CN109982240B - Wireless positioning base station laying method - Google Patents

Wireless positioning base station laying method Download PDF

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CN109982240B
CN109982240B CN201910181569.5A CN201910181569A CN109982240B CN 109982240 B CN109982240 B CN 109982240B CN 201910181569 A CN201910181569 A CN 201910181569A CN 109982240 B CN109982240 B CN 109982240B
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base station
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points
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CN109982240A (en
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熊会元
杨津铭
金啸
梁倍晔
黄春婷
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Sun Yat Sen University
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
    • H04W16/18—Network planning tools
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
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Abstract

The invention relates to the technical field of wireless communication, in particular to a method for laying wireless positioning base stations, which comprises the following steps: acquiring spatial structure information of a scene needing to provide positioning service, and importing the spatial structure information into a wireless positioning base station layout system; calculating a reverse radiation field, and defining a base station layout area by relying on the reverse radiation field; searching points suitable for arranging the base stations by using a mean shift algorithm to serve as candidate points for arrangement of the newly added base stations, arranging the base stations at the candidate points and calculating the current system score; and displaying the layout result of the wireless positioning base station and outputting a layout point bitmap of the wireless positioning base station. The invention defines the base station arrangement area by relying on the reverse radiation field and applies a multi-layer searching mode to ensure that each newly added positioning base station arrangement point comprehensively considers the coordination and cooperation relationship with the existing base station and gives consideration to the signal quality of a single base station and the cooperation among the base stations, and has the characteristics of flexible number of positioning base stations, strong searching directivity, visual searching process and high searching speed.

Description

Wireless positioning base station laying method
Technical Field
The invention relates to the technical field of wireless communication, in particular to a wireless positioning base station layout method.
Background
Radio Positioning Systems (Radio Positioning Systems) are primarily used for navigation of marine vessels to ensure safe navigation, and have been widely used in various fields with the progress of Positioning technology and the increasing demand for Positioning, and have also driven the development of other scientific technologies. A satellite radio positioning system represented by a GPS global positioning system is a positioning system with the most extensive coverage, and compared with a ground or indoor radio positioning system, the satellite radio positioning system is easily affected by weather or a ground tall building, and positioning cannot be achieved even indoors. Therefore, in future development, when the positioning requirement of an indoor or underground space is increased, a large number of indoor or underground space positioning systems are built, and the reasonability of the base station layout scheme is an important factor influencing the stability of the positioning system.
When the rationality of the base station layout scheme is judged, the main judgment standard is the number of the maximum effective coverage range which can be reached under a certain base station number except the rationality in the construction aspect; but to a high degree of positioning accuracy within the coverage area. For the former, the base station design idea of the cellular network is that circular covering planes with the same radius are used, and the number of used circles is the least when the circle center is positioned at the center of each regular hexagon of the regular hexagon grid; however, the structure of an indoor or underground space is more complicated than the ground, and the influence of obstacles cannot be reduced by increasing the height of a base station transmission point. For the latter, it can be known from the principle of triangulation that a certain location point needs coverage of at least three base stations for accurate positioning. At present, expert scholars at home and abroad often determine base station layout coordinate points for a base station layout algorithm, and then evaluate the coverage area and the positioning accuracy of the base station layout coordinate points, but the environment for realizing the algorithm is mostly based on a simple geometric space, and the adaptability of the algorithm is reduced to a certain extent for a complex space environment.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a wireless positioning base station layout method, which is characterized in that a base station layout area is quickly defined by relying on a reverse radiation field, the coordination and cooperation relationship between a newly-added positioning base station layout point and the existing base stations is comprehensively considered by using a multi-layer search mode, and the method has stronger search directivity and search visibility.
In order to solve the technical problems, the invention adopts the technical scheme that:
a method for laying wireless positioning base stations is provided, which comprises the following steps:
s10, acquiring spatial structure information of a scene needing to provide positioning service, and importing the spatial structure information into a wireless positioning base station distribution system;
s20, calculating a reverse radiation field, and defining a base station layout area by means of the reverse radiation field;
s30, searching a point suitable for arranging the base station as a candidate point for arranging the newly added base station in the reverse radiation field in the step S20 by using a mean shift algorithm, arranging the base station at the candidate point and calculating the current system score; if the system score after the base station is added is higher than the system score before the base station is added, continuing to select candidate points to lay the base station; if the system score after the base station is added is lower than the score before the base station is added, stopping calculation and outputting the layout scheme before the base station is added at this time as the layout scheme of the optimal wireless positioning base station of the system;
and S40, displaying the layout result of the wireless positioning base station and outputting a layout point bitmap of the wireless positioning base station.
The wireless positioning base station layout method of the invention defines the base station layout area by relying on the reverse radiation field and applies a multilayer search mode to ensure that each newly added positioning base station layout point comprehensively considers the coordination and cooperation relationship with the existing base station and considers the signal quality of a single base station and the cooperation among the base stations. The wireless positioning base station arrangement method has the characteristics of flexible positioning base station number, strong search directivity, visual search process and high search speed.
Preferably, in step S10, the scene is divided into an area to be located, an obstacle area, and an out-of-service area to obtain a scene area division map; and dividing the points of the space structure into points to be located, barrier points and service exterior points according to the scene area division diagram and a preset color area mapping rule, and storing the categories of the points by adopting a space point classification matrix. The invention relates to a method for dividing different objects/functions represented by different areas in a space structure into different colors, wherein red is used for representing a road, green is used for representing a wall, blue is used for representing a column, purple is used for representing a parking space, and yellow is a vacant area; and divides the spatial structure into three regions: a point in the region to be positioned is a point to be positioned, and the point to be positioned is a point which is possibly generated when a user needs to use positioning service; a barrier region, such as a wall region represented by green and a pillar region represented by blue in the present invention, points within the region are barrier points; the invention is characterized in that the method comprises the following steps that a service outer area does not block the propagation of a positioning signal, and a point in the service outer area is an outer service point. In the invention, an area with large positioning navigation requirements is used as an area to be positioned, such as a road area; taking an area with small positioning and navigation requirements as an out-of-service area, such as a parking space area; the method can realize lower cost to meet the use of most positioning services when the positioning base station is arranged.
