CN108332749A - A kind of interior dynamic tracing localization method - Google Patents
A kind of interior dynamic tracing localization method Download PDFInfo
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- CN108332749A CN108332749A CN201711500555.2A CN201711500555A CN108332749A CN 108332749 A CN108332749 A CN 108332749A CN 201711500555 A CN201711500555 A CN 201711500555A CN 108332749 A CN108332749 A CN 108332749A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
To be positioned with fixed reference mode for solving existing congenic method, positioning accuracy is not good enough the present invention relates to a kind of indoor dynamic tracing localization method, it is more difficult to the technical issues of being positioned applied to indoor dynamic tracing and design.The localization method includes mobile reference mode and moving target node two large divisions to be positioned, node apparatus is equipped with communication module, acceleration sensor module, gyroscope, its main points is that the moving target of the localization method enters within the scope of the positioning network aware being made of three mobile reference modes, the location information of the mutual communication activity target of three mobile reference modes, and pass through circumferential registration method, location algorithm is solved based on the full intersection point barycenter of RSSI rangings, i.e., finally precisely determines the coordinate position of moving target by way of ranging localization.The technology for three mobile reference node point source positioning moving targets that the localization method uses and three mobile reference modes constitute the technological means of wireless sensor network tracking moving target.
Description
Technical field
The present invention relates to the interior localization methods of wireless technology, are a kind of indoor dynamic tracing localization methods.
Background technology
Nowadays, positioning system is increasingly accurate, such as：Wechat three-point fix, Baidu map positioning etc., these positioning systems are all
It is the positioning method based on GPS technology, passes through satellite navigation and location system track and localization monitoring ground moving target.User utilizes
When the system may be implemented round-the-clock, continuous, real-time three-dimensional navigation positioning in global range and test the speed and have high-precision
Between transmit and precision positioning.GPS positioning is widely used in the fields such as military affairs, aerospace, traffic, by taking traffic trip as an example, on
It states positioning system and greatly facilitates daily life.But also there is its defect using GPS technology positioning.Such as in weather
Under mal-condition, radio signal propagation is interfered；The visual field unopen such as workshop, forest, underground parking, can not find space foot
The position location satellite of enough amounts, GPS positioning system just cannot achieve accurate tracking target.Indoor positioning technologies are also in development rank at present
Section, the indoor positioning technologies mainly used have ultrasonic wave location technology, WIFI location technologies, radio frequency identification location technology and infrared
The wireless location technologies such as line location technology, the above location technology are required for preferentially being laid out reference mode, could complete interior
Positioning.It needs to meet activity in the range of reference mode is laid out of positioning target simultaneously, otherwise will be unable to realize positioning.At the prison
And in the environment of insane asylum, it may appear that the case where supervising inmate or mental patient's whereabouts unknown, and at the target
When dormant, the personnel that tracked after determining rough position need to be searched on a large scale, need to expend a large amount of people
Power.Meanwhile current indoor positioning is positioned with fixed reference mode mostly, the reference mode being laid out required in this way is just than we
Case is more.
Invention content
To overcome above-mentioned deficiency, the purpose of the present invention is providing a kind of indoor dynamic tracing localization method to this field, make
It is solved existing congenic method and is positioned with fixed reference mode, and positioning accuracy is not good enough, it is more difficult to it is fixed to be applied to indoor dynamic tracing
The technical issues of position.The purpose is to what is be achieved through the following technical solutions.
A kind of interior dynamic tracing localization method, which includes mobile reference mode and movable mesh to be positioned
Node two large divisions is marked, node apparatus is equipped with communication module, acceleration sensor module, gyroscope etc., and communication module is used for and it
His node carries out data interaction and networking, and acceleration sensor module is used for the movement speed of measuring node, and gyroscope is for measuring
The acceleration of node and direction.It is made of three mobile reference modes it is characterized in that the moving target of the localization method enters
Positioning network aware within the scope of, the location information of the mutual communication activity target of three mobile reference modes, and pass through circle
All localization methods solve location algorithm based on the full intersection point barycenter of RSSI rangings, i.e., final precisely true by way of ranging localization
Determine the coordinate position of moving target.The technology that three mobile reference node point sources that the localization method uses position moving target can be
The specific region of indoor construction one surrounds positioning moving target, weakens the interference that indoor complex environment is brought to greatest extent.Together
When, which constitutes the technological means of wireless sensor network tracking moving target using three mobile reference modes, gram
It has taken existing positioning system to be limited to position not accurate problem caused by the factors such as environment, cost in other types room compared with tracking
It is low.According to above structure feature, alarm signal occurs for the information source that the acceleration sensor module surmounts supervelocity tracking, carries
Show that positional operand author in time controls information source.
