CN109040950B - Anchor point allocation scheme determining method and device and object positioning method - Google Patents
Anchor point allocation scheme determining method and device and object positioning method Download PDFInfo
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- 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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- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- 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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- 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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Abstract
The application relates to an anchor allocation scheme determination method, system, computer device and storage medium. The method comprises the following steps: acquiring an initial anchor point distribution scheme and a last anchor point distribution scheme, wherein the initial anchor point distribution scheme comprises the distribution positions of anchor point objects at this time, and the last anchor point distribution scheme comprises the last distribution positions of the anchor point objects respectively; determining the optimal distribution position of each anchor point object according to each current distribution position, each last distribution position and a preset fitness function; determining a global optimal distribution position of each anchor point object according to the optimal distribution position of each anchor point object and the fitness function; and determining the anchor point distribution formula according to the global optimal distribution position of each anchor point object. By adopting the method, the anchor point selection of the vehicles to be positioned can be realized.
Description
Technical Field
The present application relates to the field of positioning technologies, and in particular, to a method and an apparatus for determining an anchor allocation scheme, a computer device, and a storage medium, and a method and an apparatus for positioning an object, a computer device, and a storage medium.
Background
With the development of technology, vehicles are becoming more and more intelligent. The concept of the internet of vehicles is proposed at present, and the internet of vehicles is an important product for the development of the internet of things, and is a huge interactive network formed by various vehicles, so that the detection, transmission and sharing of vehicle information are realized. The vehicle networking is mainly used for collision early warning, warning of electronic guideboards and traffic lights and the like, the efficiency of people going out can be improved, traffic pressure is relieved, meanwhile, life information of entertainment, restaurants, social contact and the like around the vehicle can be sent to drivers, and a great deal of convenience is brought to life of people.
The application of collision early warning of the internet of vehicles, warning of electronic guideboards and traffic lights and the like puts high requirements on position information of vehicles, the traditional vehicle tracking and positioning method mainly depends on a GPS on the vehicle, but sometimes the conditions that GPS signals are weak or GPS signals cannot be searched exist in certain specific areas, and positioning service cannot be provided for the vehicles. According to the concept of the internet of vehicles, each vehicle can be used as an anchor vehicle to provide positioning service for other vehicles, when the GPS of a certain vehicle cannot be used for positioning, a positioning request is sent to surrounding vehicles, and the surrounding vehicles provide positioning service for the vehicle according to the position information of the surrounding vehicles. When the position information of other vehicles is used for determining the position information of the vehicle to be positioned, a selection problem of positioning an anchor vehicle exists (which vehicles are selected for positioning), and when a plurality of vehicles to be positioned exist in a certain area, the selection of the anchor vehicle to the vehicle to be positioned also becomes an urgent problem to be solved.
Disclosure of Invention
In view of the above, it is necessary to provide an anchor point allocation scheme determining method, an anchor point allocation scheme determining device, a computer device and a storage medium capable of implementing anchor point selection for a multi-vehicle to be positioned, and an object positioning method, a computer device and a storage medium capable of implementing anchor point selection for a multi-vehicle to be positioned.
A method of anchor allocation scheme determination, the method comprising:
acquiring an initial anchor point distribution scheme and a last anchor point distribution scheme, wherein the initial anchor point distribution scheme comprises the distribution positions of anchor point objects at this time, and the last anchor point distribution scheme comprises the last distribution positions of the anchor point objects respectively;
determining the optimal distribution position of each anchor point object according to each current distribution position, each last distribution position and a preset fitness function;
determining a global optimal distribution position of each anchor point object according to the optimal distribution position of each anchor point object and the fitness function;
and determining the anchor point distribution scheme according to the global optimal distribution position of each anchor point object.
A method of object localization, the method comprising:
obtaining the anchor point distribution scheme of the time by adopting the anchor point distribution scheme determining method;
determining three anchor point objects corresponding to the jth object to be positioned according to the anchor point distribution scheme;
acquiring geographic position coordinates of three anchor point objects corresponding to the jth object to be positioned and distance representation values between the jth object to be positioned and the three anchor point objects corresponding to the jth object to be positioned;
and determining the position information of the jth object to be positioned according to the geographic position coordinates of the three anchor point objects corresponding to the jth object to be positioned and the distance representation values between the jth object to be positioned and the three anchor point objects corresponding to the jth object to be positioned, wherein j is more than or equal to 1 and less than or equal to M, and M is the number of the objects to be positioned.
An anchor allocation scheme determination apparatus, the apparatus comprising:
a scheme obtaining module, configured to obtain an initial anchor point allocation scheme of this time and a previous anchor point allocation scheme, where the anchor point allocation scheme of this time includes current allocation positions of anchor point objects, and the previous anchor point allocation scheme includes previous allocation positions of anchor point objects, respectively;
an individual position updating module, configured to determine an optimal allocation position of each anchor point object according to each current allocation position, each last allocation position, and a preset fitness function;
a global position updating module, configured to determine a global optimal allocation position of each anchor object according to the optimal allocation position of each anchor object and the fitness function;
and the scheme determining module is used for determining the anchor point distribution scheme according to the global optimal distribution position of each anchor point object.