Preferably, in step S20, the backward radiation field is obtained by superimposing sub-backward radiation fields emitted by each sampling point, and the sampling points are obtained by equidistant sampling of points in the region to be positioned. According to the invention, sampling is carried out on the point to be positioned in the area to be positioned by adopting an equidistant sampling mode to obtain sampling points, a reverse radiation field in a space structure is updated from each sampling point instead of carrying out reverse radiation on each point to be positioned, and the calculation amount of a reverse radiation matrix can be reduced. When the reverse radiation field in the space is updated, the radiation intensity contributed by the current sampling point in the space structure is calculated according to the distance from each point in the space structure to the current calculated sampling point and the obstacle information between the two points by combining the marginal signal intensity and the positioning base station coverage number target.
Preferably, step S20 is performed according to the following steps: initial backward radiation intensity of each point in the preface space structure
Figure BDA0001991483750000031
DOT (DOT over time) of each sampling point in to-be-positioned areak(mk,nk) When k is 0,1,2, …, N is calculated as the intensity of the backward radiation, and the intensity of the backward radiation at each point p (x, y) is updated
Figure BDA0001991483750000032
When last sampling point DOTN(mN,nN) After the calculation and update of the backward radiation intensity of the surrounding points p (x, y) are completed, the total backward radiation intensity RI of each point p (x, y) in the space is obtainedp. The calculation of the intensity of the reverse radiation is carried out according to two conditions, and when no base station is arranged, the intensity of the reverse radiation is the first layer of reverse radiation; when the base station is arranged, the radiation is reversely radiated for the second, third and higher layers.
Preferably, when no base station is deployed, the intensity of the reverse radiation of the first layer of reverse radiation is calculated by the following steps:
s21, initializing the reverse radiation intensity of each point p (x, y) in the space structure
Figure BDA0001991483750000033
S22, calculating DOT (DOT over time) of sampling pointsk(mk,nk) Contribution RI of the intensity of the backward radiation at point p (x, y)kp:
Figure BDA0001991483750000034
s.t.
Figure BDA0001991483750000035
Wherein, Tar is the number of non-interference positioning signals of the target to be positioned, CurpThe number of interference-free positioning signals currently received at point p (x, y), dkpIs the DOT of the sampling pointk(mk,nk) Distance from p (x, y); CM (compact message processor)ijType of point (i, j), 1 represents an obstacle;
s23. update the total intensity RI of the reverse radiation at the point p (x, y)pExpressed as:
Figure BDA0001991483750000036
RI for points p (x, y) not satisfying distance, obstacle conditionskp＝0；
In the formula, RIpStoring the intensity of the backward radiation, RI, at a point p (x, y) in spacekpFor the kth sampling point DOT of the area to be positionedk(mk,nk) The intensity of the backward radiation at a point p (x, y) in point space,
Figure BDA0001991483750000037
to account for the total intensity of the backward radiation at one point p (x, y) in space after the backward radiation field of the 1 st, 2 nd, … th sampling point.
Preferably, in step S22, DOT is applied to each sampling pointk(mk,nk) K is 0,1,2, …, N, for DOTk(mk,nk) Is composed ofThe center and side length are 2DcThe point p (x, y) within the square region of (a) is calculated: go through p (x, y), x ∈ [ m ]k-Dc,mk+Dc],y∈[nk-Dc,nk+Dc]If p (x, y) and DOTk(mk,nk) The distance between
Figure BDA0001991483750000041
Go through p (x, y) and DOT againk(mk,nk) Each point (i, j) e { p (x, y) and DOT on the straight line segment betweenkWired }, if CM isijIf No. 1 is always true, the intensity of the backward radiation at the point p (x, y) is updated in accordance with step S22.
Preferably, in step S20, when there are already deployed base stations, the user position is calculated by means of the strength characteristics of the positioning signals, and it is necessary that the greater the difference in the combination of the strength of the positioning signals between different points on the spatial structure, the better. To realize the spatial signal combination differentiation, positioning base stations around the point to be positioned are required to be dispersed in the direction as much as possible. Therefore, in the backward radiation of the second, third and higher layers, the positioning base station which is already arranged in the previous layer is considered, and the direction of the existing base station is avoided in the backward radiation calculation, so that any continuous direction at a to-be-positioned point is avoided
Figure BDA0001991483750000042
D of two or more positioning base stations at the positioning point appears in the direction rangecWithin range, i.e. with base stations already arranged around the sampling point when calculating the intensity of the backward radiation
Figure BDA0001991483750000043
Points p (x, y) in the range of directions are not back-radiated, making RI kp0; specifically, the intensity of the backward radiation is calculated by the following steps:
s24, initializing the reverse radiation intensity of each point p (x, y) in the space structure
Figure BDA0001991483750000044
S25, calculating DOT (DOT over time) of sampling pointsk(mk,nk) Contribution RI of the intensity of the backward radiation at point p (x, y)kp:
Figure BDA0001991483750000045
s.t.
