CN107976186B - Relative positioning method without anchor point - Google Patents
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- CN107976186B CN107976186B CN201711012953.XA CN201711012953A CN107976186B CN 107976186 B CN107976186 B CN 107976186B CN 201711012953 A CN201711012953 A CN 201711012953A CN 107976186 B CN107976186 B CN 107976186B
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- G—PHYSICS
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- 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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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Abstract
The invention discloses a kind of relative positioning method of no anchor point, mainly solve the problems, such as that the prior art not can determine that two mobile device relative positions in the case where initial position is unknown.Implementation step are as follows: the initial relative distance of 1. two mobile devices of measurement；2. carrying out movement for the first time, moving distance, moving direction angle and the relative distance for measuring latter two mobile mobile device of two mobile devices are recorded；3. calculating latter two mobile mobile device relative coordinate, if coordinate is unique, then directly determine relative position, if coordinate is not unique, second of movement is carried out again, if second of the mobile relative distance for meeting condition, record two mobile devices, second of moving distance and deflection and measuring latter two mobile mobile device；4. calculating the relative bearing of two mobile devices, relative position is determined.The present invention passes through the mobile relative position for determining two mobile devices under no anchor point, initial position unknown situation.
Description
Technical field
The invention belongs to field of communication technology, in particular to a kind of relative positioning method can be used for unknown in initial position
In the case where determine two mobile devices between relative position.
Background technique
Existing location technology mainly has bluetooth location technology, ultra wideband location techniques, Wi-Fi location technology and inertia to pass
Sensor location technology etc..Wherein:
Bluetooth location technology is the bluetooth module using smart phone, needs to dispose Bluetooth base. station in localizing environment,
Positioning accuracy highest can achieve sub-meter grade, but this localization method is at high cost, in complex environment, stability is not proper,
It is obvious by noise jamming.
Ultra wideband location techniques do not depend on carrier signal necessary to traditional communication, need extremely narrow pulse signal,
It can achieve the positioning accuracy of Centimeter Level under unobstructed indoor environment, but the deficiency of this localization method is wanted to hardware performance
It asks high, is easy to appear biggish position error under complicated indoor environment.
Wi-Fi location technology is can to complete the positioning in complex environment using the WLAN net of access points AP composition
Task, using the position data of node as foundation and premise, full accuracy covers between 1 meter to 20 meters since AP is common for it
Lid radius is easy to reduce its positioning accuracy, and it is also higher to position power consumption by other effect of signals within hundred meters.
Location technology based on inertial sensor is broadly divided into two kinds: one is conventional inertia sensor positioning methods, separately
One is pedestrian's reckoning methods.Both methods is applied to smart phone, i.e., the sensor carried using smart phone
Equipment first acquires exercise data, and the location information of mobile phone is then obtained by calculating.
Wherein, conventional inertia sensor positioning method utilizes newtonian motion theorem, carries out quadratic integral acquisition to acceleration
Speed and displacement, advantage be not easily susceptible to the interference of external environment, the disadvantage is that calculate it is complicated, simultaneously because acceleration measurement with
There are certain deviation, these errors to have an impact to positioning result for actual value, and with the accumulation of time, cumulative errors can be got over
Come bigger；Pedestrian's reckoning method is to be determined on the basis of known starting point coordinate according to the displacement of movement and direction
The coordinate of next point, this localization method are low to the required precision of acceleration transducer, can be further reduced hardware system mistake
Influence of the difference for positioning accuracy, location data is more stable, and course detection is added, and can make separately as location technology
With the disadvantage is that position error can accumulate as time increases.
In the above location technology, bluetooth location technology, ultra wideband location techniques, Wi-Fi location technology are all for determining
Absolute position, inertial sensor location technology may be used to determine relative position, but need the initial point of known moving object
Coordinate, and it is mainly used in the relative position for determining and moving front and back twice with object, it can not determine between two objects
Relative position.
Summary of the invention
It is an object of the invention in view of the deficiency of the prior art, propose one kind based on no anchor point relative positioning
Method, it is intended in the case that initial position is unknown, obtain the relative position between two mobile devices.
The technical scheme of the present invention is realized as follows:
One, technical principle
The basic idea of the invention is that pedestrian's reckoning method based on inertial sensor location technology.
