CN107820206A - Non line of sight localization method based on signal intensity - Google Patents
Non line of sight localization method based on signal intensity Download PDFInfo
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- CN107820206A CN107820206A CN201711126562.0A CN201711126562A CN107820206A CN 107820206 A CN107820206 A CN 107820206A CN 201711126562 A CN201711126562 A CN 201711126562A CN 107820206 A CN107820206 A CN 107820206A
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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
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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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
- G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
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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
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
Abstract
The invention discloses a kind of non line of sight localization method based on signal intensity, the distance between target to be positioned and at least three base station are calculated using 3GPP 3D path loss models first, then the least-squares estimation of coordinates of targets is asked using the observation equation of the distance between target and base station, iteration initial value as next step gradient method, the object function f of error between observation and measured value of target and each base station is finally minimized with gradient method, obtains the optimal solution of coordinates of targets.The inventive method can effectively improve positioning precision of the alignment system under complicated multipath, nlos environment, be a kind of high-precision wireless location method.
Description
Technical Field
The invention relates to the technical field of wireless positioning, in particular to a non-line-of-sight positioning method based on signal strength.
Background
In practical communication environments, the line-of-sight path between the transmitter and the receiver is blocked by an obstacle, and the propagation path of the signal is usually a non-line-of-sight path, that is, the signal takes a longer path to reach the receiver, thereby affecting the measurement value of the positioning algorithm. The common positioning method based on the time of arrival (TOA) and the angle of arrival (DOA) of the signal is greatly influenced by non-line-of-sight signals, and the positioning accuracy is low. The Received Signal Strength (RSS) measurement is generally very accurate regardless of whether the signal propagation path is out of line of sight. Therefore, the target can be accurately positioned by adopting the positioning method based on RSS. The basic principle is as follows: and (3) calculating distance measurement values between the target and at least 3 base stations by using the path loss model, wherein the target is positioned at the intersection point of at least 3 circles taking the base stations as the circle centers and taking the distance measurement values as the radiuses as long as the path loss model is reasonably selected and the base stations are not on the same straight line. If the RSS measurements are accurate, the intersection of the circles is unique. But because the distance measurement has error inevitably, the circles can not be intersected at a single point, which is also a key problem of the positioning method based on RSS.
Disclosure of Invention
The invention aims to provide a non-line-of-sight positioning method based on signal intensity, which can effectively improve positioning accuracy, aiming at the technical problem of low positioning accuracy of target coordinates in the prior art.
The technical scheme of the invention is as follows: a non-line-of-sight positioning method based on signal strength comprises the following steps:
(1) Calculating the distance d between the target and the corresponding base station by adopting a path loss model i Wherein i is more than or equal to 1 and less than or equal to n, n is the number of base stations, and n is more than or equal to 3;
(2) Obtaining a least squares estimate of the target coordinates (initial solution of the target coordinates) using a set of observation equations for the distance between the target and the base station;
(3) And (3) establishing a minimized objective function f by utilizing errors between the distance observed values and the measured values of the target and each base station, taking least square estimation in the step (2) as an iteration starting point, and solving the optimal solution of the target coordinate by using a gradient method.
As a further improvement, in step (1), the path loss model adopts a 3gpp 3d model, and the formula is calculated as follows:
wherein W is street width, 5m<W<, 50m, h is the average height of the building, 5m<h<50m,h BS 10m for base station antenna height<h BS <150m，d i For the distance from the ith base station antenna to the target receiving antenna, f c Is the signal frequency;
calculating path loss PL from PL = RSP-RSRP + G, and substituting the above equation to calculate d i Wherein, RSP is signal transmitting power, RSRP is signal receiving power, and G is antenna gain.