A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
acquiring an initial anchor point distribution scheme and a last anchor point distribution scheme, wherein the initial anchor point distribution scheme comprises the distribution positions of anchor point objects at this time, and the last anchor point distribution scheme comprises the last distribution positions of the anchor point objects respectively;
determining the optimal distribution position of each anchor point object according to each current distribution position, each last distribution position and a preset fitness function;
determining a global optimal distribution position of each anchor point object according to the optimal distribution position of each anchor point object and the fitness function;
and determining the anchor point distribution scheme according to the global optimal distribution position of each anchor point object.
A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
obtaining the anchor point allocation scheme of this time by adopting the method for determining the anchor point allocation scheme according to any one of the embodiments;
determining three anchor point objects corresponding to the jth object to be positioned according to the anchor point distribution scheme;
acquiring geographic position coordinates of three anchor point objects corresponding to the jth object to be positioned and distance representation values between the jth object to be positioned and the three anchor point objects corresponding to the jth object to be positioned;
and determining the position information of the jth object to be positioned according to the geographic position coordinates of the three anchor point objects corresponding to the jth object to be positioned and the distance representation values between the jth object to be positioned and the three anchor point objects corresponding to the jth object to be positioned, wherein j is more than or equal to 1 and less than or equal to M, and M is the number of the objects to be positioned.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring an initial anchor point distribution scheme and a last anchor point distribution scheme, wherein the initial anchor point distribution scheme comprises the distribution positions of anchor point objects at this time, and the last anchor point distribution scheme comprises the last distribution positions of the anchor point objects respectively;
determining the optimal distribution position of each anchor point object according to each current distribution position, each last distribution position and a preset fitness function;
determining a global optimal distribution position of each anchor point object according to the optimal distribution position of each anchor point object and the fitness function;
and determining the anchor point distribution scheme according to the global optimal distribution position of each anchor point object.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
obtaining the anchor point distribution scheme of the time by adopting the anchor point distribution scheme determining method;
determining three anchor point objects corresponding to the jth object to be positioned according to the anchor point distribution scheme;
acquiring geographic position coordinates of three anchor point objects corresponding to the jth object to be positioned and distance representation values between the jth object to be positioned and the three anchor point objects corresponding to the jth object to be positioned;
and determining the position information of the jth object to be positioned according to the geographic position coordinates of the three anchor point objects corresponding to the jth object to be positioned and the distance representation values between the jth object to be positioned and the three anchor point objects corresponding to the jth object to be positioned, wherein j is more than or equal to 1 and less than or equal to M, and M is the number of the objects to be positioned.
The method, the device, the computer equipment and the storage medium for determining the anchor point allocation scheme update the individual extreme values and positions (determine the optimal allocation positions of the anchor point objects according to the allocation positions of the current time, the allocation positions of the last time and a preset fitness function) after the initial anchor point allocation scheme and the anchor point allocation scheme of the last time are obtained, update the global extreme values and positions (determine the global optimal allocation positions of the anchor point objects according to the optimal allocation positions of the anchor point objects and the fitness function), and finally determine the anchor point allocation scheme of the current time according to the global optimal allocation positions of the anchor point objects. By adopting the scheme of the invention, in the process of determining the anchor point distribution scheme, the distribution position of each anchor point object is updated for a plurality of times based on the fitness function, so that the distribution position of each anchor point object can be preferably determined to obtain the optimal anchor point distribution scheme, the method can be preferably applied to vehicle positioning, and the selection of the anchor points of a multi-position vehicle is realized.
Drawings
FIG. 1 is a diagram illustrating an exemplary embodiment of a method for determining an anchor allocation scheme;
FIG. 2 is a flowchart illustrating a method for determining an anchor allocation scheme according to an embodiment;
FIG. 3 is a flow chart illustrating the optimal allocation location determination step in one embodiment;
FIG. 4 is a flowchart illustrating the step of globally optimal allocation of locations in one embodiment;
FIG. 5 is a flowchart illustrating a method for determining an anchor allocation scheme according to another embodiment;
FIG. 6 is a schematic diagram of a triangle centroid location algorithm in one embodiment;
FIG. 7 is a flowchart illustrating a method for locating objects in one embodiment;
fig. 8 is a block diagram showing the configuration of an anchor allocation scheme determining means in one embodiment;
FIG. 9 is a block diagram of an object locating device in one embodiment;
FIG. 10 is a diagram showing an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The method for determining the anchor point allocation scheme provided by the application can be applied to the application environment shown in fig. 1. Wherein each vehicle 102 and server 104 may communicate over a network. The server 104 may be implemented as a stand-alone server or a server cluster composed of a plurality of servers. The vehicle 102 is generally provided with a vehicle-mounted terminal, and the vehicle-mounted terminal communicating with the server 104 is generally a vehicle-mounted terminal. Communication between the various vehicles may also occur.
In one embodiment, as shown in fig. 2, there is provided an anchor allocation scheme determining method, which is described by taking the method as an example applied to the server in fig. 1, and includes the following steps:
step S201: acquiring an initial anchor point distribution scheme and a last anchor point distribution scheme, wherein the initial anchor point distribution scheme comprises the distribution positions of anchor point objects at this time, and the last anchor point distribution scheme comprises the last distribution positions of the anchor point objects respectively;
here, the initial anchor allocation plan of this time is an anchor allocation plan which is started in the determination process of the anchor allocation plan of this round, and in order to perform optimization updating on the last anchor allocation plan, the last anchor allocation plan is an anchor allocation plan which is finally determined in the determination process of the anchor allocation plan of the previous round.
Here, the assigned position represents information of an object to be positioned to which the corresponding anchor point object is assigned to track, for example, if the ith anchor point object is assigned to track the jth object to be positioned, the assigned position of the ith anchor point object is the jth object to be positioned.
