CN109257693B - Indoor cooperative positioning method based on spatial analysis - Google Patents
Indoor cooperative positioning method based on spatial analysis Download PDFInfo
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Abstract
The invention discloses an indoor cooperative positioning method based on spatial analysis, and belongs to the field of indoor positioning. The method comprises the following steps: an improved ray tracing algorithm facing to positioning space analysis; an indoor space area judgment algorithm based on an improved ray tracing technology; a two-stage cooperative positioning algorithm based on spatial analysis. According to the characteristic that the space structure is stable in an indoor environment, environment analysis is carried out on the space based on a ray tracing technology, different positioning areas are divided, the number of positioning reference signals in the line-of-sight environment of each area is counted, and therefore a direct positioning area and a cooperative positioning area are judged. And judging target nodes which need cooperative positioning and do not need cooperative positioning according to the space partitions, and providing an indoor cooperative positioning method based on space analysis. The indoor cooperative positioning method effectively avoids the problem of positioning accuracy reduction caused by a mobile reference node with a large error, and improves the overall positioning accuracy.
Description
Technical Field
The invention belongs to the field of indoor positioning, and particularly relates to an indoor cooperative positioning method based on spatial analysis.
Background
The essence of the indoor positioning technology is to estimate the position of the terminal to be positioned. The variables required for positioning in the indoor positioning algorithm mainly comprise signal arrival time, arrival angle, signal arrival time difference, received signal strength and the like along with different calculation modes.
The cooperative positioning technology has two main benefits: firstly, because the distance between users is short, the measurement of a point-to-point (P2P) mode between terminals to be positioned can be very accurate, therefore, even if all terminals to be positioned are under the condition of non-line-of-sight relative to all available reference points, the precision of the positioning system can be improved, secondly, because of the characteristic of space diversity of the mobile terminal, if at least one terminal to be positioned and one transmitting terminal are under the condition of line-of-sight, the shadow effect can be avoided through cooperative positioning, thereby improving the positioning precision.
The relevant documents are: Khalaf-Allah M.time of arrival (TOA) -based direct location method [ C ]// Radar Symposium (IRS), 201516 th International. IEEE,2015: 812-;
Fang D,Chong S,Qian G.Research on Multipoint Positioning Based on TOACooperate with AOA Location Algorithm[J].DEStech Transactions on ComputerScience and Engineering,2016(itms)；
Meng Y,Xu J,Huang Y,et al.Key factors of multi-station TDOA passivelocation study[C]//Intelligent Human-Machine Systems and Cybernetics(IHMSC),2015 7th International Conference on.IEEE,2015,2:220-223；
Bohidar S,Behera S,Tripathy C R.A comparative view on received signalstrength(RSS)based location estimation in WSN[C]//Engineering and Technology(ICETECH),2015 IEEE International Conference on.IEEE,2015:1-7；
stefin mountain, Amin Dammann, Kristin Meng. positioning technology and applications in wireless communication systems [ M ] Beijing: mechanical industry Press 2016: pages 56-59;
Yun Z,Iskander M F.Ray tracing for radio propagation modeling:principles and applications[J].IEEE Access,2015,3:1089-1100。
disclosure of Invention
The invention aims to solve the problem that a non-line-of-sight cooperative positioning partition cannot be positioned in indoor positioning, and provides an indoor cooperative positioning method based on spatial analysis, which is used for improving the positioning accuracy of a direct positioning area in a line-of-sight environment.
