CN107389066A - The allocating antenna method and device of indoor positioning - Google Patents
The allocating antenna method and device of indoor positioning Download PDFInfo
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- CN107389066A CN107389066A CN201710503168.8A CN201710503168A CN107389066A CN 107389066 A CN107389066 A CN 107389066A CN 201710503168 A CN201710503168 A CN 201710503168A CN 107389066 A CN107389066 A CN 107389066A
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- 230000006870 function Effects 0.000 description 5
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- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000009795 derivation Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
-
- 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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
-
- 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
- G01S5/0205—Details
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The embodiment of the present invention provides a kind of allocating antenna method and device of indoor positioning.This method includes：The distance between indoor signal reference antenna and target point, and the distance between the signal reference antenna and deviation point are obtained, the deviation point deviates the target point in the X-axis direction；According to the distance between the signal reference antenna and target point, and the distance between the signal reference antenna and deviation point, the deployed position of the signal reference antenna is determined.The embodiment of the present invention is by obtaining the distance between indoor signal reference antenna and target point, and the distance between signal reference antenna and deviation point, according to the distance between signal reference antenna and target point, and the distance between signal reference antenna and deviation point, the deployed position of signal reference antenna is determined, improves the precision of indoor positioning.
Description
Technical field
The present embodiments relate to the allocating antenna method and dress of communication technical field, more particularly to a kind of indoor positioning
Put.
Background technology
In the prior art, indoor positioning is the arrival time (Time of Arrival, abbreviation TOA) based on wireless signal
Realize, specific implementation process is as follows：Multiple signal reference antennas are arranged indoors, and signal reference antenna is also anchor point, also cried
Wireless access points (Wireless Access Point, abbreviation AP).The wireless signal point sent by measuring user terminal
Be clipped to the time up to each anchor point, calculate the distance between user terminal and each anchor point, further according to user terminal and each anchor point it
Between distance, determine the positional information of user terminal.
Distribution of the precision of indoor positioning dependent on indoor each anchor point, in the prior art, the location mode of each anchor point can be with
Determined by carat Metro limit (Cramer Rao Lower Bound, abbreviation CRLB), still, in practical application, each anchor point
It is generally arranged on the metope or ceiling of interior, rather than each anchor point is disposed according to CRLB result of calculation, so as to causes
The precision of indoor positioning is relatively low.
The content of the invention
The embodiment of the present invention provides a kind of allocating antenna method and device of indoor positioning, to improve the essence of indoor positioning
Degree.
The one side of the embodiment of the present invention is to provide a kind of allocating antenna method of indoor positioning, including：
Obtain the distance between indoor signal reference antenna and target point, and the signal reference antenna and deviation point
The distance between, the deviation point deviates the target point in the X-axis direction；
According to the distance between the signal reference antenna and target point, and the signal reference antenna and deviation point it
Between distance, determine the deployed position of the signal reference antenna.
The other side of the embodiment of the present invention is to provide a kind of allocating antenna device of indoor positioning, including：
The distance between acquisition module, signal reference antenna and target point for obtaining interior, and signal ginseng
The distance between antenna and deviation point are examined, the deviation point deviates the target point in the X-axis direction；
Determining module, for being referred to according to the distance between the signal reference antenna and target point, and the signal
The distance between antenna and deviation point, determine the deployed position of the signal reference antenna.
The allocating antenna method and device of indoor positioning provided in an embodiment of the present invention, referred to by obtaining indoor signal
The distance between antenna and target point, and the distance between signal reference antenna and deviation point, according to signal reference antenna with
The distance between target point, and the distance between signal reference antenna and deviation point, determine the deployment position of signal reference antenna
Put, improve the precision of indoor positioning.
Brief description of the drawings
Fig. 1 is the allocating antenna method flow diagram of indoor positioning provided in an embodiment of the present invention；
Fig. 2 is the allocating antenna schematic diagram for the indoor positioning that another embodiment of the present invention provides；
Fig. 3 is the structure chart of the allocating antenna device of indoor positioning provided in an embodiment of the present invention.
