CN108966343B - Self-calibration positioning method based on ultra-wideband position unknown anchor node - Google Patents
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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
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
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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
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
Abstract
According to the invention, under the condition that an ultra-wideband wireless sensor network is adopted to position a moving target in some complex closed environments, the position of an ultra-wideband anchor node is difficult to calibrate in advance or the calibrated position is easy to change due to the limitation of an anchor node fixing mode or an installation carrier, so that the positioning result of an ultra-wideband positioning system is invalid. According to the invention, through the movement of the mobile node in a positioning space, parameters such as a signal arrival Time Difference (TDOA) and the like between the mobile node and the anchor node are measured in real time by using an ultra-wideband positioning system, and an anchor node iterative dynamic self-calibration method is formed by establishing a nonlinear ranging model, a global nonlinear optimization model, an equivalent spring damping physical model and the like, so that the anchor node self-calibration positioning under the condition of unknown position of the ultra-wideband anchor node is realized. The self-calibration positioning method improves the positioning stability and the positioning precision of the ultra-wideband positioning system under the condition of unknown or drifting anchor node positions.
Description
Technical Field
The invention relates to a self-positioning method of a wireless sensor network anchor node, in particular to a self-calibration positioning method based on unknown position of an ultra-wideband anchor node.
Background
In a complex closed environment, the position of the ultra-wideband anchor node cannot be calibrated in advance due to the limitation that external equipment is needed for radio navigation, satellite positioning and astronomical navigation; furthermore, the position of the ultra-wideband anchor node can be moved due to some external nonresistance factors, so that the position of the anchor node can not be accurately calibrated; and thus the location of the mobile node cannot be determined. Therefore, the realization of self-calibration positioning of the ultra-wideband anchor node is a key technology for positioning the wireless sensor network.
Although the anchor node position of the ultra-wideband is fixed, the anchor node is difficult to accurately position by using an external sensor due to the limitation of the installation environment of certain anchor nodes and the change of the installation position. Therefore, the ultra-wideband anchor node self-calibration strategy which only utilizes the ultra-wideband self-measurement information without external sensor measurement is researched, and the focus is to establish a self-calibration model of the anchor node position under a nonlinear ranging equation set, so that the problems of anchor node position drift and difficult calibration in a complex closed environment are solved. Aiming at the problem, the invention designs a self-calibration positioning method based on the unknown position of the ultra-wideband anchor node.
Disclosure of Invention
The invention provides a self-calibration positioning method based on the unknown position of an ultra-wideband anchor node in order to overcome the defects of the technical problems.
The self-calibration positioning method based on the unknown position of the ultra-wideband anchor node is characterized by comprising the following steps: a) On the basis that the measuring signals are discrete and the clocks of the anchor node receivers are synchronous, establishing an ultra-wideband nonlinear ranging model based on TDOA, wherein the ultra-wideband nonlinear ranging model is expressed as:wherein->Indicating the position of the receiver->Indicating the position of the signal source->Time of signal generation->Indicating the time of arrival of the signal, c indicating the propagation speed of the signal; b) In order to ensure that the nonlinear ranging model has a solution, the number of variables is reduced by mutual conversion among the variables in a two-dimensional plane, and the sameSetting a constant in a three-dimensional space to construct a symmetrical ranging equation set so as to reduce the degree of freedom of the equation set, and judging whether the solution of the ranging equation set is uncertain, overdetermined and unique according to the positive, negative or zero of the degree of freedom; c) Constructing a system constraint equation by using a gradient descent method and a Newton method, performing dimension minimization operation on a nonlinear ranging equation corresponding to each anchor node, and then simplifying and arranging a nonlinear equation set into a standard matrix form under a least square method, wherein the standard matrix form is expressed as: />The method comprises the steps of carrying out a first treatment on the surface of the d) On the basis of constructing a standard matrix form under a least square method, an iterative cone alignment method is introduced to solve a nonlinear ranging model, and an accurate ultra-wideband anchor node simulation calculation position is obtained; e) After the ultra-wideband anchor node simulation position solution of the nonlinear ranging model is obtained, verifying an ultra-wideband anchor node position self-calibration method in a three-dimensional space, comparing the ultra-wideband anchor node position self-calibration method with a set value, and calculating an error between a simulation value and a calculated value; f) And on the basis of the error between the calculated analog value and the calculated value, comparing the calculated analog value with a set error threshold value, judging that the ultra-wideband anchor node position is effective if the error is within the threshold value range, and returning to the step d) to solve the ultra-wideband anchor node position again if the error exceeds the threshold value.