Pedestrian's reckoning is a kind of characteristics of motion and periodical information based on people's walking or when moving, and analyzes acceleration
The output valve of sensor identifies these motion features, and the cadence and stride of pedestrian's walking are detected and estimated, in conjunction with top
The angular velocity information that spiral shell instrument obtains, so as to the method for finally obtaining location information by the moving distance of pedestrian, directional information.
The algorithm includes cadence detection, step-size estimation and course detection.
The cadence detection is using the periodicity of people's walking, according to movement brief acceleration sensor in vertical direction
Acceleration change rule solves, i.e., first obtains acceleration information, removal is since mobile phone shakes bring abnormal point and does smooth
Processing, resets dynamic threshold, is then denoted as a step if there is two continuous wave crests for being more than threshold value.
The step-size estimation, existing method have static models method and dynamic model method, in which:
Static models method is that several constant step-lengths are arranged according to the gender of pedestrian, age, height as the experience of step-length to estimate
Evaluation, this model cannot embody the variation of speed in walking well, and model is excessively coarse；
Dynamic model method is the linear representation that step-length is established by mathematical model or learning model, the mathematical model
Refer to and step-length is determined by the linear model between acceleration and step-length, frequency and step-length；The learning model, which refers to, passes through engineering
The methods of habit learns walking states, the corresponding step-length that prediction pedestrian's walking states obtain.
The course detection, is realized using electronic compass or gyroscope.Earth magnetic field is mapped to its seat by electronic compass
In mark system, the attitude angle of compass is obtained, but electronic compass is easy the interference by electric field or magnetic field, needs before use in advance
Correction；Gyroscope carries out angular movement detection using the law of conservation of angular momentum, it is with low cost, low energy consumption, cost are small, reliability
It is high, be easy to the advantages that digitizing and assembled by most of smart phone, data stability is good in a short time, and direction finding accuracy is high,
But as the time increases, the risk of cumulative errors is had.
Compared to conventional inertia sensor positioning method, precision of pedestrian's reckoning localization method to acceleration transducer
It is required that reducing, precision depends on cadence measurement, step-size estimation and course and detects three aspects, easy to accomplish in mobile terminal,
High accuracy positioning can also be effectively realized indoors, and the present invention is based on pedestrian's reckoning methods thus, realize two movements
The determination of relative position between equipment.
Two, implementations
According to above-mentioned principle, technical solution of the present invention includes the following:
1) the initial relative distance R between two mobile devices A and B is obtained using distance measurement method1, and record A's
Initial position is A0, with A0For coordinate origin, B initial position is unknown；
2) two respective moving distance l of mobile device A and B are obtained1、l2With moving direction angle beta1、β2；
3) two mobile devices A and B exchange information, and respective positions are A after record is mobile for the first time1And B1, obtain two
Mobile device is in current location A1With B1Between relative distance R2；
4) two mobile device A and B are calculated in current location A1And B1Between relative coordinate:
Following equation in coordinates group 4a) is constructed according to the result of step 3):
Wherein, after formula<1>indicates mobile for the first time, with the position A of mobile device A1For the center of circle, mobile device B is in position B1
Possibility coordinate where equation of a circle；Formula<2>is indicated with mobile device A and mobile device B initial relative distance R1It is mobile for radius
Equation of a circle where possibility coordinate after equipment B is mobile；X, y respectively indicates mobile device B in position B1Abscissa and ordinate,
The abscissa in the center of circle of circle, a=l shown in a expression<2>2sinβ2-l1sinβ1, the vertical seat in the center of circle of circle shown in b expression<2>
Mark, b=l2cosβ2-l1cosβ1；
Equation in coordinates group 4b) is solved, solves mobile device B in position B1Abscissa x and ordinate y；
The judgement to two mobile device A and B relative coordinates 4c) is made according to solution x, y obtained above:
Work as x1=x2=x, y1=y2When=y, it is determined that mobile device B relatively moves equipment A in position B1Coordinate be B1
(x,y)；
Work as x1≠x2、y1≠y2When, x1,y1And x2,y2Corresponding mobile device B relative movement equipment A is in position B1Coordinate point
It Wei not B '1(x1,y1) and B "1(x2,y2), then the relative position of two mobile devices A and B cannot be uniquely determined, execute step 5)；
5) step 2) is repeated, obtains second of mobile moving distance l of two mobile devices A and B respectively3、l4With movement side
To angle beta3、β4, and judge second of mobile moving direction angle beta of two mobile devices A and B3And β4It is whether identical:
If not identical, step 6) is executed；
If they are the same, then two mobile devices are moved again, update l3、l4And β3、β4Value, until β3And β4It is not identical, it holds
Row step 6)；
6) record works as the first two mobile device A and B respective positions are A2And B2, it is in place to obtain two mobile devices A and B
Set A2And B2Between relative distance R3；
7) according to step 6) acquired results, determine two mobile device A and B in current location A2And B2Relative bearing:
Mobile device B 7a) is calculated separately in two possible coordinate B ' of position B22(x3,y3)、B″2(x4,y4) and B '2(x3,
y3) arrive origin distance d1、B″2(x4,y4) arrive origin distance d2；
7b) utilize step (6) acquired results to mobile device B in position B2Coordinate selection judge:
If d1=R3, then B '2(x3,y3) it is the coordinate of mobile device B using mobile device A as origin；
If d2=R3, then B "2(x4,y4) it is the coordinate of mobile device B using mobile device A as origin；
Mobile device A and mobile device B 7c) is calculated in position A2And B2Relative bearing γ.
