CN108226860A - Ultra wide band mixing dimension localization method and alignment system based on RSS - Google Patents
Ultra wide band mixing dimension localization method and alignment system based on RSS Download PDFInfo
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- CN108226860A CN108226860A CN201711191883.9A CN201711191883A CN108226860A CN 108226860 A CN108226860 A CN 108226860A CN 201711191883 A CN201711191883 A CN 201711191883A CN 108226860 A CN108226860 A CN 108226860A
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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
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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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
Abstract
The present invention provides a kind of ultra wide band mixing dimension localization method and alignment system based on RSS, the localization method includes step 1, build map datum, one-dimensional positioning base station is laid to form one-dimensional positioning region, two-dimensional localization base station is laid to form two-dimensional localization region, and signal wall penetration loss measurement is carried out in the one-dimensional positioning region and two-dimensional localization region intersection；Step 2, judge localization region where positioning label；Step 3, the localization region according to where positioning label selects corresponding location algorithm to be calculated, and obtains the precise positioning coordinate of positioning label；The alignment system includes map datum construction unit, state analysis unit, RSS analytic units, ultra wide band location hardware unit, central server unit and output display unit；The alignment system and localization method effectively solve the problems, such as that ultra wide band is located in the automatic switchover between a peacekeeping two-dimensional localization under complex environment, greatly improves positioning accuracy.
Description
Technical field
The present invention relates to cordless communication network field of locating technology, specifically, relate to a kind of ultra wide band based on RSS
Mixing dimension localization method and alignment system.
Background technology
As demand of the people to location-based service is all constantly being promoted, all start to need some high accurately location technologies
And method.Outdoor technology can accomplish Centimeter Level, but part indoors, as technologies such as traditional pseudo satellite, pseudolite, bluetooth, wifi
The daily positioning accuracy demand of real people can not have been met.Although the ultra wideband location techniques occurred in recent years are realized well
High-precision positioning and navigation, but it is larger to show in terms of positioning is tieed up in mixing delay of response, error, and cannot cut automatically
Change station-keeping mode, phenomena such as this causes system deviations larger or can not position, seriously affected in China region it is high precisely
The use of positioning method under location-based service application and complex environment.
In order to solve the problems, such as present on, people are seeking a kind of ideal technical solution always.
Invention content
The purpose of the present invention is in view of the deficiencies of the prior art, dimension is mixed so as to provide a kind of ultra wide band based on RSS
Localization method and alignment system, effectively solve ultra wide band under complex environment be located in it is automatic between a peacekeeping two-dimensional localization
Switching problem, avoiding occur in existing ultra wide band positioning one, two dimension can not independently switch, and cause positioning accuracy deviation mistake
The problems such as greatly or can not positioning.
To achieve these goals, the technical solution adopted in the present invention is：A kind of ultra wide band mixing dimension based on RSS is fixed
Position method, includes the following steps：
Step 1, map datum is built, one-dimensional positioning base station is laid to form one-dimensional positioning region, lays two-dimensional localization base
It stands to form two-dimensional localization region, and through walls in the one-dimensional positioning region and two-dimensional localization region intersection progress signal
Loss measurement；
Step 2, judge localization region where positioning label；
Step 3, the localization region according to where positioning label selects corresponding location algorithm to be calculated, and obtains positioning label
Precise positioning coordinate.
Based on above-mentioned, in the step 1, the laying region of one-dimensional positioning base station does not include two-dimensional localization edges of regions.
Based on above-mentioned, in the step 2, judge localization region where positioning label the specific steps are：
Step 2.1, multigroup elements of a fix data of the same positioning label in preset time are calculated；
Step 2.2, initial alignment region, movement tendency and position that multigroup elements of a fix data obtain positioning label are analyzed
Trend, and the positioning states for judging to position label is single positioning states or edge positioning states, if single positioning states,
Then directly perform step 2.4；If edge positioning states, then step 2.3 is continued to execute；
Step 2.3, the RSS values of the ultra-broadband signal received according to multiple locating base stations judge the localization region of positioning label
Whether change, if changing, further judge the localization region variation tendency of positioning label；If not changing,
Then directly perform step 2.4.
Step 2.4, localization region of the initial alignment region of positioning label as positioning label is chosen；
Step 2.5, localization region of the current Location Area of positioning label as positioning label is chosen.
