CN110244263A - A kind of robot passive location method, system and equipment - Google Patents
A kind of robot passive location method, system and equipment Download PDFInfo
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- CN110244263A CN110244263A CN201910492636.5A CN201910492636A CN110244263A CN 110244263 A CN110244263 A CN 110244263A CN 201910492636 A CN201910492636 A CN 201910492636A CN 110244263 A CN110244263 A CN 110244263A
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- 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
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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Abstract
The invention discloses a kind of robot passive location method, system and equipment, and the wireless signal including S1, acquisition radio frequency label reflection is denoted as label rebound signal；S2, rebounded signal using label described in the antenna array receiver in robot；S3, the angle of arrival between the radio frequency label and the robot is estimated based on label rebound signal；The inertial parameter of S4, the measurement robot；S5, robot-radio frequency label location status Fusion Model is constructed based on sliding window, according to robot described in the angle of arrival and the inertial parameter computation model and the location status variable of the radio frequency label.Whole process does not have to the artificial calibration position AP to pre-establish coordinate system, can be realized the radio frequency label positioning of zero start cost, meets the requirement disposed immediately, greatly reduce lower deployment cost.
Description
Technical field
The invention belongs to the interleaving techniques fields of technology of Internet of things and robot technology, more particularly, to a kind of machine
People's passive location method, system and equipment.
Background technique
With flourishing for technology of Internet of things, user's application demand is stepped up, the investment of magnanimity internet of things equipment
Great convenience is brought using to people's lives and work.Radio frequency label location technology is as the common of internet of things field
Technological means can be realized inexpensive, non-contact, high efficiency, high-precision real-time positioning, have been widely used for the day of the mankind
In often life and production activity, have been to be concerned by more and more people.
Common radio frequency label localization method mainly has radio frequency label localization method and base based on anchor node
In two kinds of radio frequency label localization method of other sensors auxiliary, wherein the radio frequency label positioning based on anchor node
Method, firstly the need of a coordinate system is established, generally at least needs artificially to demarcate 3 positions AP to determine this when being positioned
Then a coordinate system calculates positioning target position according to wireless measurement, different positioning scenes require to re-start calibration, can not
Realize deployment immediately.Though and based on other sensors auxiliary radio frequency label localization method do not need to establish coordinate system,
It is to need additional sensor, such as camera, borrows the positioning that visible sensation method realizes less radio-frequency, this method is by light
Limitation, and the volume of equipment and cost are larger.With the increase of Internet of Things application scenarios, it is therefore desirable to be able to by positioning pair
As being expanded on the universal article such as wallet, key, medicine bottle from mobile phone, wearable device.This kind of article often without power supply, and
And can carry, for positioning scene than more random, the radio frequency label localization method of both the above is positioning such article
When lower deployment cost and equipment cost it is higher, positioning has difficulties.
In conclusion providing lower deployment cost low radio frequency label localization method, system and the equipment low with equipment cost
The problem of being urgent need to resolve.
Summary of the invention
In view of the drawbacks of the prior art, it is an object of the invention to propose a kind of robot passive location method, system and
Equipment, it is intended to it is at high cost to solve the problems, such as that existing radio frequency label localization method is disposed in position fixing process.
To achieve the above object, the present invention provides a kind of robot passive location method, include the following steps:
S1, the wireless signal for obtaining radio frequency label reflection are denoted as label rebound signal；
S2, rebounded signal using the antenna array receiver label in robot；
S3, the angle of arrival to be rebounded between signal estimation radio frequency label and robot based on the label received；
The inertial parameter of S4, robot measurement；
S5, robot-radio frequency label location status Fusion Model is constructed based on sliding window, according to gained angle of arrival
With the location status variable of robot in inertial parameter computation model and radio frequency label.
The positioning radio frequency label that can accomplish zero lower deployment cost according to above step solves existing less radio-frequency mark
Label localization method needs the artificial calibration position AP to pre-establish coordinate system, and lower deployment cost is high, the problem of can not disposing immediately.
