CN107371133B - Method for improving positioning accuracy of base station - Google Patents

Method for improving positioning accuracy of base station Download PDF

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Publication number
CN107371133B
CN107371133B CN201710449219.3A CN201710449219A CN107371133B CN 107371133 B CN107371133 B CN 107371133B CN 201710449219 A CN201710449219 A CN 201710449219A CN 107371133 B CN107371133 B CN 107371133B
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mobile terminal
distance
base station
base stations
correction
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CN107371133A (en
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崔兆琦
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/06—Testing, supervising or monitoring using simulated traffic
    • 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

Abstract

The embodiment of the invention discloses a calculation method for effectively processing measurement data errors and improving the positioning accuracy of a base station. The method comprises the following steps: (1) according to the measuring distance between the mobile terminal and different base stations (the mobile terminal is used for measuring signals of different base stations to obtain the arrival time or arrival time difference of the signals of different base stations so as to obtain the measuring distance between the mobile terminal and the base stations), a measuring data correction model is adopted to obtain a correction distance; (2) substituting the correction distance into a positioning calculation model to obtain a least square solution of the mobile terminal coordinate, thereby calculating to obtain a mobile terminal positioning calculation distance; (3) establishing a standard deviation F between the positioning calculation distance and the measurement correction distance, and obtaining an optimal solution of error parameters a and b in the measurement data correction model by adopting a genetic algorithm by taking the minimum F as an optimization target; (4) and according to the optimal solution of the a and the b, bringing the optimal solution into a positioning calculation model so as to obtain the optimal position coordinate of the mobile terminal.