Figure BDA0001991483750000046
Wherein, thetarThe calculation method is as follows:
Figure BDA0001991483750000047
in the formula I1Is point p (x, y) and base station Br(ir,jr) The distance of (d); l2Is point p (x, y) and sample point DOTk(mk,nk) The distance of (d); l3Is a base station Br(ir,jr) And the sampling point DOTk(mk,nk) The distance of (d); thetarIs composed of
Figure BDA0001991483750000048
And
Figure BDA0001991483750000049
the included angle between them;
s26. update the total intensity RI of the backward radiation at the point p (x, y)p：
Figure BDA0001991483750000051
RI for a point p (x, y) that does not satisfy the three conditions of distance, obstacle, and directionkp＝0；
In the formula, RIpStoring the intensity of the backward radiation, RI, at a point p (x, y) in spacekpFor the kth sampling point DOT of the area to be positionedk(mk,nk) Intensity of backward radiation at a point p (x, y) in point spaceThe degree of the magnetic field is measured,
Figure BDA0001991483750000052
to account for the total intensity of the backward radiation at one point p (x, y) in space after the backward radiation field of the 1 st, 2 nd, … th sampling point.
Preferably, in step S30, the mean shift algorithm includes:
detecting the radiation intensity of each point in the circle by using a circular probe, wherein the probe moves towards a place with high radiation intensity;
assuming that a total of M probes are provided, for the kth (k ═ 1, 2.... M) probe probkThe probe center coordinate is (prob _ x)k,prob_yk) The probe is covered with (x)i,yi) N points ( i 1, 2.... N) are assigned to each point (x)i,yi) Has a reverse radiation intensity of RIiThen, the probe center coordinates are updated as follows:
Figure BDA0001991483750000053
if the center coordinate after the end of the secondary drift is the same as the center coordinate after the end of the primary drift (prob _ x)k (n+1),prob_yk (n+1))＝(prob_xk (n),prob_yk (n)) If so, ending the drift of the probe and marking the position of the probe as 0; when all the probe positions are 0, the whole mean shift process is ended.
Preferably, the method for finding the candidate point includes the following steps:
s31, counting the sum of the reverse radiation intensity of points surrounded by each probe after the drift of each probe is finished;
s32, clustering the probe centers after drift convergence into a probe group;
s33, carrying out weighted average on the center coordinates of the probes in the group according to the reverse radiation intensity of each probe in the probe group in the step S32, and calculating the center coordinates of each probe group;
and S34, sequencing the sum of the reverse radiation intensities of the probe family groups in a descending order, and taking the central coordinates of the first 3 probe family groups as candidate points of the newly-added base station.
Preferably, in step S30, the system score is calculated by:
s35, calculating DOT of each sampling point in the region to be positionedk(mk,nk) K is 0,1,2, …, the number of interference-free positioning signals that can be received at N;
s36, respectively counting the proportion of the number of sampling points capable of receiving different interference-free signal books to the total number of sampling points of the area to be positioned;
s37, calculating the system score according to the following formula:
Score＝w1x1+w2x2+w3x3+…+wn-1xn-1+wnxn
in the formula, xnThe ratio of the area of the positioning area which can receive n non-interference positioning signals to the area of the area to be positioned, wnA scoring coefficient corresponding to the area ratio of the positioning area of n interference-free positioning signals which can be received, wherein n represents that n interference-free positioning signals which are more than or equal to n can be received;
wherein the score coefficient wnCalculated as follows:
wn＝Fn×In-C×En
in the formula, C is a base station price coefficient; enTo locate the system cost factor, FnIs a positioning effect factor; i isnIs an interference reduction factor.
Compared with the prior art, the invention has the beneficial effects that:
the invention relies on the reverse radiation field to quickly define the base station layout area, and applies a multilayer search mode to ensure that each newly added positioning base station layout point comprehensively considers the coordination and cooperation relationship with the existing base station, considers the signal quality of a single base station and the cooperation among the base stations, realizes the scientific selection of the positioning base station layout points, and maximizes the positioning precision while ensuring the economy; the invention has the advantages of flexible number of positioning base stations, strong searching directivity, considerable searching process and high searching speed.
Drawings
FIG. 1 is a flow chart of a method for deploying a wireless positioning base station;
FIG. 2 is a plan view of a base station layout scenario of the wireless positioning base station layout method;
FIG. 3 is a functional division diagram of a base station layout scenario of a wireless positioning base station layout method;
FIG. 4 is a schematic diagram of mean shift optimization for a wireless positioning base station deployment method;
FIG. 5 is a diagram illustrating the relationship between signal strength and marginal signal strength;
FIG. 6 is a schematic illustration of the positioning of two non-interfering positioning signals and an auxiliary positioning signal;
FIG. 7 is a schematic representation of a first layer of a counter-radiation field;
FIG. 8 is θrA relation graph of the positions of the sampling points, the base station and one point in space;
FIG. 9 is a schematic view of the first, second and third layers being counter-radiated;
FIG. 10 is a schematic representation of a third layer of counter-radiated field;
FIG. 11 is a diagram illustrating a mean shift process according to an embodiment;
fig. 12 is a diagram illustrating the effect of the base station arrangement in the method for arranging the wireless positioning base stations.
Detailed Description
The present invention will be further described with reference to the following embodiments. Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
Example one
Fig. 1 to fig. 12 show an embodiment of a method for laying a wireless positioning base station according to the present invention, which includes the following steps:
s10, acquiring spatial structure information of a scene needing to provide positioning service, and importing the spatial structure information into a wireless positioning base station distribution system;
s20, calculating a reverse radiation field, and defining a base station layout area by means of the reverse radiation field;
s30, searching a point suitable for arranging the base station as a candidate point for arranging the newly added base station in the reverse radiation field in the step S20 by using a mean shift algorithm, arranging the base station at the candidate point and calculating the current system score; if the system score after the base station is added is higher than the system score before the base station is added, continuing to select candidate points to lay the base station; if the system score after the base station is added is lower than the score before the base station is added, stopping calculation and outputting the layout scheme before the base station is added at this time as the layout scheme of the optimal wireless positioning base station of the system;
and S40, displaying the layout result of the wireless positioning base station and outputting a layout point bitmap of the wireless positioning base station.
