CN107144843A - Parallel distance-finding method based on graph structure task scheduling - Google Patents
Parallel distance-finding method based on graph structure task scheduling Download PDFInfo
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- CN107144843A CN107144843A CN201710274312.5A CN201710274312A CN107144843A CN 107144843 A CN107144843 A CN 107144843A CN 201710274312 A CN201710274312 A CN 201710274312A CN 107144843 A CN107144843 A CN 107144843A
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52001—Auxiliary means for detecting or identifying sonar signals or the like, e.g. sonar jamming signals
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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
- 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)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention discloses a kind of parallel distance-finding method based on graph structure task scheduling, mainly solve to take the problem of long cost is high during current acoustic range.Major programme is：1) one is chosen in N number of mobile device as host node, remaining mobile device and the host node are connected to form ranging network；2) host node issue ranging task, generates the general assignment collection Γ of ranging；3) generation single step ranging task-set ΓqAnd carry out ranging；4) in single step ranging task-set ΓqWith deletion ranging success in general assignment collection Γ and ranging failure and the reaching the number of retries upper limit of the task, Γ is judgedqWith Γ state：If ΓqIt is not sky, then ranging failed tasks number of retries adds 1, return to step 3)；If ΓqFor sky, then general assignment collection Γ states are judged again：If Γ is not sky, return to step 3), otherwise, then ranging terminates.The parallel ranging used time of the invention is short, and equipment is easy to carry, applied widely, available for large-scale more piece point location.
Description
Technical field
The invention belongs to field of locating technology, particularly a kind of parallel distance-finding method is determined available for many mobile devices
Position.
Technical background
With the popularization and fast development of mobile terminal, the location requirement of mobile device is also increasing, most popular at present
Location technology i.e. by gps satellite and combine network signal, base station carry out integrate positioning.Generally in the good outdoor bar of signal
Under part, what the signal of base station and satellite can be stablized provides positional information to mobile device, can be accurate to more than ten meters even several meters
Scope.But, once into the place for having signal to disturb, satellite-signal is then no longer able to provide the accuracy of above-mentioned degree,
Its positioning precision will drop to hundreds of meters of scope.And network signal antijamming capability is even not so good as satellite-signal, by tighter
Generally all it is that network signal fails simultaneously with satellite-signal during the interference of weight so that positioning precision further declines.Therefore, utilize
The technology that other manner is positioned starts progressively to develop in recent years, and achieves preliminary achievement, wherein being surveyed using acoustics
Away from come positioned extremely people concern.
Existing acoustic range method mainly has following several：
Patent publication No. is CN104101863A " alignment system and localization method based on Intelligent mobile equipment ", the party
Method provides a kind of alignment system and localization method based on Intelligent mobile equipment, and several of audio signal are sent by setting
Locator, receives the audio signal that the locator is sent, and then realize determining for Intelligent mobile equipment using Intelligent mobile equipment
Position.This method is disadvantageous in that locator at least needs several, and the system of adding sets up cost.And need to be fixed on certain
Individual place could be positioned in the region, and place is changed every time and is required for resetting multiple locators, elapsed time is long,
So as to cause the present situation that inconvenience is promoted at present.
Patent publication No. is CN104459703A " a kind of sonar ranging method and mobile device ", the realization step of this method
Suddenly it is：First launch ultrasonic signal；Recycle the transmitting of ultrasonic signal and reflected signal and receive the time difference, according to the time difference
Time value is obtained, finally according to time value and the spread speed of ultrasonic signal, ranging distance is obtained.The deficiency of this method
It is in can only be mutually positioned between two equipment, it is impossible to handle multipoint positioning.
The content of the invention
It is an object of the invention to for above-mentioned the deficiencies in the prior art, propose it is a kind of based on graph structure task scheduling and
Row distance-finding method, with reduce that the ranging in signal interference environment is time-consuming and reduction equipment cost on the premise of, carry out multiple point distance measurement
Positioning.