Description

Method for improving positioning accuracy of base station
Technical Field
The invention relates to a method for effectively processing measurement data errors and improving positioning accuracy when a base station is used for positioning in the field of mobile communication networks.
Background
At present, the more mature wireless positioning technologies mainly include: GPS (Global Positioning System), WiFi (Wireless Fidelity), base station, bluetooth, and infrared. These positioning techniques are increasingly used in the business sector and in people's daily lives. Along with the increasing development of science and technology, be applicable to outdoor accurate location for the satellite, the condition that the basic station is more applicable to indoor location.
The principle of base station location is that a mobile terminal measures signals of different base stations to obtain Arrival Time (TOA, Time of Arrival) or Time Difference of Arrival (TDOA, Time Difference of Arrival) of the signals of different base stations, thereby obtaining a measured distance between the mobile terminal and the base station; and calculating the position of the mobile terminal according to the measurement result and the coordinates of the base station. However, when data is measured, a large error is generated in the measured data due to shielding, reflection, and loss of a signal by a building or the like, and positioning accuracy is seriously affected.
Disclosure of Invention
In view of this, the present invention provides a calculation method for effectively processing the measurement data error and improving the positioning accuracy of the base station.
Specifically, the invention relates to a calculation method for effectively processing measurement data errors so as to improve the positioning accuracy of a base station, which is characterized by comprising the following steps: firstly, correcting measured data by using a data correction model, substituting the corrected data into a positioning calculation model, and obtaining a positioning calculation distance; secondly, the minimum standard deviation between the positioning calculation distance and the measurement correction distance is taken as a target, a genetic algorithm is adopted for optimization, the optimal error parameter is obtained, and then the optimal solution of the coordinates of the mobile terminal is obtained.
More specifically, the method of the present invention comprises the steps of:
(1) according to the measuring distance between the mobile terminal and different base stations (using the mobile terminal to measure the signals of different base stations to obtain the arrival time or arrival time difference of the signals of different base stations so as to obtain the measuring distance between the mobile terminal and the base stations), a measuring data correction model (r) is adoptedc-rz＝arc+ b, a, b are error parameters) to obtain a corrected distance;
(2) substituting the correction distance into a positioning calculation model to obtain a least square solution of the mobile terminal coordinate, thereby calculating to obtain a mobile terminal positioning calculation distance;
(3) establishing a standard deviation F between the positioning calculation distance and the measurement correction distance, and repeating the steps (1) - (3) by adopting a genetic algorithm with the minimum F as an optimization target to obtain an optimal solution of a and b;
(4) and according to the optimal solution of the a and the b, bringing the optimal solution into a positioning calculation model so as to obtain the optimal position coordinate of the mobile terminal.
Specifically, the method comprises the following steps:
(1) providing a measurement data correction model and assuming a set of error parameters a, b;
rc-rz＝arc+b (1)
(2) according to the measuring distance between the mobile terminal and different base stations (the mobile terminal is used for measuring signals of different base stations to obtain the arrival time or arrival time difference of the signals of different base stations so as to obtain the measuring distance between the mobile terminal and the base stations), a measuring data correction model is adopted to obtain a correction distance;
(3) substituting the correction distance into a positioning calculation model to obtain a least square solution of the mobile terminal coordinate;
(4) calculating to obtain the movement according to the least square solution of the mobile terminal coordinatesMobile terminal positioning calculation distance r'i；
(5) Establishing positioning calculation distance r'iAnd measure the corrected distance riStandard deviation F between;
(6) repeating the steps (1) to (5) by adopting a genetic algorithm and taking the minimum F as an optimization target to obtain the optimal solution of a and b;
(7) and according to the optimal solution of the a and the b, bringing the optimal solution into a positioning calculation model so as to obtain the optimal position coordinate of the mobile terminal.
The key technical points are as follows:
1. measurement data correction calculation model
Due to the influence of the obstruction on the indoor signals, the error of the measured data is large, and the coordinates of the mobile terminal are difficult to accurately determine by a common algorithm. The degree of difference between the measured distance between the mobile terminal and the base station and the actual distance can be represented by the following formula:
rc-rz＝arc+b (1)
wherein: r iscTo measure distance, m; r iszTo correct distance, m; a and b are error parameters related to the environment.
The above equation (1) is recorded as a measurement data error correction model.
2. Positioning calculation model using corrected data
Given a set of parameters a, b in equation (1), a corrected distance can be obtained from the measured distance, assuming that the corrected distance is a real distance, and knowing the location coordinates of n base stations, the distance from a certain mobile terminal to n base stations can be calculated by using distance equation (2) (i.e., a measured data correction model):
wherein, x, y and z are coordinates of a certain mobile terminal; x is the number ofi,yi,ziCoordinates of the ith base station; r isiThe corrected distance from the mobile terminal to the ith base station (obtained by correcting the measured distance according to formula (1)), and n is the number of base stations. According to the above equationAnd simultaneously solving to determine the position of the mobile terminal.
In practice, the coordinates x, y and z of a mobile terminal can be solved by the measurement results of three base stations, but because the measurement time has errors, accurate positioning is realized by increasing the number of the base stations, three unknowns and more than three equations exist in the model solving, and a least square method is adopted to solve a contradiction equation set.
For example, according to coordinates of four base stations, the distance between the mobile terminal and each base station is obtained, the measurement data is corrected by using equation (1), and then the distance is substituted into the following equation to obtain a least square solution (i.e., a positioning calculation model):
x＝(HTH)-1HTb (3)
wherein: x, y and z are coordinates of a certain mobile terminal; x is the number ofi,yi,ziCoordinates of the ith base station; r isiThe corrected distance from a certain mobile terminal to the ith base station (obtained by correcting the measured distance according to formula (1)), and n is the number of base stations.
If the number of the base stations exceeds 4, the formula (3) is still satisfied, and then H and H are carried outTAnd b is respectively:
from the above equation, a least squares solution of the mobile terminal coordinates can be found from the positions of the n base stations.
3. Determining optimal error parameters and optimal solutions using genetic algorithms
In the above-described mobile terminal position determination calculation, it is calculated assuming that a set of error parameters a, b is given, which are not necessarily true values, and thus it is necessary to determine the optimal values of a, b.
Assuming that a certain mobile terminal is connectableAnd receiving signals of the n base stations, and measuring the measuring distances between the mobile terminal and the n base stations through signal transmission between the mobile terminal and the base stations. Assuming a set of error parameters a, b for error correction, for ease of description, this is referred to as the measured correction distance (i.e., r above)i) Substituting the obtained data into a positioning calculation model (formula (3)), obtaining a least square solution of coordinates x, y and z of the mobile terminal, and obtaining a distance r 'between the positioning calculation coordinates of the mobile terminal and the ith base station according to formula (2)'iFor convenience of description, it is referred to as a positioning calculation distance.
An error exists between the positioning calculation distance and the correction distance, and the smaller the error is, the more accurate the corrected data is. The standard deviation of the corrected distances and the positioning calculation distances between a certain mobile terminal and n base stations is as follows:
wherein: r'iCalculating the distance m for the positioning of the ith base station of the mobile terminal; r isiAnd m is the corrected distance between the mobile terminal and the ith point.
And (5) taking the formula (5) as an optimization objective function, and obtaining optimal parameters a and b by using a genetic algorithm. Genetic algorithms are a search heuristic used to solve optimization in the field of computer science and artificial intelligence, which is commonly used to generate useful solutions to optimize and search problems. And (3) searching and solving by a genetic algorithm through a set of candidate solutions of the given parameters a and b to obtain the optimal solution of a and b and the optimal mobile terminal position coordinate.
The invention has the beneficial effects that: through the error analysis of the measured data, the corrected data is used on a common base station positioning algorithm, and the error parameters are optimized by using a genetic algorithm, so that the positioning precision can be effectively improved.
Drawings
FIG. 1 is a schematic diagram of a comparison between a calculated position and a real position.
Detailed Description
Assuming that the mobile terminal can receive signals of 10 base stations (the coordinates of which are shown in table 1), the measured distances between the mobile terminal and the 10 base stations can be calculated from the data measured by the signal transmission between the mobile terminal and the base stations, as shown in table 2.
TABLE 1 location coordinates of each base station
Base station numbering x coordinate (m) y coordinate (m) z coordinate (m)
1 176.4 193.11 3.28
2 268.95 180.5 4.62
3 67.49 141.23 2.02
4 185.29 108.62 4.04
5 63.26 -32.11 2.56
6 176.09 -278.8 3.57
7 246.8 -136.2 3.59
8 -99.6 -210.37 2.25
9 283.82 175.5 2.79
10 -42.68 -36.21 3.21
Table 2 measured distances of mobile terminals to respective base stations
Step 1. obtaining the corrected distances from the mobile terminal to each base station using the measurement data correction model according to the error correction model (formula (1) described above) is shown in table 3, where a and b are error parameters, and are optimized using a genetic algorithm in the following steps.
TABLE 3 corrected distance of mobile terminal to respective base station
Base station numbering Correcting distance r (m) between mobile terminal and ith base station
1 (1-a)96.22-b
2 (1-a)174.45-b
3 (1-a)140.66-b
4 (1-a)175.40-b
5 (1-a)309.16-b
6 (1-a)553.69-b
7 (1-a)427.29-b
8 (1-a)530.55-b
9 (1-a)189.97-b
10 (1-a)347.89-b
Step 2, the correction distance from the mobile terminal to each base station in table 3 and the position coordinates of each base station in table 1 are substituted into the positioning calculation model to obtain the least square solution x of the coordinates of the mobile terminal (H ═ H)TH)-1HTb. Wherein:
and 3, substituting the least square solution x (x, y, z) of the mobile terminal into the formula (2), and obtaining the positioning calculation distance r 'as shown in the following formula'iExpression:
and 4, positioning and calculating the distance r 'because x, y and z are least square solutions rather than precise solutions and error parameters cannot completely eliminate errors'iIs not equal to the correction distance ri. Establishing positioning calculation distance r'iAnd a correction distance riThe standard deviation F (formula (5) above) between them.
And 5, setting the variation range of the error parameter a to be 0-1 and the variation range of the error parameter b to be-400 by using a genetic algorithm and taking the minimum F in the step 4 as an objective function. The population size was 20, and the highest number of generations was 100. The optimal solution of a and b is determined as a being 0.0039 and b being-2.0483.
And 6, according to the optimal solution of the a and the b, substituting the optimal solution into a positioning calculation model, namely the above equations (2) to (4), so as to obtain the optimal position coordinate x of the mobile terminal, which is-271.96 m, y of 232.55m, and z of 1.28 m.
With the above calculation method and steps, data of a plurality of mobile terminals are calculated and analyzed, as shown in fig. 1. The calculated coordinates of the mobile terminal are compared with actual coordinates, errors in the x direction and the y direction are smaller than 1 meter, and the living needs of people can be completely met. Therefore, the algorithm has small calculation amount, higher precision and good adaptability.

