CN108332749B - Indoor dynamic tracking and positioning method - Google Patents

Indoor dynamic tracking and positioning method Download PDF

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CN108332749B
CN108332749B CN201711500555.2A CN201711500555A CN108332749B CN 108332749 B CN108332749 B CN 108332749B CN 201711500555 A CN201711500555 A CN 201711500555A CN 108332749 B CN108332749 B CN 108332749B
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reference node
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杨艳华
杨海锋
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Yang Yanhua
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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
    • 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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Abstract

The invention relates to an indoor dynamic tracking and positioning method, which is designed for solving the technical problems that the existing similar method uses fixed reference nodes for positioning, the positioning accuracy is poor, and the method is difficult to be applied to indoor dynamic tracking and positioning. The positioning method comprises two parts, namely a mobile reference node and a movable target node to be positioned, wherein a node device is provided with a communication module, a speed sensor module and a gyroscope. The positioning method adopts the technology of positioning the moving target by three mobile reference node sources and the technical means of tracking the moving target by the wireless sensor network consisting of the three mobile reference nodes.

Description

Indoor dynamic tracking and positioning method
Technical Field
The invention relates to an indoor positioning method in wireless technology, in particular to an indoor dynamic tracking positioning method.
Background
Today, positioning systems are increasingly accurate, such as: WeChat three-point positioning, hundred-degree map positioning and the like, and the positioning systems are all positioning modes based on the GPS technology and track, position and monitor ground moving targets through a satellite navigation positioning system. The system can be used by a user to realize all-weather, continuous and real-time three-dimensional navigation positioning and speed measurement in a global range, and has high-precision time transfer and precision positioning. The GPS positioning is widely applied to the fields of military, aerospace, traffic and the like to give an example of traffic behavior, and the positioning system is greatly convenient for the daily life of people. However, positioning using GPS technology has its drawbacks. Wireless signal propagation is disturbed, such as in severe weather conditions; the GPS positioning system can not realize accurate target tracking if the visual field is not wide, such as factory buildings, forests and underground parking lots, and positioning satellites with enough space can not be found. Currently, indoor positioning technologies are still in a development stage, and mainly used indoor positioning technologies include wireless positioning technologies such as an ultrasonic positioning technology, a WIFI positioning technology, a radio frequency identification positioning technology, an infrared positioning technology and the like, and all the wireless positioning technologies need to be distributed with reference nodes in priority to complete indoor positioning. Meanwhile, the positioning target needs to move within the range of the layout of the reference node, otherwise, the positioning cannot be realized. In the environment of prisons and psychiatric wards, it may happen that prisoners or mental patients are unknown, and the target is in a concealed state, after the approximate position is determined, the tracker needs to search in a large range, which consumes a lot of manpower. Meanwhile, most of the current indoor positioning is positioned by fixed reference nodes, so that more reference nodes need to be distributed than the scheme.
Disclosure of Invention
In order to overcome the above disadvantages, the present invention provides an indoor dynamic tracking and positioning method in the field, so as to solve the technical problems that the existing similar methods are not good enough in positioning accuracy and difficult to apply to indoor dynamic tracking and positioning due to the fixed reference node positioning. The purpose is realized by the following technical scheme.
The indoor dynamic tracking and positioning method comprises two parts, namely a mobile reference node and a movable target node to be positioned, wherein a node device is provided with a communication module, a speed sensor module and a gyroscope, the communication module is used for carrying out data interaction and networking with other nodes, the speed sensor module is used for measuring the moving speed of the node, and the gyroscope is used for measuring the acceleration and the direction of the node. The method is characterized in that a moving target of the positioning method enters a sensing range of a positioning network formed by three moving reference nodes, the three moving reference nodes mutually communicate the position information of the moving target, and a positioning algorithm is solved based on RSSI ranging total intersection point barycenter through a circumference positioning method, namely the coordinate position of the moving target is finally and accurately determined through a ranging positioning mode. The