The purpose of the invention is realized by the following technical scheme:
1. an improved ray tracking algorithm facing to positioning space analysis is designed, the information of the position of a fixed reference point in a space relative to the mirror image point in the space is preprocessed, and the calculation process of a part of planes is eliminated by establishing a reflecting surface filter set mode. The method comprises the following specific steps:
(1) initializing fixed reference point information, namely acquiring a spatial three-dimensional position coordinate of a positioning signal transmitting end;
(2) initializing positioning reference signal information, namely acquiring characteristic parameters such as signal strength and the like;
(3) initializing target node position information, namely acquiring a spatial three-dimensional position coordinate of a receiving end;
(4) initializing positioning space data, namely acquiring data information related to propagation of indoor environment influence positioning signals, wherein the data information specifically comprises plane composition of each object in space, plane equation parameters and boundary bump coordinates in each plane, plane materials and the like;
(5) establishing a spatial plane filtering set, and putting planes which cannot participate in propagation calculation into the set;
(6) preprocessing a mirror image point set of a space fixed reference point, and calculating mirror image points of the fixed reference point relative to other planes except a plane filtering set in the space;
(7) processing according to different propagation modes of the positioning reference signal, transferring the reflection scene to an execution (8), transferring the transmission scene to an execution (9), and transferring the diffraction scene to a diffraction scene (10);
(8) performing reflection calculation, wherein the fixed reference point is used as a mirror image reference point relative to a plane, and intersection tests are performed on the reflecting plane through a connecting line of the mirror image reference point and a target node, and whether an intersection point is in the plane is judged; if the reflection signal is in the plane, calculating the loss of the reflection signal according to the reflection material and the incidence angle, and executing (9); if the calculated intersection point is not in the plane (possibly on the plane extension area of the plane or the extension line of the mirror image reference point and the target node), the reflecting surface is invalid and is not calculated;
(9) performing a transmission calculation by calculating an attenuation value of the signal through the material and thickness of the object (11);
(10) performing diffraction calculation, calculating the loss value of the signal according to the material and the diffraction angle of the diffraction object, and executing (12);
(11) counting the propagation paths of the signals in the space in different modes, and the loss and the time delay corresponding to each path to generate a path parameter table;
(12) comparing the signal strength in the path parameter table with a minimum signal strength constraint threshold, and if the current signal strength is greater than the minimum signal threshold, indicating that the signal strength can be calculated in the next step, and executing the step (5); if the signal intensity is less than or equal to the minimum signal intensity threshold value, the signal attenuation is proved to be that the receiving end can not analyze, the calculation of the current signal is finished, and the step (11) is executed;
(13) and storing the current signal propagation path and the corresponding loss and time delay in a persistent mode for subsequent calculation and analysis.
2. An indoor space area judgment algorithm based on an improved ray tracing technology is designed, whether a certain area in a space meets the number required by the number of sight distance paths is judged, and a direct positioning partition and a cooperative positioning partition are distinguished. The method comprises the following specific steps:
(1) initializing and judging algorithm related parameters, the number ND of space partitions, the position sampling rate PLOS in a unit area (with side length of 1m) in each partition, the lowest coverage rate Pmin of a partition line-of-sight environment and a fixed signal minimum threshold value RSSmin;
(2) dividing the space partition number ND into ND rectangular solid grids according to the space partition number ND and the positioning space area, numbering each grid, and recording as Di;
(3) calculating the number NLOS of corresponding sight distance sampling points in each partition through the sampling rate PLOS, and randomly generating the coordinate of each sight distance sampling point, and marking the coordinate as P (x)i，yi，zi)；
(4) Performing direct signal path propagation calculation based on the ray tracing method in section 2.2.2 according to the line-of-sight sampling points generated in the step (3) in the subarea, wherein the standard of the line-of-sight signals of which the sampling points can receive the fixed reference point positioning signals is as follows: the intensity of the positioning signal is greater than RSSmin when the positioning signal is transmitted through direct projection and reaches a sampling point;
(5) when all sampling points in the subarea are subjected to LOS signal path calculation based on ray tracing, counting the number of reference points in which the received LOS signals can meet the requirement of being more than or equal to 4, and calculating the coverage rate PDi of the positionable sampling points, wherein if the PDi is more than or equal to Pmin, the area is a direct positioning subarea of a line-of-sight environment; otherwise, the region is a co-located partition of the non-line-of-sight environment.
3. A cooperative positioning algorithm based on two stages of space analysis is designed, a target node in the first stage receives positioning signals of all reference points, initial positioning of the first stage is carried out, and a partition where the target node is located is judged according to positioning information. And in the second stage, according to the partition and the space partition determined in the first stage, the target node judges whether to add the surrounding mobile reference node information into the positioning reference information of the target node.