Three mobile reference modes be respectively mobile reference mode A, the reference mode B of movement, movement ginseng
Examine node C, mobile reference mode A, the reference mode B of movement, movement the perception radius of reference mode C be respectively RA、RB、
RC, the movement speed of mobile reference mode A is va, the movement speed of mobile reference mode B is vb, mobile reference mode C
Movement speed be vc, the movement speed of moving target D is vd, and va、vb、vcIt is all higher than vd, i.e., when target D enters information source A, letter
The perception radius R of source B, information source CA、RB、RCTracking is not surmounted with supervelocity afterwards；The reference mode of mobile reference mode A, movement
B, all clear changing coordinates information of itself of the reference mode C of movement, and sensor can perceive with a distance from target D；Just
Begin the moment, the position of mobile reference mode is positioned manually, and next position is mobile by acceleration, speed and deflection etc.
The situation of movement of node determines position；The mobile reference mode B of reference mode A, movement, the reference mode C of movement, target D
It moves on the ground, that is, is active in two dimensional surface space；Since above-mentioned hypothesis has not conllinear A, B, C, 3 point coordinates it is known that
Measure simultaneously | A-D |, | B-D |, | C-D | it is respectively da、db、dc, then the target D that is tracked should be using A, B, C as the center of circle, radius
Respectively da、db、dcCircle on, D is the intersection points of 3 circles, herein d at this timea＜ RA、db＜ RB、dc＜ RC。
When actually measuring, mobile reference mode contains measurement to the ranging of target to be missed three mobile reference modes
Improvement factor ε is added when tracking target point using the ranging of three mobile reference modes in differencea、εb、εc, obtain determining for target
Site D.
The improvement factor εa、εb、εc x≤0.5。
The equation of the location algorithm is as follows, the coordinate (x of Dd, yd)：
Seek the equation group of D
A(xa, ya)、B(xb, yb)、C(xc, yc) coordinate of D is uniquely determined, formula (1-1) is equivalent to following formula：
R2=x2+y2
Definition
I.e. formula (1-2) is write as：θ Q=b
Had according to least square method (LS)
VectorFirst two be required positioning node estimated coordinatesThe coordinate of D can be considered as, be real number
Solution.
Described three mobile reference mode A, B, C are respectively with va、vb、vcSpeed along AiDi、BiDi、CiDiDirection chase after
When track target D, D is in ti+1Coordinate D (the x at momenti+1, yi+1)：
θi+1Qi+1=bi+1Ask method as described above
The tracking speed v of mobile reference mode A, B, Ca、vb、vcIt is variable, as long as va、vb、vcIt is all higher than vd, target D
Tracking can not just be escaped；The initial velocity of mobile reference mode A, B, C are va=da/ t, vb=db/ t, vc=dc/ t, later on demand
It will be with tiDistance adjustment.
The indoor orientation method of the present invention is feasible, and indoor dynamic tracing positioning result is accurate, and positioning is convenient, fast, application
Range is wide；It is suitable as the indoor dynamic tracing localization method application of similar product and the improvement of similar localization method.
Description of the drawings
Fig. 1 is the location principle schematic of the present invention.
Fig. 2 is the embodiment of the present invention location principle schematic.
Specific implementation mode
In conjunction with attached drawing, structure of the invention and use are further described.
1, specific to summarize：Moving target enters within the scope of the positioning network aware being made of three mobile reference modes,
The location information of the mutual communication activity target of three mobile reference modes, is finally precisely determined by way of ranging localization
The coordinate position of moving target, location schematic diagram are as shown in Figure 1.