Further, in step (2), the set of observation equations of the distances between the target and the plurality of base stations is as follows:
wherein the base station coordinate is (x) i ,y i ) The initial solution of the target coordinates is (x) 0 ,y 0 )，v i Is noise;
in the above equation, the 1 st equation is subtracted from each of the 2 nd equations to obtain the following equation:
the matrix form of the above formula is as follows:
AP 0 +V＝B；
wherein P 0 V is the initial solution of the target coordinate, and is the noise;
to obtain P 0 The least squares estimate of (c) is as follows:
further, in the step (3), letP is the optimal solution of the target coordinate, and the minimized objective function is as follows:
wherein, P k Specifically calculating a kth iteration value of the target coordinate by using a gradient method, wherein the kth iteration value comprises the following steps:
(3.1) let the number of iterations k =0, from P 0 At first, the tolerance error is 0<ε<1；
(3.2) calculation ofIf | g k ‖&If t, then P is output k Final positioning result for target coordinate, wherein g k Is the gradient vector of the objective function, i.e. the steepest descent direction;
(3.3) if | g k ‖>, epsilon, then k = k +1, from the iterative formula P k+1 ＝P k -cg k And (4) obtaining a (k + 1) th iteration value, and turning to the step (3.2), wherein c is a search step length.
Advantageous effects
Compared with the prior art, the invention has the advantages that:
1. calculating the distances between the target and the base stations through a path loss model, obtaining the least square estimation of the target coordinate according to an observation equation set of the distances between the target and the base stations, and finally solving the optimal solution of the target coordinate by using a gradient method, so that the positioning precision of the target coordinate can be effectively improved, and the calculation speed is high;
2. a 3GPP 3D path loss model is adopted to calculate the distance between a target and a base station, the distance is most suitable for 4G frequency band signals, and the outdoor non-line-of-sight propagation situation can be simulated;
3. solving an initial solution of the target coordinate by using a least square method, providing an iteration initial value for a next gradient method, and accelerating the convergence speed of the algorithm;
4. the optimal solution of the target coordinate is obtained by a gradient method, the calculation speed is high, and the precision is high.
Drawings
FIG. 1 is a flow chart of gradient calculation in the present invention.
Detailed Description
The invention will be further described with reference to specific embodiments shown in the drawings.
Referring to fig. 1, a non-line-of-sight positioning method based on signal intensity includes the steps of:
(1) Calculating the distance d between the target and the corresponding base station by adopting a path loss model i Wherein i is more than or equal to 1 and less than or equal to n, n is the number of base stations, and n is more than or equal to 3;
(2) The target coordinate and the base station coordinate refer to the positions of the target and the base station on an X axis and a Y axis in a rectangular coordinate system, and the least square estimation (the initial solution of the target coordinate) of the target coordinate is obtained by using an observation equation set of the distance between the target and the base station;
(3) Establishing a minimized objective function f by using errors between the distance observed values and the measured values of the target and each base station, taking least square estimation in the step (2) as an iteration starting point, and solving the optimal solution of the target coordinate by using a gradient method;
the distance between the target and the base stations is calculated through the path loss model, the least square estimation of the target coordinate is obtained according to the observation equation set of the distance between the target and the base stations, and finally the optimal solution of the target coordinate is obtained through a gradient method, so that the positioning precision of the target coordinate can be effectively improved, and the calculation speed is high.
In step (1), the path loss model adopts a 3gpp 3d model, and the calculation formula is as follows:
wherein W is street width, 5m<W&50m, h is the average height of the building, 5m<h<50m,h BS 10m for base station antenna height<h BS <150m，d i For the distance from the ith base station antenna to the target receiving antenna, f c Is the signal frequency;
calculating path loss PL from PL = RSP-RSRP + G, and calculating d by substituting the equation i Wherein, RSP is signal transmitting power, RSRP is signal receiving power, and G is antenna gain; the distance between the target and the base station is calculated by adopting a 3GPP 3D path loss model, the method is most suitable for 4G frequency band signals, and the outdoor non-line-of-sight propagation situation can be simulated.
In step (2), a set of observation equations of distances between the target and the plurality of base stations is as follows:
wherein the base station coordinate is (x) i ,y i ) The initial solution of the target coordinates is (x) 0 ,y 0 )，v i Is noise;
in the above equation, the 1 st equation is subtracted from each of the 2 nd equations to obtain the following equation:
the matrix form of the above formula is as follows:
AP 0 +V＝B；
wherein P 0 V is the initial solution of the target coordinate, and is the noise;
to obtain P 0 The least squares estimate of (c) is as follows:
and solving the least square estimation of the target coordinate by using a least square method, providing an iteration initial value for the next gradient method, and accelerating the convergence speed of the algorithm.