Compared with prior art, the present invention having the advantage that
1, the present invention obtains mobile device due to not needing during determining the relative position of two mobile devices
Initial position is to the prior art by qualified movement twice come the final relative position for determining two mobile devices
It is middle using pedestrian's reckoning localization method to the supplement of single body absolute fix, expand pedestrian's reckoning localization method
Use scope；
2, the present invention is not needed external environment configuration, is carried using mobile device due to being based on pedestrian's reckoning method
Device is positioned in the case where no anchor point, reduces the factors such as environment configurations unevenness or signal blocks to positioning accuracy
Influence.
Detailed description of the invention
Fig. 1 is implementation flow chart of the invention；
Fig. 2 is the sub-process figure that two mobile device relative positions are determined in the present invention.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, invention is further described in detail.
Referring to Fig.1, a kind of relative positioning method of no anchor point, comprising the following steps:
Step 1, the initial relative distance between two mobile devices A and B is obtained.
This example obtains the initial relative distance R between two mobile devices A and B using distance measurement method1, and record
The initial position of A is A0, with A0For coordinate origin, B initial position is unknown, which includes strong based on signal is received
Spend RSSI, based on arrival time TOA, based on reaching time-difference TDOA and based on angle of arrival AOA etc., this example uses but unlimited
Measuring the initial relative distance between two mobile devices A and B in RSSI distance measuring method is R1。
Step 2, two respective moving distance l of mobile device A and B are obtained1、l2With moving direction angle beta1、β2。
This case-based system moving distance l1、l2With moving direction angle beta1、β2It carries out as follows:
Obtain the acceleration information a of mobile device A respectively using acceleration transducer1Believe with the acceleration of mobile device B
Cease b1, and cadence detection and step-size estimation are carried out according to acceleration information, respectively obtain the moving distance l of mobile device A1And shifting
The moving distance l of dynamic equipment B2；
It obtains the angular velocity information of mobile device A and B respectively using gyroscope, and course inspection is carried out according to angular velocity information
It surveys, respectively obtains the moving direction angle beta of mobile device A1With the moving direction angle beta of mobile device B2。
Step 3, two mobile devices are obtained in current location A1With B1Between relative distance R2。
Two mobile devices A and B exchange information in this example, and respective positions are A after record is mobile for the first time respectively1With
B1；
Two mobile devices are obtained in current location A using RSSI distance measuring method1And B1Between relative distance R2。
Step 4, two mobile devices A and B determine relative position by mobile twice.
