CN107389066B - Indoor positioning antenna deployment method and device - Google Patents
Indoor positioning antenna deployment method and device Download PDFInfo
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- CN107389066B CN107389066B CN201710503168.8A CN201710503168A CN107389066B CN 107389066 B CN107389066 B CN 107389066B CN 201710503168 A CN201710503168 A CN 201710503168A CN 107389066 B CN107389066 B CN 107389066B
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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
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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
- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0205—Details
Abstract
The embodiment of the invention provides an indoor positioning antenna deployment method and device. The method comprises the following steps: acquiring the distance between a signal reference antenna and a target point in a room and the distance between the signal reference antenna and a deviation point, wherein the deviation point deviates from the target point in the X-axis direction; and determining the deployment position of the signal reference antenna according to the distance between the signal reference antenna and a target point and the distance between the signal reference antenna and a deviation point. According to the embodiment of the invention, the deployment position of the signal reference antenna is determined by acquiring the distance between the indoor signal reference antenna and the target point and the distance between the signal reference antenna and the deviation point according to the distance between the signal reference antenna and the target point and the distance between the signal reference antenna and the deviation point, so that the indoor positioning precision is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of communication, in particular to an indoor positioning antenna deployment method and device.
Background
In the prior art, indoor positioning is implemented based on Time of Arrival (TOA for short) of a wireless signal, and the specific implementation process is as follows: a plurality of signal reference antennas are arranged indoors, and the signal reference antennas are also called anchor points and Wireless Access Points (APs). The method comprises the steps of calculating the distance between the user terminal and each anchor point by measuring the time when a wireless signal sent by the user terminal respectively reaches each anchor point, and determining the position information of the user terminal according to the distance between the user terminal and each anchor point.
The accuracy of indoor positioning depends on the distribution of each indoor anchor point, and in the prior art, the distribution method of each anchor point may be determined by a Cramer Rao Lower Bound (CRLB for short), but in practical applications, each anchor point is usually set on an indoor wall or ceiling instead of being deployed according to the calculation result of the CRLB, thereby resulting in Lower accuracy of indoor positioning.
Disclosure of Invention
The embodiment of the invention provides an antenna deployment method and device for indoor positioning, which aim to improve the accuracy of indoor positioning.
One aspect of the embodiments of the present invention is to provide an indoor positioning antenna deployment method, including:
acquiring the distance between a signal reference antenna and a target point in a room and the distance between the signal reference antenna and a deviation point, wherein the deviation point deviates from the target point in the X-axis direction;
and determining the deployment position of the signal reference antenna according to the distance between the signal reference antenna and a target point and the distance between the signal reference antenna and a deviation point.
Another aspect of the embodiments of the present invention is to provide an indoor positioning antenna deployment apparatus, including:
the device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the distance between an indoor signal reference antenna and a target point and the distance between the signal reference antenna and a deviation point, and the deviation point deviates from the target point in the X-axis direction;
and the determining module is used for determining the deployment position of the signal reference antenna according to the distance between the signal reference antenna and a target point and the distance between the signal reference antenna and a deviation point.
According to the method and the device for deploying the indoor positioning antenna, the deployment position of the signal reference antenna is determined according to the distance between the signal reference antenna and the target point and the distance between the signal reference antenna and the deviation point by acquiring the distance between the indoor signal reference antenna and the target point and the distance between the indoor signal reference antenna and the deviation point, and the indoor positioning precision is improved.
Drawings
Fig. 1 is a flowchart of an antenna deployment method for indoor positioning according to an embodiment of the present invention;
fig. 2 is a schematic deployment diagram of an indoor positioning antenna according to another embodiment of the present invention;
fig. 3 is a structural diagram of an indoor positioning antenna deployment apparatus according to an embodiment of the present invention.
Detailed Description
Fig. 1 is a flowchart of an antenna deployment method for indoor positioning according to an embodiment of the present invention. The embodiment of the invention aims at that the indoor positioning precision depends on the distribution of each indoor anchor point, in the prior art, the distribution method of each anchor point can be determined by a Cramer Rao Lower Bound (CRLB for short), but in practical application, each anchor point is usually arranged on an indoor wall surface or ceiling instead of being arranged according to the calculation result of the CRLB, so that the indoor positioning precision is Lower, and the antenna deployment method of the indoor positioning is provided, and the method specifically comprises the following steps:
step S101, acquiring a distance between an indoor signal reference antenna and a target point and a distance between the signal reference antenna and a deviation point, wherein the deviation point deviates from the target point in the X-axis direction.
