CN108834058A - A kind of indoor positioning signal source Optimization deployment method based on heredity with fireworks combinational algorithm - Google Patents
A kind of indoor positioning signal source Optimization deployment method based on heredity with fireworks combinational algorithm Download PDFInfo
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Abstract
The present invention relates to indoor positioning field more particularly to a kind of indoor positioning signal source Optimization deployment methods based on heredity with fireworks combinational algorithm.Present invention firstly provides one kind to be more suitable for indoor positioning signal source Optimization deployment, and deployment is more reasonable, cost is cheaper.The dispositions method is an emulation mode, and by the emulation to the information such as building and its attribute, signal source model, realizing one kind using genetic algorithm and fireworks algorithm combination can not only meet that cost is not high, but also the signal source deployment scheme for making position error low.
Description
Technical field
The present invention relates to indoor positioning field more particularly to integrated signal source position error and signal source cost are multifactor most
A kind of solution of optimization problem.
Background technique
Currently, location technology is divided into indoor positioning and outdoor definition.Wherein, outdoor positioning is more universal, and people often connect
The global positioning system (GPS) of touching and domestic positioning system Beidou, these belong to outdoor positioning technology.Outdoor positioning mainly leads to
It crosses receiver and receives the radio signal progress relevant calculation of satellite launch to realize the purpose of precise positioning.Outdoor positioning technology
There is very important status in fields such as navigation, measurement and space flight, and have become mankind's daily life, in development in science and technology
An indispensable cutting edge technology.Since outdoor positioning technology is positioned by satellite, so to the precision of time
It is required that it is extremely harsh, but during Radio Signal Propagation, will receive the shadow of the factors such as aerial ionosphere, barrier
It rings, to generate error.If it is desired to positioning operation is carried out in certain building, the radio meeting that this satellite is emitted
Since barrier causes measurement deviation occur, and then influence the effect of positioning.
Indoor positioning technologies mainly have LED location technology, WI-FI location technology, bluetooth indoor positioning technologies etc..For mesh
Which kind of technology the indoor positioning technologies of preceding industry either use, and require to dispose base station in advance and receive signal to emit.Tradition
The excessive dependence experience of base station deployment, will cause does not reduce cost maximumlly in this way, and carries out in this way
Base station deployment can not necessarily dispose specification, if deployment is too intensive, cost be caused to waste；It, can shadow if deployment is sparse
Ring the effect of positioning.As it can be seen that how to realize a balance between cost, locating effect, reach lower deployment cost and signal effect
Weighted optimal, this is a urgent problem.
Indoor positioning signal source Optimization deployment scheme, it is lower the purpose is to which position error can be found under multifactor constraint
Signal source combination.
In existing indoor positioning signal source Optimization deployment scheme, more traditional scheme is based on position coordinates come real
Existing, such as uniform fold, minimax covering, carat Mei-labor etc..But these schemes are fully relied in the position of signal source point
Coordinate, can not actually consider the environment difference of signal source point to factors such as effect of signals, so using this kind of Optimization deployment scheme,
It is easy to will receive the restriction of the factors such as signal source environment, quality, signal source Optimization deployment is likely in addition to consider cost
Etc. conditions limitation, it is all tradition the Optimization deployment schemes based on position coordinates there are obvious short slabs.
When optimizing deployment, if requiring signal source (i.e. number is few as far as possible) at low cost, position error simultaneously
It is small, it thus needs with optimization algorithm come such issues that solve.So far, genetic algorithm has been used in indoor positioning signal source
In Optimization deployment field, but its it is not only possible fall into local optimum, and if because the combination of indoor signal source is excessive,
A large amount of trivial solution may be generated, and then influences the efficiency solved.Meanwhile particle group hunting range is insufficient, is also easily trapped into
Local optimum.Although artificial immunity is able to solve the problem of global search to a certain extent, not due to its search depth
It is enough, it is all to be not easily found optimal solution.