Referring to Fig. 2, this step is implemented as follows:
Two mobile device A and B 4a) are calculated in current location A1And B1Relative coordinate:
Equation in coordinates group 4a1) is constructed according to the result of step 3:
Wherein, after formula<1>indicates mobile for the first time, with the position A of mobile device A1For the center of circle, mobile device B is in position B1
Possibility coordinate where equation of a circle；Formula<2>is indicated with mobile device A and mobile device B initial relative distance R1It is mobile for radius
Equation of a circle where possibility coordinate after equipment B is mobile；X, y respectively indicates mobile device B in position B1Abscissa and ordinate,
The abscissa in the center of circle of circle, a=l shown in a expression<2>2sinβ2-l1sinβ1, the vertical seat in the center of circle of circle shown in b expression<2>
Mark, b=l2cosβ2-l1cosβ1；The signified circle of formula<1>is identified as circle (1), radius R in Fig. 22, the signified circle of formula<2>is in Fig. 2
It is identified as circle (2), radius R1；
Equation in coordinates group 4a2) is solved, calculates mobile device B in position B1Abscissa x and ordinate y, obtaining two can
It can solve:
Wherein
4a3) according to 4a2) obtained solution x1、y1And x2、y2Make the judgement to two relative positions mobile device A and B:
Work as x1=x2=x and y1=y2When=y, it is determined that mobile device B relatively moves equipment A in position B1Coordinate be B1
(x,y)；
Work as x1≠x2、y1≠y2When, x1,y1And x2,y2Corresponding mobile device B relative movement equipment A is in position B1Coordinate point
It Wei not B '1(x1,y1) and B "1(x2,y2), then the relative position of two mobile devices A and B cannot be uniquely determined, execute step 4b；
4b) obtain second of mobile moving distance l of two mobile devices A and B3、l4With moving direction angle beta3、β4And it is right
Moving direction angle is judged:
This step repeats step 2, obtains second of mobile moving distance l of mobile device A respectively first3, moving direction
Angle beta3With second of mobile moving distance l of mobile device B4, moving direction angle beta4, then judge two mobile device A and B second
The moving direction angle beta of secondary movement3And β4It is whether identical:
If not identical, 4c is executed)；
If they are the same, then two mobile devices are moved again, update l3、l4And β3、β4Value, until β3And β4It is not identical, it holds
Row 4c):
Two mobile device A and B 4c) are obtained in position A2And B2Between relative distance R3:
This example record is A as the first two mobile device A and B respective positions2And B2, obtained using RSSI distance measuring method
Two mobile device A and B are in position A2And B2Between relative distance R3；
4d) determine two mobile device A and B in current location A2And B2Relative bearing:
Mobile device B 4d1) is calculated separately in position B2Two possible coordinate B '2(x3,y3)、B″2(x4,y4) and B '2
(x3,y3) arrive origin distance d1、B″2(x4,y4) arrive origin distance d2:
Wherein: x3=x1+l4sinβ4-l3sinβ3, y3=y1+l4cosβ4-l3cosβ3,
x4=x2+l4sinβ4-l3sinβ3, y4=y2+l4cosβ4-l3cosβ3；
4d2) utilize 4c) acquired results to mobile device B in position B2Coordinate selection judge:
If d1=R3, then B '2(x3,y3) it is the coordinate of mobile device B using mobile device A as origin；
If d2=R3, then B "2(x4,y4) it is the coordinate of mobile device B using mobile device A as origin；
Mobile device A and mobile device B 4d3) is calculated in position A2And B2Relative bearing γ, utilize 4d2) gained knot
Fruit, a point different situations calculate:
If B '2(x3,y3) it is selected coordinate, it may be assumed that
Work as x3When > 0, then
Work as x3When < 0, then
If B "2(x4,y4) it is selected coordinate, it may be assumed that
Work as x4When > 0, then
Work as x3When < 0, then
Above description is only example of the present invention, does not constitute any limitation of the invention, it is clear that for
It, all may be without departing substantially from the principle of the invention, structure after having understood the content of present invention and principle for one of skill in the art
In the case where, carry out various modifications and change in form and details, but these modifications and variations based on inventive concept
Still within the scope of the claims of the present invention.