2, parameter definition：A) perception half of the reference mode B of the reference mode A, movement that move, the reference mode C of movement
Diameter is respectively RA、RB、RC, the movement speed of mobile reference mode A is va, the movement speed of mobile reference mode B is vb, move
The movement speed of dynamic reference mode C is vc, the movement speed of moving target D is vd, and va、vb、vcIt is all higher than vd, that is, work as target
D enters the perception radius R of information source A, information source B, information source CA、RB、RCTracking is not surmounted with supervelocity afterwards；B) mobile reference mode
A, the reference mode B of movement, movement all clear changing coordinates information of itself of reference mode C, and sensor can perceive
With a distance from target D；The position of initial time, mobile reference mode is positioned manually, and next position is by acceleration, speed
The situation of movement of the mobile nodes such as degree and deflection determines position；C) mobile reference mode A, the reference mode B of movement, shifting
Dynamic reference mode C, target D is moved on the ground, that is, is active in two dimensional surface space.Due to above-mentioned hypothesis have it is not conllinear
A, B, C, 3 point coordinates it is known that measure simultaneously | A-D |, | B-D |, | C-D | it is respectively da、db、dc, then the target D that is tracked should be
Using A, B, C as the center of circle, radius is respectively da、db、dcCircle on, D is the intersection points of 3 circles, herein d at this timea＜ RA、db＜ RB、dc＜
RC。
3, error excludes：When actually measuring, mobile reference mode contains measurement error to the ranging of target, generates error
The reason of be two parts：One is generated due to precision and the distance measuring method of system equipment, referred to as systematic error；The second is by
Environmental disturbances between information source node and target point and generate, referred to as environmental error.Therefore, in practical engineering application, when
When tracking target point using the ranging of three mobile reference modes, to utilize and improvement factor ε is addeda、εb、εcIt is made up, to
Obtain the anchor point D of target.
εa、εb、εcValue discussion：Due under environment indoors, the absorption to electromagnetic wave signal such as barrier of surrounding,
The general signal strength values that receiver is received can be less than estimated signal strength values, reflection to the mobile ginseng derived
It examines on node to the estimated distance of beaconing nodes, is as a result exactly the radius d of circle A, B, Cx(x=a, b, c) is bigger than actual value, that is, manages
By the sensing range of upper signal source than practical dIt is practicalRange it is big.Due in the time deviation and transmission process of signal transmission
Energy loss (minimum generally to disregard) so that target D not on the ranging intersection point of three mobile reference mode A, B, C, but
In three angle errors that they are constituted, diagram is as follows, as shown in Figure 2；Using maximal possibility estimationxThe value of (x=a, b, c),
Obtainx≤0.5。
4, algorithmic descriptions：The localization method is solved using circumferential registration method based on the full intersection point barycenter of RSSI rangings
Location algorithm.
5, Algorithm Analysis：Above-mentioned steps obtain that equation is as follows, the coordinate (x of Dd, yd)：
Seek the equation group of D
A(xa, ya)、B(xb, yb)、C(xc, yc) coordinate of D is uniquely determined, formula (1-1) is equivalent to following formula：
R2=x2+y2
Definition
I.e. formula (1-2) is write as：θ Q=b
Had according to least square method (LS)
VectorFirst two be required positioning node estimated coordinatesThe coordinate of D can be considered as, be real number
Solution.
When mobile reference mode A, B, C are respectively with va、vb、vcSpeed along AiDi、BiDi、CiDiDirection tracking target D
When, D is in ti+1Coordinate D (the x at momenti+1, yi+1)：
θi+1Qi+1=bi+1Ask method as described above
The tracking speed v of mobile reference mode A, B, Ca、vb、vcIt is variable, as long as va、vb、vcIt is all higher than vd, target D
Tracking can not just be escaped；The initial velocity of mobile reference mode A, B, C are va=da/ t, vb=db/ t, vc=dc/ t, later on demand
It will be with tiDistance adjustment.To when in tiTarget D is lost, as long as then target D is without departing from RA、RB、RCRange, it is extensive in signal
Multiple ti+nWhen search and lock onto target D again.
