CN107885208B - Robot positioning method and system and robot - Google Patents

Robot positioning method and system and robot Download PDF

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CN107885208B
CN107885208B CN201711106486.7A CN201711106486A CN107885208B CN 107885208 B CN107885208 B CN 107885208B CN 201711106486 A CN201711106486 A CN 201711106486A CN 107885208 B CN107885208 B CN 107885208B
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hotspot
hot spot
rssi
value
positioning
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CN107885208A (en
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崔苗
荆永震
林凡
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Foshan National Defense Science And Technology Industrial Technology Achievement Industrialization Application And Promotion Center
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Guangdong University of Technology
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle

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  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
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  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
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Abstract

The invention discloses a robot positioning method, a system and a robot.A received RSSI (received signal strength indicator) value of each hotspot broadcast in each hotspot set is received; respectively calculating the RSSI average value of each hotspot set according to the RSSI value, and taking the RSSI average value of each hotspot set as the RSSI value of each reference hotspot; respectively calculating the distance value between each reference hot spot and each RSSI average value; and positioning by using the reference hot spot and the distance value. Therefore, the RSSI value of each hotspot in the set is averaged to be used as the RSSI value of the reference hotspot. Therefore, the influence of the randomness of the environment on the path loss coefficient can be reduced, the influence of small-scale random fading is reduced, and namely the influence of the environment on the RSSI can be reduced by the hot spot set. The RSSI value is utilized for positioning, so that the influence of environmental factors on the positioning of the robot can be overcome, and the positioning precision is further improved.

Description

Robot positioning method and system and robot
Technical Field
The invention relates to the technical field of robots, in particular to a robot positioning method, a system and a robot.
Background
With the development and progress of the robot technology, the application of the robot is more and more extensive.
In order to make the robot work better, it is important that the robot is positioned accurately. The existing robot positioning is generally GPS positioning, and a small part of the existing robot positioning utilizes a wireless sensing network to perform positioning. However, both GPS positioning and wireless sensor network positioning are susceptible to environmental influences, which further affects positioning accuracy. That is, in some cases where GPS signals are weak or random noise is large, the accuracy of positioning of the conventional robot is low, particularly in a specific case such as indoors or underground.
Therefore, how to overcome the influence of environmental factors on robot positioning to improve the robot positioning accuracy is a problem to be solved in the field.
Disclosure of Invention
The invention aims to provide a robot positioning method, a robot positioning system and a robot, so as to overcome the environmental influence and improve the positioning accuracy of the robot.
In order to achieve the purpose, the invention provides the following technical scheme:
a robot positioning method, comprising:
receiving RSSI (received signal strength indicator) values broadcasted by all hotspots in each hotspot set;
respectively calculating the RSSI average value of each hotspot set according to the RSSI value, and taking the RSSI average value of each hotspot set as the RSSI value of each reference hotspot;
respectively calculating the distance value between each reference hotspot and the RSSI average value;
positioning by using the reference hot spot and the distance value;
wherein, the hot spot sets have at least 3, and each hot spot set comprises one reference hot spot and a plurality of non-reference hot spots; the reference hotspot is a hotspot with the maximum RSSI value received by the robot to be positioned in a preset hotspot area; and the hot spot set is a set formed by selecting hot spots with similarity greater than a preset threshold from the preset hot spot area after the RSSI value of each hot spot in the preset hot spot area receives the neighbor hot spot and the RSSI value of the reference hot spot receives the neighbor hot spot.
Optionally, the calculating the distance value from each reference hotspot according to the RSSI average value includes:
based on the average RSSI value, using RSSI ranging mode
Figure BDA0001464519940000021
Respectively calculating distance values from the reference hot spots;
wherein d is0The reference distance is A, the signal intensity at the reference distance is A, the path loss coefficient is n, and the X sigma is a zero-mean Gaussian distribution random variable.