In the implementation of the embodiment, the base station arrangement area is defined by relying on the reverse radiation field, and a multi-layer search mode is applied, so that each newly added positioning base station arrangement point comprehensively considers the coordination and cooperation relationship with the existing positioning base station, and the signal quality of a single base station and the cooperation among the base stations are considered. Even in a complex space environment, the method has good adaptability to a single positioning point or a plurality of track points, and improves the application degree of the radio positioning system in indoor and underground spaces.
In step S10, the geometric information of the scene that needs to provide the positioning service is shown in a plan view, as shown in fig. 2. The different objects/functions represented by the different areas in the space are divided by different colors, as shown in fig. 3, wherein red is used to represent the road area, green is used to represent the wall area, blue is used to represent the pillar area, purple is used to represent the parking space area, and yellow is used as the spare area. The scene space of the positioning service is divided into three areas: the first is a region to be positioned, and points in the region are called as points to be positioned, namely the points to be positioned are points which may appear when a user needs to use a positioning service; the second is an obstacle area such as a wall area represented by green and a pillar area represented by blue in the example; the third is an out-of-service area, which does not block the propagation of the positioning signals. The area (such as a road area) with large positioning and navigation service requirements is used as an area to be positioned, the area (such as a parking space area) with small positioning and navigation service requirements is divided into areas, and then the use of most positioning services can be met with low cost.
According to the scene area division diagram, as shown in fig. 4, points on the space are divided into three types, namely points to be located, obstacle points and points outside the service, according to a preset color area mapping rule, and the categories of the points are stored by using a space point classification matrix CM. The RGB tensor of the region-dividing map is IMG (X × Y × 3), where (X, Y) is the resolution of the plane map, and in this embodiment, X is 482 and Y is 505. CM is calculated as follows:
appointing the areas of different types to correspond to (R, G, B) in the area map as follows:
(R, G, B) std _ color _1 ═ 255,0,0)
(R, G, B) barrier region std _ color _2 ═ 0,0,0)
(iii) out-of-service area (R, G, B) std _ color _3 ═ 255,255
If IMG[i][j]＝＝std_color_1：
CMij＝0
If IMG[i][j]＝＝std_color_2：
CMij＝1
If IMG[i][j]＝＝std_color_3：
CMij＝2
In step S20, the backward radiation field is obtained by superimposing sub-backward radiation fields emitted by each sampling point, and the sampling points are obtained by equidistant sampling of points in the region to be positioned; sending out the data from each point to be positioned obtained by sampling, and updating a reverse radiation field in the space; namely, according to the distance from each point in the space to the currently calculated sampling point and the obstacle information between the two points, the radiation intensity contributed by the point in the space of the current sampling point is calculated by combining the marginal signal intensity and the base station coverage number target. The method comprises the following specific steps:
(1) establishing a physical model
The electromagnetic wave signal strength formula in the space structure is expressed as:
FSPL＝-20log10(d)-20log10(d)+27.55
in the formula, FSPL is the electromagnetic wave signal intensity in a space structure, and the unit is dB; d is the distance from the point to be located to the signal source, and the unit is km; f is the signal frequency in GHz;
the marginal signal strength is the derivative of the signal strength with respect to the distance d, characterizing the rate of change of the signal strength with respect to the distance:
Figure BDA0001991483750000081
in the formula, the larger the marginal signal intensity is, the more significant the change in signal intensity caused by the change in unit distance is, and the higher the distance resolution of the signal intensity is. From hormone reduction of marginal signal intensity to distance, it can be seen that when the distance between the signal receiving end and the transmitting end is too long, the distance changes by 1m, theoretically, the change of the signal intensity which can be received by the receiving end is very small, and then the instability of the signal caused by noise interference of the positioning signal is considered. When the distance is too far away, the confidence level of the distance information included in the signal strength also drops sharply, as shown in fig. 5. Therefore, wireless positioning based on signal strength has a limitation on the effective positioning range, which is DCTo indicate.
(2) Wireless positioning requirement for number of positioning signals
According to the spatial structure electromagnetic wave signal intensity formula, the signal intensity of the electromagnetic wave includes information of the distance between the signal receiving point and the signal transmitting point. Theoretically, by using a triangulation method, the position search range can be narrowed down to two points by two non-interfering positioning signals, and then the actual position can be determined in the two points by using other positioning signals which may have interference, so as to achieve accurate positioning, as shown in fig. 6. The non-interference positioning signal is that the point to be positioned is in the effective positioning range of the signal source, no obstacle exists between the signal source and the point to be positioned, and under an ideal condition, no other signal interference exists. In practice, the actual positioning accuracy cannot reach 100% accuracy in consideration of the multipath effect of the positioning signal and the influence of environmental noise, but it can be concluded from the above analysis that it is necessary to ensure that the to-be-positioned point can receive two non-interference positioning signals in order to ensure the positioning accuracy. Therefore, Tar is 2 as the target number of the interference-free positioning signals that can be received by each to-be-positioned point.
If the number of the interference-free positioning signals received at the to-be-positioned point is less than Tar, the positioning precision cannot be met; the number of interference-free signals which can be received by the to-be-positioned point is larger than Tar, so that the system construction cost is possibly higher, and the economical efficiency is reduced. Therefore, the number of the interference-free positioning signals received by the point to be positioned should be ensured to be Tar as much as possible.