The technical scheme is that：By the self-built LANs of mobile device wifi, using mobile device by ranging task
It is mapped to graph structure and carries out ranging to generate parallel ranging task, implementation step includes as follows：
(1) being set according to mobile device quantity in network has N number of node, and a mobile device is being selected in numerous equipment
As host node M, other nodes connect and compose whole ranging network as from node with host node respectively；
(2) host node M issues ranging task, generates general assignment collection Γ={ T of rangingij, then calculation is dispatched by parallel ranging
Method generation single step ranging task-set Γq, wherein TijRepresent the testing distance between i-th of node and j-th of node, 1≤i≤N,
1≤j≤N,i≠j；
Current general assignment collection Γ is mapped as the node that summit in a figure G, figure is ranging task by (2a), and side then corresponds to
Ranging task；Ranging task number of retries upper limit r is set, the number of retries of all ranging tasks is initialized as 1；
(2b) initialization single step ranging task-set ΓqWith transmitting node collection Iq, it is all empty set, node measurement be set
Number m, 0 is initialized as by the tested number of times m of all nodes；
(2c) selected from figure G at least one face side and m for 0 node as transmitting node i, node i is added to
Launch point set Iq, appoint any for taking and being connected with transmitting node i as response node j, node i and node j be tested number of times m and put 1,
Generate ranging task Tij, and add it to single step ranging task-set Γq；
Next launch point and its corresponding response node are continually looked in this approach, and all nodes are subjected to pairing life
Single step ranging task-set is added into ranging task, remaining isolated node is then retained to next ranging task；
(3) according to single step ranging task-set ΓqAnd transmitting node collection I thereinqResponse node corresponding with each transmitting node
Carry out ranging：
(3a) indicates the node i ∈ I that all transmitting nodes are concentratedqCorresponding voice signal S is launched by transmitteri, simultaneously
Node itself is received to the signal by receiver, and record transmitting node i itself receives signal SiTime T1i；
(3b) indicates that the corresponding response node j of all transmitting nodes receives transmitting node i beacon signal by receiver
Si, and record receives signal SiTime T2i；
(3c) response node j receives signal SiLaunch answer signal S afterwardsj, while the signal is received, and record should
Answer node j and itself receive signal SjTime T1j；
(3d) transmitting node i receives response node j answer signal Sj, and record the time T for receiving corresponding signal2j；
(4) according to the time signal recorded in (3), the distance between transmitting node and response node are calculated；
(5) single step task collection Γ is judgedqWith general assignment collection Γ state, surveyed until task is whole；
(5a) by ranging success and ranging failure but reach the number of retries upper limit task TijFrom single step ranging task-set and
Deleted in general assignment collection Γ；
(5b) judges single step ranging task-set ΓqWhether it is empty：
If being not sky, illustrate to have ranging failure and number of retries is not up to the ranging task T of the upper limitij, by the task
Number of retries adds 1, and by ranging task TijGeneral assignment collection Γ is rejoined, step (2b) generation single step next time is returned again to
Ranging task-set ΓqRetest；
If sky, then whether be empty, if general assignment collection Γ is not sky, return to step if determining whether general assignment collection Γ
(2b), if general assignment collection Γ is sky, ranging is completed.
The invention has the advantages that：
1) present invention due to only needing to multi-section mobile device ranging, it is not necessary to other auxiliary equipments and instrument, equipment into
This is low.
2) present invention sets up LAN to be communicated, is not required to due to only opening wifi module with host node mobile device
The various communication networks of operator are relied on, the real-time of communication is not only ensure that, and connection speed is fast, dependence to external world
It is small.
3) present invention is due to being to carry out acoustic location using mobile device, and the environment and place to ranging localization are not limited
It is fixed, simultaneously because mobile device can be moved arbitrarily, therefore flexibly and easily, strong adaptability.
4) present invention is due to being positioned by parallel ranging, and ranging time wants short number than traditional serial ranging time
Times, therefore time cost can be saved, improve location efficiency.
Brief description of the drawings
Fig. 1 is implementation process figure of the invention；
Fig. 2 is ranging general assignment collection mapping schematic diagram in the present invention；
Fig. 3 is ranging schematic diagram between two mobile devices in the present invention.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings.
Reference picture 1, of the invention to implement step as follows：
Step 1, ranging network is built using mobile device.
Assuming that there are 12 mobile devices, ranging network is built by 12 mobile devices：
Require to carry out ranging using mobile device transmission signal in this example, mobile device therein is mobile phone or flat board electricity
Brain or other there is mobile device in sound transmission-receiving function, wifi module and the equipment with computing capability, this example
Mobile phone is used, accordingly, the realization of this step is as follows：
Being set according to mobile device quantity in network has N number of node, and in numerous equipment select one have receive and
The mobile device of issuing function is as host node M, and other nodes are as from node, and host node mobile device is opened wifi module and built
Vertical focus, the process for managing whole ranging localization finds focus by wifi functions of search from node and adds the ranging
Network, whole ranging network is constituted with this.
Step 2, host node M issues ranging task.
