CN109257693B - An indoor collaborative positioning method based on spatial analysis - Google Patents
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Abstract
本发明公开了一种基于空间分析的室内协作定位方法,属于室内定位领域。包括:面向定位空间分析的改进射线跟踪算法;基于改进射线跟踪技术的室内空间区域判定算法;基于空间分析两阶段的协作定位算法。根据室内环境下空间构造较为稳定的特点,基于射线跟踪技术对空间进行环境分析,划分不同的定位区域并统计每个区域的视距环境下定位参考信号的数量,由此判断出直接定位区域和协作定位区域。根据空间分区判断出需要协作定位和无需协作定位的目标节点,提出一种基于空间分析的室内协作定位方法。这种室内协作定位的方法,有效避免了误差较大的移动参考节点造成的定位精度降低的问题,提高了整体的定位精度。
The invention discloses an indoor cooperative positioning method based on space analysis, which belongs to the field of indoor positioning. Including: improved ray tracing algorithm for positioning space analysis; indoor space area determination algorithm based on improved ray tracing technology; two-stage cooperative positioning algorithm based on space analysis. According to the relatively stable spatial structure in the indoor environment, the environment is analyzed based on ray tracing technology, different positioning areas are divided, and the number of positioning reference signals in the line-of-sight environment of each area is counted, thereby judging the direct positioning area and Collaborative positioning area. According to the spatial partition, the target nodes that need cooperative localization and those that do not need cooperative localization are determined, and an indoor cooperative localization method based on spatial analysis is proposed. This indoor cooperative positioning method effectively avoids the problem of reduced positioning accuracy caused by moving reference nodes with large errors, and improves the overall positioning accuracy.
Description
技术领域technical field
本发明属于室内定位领域,具体涉及一种基于空间分析的室内协作定位方法。The invention belongs to the field of indoor positioning, in particular to an indoor cooperative positioning method based on spatial analysis.
背景技术Background technique
室内定位技术的实质就是对待定位终端进行位置估计。室内定位算法中定位所需变量随着计算方式的不同,主要包括了信号到达时间、到达角度、信号到达时间差、接收信号强度等众多类型。The essence of 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 include signal arrival time, arrival angle, signal arrival time difference, received signal strength and many other types with different calculation methods.
协作定位技术主要有两个好处:一是由于用户之间距离较短,待定位终端之间点对点(P2P)方式的测量可能是非常准确的,因此即使所有待定位终端相对于所有可用的参考点都在非视距条件下,定位系统的精度也可以提高,二是由于移动终端的空间分集的特点,如果其中至少有一个待定位终端和一个发射端位于视距条件下,就能够通过协作定位避免阴影效应,从而提高定位精度。The cooperative positioning technology has two main advantages: First, due to the short distance between users, the point-to-point (P2P) measurement between the terminals to be located may be very accurate, so even if all the terminals to be located are relative to all available reference points Under the condition of non-line-of-sight, the accuracy of the positioning system can also be improved. Second, due to the characteristics of spatial diversity of mobile terminals, if at least one terminal to be positioned and one transmitting terminal are located under the condition of line-of-sight, they can be positioned through cooperative positioning. Avoid shadow effects, thereby improving positioning accuracy.
相关文献有:Khalaf-Allah M.Time of arrival(TOA)-based direct locationmethod[C]//Radar Symposium(IRS),2015 16th International.IEEE,2015:812-815;Relevant documents are: Khalaf-Allah M.Time of arrival(TOA)-based direct locationmethod[C]//Radar Symposium(IRS),2015 16th International.IEEE,2015:812-815;
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);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;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;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;
史蒂芬·山德,阿明·达曼,克里斯汀·门兴.无线通信系统中的定位技术与应用[M].北京:机械工业出版社,2016:56-59页;Stephen Sander, Armin Daman, Kristin Mönching. Positioning Technology and Application in Wireless Communication System [M]. Beijing: Machinery Industry Press, 2016: 56-59;
Yun Z,Iskander M F.Ray tracing for radio propagation modeling:principles and applications[J].IEEE Access,2015,3:1089-1100。Yun Z, Iskander M F. Ray tracing for radio propagation modeling: principles and applications[J]. IEEE Access, 2015, 3: 1089-1100.
发明内容SUMMARY OF THE INVENTION
本发明的目的在于解决在室内定位中,非视距的协作定位分区无法定位问题而提出提高视距环境的直接定位区域的定位精度的一种基于空间分析的室内协作定位方法。The purpose of the present invention is to solve the problem that non-line-of-sight cooperative positioning partitions cannot be positioned in indoor positioning, and propose an indoor cooperative positioning method based on spatial analysis to improve the positioning accuracy of the direct positioning area of the line-of-sight environment.