Preferably, the aerial array in step S2 can be triantennary perimeter antenna array, guarantee that signal reaches not on the same day
Path length difference between line can measure, and facilitate calculating angle of arrival.
Preferably, can be estimated using super-resolution Direction-of-arrival algorithm in step S3 radio frequency label with
Angle of arrival between robot.
Preferably, the inertial parameter in step S4 can be measured using the Inertial Measurement Unit in robot, including be accelerated
Degree, angular speed.
Preferably, in step S5 in computation model the location status variable of robot and radio frequency label method packet
Include following steps:
S51, the sliding window comprising robot location's status switch and radio frequency label location status sequence is defined
Mouthful, it is denoted as sliding window sequence；
Robot location state number n in S52, initialization sliding window sequence, initializes the state of robot as movement
State, obtain robot location's state variable that sliding window sequence under init state is current n timestamp recently with
And its location status Variables Sequence of the radio frequency label observed, guarantee each machine in original state lower slider series of windows
Angle of arrival corresponding to device people's location status variable is different；Preferably, the value of n depends on the calculation power of computer, numerical value
It is bigger that calculating, force request is higher, and target is to maintain real-time calculating；
S53, in the motion process of robot based on sliding window building robot-radio frequency label location status melt
Molding type, the node in model correspond to the sliding window sequence；
S54, the minimum value that cost function in Fusion Model is calculated according to resulting angle of arrival and inertial parameter, obtain current
The optimal solution of sliding window sequence, i.e., the location status variable of robot and radio frequency label in current sliding window mouth sequence
Solution, as one group of output；
S55, sliding sliding window, update sliding window sequence, are solved to obtain current robot and nothing according to step S54
The location status information of line RF tag simultaneously exports；
S56, step S55 is repeated, persistently exports the real time position status information of robot and radio frequency label.
Preferably, in step S51, the expression formula of sliding window sequence is as follows:
S=[μ0,μ1,…,μj,…,μn-1,b0,b1,…,bi,…,bm-1]T
Wherein, n is the number of robot location's state variable in sliding window, and m is that robot is seen in the sliding window
The total number of the radio frequency label measured, μjFor the location status variable of robot at j-th of timestamp, biIt is wireless for i-th
The location status variable of RF tag, only comprising robot location's state variable at nearest n timestamp in sliding window.
Preferably, robot-radio frequency label location status Fusion Model based on sliding window building in step S53
Angle of arrival, inertial parameter, robot location's state variable and radio frequency label location status that observation obtains are melted
It closes, cost function is as follows:
Cost=A (S)+D (S)
Wherein, S is sliding window sequence, and A (S) is angle of arrival constraint, and for indicating the observation residual error of angle of arrival, D (S) is
Mileage constraint, for indicating the observation residual error of robot motion's mileage.
Preferably, the expression formula of angle of arrival constraint A (S) is as follows:
Wherein,It is expectation observation of i-th of radio frequency label in j-th of timestamp, value is vector 0, rightIt is converted to obtainValue, whereinIt indicates i-th that robot observes
Radio frequency label is defined as in the direction vector of the angle of arrival of j-th of timestamp
Indicate the robot increment of rotation from the 0th timestamp to jth timestamp, it is preferable thatIt can be by robot inertia measurement list
Gyroscope measurement in member obtains, μjFor the position of the robot at j-th of timestamp, biFor the position of i-th of radio frequency label
It sets,For Gaussian noise,It is the covariance of angle of arrival of i-th of radio frequency label at j-th of timestamp.
Preferably, the expression formula of mileage constraint D (S) is as follows:
Wherein, whereinIt is position of the robot at+1 timestamp of kth relative to robot at k-th of timestamp
Estimation is moved, it is rightIt is converted to obtainValue, whereinIndicate state increment of rotation relative to original state of the robot at k-th of timestamp, it is preferable that can be by machine
Gyroscope measurement on people's Inertial Measurement Unit obtains, and Δ t is the time interval between two adjacent measurements, μkExist for robot
Position at k-th of timestamp, vkFor speed of the robot at k-th of timestamp, g is acceleration of gravity,It makes an uproar for additivity
Sound,For the covariance of the displacement at+1 timestamp of kth relative to robot at k-th of timestamp.
