CN109040950A - Anchor point allocation plan determines method, apparatus and object positioning method - Google Patents
Anchor point allocation plan determines method, apparatus and object positioning method Download PDFInfo
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- CN109040950A CN109040950A CN201810623873.6A CN201810623873A CN109040950A CN 109040950 A CN109040950 A CN 109040950A CN 201810623873 A CN201810623873 A CN 201810623873A CN 109040950 A CN109040950 A CN 109040950A
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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
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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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
- H04W4/029—Location-based management or tracking services
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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
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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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
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
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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
Abstract
This application involves a kind of anchor point allocation plans to determine method, system, computer equipment and storage medium.The described method includes: obtaining this initial anchor point allocation plan and last time anchor point allocation plan, this described initial anchor point allocation plan includes this sub-distribution position of each anchor point object, and the last time anchor point allocation plan respectively includes the upper sub-distribution position of each anchor point object；The optimal allocation position of each anchor point object is determined according to each described sub-distribution position, each upper sub-distribution position and preset fitness function；The global optimal allocation position of each anchor point object is determined according to the optimal allocation position of each anchor point object and the fitness function；This anchor point distribution side is determined according to the global optimal allocation position of each anchor point object.Anchor point selection to vehicle how to be positioned can be realized using this method.
Description
Technical field
This application involves field of locating technology, determine method, apparatus, computer more particularly to a kind of anchor point allocation plan
Equipment and storage medium and a kind of object positioning method, device, computer equipment and storage medium.
Background technique
With the development of science and technology, vehicle also becomes more and more intelligent.The concept of car networking is now proposed, car networking is
Internet of Things development a kind of important products, be the huge Internet being made of each vehicle, realize information of vehicles detection,
It transmits and shared.Car networking is mainly used for anti-collision warning, electronic guide board, the warning of traffic lights etc., can improve people's trip
Efficiency alleviates traffic pressure, while the life informations such as the amusement of vehicle-surroundings, dining room, social activity can also be sent to driver,
Many convenience are brought to people's life.
The anti-collision warning of car networking, electronic guide board, warning of traffic lights etc., which are applied, all proposes the location information of vehicle
Very high requirement, traditional vehicle tracking localization method are mainly the GPS relied on vehicle, but sometimes in certain specific regions
There can be the case where GPS signal is weak or search is less than GPS signal, positioning service can not be provided for vehicle.According to car networking
Concept, each vehicle all can serve as anchor point vehicle and provide positioning service for other vehicles, when the GPS of certain vehicle is without legal
When position, Location Request is sent to surrounding vehicles, surrounding vehicles provide positioning service according to the location information of oneself for it.Work as utilization
When location information of the location information of other vehicles to determine vehicle to be positioned, the selection that there is a positioning anchor point vehicle is asked
It inscribes (which vehicle this selects position for it actually), when occurring more vehicles to be positioned in some region, anchor point vehicle pair
The selection of vehicle to be positioned also becomes urgent problem to be solved.
Summary of the invention
Based on this, it is necessary in view of the above technical problems, provide a kind of anchor point choosing that can be realized to vehicle how to be positioned
The anchor point allocation plan selected determines that method, apparatus, computer equipment and storage medium and one kind can be realized to how to be positioned
Object positioning method, computer equipment and the storage medium of the anchor point selection of vehicle.
A kind of anchor point allocation plan determines method, which comprises
Obtain this initial anchor point allocation plan and last time anchor point allocation plan, this described initial anchor point allocation plan packet
This sub-distribution position of each anchor point object is included, the last time anchor point allocation plan respectively includes the upper sub-distribution position of each anchor point object
It sets；
Each institute is determined according to each described sub-distribution position, each upper sub-distribution position and preset fitness function
State the optimal allocation position of anchor point object；
Each anchor point object is determined according to the optimal allocation position of each anchor point object and the fitness function
Global optimal allocation position；
This anchor point allocation plan is determined according to the global optimal allocation position of each anchor point object.
A kind of object positioning method, this method comprises:
Determine that method obtains this anchor point allocation plan using anchor point allocation plan as described above；
The corresponding three anchor point objects of j-th of object to be positioned are determined according to this described anchor point allocation plan；
Obtain the corresponding three anchor point objects of j-th of object to be positioned geographical position coordinates and j-th it is to be positioned right
As with corresponding three anchor point objects the distance between characterization value；
It is to be positioned right according to the geographical position coordinates of the corresponding three anchor point objects of j-th of object to be positioned and j-th
As with corresponding three anchor point objects the distance between characterization value, determine the location information of j-th of object to be positioned, wherein 1
≤ j≤M, M are the number of object to be positioned.
A kind of anchor point allocation plan determining device, described device include:
Scheme obtains module, for obtaining this initial anchor point allocation plan and last time anchor point allocation plan, it is described this
Anchor point allocation plan includes this sub-distribution position of each anchor point object, and the last time anchor point allocation plan respectively includes each anchor point pair
The upper sub-distribution position of elephant；
Individual location updating module, for according to each described sub-distribution position, each upper sub-distribution position and pre-
If fitness function determine the optimal allocation position of each anchor point object；
Global position update module, for according to each anchor point object optimal allocation position and the fitness letter
Number determines the global optimal allocation position of each anchor point object；
Scheme determining module, for determining that this anchor point distributes according to the global optimal allocation position of each anchor point object
Scheme.
A kind of computer equipment can be run on a memory and on a processor including memory, processor and storage
Computer program, the processor perform the steps of when executing the computer program
Obtain this initial anchor point allocation plan and last time anchor point allocation plan, this described initial anchor point allocation plan packet
This sub-distribution position of each anchor point object is included, the last time anchor point allocation plan respectively includes the upper sub-distribution position of each anchor point object
It sets；
Each institute is determined according to each described sub-distribution position, each upper sub-distribution position and preset fitness function
State the optimal allocation position of anchor point object；
Each anchor point object is determined according to the optimal allocation position of each anchor point object and the fitness function
Global optimal allocation position；
This anchor point allocation plan is determined according to the global optimal allocation position of each anchor point object.