technology of positioning the moving target by three mobile reference node sources adopted by the positioning method can create a specific area in a room to surround and position the moving target, and the interference caused by the indoor complex environment is weakened to the maximum extent. Meanwhile, the positioning method adopts a technical means that the three mobile reference nodes form a wireless sensor network to track the moving target, overcomes the problem of inaccurate positioning caused by the limitation of factors such as environment and the like of the existing positioning system, and has lower cost compared with other types of indoor tracking. According to the structural characteristics, the speed sensor module generates an alarm signal for the information source of the over-speed over-tracking, and prompts a positioning operator to control the information source in time.
The three mobile reference nodes are respectively a mobile reference node A, a mobile reference node B and a mobile reference node C, and the sensing radiuses of the mobile reference node A, the mobile reference node B and the mobile reference node C are respectively RA、RB、RCThe moving speed of the moving reference node A is vaMoving reference node B at a moving speed vbThe moving speed of the moving reference node C is vcThe moving speed of the moving object D is vdAnd v isa、vb、vcAre all greater than vdThat is, when the target D enters the perception radius R of the information source A, the information source B and the information source CA、RB、RCThen, overtravel tracking is not carried out at an over speed; the mobile reference node A, the mobile reference node B and the mobile reference node C all determine the current coordinate information of the mobile reference node A, the mobile reference node B and the mobile reference node C, and the sensor can sense the distance from the target D; at the initial moment, the position of the mobile reference node is manually positioned, and the position of the next position is determined by the moving conditions of the mobile node, such as acceleration, speed and direction angle; the mobile reference node A, the mobile reference node B, the mobile reference node C and the target D all move on the ground, namely move in a two-dimensional plane space; because the non-collinear A, B, C is assumed, the coordinates of the 3 points are known, and | A-D |, | B-D |, and | C-D | are measured to be D respectivelya、db、dcThen the tracked target D should be centered at A, B, C with a radius Da、db、dcD is then the intersection point of the 3 circles, where Da＜RA、db＜RB、dc＜RC。
When the three moving reference nodes are actually measured, the distance measurement of the moving reference nodes to the target contains measurement errors, and when the distance measurement of the three moving reference nodes is used for tracking the target point, a correction factor epsilon is addeda、εb、εcAnd obtaining a positioning point D of the target.
The correction factor epsilona、εb、εcOfa、εb、εcRespectively less than 0.5 and less than or equal to 0.5.
The equation for the positioning algorithm is as follows, the coordinate (x) of Dd，yd)：
Equation set for solving D
Figure GDA0003232839650000021
A(xa，ya)、B(xb，yb)、C(xc，yc) Uniquely determining the coordinates of D, equation (1-1) is equivalent to the following equation:
Figure GDA0003232839650000031
Figure GDA0003232839650000032
R2＝x2+y2
Figure GDA0003232839650000033
Figure GDA0003232839650000034
Figure GDA0003232839650000035
text setting
Figure GDA0003232839650000036
Namely, the formula (1-2) is written as: q θ ═ b
According toThe least square method (LS) has
Figure GDA0003232839650000037
(Vector)
Figure GDA0003232839650000038
The current two terms are the estimated coordinates of the positioning node
Figure GDA0003232839650000039
The coordinates, considered as D, are real solutions.
The three moving reference nodes A, B, C are each denoted by va、vb、vcVelocity edge A ofiDi、BiDi、CiDiWhen tracking the target D, D is at ti+1Coordinate D (x) of timei+1，yi+1)：
Qi+1θi+1＝bi+1The method is as described above
Tracking velocity v of moving reference node A, B, Ca、vb、vcIs variable as long as va、vb、vcAre all greater than vdThe target D cannot escape tracking; the initial velocity of the moving reference node A, B, C is va＝da/t，vb＝db/t，vc＝dcT, followed by t as requirediThe distance of (2) is adjusted.
The indoor positioning method is feasible, the indoor dynamic tracking positioning result is accurate, the positioning is convenient and quick, and the application range is wide; the method is suitable for being applied as an indoor dynamic tracking and positioning method of the same kind of products and the improvement of the same kind of positioning method.
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Fig. 1 is a schematic view of the positioning principle of the present invention.
Fig. 2 is a schematic view of a positioning principle according to an embodiment of the present invention.
Detailed Description
The construction and use of the invention will now be further described with reference to the accompanying drawings.
1. The specific summary is as follows: the moving target enters a sensing range of a positioning network formed by three mobile reference nodes, the three mobile reference nodes mutually communicate position information of the moving target, the coordinate position of the moving target is finally and accurately determined in a distance measurement and positioning mode, and a positioning schematic diagram is shown in fig. 1.
