CN110166935A - A kind of weighted mass center location algorithm based on RSSI ranging - Google Patents
A kind of weighted mass center location algorithm based on RSSI ranging Download PDFInfo
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- CN110166935A CN110166935A CN201910433242.2A CN201910433242A CN110166935A CN 110166935 A CN110166935 A CN 110166935A CN 201910433242 A CN201910433242 A CN 201910433242A CN 110166935 A CN110166935 A CN 110166935A
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- substation
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Classifications
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
Abstract
Invention broadly provides a kind of weighted mass center location algorithms based on RSSI ranging, mark label are treated first to be ranked up with the distance value with reference to substation, it extracts and refers to substation apart from the smallest three, establish weighted mass center model, three intersection coordinate values are calculated according to weighted mass center model, the coordinate value of label to be measured is then calculated using weighted mass center algorithm.A kind of weighted mass center location algorithm based on RSSI ranging that the present invention discloses promotes the accuracy of coordinate computation in the biggish situation of range error early period in such a way that data select and introduce weighted value.
Description
Technical field:
The present invention relates to indoor positioning field more particularly to a kind of weighted mass center location algorithms based on RSSI ranging.
Background technique:
Indoor wireless positioning, refers to and provides node location, speed and direction to be measured etc. using wireless network and positioning terminal
The service of relevant information.For a location algorithm, evaluating its performance standard includes positioning accuracy, and node density is fault-tolerant
Property and adaptivity, power consumption, cost etc..Currently, wireless network localization method type is more, wherein the location technology based on distance is big
There are four types of causes: it is based on signal transmission time (TOA), it is poor (TDOA) based on signal transmission time, and it is based on direction of arrival degree (AOA)
And it is based on received signal strength indicator (RSSI).
Currently, having node without increasing additionally hard compared to other three kinds of location technologies based on the localization method of RSSI
Part equipment, it is low in energy consumption, it is at low cost the advantages that, but in actual indoor environment can by signal reflex, multipath transmisstion, antenna gain,
The many factors such as barrier influence, so that the positioning coordinate calculated in the biggish situation of range error is also inaccurate.
Summary of the invention:
To solve the above-mentioned problems, the present invention provides a kind of weighted mass center location algorithm based on RSSI ranging, in early period
In the biggish situation of range error, the accuracy of coordinate computation is promoted in such a way that data select and introduce weighted value.
In order to achieve the above objectives, the technical scheme is that a kind of weighted mass center location algorithm based on RSSI ranging,
Include the following steps:
A, by label to be measured with each with reference to substation distance d1、d2…dnShape is ranked up according to ascending sequence
At apart from group；
B, first three distance value d is taken to the distance group after sequence1、d2、d3, substation is referred to by the way that three distance values are corresponding
Coordinate value O1、O2、O3Calculate three substation spacing Ls mutual with reference to substation12、L13、L23；
C, the substation spacing for calculating step b and preset threshold m are compared, and are picked if a certain substation spacing is more than preset threshold
Except corresponding substation, is organized from distance and extract the 4th distance value d4, step b is repeated, if being all less than preset threshold, exports three
With reference to the coordinate value O of substation1(X1, Y1), O2(X2, Y2), O3(X3, Y3) and label to be measured to these three substations distance value d1、
d2、d3；
D, using three reference substation coordinates as origin, label to be measured to substation distance is that radius picture circle establishes weighted mass center mould
Type judges three round mutual alignment relations, if intersecting two-by-two, seeks the coordinate value A (X of three intersection pointsA, YA), B (XB, YB),
C(XC, YC), if two circles mutually from then increasing by two radius of circle values by distance correction method makes its intersection, then seeks the seat of three intersection points
Scale value A (XA, YA), B (XB, YB), C (XC, YC), it is included if two circles, then keeps two circles tangent by reducing radius principle, and ask three
Coordinate value A (the X of a intersection pointA, YA), B (XB, YB), C (XC, YC)；
E, the coordinate (X, Y) of label to be measured is obtained using the three intersecting point coordinate combination weighted mass center algorithms acquired, in which:
In formula: ωAFor the weighted value of intersection point A, andωBFor the weighted value of intersection points B, andωCFor the weighted value of intersection point C, and
Preferably, the operation of distance correction method is in the step d, and synchronous two radius of circles that increase make its intersection, and radius increases
The formula is added to be d1′、d′2After increasing
Two radius of circle values, d1、d2To increase by two radius of circle values before going, d is two circle circle center distances.
Preferably, it is to reduce big radius of circle it is made to meet formula d that two circles, which include radius minishing method, in the step d1'=
d+d2, wherein d1' for reduce after big radius of circle, d be two circle distance of center circle, d2For small radius of circle.