A kind of computer equipment can be run on a memory and on a processor including memory, processor and storage
Computer program, the processor perform the steps of when executing the computer program
Determine that method obtains this anchor point allocation plan using anchor point allocation plan described in any one embodiment as above；
The corresponding three anchor point objects of j-th of object to be positioned are determined according to this described anchor point allocation plan；
Obtain the corresponding three anchor point objects of j-th of object to be positioned geographical position coordinates and j-th it is to be positioned right
As with corresponding three anchor point objects the distance between characterization value；
It is to be positioned right according to the geographical position coordinates of the corresponding three anchor point objects of j-th of object to be positioned and j-th
As with corresponding three anchor point objects the distance between characterization value, determine the location information of j-th of object to be positioned, wherein 1
≤ j≤M, M are the number of object to be positioned.
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor
It is performed the steps of when row
Obtain this initial anchor point allocation plan and last time anchor point allocation plan, this described initial anchor point allocation plan packet
This sub-distribution position of each anchor point object is included, the last time anchor point allocation plan respectively includes the upper sub-distribution position of each anchor point object
It sets；
Each institute is determined according to each described sub-distribution position, each upper sub-distribution position and preset fitness function
State the optimal allocation position of anchor point object；
Each anchor point object is determined according to the optimal allocation position of each anchor point object and the fitness function
Global optimal allocation position；
This anchor point allocation plan is determined according to the global optimal allocation position of each anchor point object.
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor
It is performed the steps of when row
Determine that method obtains this anchor point allocation plan using the as above upper anchor point allocation plan；
The corresponding three anchor point objects of j-th of object to be positioned are determined according to this described anchor point allocation plan；
Obtain the corresponding three anchor point objects of j-th of object to be positioned geographical position coordinates and j-th it is to be positioned right
As with corresponding three anchor point objects the distance between characterization value；
It is to be positioned right according to the geographical position coordinates of the corresponding three anchor point objects of j-th of object to be positioned and j-th
As with corresponding three anchor point objects the distance between characterization value, determine the location information of j-th of object to be positioned, wherein 1
≤ j≤M, M are the number of object to be positioned.
Above-mentioned anchor point allocation plan determines method, apparatus, computer equipment and storage medium, is to obtain this anchor
After point allocation plan and last time anchor point allocation plan, more new individual extreme value and position are (according to each described sub-distribution position, each institute
State sub-distribution position and preset fitness function determine the optimal allocation position of each anchor point object), and update complete
Office's extreme value and position (determine each anchor point according to the optimal allocation position of each anchor point object and the fitness function
The global optimal allocation position of object), finally, determining this anchor point according to the global optimal allocation position of each anchor point object
Allocation plan, above-mentioned object positioning method, device, computer equipment and storage medium are determined using above-mentioned anchor point allocation plan
Scheme.Distribution using the present invention program, in anchor point allocation plan determination process, based on fitness function to each anchor point object
Position has carried out multiple update, can preferably determine the distribution position of each anchor point object, to obtain optimal anchor point point
It with scheme, can preferably be applied in vehicle location, realize the anchor point selection to vehicle how to be positioned.
Detailed description of the invention
Fig. 1 is the applied environment figure that anchor point allocation plan determines method in one embodiment；
Fig. 2 is the flow diagram that anchor point allocation plan determines method in one embodiment；
Fig. 3 is the flow diagram that optimal allocation position determines step in one embodiment；
Fig. 4 is the flow diagram of global optimal allocation position step in one embodiment；
Fig. 5 is the flow diagram that anchor point allocation plan determines method in another embodiment；
Fig. 6 is the triangle centroid localization algorithm schematic illustration in one embodiment；
Fig. 7 is the flow diagram of object positioning method in one embodiment；
Fig. 8 is the structural block diagram of anchor point allocation plan determining device in one embodiment；
Fig. 9 is the structural block diagram of object positioning device in one embodiment；
Figure 10 is the internal structure chart of computer equipment in one embodiment.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, not
For limiting the application.
Anchor point allocation plan provided by the present application determines method, can be applied in application environment as shown in Figure 1.Its
In, each vehicle 102 can be communicated with server 104 by network.Wherein, server 104 can use independent server
The either server cluster of multiple servers composition is realized.Car-mounted terminal is generally configured on vehicle 102, with server 104
What is communicated is usually car-mounted terminal.It also can communicate between each vehicle.
In one embodiment, it as shown in Fig. 2, providing a kind of anchor point allocation plan determines method, applies in this way
It is illustrated for server in Fig. 1, comprising the following steps:
Step S201: this initial anchor point allocation plan and last time anchor point allocation plan, this described initial anchor point are obtained
Allocation plan includes this sub-distribution position of each anchor point object, and the last time anchor point allocation plan respectively includes each anchor point object
Upper sub-distribution position；
Here, this initial anchor point allocation plan is started in the anchor point allocation plan determination process of epicycle, in order to upper
Secondary anchor point allocation plan optimizes the anchor point allocation plan of update, and last time anchor point allocation plan is last round of anchor point distribution side
The anchor point allocation plan that case determination process is finally decided.
Here, what distribution position characterized is the information for the object to be positioned that corresponding anchor point object is assigned tracking, for example,
I-th of anchor point object is assigned j-th of object to be positioned of tracking, then the distribution position of i-th of anchor point object is j-th to be positioned
Object.
Here, each anchor point object is for each object to be positioned of tracking and positioning, and anchor point object can be anchor point vehicle, to
Positioning object can be object to be positioned, but anchor point object is also possible to the movement pair of self geographical position information known to others
As or stationary objects, similarly, object to be positioned be also possible to other unknown self geographical position information mobile object or
Person's stationary objects.