Summary of the invention
For current indoor positioning signal source Optimization deployment field, the object of the present invention is to provide one
Kind can integrated signal source position error and signal source cost problem come the method for finding optimal solution.
Be more suitable for indoor positioning signal source Optimization deployment present invention firstly provides one kind, deployment more rationally,
Cost is cheaper.The dispositions method is an emulation mode, by the information such as building and its attribute, signal source model
Emulation, realizing one kind using genetic algorithm and fireworks algorithm combination, can not only to meet cost not high, but also makes position error low
Signal source deployment scheme.
In the above scenario, in order to achieve the purpose that signal source Optimization deployment, the present invention is adopted the following technical scheme that：
A kind of indoor positioning signal source Optimization deployment method based on heredity with fireworks combinational algorithm, which is characterized in that packet
It includes
Step 1 generates signal source combination using the method for shuffling at random；
Step 2 calculates separately its position error to different signal source combination
Step 3 carries out selection course to the combination for meeting fitness function requirement, while using fireworks algorithm to excellent product
The kind setting explosion factor, uses for later step；
Step 4, the explosion factor according to excellent variety, the supplement of signal source combination is carried out to population；
Step 5 carries out crossover operation to excellent variety；
Step 6 carries out mutation operation to excellent variety.
In a kind of above-mentioned indoor positioning signal source Optimization deployment method based on heredity with fireworks combinational algorithm, the step
Shuffling algorithm used in rapid 1 combines signal source and carries out random initializtion, includes the following steps：
Step 1.1 combines each signal source in initialization population, is all carried out using method of once shuffling to signal source
Upset, then deposits the data structure for being assigned to storage signal source combination.Until all signal sources combination in population all initializes
It completes.
In a kind of above-mentioned indoor positioning signal source Optimization deployment method based on heredity with fireworks combinational algorithm, the step
In rapid 2 according to signal source combine in unlike signal source point be compared come calculation of position errors with data in fingerprint base, including with
Lower step：
Step 2.1, modelled signal source fingerprint base, the content of fingerprint base are that every individual signals source is received from other signals
The signal strength indication in source；
Step 2.2, the signal source of calculation of position errors as needed combination, calculate in the present context the position of test point with
The extent of deviation of actual coordinate, i.e. position error.
In a kind of above-mentioned indoor positioning signal source Optimization deployment method based on heredity with fireworks combinational algorithm, the step
By fitness function value in rapid 3, it is worth signal source combination, and the letter to the excellent variety chosen to select to be less than this
The combination of number source includes the following steps according to Optimality, the setting explosion factor：
The fitness function value of signal source combination and preset fitness function threshold value are carried out size by step 3.1
Compare, the signal source combination met the requirements is retained, is unsatisfactory for the combination of desired signal source and then eliminates, wherein satisfaction is wanted
The signal source group asked is combined into excellent variety.
Step 3.2, for setting fitness function value in selection course, use dynamic adjustment strategy.It is suitable when meeting this
When the signal source combination of response functional value is greater than setting number, pre-set fitness function value is reduced to initial value
90%, when the signal source combined number for meeting the fitness function value is less than setting number, then by pre-set fitness letter
Numerical value increases by 15%.
The fitness value that step 3.3, basis signal source are combined is ranked up, and is then set gradually to these excellent variety quick-fried
The fried factor, the better explosion factor of fitness value are smaller.
In a kind of above-mentioned indoor positioning signal source Optimization deployment method based on heredity with fireworks combinational algorithm, the step
Supplement in rapid 4 is divided into two classes, and one kind is to combine according to the explosion factor to generate signal source, and one kind is randomly generated signal source group
It closes, includes the following steps：
Step 4.1 presses setting ratio, according to the explosion factor, passes through duplication to the combination of signal source belonging to the explosion factor
This combination is to generate new signal source combination, and the generation explosion factor is different from excellent variety in newly-generated combination
(size i.e. according to the explosion factor, generates signal source point, and guarantee these signals to signal source point by way of generating at random
Source point did not occurred also in original combination), it just constitutes generate new signal source combination according to the explosion factor in this way.