Preferably, in step S55, as soon as an angle of arrival is often calculated, when sliding window of sliding obtains nearest n
Between robot location's state variable at stamp, sliding window will be entered using FIFO (first-in-first-out) mode at first
Robot location's state variable, i.e., location status variable in sliding window at first timestamp is from sliding window sequence
Head removes, and current newest robot location's state variable is put into the tail portion of sliding window sequence, updates sliding window
Sequence is S=[μ1,…,μn-1,μn,b0,b1,…,bm-1]T。
Preferably, during sliding sliding window, using LIFO (last-in-first-out) mode to current meter
Angle of arrival corresponding to obtained newest robot location's state variable and the last robot location for entering sliding window
Angle of arrival corresponding to state variable is compared, and the similarity M between angle of arrival is calculated according to similarity expression formula, as M < ε
When, then it is assumed that two angle of arrival are similar, and current newest robot location's state variable does not enter sliding window sequence, to protect
The location variable demonstrate,proved in sliding window is different, and robot is prevented to be in the degenerations motion states such as stagnation.Preferably, threshold epsilon
Selection depend on user to the sensitivity of system degradation motion detection, usual ε value is 0.01.
Preferably, similarity expression formula is as follows:
Wherein,For the angle of arrival of radio frequency signal at j-th of timestamp, Oj(i)
For matrix OjThe i-th column, m is the quantity that observed radio frequency label at j-th timestamp, MjkIt is used to for similarity variable
Measure the variation degree of jth time and k-th of timestamp twice between angle of arrival, Mjk∈ [0,2], MjkSmaller expression is arrived twice
It is more close up to angle.
The present invention also provides a kind of robot passive location systems, comprising: radio signal source, radio frequency label, machine
Device people, wherein radio signal source, radio frequency label and robot are placed in the same space；Further, radio signal source is used
In sending wireless signal with the space where cladding system, further, WiFi signal source can be used；Radio frequency label is used
Label rebound signal is obtained in wireless signal rebounds away, radio frequency label can have multiple, be placed in same sky
Between in object to be positioned on；Further, radio frequency label can use and penetrate scattered label backwards；Robot is for receiving mark
Label rebound signal, the inertial parameter of robot measurement are melted based on sliding window building robot-radio frequency label location status
Molding type becomes according to the location status of robot and radio frequency label in gained angle of arrival and inertial parameter computation model
Amount.
The present invention also provides a kind of robot passive location equipment, including it is signal receiving unit, signal processing unit, used
Property measuring unit, wherein the output end of signal receiving unit is connected with the input terminal of signal processing unit, Inertial Measurement Unit
Output end is connected with the input terminal of signal processing unit；Further, signal receiving unit be used for using antenna array receiver without
The label rebound signal that line RF tag rebounds out；Further, aerial array can be triantennary perimeter antenna array；It is used
Property measuring unit for measuring inertial parameter；Signal processing unit is used to construct robot-less radio-frequency mark based on sliding window
Location status Fusion Model is signed, according to robot in gained angle of arrival and inertial parameter computation model and radio frequency label
Location status variable.Above-mentioned robot passive location equipment does not need additional additional sensor, and equipment cost is lower, equipment
Small volume.
Contemplated above technical scheme through the invention can obtain following compared with prior art
The utility model has the advantages that
1, the present invention provides a kind of robot passive location methods, and sliding window is based under the motion state of robot
Robot-radio frequency label location status Fusion Model is constructed, then according to the radio frequency label and machine being calculated
The optimal solution for the inertial parameter computation model cost function that angle of arrival and measurement between people obtain, to obtain robot and nothing
The location status information of line RF tag.Whole process does not have to the artificial calibration position AP to pre-establish coordinate system, can be realized
The radio frequency label of zero start cost positions, and meets the requirement disposed immediately, greatly reduces lower deployment cost.