Here, each anchor point object is used for tracking and positioning each object to be positioned, the anchor point object may be an anchor point vehicle, and the object to be positioned may be an object to be positioned, but the anchor point object may also be another moving object or stationary object whose own geographical position information is known, and similarly, the object to be positioned may also be another moving object or stationary object whose own geographical position information is unknown.
Step S202: determining the optimal distribution position of each anchor point object according to each current distribution position, each last distribution position and a preset fitness function;
here, the concrete form of the fitness function may be set according to actual needs.
Step S203: determining a global optimal distribution position of each anchor point object according to the optimal distribution position of each anchor point object and the fitness function;
step S204: determining the anchor point distribution scheme according to the global optimal distribution position of each anchor point object;
here, the current anchor point allocation scheme includes allocation positions of the anchor point objects, and the allocation position of each anchor point object is a global optimal allocation position of the anchor point object.
The method for determining the anchor point allocation scheme includes acquiring an initial anchor point allocation scheme of this time and a previous anchor point allocation scheme of the last time, wherein the initial anchor point allocation scheme of this time includes allocation positions of anchor points of this time, the previous anchor point allocation scheme of the last time includes allocation positions of anchor points of the last time, the optimal allocation position of each anchor point is determined according to the allocation positions of this time, the allocation positions of the previous time and a preset fitness function, the global optimal allocation position of each anchor point is determined according to the optimal allocation position of each anchor point and the fitness function, and the anchor point allocation scheme of this time is determined according to the global optimal allocation position of each anchor point. In the process of determining the anchor point distribution scheme, the distribution positions of all anchor point objects are updated for multiple times based on the fitness function, the distribution positions of all anchor point objects can be preferably determined, so that the optimal anchor point distribution scheme can be obtained, the anchor point distribution scheme can be preferably applied to vehicle positioning, and anchor point selection of vehicles to be positioned in multiple ways is realized.
In one embodiment, the method for determining the anchor allocation scheme may further include the following steps: and determining the fitness function according to the positioning precision value of the anchor point object to-be-positioned object and the communication energy consumption between the objects.
Specifically, the fitness function may be determined by a weighted sum of the communication energy consumption and the positioning accuracy value. The positioning accuracy value may be a positioning error value, and the positioning error value may be determined according to actual measurement position information and real position information, where the actual measurement position information refers to position information that is positioned according to related information (geographical position, distance, and the like) of the anchor point object. The positioning accuracy value can be valued according to actual conditions.
In this embodiment, the fitness function is determined according to the positioning accuracy value and the communication energy consumption, that is, the positioning accuracy value and the communication energy consumption are considered as optimization targets, so that the energy consumption can be reduced to the maximum extent while the positioning accuracy requirement is met.
In one embodiment, as shown in fig. 3, the determining the optimal allocation position of each anchor point object according to each current allocation position, each last allocation position, and a preset fitness function may include:
step S301: determining a first fitness function value corresponding to the initial anchor point allocation scheme according to the allocation positions and the fitness function;
specifically, each of the current distribution positions is substituted into the fitness function to obtain a first fitness function value.
Step S302: determining a second fitness function value corresponding to the last distribution position of each anchor point object according to each last distribution position and the fitness function;
specifically, each of the last-time allocation positions is respectively substituted into the fitness function to obtain each of the second fitness function values.
Step S303: when the second fitness function value corresponding to the ith anchor point object is smaller than the first fitness function value, determining the last distribution position of the ith anchor point object as the optimal distribution position of the ith anchor point object;
step S304: and when the second fitness function value corresponding to the ith anchor point object is not less than the first fitness function value, determining the current distribution position of the ith anchor point object as the optimal distribution position of the ith anchor point object, wherein i is more than or equal to 1 and less than or equal to N, and N is the number of the anchor point objects.
By adopting the scheme in the embodiment, the second fitness function value corresponding to the optimal allocation position of each anchor point object can be smaller, so that the finally determined anchor point allocation scheme is optimal.
In one embodiment, as shown in fig. 4, the determining the global optimal allocation position of each anchor object according to the optimal allocation position of each anchor object and the fitness function may include:
step S401: determining a third fitness function value corresponding to the optimal distribution position of each anchor point object according to the optimal distribution position of each anchor point object and the fitness function;
specifically, the global optimal allocation positions of the anchor point objects are respectively substituted into the fitness function, so as to obtain the third fitness function values.
Step S402: acquiring the distribution position of each anchor point corresponding to the minimum third fitness function value, and determining the global optimal distribution position of each anchor point object according to the distribution position of each anchor point corresponding to the minimum third fitness function value;
specifically, the minimum third fitness function value is selected from the third fitness function values, the allocation position of each anchor point corresponding to the minimum third fitness function value is obtained, and then the allocation position of each anchor point corresponding to the minimum third fitness function value is determined as the global optimal allocation position of each anchor point object.
By adopting the scheme of the embodiment, the optimal anchor point allocation scheme can be obtained conveniently.
In one embodiment, the number of the objects to be positioned, which are distributed and tracked by the same anchor point object, is not more than 1, and the same object to be positioned is tracked by three anchor point objects. By adopting the constraint conditions set in the embodiment, the positioning precision of each object to be positioned can be ensured as much as possible.