Optionally, the positioning by using the reference hotspot and the distance value includes:
and drawing a circle by taking each reference hot point as a circle center and the distance value as a radius to obtain an intersection point of each circle, and taking the intersection point as a positioning point.
Optionally, after the positioning by using the reference hotspot and the distance value, the method further includes:
receiving RSSI (received signal strength indicator) values of all hotspots in a hotspot set for verification;
calculating a verification RSSI average value of the hotspot set for verification;
calculating a verification distance value between the verification reference hotspot and the verification RSSI average value;
and drawing a circle by taking the verification reference hot spot as the circle center and the verification distance value as the radius, and verifying the positioning accuracy by judging the error distance between the positioning point and the verification circle.
Optionally, the selecting process of the hotspot set specifically includes:
determining the reference hot spot in the preset hot spot area;
using similarity formulae
Figure BDA0001464519940000022
Respectively calculating the similarity between each hot spot to be selected in the preset hot spot area and the reference hot spot;
selecting the hot spot to be selected with the similarity larger than the preset threshold as the non-reference hot spot, and forming the hot spot set with the reference hot spot;
wherein, R isAi、RBiRSSI values, R, respectively, received by hotspot A, B from the ith hotspot of the same N neighbor hotspotsABReceiving the RSSI value of the hotspot B for the hotspot A, i belongs to [1, N ∈]。
A robot, comprising:
a receiving module, configured to receive an RSSI value broadcast by each hotspot in each hotspot set;
the RSSI average value calculation module is used for respectively calculating the RSSI average value of each hotspot set according to the RSSI value and taking the RSSI average value of each hotspot set as the RSSI value of each reference hotspot;
the distance calculation module is used for respectively calculating the distance value between each reference hotspot and the RSSI average value;
the positioning module is used for positioning by utilizing the reference hot spot and the distance value;
wherein, the hot spot sets have at least 3, and each hot spot set comprises one reference hot spot and a plurality of non-reference hot spots; the reference hotspot is a hotspot with the maximum RSSI value received by the robot to be positioned in a preset hotspot area; and the hot spot set is a set formed by selecting hot spots with similarity greater than a preset threshold from the preset hot spot area after the RSSI value of each hot spot in the preset hot spot area receives the neighbor hot spot and the RSSI value of the reference hot spot receives the neighbor hot spot.
Optionally, the distance calculation module comprises:
a calculation submodule for ranging by RSSI according to the average value of RSSI
Figure BDA0001464519940000031
Respectively calculating distance values from the reference hot spots;
wherein d is0The reference distance is A, the signal intensity at the reference distance is A, the path loss coefficient is n, and the X sigma is a zero-mean Gaussian distribution random variable.
Optionally, the positioning module comprises:
and the positioning sub-module is used for drawing circles by taking each reference hot point as the center of a circle and the distance value as the radius to obtain the intersection point of each circle, and taking the intersection point as a positioning point.
Optionally, the method further comprises:
the verification module is used for receiving the RSSI value of each hotspot in the hotspot set for verification; calculating a verification RSSI average value of the hotspot set for verification; calculating a verification distance value between the verification reference hotspot and the verification RSSI average value; and drawing a circle by taking the verification reference hot spot as the circle center and the verification distance value as the radius, and verifying the positioning accuracy by judging the error distance between the positioning point and the verification circle.
A robot positioning system comprises a robot to be positioned and at least 3 hot spot sets; the hotspot sets each comprise a reference hotspot and a plurality of non-reference hotspots;
the robot to be positioned is used for receiving the RSSI value broadcasted by each hotspot in each hotspot set; respectively calculating the RSSI average value of each hotspot set according to the RSSI value, and taking the RSSI average value of each hotspot set as the RSSI value of each reference hotspot; respectively calculating the distance value between each reference hotspot and the RSSI average value; positioning by using the reference hot spot and the distance value;
the robot to be positioned is any one of the robots, the reference hotspot is a hotspot in a preset hotspot area, and the RSSI value received by the robot to be positioned is the largest; and the hot spot set is a set formed by selecting hot spots with similarity greater than a preset threshold from the preset hot spot area after the RSSI value of each hot spot in the preset hot spot area receives the neighbor hot spot and the RSSI value of the reference hot spot receives the neighbor hot spot.