Step S202: according to each described sub-distribution position, each upper sub-distribution position and preset fitness letter
Number determines the optimal allocation position of each anchor point object；
Here, the concrete form of fitness function can be set according to actual needs.
Step S203: it is determined according to the optimal allocation position of each anchor point object and the fitness function each described
The global optimal allocation position of anchor point object；
Step S204: this anchor point allocation plan is determined according to the global optimal allocation position of each anchor point object；
Here, this anchor point allocation plan includes the distribution position of each anchor point object, the distribution of each anchor point object
Position is the global optimal allocation position of the anchor point object.
Above-mentioned anchor point allocation plan determines in method, is to obtain this initial anchor point allocation plan and last time anchor point distribution side
Case, this described initial anchor point allocation plan include this sub-distribution position of each anchor point object, the last time anchor point allocation plan
The upper sub-distribution position for respectively including each anchor point object, according to each described sub-distribution position, each upper sub-distribution position with
And preset fitness function determines the optimal allocation position of each anchor point object, according to best point of each anchor point object
The global optimal allocation position that each anchor point object is determined with position and the fitness function, according to each anchor point pair
The global optimal allocation position of elephant determines this anchor point allocation plan.In anchor point allocation plan determination process, it is based on fitness
Function has carried out multiple update to the distribution position of each anchor point object, can preferably determine the distribution position of each anchor point object
It sets, to obtain optimal anchor point allocation plan, can preferably be applied in vehicle location, realize to vehicle how to be positioned
Anchor point selection.
Above-mentioned anchor point allocation plan determines method in one of the embodiments, can with the following steps are included: according to
Anchor point object determines the fitness function to the communication energy consumption the positioning accurate angle value and object of object to be positioned.
Specifically, the fitness can be determined by way of by communication energy consumption and the weighted sum of positioning accurate angle value
Function.Wherein, positioning accurate angle value can be placement error value, and placement error value can be according to absolute fix information and actual position
Information determines that absolute fix information refers to the status oriented according to the relevant information (geographical location, distance etc.) of anchor point object
Location information.Positioning accurate angle value can carry out value according to the actual situation.
In the present embodiment, the fitness function is determined according to positioning accurate angle value and communication energy consumption, i.e., with fixed
Position accuracy value and communication energy consumption considers as optimization aim, can while reaching positioning accuracy request maximum limit
Degree ground reduces energy consumption.
It is in one of the embodiments, as shown in figure 3, above-mentioned according to each described sub-distribution position, each last time
Distribution position and preset fitness function determine the optimal allocation position of each anchor point object, may include:
Step S301: this described initial anchor point is determined according to each described sub-distribution position and the fitness function
Corresponding first fitness function value of allocation plan；
Specifically, each described sub-distribution position is substituted into the fitness function, obtains the first fitness function value.
Step S302: each anchor point object is determined according to each upper sub-distribution position and the fitness function
Corresponding second fitness function value in upper sub-distribution position；
Specifically, each upper sub-distribution position is substituted into the fitness function respectively, obtains each second fitness letter
Numerical value.
Step S303: it is less than first fitness function in corresponding second fitness function value of i-th of anchor point object
When value, the upper sub-distribution position of i-th of anchor point object is determined as to the optimal allocation position of i-th of anchor point object；
Step S304: it is not less than the first fitness letter in corresponding second fitness function value of i-th of anchor point object
When numerical value, this sub-distribution position of i-th of anchor point object is determined as to the optimal allocation position of i-th of anchor point object, wherein 1
≤ i≤N, N are the number of anchor point object.
Using the scheme in the present embodiment, the optimal allocation position of each anchor point object corresponding second can be made to adapt to
It is all lesser for spending functional value, so that the anchor point allocation plan finally determined is best.
In one of the embodiments, as shown in figure 4, the above-mentioned optimal allocation position according to each anchor point object with
And the fitness function determines the global optimal allocation position of each anchor point object, may include:
Step S401: it is determined according to the optimal allocation position of each anchor point object and the fitness function each described
The corresponding third fitness function value in the optimal allocation position of anchor point object；
Specifically, the global optimal allocation position of each anchor point object is substituted into the fitness function respectively, is obtained
Each third fitness function value.
Step S402: the corresponding each anchor point distribution position of the smallest third fitness function value is obtained, according to minimum
The distribution position of the corresponding each anchor point of third fitness function value determine the global optimal allocation of each anchor point object
Position；
Specifically, the smallest third fitness function value is selected from each third fitness function value, obtains this most
The distribution position of the corresponding each anchor point of small third fitness function value, then, by the smallest third fitness function value
The distribution position of corresponding each anchor point is determined as the global optimal allocation position of each anchor point object.
It, can be in order to obtaining optimal anchor point allocation plan using the scheme of the present embodiment.
The number of the object to be positioned of same the distributed tracking of anchor point object is not more than 1 in one of the embodiments, together
One object to be positioned is responsible for tracking by three anchor point objects.It, can be as far as possible using these constraint conditions being arranged in the present embodiment
Guarantee the positioning accuracy of each object to be positioned.