本发明的目的通过如下技术方案来实现:The object of the present invention is achieved through the following technical solutions:
1.设计一种面向定位空间分析的改进射线跟踪算法,预处理空间中固定参考点位置关于空间中的镜像点信息,并通过建立反射面过滤集方式,排除部分平面的计算过程。具体步骤包括:1. Design an improved ray tracing algorithm for positioning space analysis, preprocess the fixed reference point position in the space about the mirror point information in the space, and eliminate the calculation process of part of the plane by establishing the reflection surface filter set method. Specific steps include:
(1)初始化固定参考点信息,即可以获取定位信号发射端的空间三维位置坐标;(1) Initialize the fixed reference point information, that is, the spatial three-dimensional position coordinates of the transmitter of the positioning signal can be obtained;
(2)初始化定位参考信号信息,即可以获取信号的强度等特征参数;(2) Initialize the positioning reference signal information, that is, characteristic parameters such as signal strength can be obtained;
(3)初始化目标节点位置信息,即获取到接收端的空间三维位置坐标;(3) Initialize the position information of the target node, that is, obtain the spatial three-dimensional position coordinates of the receiving end;
(4)初始化定位空间数据,即获取室内环境影响定位信号传播相关数据信息,具体包括空间中每一个物体的平面组成、每一个平面中的平面方程参数以及边界凸点坐标、平面材质等;(4) Initialize the positioning space data, that is, obtain the relevant data information of the indoor environment affecting the positioning signal propagation, specifically including the plane composition of each object in the space, the plane equation parameters in each plane, the coordinates of the boundary bumps, the plane material, etc.;
(5)建立空间平面过滤集合,将无法参与传播计算的平面放入集合中;(5) Establish a spatial plane filtering set, and put the planes that cannot participate in the propagation calculation into the set;
(6)预处理空间固定参考点的镜像点集合,计算固定参考点关于空间中除平面过滤集合之外其他平面的镜像点;(6) preprocessing the mirror point set of the fixed reference point in space, and calculating the mirror point of the fixed reference point with respect to other planes in the space except the plane filter set;
(7)根据定位参考信号的不同传播方式处理,反射场景转至执行(8),透射场景转至执行(9),绕射场景转至(10);(7) According to the different propagation modes of the positioning reference signal, the reflection scene goes to execute (8), the transmission scene goes to execute (9), and the diffraction scene goes to (10);
(8)进行反射计算,固定参考点关于平面做镜像参考点并通过镜像参考点与目标节点连线与反射平面进行相交测试,判断交点是否在平面内;若为在平面内,则根据反射材质及入射角进行计算反射信号的损耗,执行(9);若计算的交点不在平面内(可能在平面的所在平面延长区域或镜像参考点与目标节点连线的延长线上),则反射面无效,不予进行计算;(8) Carry out reflection calculation, fix the reference point as a mirror reference point on the plane, and conduct an intersection test with the reflection plane through the connection between the mirror reference point and the target node to determine whether the intersection point is in the plane; if it is in the plane, according to the reflection material and the incident angle to calculate the loss of the reflected signal, and execute (9); if the calculated intersection point is not in the plane (may be in the plane extension area where the plane is located or on the extension line connecting the mirror reference point and the target node), the reflecting surface is invalid , will not be calculated;
(9)进行透射计算,通过穿过物体材质、厚度计算信号的衰减值,执行(11);(9) Carry out transmission calculation, calculate the attenuation value of the signal by passing through the material and thickness of the object, and execute (11);
(10)进行绕射计算,通过绕射物体材质和绕射角度计算信号的损耗值,执行(12);(10) Carry out diffraction calculation, calculate the loss value of the signal through the material of the diffracted object and the diffraction angle, and execute (12);
(11)统计信号通过不同的方式在空间传播路径,以及在每一条路径对应的损耗和时延,生成径参数表;(11) Statistical signals propagate paths in space in different ways, as well as the corresponding loss and delay of each path, and generate a path parameter table;
(12)将径参数表中的信号强度与最低信号强度约束阀值进行比较,若目前信号强度大于最低信号阀值则说明信号强度可以进行下一步计算,执行(5);若信号强度小于等于最低信号强度阀值,则说明信号衰减至接收端无法进行分析,结束当前信号的计算,执行(11);(12) Compare the signal strength in the diameter parameter table with the minimum signal strength constraint threshold. If the current signal strength is greater than the minimum signal strength threshold, it means that the signal strength can be calculated in the next step, and execute (5); if the signal strength is less than or equal to The minimum signal strength threshold means that the signal is attenuated to the receiving end and cannot be analyzed, so the calculation of the current signal is ended, and (11) is executed;
(13)将目前信号传播路径以及对应的损耗、时延持久化存储,用于后续计算分析。(13) Persistently store the current signal propagation path and the corresponding loss and delay for subsequent calculation and analysis.