(3) The reverse radiation field is obtained by superposing sub-reverse radiation fields emitted by each sampling point, and the sampling points are obtained by sampling points in the region to be positioned in an equidistant manner; specifically, the initial backward radiation intensity of each point in the spatial structure is ordered
Figure BDA0001991483750000091
DOT (DOT over time) of each sampling point in to-be-positioned areak(mk,nk) When k is 0,1,2, …, N is calculated as the intensity of the backward radiation, and the intensity of the backward radiation at each point p (x, y) is updated
Figure BDA0001991483750000092
When last sampling point DOTN(mN,nN) After the calculation and update of the backward radiation intensity of the surrounding points p (x, y) are completed, the total backward radiation intensity RI of each point p (x, y) in the space is obtainedp. The calculation of the intensity of the reverse radiation is carried out according to two conditions, and when no base station is arranged, the intensity of the reverse radiation is the first layer of reverse radiation; when the base station is arranged, the radiation is reversely radiated for the second, third and higher layers.
When no base station is arranged, the intensity of the reverse radiation of the first layer of reverse radiation is calculated according to the following steps:
s21, reversing the direction of each point p (x, y) in the space structureRadiation intensity initialization
Figure BDA0001991483750000093
S22, calculating DOT (DOT over time) of sampling pointsk(mk,nk) Contribution RI of the intensity of the backward radiation at point p (x, y)kp:
Figure BDA0001991483750000101
s.t.
Figure BDA0001991483750000102
Wherein, Tar is the number of non-interference positioning signals of the target to be positioned, CurpThe number of interference-free positioning signals currently received at point p (x, y), dkpIs the DOT of the sampling pointk(mk，nk) Distance from p (x, y); CM (compact message processor)ijType of point (i, j), 1 represents an obstacle;
s23. update the total intensity RI of the reverse radiation at the point p (x, y)pExpressed as:
Figure BDA0001991483750000103
RI for points p (x, y) not satisfying distance, obstacle conditionskp＝0；
In the formula, RIpStoring the intensity of the backward radiation, RI, at a point p (x, y) in spacekpFor the kth sampling point DOT of the area to be positionedk(mk，nk) The intensity of the backward radiation at a point p (x, y) in point space,
Figure BDA0001991483750000104
to take into account the total intensity of the backward radiation at one point p (x, y) in space after the backward radiation field of the 1 st, 2.
In step S22, DOT is calculated for each sample point in order to reduce the amount of calculationk(mk，nk) K is 0,1,2,.., N, for DOTk(mk，nk) As a center, with a side length of 2DcThe point p (x, y) within the square region of (a) is calculated: go through p (x, y), x ∈ [ m ]k-Dc，mk+Dc]，y∈[nk-Dc，nk+Dc]If p (x, y) and DOTk(mk，nk) The distance between
Figure BDA0001991483750000105
Go through p (x, y) and DOT againk(mk，nk) Each point (i, j) e { p (x, y) and DOT on the straight line segment betweenkWired }, if CM isijIf No. 1 is always true, the intensity of the backward radiation at the point p (x, y) is updated in accordance with step S22.
Fig. 7 is a schematic diagram of the first layer of the counter-radiation field.
In step S20, when there is a deployed base station, the user position is calculated by using the strength characteristics of the positioning signals, and it is better to have the larger the difference in the combination of the positioning signal strengths between different points in space. To realize the spatial signal combination differentiation, positioning base stations around the point to be positioned are required to be dispersed in the direction as much as possible. Taking the simplest triangulation location method as an example, if two of the three base stations are too close to each other, it is equivalent to only two effective base stations, and location cannot be achieved.
Therefore, in the backward radiation of the second, third and higher layers, the positioning base station already laid in the previous layer should be considered, and the direction of the existing base station is avoided in the backward radiation calculation.
For DOTk(mk，nk) Calculating the surrounding point p (x, y) satisfying two conditions of distance and barrier-free shielding
Figure BDA0001991483750000106
And
Figure BDA0001991483750000107
angle theta therebetweenrIf all θ's are as in FIG. 8rAre all less than
Figure BDA0001991483750000108
Then proceed k sampling points DOT according to equation (3)k(mk，nk) Intensity of radiation in the reverse direction RI at p (x, y) pointkpAnd calculating RIkpTotal intensity of backward radiation added to p (x, y) spot
Figure BDA0001991483750000111
To obtain
Figure BDA0001991483750000112
The calculation method is as follows:
avoiding arbitrary succession at a point to be located
Figure BDA0001991483750000113
D of two or more positioning base stations at the positioning point appears in the direction rangecWithin a distance. That is, when calculating the intensity of the backward radiation in step S22, the base stations are already arranged around the sampling point
Figure BDA0001991483750000114
Points p (x, y) in the range of directions are not back-radiated, i.e. RI is givenkp0, as shown in fig. 9 and 10, the method includes the following steps:
s24, initializing the reverse radiation intensity of each point p (x, y) in the space structure
Figure BDA0001991483750000115
S25, calculating DOT (DOT over time) of sampling pointsk(mk，nk) Contribution RI of the intensity of the backward radiation at point p (x, y)kp：
Figure BDA0001991483750000116
s.t.