2, the present invention provides a kind of robot passive location equipment, including it is signal receiving unit, signal processing unit, used
Property measuring unit, equipment constitutes simple, and does not need to increase additional visual apparatus, greatly reduces the cost and body of equipment
Product.
3, robot passive location method provided by the present invention is based on sliding window and constructs robot-radio frequency label
Location status Fusion Model, the number of robot location's state variable as included in sliding window is limited, calculating process
Middle time complexity is lower, substantially increases radio frequency label location efficiency.
4, robot passive location method provided by the present invention is when sliding sliding window, it is contemplated that robot may be sent out
Raw motor deterioration handles sliding window using LIFO (last-in-first-out) mode when motor deterioration occurs for robot,
So as to avoid the problem that location status variable in sliding window sequence is not considerable, radio frequency label positioning side is substantially increased
The accuracy of method.
Detailed description of the invention
Fig. 1 is triantennary perimeter antenna array schematic diagram provided in an embodiment of the present invention；
Fig. 2 is robot passive location system schematic diagram provided in an embodiment of the present invention；
Fig. 3 is using a kind of locating effect figure of robot passive location method provided by the present invention, wherein figure (a)
It changes with time relationship for the physical location of robot and using the robot location that method provided by the present invention calculates,
(b) change with time 4 radio frequency label positions to be obtained using method provided by the present invention relationship.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The present invention provides a kind of robot passive location methods, include the following steps:
S1, the wireless signal for obtaining radio frequency label reflection are denoted as label rebound signal；
S2, rebounded signal using the antenna array receiver label in robot；
S3, the angle of arrival to be rebounded between signal estimation radio frequency label and robot based on the label received；
The inertial parameter of S4, robot measurement；
S5, robot-radio frequency label location status Fusion Model is constructed based on sliding window, according to gained angle of arrival
With the location status variable of robot in inertial parameter computation model and radio frequency label.
Specifically, the step of generating the method for label rebound signal in step S1 includes:
The switching speed of RF transistor in S11, each radio frequency label of adjustment, by wireless signal frequency displacement to other frequencies
Section avoids stronger wireless signal from generating interference to weaker label rebound signal；
S12, the RF transistor in different radio frequency labels is arranged to different switching speeds, makes different labels
Rebound signal is in different frequency ranges, the interference between label rebound signal for avoiding different radio frequency labels from issuing.
Specifically, the expression formula of label rebound signal is as follows:
Wherein, αbase(t) radio baseband signal is indicated；ωc=2 π fcIndicate the carrier wave angular speed of wireless signal；Indicate the control signal of RF switch, ωb=2 π fbIt controls and believes for RF switch
Number angular frequency.
Fourier transformation is done to β (t), it is as follows to obtain expression formula:
From above formula it is found that label rebounds, signal is in fc±fbIt can be monitored in two frequency ranges, total system should use bandwidth
Biggish frequency band can avoid sideband interference in this way.
