CN107091642A - A kind of indoor orientation method based on the mapping of different plane anchor node and rasterizing correction - Google Patents
A kind of indoor orientation method based on the mapping of different plane anchor node and rasterizing correction Download PDFInfo
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- H—ELECTRICITY
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Abstract
The invention discloses a kind of indoor orientation method based on the mapping of different plane anchor node and rasterizing correction, including three below step：(a) different plane test model is set up；(b) dimension-reduction treatment of projection plane；(c) coplanar precision adjustment correction.Mainly for the positioning in the case of indoor multi-obstacle avoidance is inaccurate and path planning problem, propose a kind of by barrier projection mapping to same plane progress dimension-reduction treatment, and the indoor orientation method of the correction pattern of plane map rasterizing is carried out, method of the present invention simplifies the mass communication overhead issues that input is measured and positioned apart from side of existing non line of sight and improves the reliability of positioning accurate accuracy and raising path planning of the mobile object for needing to position under multi obstacles environment.
Description
Technical field
The invention belongs to reduce the location technology of position error under a kind of indoor environment, more particularly to it is a kind of based on different plane
The indoor orientation method that anchor node is mapped and rasterizing is rectified a deviation.
Background technology
With the improvement of living standards with the progress of scientific and technological level, many smart home products constantly enter ours
In life, the convenience brought to us also greatly improves our quality of life.Service humanoid robot is should society
With the product of people's life to the pursuit of high-quality life easy, in China or even countries in the world, home-services robot has
Huge customer group and market, have become an important development trend of robot industry development, are also robot of China
One emphasis direction of development.
In the evolution of service type intelligent robot, general robot or other wired home service mobilities
Product is mainly used in interior, therefore positioning and Path Planning Technique directly affect the intelligence and efficiently of service, for interior
Location technology, existing technology has seven kinds of location technologies, be respectively infrared confirming orientation technology, ultrasonic wave indoor positioning technologies,
Radio frequency identification (RFID) indoor positioning technologies, bluetooth indoor positioning technologies, Wi-Fi indoor positioning technologies, ZigBee indoor positionings
Technology and UWB indoor location technology.In terms of the indoor moving positioning of robot and other intelligent artifacts, mainly solve
It is present position information and to destination path planning.In the case of indoors, due to there is blocking and multipath transmisstion for building
Effect, locating effect is unsatisfactory, therefore, and indoor positioning is also at the hot issue of research positioning.Existing indoor positioning is adopted
Positioning is mainly divided to two kinds：Indoor positioning based on ranging (Ranged-based) and based on non-ranging (Range-free)
Indoor positioning.The former needs to know the distance between beaconing nodes or angle information, and the latter relies primarily on adjacent between node
Relation and connectedness.Indoor positioning mode and algorithm based on ranging are according to the distance between node measured or angle information
To ask for the position of nodes of locations, mainly have based on TOA, based on reaching time-difference (Time Difference of Arrival,
TDOA), based on angle of arrival (Angle of Arrival, AOA) and based on location algorithms such as RSSI values.Conventional location algorithm
Model has following several：Trilateration, triangulation, Maximum Likelihood Estimation Method.Need not based on non-ranging location algorithm
Using information such as the coordinate between node, distance and angles, it is general using network-in-dialing degree can Primary Location, realize interior
The low cost of positioning, but position error compared with location algorithm generally it is larger.Conventional range-free localization algorithm has：Barycenter is calculated
Method, DV-Hop (Distance Vector Routing, DV), convex programming algorithm, the RSSI algorithms based on fingerprint, approximate triangle
Point mensuration algorithm (Approximately Point-In-Triangulation, APIT) in shape.
There is certain difference in the working environment of existing Position Research and the actual working environment of home-services robot,
The particularity of home-services robot working environment is not accounted for, is influenceed by a large amount of walls, door and soft dress in family,
The positional information oriented often and the certain deviation of physical presence, signal in communication process also by multiple diffraction, absorption,
The factors such as multipath influence.The presence of these factors, causes domestic robot accurately to obtain the positional information and target of oneself
The positional information of point, so that can have influence on home-services robot continuously service across many sub- working regions.This is accomplished by pin
Particularity to home environment proposes to be more suitable for the localization method of home-services robot.