Figure BDA0001991483750000117
Wherein, thetarThe calculation method is as follows:
Figure BDA0001991483750000118
in the formula I1Is point p (x, y) and base station Br(ir，jr) The distance of (d); l2Is point p (x, y) and sample point DOTk(mk，nk) The distance of (d); l3Is a base station Br(ir，jr) And the sampling point DOTk(mk，nk) The distance of (d); thetarIs composed of
Figure BDA0001991483750000119
And
Figure BDA00019914837500001110
the included angle between them;
s26. update the total intensity RI of the backward radiation at the point p (x, y)p：
Figure BDA00019914837500001111
RI for a point p (x, y) that does not satisfy the three conditions of distance, obstacle, and directionkp＝0；
In the formula, RIpStoring the intensity of the backward radiation, RI, at a point p (x, y) in spacekpFor the kth sampling point DOT of the area to be positionedk(mk，nk) The intensity of the backward radiation at a point p (x, y) in point space,
Figure BDA00019914837500001112
to take into account the total intensity of the backward radiation at one point p (x, y) in space after the backward radiation field of the 1 st, 2.
As shown in fig. 10, the third layer of counter-radiation field.
In step S30, the mean shift algorithm includes:
detecting the radiation intensity of each point in the circle by using a circular probe, wherein the probe moves towards a place with high radiation intensity;
assuming that a total of M probes are provided, for the kth (k ═ 1, 2.... M) probe probkThe probe center coordinate is (prob _ x)k，prob_yk) The probe is covered with (x)i，yi) N points ( i 1, 2.... N) are assigned to each point (x)i，yi) Has a reverse radiation intensity of RIiThen, the probe center coordinates are updated as follows:
Figure BDA0001991483750000121
if the center coordinate after the end of the secondary drift is the same as the center coordinate after the end of the primary drift (prob _ x)k (n+1)，prob_yk (n+1))＝(prob_xk (n)，prob_yk (n)) If so, ending the drift of the probe and marking the position of the probe as 0; when the positions of all the probes are 0, ending the whole mean shift process; as shown in fig. 11.
The operation step of searching the current optimal 3 candidate base station layout points by using the mean shift result is as follows:
s31, counting the sum of the reverse radiation intensity of points surrounded by each probe after the drift of each probe is finished;
s32, clustering the probe centers after drift convergence into a probe group;
s33, carrying out weighted average on the center coordinates of the probes in the group according to the reverse radiation intensity of each probe in the probe group in the step S32, and calculating the center coordinates of each probe group;
and S34, sequencing the sum of the reverse radiation intensities of the probe family groups in a descending order, and taking the central coordinates of the first 3 probe family groups as candidate points of the newly-added base station.
In step S31, after the kth probe drift is completed, the probe surrounds N points (x)i，yi) ( i 1, 2.... N), the sum of the intensity RI of the backward radiation at the point surrounded by the probe is
Figure BDA0001991483750000122
In step S32, an unclassified probe is selected, the distances between the center of the unclassified probe and the centers of the classified probes are sequentially calculated, and the unclassified probe is classified into a probe group to which the classified probe having a distance less than or equal to γ belongs. If the unclassified probe is simultaneously separated from the probe centers of two or more populations by a distance less than or equal to γ, the two or more populations are combined into one group, and the unclassified probe is classified into the combined population.
In step 533, after the probes are clustered, there are W probe groups, and if the j (j ═ 1, 2.... W) probe group includes n probes, the center coordinate (clan _ x) of the probe group is assumed to be the center coordinate (clan _ x)c，clan_yc) Comprises the following steps:
Figure BDA0001991483750000131
in step S34, the jth probe group includes n (k ═ 1, 2.... n) probes probkSum of RI thereof sumRI _ ClanjComprises the following steps:
Figure BDA0001991483750000132
and (4) sequencing the sum of the reverse radiation intensities RI of all the probe groups in a descending order, taking the center coordinates of the front h probe groups as candidate base station layout points.
In step S30, the system score is calculated by the following steps:
s35, calculating DOT of each sampling point in the region to be positionedk(mk，nk) N is the number of interference-free positioning signals capable of being received; transmitting base station and DOT (direction of arrival) with non-interference positioning signal as positioning signalk(mk，nk) At a positioning effective distance DcInternal, DOTk(mk，nk) And the base stationIs not a signal of an obstacle;
for each sampling point DOTk(mk，nk) Calculating the sum of the current position location base station and each currently arranged position location base station Br(ir，jr)，r＝0，1，2，...，NB(wherein N isBThe number of positioning base stations which are already currently deployed), if the distance is not the same as the current distance
Figure BDA0001991483750000133
Traversing base station Br(ir，jr) And the sampling point DOTk(mk，nk) Every point p (x, y) on the straight line segment in between, the region type CM of p (x, y) is examinedxyIf all points p (x, y) on the straight line segment are not obstacles, the base station B is consideredr(ir，jr) At sampling point DOTk(mk，nk) Where the signal provided is a non-interfering signal, the sampling point DOTk(mk，nk) The number of received interference-free signals is increased by 1.
S36, respectively counting the proportion of the number of sampling points capable of receiving different interference-free signal books to the total number of sampling points of the area to be positioned; wherein, the areas capable of receiving 6 or more than 6 non-interference positioning signals are classified into one type, as shown in table 1:
TABLE 1 schematic representation of area ratio corresponding to number of positioning signals
Number of non-interfering signals N 0 1 2 3 4 5 ≥6 Sum of
Number of sampling points F 0 10 60 20 8 2 0 100
Area ratio xn 0 0.1 0.6 0.2 0.08 0.02 0 1
S37, the number of the interference-free positioning signals which can be received on the to-be-positioned point is related to the positioning precision and reliability, and meanwhile, the economical efficiency of the positioning system can also be reflected. When the interference between different positioning signals is small, the more the number of interference-free positioning signals which can be received at a point is, the more accurate and reliable the positioning at the point is. But if the number of location signals at one point is too large,the interference between the positioning signals is greatly intensified, and the positioning precision is also reduced. In addition, the number of non-interference positioning signals that can be received at one point is too large, which means that the redundancy of the positioning system is too large, or the distribution of the positioning base stations is uneven, which may increase the cost of the system and reduce the economy of the positioning system. According to the system score formula and the area ratio x calculated in the step bnAnd calculating the score of the current base station layout:
Score＝wlx1+w2x2+w3x3+...+wn-1xn-1+wnxn
in the formula, xnThe ratio of the area of the positioning area which can receive n non-interference positioning signals to the area of the area to be positioned, wnA scoring coefficient corresponding to the area ratio of the positioning area of n interference-free positioning signals which can be received, wherein n represents that more than or equal to n interference-free positioning signals can be received, and n is 6 represents that more than or equal to 6 interference-free positioning signals can be received;
wherein the score coefficient wnCalculated as follows:
wn＝Fn×In-C×En
in the formula, C is a base station price coefficient; enTo locate the system cost factor, FnIs a positioning effect factor; i isnIs an interference reduction factor.