In one of the embodiments, as shown in figure 5, providing a kind of anchor point allocation plan determines method, answer in this way
For being illustrated for the server in Fig. 1, comprising the following steps:
Step S501: this initial anchor point allocation plan and last time anchor point allocation plan, this described initial anchor point are obtained
Allocation plan includes this sub-distribution position of each anchor point object, and the last time anchor point allocation plan respectively includes each anchor point object
Upper sub-distribution position；
Step S502: this described initial anchor point is determined according to each described sub-distribution position and the fitness function
Corresponding first fitness function value of allocation plan；
Step S503: each anchor point object is determined according to each upper sub-distribution position and the fitness function
Corresponding second fitness function value in upper sub-distribution position；
Step S504: it is less than first fitness function in corresponding second fitness function value of i-th of anchor point object
When value, the upper sub-distribution position of i-th of anchor point object is determined as to the optimal allocation position of i-th of anchor point object, in i-th of anchor
When corresponding second fitness function value of point object is not less than first fitness function value, by the sheet of i-th of anchor point object
Sub-distribution position is determined as the optimal allocation position of i-th of anchor point object；
Wherein, 1≤i≤N, N are the number of anchor point object；
Step S505: it is determined according to the optimal allocation position of each anchor point object and the fitness function each described
The corresponding third fitness function value in the optimal allocation position of anchor point object；
Step S506: judging whether the smallest third fitness function value is less than preset threshold value, if so, into
Enter step S507, if it is not, then return step S501 reacquires this initial anchor point allocation plan of acquisition and the distribution of last time anchor point
Scheme, wherein this initial anchor point allocation plan of reacquisition determines by the new distribution position of each anchor point object, again
The last time anchor point allocation plan of acquisition is this anchor point allocation plan that this is determined；
Step S507: the corresponding each anchor point distribution position of the smallest third fitness function value is obtained, according to minimum
The distribution position of the corresponding each anchor point of third fitness function value determine the global optimal allocation of each anchor point object
Position.
Step S508: this anchor point allocation plan is determined according to the global optimal allocation position of each anchor point object
Anchor point allocation plan of the invention determines that method can be comprising steps of select respectively in one of the embodiments,
It takes the three anchor point objects nearest with object to be positioned for tracking object to be positioned, obtains most initial anchor point allocation plan.
Using the scheme in the present embodiment, the space that can prevent anchor point object from finding object to be positioned is excessive, to guarantee
Anchor point object faster and more accurately finds best task allocation plan.
In one of the embodiments, the anchor point object include positioning anchor point vehicle, the object to be positioned include to
Position vehicle.
Scheme to facilitate the understanding of the present invention, below for distributing anchor point vehicle (or be known as positioning anchor point vehicle) into
Row explanation.
1, energy consumption mathematical model considers
According to radio communication model, communication energy consumption is indicated are as follows:
Wherein: ΩcIndicate the dynamic combined that sensor node is constituted；εampIt indicates required for the every bit of power amplifier
Energy；εeleIndicate energy required for the every bits of other electronic devices such as filter；lnIndicate the total data transmitted from node n
Amount；dnkIndicate the distance between target n and selected node k.It can be seen that gross energy E depends primarily on dnk, communication energy disappears
Consumption, which minimizes, can be equivalent to dnkThe sum of minimum.
Assuming that there is M vehicle to be positioned in some region, N positioning anchor point vehicle, the vehicle location task relations of distribution
Matrix can be with is defined as:
In matrix A, line number indicates that vehicle number to be positioned, columns indicate positioning anchor point vehicle number.amnFor 0-1 variable, amn=
1 the n-th (n=1,2 ..., N) vehicle of expression, which is assigned, to be gone tracking and positioning vehicle m (m=1,2 ..., M), i.e., n-th vehicle, which is assigned, adds
Enter into the dynamic combined of the m vehicle, otherwise amn=0.Energy consumption mathematical model can be described as:
Constraint condition:
A) a positioning anchor point vehicle can only distribute tracking and positioning one vehicle to be positioned, specifically be expressed as follows:
Wherein, n=1,2 ..., N.
B) vehicle to be positioned positions the dynamic combined that anchor point vehicle forms by three and carries out tracking and positioning to it to protect
Demonstrate,prove positioning accuracy.Specifically it is expressed as follows:
Wherein, m=1,2 ..., M.
c)dmnIndicate the distance between vehicle m to be positioned and selected positioning anchor point vehicle n,Indicate selected three
Positioning anchor point vehicle between shortest two distances of distance.That is, carrying out positioning anchor to minimize energy consumption index
The three positioning anchor point vehicles nearest apart from vehicle to be positioned are selected to constitute dynamic combined as far as possible when point vehicle task distribution.
Wherein it is possible to based on RSSI, (Received Signal Strength Indicator is the intensity for receiving signal
Instruction) determine positioning the distance between anchor point vehicle and vehicle to be positioned.
2, position error considers
If the coordinate of three positioning anchor point vehicles is respectively A (xA,yA)、B(xB,yB)、C(xC,yC), the seat of vehicle to be positioned
It is designated as G (xG,yG), the distance which positions anchor point vehicle to three is d respectivelyA、dB、dC, but due to rssi measurement
No matter which kind of model, due to the complexity of actual environment, the RSSI obtained always with have error under actual conditions, the positioning conversed
Anchor point vehicle to vehicle to be positioned distance d always greater than practical point-to-point transmission distance.Cause three that trilateration positioning uses
A circle cannot generally be met at a bit, as indicated with 6.For this purpose, can be by the coordinate of three points of three circle overlapping regions of calculating, with this
Three points are the coordinate that vertex of a triangle finds out vehicle to be positioned, the calculation method of point E are as follows:
Similarly, F, D can be calculated, the coordinate of vehicle G to be positioned is at this timeAssuming that
The coordinate of obtained vehicle to be positioned is (xc, yc), actual position is (x, y), then position error ER are as follows:
The value that ER can be calculated according to (7), as positioning accurate angle value.It can also repeatedly calculate, take multiple calculated result
Average value as positioning accurate angle value.
Then location tasks distribution, which adapts to value function (namely above-mentioned fitness function), can be designed as:
Wherein: w1For the weight of energy consumption, w2For the weight of vehicle location precision to be positioned.
3, location tasks distribute optimization method
Task distribution exactly distributes to these positioning anchor point vehicles according to the optimal allocation plan of the condition of regulation undetermined
Position vehicle.