The content of the invention
Goal of the invention：For above-mentioned existing home-services robot accurate positioning is moved under a large amount of walls, door interference
Degree problem and indoor positioning use the problems such as communication overhead needed for high accuracy positioning is brought based on range measurement is big, cost is high,
The present invention proposes a kind of indoor orientation method based on the mapping of different plane anchor node and rasterizing correction, and this method is adapted to household ring
The location information of Jing Xia robots calculates and improved again the precision of three side location algorithms under NLOS environment indoors.
Technical scheme：A kind of indoor positioning side based on the mapping of different plane anchor node and rasterizing correction of the present invention
Method, including three below step：
(a) different plane test model is set up；
(b) dimension-reduction treatment of projection plane；
(c) coplanar precision adjusts the coordinate for rectifying a deviation and obtaining point to be determined.
Wherein, the different plane test model of setting up described in the step (a) includes environmental map rasterizing and indoor anchor section
Point location arrangements：Described environmental map rasterizing is to obtaining indoor plane on coplanar by indoor obstructing objects upright projection
Map, position size on indoor plane map is then be mapped to barrier and carries out expansion process, then will be described indoor flat
Face map uniform lattice obtains grating map, by the grating map according to the mapping of barrier be divided into barrier zone, from
By region and dynamic area, then described grating map is numbered in order successively；Described indoor anchor node arrangement
It is that iBeacon beaconing nodes are arranged on roof top, the location of anchor point is then determined respectively apart from each anchor node
Air line distance and each iBeacon beaconing nodes vertical height, and more than twice survey collection anchor point it is different from iBeacon
Apart from when RSSI value, the distance Curve of RSSI and anchor point and anchor node is fitted by Matlab, the suitable family of simulation is set up
The indoor attenuation model of front yard environment, obtains the distance relation of RSSI and anchor point and anchor node.
Described barrier zone is fixed object, including indoor wall and static places object；Described free space is
Clear area；Described dynamic area includes door and movable object location of projection region.
The dimension-reduction treatment of described step (b) projection plane is by indoor attenuation model, by the anchor point and anchor of acquisition
The RSSI value of node is converted into range information, while this distance is projected into two dimensional surface by Pythagorean theorem, obtains anchor point
Apart from the horizontal linear distance of anchor node；Then by location algorithm and range information D_actual, estimating for point to be determined is obtained
Count position.
The coplanar precision adjustment correction of described step (c) is that the estimated location drawn according to step (b) is calculated and treated
Anchor point to each anchor node positional information and D_virtual, then according to D_actual and D_virtual range information
Set up the positional information of virtual anchor node；If small apart from D_virtual with each anchor node by estimated location to be positioned
In the value by the RSSI D_actual measured, then node is rectified a deviation backward according to difference information, if by estimation position to be positioned
Put with each anchor node apart from D_virtual more than the value by the RSSI D_actual measured, then node is rectified a deviation forward；Such as
The estimated location of fruit point to be determined and each anchor node apart from D_virtual are equal to value by the RSSI D_actual measured,
Then node is without being rectified a deviation；Then according to the positional information of virtual anchor node and D_actual value, ranging calculation is carried out again
Method, judges whether point to be located is in effective grid region, reaches required precision.If it is, display location information and residing
Grid region is numbered.If it is not, then re-starting above-mentioned method for correcting error.Last display information position and grid region are compiled
Number.
Beneficial effect：Compared with prior art, its remarkable advantage is that putting forward the present invention is applied to Indoor Robot to the present invention
With the positioning and path planning for needing positioning product, by different plane to coplanar dimension-reduction treatment, it can be good at avoiding barrier
Hinder thing and improve precision and the exact path planning of positioning, simplify algorithmic procedure, provided for robot and accurately position and make
Path planning is relatively reliable effectively.