The first stage of initial positioning aims at judging the space partition where the target node is located. Because the target node positioning also has errors and is theoretically larger than the positioning error of the second stage, if the partition is judged to have errors, the result of the cooperative positioning of the second stage is influenced. And judging the partition of the target node according to the coverage rate of the signal common coverage area to the indoor partition in the first-stage positioning. As in fig. 1, the target node receives positioning signals from reference points R1, R2 and R3, each of which has an estimated distance to the target of L1, L2 and L3, respectively. The coverage of three reference points R1, R2 and R3 is shown in FIG. 1. The areas collectively covered by the three reference points are D1, D2, D3, and D4. According to the geometric area calculation, the common signal coverage area ratio D3> D1> D2> D4 can be obtained in the partition. Therefore, the probability that the target node is in the D3 area is high, and the area where the target node is located is determined to be the D3 area. The algorithm is described as follows:
(1) target node acquires reference node set C capable of receiving positioning signalR；
(2) Set of reference points CREach reference point in the target node carries out ranging estimation on the target node, and a distance set C is respectively calculatedL；
(3) According to set CRAnd CLDetermining a common coverage area D of the reference pointsA；
(4) Obtaining space partition information based on a space analysis algorithm, and obtaining an area D with most signal coverageAPartition set C capable of being coveredD；
(5) Separately compute the set CDThe coverage area of each partition in the table is calculated, and the partition coverage rate P is calculatedD；
(6) If set CDIf the partition with the maximum medium coverage rate is unique, adopting the step (7); otherwise, entering the step (8);
(7) selecting the partition with the maximum coverage rate, namely the partition where the target node is judged to be;
(8) calculating a common coverage area DAAnd the centroid coordinates of the plurality of coverage area maxima. According to the Euclidean distance formula, the distances are covered in a common coverage area DAAnd determining the partition where the shortest centroid is located as the partition where the target point is located.
The second stage positioning algorithm is described as follows:
(1) defining data preprocessing, and setting iteration times k;
(2) preprocessing positioning space information, partitioning an indoor space, and judging whether each area is a direct positioning area or a cooperative positioning area;
(3) in the first stage, the partition where the target node is located is judged in a coarse positioning mode, the target node receives positioning information of surrounding mobile reference points and fixed reference points, positioning is carried out according to a TDOA positioning algorithm, and the target node is judged to be located in a certain partition in the step (2);
(4) if the target node subjected to the step (2) is in the direct positioning partition meeting the positioning conditions in the LOS environment, performing second-stage positioning again based on the reference information of the fixed node; otherwise, the second stage positioning is not carried out;
(5) after the target node finishes positioning, sending the position and positioning information of the target node to the surrounding target nodes and the mobile reference;
(6) for the mobile reference point information of the received surrounding position update, the target node has two choices, and if the target node is in an LOS environment, the target node does not need to be updated; otherwise, the positioning of the self position is completed according to the supplemented reference information again, and the step (5) is carried out;
(7) and if the iteration number of positioning in the space is more than the specified k or the global position information is not changed any more, terminating the positioning.
The invention has the beneficial effects that:
on the basis of the traditional indoor cooperative positioning, LOS environmental analysis is performed on an indoor positioning space on the basis of a ray tracing method, different areas are divided, and the number of LOS reference signals of fixed reference points which can be received by each area is counted. The ray tracing efficiency is improved by an improved ray tracing method facing spatial analysis. Whether the signal data of the surrounding mobile reference nodes are added into a positioning algorithm is determined by judging whether the area is a direct positioning area, so that the reduction of positioning accuracy caused by the mobile reference nodes with large errors is avoided, and the overall positioning accuracy is improved.
Drawings
FIG. 1 is a fixed reference point signal overlay;
FIG. 2 is a graph of ray tracing results;
FIG. 3 is a diagram illustrating a result of region determination;
FIG. 4 is a schematic diagram of a cooperative positioning relationship;
fig. 5 is a comparison graph of cooperative positioning results.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings:
an indoor cooperative positioning method based on spatial analysis comprises the following steps:
(1) utilizing an improved ray tracking algorithm facing to positioning space analysis to preprocess information of a fixed reference point position in a space relative to a mirror image point in the space and establishing a reflecting surface filter set mode;
(2) judging whether a certain area in the space meets the number required by the sight distance diameter number by utilizing an indoor space area judgment algorithm based on an improved ray tracking technology, and distinguishing a direct positioning subarea and a cooperative positioning subarea;
(3) and in the second stage, the target node judges whether to add the information of the surrounding mobile reference nodes into the positioning reference information of the target node according to the partition and the space partition determined in the first stage.