Embodiment
Fig. 1 is the allocating antenna method flow diagram of indoor positioning provided in an embodiment of the present invention.The embodiment of the present invention is directed to
Distribution of the precision of indoor positioning dependent on indoor each anchor point, in the prior art, the location mode of each anchor point can pass through carat
Metro limits (Cramer Rao Lower Bound, abbreviation CRLB) to determine, still, in practical application, each anchor point is generally set
On metope or ceiling indoors, rather than each anchor point is disposed according to CRLB result of calculation, so as to cause indoor positioning
Precision it is relatively low, there is provided the allocating antenna method of indoor positioning, this method comprise the following steps that：
Step S101, the distance between indoor signal reference antenna and target point are obtained, and the signal refers to day
The distance between line and deviation point, the deviation point deviate the target point in the X-axis direction.
As shown in Fig. 2 vkAny one indoor signal reference antenna is represented, signal reference antenna is also anchor point, is also nothing
Line access points (Wireless Access Point, abbreviation AP).In this example, it is assumed that vkCoordinate be υk=[xk,
yk, zk].θ represents target point.It is assumed that target point changes to θ ' from θ, θ ' represents target point θ deviation point, in the present embodiment,
Assuming that target point θ coordinate is θ=[0,0,0], θ ' coordinate is θ '=[Δ x, 0,0], meanwhile, xk＞ Δ x ＞ 0, Δ x is very
It is small.
It can be seen that the distance between signal reference antenna and target point are | | vk- θ | |, the signal reference antenna and deviation
Point the distance between be | | vk- θ ' | |, when target point changes to θ ' from θ, TOA change is represented by formula (1)：
ΔTOAx=| | | υk-θ||-||υk-θ’||| (1)
Formula (2) is obtained according to triangle inequality
|||υk-θ|||-||υk-θ’||≤||θ-θ’|| (2)
It can be seen that anchor point vkChange always be less than or equal to target point θ change, formula (2) equal sign set up condition be anchor
Point vkPositioned at target point θ movement direction on, the direction is designated as from θ to θ ' direction, for example, working as anchor point vkPositioned at v 'kWhen, Δ
TOAxIt can reach maximum, positioning precision can obtain maximum lift.
Step S102, according to the distance between the signal reference antenna and target point, and the signal reference antenna
The distance between deviation point, determine the deployed position of the signal reference antenna.
Optionally, the deployed position is on the straight line where the target point and the deviation point.
As shown in Fig. 2 when target point is moved to θ ' from θ, anchor point vkThe change of aiming spot can be detected.Change individual
Angle, it can be understood as, if the target point in θ ' has been positioned to θ, then anchor point vkThis deviation can be perceived, from
And corrected it by algorithm.
It can draw, anchor point vkObject location can be preferably distributed in produce on the direction of deviation, actual conditions are anchors
Point can only be deployed in the limited position such as wall, ceiling.It is given below in some dimensions (such as ykAxle, zkAxle dimension) fixed feelings
Under condition, how to change variable dimension (such as xkAxle) carry out optimum position precision.
Formula (3) can be obtained according to formula (1)：
Formula (3) equal sign both sides are simultaneously to xkDerivation, obtain formula (4)：
According to xk＞ Δsx＞ 0, ΔxVery little, it can obtain following equation group：
It can be seen from above-mentioned formula group,Have
It can be seen that work as ykAnd zkWhen fixed, xkIt is bigger, Δ TOAxIt is bigger, that is to say, that in order to lift target point in X-axis
Positioning precision, xkIt is more remote better from target point.
Formula (3) equal sign both sides are simultaneously to ykDerivation, obtain formula (5)：
It can be seen that for fixed xkAnd zk,|yk| smaller, Δ TOAxIt is bigger, ykΔ TOA when=0xIt is maximum.
Similarly, formula (3) equal sign both sides are simultaneously to zkDerivation, obtain formula (6)：
It can be seen that for fixed xkAnd yk, | zk| smaller, Δ TOAxIt is bigger, zkΔ TOA when=0xIt is maximum.
When the signal reference antenna is fixed relative to the Y-axis coordinate and Z axis coordinate of the origin of coordinates, the signal reference
The absolute value of the difference of the X-axis coordinate of antenna and the X-axis coordinate of the target point and the target point X-axis positioning precision into
Direct proportion.
When the signal reference antenna is fixed relative to the X-axis coordinate and Z axis coordinate of the origin of coordinates, the signal reference
The absolute value of the difference of the Y-axis coordinate of antenna and the Y-axis coordinate of the target point and the target point X-axis positioning precision into
Inverse proportion.
When the signal reference antenna is fixed relative to the X-axis coordinate and Y-axis coordinate of the origin of coordinates, the signal reference
The absolute value of the difference of the Z axis coordinate of antenna and the Z axis coordinate of the target point and the target point X-axis positioning precision into
Inverse proportion.