2. Parameter definition: a) the perception radiuses of the mobile reference node A, the mobile reference node B and the mobile reference node C are respectively RA、RB、RCThe moving speed of the moving reference node A is vaMoving reference node B at a moving speed vbThe moving speed of the moving reference node C is vcThe moving speed of the moving object D is vdAnd v isa、vb、vcAre all greater than vdThat is, when the target D enters the perception radius R of the information source A, the information source B and the information source CA、RB、RCThen, overtravel tracking is not carried out at an over speed; b) the mobile reference node A, the mobile reference node B and the mobile reference node C all determine the current coordinate information of the mobile reference node A, the mobile reference node B and the mobile reference node C, and the sensor can sense the distance from the target D; at the initial moment, the position of the mobile reference node is manually positioned, and the position of the next position is determined by the moving conditions of the mobile node, such as acceleration, speed and direction angle; c) the mobile reference node A, the mobile reference node B, the mobile reference node C and the target D all move on the ground, namely move in a two-dimensional plane space. Because the non-collinear A, B, C is assumed, the coordinates of the 3 points are known, and | A-D |, | B-D |, and | C-D | are measured to be D respectivelya、db、dcThen the tracked target D should be centered at A, B, C with a radius Da、db、dcD is then the intersection point of the 3 circles, where Da＜RA、db＜RB、dc＜RC。
3. And (3) error elimination: during actual measurement, the distance measurement of the mobile reference node to the target contains measurement errors, and the reasons for generating the errors are two parts: one is due to the accuracy of the system equipment and the ranging method, called systemAn error; the other is generated due to environmental interference between the source node and the target point, which is called environmental error. Therefore, in practical engineering applications, when tracking a target point by using the range of three moving reference nodes, a correction factor epsilon is addeda、εb、εcAnd (5) making up to obtain a positioning point D of the target.
εa、εb、εcValue discussion of (1): due to the absorption of electromagnetic wave signals by surrounding obstacles in an indoor environment, the signal strength value received by the receiver is generally smaller than the expected signal strength value, and is reflected in the estimated distance from the mobile reference node to the beacon node, and as a result, the radius d of the circle A, B, C isx(x ═ a, b, c) is greater than the actual value, i.e. the signal source's perception range is theoretically greater than the actual dPractice ofThe range of (2) is large. Due to the time offset of the signal transmission and the energy loss during transmission (which is extremely small and generally not counted), the target D is not at the ranging intersection of the three moving reference nodes A, B, C, but within the triangular error formed by them, as illustrated below, as shown in fig. 2; estimating epsilon using maximum likelihoodx(x is a, b, c) to give εa、εb、εcRespectively less than 0.5.
4. Description of the algorithm: the positioning method adopts a circumference positioning method, and a positioning algorithm is solved based on RSSI ranging total intersection point centroid.
5. And (3) algorithm analysis: the above procedure yields the following equation, the coordinate (x) of Dd，yd)：
Equation set for solving D
Figure GDA0003232839650000051
A(xa，ya)、B(xb，yb)、C(xc，yc) Uniquely determining the coordinates of D, equation (1-1) is equivalent to the following equation:
Figure GDA0003232839650000052
Figure GDA0003232839650000053
R2＝x2+y2
Figure GDA0003232839650000054
Figure GDA0003232839650000055
Figure GDA0003232839650000056
definition of
Figure GDA0003232839650000057
Namely, the formula (1-2) is written as: q θ ═ b
According to the least square method (LS) of
Figure GDA0003232839650000061
(Vector)
Figure GDA0003232839650000062
The current two terms are the estimated coordinates of the positioning node
Figure GDA0003232839650000063
The coordinates, considered as D, are real solutions.
When moving reference node A, B, C by v respectivelya、vb、vcVelocity edge A ofiDi、BiDi、CiDiWhen tracking the target D, D is at ti+1Coordinate D (x) of timei+1，yi+1)：
Qi+1θi+1＝bi+1The method is as described above
Tracking velocity v of moving reference node A, B, Ca、vb、vcIs variable as long as va、vb、vcAre all greater than vdThe target D cannot escape tracking; the initial velocity of the moving reference node A, B, C is va＝da/t，vb＝db/t，vc＝dcT, followed by t as requirediThe distance of (2) is adjusted. When at t, thereforeiTarget D is lost, so long as target D does not exceed RA、RB、RCAt t of signal recoveryi+nObject D is searched and relocked.
In summary, the positioning method provides a moving reference node, and the off-line learning stage is skipped without preferentially laying out the position of the reference node, so as to directly position the tracking target according to the moving reference node. Meanwhile, the positioning method breaks through the original technology that the reference node needs to be arranged at a fixed position and positioning is realized within a fixed range, and a more flexible and flexible positioning mode is realized under the condition of ensuring the positioning accuracy.