A) definition of position
The position X of positioning anchor point vehicle represents a kind of task allocation plan, can be expressed as X=(X1, X2,...,Xj), 1
≤ j≤M, Xj=(Xj1, Xj2,...,Xji,...,XjN), 1≤i≤N.It is fixed when the position to positioning anchor point vehicle is updated
The position X of position anchor point vehicle is the location matrix for being 0 or 1 with element.
Wherein: M indicates that vehicle number to be positioned, N indicate positioning anchor point vehicle number.xji=1 expression i-th vehicle be assigned to
Track positions vehicle j, xji=0 i-th vehicle of expression does not track vehicle j.
During more vehicle locations to be positioned, according to positioning accuracy request, it need to guarantee communicate in vehicle to be positioned
In radius, at least three positioning anchor point vehicles, can randomly choose three positioning anchor point vehicles to vehicle to be positioned carry out with
Track positioning generates an effective task distribution initial scheme according to requiring.And in the distribution of practical initialization task, to prevent
The space that positioning anchor point vehicle finds vehicle to be positioned is too big, to guarantee that positioning anchor point vehicle is more rapidly and accurately found most preferably
Task allocation plan, here selection are gone to track to be positioned with three nearest positioning anchor point vehicles of vehicle to be positioned as initial value
Vehicle, it is assumed that task is distributed as shown in formula (10) matrix:
As shown in formula (10), according to the allocation plan, second positioning anchor point vehicle, which is assigned, goes tracking and positioning to be positioned
Vehicle 1, first positioning anchor point vehicle, which is assigned, removes tracking and positioning vehicle 2 to be positioned, and last vehicle is assigned and goes to track
Position vehicle M to be positioned.
C) it adapts to value function and has to the target call and the constraint that are able to reflect required solution problem as evaluation criterion
Formula (8) is taken as adapting to value function here by limitation.Meanwhile according to the particular problem in practice, condition limitation is carried out.
Secondly, calculating positions, anchor point vehicle is experienced to be preferably adapted to value pbi(t), that is, positioning anchor point vehicle is lived through most
Good position (is equivalent to above-mentioned optimal allocation position), is preferably adapted to value and is determined by formula (11):
By the obtained angle value that is preferably adapted to, the desired positions gb (t) that all positioning anchor point vehicles live through in vehicle is calculated,
I.e. global desired positions (being equivalent to above-mentioned global optimal allocation position), are determined by formula (12):
Gb (t)=min { f (pb1(t)),f(pb2(t)),...,f(pbN(t))} (12)
Each positioning anchor point vehicle all obtained best position, thus all positioning anchor point vehicles according to condition most
Good allocation plan is allocated to vehicle to be positioned.
Method is determined according to above-mentioned anchor point allocation plan, and a kind of object positioning is also provided in one of the embodiments,
Method, this method are applied to be illustrated for the server in Fig. 1, comprising the following steps:
Step S701: determine that method obtains this anchor point using anchor point allocation plan described in any one embodiment as above
Allocation plan；
Step S702: corresponding three anchor points pair of j-th of object to be positioned are determined according to this described anchor point allocation plan
As；
Step S703: the geographical position coordinates and jth of the corresponding three anchor point objects of j-th of object to be positioned are obtained
A object to be positioned and corresponding three anchor point objects the distance between characterization value；
Here, the value that can be used for characterizing apart from size is referred to apart from characterization value, generally refers to rssi measurement value.
Step S704: according to the geographical position coordinates and jth of the corresponding three anchor point objects of j-th of object to be positioned
A object to be positioned and corresponding three anchor point objects the distance between characterization value, determine the position of j-th of object to be positioned
Information, wherein 1≤j≤M, M are the number of object to be positioned.
Above-mentioned anchor point allocation plan determines in method, determines that method obtains anchor point distribution side using anchor point allocation plan as above
Case, and since to determine that method has been carried out based on distribution position of the fitness function to each anchor point object more for anchor point allocation plan as above
Secondary update can preferably determine the distribution position of each anchor point object, can be compared with to obtain optimal anchor point allocation plan
Good is applied in vehicle location, realizes the anchor point selection to vehicle how to be positioned.
It should be understood that although each step in the flow chart of Fig. 2-5 and Fig. 7 is successively shown according to the instruction of arrow
Show, but these steps are not that the inevitable sequence according to arrow instruction successively executes.Unless expressly state otherwise herein, this
There is no stringent sequences to limit for the execution of a little steps, these steps can execute in other order.Moreover, Fig. 2-5 and Fig. 7
In at least part step may include that perhaps these sub-steps of multiple stages or stage are not necessarily multiple sub-steps
Completion is executed in synchronization, but can be executed at different times, the execution in these sub-steps or stage sequence is not yet
Necessarily successively carry out, but can be at least part of the sub-step or stage of other steps or other steps in turn
Or it alternately executes.
In one embodiment, as shown in figure 8, providing a kind of anchor point allocation plan determining device, comprising: scheme obtains
Module 801, individual location updating module 802, global position update module 803 and scheme determining module 804, in which:
Scheme obtains module 801, for obtaining this initial anchor point allocation plan and last time anchor point allocation plan, described
Secondary anchor point allocation plan includes this sub-distribution position of each anchor point object, and the last time anchor point allocation plan respectively includes each anchor point
The upper sub-distribution position of object；
Individual location updating module 802, for according to each described sub-distribution position, each upper sub-distribution position and
Preset fitness function determines the optimal allocation position of each anchor point object；
Global position update module 803, for according to each anchor point object optimal allocation position and the adaptation
Degree function determines the global optimal allocation position of each anchor point object；
Scheme determining module 804, for determining this anchor point according to the global optimal allocation position of each anchor point object
Allocation plan.
Anchor point allocation plan determining device of the invention can also include that function configures mould in one of the embodiments,
Block, for according to anchor point object between the positioning accurate angle value and object of object to be positioned communication energy consumption determine described in
Fitness function.