Beneficial effect, a kind of weighted mass center location algorithm based on RSSI ranging that the present invention discloses have following beneficial
Effect:
The label to be measured that base station sends over is ranked up at a distance from reference substation, chooses accuracy highest three
A distance is basic as later period operation, improves location Calculation accuracy；
A set of weighted mass center algorithm is provided aiming at the problem that RSSI ranging model is interfered vulnerable to external environment, introduces a power
Value ω prevents information from flooding phenomenon, simultaneously for the interference of the noises such as multipath fading, barrier, the feelings for causing location algorithm to fail
Condition reduces the radius certain distance of two circles, is guaranteeing apart from factor pair node institute to be measured to expand apart from the factor as weight point
Account for weight it is constant in the case where finally realize positioning function, improve positioning accuracy.
Detailed description of the invention:
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described.In all the appended drawings, similar element
Or part is generally identified by similar appended drawing reference.In attached drawing, each element or part might not be drawn according to actual ratio.
Fig. 1 is that flow chart is rejected in the sequence of distance value involved in the embodiment of the present invention；
Fig. 2 is weighted mass center algorithm flow chart involved in the embodiment of the present invention.
Specific embodiment:
It is described in detail below in conjunction with embodiment of the attached drawing to technical solution of the present invention.Following embodiment is only used for
Clearly illustrate technical solution of the present invention, therefore be only used as example, and cannot be used as a limitation and limit protection model of the invention
It encloses.
A kind of disclosed weighted mass center location algorithm based on RSSI ranging, it is real based on positioning system system
Existing, which includes server, base station, multiple to refer to substation and labels to be measured, and early period, mark label and each were treated in base station
It is a to carry out operation with reference to the distance between substation, and it is sent to server, server is combined according to the weighted mass center location algorithm
The coordinate value that label to be measured is calculated with reference to substation coordinate value, as shown in Fig. 1~2, specific steps are as follows:
A, by label to be measured and each distance value d with reference to substation1、d2…dnIt is ranked up according to ascending sequence
It is formed apart from group.
B, first three distance value d is extracted from the distance group after sequence1、d2、d3, these three distance values expression label to be measured
The distance for referring to substation recently away from three, the coordinate value O of substation is referred to by these three1(X1, Y1), O2(X2, Y2), O3(X3, Y3)
Calculate three substation spacing Ls mutual with reference to substation12、L13、L23。
C, the substation spacing L for successively calculating step b12、L13、L23It is compared respectively with preset threshold m, if between a certain substation
Away from being more than that preset threshold then rejects corresponding substation, is organized from distance and extract the 4th distance value d4, step b is repeated, if being all less than
Preset threshold then exports three coordinate value O with reference to substation1(X1, Y1), O2(X2, Y2), O3(X3, Y3) and label to be measured arrive this
The distance value d of three substations1、d2、d3。
The specific steps of rejecting are as follows: by substation spacing L12、L13、L23It is compared simultaneously with m, if L12And L13It is all larger than m, L23It is small
In m, then reference mode O is rejected1, retain O2And O3If only L12Greater than m, L13And L23Less than m, then reference mode O is rejected1And O2
It is middle one farther away apart from label to be measured, retain closer one, while retaining reference mode O3。
By substation spacing L12It compares with m, rejects if being more than with reference to substation O2, by substation spacing L if being not above13With
M comparison, is rejected if being more than with reference to substation O3, by substation spacing L if not23It compares with m, rejects if being more than with reference to substation
O3。
D, substation coordinate O is referred to three1(X1, Y1), O2(X2, Y2), O3(X3, Y3) it is origin, corresponding distance value d1、
d2、d3It draws and justifies for radius, establish weighted mass center model, judge three round relative positional relationships, if intersection thens follow the steps e two-by-two,
If two circles are mutually from step g is executed, if two circles, which include, executes step h.
During actual location, due to the interference of the noises such as multipath fading, barrier, signal strength indication often will appear
Biggish fluctuation, so that the distance value error that RSSI value is converted out is larger, so as to cause calculated label to be measured to reference to son
The distance value stood much deviations are in actual range, so that three circles in step d are not able to satisfy and all intersect two-by-two, there is also two
Circle mutually from and two circle include the case where, need to locate respectively.
E, with reference to substation O2With reference substation O3In reference substation O1Interior intersection point is A, and coordinate value is A (XA, YA), reference
Substation O1With reference substation O3In reference substation O2Interior intersection point is B, and coordinate value is B (XB, YB), with reference to substation O1With reference
Stand O2In reference substation O3Interior intersection point is C, and coordinate value is C (XC, YC), using three with reference to the coordinate value of substation and half
Diameter value calculates the coordinate value of three intersection points, which can refer to existing calculation method, not repeat them here.