2.设计一种基于改进射线跟踪技术的室内空间区域判定算法,判断空间中某一区域是否满足视距径数所需数目,区分直接定位分区和协作定位分区。具体步骤包括:2. Design an indoor space area determination algorithm based on improved ray tracing technology, determine whether a certain area in the space meets the required number of sight distances, and distinguish direct positioning zones and cooperative positioning zones. Specific steps include:
(1)初始化判断算法相关参数,空间分区数目ND,分区内部单位区域内(边长1m)的位置采样率PLOS,分区视距环境最低覆盖率Pmin,定信号最低阀值RSSmin;(1) Relevant parameters of the initialization judgment algorithm, the number of space partitions ND, the position sampling rate PLOS in the unit area (side length 1m) inside the partition, the minimum coverage rate of the partition line-of-sight environment Pmin, and the minimum signal threshold RSSmin;
(2)根据空间分区数目ND和定位空间面积将其划分成ND个矩形立体网格并将每一个网格进行编号,记为Di;(2) divide it into ND rectangular three-dimensional grids and number each grid according to the number of space partitions ND and the positioning space area, and denote it as Di;
(3)在每一个分区中通过采样率PLOS计算出相应的视距径采样点数量NLOS,并随机生成每个视距径采样点的坐标,记为P(xi,yi,zi);(3) Calculate the corresponding number of line-of-sight path sampling points NLOS through the sampling rate PLOS in each partition, and randomly generate the coordinates of each line-of-sight path sampling point, denoted as P(x i , y i , z i ) ;
(4)在分区中根据步骤(3)中生成的视距采样点基于2.2.2节中的射线跟踪法进行信号直射径传播计算,其中采样点能够接收到固定参考点定位信号的视距信号的标准是:定位信号通过直射传播且达到采样点时接收时强度大于RSSmin;(4) In the partition, according to the line-of-sight sampling points generated in step (3), the signal direct path propagation calculation is performed based on the ray tracing method in Section 2.2.2, where the sampling points can receive the line-of-sight signal of the fixed reference point positioning signal The standard is: the positioning signal propagates through direct rays and when it reaches the sampling point, the receiving intensity is greater than RSSmin;
(5)当分区中的所有采样点完成了基于射线跟踪的LOS信号径计算后,统计出其中接收LOS信号能够满足大于等于4个的参考点数量,并计算出可定位采样点的覆盖率PDi,若PDi大于等于Pmin,则该区域为视距环境的直接定位分区;否则,该区域为非视距环境的协作定位分区。(5) After all sampling points in the partition have completed the calculation of the LOS signal path based on ray tracing, count the number of reference points where the received LOS signal can satisfy 4 or more, and calculate the coverage rate PDi of the locatable sampling points , if PDi is greater than or equal to Pmin, then the area is a direct positioning partition of the line-of-sight environment; otherwise, the area is a cooperative positioning partition of a non-line-of-sight environment.
3.设计一种基于空间分析两阶段的协作定位算法,第一阶段中目标节点接收全部参考点的定位信号,进行第一阶段初定位,并根据定位信息判断所处的分区。第二阶段根据第一阶段确定的分区及空间划分,目标节点判断是否将周围的移动参考节点信息加入自身的定位参考信息中。3. Design a two-stage cooperative positioning algorithm based on spatial analysis. In the first stage, the target node receives the positioning signals of all reference points, performs the initial positioning of the first stage, and judges the partition according to the positioning information. In the second stage, according to the partition and space division determined in the first stage, the target node determines whether to add the surrounding mobile reference node information to its own positioning reference information.
第一阶段初定位目的是判断目标节点所在的空间分区。由于目标节点定位同样存在误差且理论上大于第二阶段的定位误差,如果判断分区发生错误会影响第二阶段协作定位的结果。将第一阶段定位根据信号共同覆盖区对室内分区的覆盖率,对目标节点的所处分区进行判定。如图1,目标节点接收到来自参考点R1、R2和R3的定位信号,每个参考点对目标估计的距离分别为L1、L2和L3。R1、R2和R3三个参考点的覆盖范围如图1所示。三个参考点共同覆盖的区域是D1、D2、D3和D4。根据几何面积计算,可以分区中得出共同信号覆盖面积占比D3>D1>D2>D4。由此可以推断出目标节点处于D3区域的概率较大,从而判定目标节点所处区域为D3区域。算法描述如下:The purpose of initial positioning in the first stage is to determine the space partition where the target node is located. Since the target node positioning also has errors and is theoretically larger than the positioning error of the second stage, if the judgment partition is wrong, it will affect the result of the second stage cooperative positioning. The first-stage positioning is based on the coverage rate of the indoor partition in the common coverage area of the signal, and the partition where the target node is located is determined. As shown in Figure 1, the target node receives positioning signals from reference points R1, R2, and R3, and the estimated distances from each reference point to the target are L1, L2, and L3, respectively. The coverage of the three reference points R1, R2 and R3 is shown in Figure 1. The area covered by the three reference points is D1, D2, D3 and D4. According to the geometric area calculation, it can be concluded that the common signal coverage area ratio D3>D1>D2>D4 in the partition. From this, it can be inferred that the probability that the target node is located in the D3 area is relatively large, so it is determined that the area where the target node is located is the D3 area. The algorithm is described as follows:
(1)目标节点获取能够接收到定位信号的参考节点集合CR;(1) The target node obtains the reference node set CR that can receive the positioning signal;
(2)将参考点集合CR中的每一个参考点对目标节点进行测距估计,分别计算出距离集合CL;(2) Perform ranging estimation on the target node by each reference point in the reference point set CR , and calculate the distance set CL respectively;
(3)根据集合CR和CL,确定参考点的共同覆盖区域DA;(3) According to the sets CR and CL , determine the common coverage area DA of the reference point;
(4)基于空间分析算法获取空间分区信息,获取具有最多信号共同覆盖的区域DA能够覆盖的分区集合CD;(4) obtaining spatial partition information based on the spatial analysis algorithm, and obtaining the partition set CD that can be covered by the area DA with the most common coverage of the signals;
(5)分别计算集合CD中的每个分区的覆盖面积,计算出分区覆盖率PD;(5) calculate the coverage area of each partition in the set CD respectively, and calculate the partition coverage PD ;
(6)若集合CD中覆盖率最大的分区唯一,那么采用步骤(7);否则进入步骤(8);(6) If the partition with the largest coverage in the set CD is unique, then adopt step (7); otherwise, enter step (8);
(7)选出覆盖率最大的分区,即为目标节点判定所在的分区;(7) Select the partition with the largest coverage, which is the partition where the target node is determined;
(8)计算出共同覆盖区域DA的质心坐标以及多个覆盖率最大分区的质心坐标。根据欧氏距离公式,将距离共同覆盖区域DA最短的质心所在的分区判定为目标点所在的分区。(8) Calculate the centroid coordinates of the common coverage area DA and the centroid coordinates of the multiple maximum coverage zones. According to the Euclidean distance formula, the partition where the centroid with the shortest distance from the common coverage area DA is located is determined as the partition where the target point is located.
第二阶段定位算法描述如下:The second stage positioning algorithm is described as follows:
(1)数据预处理定义,设置迭代次数k;(1) Data preprocessing definition, set the number of iterations k;
(2)定位空间信息预处理,将室内空间进行分区,并判断每个区域是直接定位区域还是协作定位区域;(2) Preprocessing of positioning space information, partitioning the indoor space, and judging whether each area is a direct positioning area or a cooperative positioning area;
(3)第一阶段粗定位判断目标节点所处于的分区,目标节点接收周围移动参考点和固定参考点的定位信息,并根据TDOA定位算法进行定位,判断目标节点处于步骤(2)中的某一分区;(3) In the first stage, coarse positioning determines the partition where the target node is located. The target node receives the positioning information of the surrounding moving reference points and fixed reference points, and performs positioning according to the TDOA positioning algorithm to determine that the target node is in a certain area in step (2). a division;
(4)经过步骤(2)的目标节点如果是处于LOS环境满足定位条件的直接定位分区中,则重新基于固定节点的参考信息进行第二阶段定位;否则,不进行第二阶段定位;(4) if the target node through step (2) is in the direct positioning sub-region where the LOS environment meets the positioning condition, then the second-stage positioning is performed based on the reference information of the fixed node again; otherwise, the second-stage positioning is not performed;
(5)目标节点完成定位后,向周围的目标节点和移动参考发送自身的位置及定位信息;(5) After the target node completes the positioning, it sends its own position and positioning information to the surrounding target nodes and mobile reference;
(6)对于接收到周围位置更新的移动参考点信息,目标节点有两种选择,若目标节点处于LOS环境,则无需更新;否则,需要重新根据补充的参考信息完成自身位置的定位,并进行步骤(5);(6) For the mobile reference point information that has received the surrounding position update, the target node has two options. If the target node is in the LOS environment, it does not need to be updated; step (5);
(7)若空间中定位的迭代次数大于指定的k或者全局位置信息不再变更,则终止定位。(7) If the number of iterations of positioning in the space is greater than the specified k or the global position information is no longer changed, the positioning is terminated.
本发明的有益效果在于:The beneficial effects of the present invention are:
在传统室内协作定位基础上,补充了基于射线跟踪法对室内定位空间进行LOS环境分析,划分出不同的区域并统计每个区域能够接收到固定参考点的LOS参考信号的数量。通过面向空间分析的改进射线跟踪方法提升射线跟踪效率。通过判断区域是否为直接定位区域,决定是否将周围的移动参考节点信号数据加入定位算法中,避免误差较大的移动参考节点造成定位精度降低,提高整体的定位精度。On the basis of traditional indoor cooperative positioning, the LOS environment analysis of indoor positioning space based on ray tracing method is supplemented, and different areas are divided and the number of LOS reference signals that can receive fixed reference points in each area is counted. Improve ray tracing efficiency with an improved ray tracing method for spatial analysis. By judging whether the area is a direct positioning area, it is decided whether to add the signal data of the surrounding mobile reference nodes into the positioning algorithm, so as to avoid the lowering of the positioning accuracy caused by the mobile reference nodes with large errors, and improve the overall positioning accuracy.