In one of the embodiments, individual location updating module 802 can according to each described sub-distribution position and
The fitness function determines corresponding first fitness function value of this described initial anchor point allocation plan；According to it is each it is described on
Sub-distribution position and the fitness function determine corresponding second fitness in upper sub-distribution position of each anchor point object
Functional value；When corresponding second fitness function value of i-th of anchor point object is less than first fitness function value, by i-th
The upper sub-distribution position of a anchor point object is determined as the optimal allocation position of i-th of anchor point object；It is corresponding in i-th of anchor point object
The second fitness function value be not less than first fitness function value when, by this sub-distribution position of i-th of anchor point object
It is determined as the optimal allocation position of i-th of anchor point object, wherein 1≤i≤N, N are the number of anchor point object.
Global position update module 803 can be according to best point of each anchor point object in one of the embodiments,
The corresponding third fitness function in optimal allocation position of each anchor point object is determined with position and the fitness function
Value obtains the corresponding each anchor point distribution position of the smallest third fitness function value, according to the smallest third fitness letter
The distribution position of the corresponding each anchor point of numerical value determines the global optimal allocation position of each anchor point object.
The number of the object to be positioned of same the distributed tracking of anchor point object is not more than 1 in one of the embodiments, together
One object to be positioned is responsible for tracking by three anchor point objects.
Global position update module 803 can be also used for judging that the smallest third is suitable in one of the embodiments,
Whether response functional value is less than preset threshold value, if so, it is corresponding each described to obtain the smallest third fitness function value
Anchor point distributes position, determines each anchor according to the distribution position of the corresponding each anchor point of the smallest third fitness function value
The global optimal allocation position of point object；If it is not, then notification scheme obtains this initial anchor point distribution side of the reacquisition of module 801
Case and last time anchor point allocation plan, wherein this initial anchor point allocation plan of reacquisition is by each anchor point object new
It distributes position to determine, the last time anchor point allocation plan of reacquisition is this anchor point allocation plan that this is determined.
Scheme acquisition module 801 can be also used for choosing respectively nearest with object to be positioned in one of the embodiments,
Three anchor point objects for tracking object to be positioned, obtain most initial anchor point allocation plan.
Specific restriction about anchor point allocation plan determining device may refer to determine above for anchor point allocation plan
The restriction of method, details are not described herein.Modules in above-mentioned anchor point allocation plan determining device can be fully or partially through
Software, hardware and combinations thereof are realized.Above-mentioned each module can be embedded in the form of hardware or independently of the place in computer equipment
It manages in device, can also be stored in a software form in the memory in computer equipment, in order to which processor calls execution or more
The corresponding operation of modules.
In one embodiment, as shown in figure 9, providing a kind of object positioning device comprising any one reality as above
The anchor point allocation plan determining device 901 for applying example can also include:
Object Selection module 902, for determining that j-th of object to be positioned is corresponding according to this described anchor point allocation plan
Three anchor point objects；
Geographical location obtains module 903, for obtaining the geographical position of the corresponding three anchor point objects of j-th of object to be positioned
Set coordinate and j-th of object to be positioned and corresponding three anchor point objects the distance between characterization value；
Locating module 904, for the geographical position coordinates according to the corresponding three anchor point objects of j-th of object to be positioned,
And j-th of object to be positioned and corresponding three anchor point objects the distance between characterization value, determine j-th of object to be positioned
Location information.
Specific about object positioning device limits the restriction that may refer to above for object positioning method, herein not
It repeats again.Modules in above-mentioned object positioning device can be realized fully or partially through software, hardware and combinations thereof.On
Stating each module can be embedded in the form of hardware or independently of in the processor in computer equipment, can also store in a software form
In memory in computer equipment, the corresponding operation of the above modules is executed in order to which processor calls.
In one embodiment, a kind of computer equipment is provided, which can be server, internal junction
Composition can be as shown in Figure 10.The computer equipment include by system bus connect processor, memory, network interface and
Database.Wherein, the processor of the computer equipment is for providing calculating and control ability.The memory packet of the computer equipment
Include non-volatile memory medium, built-in storage.The non-volatile memory medium is stored with operating system, computer program and data
Library.The built-in storage provides environment for the operation of operating system and computer program in non-volatile memory medium.The calculating
The database of machine equipment is for storing data.The network interface of the computer equipment is used to pass through network connection with external terminal
Communication.To realize that a kind of anchor point allocation plan determines method when the computer program is executed by processor.Alternatively, the computer journey
To realize a kind of object positioning method when sequence is executed by processor.
In one embodiment, a kind of computer equipment is provided, including memory, processor and storage are on a memory
And the computer program that can be run on a processor, processor perform the steps of when executing computer program
Obtain this initial anchor point allocation plan and last time anchor point allocation plan, this described initial anchor point allocation plan packet
This sub-distribution position of each anchor point object is included, the last time anchor point allocation plan respectively includes the upper sub-distribution position of each anchor point object
It sets；
Each institute is determined according to each described sub-distribution position, each upper sub-distribution position and preset fitness function
State the optimal allocation position of anchor point object；
Each anchor point object is determined according to the optimal allocation position of each anchor point object and the fitness function
Global optimal allocation position；
This anchor point allocation plan is determined according to the global optimal allocation position of each anchor point object.
In one embodiment, it is also performed the steps of when processor executes computer program
The communication energy the positioning accurate angle value and object of object to be positioned is consumed according to anchor point object described in determining
Fitness function.
