CN110012537A - A kind of mass center constraint indoor orientation method based on AP quadrangle networking - Google Patents
A kind of mass center constraint indoor orientation method based on AP quadrangle networking Download PDFInfo
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- CN110012537A CN110012537A CN201910274593.3A CN201910274593A CN110012537A CN 110012537 A CN110012537 A CN 110012537A CN 201910274593 A CN201910274593 A CN 201910274593A CN 110012537 A CN110012537 A CN 110012537A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/08—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/30—Monitoring; Testing of propagation channels
- H04B17/309—Measuring or estimating channel quality parameters
- H04B17/318—Received signal strength
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
Abstract
The invention discloses a kind of, and the mass center based on AP quadrangle networking constrains indoor orientation method.Firstly, disposing AP known to several positions in test zone and being combined, acquisition merges quadrangle mass center in the extraction set comprising the initial quadrangle collection of test zone and obtains initial quadrangle mass center set；Secondly, the received signal strength from AP is acquired at point to be determined, the coordinate according to a preliminary estimate that point to be determined is calculated in conjunction with propagation model formula and trilateration positioning mode coordinate and extracts all quadrangles comprising point to be determined using interior angle and method according to a preliminary estimate based on this to obtain object quadrangle set and its mass center set；Finally, calculating the average center-of-mass coordinate of object quadrangle mass center set and it being obtained the final estimated coordinates of point to be determined with coordinate Weighted Fusion according to a preliminary estimate.Geometrical constraint of this patent based on object quadrangle set in test zone proposes a kind of mass center constraint indoor orientation method based on AP quadrangle networking, enhances positioning system stability and realize low overhead indoor positioning.
Description
Technical field
The invention belongs to indoor positioning technologies, and in particular to a kind of mass center constraint indoor positioning based on AP quadrangle networking
Method.
Background technique
The information age of high speed development in internet, using intelligent portable equipment, wireless user can be whenever and wherever possible
It is convenient to enjoy internet bring.Therefore, need of the people to indoor location service (LBS, Location-based Service)
What is asked is not also in the trend that increases substantially.However, being not easy sustainedly and stably to capture global positioning system indoors under environment
The satellite-signal of (GPS, lobal Positioning System), so outdoor common GPS is difficult to meet most interior LBS
Requirement to positioning accuracy.At the same time, bluetooth, infrared (IR, InfraredRay), ZigBee, ultra wide band (UWB,
UltraWide Band) etc. positioning systems usually require to increase additional infrastructure so that its application range is greatly limited
System.In comparison, Wi-Fi network has wide coverage, lower deployment cost low and is not necessarily to the advantages such as special hardware equipment, then
Wi-Fi positioning based on received signal strength (RSS, Received Signal Strength) has been increasingly becoming indoor positioning
The mainstream of technology.
Wi-Fi localization method is roughly divided into propagation model method and location fingerprint method.The former passes through Wi-Fi signal propagation model
Propagation distance and the mathematical relationship of RSS are established, then according to the position known Wi-Fi access point (AP, Access Point),
Point to be determined position is estimated using the geometry locations such as trilateration algorithm, but this method is difficult to build under complex indoor environment
Accurate Wi-Fi signal propagation model is found, to influence positioning accuracy.The latter then mainly includes offline and online two stages,
Off-line phase by several reference points (RP, Reference Point) for demarcating in advance of acquisition from different AP's
RSS constructs location fingerprint database；Then freshly harvested RSS is matched with location fingerprint database in on-line stage,
To obtain the estimated location of target.
However as on researcher indoors positioning field further investigation and people it is fixed to interior in real life
Position service increasing demand, existing many indoor positioning algorithms expense is huge and realize it is more complex etc. due to
It is not able to satisfy the requirement of indoor positioning development.In response to this problem, the invention proposes a kind of matter based on AP quadrangle networking
The heart constrains indoor orientation method, by acquiring and being calculated object quadrangle mass center set, to obtain in geometrical constraint item
The final estimated coordinates in point to be determined under part, this approach enhance positioning system stability and realize low overhead indoor positioning.