In one embodiment, as shown in fig. 5, an anchor allocation scheme determining method is provided, which is described by taking the method as an example applied to the server in fig. 1, and includes the following steps:
step S501: acquiring an initial anchor point distribution scheme and a last anchor point distribution scheme, wherein the initial anchor point distribution scheme comprises the distribution positions of anchor point objects at this time, and the last anchor point distribution scheme comprises the last distribution positions of the anchor point objects respectively;
step S502: determining a first fitness function value corresponding to the initial anchor point allocation scheme according to the allocation positions and the fitness function;
step S503: determining a second fitness function value corresponding to the last distribution position of each anchor point object according to each last distribution position and the fitness function;
step S504: when a second fitness function value corresponding to the ith anchor point object is smaller than the first fitness function value, determining the last distribution position of the ith anchor point object as the optimal distribution position of the ith anchor point object, and when the second fitness function value corresponding to the ith anchor point object is not smaller than the first fitness function value, determining the current distribution position of the ith anchor point object as the optimal distribution position of the ith anchor point object;
wherein i is more than or equal to 1 and less than or equal to N, and N is the number of anchor point objects;
step S505: determining a third fitness function value corresponding to the optimal distribution position of each anchor point object according to the optimal distribution position of each anchor point object and the fitness function;
step S506: judging whether the minimum third fitness function value is smaller than a preset threshold value, if so, entering step S507, otherwise, returning to step S501 to acquire the initial anchor point distribution scheme and the anchor point distribution scheme last time again, wherein the acquired initial anchor point distribution scheme this time is determined by the new distribution position of each anchor point object, and the acquired anchor point distribution scheme last time is the determined anchor point distribution scheme this time;
step S507: and obtaining the distribution position of each anchor point corresponding to the minimum third fitness function value, and determining the global optimal distribution position of each anchor point object according to the distribution position of each anchor point corresponding to the minimum third fitness function value.
Step S508: determining the current anchor point distribution scheme according to the global optimal distribution position of each anchor point object
In one embodiment, the method for determining an anchor allocation scheme of the present invention may further include the steps of: and respectively selecting three anchor point objects which are closest to the object to be positioned for tracking the object to be positioned, and obtaining an initial anchor point allocation scheme.
By adopting the scheme in the embodiment, the situation that the space for searching the object to be positioned by the anchor point object is too large can be prevented, so that the anchor point object can find the optimal task allocation scheme more quickly and accurately.
In one embodiment, the anchor object comprises a positioning anchor vehicle and the object to be positioned comprises a vehicle to be positioned.
In order to facilitate understanding of the present invention, the following description will take an example of assigning an anchor vehicle (or referred to as a positioning anchor vehicle).
1. Energy consumption mathematical model consideration
According to the radio communication model, the communication energy consumption is expressed as:
wherein omegacRepresenting a dynamic combination of sensor nodes; epsilonampRepresents the energy required per bit of the power amplifier; epsiloneleRepresents the energy required by other electronic devices such as a filter and the like per bit; lnRepresents the total amount of data transmitted from node n; dnkRepresenting the distance between the target n and the selected node k. It follows that the total energy E depends mainly on dnkMinimizing communication energy consumption may be equivalent to dnkMinimization of the sum.
Assuming that M vehicles to be positioned and N positioning anchor point vehicles appear in a certain area, a matrix of the vehicle positioning task allocation relationship may be defined as:
in the matrix A, the number of rows represents the number of vehicles to be positioned, and the number of columns represents the number of vehicles at the positioning anchor points. a ismnIs a variable from 0 to 1, amnThe 1 means that the nth (N is 1,2, …, N) vehicle is assigned to track and locate the vehicle M (M is 1,2, …, M), that is, the nth vehicle is assigned to join the dynamic combination of the mth vehicle, otherwise, a is not assigned to join the dynamic combination of the mth vehiclemn0. The mathematical model of energy consumption can be described as:
constraint conditions are as follows:
a) a positioning anchor point vehicle can only distribute, track and position a vehicle to be positioned, which is specifically expressed as follows:
wherein N is 1, 2.
b) A vehicle to be positioned is tracked and positioned by a dynamic combination consisting of three positioning anchor point vehicles so as to ensure the positioning accuracy. Specifically, the following are shown:
wherein, M is 1, 2.
c)dmnRepresenting the distance between the vehicle m to be positioned and the selected positioning anchor vehicle n,
indicating the selected between three anchor location vehiclesThe two distances with the shortest distance. That is to say, in order to minimize the energy consumption index, three positioning anchor point vehicles closest to the vehicle to be positioned are selected as far as possible to form a dynamic combination when the positioning anchor point vehicle task allocation is carried out.
The distance between the vehicle at the anchor point and the vehicle to be positioned can be determined based on RSSI (Received Signal Strength Indicator).
2. Positioning error consideration
Setting the coordinates of three positioning anchor point vehicles as A (x)A,yA)、B(xB,yB)、C(xC,yC) The coordinate of the vehicle to be positioned is G (x)G,yG) The distances from the vehicle to be positioned to the three positioning anchor point vehicles are dA、dB、dCHowever, no matter which model is used for the RSSI measurement, due to the complexity of the actual environment, the obtained RSSI always has an error with the actual situation, and the distance d between the vehicle at the positioning anchor point and the vehicle to be positioned, which is calculated by conversion, is always larger than the distance between the actual two points. So that the three circles used for trilateration typically do not meet at a point as shown at 6. Therefore, coordinates of three points in a three-circle overlapping area can be calculated, coordinates of a vehicle to be positioned can be obtained by taking the three points as vertexes of a triangle, and a calculation method of the point E is as follows:
similarly, F, D can be calculated, and the coordinate of the vehicle G to be positioned at the moment is
The coordinates of the vehicle to be positioned are assumed to be (x)c，yc) If the true position is (x, y), the positioning error ER is:
the value of ER can be calculated from (7) as a positioning accuracy value. Or multiple times of calculation can be carried out, and the average value of the multiple calculation results is taken as a positioning accuracy value.