Specifically, aerial array described in step S2 can be triantennary perimeter antenna array, triantennary loop aerial
It is known that therefore, signal reaches the path length difference between different antennae and can measure for the relative position of antenna in array, and calculating is facilitated to reach
Angle.As shown in Figure 1 be triantennary perimeter antenna array schematic diagram, wherein antenna 1 in triantennary perimeter antenna array, antenna 2,
The distance between antenna 3 is equal, is d, the angle of arrival of label rebound signal reached at antenna 1 is θ, then label rebound signal
It is dcos (θ) that signal, which reaches antenna 3 and the range difference of antenna 1, and label rebound signal reaches antenna 2 and the range difference of antenna 1 is
Specifically, can be estimated using super-resolution Direction-of-arrival algorithm in step S3 radio frequency label with
Angle of arrival between robot, the label rebound signal received is actually that have passed through the signals of two propagation paths, and one
It is to be denoted as radio signal source-radio frequency label from radio signal source to radio frequency label, Article 2 is from less radio-frequency mark
It registers robot, is denoted as radio frequency label-robot.Because there is multipath effect in space in signal, this two letters
Road is not unique in space.We useTo indicate label rebound signal virtual route in the sky
Flight time, wherein τjIndicate j-th strip radio signal source-radio frequency label path flight time,Indicate i-th nothing
Line RF tag-robot path flight time.Signal is propagated have decline in the channel, and decline in space usesTo indicate, wherein γjIndicate the decline of j-th strip radio signal source-radio frequency label path,Indicate i-th
Radio frequency label-robot path decline.Have many subcarriers in Wifi signal, three antennas receive n-th
A sub-carrier signal model are as follows:
Wherein, m indicates the serial number of three antennas, LtxIndicate radio signal source-radio frequency label path item number, Ltag
Indicate radio frequency label-robot path item number, fδIndicate the frequency interval between continuous two subcarriers,Indicate the
The angle of arrival of k paths,Indicate the signal propagation time on kth paths.Above-mentioned model is reached using super-resolution
The master pattern of angular estimation technology estimates to obtain the angle of arrival and signal propagation time on all paths using SpotFi algorithm.
Minimum signal propagation time corresponding propagation path is denoted as direct path, radio frequency label is arrived to the signal between robot
It is the corresponding direction of arrival of the direct path up to angle.
Specifically, using the inertial parameter of the Inertial Measurement Unit calculating robot in robot in step S4, including add
Speed, angular speed.
Specifically, constructing robot-radio frequency label location status Fusion Model, root based on sliding window in step S5
According to the method step of the location status information of robot and radio frequency label in gained angle of arrival and inertial parameter computation model
Suddenly include:
S51, the sliding window comprising robot location's status switch and radio frequency label location status sequence is defined
Mouthful, it is denoted as sliding window sequence；
Specifically, the expression formula of sliding window sequence is as follows:
S=[μ0,μ1,…,μj,…,μn-1,b0,b1,…,bi,…,bm-1]T
Wherein, n is the number of robot location's state variable in sliding window, and m is that robot is seen in the sliding window
The total number of the radio frequency label measured, μjFor the location status variable of robot at j-th of timestamp, biIt is wireless for i-th
The location status variable of RF tag, only comprising robot location's state variable at n nearest timestamp in sliding window.
Robot location state number n in S52, initialization sliding window sequence, initializes the artificial motion state of machine, obtains
Sliding window sequence under to init state is robot location's state variable and its observation at current n timestamp recently
The location status variable S=[μ of the radio frequency label arrived0,μ1,…,μn-1,b0,b1,…,bm-1]T, guarantee that original state glides
Angle of arrival corresponding to each robot location's state variable is different in dynamic series of windows；Specifically, the value of n depends on
The calculation power of computer, numerical value is bigger higher to calculation force request, and target is to maintain real-time calculating, and n value is 30 in the present embodiment.
S53, in the motion process of robot based on sliding window building robot-radio frequency label location status melt
Molding type, the node in model correspond to the sliding window sequence；
Specifically, robot-radio frequency label location status Fusion Model based on sliding window building will be observed
To angle of arrival, inertial parameter, robot location's state variable and radio frequency label location status merge, cost
Function is as follows:
Cost=A (S)+D (S)
Wherein, S is sliding window sequence, and A (S) is angle of arrival constraint, and for indicating the observation residual error of angle of arrival, D (S) is
Mileage constraint, for indicating the observation residual error of robot motion's mileage.
Specifically, the expression formula of angle of arrival constraint A (S) is as follows:
Wherein,It is expectation observation of i-th of radio frequency label in j-th of timestamp, value is vector 0, rightIt is converted to obtainValue, whereinIt indicates i-th that robot observes
Radio frequency label is defined as in the direction vector of the angle of arrival of j-th of timestamp
Indicate the robot increment of rotation from the 0th timestamp to jth timestamp, specifically,It can be by robot inertia measurement list
Gyroscope measurement in member obtains, μjFor the position of the robot at j-th of timestamp, biFor the position of i-th of radio frequency label
It sets,For Gaussian noise,It is the covariance of angle of arrival of i-th of radio frequency label at j-th of timestamp.
