CN108924748A - A kind of wireless indoor location method based on cellular automata - Google Patents
A kind of wireless indoor location method based on cellular automata Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract
The present invention relates to a kind of wireless indoor location methods based on cellular automata, specifically include following steps：Step 1 is to carry out grid dividing to indoor positioning space, by indoor positioning space reflection to cellular space；Step 2 is the relevant parameters such as setting cellular Neighbor Types, cellular state collection and state value；Step 3 is the primary condition such as the initial position that cellular automata evolution is arranged；Step 4 is to be stored in measured value in a manner of queue in the memory of positioning terminal；Step 5 is to be weighted summation to the alignment measurement at all cellulars in cellular neighborhood；Step 6 carries out Difference Calculation to step 5 acquired results on time dimension, obtains the variable quantity of alignment measurement weighted sum in cellular neighborhood；Step 7 is to select discrete threshold values according to location requirement, and result of the step 6 gained variable quantity after discrete is carried out logic judgment；Step 8 is to obtain the position of mobile target according to the motion conditions of positioning target, iteration 4~step 7 of operating procedure.
Description
Technical field
The present invention relates to localization method technical fields, and in particular to a kind of wireless indoor positioning side based on cellular automata
Method.
Background technique
The time of 80% or more modern society's mankind's activity is in indoor environment, as wireless communication technique is rapidly sent out
The intelligent mobile terminals such as exhibition and smart phone, wearable device are popularized, and indoor location services almost at everyone daily
Demand, indoor positioning have become the important component of current information industry development, and are gradually deep into national economy and society
The every aspect of development, emergency management and rescue, public safety, military affairs and in terms of be of great significance.Indoor positioning market
It has a extensive future, only China's demand size is up to hundred billion yuan or more.Carry out the research of high availability high-precision indoor positioning key technology
It has been included in national medium & long term sci-tech development program outline.Therefore localization method becomes the focus of concern and research, wherein indoor fixed
Position method it is particularly important as the core of positioning system, strong influence the application effect and popularization of indoor positioning.
The realization principle of the prior art is described below：
(1) geometry location method:It is by acquiring wireless positioning measurement value, further according to wireless signal spatial rule meter
Distance is calculated, geometrical relationship is recycled to calculate the place coordinate of unknown node.Wherein common geometrical relationship includes triangle
Rule and hyperbola rule.
(2) fingerprint positioning method generallys use RSS as wireless positioning measurement value, and the main thought of positioning principle comes
It is to be arrived using the one-to-one relationship between alignment measurement and position coordinates by online acquisition derived from pattern recognition theory
Wireless positioning measurement value is matched with the alignment measurement of known location in priori knowledge library finally to realize that position calculates.Refer to
The application process of line positioning mode is generally divided into two stages, the i.e. offline sample phase of finger print data and the positioning of fingerprint base On-line matching
Stage.
For example, disclosing a kind of indoor locating system application No. is 201710961571.5 Chinese invention patent application
And method, the system comprises positioning devices and mobile robot with image acquisition units and data processing unit, move
When moving on the floor of mobile robot indoors, the transmitter that mobile robot is equipped with emits light beam towards indoor ceiling,
Form size and/or shape different the first hot spot and the second hot spot；The Image Acquisition list being set on indoor wall obliquely
The contour images of member acquisition ceiling and the image of the first hot spot and the second hot spot；Data processing unit is according to the wheel of ceiling
The image of wide image and the first hot spot and the second hot spot determines the pose on the floor of mobile robot indoors, realizes
When monitoring the pose on the floor of mobile robot indoors, the light beam of mitigation transmitter transmitting significantly is adopted through ceiling to image
The influence that the optical path of collection unit is blocked by objects such as indoor furniture, electric appliances is conducive to improve the accurate of localization for Mobile Robot
Degree.