The positioning task assignment fitness function (i.e. the fitness function described above) may be designed as:
wherein w1Is a weight of energy consumption, w2And (4) determining the weight of the positioning precision of the vehicle to be positioned.
3. Positioning task allocation optimization method
The task allocation means that the positioning anchor point vehicles are allocated to the vehicles to be positioned according to an optimal allocation scheme of specified conditions.
a) Definition of location
The position X of the positioning anchor vehicle represents a task allocation scheme, which may be denoted as X ═ X (X)1，X2,...,Xj)，1≤j≤M，Xj＝(Xj1，Xj2,...,Xji,...,XjN) And i is more than or equal to 1 and less than or equal to N. When updating the position of the positioning anchor vehicle, the position X of the positioning anchor vehicle is a position matrix with an element of 0 or 1.
Wherein: m represents the number of vehicles to be positioned, and N represents the number of positioning anchor point vehicles. x is the number ofji1 means that the ith vehicle is assigned to the tracking position vehicle j, xji0 means that the ith vehicle does not track vehicle j.
In the process of positioning a plurality of vehicles to be positioned, at least three positioning anchor point vehicles are required to be ensured within the communication radius of the vehicles to be positioned according to the requirement of positioning precision, namely the three positioning anchor point vehicles can be randomly selected to track and position the vehicles to be positioned, and an effective task allocation initial scheme is generated according to the requirement. In the actual initialization task allocation, in order to prevent the positioning anchor point vehicle from finding the vehicle to be positioned in too large space and ensure that the positioning anchor point vehicle can find the optimal task allocation scheme more quickly and accurately, three positioning anchor point vehicles nearest to the vehicle to be positioned are selected as initial values to track the vehicle to be positioned, and the task allocation is assumed to be as shown in a matrix of a formula (10):
as shown in equation (10), according to the allocation scheme, the second positioning anchor vehicle is allocated to track and position the vehicle 1 to be positioned, the first positioning anchor vehicle is allocated to track and position the vehicle 2 to be positioned, and the last vehicle is allocated to track and position the vehicle M to be positioned.
c) The fitness function must be able to reflect the target requirements of the problem to be solved and the constraint limits as evaluation criteria, and equation (8) is taken as the fitness function here. Meanwhile, according to the specific problems in practical use, condition limitation is performed. Second, the best-fit value pb experienced by the positioning anchor vehicle is calculatedi(t), i.e., the best position (corresponding to the best assigned position described above) that the anchor vehicle has experienced, is determined by equation (11):
from the obtained best fitness value, the best positions gb (t) experienced by all the anchor positioning vehicles in the vehicle, i.e. the global best positions (corresponding to the global best allocation positions mentioned above), are calculated, and are determined by equation (12):
gb(t)＝min{f(pb1(t)),f(pb2(t)),...,f(pbN(t))} (12)
and each positioning anchor point vehicle obtains the best position, so that all the positioning anchor point vehicles are distributed to the vehicles to be positioned according to the optimal distribution scheme.
According to the above method for determining an anchor allocation scheme, in one embodiment, an object locating method is further provided, which is described by taking the server in fig. 1 as an example, and includes the following steps:
step S701: obtaining the anchor point allocation scheme of this time by adopting the method for determining the anchor point allocation scheme according to any one of the embodiments;
step S702: determining three anchor point objects corresponding to the jth object to be positioned according to the anchor point distribution scheme;
step S703: acquiring geographic position coordinates of three anchor point objects corresponding to the jth object to be positioned and distance representation values between the jth object to be positioned and the three anchor point objects corresponding to the jth object to be positioned;
here, the distance-indicating value may be used to indicate the distance, and generally indicates an RSSI measurement value.
Step S704: and determining the position information of the jth object to be positioned according to the geographic position coordinates of the three anchor point objects corresponding to the jth object to be positioned and the distance representation values between the jth object to be positioned and the three anchor point objects corresponding to the jth object to be positioned, wherein j is more than or equal to 1 and less than or equal to M, and M is the number of the objects to be positioned.
In the method for determining the anchor point allocation scheme, the anchor point allocation scheme is obtained by adopting the method for determining the anchor point allocation scheme, and the allocation positions of the anchor point objects can be preferably determined because the method for determining the anchor point allocation scheme updates the allocation positions of the anchor point objects for multiple times based on the fitness function so as to obtain the optimal anchor point allocation scheme, so that the method can be preferably applied to vehicle positioning and realizes the selection of the anchor points of vehicles to be positioned.