Brief description of the drawings
Fig. 1 is the general steps flow chart of the present invention；
Fig. 2 is the flow chart that the present invention sets up different plane test model；
Fig. 3 is indoor plane map rasterizing schematic diagram of the present invention；
Fig. 4 is the indoor anchor node layout and range determination schematic diagram of the present invention；
The iBeacon that Fig. 5 is the present invention is laid out on ground, design sketch when measuring point step-length is respectively 1m and 0.5m；
Fig. 6 is that iBeacon layouts are on roof in step (a) of the present invention, when measuring point step-length is respectively 1m and 0.5m
Design sketch；
The iBeacon that Fig. 7 is the present invention is laid out on ground and roof effect contrast figure；
Fig. 8 is the processing calculation flow chart of the projection plane of the present invention；
Fig. 9 is anchor node standoff height of the present invention and the range determination schematic diagram apart from anchor point to be measured；
Figure 10 is coplanar precision adjustment method for correcting error flow chart of the invention；
Figure 11 is that the dummy node distance of point to be determined in coplanar precision adjustment correction of the invention is measured less than RSSI
D_actual method for correcting error schematic diagram；
Figure 12 is that the dummy node distance of point to be determined in coplanar precision adjustment correction of the invention is measured more than RSSI
D_actual method for correcting error schematic diagram.
Embodiment
In order to which technical scheme disclosed by the invention is described in detail, with reference to Figure of description and specific embodiment make into
The elaboration of one step.
As shown in figure 1, a kind of indoor orientation method based on the mapping of different plane anchor node and rasterizing correction is including following
Three steps：
(a) different plane test model is set up；
(b) dimension-reduction treatment for the projection plane for obtaining different Planar Mapping；
(c) coplanar precision is adjusted and rectified a deviation.
It is that different plane process is projected in plane first as shown in Fig. 2 being set up in step (a) in different plane test model,
Indoor plane map is obtained, then uniform lattice indoor plane map, then arranges the anchor node of interior, it is preferred to use
IBeacon gathers the electric field signal intensity of point to be determined, changes into range information, finally set up different plane as beaconing nodes
Test model.It is preferred that, it is grating map by the office work context conversion of home-services robot, only considers in working environment
The static-obstacle thing such as wall, cut-off, and expansion process is carried out to barrier.The state of each grid is divided into three kinds of situations：From
By region, barrier region, dynamic area.Wherein dynamic area is connects the important area of each sub- working region, such as door institute
Region.By the way that household plan is carried out into rasterizing and region is numbered, positional information can be effectively obtained, it is obtained
Obtain grid to number and set up the coordinate system of projection plane, as shown in figure 3, whereinRepresent barrier region,Represent free zone
Domain,Represent dynamic area.The connectedness of dynamic area has uncertainty, the region as where door.Followed by will
IBeacon positions are laid at the top of house, and iBeacon is preferred to use here as anchor node and virtual base station, as shown in figure 4,
On the indoor roof same level face that home-services robot is worked arrange anchor node B1, B2, B3, and by anchor node B1, B2,
B3 upright projections obtain subpoint B1 ', B2 ', B3 ', anchor node B1, B2, B3 to anchor section on coplanar residing for grating map
Spot projection point B1 ', B2 ', B3 ' vertical height h, gather RSSI value during apart from iBeacon different distances, according to RSSI respectively
Location algorithm calculate anchor node arrive air line distance D1, D2, D3 between the P of point to be determined, by Matlab fit RSSI and away from
From curve, simulate the indoor attenuation model under suitable home environment, obtain RSSI and the relation apart from D.As shown in figure 5,
By in anchor section layout indoors ground same level position, measuring point step-length fits RSSI when being respectively 1m and 0.5m by Matlab
Go out the distance apart from iBeacon and the design sketch of the RSSI signal values measured.As shown in fig. 6, anchor section is laid out into roof indoors
RSSI is fitted by Matlab on same level position, when measuring point step-length is respectively 1m and 0.5m and goes out distance apart from iBeacon
With the design sketch of the RSSI signal values measured.