The robot positioning method provided by the invention receives the RSSI value broadcast by each hotspot in each hotspot set; respectively calculating the RSSI average value of each hotspot set according to the RSSI value, and taking the RSSI average value of each hotspot set as the RSSI value of each reference hotspot; respectively calculating the distance value between each reference hot spot and each RSSI average value; positioning by using the reference hot spot and the distance value; the number of the hot spot sets is at least 3, and each hot spot set comprises a reference hot spot and a plurality of non-reference hot spots; the reference hotspot is a hotspot with the maximum RSSI value received by the robot to be positioned in a preset hotspot area; the hot spot set is a set formed by selecting hot spots with similarity greater than a preset threshold from the preset hot spot area after the RSSI value of each hot spot in the preset hot spot area receives the neighbor hot spots and the RSSI value of the reference hot spot receives the neighbor hot spots.
Therefore, by utilizing the similarity between the hotspots, a plurality of hotspots are selected to form a hotspot set, and the RSSI values of all hotspots in the set are averaged to be used as the RSSI value of the reference hotspot. Therefore, the influence of the randomness of the environment on the path loss coefficient can be reduced, and the influence of small-scale random fading is reduced, namely, compared with a single hot spot, the hot spot set can reduce the influence of the environment on the RSSI value. Then, the RSSI is used for positioning, so that the influence of environmental factors on the positioning of the robot can be overcome, and the positioning accuracy is further improved. The robot and the robot positioning system provided by the invention have the same beneficial effects.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic flowchart of a specific implementation of a robot positioning method according to an embodiment of the present invention;
FIG. 2 is a block diagram schematically illustrating a robot according to an embodiment of the present invention;
fig. 3 is a block diagram illustrating a structure of a robot positioning system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic flow chart of a specific implementation of a robot positioning method according to an embodiment of the present invention, where the method includes the following steps:
step 101, receiving an RSSI (received signal strength indicator) value broadcast by each hotspot in each hotspot set;
the number of the hot spot sets is at least 3, and each hot spot set comprises a reference hot spot and a plurality of non-reference hot spots; the reference hotspot is a hotspot with the maximum RSSI value received by the robot to be positioned in a preset hotspot area; the hot spot set is a set formed by selecting hot spots with similarity greater than a preset threshold from the preset hot spot area after the RSSI value of each hot spot in the preset hot spot area receives the neighbor hot spots and the RSSI value of the reference hot spot receives the neighbor hot spots.
It can be understood that the number of the hotspot sets may be 3 or more than 3, the specific number may be set according to specific application requirements, and the number of the hotspots in each hotspot set is arbitrary.
The non-reference hotspots of each set can be selected according to the similarity between hotspots, and the specific process can be as follows:
step A, determining a reference hotspot in a preset hotspot area;
it should be noted that the preset hot spot region is a region including a plurality of hot spots to be selected, and a plurality of hot spots to be selected can be selected from the region to form a hot spot set. Before selecting a non-reference hotspot, a reference hotspot needs to be determined, and the determination standard of the reference hotspot is generally the hotspot with the maximum RSSI value. The robot to be positioned can receive RSSI values broadcasted by all hot spots in a preset hot spot area, and the hot spot with the maximum RSSI value is taken as a reference hot spot.
Of course, in some special cases, the reference hotspot may be specified by the user according to the actual situation. At this time, the reference hotspot may not be the hotspot with the largest RSSI value.