In step (3), letP is the optimal solution of the target coordinate, and the minimized objective function is as follows:
wherein, P k Specifically calculating a kth iteration value of the target coordinate by using a gradient method, wherein the kth iteration value comprises the following steps:
(3.1) let the number of iterations k =0, from P 0 At first, tolerance 0<ε<1；
(3.2) calculation ofIf | g k ‖&If t, then P is output k Final positioning result for target coordinate, wherein g k Is the gradient vector of the objective function, i.e. the steepest descent direction;
(3.3) if | g k ‖>, epsilon, then k = k +1, from the iterative formula P k+1 ＝P k -cg k Obtaining a (k + 1) th iteration value, and turning to the step (3.2), wherein c is a search step length;
the optimal solution of the target coordinate is obtained by a gradient method, the calculation speed is high, and the precision is high.
The above description is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can make various changes and modifications without departing from the structure of the present invention, which will not affect the effect of the implementation of the present invention and the practicability of the patent.
Claims (4)
1. A non-line-of-sight positioning method based on signal strength comprises the following steps:
(1) Calculating the distance d between the target and the corresponding base station by adopting a path loss model i Wherein i is more than or equal to 1 and less than or equal to n, n is the number of base stations, and n is more than or equal to 3;
(2) Obtaining a least squares estimate of the target coordinates (initial solution of the target coordinates) using a set of observation equations for the distance between the target and the base station;
(3) And (3) establishing a minimized objective function f by utilizing errors between the distance observed values and the measured values of the target and each base station, taking the least square estimation in the step (2) as an iteration starting point, and solving the optimal solution of the target coordinate by using a gradient method.
2. The signal strength-based non-line-of-sight positioning method of claim 1, wherein in step (1), the path loss model is a 3gpp 3d model calculated as follows:
wherein W is street width, 5m<W<, 50m, h is the average height of the building, 5m<h<50m,h BS 10m for base station antenna height<h BS <150m，d i For the distance from the ith base station antenna to the target receiving antenna, f c Is the signal frequency;
calculating path loss PL from PL = RSP-RSRP + G, and calculating d by substituting the equation i Wherein RSP is signal transmission power and RSRP is signal receptionPower, G, antenna gain.
3. A signal strength based non-line-of-sight positioning method according to claim 1 or 2, wherein in step (2), the set of observation equations for the distances between the target and the plurality of base stations is as follows:
wherein the base station coordinates are (x) i ,y i ) The initial solution of the target coordinates is (x) 0 ,y 0 )，v i Is noise;
each equation in the above equation, starting with the 2 nd equation, subtracts the 1 st equation to yield the following equation:
the matrix form of the above formula is as follows:
AP 0 +V＝B；
wherein P 0 Is the initial value of the target coordinate, and V is noise;
to obtain P 0 The least squares estimate of (c) is as follows:
4. a signal strength based non-line-of-sight positioning method as claimed in claim 3, wherein in step (3), the method further comprisesP is the optimal solution of the target coordinate, and the minimized objective function is as follows:
wherein, P k Specifically calculating a kth iteration value of the target coordinate by using a gradient method, wherein the kth iteration value comprises the following steps:
(3.1) let the number of iterations k =0, from P 0 At first, the tolerance error is 0<ε<1；
(3.2) calculation ofIf | g k ‖&If t, then P is output k Final positioning result for target coordinate, wherein, g k Is the gradient vector of the objective function, i.e. the steepest descent direction;
(3.3) if | g k ‖>, epsilon, then k = k +1, from the iterative formula P k+1 ＝P k -cg k And (4) obtaining a (k + 1) th iteration value, and turning to the step (3.2), wherein c is a search step length.
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| CN112800983A (en) * | 2021-02-01 | 2021-05-14 | 玉林师范学院 | Non-line-of-sight signal identification method based on random forest |
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