Step 4.2 generates the signal source combination of also vacancy in population at random, and random generation step is that method is：
Signal source combination for vacancy, all upsets signal source using method of once shuffling, then deposits and be assigned to storage signal source
Combined data structure.Until signal source combination all initialization of these vacancies are completed.
In a kind of above-mentioned indoor positioning signal source Optimization deployment method based on heredity with fireworks combinational algorithm, the step
Cross exchanged operation is carried out to different excellent variety in rapid 5, is included the following steps：
Step 5.1 presses preset cross-ratio, and two groups of signal source combinations are randomly choosed in excellent variety；
Step 5.2, in the signal source combination chosen, select signal source point appropriate respectively, intersect mutually
It changes.
Step 5.3 repeats step 5.1 to step 5.2, until meeting the number of iterations reaches maximum number of iterations (such as 80
It is secondary).
In a kind of above-mentioned indoor positioning signal source Optimization deployment method based on heredity with fireworks combinational algorithm, the step
Mutation operation is carried out to excellent variety in rapid 6, is included the following steps：
Step 6.1, in preset variation ratio, one group of signal source combination is randomly choosed in excellent variety；
Step 6.2, choose signal source combination in, n signal source point in combination is changed at random.
The present invention has the advantages that：1, the present invention using indoor positioning as background, using genetic algorithm with
The combination of fireworks algorithm is to solve the problems, such as that signal source position error is low few with signal source number cost.This is a kind of to answer in new
With a kind of thinking of the solution optimization problem provided lower in field.2, in the selection course of genetic algorithm in the present invention
Fitness function threshold value is provided with the strategy of dynamic adjustment.When the signal source combined number for meeting the fitness function threshold value is greater than
When certain value, just suitably reduce pre-set fitness function threshold value, when the signal source group for meeting the fitness function threshold value
When conjunction number is less, then suitably increase pre-set fitness function threshold value.Since traditional genetic algorithm is for fitness
Functional value setting is a fixed threshold value, but certain trouble can be all brought when excellent variety is excessive or very few.When
Excellent variety is excessive, and signal source combines the state that may fall into local optimum, and ability of searching optimum is insufficient；When excellent variety mistake
It is few, it may be inadequate for the degree of influence of selection and mutation process.3, fireworks be joined in traditional genetic algorithm in the present invention
The algorithm explosion factor, proposes a kind of the case where genetic algorithm is easy to produce a large amount of trivial solutions in mega project.In this project
In, population supplemental stages carry out regular supplement to new signal source combination by the explosion factor, largely remove
Trivial solution.4, proposed by the present invention is a kind of imitation technology, gets rid of in traditional technology and largely disposes by experience
The mode of signal source provides a kind of signal source deployment scheme more rationally, scientific.
Detailed description of the invention
Fig. 1 is the stream provided by the invention based on genetic algorithm Yu fireworks algorithm indoor positioning signal source disposition optimization method
Cheng Tu.
Fig. 2 is parking lot schematic diagram in the present embodiment.
Specific embodiment
With specific embodiment combination attached drawing, the invention will be further described below：
During experiment scene is as shown below, laid 107 iBeacon signal sources according to the form of matrix rule, row with
Column are spaced about 4.5 meters.
1, signal source combination is generated at random using shuffling algorithm
In indoor positioning project belonging to the present invention, signal source number is 107, and colleague compiles these signal sources
Number.Population refers to the number of signal source combination, and setting Population Size is 50 in the present invention.
When being initialized to population, individual signals source is combined, is first randomly generated in the combination of its signal source and believes
The number (n) in number source, then generates signal source point according to signal source number.The method of shuffling is used herein to 107 signal sources
Serial number has carried out upsetting processing, n before then choosing again, that is, completes the random initializtion work of a signal source combination, when following
Ring above-mentioned steps 50 times, just complete the initialization of population.