In step S40, the candidate point coordinates are stored in an Excel file, and the base station layout position and the coverage of the area to be located are visualized, as shown in fig. 12.
Example two
In this embodiment, the method described in the first embodiment is used to calculate the system scores of the four wireless positioning manners of WiFi, bluetooth, UWB, and RFID. The system construction cost factors, the positioning effect factors and the interference reduction factors corresponding to the areas where the four wireless positioning systems of WiFi, Bluetooth, UWB and RFID receive different numbers of interference-free signals are shown in table 2, and the base station price coefficients of the four wireless positioning systems of WiFi, Bluetooth, UWB and RFID are shown in table 3.
TABLE 2 scoring factor value-taking table for different positioning signal numbers
N 0 1 2 3 4 5 6
F n 0 0.3 0.6 0.75 0.8 0.85 0.9
In 1 1 1 0.96 0.81 0.68 0.35
E n 0 0.05 0.1 0.15 0.2 0.25 0.3
TABLE 3 base station cost coefficients for four positioning modes
Positioning mode Equipment market unit price Base station price coefficient C
WIFI 150 1
Bluetooth 50 1/3
UWB 750 5
RFID 10 1/15
The method in the first embodiment is adopted to calculate the corresponding score coefficients under the four wireless positioning methods of WiFi, bluetooth, UWB and RFID, as shown in table 4:
table 4 table of scoring coefficients under four wireless positioning methods
wn w0 w1 w2 w3 w4 w5 w6
WIFI 0 0.25 0.5 0.57 0.448 0.328 0.015
Bluetooth 0 0.28 0.46 0.67 0.58 0.64 0.215
UWB 0 0.05 0.1 -0.03 -0.352 -0.672 -1.185
RFID 0 0.29 0.59 0.71 0.63 0.56 0.295
Comparing the system score after the newly added base station with the score after the last base station layout, if the score of the current time is higher than the score of the last time, entering the next layer of calculation, and continuously trying to increase the positioning base station; and if the score of the current time is lower than the score of the last time, stopping continuous calculation, and outputting the base station layout scheme of the last time as an optimal scheme.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (10)

1. A method for laying wireless positioning base stations is characterized by comprising the following steps:
s10, acquiring spatial structure information of a scene needing to provide positioning service, and importing the spatial structure information into a wireless positioning base station distribution system;
s20, calculating a reverse radiation field, and defining a base station layout area by means of the reverse radiation field;
s30, searching a point suitable for arranging the base station as a candidate point for arranging the newly added base station in the reverse radiation field in the step S20 by using a mean shift algorithm, arranging the base station at the candidate point and calculating the current system score; if the system score after the base station is added is higher than the system score before the base station is added, continuing to select candidate points to lay the base station; if the system score after the base station is added is lower than the score before the base station is added, stopping calculation and outputting the layout scheme before the base station is added at this time as the layout scheme of the optimal wireless positioning base station of the system;
and S40, displaying the layout result of the wireless positioning base station and outputting a layout point bitmap of the wireless positioning base station.
2. The method for arranging wireless positioning base stations according to claim 1, wherein in step S10, the scene is divided into an area to be positioned, an obstacle area and an out-of-service area to obtain a scene area division map; and dividing the points of the space structure into points to be located, barrier points and service exterior points according to the scene area division diagram and a preset color area mapping rule, and storing the categories of the points by adopting a space point classification matrix.
3. The method as claimed in claim 2, wherein in step S20, the backward radiation field is obtained by superimposing sub-backward radiation fields emitted from each sampling point, and the sampling points are obtained by equidistant sampling for points in the area to be positioned.
4. The method for deploying wireless positioning base stations as claimed in claim 3, wherein the step S20 is performed according to the following steps: initial backward radiation intensity of each point in the preface space structure
Figure FDA0002438749290000011
DOT (DOT over time) of each sampling point in to-be-positioned areak(mk,nk) When k is 0,1,2, …, N is calculated as the intensity of the backward radiation, and the intensity of the backward radiation at each point p (x, y) is updated
Figure FDA0002438749290000012
When last sampling point DOTN(mN,nN) After the calculation and update of the backward radiation intensity of the surrounding points p (x, y) are completed, the total backward radiation intensity RI of each point p (x, y) in the space is obtainedp。
5. The method as claimed in claim 4, wherein in step S20, when there is no deployed base station, the intensity of the first layer of reverse radiation is calculated by the following steps:
s21, initializing the reverse radiation intensity of each point p (x, y) in the space structure
Figure FDA0002438749290000013
S22, calculating DOT (DOT over time) of sampling pointsk(mk,nk) Contribution RI of the intensity of the backward radiation at point p (x, y)kp:
Figure FDA0002438749290000014
Figure FDA0002438749290000021
FSPL is the space path loss of electromagnetic waves, Tar is the number of non-interference positioning signals of a target to be positioned, and CurpThe number of interference-free positioning signals currently received at point p (x, y), dkpIs the DOT of the sampling pointk(mk,nk) Distance from p (x, y); dcCalculating adjustable parameters for back radiation, CMijType of point (i, j), 1 represents an obstacle;
s23. update the total intensity RI of the reverse radiation at the point p (x, y)pExpressed as:
Figure FDA0002438749290000022
RI for points p (x, y) not satisfying distance, obstacle conditionskp＝0；
In the formula, RIpStoring the intensity of the backward radiation, RI, at a point p (x, y) in spacekpFor the kth sampling point DOT of the area to be positionedk(mk,nk) The intensity of the backward radiation at a point p (x, y) in point space,
Figure FDA0002438749290000023
to account for the total intensity of the backward radiation at one point p (x, y) in space after the backward radiation field of the 1 st, 2 nd, … th sampling point.