Step B, utilizing similarity formula
Figure BDA0001464519940000061
Respectively calculating the similarity between each hot spot to be selected in the preset hot spot area and the reference hot spot;
wherein R isAi、RBiRSSI values, R, respectively, received by hotspot A, B from the ith hotspot of the same N neighbor hotspotsABReceiving the RSSI value of the hotspot B for the hotspot A, i belongs to [1, N ∈]。
It should be noted that, if two hotspots are spatially close to each other, their environments are substantially similar, and accordingly, there are also the same neighbor hotspots, and the RSSI values of the received neighbor hotspots are also relatively close to each other. Therefore, when the similarity between a certain hot spot and a reference hot spot is calculated, the hot spots in the preset hot spot region except the hot spot and the reference hot spot can be regarded as the neighbor hot spots of the two hot spots.
Step C, selecting a hot spot to be selected with the similarity larger than a preset threshold value as a non-reference hot spot, and forming a hot spot set with the reference hot spot;
it can be understood that the preset threshold may be set according to requirements, and the selection of the preset threshold also determines the number of the non-reference hot spots.
And 102, respectively calculating the RSSI average value of each hotspot set according to the RSSI value, and taking the RSSI average value of each hotspot set as the RSSI value of each reference hotspot.
It can be understood that, knowing the RSSI value of each hotspot in each hotspot set and the number of hotspots in each hotspot set, the average RSSI value of each hotspot set can be determined.
And 103, respectively calculating the distance value between each reference hotspot and the RSSI average value.
And taking the RSSI average value as the RSSI value of the corresponding reference hotspot, namely, when the robot calculates the distance from each reference hotspot, calculating by using the RSSI average value of the corresponding hotspot set. Therefore, the single hot spot is replaced by the hot spot set, so that the error can be reduced, and the influence of random environmental noise on the positioning of the robot is reduced.
In some embodiments, the step may be specifically: based on the average RSSI value, using the RSSI ranging method
Figure BDA0001464519940000062
Respectively calculating distance values from each reference hot spot;
wherein d is0The reference distance is A, the signal intensity at the reference distance is A, the path loss coefficient is n, and the X sigma is a zero-mean Gaussian distribution random variable.
And 104, positioning by using the reference hot spot and the distance value.
After the distances between the reference hotspots and the reference hotspots are calculated, circles can be drawn by taking each reference hotspot as a circle center and the corresponding distance value as a radius, and then intersection points of a plurality of circles can be obtained, wherein the intersection points are positioning points.
It is understood that when the number of reference hot spots is 3, or the hot spot set is 3, the three-point positioning method can be used for positioning. For example, the point to be located is X, A, B, C is a reference hotspot, A, B, C points are taken as circle centers, the corresponding distance values are taken as radii to draw circles, and the intersection of the three circles is the point to be located X.
When the number of the reference hotspots is more than 3, or the hotspot set is more than 3, the positioning process is similar to that of 3, and details are not repeated here.
After the robot obtains the positioning data, the positioning data can be transmitted to the hot spot through the data, and the hot spot closest to the ground transmits the positioning data to the ground control center.
Positioning may have errors, and in order to control the errors within a certain range and provide positioning accuracy, positioning verification may be performed after positioning.
Therefore, in some embodiments, after the positioning using the reference hot spot and the distance value, the method may further include: receiving RSSI (received signal strength indicator) values of all hotspots in a hotspot set for verification; calculating a verification RSSI average value of the hotspot set for verification; calculating a verification distance value between the verification reference hot spot and the verification RSSI average value; and drawing a circle by taking the verification reference hot spot as the center of the circle and the verification distance value as the radius, and verifying the positioning accuracy by judging the error distance between the positioning point and the verification circle.
It should be noted that the number of the hot spot sets used for verification is not included in the above at least 3 hot spot sets, that is, the number of the hot spot sets used for positioning needs to be at least 3, and when verification is needed, the hot spot sets used for verification need to be added on this basis.