The improved ray tracking algorithm facing the positioning space analysis comprises the following specific steps:
(1.1) initializing fixed reference point information, and acquiring a spatial three-dimensional position coordinate of a positioning signal transmitting end;
(1.2) initializing positioning reference signal information to obtain signal characteristic parameters;
(1.3) initializing target node position information to obtain a spatial three-dimensional position coordinate of a receiving end;
(1.4) initializing positioning space data, and acquiring data information influencing the propagation of positioning signals by the indoor environment, wherein the data information specifically comprises the plane composition of each object in the space, the plane equation parameters and the boundary bump coordinates in each plane, and the plane material;
(1.5) establishing a spatial plane filtering set, and putting planes which cannot participate in propagation calculation into the set;
(1.6) preprocessing a mirror image point set of a space fixed reference point, and calculating mirror image points of the fixed reference point relative to other planes in the space except the plane filtering set;
(1.7) processing according to different propagation modes of the positioning reference signal, wherein the reflection scene is transferred to an execution (1.8), the transmission scene is transferred to an execution (1.9), and the diffraction scene is transferred to a (1.10);
(1.8) performing reflection calculation, wherein the fixed reference point is used as a mirror image reference point relative to a plane, and intersection tests are performed on a connecting line of the mirror image reference point and a target node and the reflection plane to judge whether an intersection point is in the plane or not; if the reflection signal is in the plane, calculating the loss of the reflection signal according to the reflection material and the incidence angle, and executing (1.9); if the calculated intersection point is not in the plane, the reflecting surface is invalid and is not calculated;
(1.9) performing transmission calculation by calculating attenuation value of signal through material and thickness of object, and executing (1.11);
(1.10) performing diffraction calculation to calculate a loss value of a signal according to the material of a diffraction object and the diffraction angle, and executing (1.12);
(1.11) counting the signal propagation paths in the space in different modes, and generating a path parameter table according to the loss and the time delay corresponding to each path;
(1.12) comparing the signal strength in the diameter parameter table with a minimum signal strength constraint threshold, and if the current signal strength is greater than the minimum signal threshold, executing (1.5); if the signal intensity is less than or equal to the lowest signal intensity threshold value, finishing the calculation of the current signal, and executing (1.11);
and (1.13) persistently storing the current signal propagation path and the corresponding loss and time delay.
The indoor space area judgment algorithm based on the improved ray tracing technology comprises the following specific steps:
(2.1) initializing and judging algorithm related parameters, the number ND of spatial partitions, the position sampling rate PLOS in a unit region (with side length of 1m) in each partition, the lowest coverage rate Pmin of a partition line-of-sight environment and a fixed signal minimum threshold value RSSmin;
(2.2) dividing the space partition number ND into ND rectangular solid grids according to the space partition number ND and the positioning space area, numbering each grid, and recording as Di, wherein i is a positive integer;
(2.3) calculating the corresponding number NLOS of the line-of-sight distance sampling points in each partition through the sampling rate PLOS, and randomly generating the coordinates of each line-of-sight distance sampling point, and marking the coordinates as P (x)i，yi，zi)；
(2.4) carrying out signal direct path propagation calculation in the subareas according to the sight distance sampling points generated in the step (2.3);
(2.5) after all sampling points in the subarea are subjected to LOS signal path calculation based on ray tracing, counting the number of reference points in which the received LOS signals can meet the requirement of being more than or equal to 4, and calculating the coverage rate PDi of the positionable sampling points, wherein if the PDi is more than or equal to Pmin, the area is a direct positioning subarea of a line-of-sight environment; otherwise, the region is a co-located partition of the non-line-of-sight environment.
The standard that the sampling point in the step (2.4) can receive the line-of-sight signal of the fixed reference point positioning signal is as follows: the positioning signal is transmitted by direct beam and received with intensity greater than RSSmin when reaching the sampling point.