2, position error is calculated separately to different signal source combination
The present invention is before carrying out error calculation, presetting to the scene some reference points, these reference points 107
The signal strength of signal source point is collected, and the result of collection is stored in fingerprint base.One reference point collects 107 letters
The signal strength in number source is stored in one-dimensional vector, this one-dimensional vector is known as a fingerprint, what all reference points generated
Vector forms a fingerprint base.Then, when signal source combination is passed to error calculation function as function parameter, reference point receives
The signal value of 107 signal sources is (if some signal source, not in combination, the signal value of the point is 0), to incite somebody to action in parking lot
Each fingerprint in row vector and fingerprint base that received 1 row 107 arranges compares, and calculate with each fingerprint it is European away from
From finding out the smallest 3 fingerprints of gap, gap is respectively w1, w2, w3, then obtains the seat of this corresponding reference point of 3 fingerprints
Mark, respectively：(x1, y1), (x2, y2), (x3, y3), by following formula come estimated position coordinate：
X=((x (1)/w (1))+(x (2)/w (2))+(x (3)/w (3)))/((1/w (1))+(1/w (2))+(1/w
(3)))；
Y=((y (1)/w (1))+(y (2)/w (2))+(y (3)/w (3)))/((1/w (1))+(1/w (2))+(1/w
(3)))；
Above-mentioned formula can preferably reflect accurate location coordinate and distance inversely, bigger at a distance from fingerprint, fixed
Position error is also bigger.Finally calculated reference point coordinate is compared with actual coordinate again, and calculate between the two away from
From the size of this distance is exactly the size of position error.This completes the calculating with reference to point tolerance.For interior
All reference points successively carry out above-mentioned calculating process, obtained position error is averaged to get arriving after the completion of calculating
The average localization error of signal source combination.
3, selection course is carried out to the combination for meeting fitness function requirement, while excellent variety is set using fireworks algorithm
Set the explosion factor
The selection course that signal source combines in the present invention.The meter of above-mentioned position error is carried out to different signal source combination first
It calculates,
Then fitness function value is formed in conjunction with signal source cost.Specific formula is as follows：
Evaluation of estimate=signal source integrated positioning error+unit price * signal source number
After calculating each signal source combination fitness function value, selection course is carried out.In selection course, filter out suitable
The signal source combination of one threshold value of setting before answering angle value to be less than, is worth signal source combination then to do superseded processing greater than this.
For the signal source combination chosen, referred to as excellent variety.It, can be to it in this stage for excellent variety
The corresponding explosion factor of setting.Before the factor is exploded in setting, by excellent variety by evaluation of estimate ascending sequence (evaluation
It is better to be worth smaller representation signal source combination) sequence.
After completing aforesaid operations, according to the signal source group after choosing and sorting from small to large by evaluation of estimate
It closes, is successively sequentially arranged the explosion factor, the explosion factor is i+3 (i represents i-th of signal source combination after sequence), so just
The setting work of the explosion factor of completion.
4, according to the explosion factor of excellent variety, the supplement of signal source combination is carried out to population
The explosion factor of fireworks algorithm is added in the present invention in genetic algorithm, different from pure genetic algorithm.Pure
The supplement process of Population in Genetic Algorithms is to carry out after the completion of this generation cross and variation, and the population of this combinational algorithm is supplemented
Process carries out afterwards in the selection process.Reason for this is that if selection course is completed and then is intersected, become
Different process, then excellent variety is it is possible that the case where being deteriorated, then carries out population supplement, according to the heredity being arranged before again
The factor carries out new signal source combination producing, and new signal source combination will not get a desired effect.
The supplement process of population is divided into two kinds of parts, and a part is that new signal source combination is generated according to the explosion factor,
Another part is randomly generated signal source combination.New signal source combination is generated according to the explosion factor to be to be able to solve
Occur the case where a large amount of trivial solutions in random generating process, and a part is still to be able to using random generating mode in population
Supplemental stages not only can be generated the excellent solution in part but also not lose the ability of global search.