Summary of the invention
The mass center that the object of the present invention is to provide a kind of based on AP quadrangle networking constrains indoor orientation method, it by
The center-of-mass coordinate average value of test zone Weighted Fusion object quadrangle set and point to be determined according to a preliminary estimate coordinate come obtain to
The final estimated coordinates of anchor point this approach enhance positioning system stability and realize low overhead indoor positioning.
A kind of mass center based on AP quadrangle networking of the present invention constrains indoor orientation method, comprising the following steps:
Step 1: placing wireless access point (Access known to n (n >=4, n are integer) a position in test zone
Point, AP), the communication range of AP includes test zone, and guarantees that this n AP at least can make up one and include test section
The quadrangle in domain.
Step 2: to n AP be combined to obtain p (P is integer) it a different initial quadrangle and obtains
Its center-of-mass coordinate set；Specifically includes the following steps:
Step 2 (one), for n AP, their position coordinates are respectively (x11,y11),…,(xnn,ynn), optional 4
AP carries out permutation and combination, altogether available p different initial quadrangles, remembers that i-th of quadrangle is Pi(i=1 ..., p).
Step 2 (two), the initial quadrangle different for obtained p, successively extract quadrangle PiMass center sit
Mark, is denoted as Gi(xi,yi) (i=1 ..., p).The calculation method of center-of-mass coordinate: composition four vertex of the quadrangle are calculated separately
Transverse and longitudinal coordinate average value.Work as AP1、AP2、AP3And AP4Form first quadrangle P1When, can get center-of-mass coordinate is G1(x,
Y), wherein
Step 2 (three) repeats step 2 (two), the center-of-mass coordinate until obtaining all initial quadrangles in test zone
G1(x1,y1),…,Gi(xi,yi), ensemble handles the coordinate of all quadrangle mass centers, obtains initial quadrangle center-of-mass coordinate collection
Close O=[G1(x1,y1),…,Gi(xi,yi)]。
Step 3: acquiring the signal that AP is sent at the S of point to be determined, average received signal strength set is obtainedTool
Body the following steps are included:
Step 3 (one) emits signal for n AP, carries out k signal acquisition respectively at the S of point to be determined, extraction connects
Collection of letters sequence of intensity RSS1,…,RSSj,…,RSSk, wherein RSSj(j=1 ..., k) indicate the jth time at the S of point to be determined
The collected signal strength sequence from n AP；Wherein,
It indicates the signal strength from n-th AP of the jth time acquisition at the S of point to be determined, therefore can get received signal strength set
Are as follows:
Step 3 (two), for the signal strength for coming from a AP of l (l=1 ..., n) collected at the S of point to be determinedCalculate that its mean value obtains that point to be determined S receives sends the flat of signal from first AP
Equal signal strength, is denoted asWherein,
Step 3 (three), repetition step 3 (two) are sent until traversing k acquisition at the S of point to be determined from n AP
Average signal strengthNote average received signal strength collection is combined into
Step 4: according to average received signal strength setUsing propagation model formula, point to be determined S to n is obtained
The propagation distance set D of a AP；Specifically includes the following steps:
Step 4 (one), note diFor the propagation distance of point to be determined S and i-th of AP, formula is utilized
Obtain di, wherein RSS0It is d for reference distance0The signal strength at place,L (l is come from for what point to be determined S was received
=1 ..., n) a AP average received signal strength, ρ is path attenuation index, and it be mean value is 0 that ρ value, which is 2, Z, in this experiment
Variance isGaussian noise, for indicating measurement error, in this experimentValue is 4dBm.