The selecting process of the hotspot set for verification is similar to the selecting process of the hotspot set for positioning, which may specifically refer to the above corresponding contents, and the RSSI value calculating process of the verifying process is similar to the positioning process, which may specifically refer to the above corresponding contents, and will not be described herein again
It is understood that the above-mentioned error distance may refer to where the located position point falls on the verification circle. If the positioning point falls on the circle, the positioning point is within the error range, if the positioning point falls on the circle or outside the circle, and the deviation distance is within the threshold range, the positioning point can be considered to be within the error range, otherwise, the positioning is considered to be inaccurate.
When the positioning is judged to be inaccurate, the positioning can be carried out again until the positioning point is within the error range. Of course, if the positioning is not satisfactory after a plurality of times of positioning, alarm information can be sent to the control center so as to manually check the positioning influence factors.
In this embodiment, a plurality of hotspots are selected to form a hotspot set by using the similarity between hotspots, and the RSSI values of the hotspots in the set are averaged and used as the RSSI value of the reference hotspot. Therefore, the influence of the randomness of the environment on the path loss coefficient can be reduced, and the influence of small-scale random fading is reduced, namely, compared with a single hot spot, the hot spot set can reduce the influence of the environment on the RSSI value, and particularly, the effect is obvious in some special occasions such as indoor or underground. Then, the RSSI is used for positioning, so that the influence of environmental factors on the positioning of the robot can be overcome, and the positioning accuracy is further improved.
In the following, a robot according to an embodiment of the present invention is described, and a robot described below and a robot positioning method described above may be referred to correspondingly.
Referring to fig. 2, fig. 2 is a schematic block diagram of a structure of a robot according to an embodiment of the present invention, where the robot may include:
a receiving module 21, configured to receive an RSSI value broadcast by each hotspot in each hotspot set;
the RSSI average value calculating module 22 is configured to calculate an RSSI average value of each hotspot set according to the RSSI values, and use the RSSI average value of each hotspot set as the RSSI value of each reference hotspot;
the distance calculation module 23 is configured to calculate distance values from each reference hotspot according to the RSSI average value;
the positioning module 24 is configured to perform positioning by using the reference hot spot and the distance value;
the number of the hot spot sets is at least 3, and each hot spot set comprises a reference hot spot and a plurality of non-reference hot spots; the reference hotspot is a hotspot with the maximum RSSI value received by the robot to be positioned in a preset hotspot area; the hot spot set is a set formed by selecting hot spots with similarity greater than a preset threshold from the preset hot spot area after the RSSI value of each hot spot in the preset hot spot area receives the neighbor hot spots and the RSSI value of the reference hot spot receives the neighbor hot spots.
The robot of the present embodiment may be a robot in any scene, but in a special scene, for example, indoors or underground, the positioning accuracy of the robot is significantly improved by applying the robot of the present embodiment. Therefore, the robot of the present embodiment can be used as some special environment robots, such as a home service robot and an underground search and rescue robot.
In some embodiments, the distance calculation module 23 may include:
a calculation submodule for ranging by RSSI according to the average value of RSSI
Figure BDA0001464519940000081
Respectively calculating distance values from each reference hot spot;
wherein d is0The reference distance is A, the signal intensity at the reference distance is A, the path loss coefficient is n, and the X sigma is a zero-mean Gaussian distribution random variable.
In some embodiments, the positioning module 24 may include:
and the positioning sub-module is used for drawing a circle by taking each datum hot point as a circle center and the distance value as a radius, obtaining the intersection point of each circle and taking the intersection point as a positioning point.
In some embodiments, the robot may further include:
the verification module is used for receiving the RSSI value of each hotspot in the hotspot set for verification; calculating a verification RSSI average value of the hotspot set for verification; calculating a verification distance value between the verification reference hot spot and the verification RSSI average value; and drawing a circle by taking the verification reference hot spot as the center of the circle and the verification distance value as the radius, and verifying the positioning accuracy by judging the error distance between the positioning point and the verification circle.