(2a) host node generates general assignment collection Γ={ T of rangingij, i.e. the general assignment collection Γ is appointed by the ranging of mobile device
Be engaged in TijConstitute, when to multipoint positioning, the testing distance T of each node and the other three arbitrary nodeijAdd as ranging task
Enter to general assignment collection Γ, appointed to improve the general assignment collection in the accuracy of positioning, this example by each node and four additional
The testing distance T of meaning nodeijConstitute, wherein TijRepresent the testing distance between i-th of node and j-th of node, 1≤i≤N,
1≤j≤N, i ≠ j, then single step ranging task-set Γ is generated by parallel ranging dispatching algorithmq：
(2b) reference picture 2 (a), is the section of ranging task by the current general assignment collection Γ summits being mapped as in a figure G, figure
Point, side then corresponds to ranging task；Ranging task number of retries upper limit r=3 is set, by the beginning of the number of retries of all ranging tasks
Beginning turns to 1；
(2c) initialization single step ranging task-set ΓqWith transmitting node collection Iq, it is all empty set, node measurement be set
Number m, 0 is initialized as by the tested number of times m of all nodes；
Node 1, as transmitting node, is added to transmitting node collection I by (2d) any selection node 1 in figure (2a)qIn
Go, randomly choose the node 2 being connected with node 1 as response node, the pendulous frequency of node 1 and node 2 is put 1, generation is surveyed
Away from task T1,2It is added to single step ranging task-set Γq；
Next find transmitting node that next pendulous frequency is 0 and generate ranging task and be added to single step ranging task
Collection, until node of the remaining pendulous frequency for 0 or remaining, the single step ranging task-set ultimately produced, such as Fig. 2 without node
(b) shown in, single step ranging task-set in Fig. 2 (b) is obtained:Γq={ T1,2,T3,9,T5,4,T7,6,T12,11,T8,10, now launch
Point set is Iq={ 1,3,5,7,8,12 }.
Step 3, according to single step ranging task-set ΓqAnd transmitting node collection I thereinqResponse corresponding with each transmitting node
Node carries out ranging.
The transmitter and receiver of each node, are made up of loudspeaker and microphone herein, or can launch sound by other
Ripple and the equipment composition for receiving sound wave, the transmission signal of its interior joint should have good autocorrelation, so as in noise ring
It can be more easily detected in border.
The process of receiving and transmitting signal and logging timestamp is as shown in figure 3, accordingly between transmitting node i and response node j, this step
Rapid realization is as follows：
(3a) indicates the node i ∈ I that all transmitting nodes are concentratedqCorresponding voice signal S is launched by transmitteri, simultaneously
Node itself is received to the signal by receiver, and record transmitting node i itself receives signal SiTime T1i；
(3b) indicates that the corresponding response node j of all transmitting nodes receives transmitting node i beacon signal by receiver
Si, and record receives signal SiTime T2i；
(3c) response node j receives signal SiLaunch answer signal S afterwardsj, while the signal is received, and record should
Answer node j and itself receive signal SjTime T1j；
(3d) transmitting node i receives response node j answer signal Sj, and record the time T for receiving corresponding signal2j。
Step 4, the distance between transmitting node and response node are calculated.
Four time stamp Ts according to recorded in step (3)1i、T2i、T1j、T2j, it is updated to the distance of beepbeep algorithms
In calculation formula, the distance between transmitting node and response node are calculated：
dij=c [(T2i-T1i)-(T2j-T1j)]+dii+djj
Velocity of sound when wherein c is ranging, diiRepresent the distance between transmitting node i microphone and loudspeaker, djjRepresent
The distance between response node j microphone and loudspeaker.
Step 5, single step ranging task-set Γ is judgedqWith general assignment collection Γ state, surveyed until task is whole.
(5a) by ranging success and ranging failure but reach the number of retries upper limit task TijFrom single step ranging task-set and
Deleted in general assignment collection Γ；
(5b) judges single step ranging task-set ΓqWhether it is empty：
If being not sky, illustrate to have ranging failure and number of retries is not up to the ranging task T of the upper limitij, now ranging
After end, shown in single step ranging task-set Γ such as Fig. 2 (c), there is a ranging task T3,9Failure, and number of retries is 1, is not surpassed
Maximum reattempt times 3 times are crossed, therefore need to be by task T3,9Rejoin shown in general assignment collection Γ, such as Fig. 2 (d), and return to step
(2b) continues ranging, until task-set Γ is sky；
If sky, then whether be empty, if general assignment collection Γ is not sky, return to step if determining whether general assignment collection Γ
(2b), if general assignment collection Γ is sky, ranging is completed.
Above description is only example of the present invention, it is clear that for those skilled in the art, is being understood
After present invention and principle, it may all carry out in form and details in the case of without departing substantially from the principle of the invention, structure
Various modifications and variations, but these modifications and variations based on inventive concept are still in the claims of the present invention
Within.