Step 4 (two) repeats step 4 (one) until obtaining the propagation distance between n AP and point to be determined S
d1,…,di,…,dn。
Propagation distance between step 4 (three), all AP and point to be determined S of integration, point to be determined S to n AP of building
Propagation distance set D={ d1,…,di,…,dn}。
Step 5: can be calculated according to the propagation distance set D of point to be determined S to n AP using trilateration positioning mode
The coordinate according to a preliminary estimate of point to be determined SSpecifically includes the following steps:
Step 5 (one) is ranked up the propagation distance of point to be determined S to n AP, extract the smallest three propagate away from
From corresponding AP coordinate, and guarantee these three AP not on the same line, extracted AP coordinate is denoted as (x respectivelymin1,
ymin1), (xmin2,ymin2), (xmin3,ymin3)。
Step 5 (two), according to the corresponding AP coordinate of the smallest three propagation distances, it is known that point to be determined S to these three AP
Distance be respectively d1, d2, d3, then it is as follows that equation group can be obtained:
Since there are the coordinates according to a preliminary estimate of measurement error and influence of noise, point to be determined S accurately to obtain, therefore utilize
Its estimated coordinatesIt is indicated.Then, above-mentioned equation group can be expressed as matrix form:
Wherein,For the coordinate according to a preliminary estimate of point to be determined S,
At this point, being based on least square method, then have:
Step 6: being extracted all using interior angle and method includes point to be determined S according to the coordinate according to a preliminary estimate of point to be determined S
Quadrangle, that is, object quadrangle set M；Specifically includes the following steps:
Step 6 (one) assumes quadrangle PiFour vertex of (i=1 ..., p) be A, B, C, D, if point to be determined S
When on the line of quadrangle any two adjacent vertex, point to be determined S is determined outside the quadrangle, i.e., the quadrangle is not
Object quadrangle.
Step 6 (two), when point to be determined S is not in quadrangle PiWhen on the line on any two vertex, by point to be determined S
With quadrangle PiFour vertex A, B, C, D be respectively connected with, calculate separately out point to be determined S and be connected with four vertex and formed
Four angles.Each angle is calculated separately using the triangle cosine law, in quadrangle PiIn, by point to be determined S and A, B,
C, tetra- vertex D connection, wherein α indicate while SA with while SB angle, β indicate while SB with while SC angle, γ indicate side SC with
The angle of side SD,Indicate while SA with while SD angle, then the angle value of α can be found out with following formula:Wherein | SA |, | SB |, | AB | the mould for respectively indicating side SA, SB, AB is long, similarly, finds out
β、γ、Angle value.
In step 6 (three), obtaining step six calculated four angles and μ,If μ
=2 π then determine that point to be determined S is located in the quadrangle, i.e., the quadrangle is object quadrangle；Otherwise, it is determined that point to be determined S
Outside the quadrangle, i.e., the quadrangle is not object quadrangle.
Step 6 (four) repeats the judgement of step 6 (one) to step 6 (three) until completing all quadrangles, obtains institute
There is the set i.e. set of object quadrangle of the quadrangle comprising point to be determined S, is denoted as M, M=[m1,…,mζ](0≤ζ≤p)。
Step 7: according to object quadrangle set M=[m1,…,mζ], extract the corresponding mass center of each object quadrangle
Coordinate obtains the mass center set O of object quadrangle, it may be assumed that
O=[G1(x1,y1),…,Gi(xi,yi)](0≤i≤p)。
Step 8: calculating the average value of all center-of-mass coordinates in O according to the mass center set O of object quadrangleIts
In,
Step 9: the coordinate according to a preliminary estimate of point to be determined S and the center-of-mass coordinate average value of object quadrangle set are weighted
Fusion obtains the final estimated coordinates (x, y) of point to be determined S, i.e.,Wherein, λ1And λ2For
Weight is merged, by experimental analysis, λ is arranged in this patent1=0.8, λ2=0.2.