附图说明Description of drawings
图1为固定参考点信号覆盖图;Fig. 1 is a fixed reference point signal coverage map;
图2为射线跟踪结果图;Figure 2 is a graph of ray tracing results;
图3为区域判断结果图;Fig. 3 is a regional judgment result diagram;
图4为协作定位关系示意图;4 is a schematic diagram of a cooperative positioning relationship;
图5为协作定位结果对比图。Figure 5 is a comparison diagram of cooperative positioning results.
具体实施方式Detailed ways
下面结合附图对本发明的具体实施方式作进一步说明:The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings:
一种基于空间分析的室内协作定位方法,包括以下步骤:An indoor collaborative positioning method based on spatial analysis, comprising the following steps:
(1)利用面向定位空间分析的改进射线跟踪算法,预处理空间中固定参考点位置关于空间中的镜像点信息,并建立反射面过滤集方式;(1) Using the improved ray tracing algorithm for positioning space analysis, preprocess the information of the fixed reference point position in the space about the mirror point information in the space, and establish the reflection surface filter set method;
(2)利用基于改进射线跟踪技术的室内空间区域判定算法,判断空间中某一区域是否满足视距径数所需数目,区分直接定位分区和协作定位分区;(2) Using the indoor space area determination algorithm based on improved ray tracing technology, determine whether a certain area in the space meets the required number of sight distances, and distinguish the direct positioning zone and the cooperative positioning zone;
(3)利用基于空间分析两阶段的协作定位算法,第一阶段中目标节点接收全部参考点的定位信号,进行第一阶段初定位,并根据定位信息判断所处的分区,第二阶段根据第一阶段确定的分区及空间划分,目标节点判断是否将周围的移动参考节点信息加入自身的定位参考信息中。(3) Using a two-stage cooperative positioning algorithm based on spatial analysis, in the first stage, the target node receives the positioning signals of all reference points, performs initial positioning in the first stage, and judges the partition according to the positioning information, and in the second stage according to the first stage In the partition and space division determined in the first stage, the target node determines whether to add the surrounding mobile reference node information to its own positioning reference information.
所述的面向定位空间分析的改进射线跟踪算法具体步骤:The specific steps of the improved ray tracing algorithm for positioning space analysis:
(1.1)初始化固定参考点信息,获取定位信号发射端的空间三维位置坐标;(1.1) Initialize the fixed reference point information, and obtain the spatial three-dimensional position coordinates of the transmitter of the positioning signal;
(1.2)初始化定位参考信号信息,获取信号特征参数;(1.2) Initialize the positioning reference signal information, and obtain the signal characteristic parameters;
(1.3)初始化目标节点位置信息,获取到接收端的空间三维位置坐标;(1.3) Initialize the position information of the target node, and obtain the spatial three-dimensional position coordinates of the receiving end;
(1.4)初始化定位空间数据,获取室内环境影响定位信号传播的数据信息,具体包括空间中每一个物体的平面组成、每一个平面中的平面方程参数以及边界凸点坐标、平面材质;(1.4) Initialize the positioning space data, and obtain the data information that the indoor environment affects the propagation of the positioning signal, including the plane composition of each object in the space, the plane equation parameters in each plane, the coordinates of the boundary bumps, and the plane material;
(1.5)建立空间平面过滤集合,将无法参与传播计算的平面放入集合中;(1.5) Establish a spatial plane filtering set, and put the planes that cannot participate in the propagation calculation into the set;
(1.6)预处理空间固定参考点的镜像点集合,计算固定参考点关于空间中除平面过滤集合之外其他平面的镜像点;(1.6) Preprocess the mirror point set of the fixed reference point in space, and calculate the mirror point of the fixed reference point with respect to other planes in the space except the plane filter set;
(1.7)根据定位参考信号的不同传播方式处理,反射场景转至执行(1.8),透射场景转至执行(1.9),绕射场景转至(1.10);(1.7) According to the different propagation modes of the positioning reference signal, the reflection scenario goes to execute (1.8), the transmission scenario goes to execute (1.9), and the diffraction scenario goes to (1.10);