6. The method as claimed in claim 5, wherein in step S22, DOT is performed for each sampling pointk(mk,nk) K is 0,1,2, …, N, for DOTk(mk,nk) As a center, with a side length of 2DcThe point p (x, y) within the square region of (a) is calculated: go through p (x, y), x ∈ [ m ]k-Dc,mk+Dc],y∈[nk-Dc,nk+Dc]If p (x, y) and DOTk(mk,nk) The distance between
Figure FDA0002438749290000024
Go through p (x, y) and DOT againk(mk,nk) Each point (i, j) e { p (x, y) and DOT on the straight line segment betweenkWired }, if CM isijIf No. 1 is always true, the intensity of the backward radiation at the point p (x, y) is updated in accordance with step S22.
7. The method as claimed in claim 5, wherein in step S20, when there is a deployed base station, the intensity of the backward radiation is calculated by the following steps:
s24, initializing the reverse radiation intensity of each point p (x, y) in the space structure
Figure FDA0002438749290000025
S25, calculating DOT (DOT over time) of sampling pointsk(mk,nk) Contribution RI of the intensity of the backward radiation at point p (x, y)kp:
Figure FDA0002438749290000026
s.t.
Figure FDA0002438749290000027
Wherein, thetarThe calculation method is as follows:
Figure FDA0002438749290000031
in the formula I1Is point p (x, y) and base station Br(ir,jr) The distance of (d); l2＝dkpIs point p (x, y) and sample point DOTk(mk,nk) The distance of (d); l3Is a base station Br(ir,jr) And the sampling point DOTk(mk,nk) The distance of (d); thetarIs composed of
Figure FDA0002438749290000032
And
Figure FDA0002438749290000033
the included angle between them;
s26. update the total intensity RI of the backward radiation at the point p (x, y)p：
Figure FDA0002438749290000034
RI for a point p (x, y) that does not satisfy the three conditions of distance, obstacle, and directionkp＝0；
In the formula, RIpStoring the intensity of the backward radiation, RI, at a point p (x, y) in spacekpFor the kth sampling point DOT of the area to be positionedk(mk,nk) The intensity of the backward radiation at a point p (x, y) in point space,
Figure FDA0002438749290000035
to account for the total intensity of the backward radiation at one point p (x, y) in space after the backward radiation field of the 1 st, 2 nd, … th sampling point.
8. The method as claimed in claim 1, wherein in step S30, the mean shift algorithm comprises:
detecting the radiation intensity of each point in the circle by using a circular probe, wherein the probe moves towards a place with high radiation intensity;
assuming that a total of M probes are provided, for the kth (k ═ 1, 2.... M) probe probkThe probe center coordinate is (prob _ x)k,prob_yk) The probe is covered with (x)i,yi) N points (i 1, 2.... N) are assigned to each point (x)i,yi) Has a reverse radiation intensity of RIiThen, the probe center coordinates are updated as follows:
Figure FDA0002438749290000036
if the center coordinate after the end of the secondary drift is the same as the center coordinate after the end of the primary drift (prob _ x)k (n+1),prob_yk (n+1))＝(prob_xk (n),prob_yk (n)) If so, ending the drift of the probe and marking the position of the probe as 0; when all the probe positions are 0, the whole mean shift process is ended.
9. The method as claimed in claim 8, wherein the step S30 is implemented by the method for searching candidate points comprising the steps of:
s31, counting the sum of the reverse radiation intensity of points surrounded by each probe after the drift of each probe is finished;
s32, clustering the probe centers after drift convergence into a probe group;
s33, carrying out weighted average on the center coordinates of the probes in the group according to the reverse radiation intensity of each probe in the probe group in the step S32, and calculating the center coordinates of each probe group;
and S34, sequencing the sum of the reverse radiation intensities of the probe population in a descending order, and taking the first 3 as candidate points of the newly added base station.
10. The method of any of claims 1 to 9, wherein in step S30, the system score is calculated by:
s35, calculating DOT of each sampling point in the region to be positionedk(mk,nk) K is 0,1,2, …, the number of interference-free positioning signals that can be received at N;
s36, respectively counting the proportion of the number of sampling points capable of receiving different interference-free signal books to the total number of sampling points of the area to be positioned;
s37, calculating the system score according to the following formula:
Score＝w1x1+w2x2+w3x3+…+wn-1xn-1+wnxn
in the formula, xnThe ratio of the area of the positioning area which can receive n non-interference positioning signals to the area of the area to be positioned, wnA scoring coefficient corresponding to the area ratio of the positioning area of n interference-free positioning signals which can be received, wherein n represents that n interference-free positioning signals which are more than or equal to n can be received;
wherein the score coefficient wnCalculated as follows:
wn＝Fn×In-C×En
wherein C is the base station price coefficient, EnTo locate the system cost factor, FnIs a positioning effect factor; i isnIs an interference reduction factor.
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