Specifically, the expression formula of mileage constraint D (S) is as follows:
Wherein, whereinIt is position of the robot at+1 timestamp of kth relative to robot at k-th of timestamp
Estimation is moved, it is rightIt is converted to obtainValue, whereinState increment of rotation relative to original state of the robot at k-th of timestamp is indicated, specifically, can be by machine
Gyroscope measurement on people's Inertial Measurement Unit obtains, and Δ t is the time interval between two adjacent measurements, μkExist for robot
Position at k-th of timestamp, vkFor speed of the robot at k-th of timestamp, g is acceleration of gravity,It makes an uproar for additivity
Sound,For the covariance of the displacement at+1 timestamp of kth relative to robot at k-th of timestamp.
S54, the minimum value that cost function in Fusion Model is calculated according to resulting angle of arrival and inertial parameterObtain the optimal solution of current sliding window mouth sequence, i.e., in current sliding window mouth sequence robot and
The solution of the location status variable of radio frequency label, as one group of output；
S55, sliding sliding window, update sliding window sequence, are solved to obtain current robot and nothing according to step S54
The location status information of line RF tag simultaneously exports；
Specifically, just sliding a sliding window when next angle of arrival is often calculated and obtaining n nearest timestamp
Robot location's state variable at place will enter the machine of sliding window using FIFO (first-in-first-out) mode at first
Device people's location status variable, i.e., location status variable in sliding window at first timestamp is from the head of sliding window sequence
It removes, current newest robot location's state variable is put into the tail portion of sliding window sequence, updates sliding window sequence
For S=[μ1,…,μn-1,μn,b0,b1,…,bm-1]T。
Further, during sliding sliding window, in order to guarantee the respectively not phase of the location variable in sliding window
Together, it prevents robot to be in the degenerations motion states such as stagnation, is calculated using LIFO (last-in-first-out) mode current
Angle of arrival corresponding to obtained newest robot location's state variable and the last robot location's shape for entering sliding window
Angle of arrival corresponding to state variable is compared, according to similarity expression formula calculate angle of arrival between similarity M, M ∈ [0,
2], as M < ε, then it is assumed that two angle of arrival are similar, and current newest robot location's state variable does not enter sliding window sequence
Column.Specifically, the selection of threshold value depends on user to the sensitivity of system degradation motion detection, usual ε can be with value
0.01。
To sum up, when next angle of arrival progress sliding window is calculated, whether robot is judged by similarity detection
In degeneration motion state, if being in degeneration motion state, data are handled using LIFO mode, otherwise using at FIFO mode
Manage data.If robot is constantly in degenerate state, the data in sliding window will stop updating, and robot will always
Same group of data is computed repeatedly, the location status of robot and radio frequency label in current sliding window mouth sequence is exported.
Further, by defining similarity variable MjkCome measure jth time and k-th of timestamp twice angle of arrival it
Between variation degree, expression formula is as follows:
Wherein,For the angle of arrival of radio frequency signal at j-th of timestamp, m
It observed the quantity of radio frequency label, M at j timestampjk∈ [0,2], MjkAngle of arrival is more close twice for smaller expression.
S56, step S55 is repeated, persistently exports the real time position status information of robot and radio frequency label.
The present invention also provides a kind of robot passive location systems, as shown in Figure 2, comprising: radio signal source is wirelessly penetrated
Frequency marking label, robot, wherein radio signal source, radio frequency label and robot are placed in the same space.Further, nothing
Line signal source further, can use WiFi signal source for sending wireless signal with the space where cladding system；Wirelessly
RF tag obtains label and rebounds signal for wireless signal rebound go out, and radio frequency label can have multiple, be placed on
On object to be positioned in the same space；Further, radio frequency label can use and penetrate scattered label backwards；Robot
For receiving label rebound signal, the inertial parameter of robot measurement constructs robot-radio frequency label based on sliding window
Location status Fusion Model, according to the position of robot and radio frequency label in gained angle of arrival and inertial parameter computation model
Set state variable.