The defect of the above-mentioned prior art is：Geometry location method only considers the relationship between wireless positioning measurement value and distance,
Without considering wireless signal by fluctuation caused by such environmental effects and ageing equipment, so position error has been unable to get
Effect inhibits.Fingerprint positioning method only considered the uniqueness that multiple locating base stations portray certain coordinate points, and ignore it is multiple fixed
Spatial correlation of the position base station relative to same coordinate；It only considered the matching relationship between positioning target and sampled point and have ignored
The strong time variation of wireless signal, causes positioning accuracy low caused by the barriers such as people and metal.
The country there is no using cellular automata for indoor orientation method at present.
Summary of the invention
For the defect and blank of the prior art, it is fixed that the present invention provides a kind of wireless indoors based on cellular automata
Position method.
The technical scheme is that：A kind of wireless indoor location method based on cellular automata, specifically includes following
Step：
Step 1 sets sizing grid, by the indoor positioning space reflection after grid dividing according to positioning accuracy demand
To cellular space, so that cellular space is identically shaped and sized with located space, in located space a grid pair
Answer a cellular in cellular space；
The single cellular of step 2 usually has a variety of cellular states, and each state is all made of a numerical value to represent, the number
Value is the state value of cellular, and the combination of state value determines cellular state collection, the type of cellular neighbours and setting for cellular state collection
Surely it is directly related to the design of indoor positioning evolution rule；
Step 3 according in located space building structure and barrier actual distribution situation provide all members in cellular space
The initial state value of born of the same parents, represents barrier by giving cellular difference assignment, barrier be divided into fixation can not pass through barrier,
Fixation can pass through barrier, movement can not pass through barrier, movement can pass through barrier, and cellular automata need to be specified to develop
Cellular is originated, i.e. positioning starting point；
It is provided with locating base station in step 4 located space, with positioning terminal by wireless network connection, will be wirelessly communicated
The wireless signal strength or signal propagation time obtained in journey is stored in positioning as alignment measurement in a manner of queue
In the memory of terminal；
Step 5 weight is set according to the spatial relationship of center cellular in cellular neighborhood and neighbours' member intercellular, weight with
Center cellular is inversely proportional at a distance from neighbours' member intercellular, using the weighted sum of alignment measurement, is added in localization method empty
Between interconnection constraint；
The weight of neighbours' cellular i isThe sum of alignment measurement is expressed as ∑ RSS in cellular neighborhoodm, by formula
(1) it obtains：
∑RSSm=∑ (RSSm,i×wi)+RSSm,c,i∈(1,...,8)……(1)
Wherein,
Si is distance of i-th of neighbours' cellular to some locating base station；
S is distance of the center cellular to locating base station；
RSSm,iIndicate change in signal strength amount of neighbours' cellular i relative to locating base station m；
wiIndicate weight of neighbours' cellular i relative to locating base station m；
RSSm,cIndicate center element cell phase for the change in signal strength amount of base station m；
Step 6 adjacent time measured value Difference Calculation acquires the variable quantity of gained weighted sum in adjacent moment intermediate step 5,
While removing common-mode noise by difference, it joined association in time constraint in localization method, position error reduced, with step
5 have collectively constituted space time correlation constraint, can effectively remove the environmental factors such as poor equipment consistency, ageing equipment and temperature and humidity
Alignment measurement fluctuation caused by changing；
The obtained alignment measurement weighted sum of t moment in step 5 isThe obtained positioning of t+1 moment
Measured value weighted sum isThe difference value of output is that the positioning of the corresponding position cellular of relatively same positioning device is surveyed
The difference of magnitude, representation formula (2) are：
Step 7 carries out sliding-model control to the data obtained in step 6 by setting discrete threshold values GRss, and discrete threshold values are corresponding
The variation of distant relationships between center cellular and locating base station is positioned by the logic judgment that multiple base station distant relationships change
As a result, carrying out positioning using logic judgment has the characteristics that the small and more positioning target parallel of calculation amount calculates, it is suitable for extensive
The application of positioning scene；
Acquire the change in signal strength amount of the center cellular and neighbours' cellular at the moment from t to t+1 relative to 4 locating base stations
ΔRSSm(m ∈ A, B, C, D) then carries out discretization using discrete threshold values, obtains (ωA,ωB,ωC,ωD) combination, according to
Different syntagmatics determines the moving direction of center cellular, to realize that cellular positions；
It is primary that step 8 positions the every movement of target, carries out cellular automata and develops, i.e., to step 4~step 7 step into
Row iteration executes, and the result output of each iteration is the position coordinates after this positioning target is mobile.