Based on above-mentioned, the single positioning states are located at for positioning label in one-dimensional positioning region and from two-dimensional localization region
Farther out or positioning label is located in two-dimensional localization region and from one-dimensional positioning region farther out；The edge positioning states are positioning
Label is located at one-dimensional positioning region or two-dimensional localization edges of regions or the trend of oriented another localization region movement.
Based on above-mentioned, the step 2.3 the specific steps are：
Step 2.3.1 establishes ultra-broadband signal RSS measurement models；
Step 2.3.2, what the positioning label received according to each moment locating base station of RSS measurement models calculating emitted
The signal strength RSS of ultra-broadband signal；
Step 2.3.3 calculates the absolute of the ultra-broadband signal RSS differences that the locating base station adjacent time point receives
Value, and the wall penetration loss obtained with step 1 is compared, whether the localization region for judging to position label changes；
The ultra-broadband signal intensity that the locating base station adjacent time point receives is compared by step 2.3.4, is judged
Position the variation tendency of the localization region of label
Based on above-mentioned, the location algorithm in the step 3 includes one-dimensional positioning algorithm and two-dimensional localization algorithm, described one-dimensional
Location algorithm corresponds to one-dimensional positioning region, and the two-dimensional localization algorithm corresponds to two-dimensional localization region.
Based on above-mentioned, the one-dimensional positioning algorithm the specific steps are：
Judge whether another dimension coordinate is fixed value or changes along a certain straight line equal proportion, if so, with two positioning bases
Straight line between standing is established linear equation as x-axis and is solved, and carries out coordinate rotation or translation after the completion of solving again to acquire reality
Border coordinate value, finally coordinates the coordinate of another dimension can realize that the coordinate of positioning label calculates again.
Based on above-mentioned, the two-dimensional localization algorithm the specific steps are：
Obtain positioning tag ID, locating base station ID, TDOA distance difference measurement value and with the corresponding positioning of locating base station ID
Base station location coordinate；
Judge whether TDOA distance difference measurement values number is more than or equal to 4, if so, further according to locating base station position coordinates
Locating base station is judged whether on same straight line, if being not arranged on the same straight line, by same positioning label in signal twice
Ultra-broadband signal intensity in transmission time interval is ranked up, select sequence first four structure using position tag coordinate data as
The Hyperbolic Equation group of parameter；
Hyperbolic Equation is solved using the method for two step maximal possibility estimations, the optimal solution of acquisition is to position label most
The excellent elements of a fix.
The present invention also provides a kind of ultra wide band mixing dimension alignment system based on RSS, including sequentially connected map datum
Construction unit, state analysis unit, RSS analytic units, ultra wide band location hardware unit, central server unit and output display
Unit,
The map datum construction unit by the electronic map in loading area and using two dimension modeling, builds area
One-dimensionally figure field scape and two-dimensional map scene in domain；
The ultra wide band location hardware unit, including locating base station and positioning label, positioning label is used for the positioning
Base station sends ultra-broadband signal, and the locating base station receives the ultra-broadband signal and records the time of the ultra-broadband signal
Stab information, status data is sent into the central server unit；
The state analysis judging unit, for calculating the multigroup elements of a fix of the same positioning label in preset time
Data analyze multigroup elements of a fix data and obtain initial alignment region, movement tendency and the position trend of positioning label, and judge
The positioning states for positioning label are single positioning states or edge positioning states；
The RSS analyzes and determines unit, for when positioning label is in edge positioning states, being taken a message according to the ultra-wide
Number RSS measurement models calculate the RSS values of the ultra-broadband signal, and be compared with default wall penetration loss, to judge to position
Whether the localization region of label changes；
The central server unit analyzes and determines unit according to the state analysis judging unit and/or the RSS
Judging result calls one-dimensional positioning computational algorithm or two-dimensional localization computational algorithm carries out coordinate calculating, and the coordinate that will be calculated
The output display unit is sent into after data smoothing processing to be shown.
Based on above-mentioned, further include system interlink unit and daily management unit, the system interlink unit be used for it is outer
Boundary's equipment carries out linkage communication, and the daily management unit is used to carry out equipment management.