As shown in fig. 2, vkThe reference antenna represents any indoor signal reference antenna, and the signal reference antenna is also called an anchor Point and also called a Wireless Access Point (AP for short). In the present embodiment, let v be assumedkHas a coordinate of upsilonk＝[xk，yk，zk]. θ represents the target point. Assuming that the target point changes from θ to θ ', θ' indicates a deviation point of the target point θ, in the present embodiment, the coordinate of the target point θ is assumed to be [0, 0 ═ in]The coordinate of θ 'is θ' ═ Δ x, 0]At the same time, xkΔ x > 0, Δ x is small.
It can be seen that the distance between the signal reference antenna and the target point is | | | vk- θ | |, the distance between the signal reference antenna and the deviation point is | | | | vk- θ' | |, TOA when the target point changes from θ to θCan be expressed as formula (1):
ΔTOAx＝|||υk-θ|-||υk－θ’||| (1)
obtaining formula (2) according to triangle inequality
|||υk－θ|||－||υk－θ’||≤||θ－θ’|| (2)
Visible, anchor point vkIs always equal to or less than the change of the target point theta, and the condition that the equal sign of the formula (2) is established is that the anchor point vkIn the direction in which the target point theta moves, which is denoted as the direction from theta to theta', e.g. when the anchor point v iskIs located in v'kTime, Δ TOAxThe maximum can be achieved, and the positioning precision can be improved to the maximum.
Step S102, determining the deployment position of the signal reference antenna according to the distance between the signal reference antenna and a target point and the distance between the signal reference antenna and a deviation point.
Optionally, the deployment position is on a straight line where the target point and the deviation point are located.
As shown in FIG. 2, anchor point v moves from θ to θkA change in the position of the target point can be detected. In other words, it can be understood that if the target point at θ' is located to θ, then the anchor point vkThis deviation can be perceived and thus corrected by the algorithm.
Can derive, anchor point vkIt is better to distribute the anchor points in the direction of deviation of the target point location, and the actual situation is that the anchor points can only be deployed in limited positions such as walls, ceilings and the like. Given below are dimensions (e.g., y)kAxis, zkAxial dimension) is fixed, how to change the variable dimension (e.g., x)kAxis) to optimize positioning accuracy.
Equation (3) can be obtained from equation (1):
formula (II)(3) Equal sign two sides simultaneously to xkDerivation, yielding equation (4):
according to xkΔ x > 0, Δ x is small, and the following set of equations can be obtained:
as can be seen from the above set of equations,
are all provided with
It can be seen that when ykAnd zkAt the time of fixation, xkThe larger, the Δ TOAxThe larger, that is, to improve the positioning accuracy of the target point on the X-axis, XkThe farther from the target point the better.
Formula (3) equal sign both sides are simultaneously paired with ykDerivation, yielding equation (5):
it can be seen that for a fixed xkAnd zk，|gkThe smaller the |, the smaller the Δ TOAxThe larger, ykΔ TOA when equal to 0xAnd max.
Similarly, the equal sign of formula (3) is simultaneously aligned with zkDerivation, yielding equation (6):
it can be seen that for a fixed xkAnd yk，|zkThe smaller the |, the smaller the Δ TOAxThe larger, zkΔ TOA when equal to 0xAnd max.
When the Y-axis coordinate and the Z-axis coordinate of the signal reference antenna relative to the coordinate origin are fixed, the absolute value of the difference between the X-axis coordinate of the signal reference antenna and the X-axis coordinate of the target point is in direct proportion to the positioning accuracy of the target point on the X axis.
When the X-axis coordinate and the Z-axis coordinate of the signal reference antenna relative to the coordinate origin are fixed, the absolute value of the difference between the Y-axis coordinate of the signal reference antenna and the Y-axis coordinate of the target point is inversely proportional to the positioning accuracy of the target point on the X axis.
When the X-axis coordinate and the Y-axis coordinate of the signal reference antenna relative to the coordinate origin are fixed, the absolute value of the difference between the Z-axis coordinate of the signal reference antenna and the Z-axis coordinate of the target point is inversely proportional to the positioning accuracy of the target point on the X axis.
Without loss of generality, assuming that the coordinates of the target point θ are [ x, y, z ], to improve the positioning accuracy of the target point θ in the x axis, the signal reference antenna may be deployed according to the following method:
when y iskAnd zkWhen fixed, | xkThe larger the-x | is, the larger the Delta TOAxThe larger the X-axis positioning, the more accurate it is.
When x iskAnd zkWhen fixed, | gkThe smaller y | is, the smaller is Δ TOAxThe larger the X-axis positioning, the more accurate it is.
When x iskAnd ykWhen fixed, | zkThe smaller the-z | is, the smaller the Delta TOAxThe larger the X-axis positioning, the more accurate it is.