Indoor orientation method of the present invention has the beneficial effect that：
(1) weight is set according to the spatial relationship of intercellular first in cellular neighborhood, is asked using the weighting of alignment measurement
With position error is constrained using the spatial correlation of center cellular and neighbours' member intercellular, effectively improves positioning accuracy；
(2) on time dimension Difference Calculation be the gained weighted sum that value acquires between adjacent moment variable quantity, pass through difference
While removing common-mode error, position error is constrained using the temporal associativity in cellular automata evolution rule, is mentioned
High position precision；
(3) sliding-model control is carried out to the data obtained in step 6 by setting discrete threshold values, discrete threshold values correspond to center element
The variation of distant relationships between born of the same parents and locating base station obtains positioning result by the logic judgment that multiple base station distant relationships change,
Carrying out positioning by logic judgment has the characteristics that the small and more positioning target parallel of calculation amount calculates, and is suitable for extensive localization field
The application of scape.
Detailed description of the invention
Fig. 1 is the work flow diagram of wireless indoor location method of the present invention.
Fig. 2 is the work flow diagram of the embodiment 1 of wireless indoor location method of the present invention.
Fig. 3 is the work flow diagram of the embodiment 2 of wireless indoor location method of the present invention.
Specific embodiment
Wireless indoor location method of the present invention is done further in detail with Figure of description combined with specific embodiments below
It describes in detail bright.
Embodiment 1
As depicted in figs. 1 and 2, embodiment 1 uses indoor orientation method of the present invention to people in some gymnasium
Member is positioned, and following steps are specifically included：
Step 1 sets cellular space as rectangle according to the shape of located space in gymnasium, sets sizing grid as l=m
=1m, by the indoor positioning space projection after grid dividing to cellular space, cellular space has identical with located space
Shape, using rectangle, size is identical as indoor sport shop size, and in located space a grid corresponds in cellular space
One cellular；
Step 2 sets cellular parameter
Cellular parameter setting is as follows：
1) 5 kinds of cellular moving conditions are set, it is respectively as you were, move up, move down, being moved to the left and to the right
It is mobile；
2) it uses Moore type cellular neighbours (cellular is with 8 adjacent cellulars for neighbours), sets cellular state parameter
(ωA,ωB,ωC,ωD), it is as shown in table 1 with cellular state corresponding relationship；
1 positioning logic truth table of table
The setting of step 3 cellular automata primary condition
Cellular is carried out just according to the stud in indoor sport shop, personnel positioning initial position, locating base station position
Beginning assignment sets the initial value of blank cellular as 0, and the initial value of barrier is -1, and initial position is assigned a value of 1；
Step 4 in the memory that the collected alignment measurement of positioning device is stored in host computer in the form of queue,
A PMV (alignment measurement) is taken out every time is used for an iteration process；
Step 5 acquires weight, center cellular pair according to the spatial relationship of center cellular in cellular neighborhood and neighbours' member intercellular
It is expressed as S in the distance of base station m, corresponding weight is set as 1, and the weight of neighbours' cellular i is expressed asIn cellular neighborhood
The sum of alignment measurement is expressed as ∑ RSSm, the weighted sum of alignment measurement is obtained, as shown in formula (1)：
∑RSSm=∑ (RSSm,i×wi)+RSSm,c,i∈(1,...,8)……(1)
Step 6 is by the weighted sum of the obtained t moment alignment measurement of step 5With the weighted sum at t+1 momentDifference Calculation is carried out, the time interval of adjacent moment is set as 1 second, and Difference Calculation refers to phase on the time dimension
All cellular alignment measurement weighted sums make the difference in cellular neighborhood between the adjacent moment, that is, acquire adjacent moment step 5 gained weighted sum
Variable quantity, as shown in formula (2)：
While removing common-mode error by difference, association in time constraint joined in localization method, reduce positioning and miss