In this embodiment, the robot selects a plurality of hotspots to form a hotspot set by using the similarity between hotspots, and averages the RSSI values of the hotspots in the set to use as the RSSI value of the reference hotspot. Therefore, the influence of the randomness of the environment on the path loss coefficient can be reduced, and the influence of small-scale random fading is reduced, namely, compared with a single hot spot, the hot spot set can reduce the influence of the environment on the RSSI value, and particularly, the effect is obvious in some special occasions such as indoor or underground. Then, the RSSI is used for positioning, so that the influence of environmental factors on the positioning of the robot can be overcome, and the positioning accuracy is further improved.
An embodiment of the present invention provides a robot positioning system, referring to a schematic block diagram of a structure of the robot positioning system shown in fig. 3, the system may include a robot 31 to be positioned and at least 3 hot spot sets 32; the hotspot sets comprise a reference hotspot and a plurality of non-reference hotspots;
the robot to be positioned is used for receiving the RSSI value broadcasted by each hotspot in each hotspot set; respectively calculating the RSSI average value of each hotspot set according to the RSSI value, and taking the RSSI average value of each hotspot set as the RSSI value of each reference hotspot; respectively calculating the distance value between each reference hot spot and each RSSI average value; positioning by using the reference hot spot and the distance value;
the robot to be positioned is any one of the robots, the reference hotspot is a hotspot with the maximum RSSI value received by the robot to be positioned in a preset hotspot area; the hot spot set is a set formed by selecting hot spots with similarity greater than a preset threshold from the preset hot spot area after the RSSI value of each hot spot in the preset hot spot area receives the neighbor hot spots and the RSSI value of the reference hot spot receives the neighbor hot spots.
In this embodiment, the robot selects a plurality of hotspots to form a hotspot set by using the similarity between hotspots, and averages the RSSI values of the hotspots in the set to use as the RSSI value of the reference hotspot. Therefore, the influence of the randomness of the environment on the path loss coefficient can be reduced, and the influence of small-scale random fading is reduced, namely, compared with a single hot spot, the hot spot set can reduce the influence of the environment on the RSSI value, and particularly, the effect is obvious in some special occasions such as indoor or underground. Then, the RSSI is used for positioning, so that the influence of environmental factors on the positioning of the robot can be overcome, and the positioning accuracy is further improved.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The robot positioning method, system and robot provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims (8)

1. A robot positioning method, comprising:
receiving RSSI (received signal strength indicator) values broadcasted by all hotspots in each hotspot set;
respectively calculating the RSSI average value of each hotspot set according to the RSSI value, and taking the RSSI average value of each hotspot set as the RSSI value of each reference hotspot;
respectively calculating the distance value between each reference hotspot and the RSSI average value;
positioning by using the reference hot spot and the distance value;
wherein, the hot spot sets have at least 3, and each hot spot set comprises one reference hot spot and a plurality of non-reference hot spots; the reference hotspot is a hotspot with the maximum RSSI value received by the robot to be positioned in a preset hotspot area; the hot spot set is a set formed by selecting hot spots with similarity greater than a preset threshold from the preset hot spot area after the RSSI value of each hot spot in the preset hot spot area receives a neighbor hot spot and the RSSI value of the reference hot spot receives a neighbor hot spot;
wherein, the calculating the distance value to each reference hotspot according to the RSSI average value comprises:
based on the average RSSI value, using RSSI ranging mode
Figure FDA0002934259250000011
Respectively calculating distance values from the reference hot spots;
wherein d is0Is the reference distance, a is the signal strength at the reference distance, n is the path loss coefficient,and X sigma is a zero-mean Gaussian distribution random variable.
2. The method of claim 1, wherein said locating using said reference hotspot and said distance value comprises:
and drawing a circle by taking each reference hot point as a circle center and the distance value as a radius to obtain an intersection point of each circle, and taking the intersection point as a positioning point.
3. The method of any of claims 1 to 2, wherein after said locating using said reference hotspot and said distance value, further comprising:
receiving RSSI (received signal strength indicator) values of all hotspots in a hotspot set for verification;
calculating a verification RSSI average value of the hotspot set for verification;
calculating a verification distance value between the verification reference hot spot and the verification RSSI average value;
and drawing a circle by taking the verification reference hot spot as the center of the circle and the verification distance value as the radius, and verifying the positioning accuracy by judging the error distance between the positioning point and the verification circle.