The present invention has prominent substantive distinguishing features and significant progress compared with the prior art, and specifically, the present invention adopts
With the ultra wide band TDOA positioning methods based on ranging, take a message with reference to the ultra-wide that the positioning label that multiple locating base stations receive emits
Number RSS joint judges, realizes that one, two-dimensional position independently switches, and combine TDOA modes one-dimensional positioning algorithm and two
Location algorithm calculates the accurate coordinate of positioning label, solves in current region in complex region especially strip and opens
The problems of station-keeping mode confusion that wealthy area interacts, make the switching of station-keeping mode have intelligence, are more station-keeping modes
Mixed positioning intelligence switching gives feasible scheme, and open comprehensively multi-mode positioning complex environment under it is high-precision certainly
Position.
Description of the drawings
Fig. 1 is the flow chart of the ultra wide band mixing dimension localization method based on RSS.
Fig. 2 is a two-dimensional localization zone location base station layout diagram of the invention.
Fig. 3 is one-dimensional positioning computation model figure of the present invention.
Specific embodiment
Below by specific embodiment, technical scheme of the present invention is described in further detail.
As shown in Figure 1, the present invention provides a kind of ultra wide band mixing dimension localization method based on RSS, include the following steps：
Step 1, map datum is built, one-dimensional positioning base station is laid to form one-dimensional positioning region, lays two-dimensional localization base
It stands to form two-dimensional localization region, and through walls in the one-dimensional positioning region and two-dimensional localization region intersection progress signal
Loss measurement；Wherein, as shown in Fig. 2, the laying region of one-dimensional positioning base station does not include two-dimensional localization edges of regions, use is worn
It is vertical measurement that wall loss, which measures orientation,；
Step 2, judge localization region where positioning label；
Step 2.1, multigroup elements of a fix data of the same positioning label in preset time are calculated；
Step 2.2, initial alignment region, movement tendency and position that multigroup elements of a fix data obtain positioning label are analyzed
Trend, and the positioning states for judging to position label is single positioning states or edge positioning states, if single positioning states,
Then directly perform step 2.4；If edge positioning states, then step 2.3 is continued to execute；
Specifically, if the initial alignment region of positioning label is one-dimensional positioning region, and multigroup elements of a fix data are from two
Tie up localization region farther out, then the positioning states for judging to position label is single positioning states；If position the initial alignment area of label
Domain is two-dimensional localization region, and multigroup elements of a fix data are from one-dimensional positioning region farther out, then judges to position the positioning shape of label
State is single positioning states；If positioning label is free in one-dimensional positioning region and two-dimensional localization edges of regions, positioning mark is judged
The positioning states of label are edge positioning states.
Step 2.3, the RSS values of the ultra-broadband signal received according to multiple locating base stations judge the localization region of positioning label
Whether change, if changing, further judge the localization region variation tendency of positioning label；If not changing,
Then directly perform step 2.4.
Step 2.4, localization region of the initial alignment region of positioning label as positioning label is chosen；
Step 2.5, localization region of the current Location Area of positioning label as positioning label is chosen.
Step 3, the localization region according to where positioning label selects corresponding location algorithm to be calculated, and obtains positioning label
Precise positioning coordinate.
Specifically, the step 2.3 the specific steps are：
Step 2.3.1 establishes ultra-broadband signal RSS measurement models；
Ultra-broadband signal RSS signal strengths increase with distance and gradually decay, and common algorithm model is：
Wherein, RSSdIt is signal strength of the distance between the node of d；RSSd0It is the intensity at reference distance d0, is prior
Given；η path loss indexes, effect are to weigh the rate of decay of RSS signal strengths；XnoiseBe variance be σ2Gauss white noise
Sound；η and σ2It is closely related with environment.
RSS signal strengths are stablized under normal circumstances, interfere very little, that is, XnoiseNumerical value very little calculates to simplify, and carries out near
It is as follows like calculating：
The ultra-broadband signal intensity at each moment can be obtained with above formula；
Step 2.3.2, what the positioning label received according to each moment locating base station of RSS measurement models calculating emitted
The signal strength RSS of ultra-broadband signal；
Step 2.3.3 calculates the absolute value of ultra-broadband signal RSS differences that locating base station is received in adjacent time point,
And the wall penetration loss obtained with step 1 is compared, whether the localization region for judging to position label changes；
if|RSST(i-1)-RSST(i)| ＞ RSSO, localization region changes
if|RSST(i-1)-RSST(i)|≤RSSO, localization region does not change
Wherein, RSST(i-1)The ultra-broadband signal intensity of positioning label, RSS are received for i-1 moment locating base stationsT(i)For i
Moment locating base station receives the ultra-broadband signal intensity of positioning label, RSSOFor wall penetration loss；
The ultra-broadband signal intensity that the locating base station adjacent time point receives is compared by step 2.3.4, is judged
Position the variation tendency of the localization region of label；
if|RSST(i-1)-RSST(i)| ＞ 0 enters one-dimensional positioning region from two-dimensional localization region
if|RSST(i-1)-RSST(i)| ＜ 0 enters two-dimensional localization region from one-dimensional positioning region.