(1.8)进行反射计算,固定参考点关于平面做镜像参考点并通过镜像参考点与目标节点连线与反射平面进行相交测试,判断交点是否在平面内;若为在平面内,则根据反射材质及入射角进行计算反射信号的损耗,执行(1.9);若计算的交点不在平面内,则反射面无效,不予进行计算;(1.8) Perform reflection calculation, use the fixed reference point as a mirror reference point with respect to the plane, and conduct an intersection test with the reflection plane through the line connecting the mirror reference point and the target node to determine whether the intersection point is in the plane; if it is in the plane, according to the reflection material and the incident angle to calculate the loss of the reflected signal, and execute (1.9); if the calculated intersection point is not in the plane, the reflecting surface is invalid, and the calculation is not performed;
(1.9)进行透射计算通过穿过物体材质、厚度计算信号的衰减值,执行(1.11);(1.9) Perform transmission calculation by calculating the attenuation value of the signal through the material and thickness of the object, and perform (1.11);
(1.10)进行绕射计算通过绕射物体材质和绕射角度计算信号的损耗值,执行(1.12);(1.10) Perform diffraction calculation Calculate the loss value of the signal through the material of the diffracting object and the diffraction angle, and execute (1.12);
(1.11)统计信号通过不同的方式在空间传播路径,以及在每一条路径对应的损耗和时延,生成径参数表;(1.11) Statistical signals propagate paths in space in different ways, as well as the corresponding loss and delay of each path, and generate a path parameter table;
(1.12)将径参数表中的信号强度与最低信号强度约束阀值进行比较,若目前信号强度大于最低信号阀值,执行(1.5);若信号强度小于等于最低信号强度阀值,结束当前信号的计算,执行(1.11);(1.12) Compare the signal strength in the diameter parameter table with the minimum signal strength constraint threshold, if the current signal strength is greater than the minimum signal strength threshold, execute (1.5); if the signal strength is less than or equal to the minimum signal strength threshold, end the current signal Calculation, execute (1.11);
(1.13)将目前信号传播路径以及对应的损耗、时延持久化存储。(1.13) Persistently store the current signal propagation path and the corresponding loss and delay.
所述的基于改进射线跟踪技术的室内空间区域判定算法具体步骤:The specific steps of the indoor space area determination algorithm based on the improved ray tracing technology:
(2.1)初始化判断算法相关参数,空间分区数目ND,分区内部单位区域内(边长1m)的位置采样率PLOS,分区视距环境最低覆盖率Pmin,定信号最低阀值RSSmin;(2.1) The relevant parameters of the initialization judgment algorithm, the number of space partitions ND, the position sampling rate PLOS in the unit area (side length 1m) inside the partition, the minimum coverage rate of the partition line-of-sight environment Pmin, and the minimum signal threshold RSSmin;
(2.2)根据空间分区数目ND和定位空间面积将其划分成ND个矩形立体网格并将每一个网格进行编号,记为Di,i为正整数;(2.2) divide it into ND rectangular three-dimensional grids according to the number of space partitions ND and the positioning space area and number each grid, denoted as Di, and i is a positive integer;
(2.3)在每一个分区中通过采样率PLOS计算出相应的视距径采样点数量NLOS,并随机生成每个视距径采样点的坐标,记为P(xi,yi,zi);(2.3) Calculate the corresponding number of line-of-sight path sampling points NLOS through the sampling rate PLOS in each partition, and randomly generate the coordinates of each line-of-sight path sampling point, denoted as P(x i , y i , z i ) ;
(2.4)在分区中根据步骤(2.3)中生成的视距采样点进行信号直射径传播计算;(2.4) In the partition, carry out the signal direct path propagation calculation according to the line-of-sight sampling points generated in step (2.3);
(2.5)当分区中的所有采样点完成了基于射线跟踪的LOS信号径计算后,统计出其中接收LOS信号能够满足大于等于4个的参考点数量,并计算出可定位采样点的覆盖率PDi,若PDi大于等于Pmin,则该区域为视距环境的直接定位分区;否则,该区域为非视距环境的协作定位分区。(2.5) After all the sampling points in the partition have completed the calculation of the LOS signal path based on ray tracing, count the number of reference points where the received LOS signal can satisfy more than or equal to 4, and calculate the coverage rate PDi of the locatable sampling points , if PDi is greater than or equal to Pmin, then the area is a direct positioning partition of the line-of-sight environment; otherwise, the area is a cooperative positioning partition of a non-line-of-sight environment.
所述的步骤(2.4)中采样点能够接收到固定参考点定位信号的视距信号的标准是:定位信号通过直射传播且达到采样点时接收时强度大于RSSmin。The criterion that the sampling point can receive the line-of-sight signal of the fixed reference point positioning signal in the step (2.4) is that the positioning signal propagates through direct rays and reaches the sampling point with a receiving intensity greater than RSSmin.