It should be understood that although the various steps in the flowcharts of fig. 2-5 and 7 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-5 and 7 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 8, there is provided an anchor allocation scheme determining apparatus including: a scenario acquisition module 801, an individual location update module 802, a global location update module 803, and a scenario determination module 804, wherein:
a scheme obtaining module 801, configured to obtain a current initial anchor point allocation scheme and a last anchor point allocation scheme, where the current anchor point allocation scheme includes current allocation positions of anchor point objects, and the last anchor point allocation scheme includes last allocation positions of anchor point objects, respectively;
an individual position updating module 802, configured to determine an optimal allocation position of each anchor point object according to each current allocation position, each previous allocation position, and a preset fitness function;
a global position updating module 803, configured to determine a global optimal allocation position of each anchor point object according to the optimal allocation position of each anchor point object and the fitness function;
a scheme determining module 804, configured to determine the current anchor point allocation scheme according to the global optimal allocation position of each anchor point object.
In one embodiment, the apparatus for determining an anchor allocation scheme of the present invention may further include a function configuration module, configured to determine the fitness function according to the positioning accuracy value of the anchor object to the object to be positioned and the communication energy consumption between the objects.
In one embodiment, the individual location updating module 802 may determine, according to each of the current allocation locations and the fitness function, a first fitness function value corresponding to the current initial anchor allocation scheme; determining a second fitness function value corresponding to the last distribution position of each anchor point object according to each last distribution position and the fitness function; when the second fitness function value corresponding to the ith anchor point object is smaller than the first fitness function value, determining the last distribution position of the ith anchor point object as the optimal distribution position of the ith anchor point object; and when the second fitness function value corresponding to the ith anchor point object is not less than the first fitness function value, determining the current distribution position of the ith anchor point object as the optimal distribution position of the ith anchor point object, wherein i is more than or equal to 1 and less than or equal to N, and N is the number of the anchor point objects.
In one embodiment, the global position updating module 803 may determine a third fitness function value corresponding to the optimal allocation position of each anchor object according to the optimal allocation position of each anchor object and the fitness function, obtain each anchor allocation position corresponding to the smallest third fitness function value, and determine the global optimal allocation position of each anchor object according to the allocation position of each anchor corresponding to the smallest third fitness function value.
In one embodiment, the number of the objects to be positioned, which are distributed and tracked by the same anchor point object, is not more than 1, and the same object to be positioned is tracked by three anchor point objects.
In one embodiment, the global position updating module 803 may be further configured to determine whether the minimum third fitness function value is smaller than a preset threshold, and if so, obtain the allocation position of each anchor point corresponding to the minimum third fitness function value, and determine the global optimal allocation position of each anchor point object according to the allocation position of each anchor point corresponding to the minimum third fitness function value; if not, the scheme acquisition module 801 is notified to acquire the initial anchor point allocation scheme of this time and the anchor point allocation scheme of the last time again, wherein the initial anchor point allocation scheme of this time that is acquired again is determined by the new allocation positions of the anchor point objects, and the anchor point allocation scheme of the last time that is acquired again is the anchor point allocation scheme of this time that is determined this time.
In one embodiment, the scheme obtaining module 801 may be further configured to select three anchor point objects closest to the object to be located respectively for tracking the object to be located, and obtain an initial anchor point allocation scheme.
For the specific definition of the anchor allocation scheme determining apparatus, reference may be made to the above definition of the anchor allocation scheme determining method, which is not described herein again. The modules in the above-described anchor allocation scheme determination apparatus may be implemented in whole or in part by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, as shown in fig. 9, an object positioning apparatus is provided, which includes the anchor allocation scheme determining apparatus 901 according to any one of the above embodiments, and may further include:
an object selection module 902, configured to determine, according to the anchor point allocation scheme of this time, three anchor point objects corresponding to a jth object to be located;
a geographic position obtaining module 903, configured to obtain geographic position coordinates of three anchor point objects corresponding to the jth object to be positioned, and distance representation values between the jth object to be positioned and the corresponding three anchor point objects;
and a positioning module 904, configured to determine position information of the jth object to be positioned according to the geographic position coordinates of the three anchor point objects corresponding to the jth object to be positioned and the distance characterization values between the jth object to be positioned and the corresponding three anchor point objects.
For the specific definition of the object positioning device, reference may be made to the above definition of the object positioning method, which is not described herein again. The modules in the object positioning device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 10. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement an anchor allocation scheme determination method. Alternatively, the computer program is executed by a processor to implement an object localization method.
In one embodiment, a computer device is provided, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
acquiring an initial anchor point distribution scheme and a last anchor point distribution scheme, wherein the initial anchor point distribution scheme comprises the distribution positions of anchor point objects at this time, and the last anchor point distribution scheme comprises the last distribution positions of the anchor point objects respectively;
determining the optimal distribution position of each anchor point object according to each current distribution position, each last distribution position and a preset fitness function;
determining a global optimal distribution position of each anchor point object according to the optimal distribution position of each anchor point object and the fitness function;
and determining the anchor point distribution scheme according to the global optimal distribution position of each anchor point object.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
and determining the fitness function according to the positioning precision value of the anchor point object to-be-positioned object and the communication energy consumption between the objects.
In one embodiment, when the processor executes the computer program to implement the step of determining the optimal allocation position of each anchor point object according to each current allocation position, each last allocation position and a preset fitness function, the following steps are specifically implemented: determining a first fitness function value corresponding to the initial anchor point allocation scheme according to the allocation positions and the fitness function; determining a second fitness function value corresponding to the last distribution position of each anchor point object according to each last distribution position and the fitness function; when the second fitness function value corresponding to the ith anchor point object is smaller than the first fitness function value, determining the last distribution position of the ith anchor point object as the optimal distribution position of the ith anchor point object; and when the second fitness function value corresponding to the ith anchor point object is not less than the first fitness function value, determining the current distribution position of the ith anchor point object as the optimal distribution position of the ith anchor point object, wherein i is more than or equal to 1 and less than or equal to N, and N is the number of the anchor point objects.