The first stage positioning algorithm comprises the following specific steps:
(3.1.1) the target node obtains a reference node set C capable of receiving the positioning signalR；
(3.1.2) set of reference points CREach reference point in the target node carries out distance measurement on the target node, and a distance set C is respectively calculatedL；
(3.1.3) according to set CRAnd CLDetermining a common coverage area D of the reference pointsA；
(3.1.4) obtaining space partition information based on a space analysis algorithm, and obtaining an area D with the most signal coverageAPartition set C capable of being coveredD；
(3.1.5) separately calculate the sets CDThe coverage area of each partition in the table is calculated, and the partition coverage rate P is calculatedD；
(3.1.6) if set CDIf the partition with the largest coverage rate is unique, adopting the step (3.1.7); otherwise, entering the step (3.1.8);
(3.1.7) selecting the partition with the maximum coverage rate, namely determining the partition where the target node is located;
(3.1.8) calculating the common coverage area DAAnd the centroid coordinates of the plurality of coverage area maxima.
The second stage positioning algorithm comprises the following specific steps:
(3.2.1) data preprocessing definition, and setting iteration times k;
(3.2.2) preprocessing the positioning space information, partitioning the indoor space, and judging whether each area is a direct positioning area or a cooperative positioning area;
(3.2.3) in the first stage, coarse positioning is carried out to judge the partition where the target node is located, the target node receives the positioning information of the surrounding mobile reference point and fixed reference point, positioning is carried out according to a TDOA positioning algorithm, and whether the target node is located in the direct positioning area or the cooperative positioning area in the step (3.2.2) is judged;
(3.2.4) if the target node which is subjected to the step (3.2.2) is in the direct positioning partition with the LOS environment meeting the positioning condition, performing second-stage positioning based on the reference information of the fixed node again; otherwise, the second stage positioning is not carried out;
(3.2.5) after the target node finishes positioning, sending the position and positioning information of the target node to the surrounding target nodes and the mobile references;
(3.2.6) for the mobile reference point information of the received surrounding position update, the target node has two choices, and if the target node is in an LOS environment, the target node does not need to be updated; otherwise, the positioning of the self position is completed again according to the supplementary reference information, and the step (3.2.5) is carried out;
(3.2.7) if the iteration number of positioning in the space is more than the specified k or the global position information is not changed any more, terminating the positioning.
The validity verification of the space region judgment algorithm based on the improved ray tracing technology comprises the following steps:
the number NF of fixed reference points is 7, CF is { F1, F2, F3, F4, F5, F6, F7}, the default cell radius R of the fixed reference points is 100m, and the position of each point is the default coordinate in section 2.4.1. The fixed reference point transmit power signal strength is 23dBm, the frequency is 1.8GHz, and the lowest signal receive strength is set to RSSmin-105 dBm. The number ND of divisions of a region surrounded by four points N1, N9, N10, and N11 (the region surrounded by four points N4, N9, N10, and N5 is removed) is 90. The sampling rate PLOS is 100%, that is, the number NLOS of the sampling points in each partition is 1, the sampling points are set as the center of each partition, and the minimum coverage rate Pmin of the directly positioned partition in the line-of-sight environment can be determined to be 100%.
Fig. 2 and 3 are verification results of the spatial region determination algorithm, and fig. 2 shows that each path shows a line-of-sight path that a sampling point can receive. Fig. 2 shows the result of the determination in each region, where a red dot indicates that it is the center, a region with a side length of 1m is a direct localization zone, and blue and white dots indicate that it is a cooperative localization zone. The blue dot area indicates that the direct positioning partition can be converted by supplementing only one sight distance path, the positioning accuracy of the blue dot area can be improved in a cooperation mode, and the red dot area is directly positioned without cooperation.
And (3) comparing and verifying errors of the cooperative positioning algorithm:
with the cooperative positioning diagram based on fig. 4, the fixed reference points are F1, F2, and F3, and the fixed reference points adopt the default cell radius R of 100m, and the position of each point is the default coordinate in 2.4.1. The target nodes T1 and T2 can exchange information with each other. Based on the spatial analysis, T1 is set to be in the direct positioning partition, T2 is set to be in the cooperative positioning partition, and the partitions in which T1 and T2 are located are adjacent. T1 is located in a square partition with central coordinates of (50, 50/3, 4.2) and a side length of 2m, T2 is located in a square partition with central coordinates of (50, 50/3-2, 4.2) and a side length of 2m, and the height coordinate z is always kept at 4.2m in consideration of typical scenes of indoor people. The connecting lines in the fixed reference point and target node graphs indicate LOS propagating signals, and the ranging error is defaulted to a gaussian distribution with a mean value of 0 and a standard deviation of 0. The ranging error of the target node (moving reference node) is by default subject to a gaussian distribution with an average value of 0 and standard deviations of 1, respectively. The simulation experiment was the result of performing 10000 times of measurement errors of the random target points T1 and T2.