New signal source combination is generated according to the explosion factor.It is right according to the corresponding excellent signal source combination of the explosion factor
It is replicated, and then further according to the explosion factor, i+3 signal source point is selected in new combination, is changed into combination
The signal source point not occurred also just constitutes a new signal source combination in this way.Repeat aforesaid operations, until according to explosion because
Son generates signal source combination and completes.
New signal source combination is generated at random.Signal source combination is generated for the part, is initialized with above-mentioned random population.
The first random number for generating signal source point in signal source combination, the number then combined according to signal source are obtained using the method for shuffling
New signal source combination.
5, " intersection " operation is carried out to excellent variety
In the present invention, the process object of crossover process is the excellent variety chosen in selection course, but is removed excellent
Preceding 10% in kind, referred to as " fine work ".Because these fine work may be exactly the optimal solution finally required, handed over
When fork operation, fine work is not considered.Crossover operator carries out the probability of crossover operation.Crossover operation is specific as follows：
When the probability demands for meeting crossover operator select two groups of different signal source combinations, mark using random number algorithm
It is denoted as combination A, combines B.Pick out multiple signal source points in the combination of every group of signal source, such as A1, A2....., B1, B2....., this
The signal source point selected a bit must satisfy not to be occurred also in another combination, because if combining in another signal source
In occurred the signal source point complete cross exchanged after, then will appear one combination in there are the feelings of two identical signal source points
Condition.After combination AB selects corresponding signal source point, then the operation of signal source point cross exchange is carried out.Repeat the above steps 10
It is secondary, just complete the crossover operation between signal source combination.
6, " variation " operation is carried out to excellent variety
In the present invention, the object of the process is still the excellent variety that selection course chooses, and does not consider fine work equally.
Mutation operator, that is, the probability for operation of morphing.Mutation operation is specific as follows：
When the probability demands for meeting mutation operator, a signal source combination A is selected at random from signal source combination first, with
Multiple signal source points are chosen in signal source combination A afterwards, these signal source points are changed into the signal source not occurred also in combination
Point.It repeats aforesaid operations 10 times, just completes the mutation operation of signal source combination.
The experimental results showed that by the technical program one kind can be provided for indoor positioning signal source Optimization deployment field
Effective solution method, this programme can be effectively reduced the position error of signal source on the basis of considering signal source cost.Phase
Than in existing indoor positioning signal source disposition optimization scheme and traditional signal source deployment scheme based on position coordinates, this programme
With better validity, science.
Above embodiments are used for illustrative purposes only, rather than limitation of the present invention, the technology people in relation to technical field
Member, without departing from the spirit and scope of the present invention, can also make various transformation or modification, therefore all equivalent
Technical solution both falls within protection scope of the present invention.
Claims (7)
1. a kind of indoor positioning signal source Optimization deployment method based on heredity with fireworks combinational algorithm, which is characterized in that including
Step 1 generates signal source combination using the method for shuffling at random；
Step 2 calculates separately its position error to different signal source combination
Step 3 is carried out selection course to the combination for meeting fitness function requirement, while being set using fireworks algorithm to excellent variety
The explosion factor is set, is used for later step；
Step 4, the explosion factor according to excellent variety, the supplement of signal source combination is carried out to population；
Step 5 carries out crossover operation to excellent variety；
Step 6 carries out mutation operation to excellent variety.
2. a kind of indoor positioning signal source Optimization Dept. management side based on heredity with fireworks combinational algorithm according to claim 1
Method, which is characterized in that shuffling algorithm used in the step 1 combines signal source and carries out random initializtion, including following step
Suddenly：
Step 1.1 combines each signal source in initialization population, is all beaten using method of once shuffling signal source
Disorderly, the data structure for being assigned to storage signal source combination is then deposited；Until all signal sources combination in population has all initialized
At.