Difference；Step 5 and step 6 have collectively constituted space time correlation constraint, can effectively remove poor equipment consistency, ageing equipment and warm and humid
The environmental factors such as degree change caused alignment measurement fluctuation；
Discrete threshold values GRss=1 is arranged in step 7, carries out sliding-model control to step 6 the data obtained, obtains (ωA,ωB,
ωC,ωD) combination, discrete threshold values correspond to the variation of distant relationships between center cellular and locating base station, and it is far and near to pass through multiple base stations
The logic judgment of relationship change obtains positioning result；
Motion conditions of the step 8 according to positioning target, iteration operating procedure 4 to step 7 obtain the position of mobile target.
Embodiment 2
As shown in figures 1 and 3, embodiment 2 is to use indoor orientation method pair of the present invention in certain airport lounge
Passenger and staff's positions, and specific step is as follows：
Step 1 sets cellular space as rectangle according to the shape of boarding lounge's located space, sets sizing grid as l=m=
2m, by the indoor positioning space projection after grid dividing to cellular space, cellular space and located space are having the same
Shape, using rectangle, size is identical as boarding lounge's size, and in located space a grid corresponds to a member in cellular space
Born of the same parents；
Step 2 sets cellular parameter
Cellular parameter setting is as follows：
1) 9 kinds of cellular moving conditions are set, it is respectively as you were, move up, move down, being moved to the left, to the right
It is mobile, upper mobile, upper mobile, lower mobile to the right and move to left down to the left to the right；
2) Moore type cellular neighbours are used, cellular state parameter (ω is setA,ωB,ωC,ωD), it is corresponding with cellular state
Relationship is as shown in table 2：
2 positioning logic truth table of table
The setting of step 3 cellular automata primary condition
Cellular is carried out just according to the stud in indoor sport shop, personnel positioning initial position, locating base station position
Beginning assignment sets the initial value of blank cellular as 0, and the initial value of barrier is -1, and initial position is assigned a value of 1；
Step 4 in the memory that the collected alignment measurement of positioning device is stored in host computer in the form of queue,
A PMV is taken out every time is used for an iteration process；
Step 5 carries out acquiring weight, Lin Juyuan according to the spatial relationship of center cellular in cellular neighborhood and neighbours' member intercellular
The distance of born of the same parents to center cellular is Si, the standard weight of center cellular is set as S, and the weight of neighbours' cellular i is expressed asMember
The sum of alignment measurement is expressed as ∑ RSS in born of the same parents' neighborhoodm, the weighted sum of alignment measurement is obtained, as shown in formula (1)：
∑RSSm=∑ (RSSm,i×wi)+RSSm,c,i∈(1,...,8)……(1)
Step 6 is by the weighted sum of the obtained t moment alignment measurement of step 5With the weighted sum at t+1 momentDifference Calculation is carried out, the time interval of adjacent moment is set as 10 seconds, and Difference Calculation refers to phase on the time dimension
All cellular alignment measurement weighted sums make the difference in cellular neighborhood between the adjacent moment, that is, acquire adjacent moment step 5 gained weighted sum
Variable quantity, as shown in formula 2：
While removing common-mode error by difference, association in time constraint joined in localization method, reduce positioning and miss
Difference, step 5 and step 6 have collectively constituted space time correlation constraint, can effectively remove poor equipment consistency, ageing equipment and warm and humid
The environmental factors such as degree change caused alignment measurement fluctuation；
Discrete threshold values GRss=3.5 is arranged in step 7, carries out sliding-model control to step 6 the data obtained, obtains (ωA,ωB,
ωC,ωD) combination, discrete threshold values correspond to the variation of distant relationships between center cellular and locating base station, and it is far and near to pass through multiple base stations
The logic judgment of relationship change obtains positioning result；
Motion conditions of the step 8 according to positioning target, iteration operating procedure 4 to step 7 obtain the position of mobile target.