Fig. 5 shows how the measurement error of a fixed reference point affects the final positioning result, wherein the measurement error Noise varies from 1 to 10 m. As can be seen from fig. 5, the influence degree of the SACP algorithm provided by the present invention by the measurement error is relatively smaller than that of the conventional cooperative positioning CP algorithm, and when Noise is 1m, the accuracy of the SACP algorithm provided by the present invention is reduced by 0.4869 m compared with that of the conventional cooperative positioning method RMSE, and the positioning accuracy is improved by 34.6%. On the basis of the traditional CP algorithm, the SACP algorithm provided by the invention can ensure that the target node of the cooperation area can complete positioning, simultaneously avoid the target node of the direct positioning area from being interfered by data of a moving reference point of the cooperation area with larger position error, and can improve the positioning effect to a certain extent.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. An indoor cooperative positioning method based on spatial analysis is characterized by comprising the following steps:
(1) utilizing an improved ray tracking algorithm facing to positioning space analysis to preprocess information of a fixed reference point position in a space relative to a mirror image point in the space and establishing a reflecting surface filter set mode;
(2) judging whether a certain area in the space meets the number required by the sight distance diameter number by utilizing an indoor space area judgment algorithm based on an improved ray tracking technology, and distinguishing a direct positioning subarea and a cooperative positioning subarea;
(3) by utilizing a cooperative positioning algorithm based on two stages of spatial analysis, a target node in the first stage receives positioning signals of all reference points, performs initial positioning in the first stage and judges the partition according to positioning information, and the target node judges whether to add surrounding mobile reference node information into the positioning reference information of the target node or not according to the partition and spatial partition determined in the first stage in the second stage;
the improved ray tracking algorithm facing the positioning space analysis comprises the following specific steps:
(1.1) initializing fixed reference point information, and acquiring a spatial three-dimensional position coordinate of a positioning signal transmitting end;
(1.2) initializing positioning reference signal information to obtain signal characteristic parameters;
(1.3) initializing target node position information to obtain a spatial three-dimensional position coordinate of a receiving end;
(1.4) initializing positioning space data, and acquiring data information influencing the propagation of positioning signals by the indoor environment, wherein the data information specifically comprises the plane composition of each object in the space, the plane equation parameters and the boundary bump coordinates in each plane, and the plane material;
(1.5) establishing a spatial plane filtering set, and putting planes which cannot participate in propagation calculation into the set;
(1.6) preprocessing a mirror image point set of a space fixed reference point, and calculating mirror image points of the fixed reference point relative to other planes in the space except the plane filtering set;
(1.7) processing according to different propagation modes of the positioning reference signal, wherein the reflection scene is transferred to an execution (1.8), the transmission scene is transferred to an execution (1.9), and the diffraction scene is transferred to a (1.10);
(1.8) performing reflection calculation, wherein the fixed reference point is used as a mirror image reference point relative to a plane, and intersection tests are performed on a connecting line of the mirror image reference point and a target node and the reflection plane to judge whether an intersection point is in the plane or not; if the reflection signal is in the plane, calculating the loss of the reflection signal according to the reflection material and the incidence angle, and executing (1.9); if the calculated intersection point is not in the plane, the reflecting surface is invalid and is not calculated;
(1.9) performing transmission calculation by calculating attenuation value of signal through material and thickness of object, and executing (1.11);
(1.10) performing diffraction calculation to calculate a loss value of a signal according to the material of a diffraction object and the diffraction angle, and executing (1.12);
(1.11) counting the signal propagation paths in the space in different modes, and generating a path parameter table according to the loss and the time delay corresponding to each path;
(1.12) comparing the signal strength in the diameter parameter table with a minimum signal strength constraint threshold, and if the current signal strength is greater than the minimum signal threshold, executing (1.5); if the signal intensity is less than or equal to the lowest signal intensity threshold value, finishing the calculation of the current signal, and executing (1.11);