In one embodiment, when the processor executes the computer program to implement the step of determining the global optimal allocation position of each anchor object according to the optimal allocation position of each anchor object and the fitness function, the following steps are specifically implemented: determining a third fitness function value corresponding to the optimal distribution position of each anchor point object according to the optimal distribution position of each anchor point object and the fitness function; and obtaining the distribution position of each anchor point corresponding to the minimum third fitness function value, and determining the global optimal distribution position of each anchor point object according to the distribution position of each anchor point corresponding to the minimum third fitness function value.
In one embodiment, the processor, when executing the computer program, further performs the steps of: judging whether the minimum third fitness function value is smaller than a preset threshold value or not; if so, entering the step of acquiring the distribution position of each anchor point corresponding to the minimum third fitness function value; if not, returning to the step of acquiring the initial anchor point allocation scheme and the last anchor point allocation scheme, wherein the newly acquired initial anchor point allocation scheme is determined by the new allocation positions of the anchor point objects, and the newly acquired last anchor point allocation scheme is the currently determined anchor point allocation scheme.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and respectively selecting three anchor point objects which are closest to the object to be positioned for tracking the object to be positioned, and obtaining an initial anchor point allocation scheme.
In one embodiment, the processor, when executing the computer program, further performs the steps of: determining three anchor point objects corresponding to the jth object to be positioned according to the anchor point distribution scheme; acquiring geographic position coordinates of three anchor point objects corresponding to the jth object to be positioned and distance representation values between the jth object to be positioned and the three anchor point objects corresponding to the jth object to be positioned; and determining the position information of the jth object to be positioned according to the geographic position coordinates of the three anchor point objects corresponding to the jth object to be positioned and the distance representation values between the jth object to be positioned and the three anchor point objects corresponding to the jth object to be positioned, wherein j is more than or equal to 1 and less than or equal to M, and M is the number of the objects to be positioned.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring an initial anchor point distribution scheme and a last anchor point distribution scheme, wherein the initial anchor point distribution scheme comprises the distribution positions of anchor point objects at this time, and the last anchor point distribution scheme comprises the last distribution positions of the anchor point objects respectively;
determining the optimal distribution position of each anchor point object according to each current distribution position, each last distribution position and a preset fitness function;
determining a global optimal distribution position of each anchor point object according to the optimal distribution position of each anchor point object and the fitness function;
and determining the anchor point distribution scheme according to the global optimal distribution position of each anchor point object.
In one embodiment, the computer program when executed by the processor further performs the steps of: and determining the fitness function according to the positioning precision value of the anchor point object to-be-positioned object and the communication energy consumption between the objects.
In one embodiment, when the step of determining the optimal allocation position of each anchor point object according to each current allocation position, each last allocation position, and a preset fitness function is executed by the processor, the computer program specifically implements the following steps: determining a first fitness function value corresponding to the initial anchor point allocation scheme according to the allocation positions and the fitness function; determining a second fitness function value corresponding to the last distribution position of each anchor point object according to each last distribution position and the fitness function; when the second fitness function value corresponding to the ith anchor point object is smaller than the first fitness function value, determining the last distribution position of the ith anchor point object as the optimal distribution position of the ith anchor point object; and when the second fitness function value corresponding to the ith anchor point object is not less than the first fitness function value, determining the current distribution position of the ith anchor point object as the optimal distribution position of the ith anchor point object, wherein i is more than or equal to 1 and less than or equal to N, and N is the number of the anchor point objects.
In one embodiment, when the step of determining the global optimal allocation position of each anchor object according to the optimal allocation position of each anchor object and the fitness function is executed by the processor, the computer program specifically implements the following steps: determining a third fitness function value corresponding to the optimal distribution position of each anchor point object according to the optimal distribution position of each anchor point object and the fitness function; and obtaining the distribution position of each anchor point corresponding to the minimum third fitness function value, and determining the global optimal distribution position of each anchor point object according to the distribution position of each anchor point corresponding to the minimum third fitness function value.
In one embodiment, the computer program when executed by the processor further performs the steps of: judging whether the minimum third fitness function value is smaller than a preset threshold value or not; if so, entering the step of acquiring the distribution position of each anchor point corresponding to the minimum third fitness function value; if not, returning to the step of acquiring the initial anchor point allocation scheme and the last anchor point allocation scheme, wherein the newly acquired initial anchor point allocation scheme is determined by the new allocation positions of the anchor point objects, and the newly acquired last anchor point allocation scheme is the currently determined anchor point allocation scheme.
In one embodiment, the computer program when executed by the processor further performs the steps of: and respectively selecting three anchor point objects which are closest to the object to be positioned for tracking the object to be positioned, and obtaining an initial anchor point allocation scheme.