Beneficial effect
Firstly, the present invention does not need to acquire fingerprint and building fingerprint base in off-line phase, it is only necessary in test zone
It arranges AP known to several positions, and combines these AP to obtain the initial quadrangle set comprising test zone；Secondly,
The received signal strength from AP is acquired at point to be determined and combine propagation model formula and trilateration positioning mode obtain to
The coordinate according to a preliminary estimate of anchor point is based on the coordinate according to a preliminary estimate, extracts all four comprising point to be determined using interior angle and method
Side shape obtains object quadrangle set；Finally, calculate object quadrangle mass center set average center-of-mass coordinate and by its with it is first
Walking estimated coordinates Weighted Fusion is the final estimated coordinates for obtaining point to be determined.The present invention realizes low overhead indoor positioning, and
And effectively enhance the problem that positioning system stability is poor under complex indoor environment.
Detailed description of the invention
Fig. 1 is flow chart of the present invention；
Fig. 2 is judgement schematic diagram when point to be determined is located on quadrangle any two adjacent vertex line；
Fig. 3 is point to be determined not when on the line of quadrangle any two vertex, determines point to be determined S using interior angle and method
Whether the schematic illustration inside initial quadrangle；
Fig. 4 is the corresponding position error cumulative probability profiles versus figure of different fusion weighted values；
Fig. 5 mentions location algorithm by this patent and least square method positions accumulated error comparison diagram；
Fig. 6 mentions location algorithm and least square method positioning performance comparison sheet by this patent.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings:
A kind of mass center based on AP quadrangle networking as shown in Figure 1 constrains indoor orientation method, specifically includes following step
It is rapid:
Step 1: placing wireless access point (Access known to n (n >=4, n are integer) a position in test zone
Point, AP), the communication range of AP includes test zone, and guarantees that this n AP at least can make up one and include test section
The quadrangle in domain.
Step 2: to n AP be combined to obtain p (P is integer) it a different initial quadrangle and obtains
Its center-of-mass coordinate set；Specifically includes the following steps:
Step 2 (one), for n AP, their position coordinates are respectively (x11,y11),…,(xnn,ynn), optional 4
AP carries out permutation and combination, altogether available p different initial quadrangles, remembers that i-th of quadrangle is Pi(i=1 ..., p).
Step 2 (two), the initial quadrangle different for obtained p, successively extract quadrangle PiMass center sit
Mark, is denoted as Gi(xi,yi) (i=1 ..., p).The calculation method of center-of-mass coordinate: composition four vertex of the quadrangle are calculated separately
Transverse and longitudinal coordinate average value.Work as AP1、AP2、AP3And AP4Form first quadrangle P1When, can get center-of-mass coordinate is G1(x,
Y), wherein
Step 2 (three) repeats step 2 (two), the center-of-mass coordinate until obtaining all initial quadrangles in test zone
G1(x1,y1),…,Gi(xi,yi), ensemble handles the coordinate of all quadrangle mass centers, obtains initial quadrangle center-of-mass coordinate collection
Close O=[G1(x1,y1),…,Gi(xi,yi)]。
Step 3: acquiring the signal that AP is sent at the S of point to be determined, average received signal strength set is obtainedTool
Body the following steps are included:
Step 3 (one) emits signal for n AP, carries out k signal acquisition respectively at the S of point to be determined, extraction connects
Collection of letters sequence of intensity RSS1,…,RSSj,…,RSSk, wherein RSSj(j=1 ..., k) indicate the jth time at the S of point to be determined
The collected signal strength sequence from n AP；Wherein,
It indicates the signal strength from n-th AP of the jth time acquisition at the S of point to be determined, therefore can get received signal strength set
Are as follows:
Step 3 (two), for the signal strength for coming from a AP of l (l=1 ..., n) collected at the S of point to be determinedCalculate that its mean value obtains that point to be determined S receives sends signal from first AP
Average signal strength is denoted asWherein,
Step 3 (three), repetition step 3 (two) are sent until traversing k acquisition at the S of point to be determined from n AP
Average signal strengthNote average received signal strength collection is combined into
Step 4: according to average received signal strength setUsing propagation model formula, point to be determined S to n is obtained
The propagation distance set D of a AP；Specifically includes the following steps:
Step 4 (one), note diFor the propagation distance of point to be determined S and i-th of AP, formula is utilized
Obtain di, wherein RSS0It is d for reference distance0The signal strength at place,L (l is come from for what point to be determined S was received
=1 ..., n) a AP average received signal strength, ρ is path attenuation index, and it be mean value is 0 that ρ value, which is 2, Z, in this experiment
Variance isGaussian noise, for indicating measurement error, in this experimentValue is 4dBm.
