopt spacious space as the location area, can utilize the bluetooth to measure a distance. In this embodiment, it is preferable that the simultaneous ranging using bluetooth and ultra wideband UWB has higher accuracy than the ranging using only bluetooth. The Bluetooth base stations are uniformly arranged in the space, the UWB anchor point is arranged in the center of the space, the moving point to be positioned is an electronic tag which simultaneously comprises a Bluetooth receiving device and a UWB receiving device, and distance information with different precisions can be measured through Bluetooth and UWB. The effective range of the Bluetooth signal is an area within 10m of the distance from the electronic tag, and the effective range of the UWB signal is the whole positioning area.
The method comprises the following steps: and measuring the distance measurement information between the mobile point and each Bluetooth and ultra-wideband UWB through wireless signal measurement.
In order to improve the positioning accuracy, further screening the distance information in the effective range of the Bluetooth signal and the UWB signal from the distance measurement information in the first step;
step two: using effective distance measurement information diAnd i is 1, 2, … …, n, positioning calculation is carried out to obtain the initial position of the moving point and the initial residual r0；
Under the condition that the UWB anchor point coordinates and the Bluetooth base station coordinates are known, the distance d between the electronic tag and the wireless signal is calculatediTo obtain a system of equations, i.e., equation (1)
Wherein (x, y) represents the coordinates of the electronic tag, (x)1,y1) Representing the coordinates of the UWB anchor point, n-1 representing the number of Bluetooth base stations within the effective range of the distance electronic tag, (x)i,yi) And the coordinates of the Bluetooth base station in the effective range are shown, and in the moment, i is an integer from 2 to n.
Let z be x2+y2And (3) converting the formula (1) to obtain a linear equation system containing three unknowns as shown in a formula (2):
AX＝b
defining the residual error as shown in formula (3), wherein the residual error can reflect the solution precision to a certain extent, and the larger the residual error, the larger the error of the result.
r＝|z-x2-y2|. (3)
Solving the linear equation set shown in the formula (2) by adopting a least square method to obtain a solution of the equation shown in the formula (4), and then obtaining r according to the formula (3)0
Step three: since the unique solution of the equation set can be obtained only when 3 or more than 3 pieces of distance measurement information exist, the unique solution can be obtained only when one piece of information is removed when the number of effective distance measurement information is more than or equal to four.
When the effective ranging information n is less than four, the calculation result in the step two is adopted as a final result, and the calculation is finished;
if the number n of the effective distance measurement information is more than or equal to four, different distance measurement information d in the n pieces of distance measurement information are removed in sequenceiAnd performing positioning calculation again on the remaining n-1 distance measurement information to obtain the residual error (r) of n positioning calculationsi(i ═ 1, 2, … …, n }, proceed to step four;
step four: residual r obtained by repositioning calculation in step threeiAnd the preliminary residual r in the step two0The change between as the weight w of the residuali；
According to the basic principle of the invention, the residual r is dividediAnd the preliminary residual r0The change between the two is shown in the form of a proportion, as the weight w of the residual errori. The weight calculation mode is shown as formula (5), and the weight matrix is shown as formula (6):
wi＝ri/r0(5)
step five: for the distance measurement information d in the step twoiWeight w to add residualiAnd obtaining distance measurement information with weight, performing positioning calculation again, and obtaining a new position result by using the weight matrix in the step four by using a weighted least square method as well as the formula (7):
and finally obtaining the accurate position of the moving point.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. An indoor positioning method based on residual error weighting is characterized in that the positioning method comprises the following steps:
the method comprises the following steps: obtaining distance measurement information between a mobile point and a fixed base station through wireless signal measurement;
step two: using distance measurement information diAnd i is 1, 2, … …, n, positioning calculation is carried out to obtain the initial position of the moving point and the initial residual r0(ii) a Solving the residual error based on a least square method;
the method specifically comprises the following steps: calculating distance measurement information d between mobile point and fixed base stationiTo obtain the system of equations, and obtain the system of equations,
wherein (x, y) represents the coordinates of the moving point, (x)1,y1) The table fixes the base station coordinates, n-1 indicates the number of fixed base stations within a valid range from the moving point, (x)i,yi) Representing the coordinates of the fixed base station in the effective range, wherein i is an integer from 2 to n;
let z be x2+y2And (3) converting the formula (1) to obtain a linear equation system containing three unknowns as shown in a formula (2):
definition residual r is shown in formula (3),
r＝|z-x2-y2| (3)
solving the linear equation set shown in the formula (2) by adopting a least square method to obtain a solution of the equation shown in the formula (4), and then obtaining r according to the formula (3)0
Step three: if the number n of the distance measurement information is less than four, directly taking the initial position in the step two as a final calculation result, and finishing the calculation;
if the number n of the distance measurement information is more than or equal to four, different distance measurement information d in the n distance measurement information is removed in sequenceiAnd performing positioning calculation again on the remaining n-1 distance measurement information to obtain the residual error (r) of n positioning calculationsiEntering step four, if | i ═ 1, 2, … …, n };
step four: residual r obtained by repositioning calculation in step threeiAnd the preliminary residual r in the step two0The change between as the weight w of the residuali，wi＝ri/r0；
Step five: for the distance measurement information d in the step twoiWeight w to add residualiAnd obtaining distance measurement information with weight, and performing positioning calculation again to obtain the accurate position of the moving point.
2. The residual weighting-based indoor positioning method of claim 1, further comprising, before the step two: and (4) screening distance information in the effective range of the fixed base station from the distance measurement information in the first step.
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