In one embodiment, processor execute computer program realize it is described according to each described sub-distribution position,
Each upper sub-distribution position and preset fitness function determine the step of optimal allocation position of each anchor point object
When, it implements following steps: determining that described this is initial according to each described sub-distribution position and the fitness function
Corresponding first fitness function value of anchor point allocation plan；It is true according to each upper sub-distribution position and the fitness function
Corresponding second fitness function value in upper sub-distribution position of fixed each anchor point object；In i-th of anchor point object corresponding
When two fitness function values are less than first fitness function value, the upper sub-distribution position of i-th of anchor point object is determined as
The optimal allocation position of i-th of anchor point object；In corresponding second fitness function value of i-th of anchor point object not less than described the
When one fitness function value, this sub-distribution position of i-th of anchor point object is determined as to the optimal allocation position of i-th of anchor point object
It sets, wherein 1≤i≤N, N are the number of anchor point object.
In one embodiment, processor is realized described according to each described according to each anchor point in execution computer program
The optimal allocation position of object and the fitness function determine the step of the global optimal allocation position of each anchor point object
When rapid, following steps are implemented: being determined according to the optimal allocation position of each anchor point object and the fitness function
The corresponding third fitness function value in optimal allocation position of each anchor point object；Obtain the smallest third fitness function value
Corresponding each anchor point distributes position, according to the distribution position of the corresponding each anchor point of the smallest third fitness function value
Determine the global optimal allocation position of each anchor point object.
In one embodiment, also performed the steps of when processor executes computer program judge it is described the smallest by the
Whether three fitness function values are less than preset threshold value；If so, obtaining the smallest third fitness function value into described
The step of corresponding each anchor point distribution position；If it is not, then returning to described this initial anchor point allocation plan of acquisition and last time
The step of anchor point allocation plan, wherein this initial anchor point allocation plan of reacquisition point new by each anchor point object
It is determined with position, the last time anchor point allocation plan of reacquisition is this anchor point allocation plan that this is determined.
In one embodiment, processor execute computer program when also perform the steps of respectively choose with it is to be positioned
Three nearest anchor point objects of object obtain most initial anchor point allocation plan for tracking object to be positioned.
In one embodiment, it is also performed the steps of when processor executes computer program according to this described anchor point
Allocation plan determines the corresponding three anchor point objects of j-th of object to be positioned；Obtain corresponding three anchors of j-th of object to be positioned
The geographical position coordinates of point object and j-th of object to be positioned and corresponding three anchor point objects the distance between characterization
Value；According to the geographical position coordinates of the corresponding three anchor point objects of j-th of object to be positioned and j-th of object to be positioned with
Corresponding three anchor point objects the distance between characterization value, determine the location information of j-th of object to be positioned, wherein 1≤j
≤ M, M are the number of object to be positioned.
In one embodiment, a kind of computer readable storage medium is provided, computer program is stored thereon with, is calculated
Machine program performs the steps of when being executed by processor
Obtain this initial anchor point allocation plan and last time anchor point allocation plan, this described initial anchor point allocation plan packet
This sub-distribution position of each anchor point object is included, the last time anchor point allocation plan respectively includes the upper sub-distribution position of each anchor point object
It sets；
Each institute is determined according to each described sub-distribution position, each upper sub-distribution position and preset fitness function
State the optimal allocation position of anchor point object；
Each anchor point object is determined according to the optimal allocation position of each anchor point object and the fitness function
Global optimal allocation position；
This anchor point allocation plan is determined according to the global optimal allocation position of each anchor point object.
In one embodiment, it also performs the steps of when computer program is executed by processor according to anchor point object pair
Communication energy consumption between the positioning accurate angle value and object of object to be positioned determines the fitness function.
In one embodiment, computer program be executed by processor it is described according to each described sub-distribution position, it is each
When the upper sub-distribution position and preset fitness function determine the step of the optimal allocation position of each anchor point object,
It implements following steps: this described initial anchor point is determined according to each described sub-distribution position and the fitness function
Corresponding first fitness function value of allocation plan；It is determined according to each upper sub-distribution position and the fitness function each
Corresponding second fitness function value in upper sub-distribution position of the anchor point object；It is fitted in i-th of anchor point object corresponding second
When response functional value is less than first fitness function value, the upper sub-distribution position of i-th of anchor point object is determined as i-th
The optimal allocation position of anchor point object；It is suitable not less than described first in corresponding second fitness function value of i-th of anchor point object
When response functional value, this sub-distribution position of i-th of anchor point object is determined as to the optimal allocation position of i-th of anchor point object,
Wherein, 1≤i≤N, N are the number of anchor point object.
In one embodiment, computer program is being executed by processor best point according to each anchor point object
When determining the step of the global optimal allocation position of each anchor point object with position and the fitness function, specific implementation
Following steps: each anchor point object is determined according to the optimal allocation position of each anchor point object and the fitness function
The corresponding third fitness function value in optimal allocation position；Obtain the corresponding each anchor of the smallest third fitness function value
Point distribution position, determines each anchor point according to the distribution position of the corresponding each anchor point of the smallest third fitness function value
The global optimal allocation position of object.
In one embodiment, also performed the steps of when computer program is executed by processor judge it is described the smallest
Whether third fitness function value is less than preset threshold value；If so, obtaining the smallest third fitness function into described
The step of being worth corresponding each anchor point distribution position；If it is not, then returning to described this initial anchor point allocation plan of acquisition and upper
The step of secondary anchor point allocation plan, wherein this initial anchor point allocation plan of reacquisition is by each anchor point object new
It distributes position to determine, the last time anchor point allocation plan of reacquisition is this anchor point allocation plan that this is determined.
In one embodiment, also performed the steps of when computer program is executed by processor respectively choose with it is undetermined
Three nearest anchor point objects of position object obtain most initial anchor point allocation plan for tracking object to be positioned.