Claims (2)

1. A method for efficiently processing measurement data errors to improve base station positioning accuracy, comprising the steps of:
(1) the measurement data error correction calculation is listed and a set of error parameters a, b are assumed:
rc-rz＝arc+b (1)
rcfor measuring distances, in m; r iszFor correcting the distance, in m;
(2) according to the measuring distance between the mobile terminal and different base stations, a measuring data correction model is adopted to obtain a correction distance;
(3) substituting the corrected distance into the location calculation model
Wherein, x, y and z are coordinates of a certain mobile terminal; x is the number ofi,yi,ziCoordinates of the ith base station; r isiThe corrected distance from the mobile terminal to the ith base station, n is the number of base stations,
thereby obtaining a least square solution of the mobile terminal coordinates;
x＝(HTH)-1HTb (3)
wherein:
x, y and z are coordinates of a certain mobile terminal; x is the number ofi,yi,ziCoordinates of the ith base station; r isiThe correction distance from a certain mobile terminal to the ith base station is defined, and n is the number of the base stations;
(4) according to the least square solution of the mobile terminal coordinate, substituting the mobile terminal into the formula (2), and calculating to obtain the mobile terminal positioning calculation distance r'i；
(5) Establishing positioning calculation distance r'iAnd a correction distance riStandard deviation between F:
wherein: r'iCalculating the distance in m for the positioning of the ith base station of the mobile terminal; r isiCalculating the correction distance between the mobile terminal and the ith point in m;
(6) repeating the steps (1) to (5) by adopting a genetic algorithm and taking the minimum F as an optimization target to obtain the optimal solution of a and b;
(7) and according to the optimal solution of the a and the b, substituting the optimal solution into a positioning calculation model-formula (2), thereby obtaining the optimal position coordinate of the mobile terminal.
2. The method of claim 1, wherein in step (1), signals of different base stations are measured by the mobile terminal, and arrival time or arrival time difference of the signals of different base stations is obtained, so as to calculate the measured distance between the mobile terminal and the base station.
CN201710449219.3A 2017-06-14 2017-06-14 Method for improving positioning accuracy of base station Expired - Fee Related CN107371133B (en)

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CN109121200B (en) * 2018-08-31 2020-06-30 浙江传媒学院 Space layout optimization and indoor positioning method for iBeacon base station
CN111225439B (en) * 2018-11-23 2022-11-22 中兴通讯股份有限公司 Method, device and storage medium for determining terminal position
CN110730502B (en) * 2019-10-23 2020-11-03 珠海优特电力科技股份有限公司 Positioning method and device
CN112153560B (en) * 2020-08-17 2024-02-27 中通服咨询设计研究院有限公司 Global optimizing and positioning method based on ranging error correction

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