Without loss of generality, it is assumed that target point θ coordinate is θ=[x, y, z], in summary, in order to lifted target point θ=
[x, y, z], can be according to following methods deployment signal reference antenna in the positioning precision of x-axis：
Work as ykAnd zkWhen fixed, | xk- x | bigger, Δ TOAxBigger, X-axis positioning is more accurate.
Work as xkAnd zkWhen fixed, | yk- y | smaller, Δ TOAxBigger, X-axis positioning is more accurate.
Work as xkAnd ykWhen fixed, | zk- z | smaller, Δ TOAxBigger, X-axis positioning is more accurate.
The embodiment of the present invention is by obtaining the distance between indoor signal reference antenna and target point, and signal reference
The distance between antenna and deviation point, according to the distance between signal reference antenna and target point, and signal reference antenna with
The distance between deviation point, the deployed position of signal reference antenna is determined, improve the precision of indoor positioning.
Fig. 3 is the structure chart of the allocating antenna device of indoor positioning provided in an embodiment of the present invention.The embodiment of the present invention carries
The allocating antenna device of the indoor positioning of confession can perform the handling process that the allocating antenna embodiment of the method for indoor positioning provides,
As shown in figure 3, the allocating antenna device 30 of indoor positioning includes：Acquisition module 31 and determining module 32, acquisition module 31 are used for
Obtain the distance between indoor signal reference antenna and target point, and between the signal reference antenna and deviation point away from
From the deviation point deviates the target point in the X-axis direction；Determining module 32 is used for according to the signal reference antenna and mesh
The distance between punctuate, and the distance between the signal reference antenna and deviation point, determine the signal reference antenna
Deployed position.
The allocating antenna device of indoor positioning provided in an embodiment of the present invention can be specifically used for the above-mentioned Fig. 1 of execution and be provided
Embodiment of the method, here is omitted for concrete function.
The embodiment of the present invention is by obtaining the distance between indoor signal reference antenna and target point, and signal reference
The distance between antenna and deviation point, according to the distance between signal reference antenna and target point, and signal reference antenna with
The distance between deviation point, the deployed position of signal reference antenna is determined, improve the precision of indoor positioning.
On the basis of above-described embodiment, the deployed position is in the straight line where the target point and the deviation point
On.
When the signal reference antenna is fixed relative to the Y-axis coordinate and Z axis coordinate of the origin of coordinates, the signal reference
The absolute value of the difference of the X-axis coordinate of antenna and the X-axis coordinate of the target point and the target point X-axis positioning precision into
Direct proportion.
When the signal reference antenna is fixed relative to the X-axis coordinate and Z axis coordinate of the origin of coordinates, the signal reference
The absolute value of the difference of the Y-axis coordinate of antenna and the Y-axis coordinate of the target point and the target point X-axis positioning precision into
Inverse proportion.
When the signal reference antenna is fixed relative to the X-axis coordinate and Y-axis coordinate of the origin of coordinates, the signal reference
The absolute value of the difference of the Z axis coordinate of antenna and the Z axis coordinate of the target point and the target point X-axis positioning precision into
Inverse proportion.
The allocating antenna device of indoor positioning provided in an embodiment of the present invention can be specifically used for the above-mentioned Fig. 1 of execution and be provided
Embodiment of the method, here is omitted for concrete function.
The embodiment of the present invention is by obtaining the distance between indoor signal reference antenna and target point, and signal reference
The distance between antenna and deviation point, according to the distance between signal reference antenna and target point, and signal reference antenna with
The distance between deviation point, the deployed position of signal reference antenna is determined, improve the precision of indoor positioning.
In summary, the distance between signal reference antenna and the target point of the embodiment of the present invention by obtaining interior, with
And the distance between signal reference antenna and deviation point, according to the distance between signal reference antenna and target point, and signal
The distance between reference antenna and deviation point, the deployed position of signal reference antenna is determined, improve the precision of indoor positioning.