Step 4 (two) repeats step 4 (one) until obtaining the propagation distance between n AP and point to be determined S
d1,…,di,…,dn。
Propagation distance between step 4 (three), all AP and point to be determined S of integration, point to be determined S to n AP of building
Propagation distance set D={ d1,…,di,…,dn}。
Step 5: can be calculated according to the propagation distance set D of point to be determined S to n AP using trilateration positioning mode
The coordinate according to a preliminary estimate of point to be determined SSpecifically includes the following steps:
Step 5 (one) is ranked up the propagation distance of point to be determined S to n AP, extract the smallest three propagate away from
From corresponding AP coordinate, and guarantee these three AP not on the same line, extracted AP coordinate is denoted as (x respectivelymin1,
ymin1), (xmin2,ymin2), (xmin3,ymin3)。
Step 5 (two), according to the corresponding AP coordinate of the smallest three propagation distances, it is known that point to be determined S to these three AP
Distance be respectively d1, d2, d3, then it is as follows that equation group can be obtained:
Since there are the coordinates according to a preliminary estimate of measurement error and influence of noise, point to be determined S accurately to obtain, therefore utilize
Its estimated coordinatesIt is indicated.Then, above-mentioned equation group can be expressed as matrix form:
Wherein,For the coordinate according to a preliminary estimate of point to be determined S,
At this point, being based on least square method, then have:
Step 6: being extracted all using interior angle and method includes point to be determined S according to the coordinate according to a preliminary estimate of point to be determined S
Quadrangle, that is, object quadrangle set M；Specifically includes the following steps:
Step 6 (one) assumes quadrangle PiFour vertex of (i=1 ..., p) be A, B, C, D, if point to be determined S
When on the line of quadrangle any two adjacent vertex, point to be determined S is determined outside the quadrangle, i.e., the quadrangle is not
Object quadrangle.
Step 6 (two), when point to be determined S is not in quadrangle PiWhen on the line on any two vertex, by point to be determined S
With quadrangle PiFour vertex A, B, C, D be respectively connected with, calculate separately out point to be determined S and be connected with four vertex and formed
Four angles.Each angle is calculated separately using the triangle cosine law, in quadrangle PiIn, by point to be determined S and A, B,
C, tetra- vertex D connection, wherein α indicate while SA with while SB angle, β indicate while SB with while SC angle, γ indicate side SC with
The angle of side SD,Indicate while SA with while SD angle, then the angle value of α can be found out with following formula:Wherein | SA |, | SB |, | AB | the mould for respectively indicating side SA, SB, AB is long, similarly, finds out
β、γ、Angle value.
In step 6 (three), obtaining step six calculated four angles and μ,If μ
=2 π then determine that point to be determined S is located in the quadrangle, i.e., the quadrangle is object quadrangle；Otherwise, it is determined that point to be determined S
Outside the quadrangle, i.e., the quadrangle is not object quadrangle.
Step 6 (four) repeats the judgement of step 6 (one) to step 6 (three) until completing all quadrangles, obtains institute
There is the set i.e. set of object quadrangle of the quadrangle comprising point to be determined S, is denoted as M, M=[m1,…,mζ](0≤ζ≤p)。
Step 7: according to object quadrangle set M=[m1,…,mζ], extract the corresponding mass center of each object quadrangle
Coordinate obtains the mass center set O of object quadrangle, it may be assumed that
O=[G1(x1,y1),…,Gi(xi,yi)](0≤i≤p)。
Step 8: calculating the average value of all center-of-mass coordinates in O according to the mass center set O of object quadrangleIts
In,
Step 9: the coordinate according to a preliminary estimate of point to be determined S and the center-of-mass coordinate average value of object quadrangle set are weighted
Fusion obtains the final estimated coordinates (x, y) of point to be determined S, i.e.,Wherein, λ1And λ2For
Weight is merged, by experimental analysis, λ is arranged in this patent1=0.8, λ2=0.2.