3. a kind of indoor positioning signal source Optimization Dept. management side based on heredity with fireworks combinational algorithm according to claim 1
Method, which is characterized in that in the step 2 according to signal source combine in unlike signal source point be compared with data in fingerprint base come
Calculation of position errors includes the following steps：
Step 2.1, modelled signal source fingerprint base, the content of fingerprint base are that every individual signals source is received from other signals source
Signal strength indication；
Step 2.2, the combination of the signal source of calculation of position errors as needed, calculate the position of test point and reality in the present context
The extent of deviation of coordinate, i.e. position error.
4. a kind of indoor positioning signal source Optimization Dept. management side based on heredity with fireworks combinational algorithm according to claim 1
Method, which is characterized in that by fitness function value in the step 3, be worth signal source combination to select to be less than this, and to choosing
The signal source combination for the excellent variety for selecting out includes the following steps according to Optimality, the setting explosion factor：
Step 3.1, by signal source combination fitness function value with preset fitness function threshold value progress size compared with,
The signal source combination met the requirements is retained, the combination of desired signal source is unsatisfactory for and then eliminates, wherein the letter met the requirements
Number source group is combined into excellent variety；
Step 3.2, for setting fitness function value in selection course, use dynamic adjustment strategy；When meeting the fitness
When the signal source combination of functional value is greater than setting number, pre-set fitness function value is reduced to the 90% of initial value, when
The signal source combined number for meeting the fitness function value is less than setting number, then increases pre-set fitness function value
15%；
Step 3.3, basis signal source combination fitness value be ranked up, then to these excellent variety set gradually explosion because
Son, the better explosion factor of fitness value are smaller.
5. a kind of indoor positioning signal source Optimization Dept. management side based on heredity with fireworks combinational algorithm according to claim 1
Method, which is characterized in that the supplement in the step 4 is divided into two classes, and one kind is to combine according to the explosion factor to generate signal source, and one
Class is randomly generated signal source combination, includes the following steps：
Step 4.1 presses setting ratio, according to the explosion factor, to the combination of signal source belonging to the explosion factor by replicating this
It combines to generate new signal source combination, and generates the explosion factor signal different from excellent variety in newly-generated combination
Source point just constitutes generate new signal source combination according to the explosion factor in this way；
Step 4.2 generates the signal source combination of also vacancy in population at random, and random generation step is that method is：For
The signal source of vacancy combines, and is all upset using method of once shuffling to signal source, then deposits and is assigned to storage signal source combination
Data structure；Until signal source combination all initialization of these vacancies are completed.
6. a kind of indoor positioning signal source Optimization Dept. management side based on heredity with fireworks combinational algorithm according to claim 1
Method, which is characterized in that cross exchanged operation is carried out to different excellent variety in the step 5, is included the following steps：
Step 5.1 presses preset cross-ratio, and two groups of signal source combinations are randomly choosed in excellent variety；
Step 5.2, in the signal source combination chosen, select signal source point appropriate respectively, carry out cross exchanged；
Step 5.3 repeats step 5.1 to step 5.2, until meeting the number of iterations reaches maximum number of iterations.
7. a kind of indoor positioning signal source Optimization Dept. management side based on heredity with fireworks combinational algorithm according to claim 1
Method, which is characterized in that mutation operation is carried out to excellent variety in the step 6, is included the following steps：
Step 6.1, in preset variation ratio, one group of signal source combination is randomly choosed in excellent variety；
Step 6.2, choose signal source combination in, n signal source point in combination is changed at random.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110162060A (en) * | 2019-06-06 | 2019-08-23 | 北京理工大学 | A kind of robot path planning method based on improvement fireworks explosion algorithm |
| CN110830938A (en) * | 2019-08-27 | 2020-02-21 | 武汉大学 | Fingerprint positioning quick implementation method for indoor signal source deployment scheme screening |
| CN115086972A (en) * | 2022-07-19 | 2022-09-20 | 深圳市华曦达科技股份有限公司 | Distributed wireless signal quality optimization method and system |
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