4. The method of claim 1, wherein the selecting process of the hotspot set specifically comprises:
determining the reference hot spot in the preset hot spot area;
using similarity formulae
Figure FDA0002934259250000021
Respectively calculating the similarity between each hot spot to be selected in the preset hot spot area and the reference hot spot;
selecting the hot spot to be selected with the similarity larger than the preset threshold as the non-reference hot spot, and forming the hot spot set with the reference hot spot;
wherein, R isAi、RBiFrom the same N neighbors for hotspot A, B, respectivelyRSSI value, R, received by ith hot spot in pointABReceiving the RSSI value of the hotspot B for the hotspot A, i belongs to [1, N ∈]。
5. A robot, comprising:
the receiving module is used for receiving the RSSI value broadcasted by each hotspot in each hotspot set;
the RSSI average value calculation module is used for respectively calculating the RSSI average value of each hotspot set according to the RSSI value and taking the RSSI average value of each hotspot set as the RSSI value of each reference hotspot;
the distance calculation module is used for respectively calculating the distance value between each reference hotspot and the RSSI average value;
the positioning module is used for positioning by utilizing the reference hot spot and the distance value;
wherein, the hot spot sets have at least 3, and each hot spot set comprises one reference hot spot and a plurality of non-reference hot spots; the reference hotspot is a hotspot with the maximum RSSI value received by the robot to be positioned in a preset hotspot area; the hot spot set is a set formed by selecting hot spots with similarity greater than a preset threshold from the preset hot spot area after the RSSI value of each hot spot in the preset hot spot area receives a neighbor hot spot and the RSSI value of the reference hot spot receives a neighbor hot spot;
wherein the distance calculation module comprises:
a calculation submodule for ranging by RSSI according to the average value of RSSI
Figure FDA0002934259250000022
Respectively calculating distance values from the reference hot spots;
wherein d is0The reference distance is A, the signal intensity at the reference distance is A, the path loss coefficient is n, and the X sigma is a zero-mean Gaussian distribution random variable.
6. The robot of claim 5, wherein the positioning module comprises:
and the positioning sub-module is used for drawing circles by taking each reference hot point as the center of a circle and the distance value as the radius to obtain the intersection point of each circle, and taking the intersection point as a positioning point.
7. A robot as claimed in any of claims 5 to 6, further comprising:
the verification module is used for receiving the RSSI value of each hotspot in the hotspot set for verification; calculating a verification RSSI average value of the hotspot set for verification; calculating a verification distance value between the verification reference hot spot and the verification RSSI average value; and drawing a circle by taking the verification reference hot spot as the center of the circle and the verification distance value as the radius, and verifying the positioning accuracy by judging the error distance between the positioning point and the verification circle.
8. A robot positioning system is characterized by comprising a robot to be positioned and at least 3 hot spot sets; the hotspot sets each comprise a reference hotspot and a plurality of non-reference hotspots;
the robot to be positioned is used for receiving the RSSI value broadcasted by each hotspot in each hotspot set; respectively calculating the RSSI average value of each hotspot set according to the RSSI value, and taking the RSSI average value of each hotspot set as the RSSI value of each reference hotspot; respectively calculating the distance value between each reference hotspot and the RSSI average value; positioning by using the reference hot spot and the distance value;
the robot to be positioned is the robot as claimed in any one of claims 5 to 7, the reference hotspot is a hotspot in a preset hotspot area, and the RSSI value received by the robot to be positioned is the largest; and the hot spot set is a set formed by selecting hot spots with similarity greater than a preset threshold from the preset hot spot area after the RSSI value of each hot spot in the preset hot spot area receives the neighbor hot spot and the RSSI value of the reference hot spot receives the neighbor hot spot.
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