第一阶段定位算法具体步骤:The specific steps of the first stage positioning algorithm:
(3.1.1)目标节点获取能够接收到定位信号的参考节点集合CR;(3.1.1) The target node obtains the reference node set CR that can receive the positioning signal;
(3.1.2)将参考点集合CR中的每一个参考点对目标节点进行测距,分别计算出距离集合CL;(3.1.2) each reference point in the reference point set CR carries out ranging to the target node, and calculates the distance set CL respectively;
(3.1.3)根据集合CR和CL,确定参考点的共同覆盖区域DA;(3.1.3) According to the sets CR and CL , determine the common coverage area DA of the reference point;
(3.1.4)基于空间分析算法获取空间分区信息,获取具有最多信号共同覆盖的区域DA能够覆盖的分区集合CD;(3.1.4) obtaining spatial partition information based on the spatial analysis algorithm, and obtaining the partition set CD that can be covered by the area DA with the most common coverage of the signals;
(3.1.5)分别计算集合CD中的每个分区的覆盖面积,计算出分区覆盖率PD;(3.1.5) Calculate the coverage area of each partition in the set CD respectively, and calculate the partition coverage rate PD ;
(3.1.6)若集合CD中覆盖率最大的分区唯一,那么采用步骤(3.1.7);否则进入步骤(3.1.8);( 3.1.6 ) If the partition with the largest coverage in the set CD is unique, then step (3.1.7) is adopted; otherwise, go to step (3.1.8);
(3.1.7)选出覆盖率最大的分区,即为目标节点判定所在的分区;(3.1.7) Select the partition with the largest coverage, which is the partition where the target node is determined;
(3.1.8)计算出共同覆盖区域DA的质心坐标以及多个覆盖率最大分区的质心坐标。( 3.1.8 ) Calculate the centroid coordinates of the common coverage area DA and the centroid coordinates of multiple zones with the largest coverage.
第二阶段定位算法具体步骤:The specific steps of the second stage positioning algorithm:
(3.2.1)数据预处理定义,设置迭代次数k;(3.2.1) Data preprocessing definition, set the number of iterations k;
(3.2.2)定位空间信息预处理,将室内空间进行分区,并判断每个区域是直接定位区域还是协作定位区域;(3.2.2) Preprocessing of 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)第一阶段粗定位判断目标节点所处于的分区,目标节点接收周围移动参考点和固定参考点的定位信息,并根据TDOA定位算法进行定位,判断目标节点处于步骤(3.2.2)中的直接定位区域还是协作定位区域;(3.2.3) The first stage of coarse positioning determines the partition where the target node is located. The target node receives the positioning information of the surrounding moving reference points and fixed reference points, and performs positioning according to the TDOA positioning algorithm to determine that the target node is in step (3.2.2. ) in the direct positioning area or the cooperative positioning area;
(3.2.4)经过步骤(3.2.2)的目标节点如果是处于LOS环境满足定位条件的直接定位分区中,则重新基于固定节点的参考信息进行第二阶段定位;否则,不进行第二阶段定位;(3.2.4) If the target node after step (3.2.2) is in the direct positioning partition where the LOS environment meets the positioning conditions, the second stage positioning is performed based on the reference information of the fixed node; otherwise, the second stage is not performed. position;
(3.2.5)目标节点完成定位后,向周围的目标节点和移动参考发送自身的位置及定位信息;(3.2.5) After the target node completes the positioning, it sends its own position and positioning information to the surrounding target nodes and mobile reference;
(3.2.6)对于接收到周围位置更新的移动参考点信息,目标节点有两种选择,若目标节点处于LOS环境,则无需更新;否则,需要重新根据补充的参考信息完成自身位置的定位,并进行步骤(3.2.5);(3.2.6) For the mobile reference point information that has received the surrounding position update, the target node has two options. If the target node is in the LOS environment, it does not need to be updated; And proceed to step (3.2.5);
(3.2.7)若空间中定位的迭代次数大于指定的k或者全局位置信息不再变更,则终止定位。(3.2.7) If the number of iterations of positioning in the space is greater than the specified k or the global position information does not change, the positioning is terminated.
基于改进射线跟踪技术的空间区域判定算法有效性验证:Validity verification of spatial region determination algorithm based on improved ray tracing technology:
固定参考点数量NF=7,CF={F1,F2,F3,F4,F5,F6,F7},固定参考点采用默认蜂窝半径R=100m,各点位置即2.4.1节中的默认坐标。固定参考点发射功率信号强度为23dBm,频率为1.8GHz,最低信号接收强度设为RSSmin=-105dBm。将在N1、N9、N10和N11四个点围成区域(去除N4、N9、N10和N5四点围成区域)分区数目ND=90。采样率PLOS=100%,即每个分区中选取采样点数量NLOS=1,本发明中采样点设为每个分区中心的位置,可以判定视距环境的直接定位分区的最低覆盖率Pmin=100%。The number of fixed reference points NF=7, CF={F1, F2, F3, F4, F5, F6, F7}, the fixed reference point adopts the default honeycomb radius R=100m, and the position of each point is the default coordinate in Section 2.4.1. The transmit power signal strength of the fixed reference point is 23dBm, the frequency is 1.8GHz, and the minimum signal receiving strength is set to RSSmin=-105dBm. The number of partitions ND=90 will be surrounded by four points of N1, N9, N10 and N11 (excluding the area surrounded by four points of N4, N9, N10 and N5). The sampling rate PLOS=100%, that is, the number of sampling points selected in each partition is NLOS=1. In the present invention, the sampling point is set as the position of the center of each partition, and the minimum coverage rate Pmin=100 of the direct positioning partition of the line-of-sight environment can be determined. %.