Specifically, the location algorithm in the step 3 includes one-dimensional positioning algorithm and two-dimensional localization algorithm, it is described one-dimensional fixed
Position algorithm corresponds to one-dimensional positioning region, and the two-dimensional localization algorithm corresponds to two-dimensional localization region.
Specifically, the one-dimensional positioning algorithm the specific steps are：
Judge whether another dimension coordinate is fixed value or changes along a certain straight line equal proportion, if so, with two positioning bases
Straight line between standing is established linear equation as x-axis and is solved, and carries out coordinate rotation or translation after the completion of solving again to acquire reality
Border coordinate value, finally coordinates the coordinate of another dimension can realize that the coordinate of positioning label calculates again.
As shown in figure 3, region of the positioning label between two locating base stations moves along a straight line, movement locus is：
Y=ax+b
Using the coordinate of a locating base station as origin, then according to TDOA is away from poor relationship：
Wherein, the coordinate of locating base station BS2 is (0,0), and the coordinate of locating base station BS1 is (x1, 0), position the seat of label
It is designated as (x, y), r1And r2Respectively locating base station BS2 and locating base station BS1 to positioning label distance.
By above formula, arrangement can obtain：
Then the quadratic equation with one unknown about label x-axis coordinate can be obtained：
Obviously, work as r2,1During ＞ 0, x ＞ x1/2；Work as r2,1During ＜ 0, x ＜ x1/ 2, then unknown solution be：
Wherein,
When a and b is simultaneously 0, then positions label and moved in the straightway between two locating base stations.
Specifically, the two-dimensional localization algorithm the specific steps are：
Obtain positioning tag ID, locating base station ID, TDOA distance difference measurement value and with the corresponding positioning of locating base station ID
Base station location coordinate；
Judge whether TDOA distance difference measurement values number is more than or equal to 4, if so, further according to locating base station position coordinates
Locating base station is judged whether on same straight line, if being not arranged on the same straight line, by same positioning label in signal twice
Ultra-broadband signal intensity in transmission time interval is ranked up, select sequence first four structure using position tag coordinate data as
The Hyperbolic Equation group of parameter；
Hyperbolic Equation is solved using the method for two step maximal possibility estimations, the optimal solution of acquisition is to position label most
The excellent elements of a fix.
It, can by the obtained corresponding ultra wide band locating base station coordinate of TDOA distance difference measurements value and ultra wide band locating base station ID
To obtain one group of Hyperbolic Equation, establishing equation is：H=Gaza
Wherein：za=[x, y, R1]T；
H is away from poor information, GaFor TDOA distance difference measurement values, zaBase is positioned for the corresponding ultra wide bands of ultra wide band locating base station ID
Station coordinates；
Wherein：C is the light velocity,Q is the covariance matrix of TDOA errors；
Input obtains z away from poor information, the position coordinates of locating base station, the covariance matrix away from mistake differenceaMaximum likelihood
Estimation：
za=(Ga Tφ-1Ga)-1Ga Tφ-1h
Since B is unknown, therefore the covariance matrix ф of Ψ is also unknown, using the method for two step maximal possibility estimations, therefore algorithm
The distance for assuming target according to distance is divided into：
Long distance algorithm carries out the estimation of first time WLS：
It is assumed that target point is far, ф at this moment is replaced with Q, can be acquired：
za=(Ga TQ-1Ga)-1Ga TQ-1h
Low coverage algorithm：
B and ф is estimated using the Za values that long distance algorithm acquires, and reuse zaMaximal possibility estimation formula
za=(Ga Tφ-1Ga)-1Ga Tφ-1H can acquire za。
Accurate positioning tag coordinate can be finally obtained by weighted least square.