Claims (4)

1. An indoor dynamic tracking and positioning method comprises two parts, namely a mobile reference node and a movable target node to be positioned, wherein a node device is provided with a communication module, a speed sensor module and a gyroscope, and is characterized in that the movable target of the positioning method enters a sensing range of a positioning network formed by the three mobile reference nodes, the three mobile reference nodes mutually communicate the position information of the movable target, and a positioning algorithm is solved based on RSSI ranging full-intersection centroid by a circumference positioning method, namely the coordinate position of the movable target is finally and accurately determined by a ranging and positioning mode;
the three mobile reference nodes are respectively a mobile reference node A, a mobile reference node B and a mobile reference node C, and the sensing radiuses of the mobile reference node A, the mobile reference node B and the mobile reference node C are respectively RA、RB、RCThe moving speed of the moving reference node A is vaMoving reference node B at a moving speed vbThe moving speed of the moving reference node C is vcThe moving speed of the moving object D is vdAnd v isa、vb、vcAre all greater than vdThat is, when the target D enters the perception radius R of the information source A, the information source B and the information source CA、RB、RCThen, overtravel tracking is not carried out at an over speed; the mobile reference node A, the mobile reference node B and the mobile reference node C all determine the current coordinate information of the mobile reference node A, the mobile reference node B and the mobile reference node C, and the sensor can sense the distance from the target D; at the initial moment, the position of the mobile reference node is manually positioned, and the position of the next position is determined by the moving conditions of the mobile node, such as acceleration, speed and direction angle; the mobile reference node A, the mobile reference node B, the mobile reference node C and the target D all move on the ground, namely move in a two-dimensional plane space; if the A, B, C points are not collinear, the coordinates of the 3 points are known, and | A-D |, | B-D |, and | C-D | are measured to be D respectivelya、db、dcThen the tracked target D should be centered at A, B, C with a radius Da、db、dcD is then the intersection point of the 3 circles, where Da<RA、db<RB、dc<RC；
When the three moving reference nodes are actually measured, the distance measurement of the moving reference nodes to the target contains measurement errors, and when the distance measurement of the three moving reference nodes is used for tracking the target point, a correction factor epsilon is addeda、εb、εcAnd obtaining a positioning point D of the target.
2. The indoor dynamic tracking and positioning method according to claim 1, wherein the correction factor εa、εb、εcOfa、εb、εcRespectively less than 0.5.
3. The indoor dynamic tracking and positioning method according to claim 1, wherein the method comprisesIn the equation of the positioning algorithm, the coordinate (x) of Dd,yd)：
Equation set for solving D
Figure FDA0003232839640000021
A(xa，ya)、B(xb，yb)、C(xc，yc) Uniquely determining the coordinates of D, equation (1-1) is equivalent to the following equation:
Figure FDA0003232839640000022
Figure FDA0003232839640000023
R2＝x2+y2
Figure FDA0003232839640000024
Figure FDA0003232839640000025
Figure FDA0003232839640000026
definition of
Figure FDA0003232839640000027
Namely, the formula (1-2) is written as: q θ ═ b
According to the least square method (LS) of
Figure FDA0003232839640000028
(Vector)
Figure FDA0003232839640000029
The current two terms are the estimated coordinates of the positioning node
Figure FDA00032328396400000210
The coordinates, considered as D, are real solutions.
4. The indoor dynamic tracking and positioning method according to claim 3, wherein said three moving reference nodes A, B, C are respectively expressed by va、vb、vcVelocity edge A ofiDi、BiDi、CiDiWhen tracking the target D, D is at ti+1Coordinate D (x) of timei+1，yi+1)：
Qi+1θi+1＝bi+1The method is as described above
Tracking velocity v of moving reference node A, B, Ca、vb、vcIs variable as long as va、vb、vcAre all greater than vdThe target D cannot escape tracking; the initial velocity of the moving reference node A, B, C is va＝da/t，vb＝db/t，vc＝dcT, followed by t as requirediThe distance of (2) is adjusted.
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