(1.13) persistently storing the current signal propagation path and corresponding loss and time delay;
the indoor space area judgment algorithm based on the improved ray tracing technology comprises the following specific steps:
(2.1) initializing and judging algorithm related parameters, the number ND of spatial partitions, the position sampling rate PLOS in a unit region (with side length of 1m) in each partition, the lowest coverage rate Pmin of a partition line-of-sight environment and a fixed signal minimum threshold value RSSmin;
(2.2) dividing the space partition number ND into ND rectangular solid grids according to the space partition number ND and the positioning space area, numbering each grid, and recording as Di, wherein i is a positive integer;
(2.3) calculating the corresponding number NLOS of the line-of-sight distance sampling points in each partition through the sampling rate PLOS, and randomly generating the coordinates of each line-of-sight distance sampling point, and marking the coordinates as P (x)i，yi，zi)；
(2.4) carrying out signal direct path propagation calculation in the subareas according to the sight distance sampling points generated in the step (2.3);
(2.5) after all sampling points in the subarea are subjected to LOS signal path calculation based on ray tracing, counting the number of reference points in which the received LOS signals can meet the requirement of being more than or equal to 4, and calculating the coverage rate PDi of the positionable sampling points, wherein if the PDi is more than or equal to Pmin, the area is a direct positioning subarea of a line-of-sight environment; otherwise, the area is a cooperative positioning partition of the non-line-of-sight environment;
the first-stage positioning algorithm comprises the following specific steps:
(3.1.1) the target node obtains a reference node set C capable of receiving the positioning signalR；
(3.1.2) set of reference points CREach reference point in the target node carries out distance measurement on the target node, and a distance set C is respectively calculatedL；
(3.1.3) according to set CRAnd CLDetermining a common coverage area D of the reference pointsA；
(3.1.4) obtaining space partition information based on a space analysis algorithm, and obtaining an area D with the most signal coverageAPartition set C capable of being coveredD；
(3.1.5) separately calculate the sets CDThe coverage area of each partition in the table is calculated, and the partition coverage rate P is calculatedD；
(3.1.6) if set CDIf the partition with the largest coverage rate is unique, adopting the step (3.1.7); otherwise, entering the step (3.1.8);
(3.1.7) selecting the partition with the maximum coverage rate, namely determining the partition where the target node is located;
(3.1.8) calculating the common coverage area DAAnd the centroid coordinates of the plurality of coverage maximum partitions;
the second stage positioning algorithm comprises the following specific steps:
(3.2.1) data preprocessing definition, and setting iteration times k;
(3.2.2) preprocessing the positioning space information, partitioning the indoor space, and judging whether each area is a direct positioning area or a cooperative positioning area;
(3.2.3) in the first stage, coarse positioning is carried out to judge the partition where the target node is located, the target node receives the positioning information of the surrounding mobile reference point and fixed reference point, positioning is carried out according to a TDOA positioning algorithm, and whether the target node is located in the direct positioning area or the cooperative positioning area in the step (3.2.2) is judged;
(3.2.4) if the target node which is subjected to the step (3.2.2) is in the direct positioning partition with the LOS environment meeting the positioning condition, performing second-stage positioning based on the reference information of the fixed node again; otherwise, the second stage positioning is not carried out;
(3.2.5) after the target node finishes positioning, sending the position and positioning information of the target node to the surrounding target nodes and the mobile references;
(3.2.6) for the mobile reference point information of the received surrounding position update, the target node has two choices, and if the target node is in an LOS environment, the target node does not need to be updated; otherwise, the positioning of the self position is completed again according to the supplementary reference information, and the step (3.2.5) is carried out;
(3.2.7) if the iteration number of positioning in the space is more than the specified k or the global position information is not changed any more, terminating the positioning.
2. The indoor cooperative positioning method based on spatial analysis as claimed in claim 1, wherein the criterion that the sampling point can receive the line-of-sight signal of the fixed reference point positioning signal in step (2.4) is: the positioning signal is transmitted by direct beam and received with intensity greater than RSSmin when reaching the sampling point.
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