In one embodiment, it is also performed the steps of when computer program is executed by processor according to this described anchor
Point allocation plan determines the corresponding three anchor point objects of j-th of object to be positioned；It is three corresponding to obtain j-th of object to be positioned
The geographical position coordinates of anchor point object and j-th of object to be positioned and corresponding three anchor point objects the distance between table
Value indicative；According to the geographical position coordinates and j-th of object to be positioned of the corresponding three anchor point objects of j-th of object to be positioned
With corresponding three anchor point objects the distance between characterization value, determine the location information of j-th of object to be positioned, wherein 1≤
J≤M, M are the number of object to be positioned.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the computer program can be stored in a non-volatile computer
In read/write memory medium, the computer program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein,
To any reference of memory, storage, database or other media used in each embodiment provided herein,
Including non-volatile and/or volatile memory.Nonvolatile memory may include read-only memory (ROM), programming ROM
(PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include
Random access memory (RAM) or external cache.By way of illustration and not limitation, RAM is available in many forms,
Such as static state RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDRSDRAM), enhancing
Type SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM
(RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM) etc..
Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield all should be considered as described in this specification.
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the concept of this application, various modifications and improvements can be made, these belong to the protection of the application
Range.Therefore, the scope of protection shall be subject to the appended claims for the application patent.
Claims (10)
1. a kind of anchor point allocation plan determines method, which is characterized in that the described method includes:
This initial anchor point allocation plan and last time anchor point allocation plan are obtained, this described initial anchor point allocation plan includes each
This sub-distribution position of anchor point object, the last time anchor point allocation plan respectively include the upper sub-distribution position of each anchor point object；
Each anchor is determined according to each described sub-distribution position, each upper sub-distribution position and preset fitness function
The optimal allocation position of point object；
The complete of each anchor point object is determined according to the optimal allocation position of each anchor point object and the fitness function
Office's optimal allocation position；
This anchor point allocation plan is determined according to the global optimal allocation position of each anchor point object.
2. anchor point allocation plan according to claim 1 determines method, which is characterized in that further include:
The adaptation is determined between the communication energy consumption the positioning accurate angle value and object of object to be positioned according to anchor point object
Spend function.
3. anchor point allocation plan according to claim 2 determines method, which is characterized in that described according to this each described point
The optimal allocation position of each anchor point object is determined with position, each upper sub-distribution position and preset fitness function
It sets, comprising:
Determine that this described initial anchor point allocation plan is corresponding according to each described sub-distribution position and the fitness function
The first fitness function value；
The upper sub-distribution position of each anchor point object is determined according to each upper sub-distribution position and the fitness function
Corresponding second fitness function value；
When corresponding second fitness function value of i-th of anchor point object is less than first fitness function value, by i-th of anchor
The upper sub-distribution position of point object is determined as the optimal allocation position of i-th of anchor point object；
When corresponding second fitness function value of i-th of anchor point object is not less than first fitness function value, by i-th
This sub-distribution position of anchor point object is determined as the optimal allocation position of i-th of anchor point object, wherein 1≤i≤N, N are anchor point
The number of object.
4. anchor point allocation plan according to claim 3 determines method, which is characterized in that described according to each anchor point pair
The optimal allocation position of elephant and the fitness function determine the global optimal allocation position of each anchor point object, comprising:
Each anchor point object is determined most according to the optimal allocation position of each anchor point object and the fitness function
The corresponding third fitness function value in good distribution position；
The corresponding each anchor point distribution position of the smallest third fitness function value is obtained, according to the smallest third fitness letter
The distribution position of the corresponding each anchor point of numerical value determines the global optimal allocation position of each anchor point object.
5. anchor point allocation plan according to claim 4 determines method, which is characterized in that further include:
Judge whether the smallest third fitness function value is less than preset threshold value；
If so, obtaining the step of corresponding each anchor point of the smallest third fitness function value distributes position into described；
If it is not, the step of then returning to described this initial anchor point allocation plan of acquisition and last time anchor point allocation plan, wherein again
Obtain this initial anchor point allocation plan determined by the new distribution position of each anchor point object, the last time anchor point of reacquisition
Allocation plan is this anchor point allocation plan that this is determined.
6. anchor point allocation plan according to one of claims 1 to 5 determines method, which is characterized in that the method is also wrapped
It includes:
The three anchor point objects nearest with object to be positioned are chosen respectively for tracking object to be positioned, obtain most initial anchor point point
With scheme.
7. a kind of object positioning method, which is characterized in that the described method includes:
Determine that method obtains this anchor point allocation plan using the anchor point allocation plan as described in one of claim 1 to 6；
The corresponding three anchor point objects of j-th of object to be positioned are determined according to this described anchor point allocation plan；
Obtain the corresponding three anchor point objects of j-th of object to be positioned geographical position coordinates and j-th of object to be positioned with
Corresponding three anchor point objects the distance between characterization value；
According to the geographical position coordinates of the corresponding three anchor point objects of j-th of object to be positioned and j-th of object to be positioned with
Corresponding three anchor point objects the distance between characterization value, determine the location information of j-th of object to be positioned, wherein 1≤j
≤ M, M are the number of object to be positioned.
8. a kind of anchor point allocation plan determining device, which is characterized in that described device includes:
Scheme obtains module, for obtaining this initial anchor point allocation plan and last time anchor point allocation plan, this described anchor point
Allocation plan includes this sub-distribution position of each anchor point object, and the last time anchor point allocation plan respectively includes each anchor point object
Upper sub-distribution position；
Individual location updating module, for according to each described sub-distribution position, each upper sub-distribution position and preset
Fitness function determines the optimal allocation position of each anchor point object；
Global position update module, for true according to the optimal allocation position of each anchor point object and the fitness function
The global optimal allocation position of fixed each anchor point object；
Scheme determining module, for determining this anchor point distribution side according to the global optimal allocation position of each anchor point object
Case.
9. a kind of computer equipment including memory, processor and stores the meter that can be run on a memory and on a processor
Calculation machine program, which is characterized in that the processor realizes any one of claims 1 to 7 institute when executing the computer program
The step of stating method.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The step of method described in any one of claims 1 to 7 is realized when being executed by processor.
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