In one embodiment, the computer program when executed by the processor further performs the steps of: determining three anchor point objects corresponding to the jth object to be positioned according to the anchor point distribution scheme; acquiring geographic position coordinates of three anchor point objects corresponding to the jth object to be positioned and distance representation values between the jth object to be positioned and the three anchor point objects corresponding to the jth object to be positioned; and determining the position information of the jth object to be positioned according to the geographic position coordinates of the three anchor point objects corresponding to the jth object to be positioned and the distance representation values between the jth object to be positioned and the three anchor point objects corresponding to the jth object to be positioned, wherein j is more than or equal to 1 and less than or equal to M, and M is the number of the objects to be positioned.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method for determining an anchor allocation scheme, the method comprising:
acquiring an initial anchor point distribution scheme and a last anchor point distribution scheme, wherein the initial anchor point distribution scheme comprises the distribution positions of anchor point objects at this time, and the last anchor point distribution scheme comprises the last distribution positions of the anchor point objects respectively;
determining the optimal distribution position of each anchor point object according to each current distribution position, each last distribution position and a preset fitness function;
determining a global optimal distribution position of each anchor point object according to the optimal distribution position of each anchor point object and the fitness function;
determining the anchor point distribution scheme according to the global optimal distribution position of each anchor point object;
and the fitness function is determined according to the positioning precision value of the anchor point object to-be-positioned object and the communication energy consumption between the objects.
2. The method for determining an anchor point assignment scheme according to claim 1, wherein the determining an optimal assignment position of each anchor point object according to each of the current assignment positions, each of the last assignment positions, and a preset fitness function includes:
determining a first fitness function value corresponding to the initial anchor point allocation scheme according to the allocation positions and the fitness function;
determining a second fitness function value corresponding to the last distribution position of each anchor point object according to each last distribution position and the fitness function;
when the second fitness function value corresponding to the ith anchor point object is smaller than the first fitness function value, determining the last distribution position of the ith anchor point object as the optimal distribution position of the ith anchor point object;
and when the second fitness function value corresponding to the ith anchor point object is not less than the first fitness function value, determining the current distribution position of the ith anchor point object as the optimal distribution position of the ith anchor point object, wherein i is more than or equal to 1 and less than or equal to N, and N is the number of the anchor point objects.
3. The method of claim 2, wherein the determining the global optimal allocation location of each anchor object according to the optimal allocation location of each anchor object and the fitness function comprises:
determining a third fitness function value corresponding to the optimal distribution position of each anchor point object according to the optimal distribution position of each anchor point object and the fitness function;
and obtaining the distribution position of each anchor point corresponding to the minimum third fitness function value, and determining the global optimal distribution position of each anchor point object according to the distribution position of each anchor point corresponding to the minimum third fitness function value.
4. The method of determining an anchor allocation scheme according to claim 3, further comprising:
judging whether the minimum third fitness function value is smaller than a preset threshold value or not;
if so, entering the step of acquiring the distribution position of each anchor point corresponding to the minimum third fitness function value;
if not, returning to the step of acquiring the initial anchor point allocation scheme and the last anchor point allocation scheme, wherein the newly acquired initial anchor point allocation scheme is determined by the new allocation positions of the anchor point objects, and the newly acquired last anchor point allocation scheme is the currently determined anchor point allocation scheme.
5. The method of claim 1, wherein the fitness function is:
wherein, w1Is a weight of energy consumption, w2A weight value of the positioning precision of the vehicle to be positioned, M represents the number of the vehicles to be positioned, N represents the number of the vehicles of the positioning anchor points, amnIs a variable from 0 to 1, amnWhen the number of the nth vehicles is equal to 1, the nth vehicles are distributed and added into the dynamic combination of the mth vehicles; a ismn1Indicating whether the nth 1 vehicle is assigned to join the mth vehicle's dynamic combination, amn2Indicating whether the nth 2 vehicle is assigned to join the mth vehicle's dynamic combination, dmnRepresenting the distance between the vehicle m to be positioned and the selected positioning anchor vehicle n,
and representing two distances with the shortest distance between the three selected positioning anchor point vehicles, and ER is a positioning error.
6. Method for anchor allocation scheme determination according to one of the claims 1 to 5, characterized in that it further comprises:
and respectively selecting three anchor point objects which are closest to the object to be positioned for tracking the object to be positioned, and obtaining an initial anchor point allocation scheme.
7. A method for object localization, the method comprising:
obtaining the current anchor allocation scheme by using the anchor allocation scheme determining method according to one of claims 1 to 6;
determining three anchor point objects corresponding to the jth object to be positioned according to the anchor point distribution scheme;
acquiring geographic position coordinates of three anchor point objects corresponding to the jth object to be positioned and distance representation values between the jth object to be positioned and the three anchor point objects corresponding to the jth object to be positioned;
and determining the position information of the jth object to be positioned according to the geographic position coordinates of the three anchor point objects corresponding to the jth object to be positioned and the distance representation values between the jth object to be positioned and the three anchor point objects corresponding to the jth object to be positioned, wherein j is more than or equal to 1 and less than or equal to M, and M is the number of the objects to be positioned.
8. An apparatus for determining an anchor allocation scheme, the apparatus comprising:
a scheme obtaining module, configured to obtain an initial anchor point allocation scheme of this time and a previous anchor point allocation scheme, where the anchor point allocation scheme of this time includes current allocation positions of anchor point objects, and the previous anchor point allocation scheme includes previous allocation positions of anchor point objects, respectively;
an individual position updating module, configured to determine an optimal allocation position of each anchor point object according to each current allocation position, each last allocation position, and a preset fitness function;
a global position updating module, configured to determine a global optimal allocation position of each anchor object according to the optimal allocation position of each anchor object and the fitness function;
and the scheme determining module is used for determining the anchor point distribution scheme according to the global optimal distribution position of each anchor point object.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method of any of claims 1 to 7 are implemented when the computer program is executed by the processor.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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