In several embodiments provided by the present invention, it should be understood that disclosed apparatus and method, it can be passed through
Its mode is realized.For example, device embodiment described above is only schematical, for example, the division of the unit, only
Only a kind of division of logic function, there can be other dividing mode when actually realizing, such as multiple units or component can be tied
Another system is closed or is desirably integrated into, or some features can be ignored, or do not perform.It is another, it is shown or discussed
Mutual coupling or direct-coupling or communication connection can be the INDIRECT COUPLINGs or logical by some interfaces, device or unit
Letter connection, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, can also be realized in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit realized in the form of SFU software functional unit, can be stored in one and computer-readable deposit
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are causing a computer
It is each that equipment (can be personal computer, server, or network equipment etc.) or processor (processor) perform the present invention
The part steps of embodiment methods described.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disc or CD etc. it is various
Can be with the medium of store program codes.
Those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned each functional module
Division progress for example, in practical application, can be complete by different functional modules by above-mentioned function distribution as needed
Into the internal structure of device being divided into different functional modules, to complete all or part of function described above.On
The specific work process of the device of description is stated, the corresponding process in preceding method embodiment is may be referred to, will not be repeated here.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, either which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
1. a kind of allocating antenna method of indoor positioning, it is characterised in that including：
The distance between indoor signal reference antenna and target point are obtained, and between the signal reference antenna and deviation point
Distance, the deviation point deviates the target point in the X-axis direction；
According between the distance between the signal reference antenna and target point, and the signal reference antenna and deviation point
Distance, determine the deployed position of the signal reference antenna.
2. according to the method for claim 1, it is characterised in that the deployed position is in the target point and the deviation point
On the straight line at place.
3. according to the method for claim 2, it is characterised in that when the signal reference antenna is relative to the Y of the origin of coordinates
When axial coordinate and Z axis coordinate are fixed, the difference of the X-axis coordinate of the signal reference antenna and the X-axis coordinate of the target point
Absolute value is in direct ratio in the positioning precision of X-axis with the target point.
4. according to the method for claim 2, it is characterised in that when the signal reference antenna is relative to the X of the origin of coordinates
When axial coordinate and Z axis coordinate are fixed, the difference of the Y-axis coordinate of the signal reference antenna and the Y-axis coordinate of the target point
Absolute value is inversely proportional in the positioning precision of X-axis with the target point.
5. according to the method for claim 2, it is characterised in that when the signal reference antenna is relative to the X of the origin of coordinates
When axial coordinate and Y-axis coordinate are fixed, the difference of the Z axis coordinate of the signal reference antenna and the Z axis coordinate of the target point
Absolute value is inversely proportional in the positioning precision of X-axis with the target point.
A kind of 6. allocating antenna device of indoor positioning, it is characterised in that including:
The distance between acquisition module, signal reference antenna and target point for obtaining interior, and the signal refer to day
The distance between line and deviation point, the deviation point deviate the target point in the X-axis direction；
Determining module, for according to the distance between the signal reference antenna and target point, and the signal reference antenna
The distance between deviation point, determine the deployed position of the signal reference antenna.
7. the allocating antenna device of indoor positioning according to claim 6, it is characterised in that the deployed position is described
On straight line where target point and the deviation point.
8. the allocating antenna device of indoor positioning according to claim 7, it is characterised in that when the signal reference antenna
When being fixed relative to the Y-axis coordinate and Z axis coordinate of the origin of coordinates, the X-axis coordinate and the target point of the signal reference antenna
X-axis coordinate difference absolute value and the target point it is in direct ratio in the positioning precision of X-axis.
9. the allocating antenna device of indoor positioning according to claim 7, it is characterised in that when the signal reference antenna
When being fixed relative to the X-axis coordinate and Z axis coordinate of the origin of coordinates, the Y-axis coordinate and the target point of the signal reference antenna
Y-axis coordinate difference absolute value and the target point it is inversely proportional in the positioning precision of X-axis.
10. the allocating antenna device of indoor positioning according to claim 7, it is characterised in that when the signal refers to day
When line is fixed relative to the X-axis coordinate and Y-axis coordinate of the origin of coordinates, the Z axis coordinate of the signal reference antenna and the target
The absolute value and the target point of the difference of the Z axis coordinate of point are inversely proportional in the positioning precision of X-axis.
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| CN201710503168.8A CN107389066B (en) | 2017-06-27 | 2017-06-27 | Indoor positioning antenna deployment method and device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109246606A (en) * | 2018-10-15 | 2019-01-18 | 广州科语机器人有限公司 | Extended method, device, terminal device and the storage medium of robot localization network |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109246606A (en) * | 2018-10-15 | 2019-01-18 | 广州科语机器人有限公司 | Extended method, device, terminal device and the storage medium of robot localization network |
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