As shown in fig. 7, anchor node is arranged in into effect contrast figure on ground and roof, as seen from the figure, it is preferred to use
The method that iBeacon is arranged in roof.
As shown in figure 8, in the dimension-reduction treatment for the projection plane that step (b) obtains different Planar Mapping, the first step is anchor section
Upright projection is put to ground, second step is that, by antarafacial test model, obtaining point to be determined P, now RSSI is corresponding apart from D,
3rd step is to obtain actual range D_actual by way of upright projection apart from D, and the 4th step is, by location algorithm, to obtain
Point to be determined P positional information.In the step (b), distance is measured as shown in Figure 9, arrange indoors anchor node B1,
B2 and B3, and anchor node B1, B2 and B3 are projected to respectively subpoint B1 ', B2 ', B3 ' are obtained on ground, pass through the different of foundation
The distance conversion of plane test model and RSSI signal values, obtained anchor node to point to be determined P is apart from D1, D2 and D3, so
After will be projected to respectively on grating map apart from D1, D2 and D3, in Fig. 9, h represents anchor node iBeacon apart from projection plane
Highly, respectively by apart from D1, D2 and D3 project to it is coplanar obtain D1 ', D2 ' and D3 ', calculate D_ according to three side location algorithms
Actual1, D_actual2 and D_actual3 distance value.Specific algorithm is as follows：
Wherein：Height h is exactly vertical height of the roof to tested point, D_actuaL for calculate obtained point to be determined P away from
From the subpoint air line distance of anchor node, D is point to be determined P RSSI value conversion distance, and h is anchor node apart from projection plane
Highly.
Wherein (xi,yi) be anchor node positional information, (x, y) be anchor point positional information.
As shown in Figure 10, the coplanar precision adjustment correction of the step (c) is in determining for being calculated by location algorithm
In the case that site information is undesirable, the method that the calculating of three times is carried out to anchor point information.First according to point to be determined position
Carry out judging whether anchor point is preferable in same grid region with whether physical location falls, if in same grid region
Stop calculating, and show location information and grid region now.It is implemented as follows：
Calculated according to positioning result and obtain anchor point to each anchor node apart from D_virtual.And according to D_virtual
With D_actual range information, the positional information of virtual anchor node is set up.If by location estimation position and each anchor node
Apart from D_virtual be less than by the RSSI D_actual measured value, then node is rectified a deviation backward according to difference information.It is no
Then, then node is rectified a deviation forward.According to the positional information of virtual anchor node and D_actual value, location algorithm is carried out again,
Judge whether point to be determined P is in effective grid region, reach required precision.If it is, display location information and residing
Grid region is numbered.If it is not, then proceeding correction.
Passing through being calculated now apart from formula between anchor node information position, point to be determined P information position and at 2 points
D_virtual distance.And the position of virtual anchor node is extrapolated apart from size according to D_virtual and D_actual
Information.If by the value apart from D_virtual of point to be determined P estimated locations and each anchor node than the D_ that is measured via RSSI
Actual value is small, then realizes as shown in figure 11.The calculation of virtual base station is as follows：
And
Otherwise, if by the value ratio apart from D_virtual of point to be determined P estimated locations and each anchor node via RSSI
The D_actual measured value is big, then realizes that the calculation of virtual base station is as follows as shown in figure 12：
And
Wherein, (x ', y ') is the positional information of virtual anchor node, and (x, y) is the location information that primary Calculation goes out, (xi,yi)
For the information of initial anchor node.
D_virtual acquisition is exactly that the first of the anchor point P that will be calculated omits position (x, y), respectively with anchor node B1
(x1, y1), B2 (x2, y2), B3 (x3, y3) does the acquisition of point-to-point transmission straight line formula, D_virtual1, D_virtual2, D_
Virtual3, D_virtual are used when correction, and it is inside or outside to determine correction.