According to the self-calibration positioning method based on the ultra-wideband anchor node position unknown, the iterative cone alignment method in the step d) is used for solving the nonlinear ranging model, and the method is realized by the following steps: d-1), constructing a spring quality simulation model by a cone alignment method on the basis of obtaining a standard matrix form, and adding cone signal time to obtain a preliminary ranging model calculation scheme, wherein the cone alignment method ranging model is expressed as:d-2) on the basis of a preliminary ranging model solving scheme, increasing the about of the anchor node position error by constructing a ranging error model due to drift of the anchor node positionThe validity of the positioning result of the current preliminary ranging solution is judged by constraint judgment of the ranging error model, if the positioning result of the preliminary ranging solution is invalid, the step d-1) is returned; d-3), on the basis of the positioning result of the effective ranging solution, simulating the optimized nonlinear ranging model by using a spring mass system formed by particle swarm, and calculating the positions of the signal source and the receiver by using an iterative approximation method, wherein in the process of performing simulation solution in a physical spring mass system, the discrete information of the mobile node and the anchor node comprises speed, position and mass and all obeys Newton's law of inertia. d-4), introducing a secondary damping factor into the spring mass simulation system to enable the spring mass simulation system to be more stable, and integrating time steps of the simulation system through an Euler-Meyer method to further improve the position accuracy of the iteratively calculated ultra-wideband anchor node and obtain the position of the ultra-wideband anchor node with high accuracy.
The beneficial effects of the invention are as follows: according to the self-positioning method of the anchor node in the wireless sensor network, the non-calibrated ultra-wideband anchor node is deployed in the wireless sensor network, the mobile anchor node continuously transmits two different signals to the surrounding in a closed complex environment, and the time can be directly converted into the distance by recording the difference of arrival time of the two different signals at a receiving end by utilizing the huge difference of the propagation speeds of the two signals in the air, wherein the TDOA algorithm model is as follows:the method comprises the steps of carrying out a first treatment on the surface of the And then the self-calibration positioning method based on the ultra-wideband position unknown anchor node is utilized to obtain the accurate position of the ultra-wideband anchor node.
Drawings
FIG. 1 is a block diagram of a self-calibrating positioning method based on an ultra-wideband position-unknown anchor node of the present invention;
FIG. 2 is a schematic diagram of the present invention in situ; in the figure, an ultra-wideband anchor node 1, a complex closed environment 2, signal propagation 3, a mobile node 4 and a mobile node moving track 5 are shown;
FIG. 3 is a model diagram of the TDOA algorithm of the present invention;
FIG. 4 is a schematic representation of the cone alignment algorithm of the present invention;
FIG. 5 is a graph of the local minima of the cone alignment algorithm of the present invention in three dimensions;
fig. 6 is a simulated position error distribution diagram in three dimensions of the present invention.
Detailed Description
The invention is further described below with reference to the drawings and examples.
The self-calibration positioning method based on the ultra-wideband unknown anchor node comprises the following steps:
a) On the basis that the measuring signals are discrete and the clocks of the anchor node receivers are synchronous, establishing an ultra-wideband nonlinear ranging model based on TDOA, wherein the ultra-wideband nonlinear ranging model is expressed as:wherein->Indicating the position of the receiver->Indicating the position of the signal source->Time of signal generation->The time of arrival of the signal is indicated, and c indicates the signal propagation speed.
The mobile anchor node can be placed on a mobile trolley so as to be convenient to move in the whole network deployment space, as shown in fig. 2, the mobile node is deployed at will on the ground, a plurality of ultra-wideband anchor nodes are deployed in the space, the mobile node sends ultra-wideband signals, and the ultra-wideband anchor nodes receive signals.