Claims (6)
1. a kind of relative positioning method of no anchor point characterized by comprising
1) the initial relative distance R between two mobile devices A and B is obtained using distance measurement method1, and record the initial bit of A
It is set to A0, with A0For coordinate origin, B initial position is unknown；
2) two respective moving distance l of mobile device A and B are obtained1、l2With moving direction angle beta1、β2；
3) two mobile devices A and B exchange information, and respective positions are A after record is mobile for the first time1And B1, obtain two movements
Equipment is in current location A1With B1Between relative distance R2；
4) two mobile device A and B are calculated in current location A1And B1Between relative coordinate:
Following equation in coordinates group 4a) is constructed according to the result of step 3):
Wherein, after formula<1>indicates mobile for the first time, with the position A of mobile device A1For the center of circle, mobile device B is in position B1Can
It can equation of a circle where coordinate；Formula<2>is indicated by circle where mobile device B initial position, along moving direction angle beta2Moving distance l2Afterwards
Equation of a circle；X, y respectively indicates mobile device B in position B1Abscissa and ordinate, shown in a expression<2>circle the center of circle
Abscissa, a=l2sinβ2-l1sinβ1, the ordinate in the center of circle of circle, b=l shown in b expression<2>2cosβ2-l1cosβ1；
Equation in coordinates group 4b) is solved, solves mobile device B in position B1Abscissa x and ordinate y；
The judgement to two mobile device A and B relative coordinates 4c) is made according to solution x, y obtained above:
Work as x1=x2=x, y1=y2When=y, it is determined that mobile device B relatively moves equipment A in position B1Coordinate be B1(x,
y)；
Work as x1≠x2、y1≠y2When, x1、y1And x2、y2Corresponding mobile device B relative movement equipment A is in position B1Coordinate be respectively
B′1(x1,y1) and B "1(x2,y2), then the relative position of two mobile devices A and B cannot be uniquely determined, execute step 5)；
5) step 2) is repeated, obtains second of mobile moving distance l of two mobile devices A and B respectively3、l4With moving direction angle
β3、β4, and judge second of mobile moving direction angle beta of two mobile devices A and B3And β4It is whether identical:
If not identical, step 6) is executed；
If they are the same, then two mobile devices are moved again, update l3、l4And β3、β4Value, until β3And β4It is not identical, execute step
It is rapid 6)；
6) record works as the first two mobile device A and B respective positions are A2And B2, two mobile device A and B are obtained in position A2
And B2Between relative distance R3；
7) according to step 6) acquired results, determine two mobile device A and B in current location A2And B2Relative bearing:
Mobile device B 7a) is calculated separately in position B2Two possible coordinate B '2(x3,y3)、B″2(x4,y4) and B '2(x3,y3) arrive
The distance d of origin1、B″2(x4,y4) arrive origin distance d2；
7b) utilize step 6) acquired results to mobile device B in position B2Coordinate selection judge:
If d1=R3, then B '2(x3,y3) it is the coordinate of mobile device B using mobile device A as origin；
If d2=R3, then B "2(x4,y4) it is the coordinate of mobile device B using mobile device A as origin；
Mobile device A and mobile device B 7c) is calculated in position A2And B2Relative bearing γ.
2. according to the method described in claim 1, wherein distance measurement method described in step 1), common distance measurement method
Have based on received signal strength RSSI, be based on arrival time TOA, based on reaching time-difference TDOA and based on angle of arrival AOA etc..
3. according to the method described in claim 1, wherein obtain in step 2) the respective movement of two mobile devices A and B away from
From with moving direction angle, as follows carry out:
2a) obtain the acceleration information a of mobile device A and B respectively using acceleration transducer1And b1, and according to acceleration information
Cadence detection and step-size estimation are carried out, the moving distance l of mobile device A and B are respectively obtained1And l2；
It 2b) obtains the angular velocity information of mobile device A and B respectively using gyroscope, and course inspection is carried out according to angular velocity information
It surveys, respectively obtains the moving direction angle beta of mobile device A and B1And β2。
4. according to the method described in claim 1, wherein step 4b) in solve equation in coordinates group, solve equation in coordinates group, solve
Mobile device B is in position B1Abscissa x and ordinate y, solving result it is as follows:
Wherein
5. according to the method described in claim 1, wherein step 7a) in calculate separately mobile device B in position B2Two possibility
Coordinate B '2(x3,y3)、B″2(x4,y4) and B '2(x3,y3) arrive origin distance d1、B″2(x4,y4) arrive origin distance d2, calculate
As a result as follows:
Two coordinates are respectively B '2(x3,y3) and B "2(x4,y4), two distances of the coordinate away from origin are respectively
With
Wherein x3=x1+l4sinβ4-l3sinβ3, y3=y1+l4cosβ4-l3cosβ3, x4=x2+l4sinβ4-l3sinβ3, y4=y2+
l4cosβ4-l3cosβ3；
6. according to the method described in claim 1, wherein step 7c) in calculate mobile device A and mobile device B in position A2With
B2Relative bearing γ, be according to step 7b) acquired results, a point different situations calculate:
If B '2(x3,y3) it is selected coordinate, it may be assumed that
Work as x3When > 0, thenWork as x3When < 0, then
If B "2(x4,y4) it is selected coordinate, it may be assumed that
Work as x4When > 0, thenWork as x4When < 0, then
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| CN105043387A (en) * | 2015-06-26 | 2015-11-11 | 武汉科技大学 | Personal indoor positioning system based on inertial navigation aiding geomagnetism |
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