The present invention also provides a kind of ultra wide band mixing dimension alignment system based on RSS, including sequentially connected map datum
Construction unit, state analysis unit, RSS analytic units, ultra wide band location hardware unit, central server unit and output display
Unit,
The map datum construction unit by the electronic map in loading area and using two dimension modeling, builds area
One-dimensionally figure field scape and two-dimensional map scene in domain；
The ultra wide band location hardware unit, including locating base station and positioning label, positioning label is used for the positioning
Base station sends ultra-broadband signal, and the locating base station receives the ultra-broadband signal and records the time of the ultra-broadband signal
Stab information, status data is sent into the central server unit；
The state analysis judging unit, for calculating the multigroup elements of a fix of the same positioning label in preset time
Data analyze multigroup elements of a fix data and obtain initial alignment region, movement tendency and the position trend of positioning label, and judge
The positioning states for positioning label are single positioning states or edge positioning states；
The RSS analyzes and determines unit, for when positioning label is in edge positioning states, being taken a message according to the ultra-wide
Number RSS measurement models calculate the RSS values of the ultra-broadband signal, and be compared with default wall penetration loss, to judge to position
Whether the localization region of label changes；
The central server unit analyzes and determines unit according to the state analysis judging unit and/or the RSS
Judging result calls one-dimensional positioning computational algorithm or two-dimensional localization computational algorithm carries out coordinate calculating, and the coordinate that will be calculated
The output display unit is sent into after data smoothing processing to be shown.
When using the ultra wide band mixing dimension alignment system, first have to carry out global clock synchronization, in localization region
It is master base station to choose locating base station, preferably selects the locating base station among localization region, after choosing by master base station into
Row is classified to locating base station around and synchronizes, and until realizing that global clock is fully synchronized, it is tentatively fixed to begin to carry out after synchronously completing
Position.
Before Primary Location is carried out, also need to judge to position label whether have just enter into the ultra wide band mixing dimension alignment system or
The ultra wide band mixing dimension alignment system is just started, if so, also needing to position ultra wide band mixing dimension alignment system
System mode self-test, to judge whether the ultra wide band hybrid location system is normal.
Specifically, the ultra wide band mixing dimension alignment system further includes system interlink unit and daily management unit, institute
System interlink unit is stated for carrying out linkage communication with external device, the daily management unit is used to carry out equipment management.
Finally it should be noted that:The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, those of ordinary skills in the art should understand that：Still
It can modify to the specific embodiment of the present invention or equivalent replacement is carried out to some technical characteristics；Without departing from this hair
The spirit of bright technical solution should all cover in the claimed technical solution range of the present invention.
Claims (10)
1. a kind of ultra wide band mixing dimension localization method based on RSS, which is characterized in that include the following steps：
Step 1, build map datum, lay one-dimensional positioning base station to form one-dimensional positioning region, lay two-dimensional localization base station with
Two-dimensional localization region is formed, and signal wall penetration loss is carried out in the one-dimensional positioning region and two-dimensional localization region intersection
It measures；
Step 2, judge localization region where positioning label；
Step 3, the localization region according to where positioning label selects corresponding location algorithm to be calculated, and obtains the essence of positioning label
The quasi- elements of a fix.
2. the ultra wide band mixing dimension localization method according to claim 1 based on RSS, which is characterized in that the step 1
In, the laying region of one-dimensional positioning base station does not include two-dimensional localization edges of regions.
3. the ultra wide band mixing dimension localization method according to claim 1 based on RSS, which is characterized in that the step 2
In, judge position label where localization region the specific steps are：
Step 2.1, multigroup elements of a fix data of the same positioning label in preset time are calculated；
Step 2.2, initial alignment region, movement tendency and the position for analyzing multigroup elements of a fix data acquisition positioning label become
Gesture, and the positioning states for judging to position label is single positioning states or edge positioning states, if single positioning states, then
Directly perform step 2.4；If edge positioning states, then step 2.3 is continued to execute；
Step 2.3, the ultra-broadband signal RSS values of the same positioning label received according to multiple locating base stations judge positioning label
Localization region whether change, if changing, further judge the localization region variation tendency of positioning label, and hold
Row step 2.5；If not changing, step 2.4 is directly performed；
Step 2.4, localization region of the initial alignment region of positioning label as positioning label is chosen；
Step 2.5, localization region of the current Location Area of positioning label as positioning label is chosen.
4. the ultra wide band mixing dimension localization method according to claim 3 based on RSS, it is characterised in that：It is described single fixed
Position state is located at and from two-dimensional localization region farther out or positioning label is located at and two-dimentional determines for positioning label in one-dimensional positioning the region in
In the region of position and from one-dimensional positioning region farther out；The edge positioning states are located at one-dimensional positioning region or two dimension for positioning label
Localization region edge or the trend of oriented another localization region movement.