Claims (6)
1. a kind of parallel distance-finding method based on graph structure task scheduling, including：
(1) being set according to mobile device quantity in network has N number of node, and a mobile device conduct is being selected in numerous equipment
Host node M, other nodes connect and compose whole ranging network as from node with host node respectively；
(2) host node M issues ranging task, generates general assignment collection Γ={ T of rangingij, then given birth to by parallel ranging dispatching algorithm
Into single step ranging task-set Γq, wherein TijRepresent the testing distance between i-th of node and j-th of node, 1≤i≤N, 1≤j
≤N,i≠j；
Current general assignment collection Γ is mapped as the node that summit in a figure G, figure is ranging task by (2a), and side then corresponds to ranging
Task；Ranging task number of retries upper limit r is set, the number of retries of all ranging tasks is initialized as 1；
(2b) initialization single step ranging task-set ΓqWith transmitting node collection Iq, it is all empty set, node measurement number of times m be set,
The tested number of times m of all nodes is initialized as 0；
(2c) selected from figure G at least one face side and m for 0 node as transmitting node i, node i is added to transmitting
Point set Iq, appoint any for taking and being connected with transmitting node i as response node j, node i and node j be tested number of times m and put 1, generation
Ranging task Tij, and add it to single step ranging task-set Γq；
Next launch point and its corresponding response node are continually looked in this approach, and all nodes are carried out into pairing generation surveys
Single step ranging task-set is added to away from task, remaining isolated node is then retained to next ranging task；
(3) according to single step ranging task-set ΓqAnd transmitting node collection I thereinqResponse node corresponding with each transmitting node is carried out
Ranging：
(3a) indicates the node i ∈ I that all transmitting nodes are concentratedqCorresponding voice signal S is launched by transmitteri, while node
Itself is received to the signal by receiver, and record transmitting node i itself receives signal SiTime T1i；
(3b) indicates that the corresponding response node j of all transmitting nodes receives transmitting node i beacon signal S by receiveri, and
Record receives signal SiTime T2i；
(3c) response node j receives signal SiLaunch answer signal S afterwardsj, while being received to the signal, and record response section
Point j itself receives signal SjTime T1j；
(3d) transmitting node i receives response node j answer signal Sj, and record the time T for receiving corresponding signal2j；
(4) according to the time signal recorded in (3), the distance between transmitting node and response node are calculated；
(5) single step task collection Γ is judgedqWith general assignment collection Γ state, surveyed until task is whole；
(5a) by ranging success and ranging failure but reach the number of retries upper limit task TijFrom single step ranging task-set and total
Deleted in business collection Γ；
(5b) judges single step ranging task-set ΓqWhether it is empty：
If being not sky, illustrate to have ranging failure and number of retries is not up to the ranging task T of the upper limitij, the task is retried
Number of times adds 1, and by ranging task TijGeneral assignment collection Γ is rejoined, step (2b) generation single step ranging next time is returned again to
Task-set ΓqRetest；
If sky, then whether be empty, if general assignment collection Γ is not sky, return to step if determining whether general assignment collection Γ
(2b), if general assignment collection Γ is sky, ranging is completed.
2. according to the method described in claim 1, the mobile device wherein in step (1a), is all made up of, Huo Zheyou mobile phone
Mobile phone, tablet personal computer or other have sound transmission-receiving function and with computing capability equipment mixing constitute.
3. according to the method described in claim 1, the host node wherein in step (1b), is made up of mobile phone, or by mobile phone, flat
Plate computer or other equipment mixing with reception and release tasks function are constituted.
4. according to the method described in claim 1, general assignment collection Γ={ T wherein in step (2a)ij, by the survey of mobile device
Away from task TijConstitute, that is, when positioning a mobile device i, by its testing distance T with any three mobile devicesijIt is used as survey
General assignment collection is added to away from task, when to multipoint positioning, the testing distance T of each node and the other three arbitrary nodeijMake
General assignment collection Γ, wherein T are added to for ranging taskijRepresent the testing distance between i-th of node and j-th of node, 1≤i
≤N,1≤j≤N,i≠j。
5. according to the method described in claim 1, transmitter and reception of the transmitting node with response node wherein in step (3a)
Device, is made up of loudspeaker and microphone, or can be launched sound wave by other and be received the equipment of sound wave and constitute.
6. according to the method described in claim 1, the voice signal wherein in step (3a), refers to meet main flow mobile device
Loudspeaker or microphone transmitting, the signal of condition of acceptance, i.e., its own should be with good autocorrelation, so as in noise circumstance
In can be more easily detected.
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