Model ranging in applying TDOA algorithmIn the process, by utilizing the huge difference of propagation speeds of different signals in air, the time can be directly converted into the distance by recording the arrival time difference of two different signals at a receiving end, as shown in fig. 3, a TDOA algorithm ranging model can be obtained according to the model, and the distance between two points is as follows: 。
b) In order to ensure that the nonlinear ranging model has a solution, the number of variables is reduced by mutual conversion among the variables in a two-dimensional plane, a symmetrical ranging equation set is constructed by setting a constant in a three-dimensional space to reduce the degree of freedom of the equation set, and whether the solution of the ranging equation set is uncertain, overdetermined and unique is judged according to the positive, negative or zero of the degree of freedom.
In the process of reducing the degree of freedom, the theoretical limit of the number of ultra-wideband anchor nodes and mobile nodes corresponding to the degree of freedom needs to be found, and a nonlinear ranging model with a unique solution is better found.
c) Constructing a system constraint equation by using a gradient descent method and a Newton method, performing dimension minimization operation on a nonlinear ranging equation corresponding to each anchor node, and then simplifying and arranging a nonlinear equation set into a standard matrix form under a least square method, wherein the standard matrix form is expressed as: 。
the constructed system constraint equation is:the function values therein are iteratively updated, wherein the matrix values U are initialized with appropriate values.
d) And on the basis of constructing a standard matrix form under the least square method, introducing an iterative cone alignment method to solve the nonlinear ranging model, and obtaining an accurate ultra-wideband anchor node simulation calculation position.
This step may be achieved by the following steps.
d-1), constructing a spring quality simulation model by a cone alignment method on the basis of obtaining a standard matrix form, and adding cone signal time to obtain a preliminary ranging model calculation scheme, wherein the cone alignment method ranging model is expressed as:as shown in fig. 4, a graphical model of the cone alignment method is given, adding cone signal time to obtain a ranging model.
d-2), on the basis of the preliminary ranging model solving scheme, due to drift of the position of the anchor node, increasing the constraint of the position error of the anchor node by constructing a ranging error model, judging the validity of the positioning result of the current preliminary ranging model solving scheme by judging the constraint of the ranging error model, and if the positioning result of the preliminary ranging model solving scheme is invalid, returning to the step d-1).
d-3), on the basis of the positioning result of the effective ranging solution, simulating the optimized nonlinear ranging model by using a spring mass system formed by particle swarm, and calculating the positions of the signal source and the receiver by using an iterative approximation method, wherein in the process of performing simulation solution in a physical spring mass system, the discrete information of the mobile node and the anchor node comprises speed, position and mass and all obeys Newton's law of inertia.
d-4), introducing a secondary damping factor into the spring mass simulation system to enable the spring mass simulation system to be more stable, and integrating the time step of the simulation system through the Euler method to further improve the position accuracy of the ultra-wideband anchor node of iterative computation.
e) After the ultra-wideband anchor node simulation position solution of the nonlinear ranging model is obtained, verifying an ultra-wideband anchor node position self-calibration method in a three-dimensional space, comparing the ultra-wideband anchor node position self-calibration method with a set value, and calculating an error between a simulation value and a calculated value;
in the verification process, under some conditions, the self-calibration position of the ultra-wideband anchor node is inaccurate and can be sunk into the local minimum value of the error function, but the probability of sunk into the local minimum value can be reduced along with the increase of the number of signals; as shown in fig. 5, which shows a local minimum profile, there are different local minima for different numbers of receivers, signal sources.
In the process of obtaining the analog TDOA analog error, jitter of a time point of a signal received by a receiver is distributed along with Gaussian, and the jitter of the time point is caused by clock synchronization error or inaccuracy of the time point; as shown in fig. 6, the distribution diagram of the analog error varies with the number of receivers and signal generators.
f) And on the basis of the error between the calculated analog value and the calculated value, comparing the calculated analog value with a set error threshold value, judging that the ultra-wideband anchor node position is effective if the error is within the threshold value range, and returning to the step d) to solve the ultra-wideband anchor node position again if the threshold value exceeds the threshold value.