Present invention is not limited to the embodiments described above, without departing substantially from substantive content of the present invention, art technology
Any deformation, improvement, the replacement that personnel are contemplated that each fall within protection scope of the present invention.
Claims (2)
1. a kind of wireless indoor location method based on cellular automata, which is characterized in that specifically include following steps：
Step 1 sets sizing grid, the indoor positioning space reflection after grid dividing is arrived according to positioning accuracy demand
Cellular space, so that cellular space is identically shaped and sized with located space, in located space a grid is corresponding
A cellular in cellular space；
The single cellular of step 2 usually has a variety of cellular states, and each state is all made of a numerical value to represent, the numerical value
It is the state value of cellular, the combination of state value determines cellular state collection, the type of cellular neighbours and the setting of cellular state collection
It is directly related to the design of indoor positioning evolution rule；
Step 3 according in located space building structure and barrier actual distribution situation provide all cellulars in cellular space
Initial state value, barrier is represented by giving cellular difference assignment and need to specify cellular automata develop starting member
Born of the same parents, i.e. positioning starting point；Locating base station is provided in step 4 located space, locating base station and positioning terminal pass through wireless network
Connection, using the wireless signal strength obtained in wireless communication procedure or signal propagation time as alignment measurement, and with team
The mode of column is stored in the memory of positioning terminal；
Step 5 sets weight, weight and center cellular according to the spatial relationship of center cellular in cellular neighborhood and neighbours' member intercellular
It is inversely proportional with the distance of neighbours' member intercellular, using the weighted sum of alignment measurement, space correlation is added about in localization method
Beam；
The weight of neighbours' cellular i isThe sum of alignment measurement is expressed as ∑ RSS in cellular neighborhoodm：
∑RSSm=∑ (RSSm,i×wi)+RSSm,c,i∈(1,...,8)
Step 6 adjacent time measured value Difference Calculation acquires the variable quantity of gained weighted sum in adjacent moment intermediate step 5, passes through
While difference removes common-mode noise, it joined association in time constraint in localization method, reduce position error, it is total with step 5
With composition space time correlation constraint；
The obtained alignment measurement weighted sum of t moment in step 5 isThe t+1 moment, obtained positioning was surveyed
Magnitude weighted sum isThe difference value of output is that the positioning of the corresponding position cellular of relatively same positioning device is surveyed
The difference of magnitude, calculation formula are：
Step 7 carries out sliding-model control to the data obtained in step 6 by setting discrete threshold values GRss, during discrete threshold values are corresponding
The variation of distant relationships between heart cellular and locating base station is positioned by the logic judgment that several base station distant relationships change
As a result；
Acquire the change in signal strength amount Δ of the center cellular and neighbours' cellular at the moment from t to t+1 relative to 4 locating base stations
RSSm(m ∈ A, B, C, D) carries out discretization using discrete threshold values, obtains (ωA,ωB,ωC,ωD) combination, according to different
Syntagmatic determines the moving direction of center cellular, to realize that cellular positions；
The step 8 positioning every movement of target is primary, carries out a cellular automata and develops, i.e., is iterated to step 4~step 7
It executes, the result output of each iteration is the position coordinates after this positioning target is mobile.
2. wireless indoor location method according to claim 1, which is characterized in that the barrier, which is divided into fixation, to be passed through
Barrier, fixation can pass through barrier, movement can not pass through barrier, movement can pass through barrier.
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