图2和图3为空间区域判定算法的验证结果,图2表明了每一条路径路径表明了采样点能够接收到的视距径。图2中为每一个区域中判断结果,其中红色圆点表明以其为中心,边长为1m的区域为直接定位分区,蓝色和白色圆点表明其处于协作定位分区。其中蓝色圆点区域表明仅仅补充一个视距径就可以转换为直接定位分区,这部分区域可以通过协作方式提高定位精度,而红点所在区域无需进行协作直接完成定位。Figures 2 and 3 show the verification results of the spatial region determination algorithm. Figure 2 shows that each path indicates the line-of-sight path that the sampling point can receive. Figure 2 shows the judgment results in each area, in which the red dot indicates that the area with a side length of 1m as the center is the direct positioning zone, and the blue and white dots indicate that it is in the cooperative positioning zone. The blue dot area indicates that only one line-of-sight path can be converted into a direct positioning partition. This part of the area can improve the positioning accuracy through cooperation, while the red dot area can directly complete the positioning without cooperation.
协作定位算法误差对比验证:Comparison and verification of cooperative positioning algorithm errors:
采用基于图4的协作定位示意图,固定参考点为F1、F2、F3,固定参考点采用默认蜂窝半径R=100m,各点位置即2.4.1中的默认坐标。目标节点T1和T2且二者之间可以进行信息交互。基于空间分析,将T1设置为处于直接定位分区,T2设置为协作定位分区,且T1和T2所在分区相邻。其中,T1位于中心坐标为(50,50/3,4.2),边长为2m的正方形分区,T2位于中心坐标为(50,50/3-2,4.2),边长为2m的正方形分区,考虑室内人员典型场景,始终保持高度坐标z=4.2m。固定参考点和目标节点图中具有的连接线表示有LOS传播信号,测距误差默认服从均值=0,标准差=的高斯分布。目标节点(移动参考节点)的测距误差默认服从均值为=0,标准差分别为=1的高斯分布。仿真实验为进行10000次随机目标点T1和T2的测量误差的结果。Using the schematic diagram of cooperative positioning based on Fig. 4, the fixed reference points are F1, F2, F3, the fixed reference point adopts the default cellular radius R=100m, and the position of each point is the default coordinate in 2.4.1. The target nodes T1 and T2 can exchange information between them. Based on the spatial analysis, T1 is set to be in the direct positioning partition, T2 is set to the cooperative positioning partition, and the partitions where T1 and T2 are located are adjacent. Among them, T1 is located in a square partition with center coordinates (50, 50/3, 4.2) and a side length of 2m, and T2 is located in a square partition with center coordinates (50, 50/3-2, 4.2) and a side length of 2m, Considering the typical scene of indoor personnel, always keep the height coordinate z=4.2m. The connecting line in the fixed reference point and the target node graph indicates that there is a LOS propagation signal, and the ranging error obeys a Gaussian distribution with mean = 0 and standard deviation = by default. The ranging error of the target node (mobile reference node) follows a Gaussian distribution with mean = 0 and standard deviation = 1 by default. The simulation experiment is the result of 10,000 random target points T1 and T2 measurement errors.
图5表示了固定参考点的测量误差对最终定位结果的影响程度,其中,测量误差Noise变化范围从1至10m。从图5中可以看出,本发明提出的SACP算法受测量误差影响程度相对与传统协作定位CP算法影响程度较小,当Noise=1m时,本发明提出精度较传统协作定位方法RMSE降低了0.4869米,定位精度提升34.6%。本发明提出的SACP算法在传统CP算法基础上,在保证协作区域的目标节点能够完成定位的同时,避免了直接定位区域的目标节点受到位置误差较大的协作区域移动参考点的数据干扰,能够在一定程度上提升定位效果。Figure 5 shows the influence of the measurement error of the fixed reference point on the final positioning result, where the measurement error Noise varies from 1 to 10 m. It can be seen from Fig. 5 that the SACP algorithm proposed by the present invention is less affected by the measurement error than the traditional cooperative positioning CP algorithm. When Noise=1m, the accuracy proposed by the present invention is 0.4869 lower than the traditional cooperative positioning method RMSE meters, the positioning accuracy is improved by 34.6%. Based on the traditional CP algorithm, the SACP algorithm proposed by the present invention not only ensures that the target node in the cooperation area can complete the positioning, but also avoids the target node in the direct positioning area from being interfered by the data of the moving reference point in the cooperation area with a large position error. To a certain extent, the positioning effect is improved.
以上所述仅为本发明的优选实施例而已,并不用于限制本发明,对于本领域的技术人员来说,本发明可以有各种更改和变化。凡在本发明的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.
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