The positional information of the dummy node obtained by upper step, calculates the positional information of positioning node again.Obtain pair
The correction result of Primary Location estimation.Same process can be repeated, the requirement according to grid positions and to positioning precision
Determine the number of times of iteration.What non line of sight, multipath inaccurately caused by RSSI measurement by continuous iteration, counteracting etc. was caused
Error, so as to reach the purpose for improving positional accuracy.Last display information position and grid region numbering, obtain band anchor point
Precise positioning.
Claims (7)
1. a kind of indoor orientation method based on the mapping of different plane anchor node and rasterizing correction, it is characterised in that：Described side
Method includes three below step：
(a) different plane test model is set up；
(b) dimension-reduction treatment of projection plane；
(c) coplanar precision adjusts the coordinate for rectifying a deviation and obtaining point to be determined.
2. a kind of indoor orientation method based on the mapping of different plane anchor node and rasterizing correction according to claim 1,
It is characterized in that：Different plane test model of setting up described in the step (a) includes environmental map rasterizing and indoor anchor node
Location arrangements.
3. a kind of indoor orientation method based on the mapping of different plane anchor node and rasterizing correction according to claim 2,
It is characterized in that：Described environmental map rasterizing is to obtaining indoor plane on coplanar by indoor obstructing objects upright projection
Map, position size on indoor plane map is then be mapped to barrier and carries out expansion process, then will be described indoor flat
Face map uniform lattice obtains grating map, by the grating map according to the mapping of barrier be divided into barrier zone, from
By region and dynamic area, then described grating map is numbered in order successively.
4. a kind of indoor orientation method based on the mapping of different plane anchor node and rasterizing correction according to claim 2,
It is characterized in that：Described indoor anchor node arrangement is that iBeacon beaconing nodes are arranged on into roof top, is then determined respectively
The location of anchor point is apart from the air line distance of each anchor node and the vertical height of each iBeacon beaconing nodes, and two
RSSI value during collection anchor point and iBeacon different distances is surveyed more than secondary, by Matlab fit RSSI and anchor point with
The distance Curve of anchor node, sets up the indoor attenuation model of the suitable home environment of simulation, obtains RSSI and anchor point and anchor node
Distance relation.
5. a kind of indoor orientation method based on the mapping of different plane anchor node and rasterizing correction according to claim 3,
It is characterized in that：Described barrier zone is fixed object, including indoor wall and static places object；Described free space
For clear area；Described dynamic area includes door and movable object location of projection region.
6. a kind of indoor orientation method based on the mapping of different plane anchor node and rasterizing correction according to claim 1,
It is characterized in that：The dimension-reduction treatment of described step (b) projection plane be by indoor attenuation model, by the anchor point of acquisition with
The RSSI value of anchor node is converted into range information, while this distance is projected into two bit planes by Pythagorean theorem, is positioned
Point, then by location algorithm and range information D_actual, obtains point to be determined apart from the horizontal linear distance of anchor node
Estimated location.
7. a kind of indoor orientation method based on the mapping of different plane anchor node and rasterizing correction according to claim 1,
It is characterized in that：The coplanar precision adjustment correction of described step (c) is that the estimated location drawn according to step (b) is calculated
Then believed to the positional information and D_virtual of each anchor node according to D_actual and D_virtual distance point to be determined
Breath sets up the positional information of virtual anchor node；If by estimated location to be positioned with each anchor node apart from D_virtual
Less than the value by the RSSI D_actual measured, then node is rectified a deviation backward according to difference information, if by estimation to be positioned
Position and each anchor node apart from D_virtual are more than value by the RSSI D_actual measured, then node are rectified a deviation forward；
If the estimated location of point to be determined is equal to by the RSSI D_actual's measured with each anchor node apart from D_virtual
Value, then node is without being rectified a deviation；Then according to the positional information of virtual anchor node and D_actual value, ranging is carried out again
Algorithm, judges whether point to be located is in effective grid region, reaches required precision；If it is, display location information and institute
Locate grid region numbering, if it is not, then re-starting above-mentioned method for correcting error, last display information position and grid region are compiled
Number.
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