In conclusion the localization method proposes a kind of reference mode of movement, it need not preferentially be laid out the position of reference mode
It sets, skips the off-line learning stage, directly according to mobile reference mode come location tracking target.Meanwhile the localization method is broken
It is original to need reference mode being arranged on fixed position, it realizes the technology of positioning in fixed range, is ensureing to position
The positioning method of more maneuverability is realized in the case of precision.
Claims (6)
1. a kind of interior dynamic tracing localization method, which includes mobile reference mode and moving target to be positioned
Node two large divisions, node apparatus are equipped with communication module, acceleration sensor module, gyroscope etc., it is characterised in that the positioning side
The moving target of method enters within the scope of the positioning network aware being made of three mobile reference modes, three mobile reference nodes
The location information of the mutual communication activity target of point, and by circumferential registration method, solved based on the full intersection point barycenter of RSSI rangings
Location algorithm finally precisely determines the coordinate position of moving target that is, by way of ranging localization.
2. interior dynamic tracing localization method according to claim 1, it is characterised in that three mobile reference nodes
Point be respectively mobile reference mode A, the reference mode B of movement, movement reference mode C, mobile reference mode A, movement
Reference mode B, movement the perception radius of reference mode C be respectively RA、RB、RC, the movement speed of mobile reference mode A
For va, the movement speed of mobile reference mode B is vb, the movement speed of mobile reference mode C is vc, the shifting of moving target D
Dynamic speed is vd, and va、vb、vcIt is all higher than vd, i.e., when target D enters the perception radius R of information source A, information source B, information source CA、RB、RCAfterwards
Tracking is not surmounted with supervelocity；The reference mode B of mobile reference mode A, movement, the reference mode C of movement all it is clear itself
Changing coordinates information, and sensor can perceive with a distance from target D；The position of initial time, mobile reference mode has
It is positioned manually, next position determines position by the situation of movement of the mobile nodes such as acceleration, speed and deflection；It is mobile
Reference mode A, the reference mode B of movement, the reference mode C of movement, target D move on the ground, that is, be active in two dimension
Plane space；Since above-mentioned hypothesis has not conllinear A, B, C, 3 point coordinates it is known that measure simultaneously | A-D |, | B-D |, | C-D | point
It Wei not da、db、dc, then the target D being tracked should be using A, B, C as the center of circle, and radius is respectively da、db、dcCircle on, at this time D be 3
Round intersection point, herein da＜ RA、db＜ RB、dc＜ RC。
3. interior dynamic tracing localization method according to claim 2, it is characterised in that three mobile reference nodes
For point when actually measuring, mobile reference mode contains measurement error to the ranging of target, when utilizing three mobile reference modes
When target point is tracked in ranging, improvement factor ε is addeda、εb、εc, obtain the anchor point D of target.
4. interior dynamic tracing localization method according to claim 3, it is characterised in that the improvement factor εa、εb、εc's
□x≤0.5。
5. interior dynamic tracing localization method according to claim 3, it is characterised in that the equation of the location algorithm is such as
Under, the coordinate (x of Dd, yd)：
Seek the equation group of D
A(xa, ya)、B(xb, yb)、C(xc, yc) coordinate of D is uniquely determined, formula (1-1) is equivalent to following formula：
R2=x2+y2
Definition
I.e. formula (1-2) is write as：θ Q=b
Had according to least square method (LS)
VectorFirst two be required positioning node estimated coordinatesThe coordinate of D can be considered as, be real solution.
6. interior dynamic tracing localization method according to claim 5, it is characterised in that three mobile reference nodes
Point A, B, C are respectively with va、vb、vcSpeed along AiDi、BiDi、CiDiDirection tracking target D when, D is in ti+1The coordinate D at moment
(xi+1, yi+1)：
θi+1Qi+1=bi+1Ask method as described above
The tracking speed v of mobile reference mode A, B, Ca、vb、vcIt is variable, as long as va、vb、vcIt is all higher than vd, target D just can not
Escape tracking；The initial velocity of mobile reference mode A, B, C are va=da/ t, vb=db/ t, vc=dc/ t, later on demand with ti
Distance adjustment.
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