5. the ultra wide band mixing dimension localization method according to claim 3 based on RSS, which is characterized in that the step 2.3
The specific steps are：
Step 2.3.1 establishes ultra-broadband signal RSS measurement models；
Step 2.3.2, it is same fixed to be received according to each moment locating base station of ultra-broadband signal RSS measurement models calculating
The signal strength RSS of the ultra-broadband signal of position label transmitting；
Step 2.3.3, the absolute value of ultra-broadband signal RSS differences that calculating locating base station is received in adjacent time point, and with
The wall penetration loss that step 1 obtains is compared, and whether the localization region for judging to position label changes；
The ultra-broadband signal intensity that the locating base station adjacent time point receives is compared, judges to position by step 2.3.4
The variation tendency of the localization region of label.
6. the ultra wide band mixing dimension localization method according to claim 1 based on RSS, which is characterized in that in the step 3
Location algorithm include one-dimensional positioning algorithm and two-dimensional localization algorithm, the one-dimensional positioning algorithm corresponds to one-dimensional positioning region, institute
It states two-dimensional localization algorithm and corresponds to two-dimensional localization region.
7. the ultra wide band mixing dimension localization method according to claim 6 based on RSS, which is characterized in that described one-dimensional fixed
Position algorithm the specific steps are：
Judge whether another dimension coordinate is fixed value or changes along a certain straight line equal proportion, if so, between two locating base stations
Straight line establish linear equation as x-axis and solved, coordinate rotation or translation are carried out after the completion of solving again to acquire practical seat
Scale value, finally coordinates the coordinate of another dimension can realize that the coordinate of positioning label calculates again.
8. the ultra wide band mixing dimension localization method according to claim 6 based on RSS, which is characterized in that the two dimension is fixed
Position algorithm the specific steps are：
Obtain positioning tag ID, locating base station ID, TDOA distance difference measurement value and with the corresponding locating base stations of locating base station ID
Position coordinates；
Judge whether TDOA distance difference measurement values number is more than or equal to 4, if so, further judging according to locating base station position coordinates
Whether locating base station is on same straight line, if being not arranged on the same straight line, same positioning label is emitted in signal twice
Ultra-broadband signal intensity in time interval is ranked up, and selects sequence first four structure to position tag coordinate data as parameter
Hyperbolic Equation group；
Hyperbolic Equation is solved using the method for two step maximal possibility estimations, the optimal solution of acquisition is the optimal fixed of positioning label
Position coordinate.
9. a kind of ultra wide band mixing dimension alignment system based on RSS, it is characterised in that：It is built including sequentially connected map datum
Unit, state analysis unit, RSS analytic units, ultra wide band location hardware unit, central server unit and output display are single
Member,
The map datum construction unit by the electronic map in loading area and using two dimension modeling, is built in region
One-dimensionally figure field scape and two-dimensional map scene；
The ultra wide band location hardware unit, including locating base station and positioning label, positioning label is used for the locating base station
Ultra-broadband signal is sent, the locating base station receives the ultra-broadband signal and records the timestamp letter of the ultra-broadband signal
Breath, status data are sent into the central server unit；
The state analysis judging unit, for calculating multigroup elements of a fix number of the same positioning label in preset time
According to, analyze initial alignment region, movement tendency and position trend that multigroup elements of a fix data obtain positioning label, and judge it is fixed
The positioning states of position label are single positioning states or edge positioning states；
The RSS analyzes and determines unit, for when positioning label and being in edge positioning states, according to the ultra-broadband signal
RSS measurement models calculate the RSS values of the ultra-broadband signal, and are compared with default wall penetration loss, to judge to position label
Localization region whether change；
The central server unit analyzes and determines the judgement of unit according to the state analysis judging unit and/or the RSS
Call by result one-dimensional positioning computational algorithm or two-dimensional localization computational algorithm carry out coordinate calculating, and the coordinate data that will be calculated
The output display unit is sent into after smoothing processing to be shown.
10. the ultra wide band mixing dimension alignment system according to claim 9 based on RSS, it is characterised in that：Further include system
Linkage unit and daily management unit, the system interlink unit is used to carry out linkage communication with external device, described daily
Administrative unit is used to carry out equipment management.
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