F, the coordinate (X, Y) of label to be measured is obtained using the coordinate combination weighted mass center algorithm of three intersection points, in which:
In formula: ωAFor the weighted value of intersection point A, andωBFor the weighted value of intersection points B, andωCFor the weighted value of intersection point C, and
It may determine that according to weighted mass center model, label to be measured is located in the delta-shaped region of three intersection point ABC formation, if
Label to be measured is placed exactly in the mass center of delta-shaped region, then its coordinate valueAccording to
This calculation formula can be seen that tri- vertex ABC are the same to the weighing factor of mass center, however in a practical situation, it is to be measured
Label is not necessarily located in mass center, and when it deviates mass center, three apex coordinates treat the weighing factor for surveying tag coordinate with regard to different
Sample, and the application balances mutual influence as coefficient for this different introducing weighted value.
G, when, there are when separating situation, the principle for the distance correction that the present invention uses is synchronous to increase by two circles between circle and circle
Radius, make it is round be crossed to form an overlapping region two-by-two with circle, then return step e is calculated after calculating intersecting point coordinate to mark
Sign coordinate value；
It can guarantee that the radius after increasing is remained unchanged with radius ratio before using this method, to refer to substation O1With reference
Substation O2For drawing circle, radius increases formula are as follows:
Wherein d is two circle circle center distances.
H, when presentation includes situation between two circles, the present invention is allowed to small with radius using the radius for reducing the big circle of radius
The tangent formation intersection point of circle, then return step e calculate intersecting point coordinate after calculate tag coordinate value to be measured；
To refer to substation O1With reference substation O2For drawing circle, d1> d2, correction scheme is as follows, d1'=d+d2, wherein d
For two circle distance of center circle.
Technology contents and technical characteristic of the invention have revealed that as above, however those skilled in the art still may base
Make various replacements and modification without departing substantially from spirit of that invention in announcement of the invention, therefore, the scope of the present invention is answered unlimited
It in the revealed content of embodiment, and should include various without departing substantially from replacement and modification of the invention, and be present patent application right
It is required that being covered.
Claims (3)
1. a kind of weighted mass center location algorithm based on RSSI ranging, which comprises the steps of:
A, by label to be measured with each with reference to substation distance d1、d2…dnBe ranked up according to ascending sequence to be formed away from
From group；
B, first three distance value d is taken to the distance group after sequence1、d2、d3, substation coordinate is referred to by the way that three distance values are corresponding
Value O1、O2、O3Calculate three substation spacing Ls mutual with reference to substation12、L13、L23；
C, the substation spacing for calculating step b and preset threshold m are compared, the rejecting pair if a certain substation spacing is more than preset threshold
Substation is answered, is organized from distance and extracts the 4th distance value d4, step b is repeated, if being all less than preset threshold, exports three references
The coordinate value O of substation1(X1, Y1), O2(X2, Y2), O3(X3, Y3) and label to be measured to these three substations distance value d1、d2、
d3；
D, using three reference substation coordinates as origin, label to be measured to substation distance is that radius picture circle establishes weighted mass center model,
Judge three round mutual alignment relations, if intersecting two-by-two, seeks the coordinate value A (X of three intersection pointsA, YA), B (XB, YB), C
(XC, YC), if two circles mutually from then increasing by two radius of circle values by distance correction method makes its intersection, then seeks the coordinate of three intersection points
Value A (XA, YA), B (XB, YB), C (XC, YC), it is included if two circles, then keeps two circles tangent by reducing radius principle, and ask three
Coordinate value A (the X of intersection pointA, YA), B (XB, YB), C (XC, YC)；
E, the coordinate (X, Y) of label to be measured is obtained using the three intersecting point coordinate combination weighted mass center algorithms acquired, in which:
In formula: ωAFor the weighted value of intersection point A, andωBFor the weighted value of intersection points B, andωCFor the weighted value of intersection point C, and
2. the weighted mass center location algorithm according to claim 1 based on RSSI ranging, it is characterised in that: the step d
The operation of middle distance correction method is that synchronous two radius of circles that increase make its intersection, and radius increases formula and is d1′、d′2For two radius of circles after increase
Value, d1、d2To increase by two radius of circle values before going, d is two circle circle center distances.
3. the weighted mass center location algorithm according to claim 1 based on RSSI ranging, it is characterised in that: the step d
In two circles include radius minishing methods and so that it is met formula d to reduce big radius of circle1'=d+d2, wherein d1' it is big after diminution
Radius of circle, d are two circle distance of center circle, d2For small radius of circle.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113490141A (en) * | 2021-07-06 | 2021-10-08 | 东南大学 | Indoor positioning optimization method based on decreasing maximum circle radius |
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Application publication date: 20190823 |