Claims (2)
1. a kind of mass center based on AP quadrangle networking constrains indoor orientation method, which comprises the following steps:
Step 1: group places wireless access point (Access known to n (n >=4, n are integer) a position in test zone
Point, AP), the communication range of AP includes test zone, and guarantees that this n AP at least can make up one and include test section
The quadrangle in domain.
Step 2: to n AP be combined to obtain p (P is integer) a different initial quadrangle and obtain its mass center
Coordinate set.
Step 3: acquiring the signal that AP is sent at the S of point to be determined, average received signal strength set is obtained
Step 4: according to average received signal strength setUsing propagation model formula, point to be determined S to n AP are obtained
Propagation distance set D.
Step 5: obtaining point to be determined using trilateration positioning mode according to the propagation distance set D of point to be determined S to n AP
The coordinate according to a preliminary estimate of S
Step 6: extracting all four comprising point to be determined S using interior angle and method according to the coordinate according to a preliminary estimate of point to be determined S
Side shape, that is, object quadrangle set M.
Step 7: extracting the corresponding center-of-mass coordinate of each object quadrangle according to object quadrangle set M, target four is obtained
The mass center set O of side shape.
Step 8: calculating the average value of all center-of-mass coordinates in O according to the mass center set O of object quadrangleWherein,
Step 9: by the center-of-mass coordinate average value Weighted Fusion of the coordinate according to a preliminary estimate of point to be determined S and object quadrangle set
The final estimated coordinates (x, y) of point to be determined S are obtained, whereinWherein, λ1And λ2To melt
Weight is closed, by experimental analysis, λ is arranged in this patent1=0.8, λ2=0.2.
2. a kind of mass center based on AP quadrangle networking according to claim 1 constrains indoor orientation method, feature exists
In, the step 6 the following steps are included:
Step 6: extracting all four comprising point to be determined S using interior angle and method according to the coordinate according to a preliminary estimate of point to be determined S
Side shape, that is, object quadrangle set M；Specifically includes the following steps:
Step 6 (one) assumes quadrangleFour vertex be A, B, C, D, if point to be determined S be located at four
When on the line of side shape any two adjacent vertex, point to be determined S is determined outside the quadrangle, i.e., the quadrangle is not target
Quadrangle.
Step 6 (two), when point to be determined S is not in quadrangle PiWhen on the line on any two vertex, by point to be determined S and four sides
Shape PiFour vertex A, B, C, D be respectively connected with, calculate separately out point to be determined S be connected with four vertex composed by four folder
Angle.Each angle is calculated separately using the triangle cosine law, in quadrangle PiIn, by point to be determined S and A, B, C, D tetra- tops
Point connection, wherein α indicate while SA with while SB angle, β indicate while SB with while SC angle, γ indicate while SC with while SD folder
Angle,Indicate while SA with while SD angle, then the angle value of α can be found out with following formula:
Wherein | SA |, | SB |, | AB | the mould for respectively indicating side SA, SB, AB is long, similarly, find out β, γ,Angle value.
In step 6 (three), obtaining step six calculated four angles and μ,If the π of μ=2,
Determine that point to be determined S is located in the quadrangle, i.e., the quadrangle is object quadrangle；Otherwise, it is determined that point to be determined S be located at this four
Outside the shape of side, i.e., the quadrangle is not object quadrangle.
Step 6 (four) repeats the judgement of step 6 (one) to step 6 (three) until completing all initial quadrangles, obtains institute
There is the set i.e. set of object quadrangle of the quadrangle comprising point to be determined S, be denoted as M,
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