Claims (1)
1. A self-calibration positioning method based on an ultra-wideband position unknown anchor node is characterized by comprising the following steps of: the ultra-wideband positioning system comprises an anchor node fixedly installed and a mobile node placed on a moving target, wherein the positions of the anchor node and the mobile node are unknown, and the ultra-wideband positioning system can measure the signal time difference of arrival (TDOA) parameters between the mobile node and the anchor node in real time;
the self-calibration positioning method based on the ultra-wideband unknown anchor node comprises the following steps:
a) On the basis that the measuring signals are discrete and the clocks of the anchor node receivers are synchronous, establishing an ultra-wideband nonlinear ranging model based on TDOA, wherein the ultra-wideband nonlinear ranging model is expressed as: c (T) ij -t j )＝||M i -S j I wherein M i Representing the position of the receiver S j Indicating the position of the signal source, t j Representing the time of signal generation, T ij Indicating the time of arrival of the signal, c indicating the propagation speed of the signal;
b) In order to ensure that the nonlinear ranging model has a solution, reducing the number of variables by mutual conversion among the variables in a two-dimensional plane, constructing a symmetrical ranging equation set by setting a constant in a three-dimensional space to reduce the degree of freedom of the equation set, and judging whether the solution of the ranging equation set is uncertain, overdetermined and unique according to the positive, negative or zero of the degree of freedom;
c) Constructing a system constraint equation by using a gradient descent method and a Newton method, performing dimension minimization operation on a nonlinear ranging equation corresponding to each anchor node, and then simplifying and arranging a nonlinear equation set into a standard matrix form under a least square method, wherein the standard matrix form is expressed as: q (Q) T Q U ＝Q T b；
d) On the basis of constructing a standard matrix form under a least square method, an iterative cone alignment method is introduced to solve a nonlinear ranging model, and an accurate ultra-wideband anchor node simulation calculation position is obtained, wherein the solving method further comprises the following steps:
d-1), constructing a spring quality simulation model by a cone alignment method on the basis of obtaining a standard matrix form, and adding cone signal time to obtain a preliminary ranging model calculation scheme, wherein the cone alignment method ranging model is expressed as:
d-2), on the basis of the preliminary ranging model solving scheme, because of drift of the position of the anchor node, increasing the constraint of the position error of the anchor node by constructing a ranging error model, judging the validity of the positioning result of the current preliminary ranging model solving scheme by judging the constraint of the ranging error model, and returning to the step d-1 if the positioning result of the preliminary ranging model solving scheme is invalid;
d-3), on the basis of the positioning result of the effective ranging solution, simulating the optimized nonlinear ranging model by using a spring mass system formed by particle swarms, and calculating the positions of a signal source and a receiver by using an iterative approximation method, wherein in the process of performing simulation solution by using a physical spring mass system, the discrete information of a mobile node and an anchor node comprises speed, position and mass and obeys Newton's law of inertia;
d-4), introducing a secondary damping factor into the spring mass simulation system to enable the spring mass simulation system to be more stable, and integrating time steps of the simulation system through an Euler-Meyer method to further improve the position precision of the iteratively calculated ultra-wideband anchor node and obtain the position of the ultra-wideband anchor node with high precision;
e) After obtaining the ultra-wideband anchor node simulation position solution of the nonlinear ranging model, verifying an ultra-wideband anchor node position self-calibration method in a three-dimensional space, comparing the ultra-wideband anchor node position self-calibration method with a set value, and calculating an error between a simulation value and an actual value;
f) And on the basis of the error between the calculated analog value and the actual value, comparing the calculated analog value with a set error threshold value, judging that the ultra-wideband anchor node position is effective if the error is within the threshold value range, and returning to the step d) to solve the ultra-wideband anchor node position again if the error exceeds the threshold value.
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| CN110376627A (en) * | 2019-07-24 | 2019-10-25 | 东南大学 | Adaptive absolute fix method and positioning system in a kind of complex environment |
| CN110536237A (en) * | 2019-09-04 | 2019-12-03 | 国网四川省电力公司电力科学研究院 | Location information acquisition method based on UWB |
| CN113709662B (en) * | 2021-08-05 | 2023-12-01 | 北京理工大学重庆创新中心 | Autonomous three-dimensional inversion positioning method based on ultra-wideband |
| JP7361087B2 (en) | 2021-12-01 | 2023-10-13 | ソフトバンク株式会社 | Positioning system, installation auxiliary device, management device, positioning method and program |
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