Fig. 3 is a structural diagram of an indoor positioning antenna deployment apparatus according to an embodiment of the present invention. As shown in fig. 3, the indoor positioning antenna deployment apparatus 30 may perform a processing procedure provided in the indoor positioning antenna deployment method, and includes: the device comprises an acquisition module 31 and a determination module 32, wherein the acquisition module 31 is used for acquiring the distance between a signal reference antenna in a room and a target point and the distance between the signal reference antenna and a deviation point, and the deviation point deviates from the target point in the X-axis direction; the determining module 32 is configured to determine the deployment position of the signal reference antenna according to the distance between the signal reference antenna and the target point and the distance between the signal reference antenna and the deviation point.
On the basis of the above embodiment, the deployment position is on a straight line where the target point and the deviation point are located.
When the Y-axis coordinate and the Z-axis coordinate of the signal reference antenna relative to the coordinate origin are fixed, the absolute value of the difference between the X-axis coordinate of the signal reference antenna and the X-axis coordinate of the target point is in direct proportion to the positioning accuracy of the target point on the X axis.
When the X-axis coordinate and the Z-axis coordinate of the signal reference antenna relative to the coordinate origin are fixed, the absolute value of the difference between the Y-axis coordinate of the signal reference antenna and the Y-axis coordinate of the target point is inversely proportional to the positioning accuracy of the target point on the X axis.
When the X-axis coordinate and the Y-axis coordinate of the signal reference antenna relative to the coordinate origin are fixed, the absolute value of the difference between the Z-axis coordinate of the signal reference antenna and the Z-axis coordinate of the target point is inversely proportional to the positioning accuracy of the target point on the X axis.
The indoor positioning antenna deployment apparatus provided in the embodiment of the present invention may be specifically configured to execute the method embodiment provided in fig. 1, and specific functions are not described herein again.
In summary, the embodiment of the present invention obtains the distance between the indoor signal reference antenna and the target point and the distance between the signal reference antenna and the deviation point, and determines the deployment position of the signal reference antenna according to the distance between the signal reference antenna and the target point and the distance between the signal reference antenna and the deviation point, thereby improving the accuracy of indoor positioning.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (4)
1. An antenna deployment method for indoor positioning, comprising:
acquiring the distance between a signal reference antenna and a target point in a room and the distance between the signal reference antenna and a deviation point, wherein the deviation point deviates from the target point in the X-axis direction;
determining the deployment position of the signal reference antenna according to the distance between the signal reference antenna and a target point and the distance between the signal reference antenna and a deviation point;
when the Y-axis coordinate and the Z-axis coordinate of the signal reference antenna relative to the coordinate origin are fixed, the absolute value of the difference value between the X-axis coordinate of the signal reference antenna and the X-axis coordinate of the target point is in direct proportion to the positioning precision of the target point on the X axis;
when the X-axis coordinate and the Z-axis coordinate of the signal reference antenna relative to the coordinate origin are fixed, the absolute value of the difference value between the Y-axis coordinate of the signal reference antenna and the Y-axis coordinate of the target point is inversely proportional to the positioning precision of the target point on the X axis;
when the X-axis coordinate and the Y-axis coordinate of the signal reference antenna relative to the coordinate origin are fixed, the absolute value of the difference between the Z-axis coordinate of the signal reference antenna and the Z-axis coordinate of the target point is inversely proportional to the positioning accuracy of the target point on the X axis.
2. The method according to claim 1, characterized in that the deployment location is on a straight line where the target point and the deviation point are located.
3. An indoor positioned antenna deployment apparatus, comprising:
the device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the distance between an indoor signal reference antenna and a target point and the distance between the signal reference antenna and a deviation point, and the deviation point deviates from the target point in the X-axis direction;
the determining module is used for determining the deployment position of the signal reference antenna according to the distance between the signal reference antenna and a target point and the distance between the signal reference antenna and a deviation point;
when the Y-axis coordinate and the Z-axis coordinate of the signal reference antenna relative to the coordinate origin are fixed, the absolute value of the difference value between the X-axis coordinate of the signal reference antenna and the X-axis coordinate of the target point is in direct proportion to the positioning precision of the target point on the X axis;
when the X-axis coordinate and the Z-axis coordinate of the signal reference antenna relative to the coordinate origin are fixed, the absolute value of the difference value between the Y-axis coordinate of the signal reference antenna and the Y-axis coordinate of the target point is inversely proportional to the positioning precision of the target point on the X axis;
when the X-axis coordinate and the Y-axis coordinate of the signal reference antenna relative to the coordinate origin are fixed, the absolute value of the difference between the Z-axis coordinate of the signal reference antenna and the Z-axis coordinate of the target point is inversely proportional to the positioning accuracy of the target point on the X axis.
4. The indoor-located antenna deployment apparatus of claim 3, wherein the deployment location is on a straight line where the target point and the deviation point are located.
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