The present invention also provides a kind of robot passive location equipment, including it is signal receiving unit, signal processing unit, used
Property measuring unit.Wherein, the output end of signal receiving unit is connected with the input terminal of signal processing unit, Inertial Measurement Unit
Output end is connected with the input terminal of signal processing unit；Further, signal receiving unit be used for using antenna array receiver without
The label rebound signal that line RF tag rebounds out, further, aerial array can be triantennary perimeter antenna array；It is used
Property measuring unit for measuring inertial parameter；Signal processing unit is used to construct robot-less radio-frequency mark based on sliding window
Location status Fusion Model is signed, according to robot in gained angle of arrival and inertial parameter computation model and radio frequency label
Location status variable.
The motion profile of a robot is preset in the present embodiment, it is passive based on a kind of robot proposed by the invention
Localization method, the final locating effect for realizing robot and radio frequency label are as shown in Figure 3, wherein the position of robot is by x
And y coordinate representation, figure (a) are the physical location of robot and the robot location using method provided by the present invention calculating
Change with time relationship, and the solid line in figure (a) indicates that the physical location of robot changes with time relationship, in figure (a)
Change with time relationship for the position for the robot that dotted line expression is calculated based on method provided by the present invention, can from figure
The position of the robot obtained out using method provided by the present invention is consistent substantially with physical location, and error is smaller.Figure
(b) change with time 4 radio frequency label positions to be obtained using method provided by the present invention relationship, wherein real
Line indicates that the position of radio frequency label 1 is changed with time relationship, and dotted line indicates the position of radio frequency label 2 at any time
Variation relation, change with time relationship for the position of dotted line expression radio frequency label 3, and chain-dotted line indicates radio frequency label 4
Position change with time relationship.As seen from the figure, radio frequency label 3 and radio frequency label in the period of preceding 100s
4 position error is larger, this is because radio frequency label 3 and radio frequency label 4 at this time is deployed in the sight of robot
Except range, robot can not observe the radio frequency label, but after 100s, the position of radio frequency label tends to
Stablize, and then orients the position coordinates where each label.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of robot passive location method, which comprises the following steps:
S1, the wireless signal for obtaining radio frequency label reflection are denoted as label rebound signal；
S2, rebounded signal using label described in the antenna array receiver in robot；
S3, the angle of arrival between the radio frequency label and the robot is estimated based on label rebound signal；
The inertial parameter of S4, the measurement robot；
S5, robot-radio frequency label location status Fusion Model is constructed based on sliding window, according to the angle of arrival and institute
State the location status variable of robot described in inertial parameter computation model and the radio frequency label.
2. robot passive location method according to claim 1, which is characterized in that method described in step S5 includes
Following steps:
S51, definition include the sliding window of robot location's status switch and radio frequency label location status sequence, are denoted as cunning
Dynamic series of windows；
Robot location state number n in S52, the initialization sliding window sequence, the state for initializing the robot are
Motion state, obtaining the sliding window sequence under init state is the robot location at current n timestamp recently
The location status Variables Sequence of state variable and the radio frequency label observed guarantees the sliding window under original state
Angle of arrival corresponding to each robot location's state variable is different in sequence；
S53, sliding window building robot-radio frequency label position shape is based in the motion process of the robot
State Fusion Model, the node in model correspond to the sliding window sequence；
S54, the minimum value that cost function in the Fusion Model is calculated according to the angle of arrival and the inertial parameter, are worked as
The optimal solution of front slide series of windows, i.e., the location status variable of robot and radio frequency label in current sliding window mouth sequence
Solution, as one group of output；
S55, the sliding sliding window, update sliding window sequence, are solved to obtain current robot and nothing according to step S54
The location status information of line RF tag simultaneously exports；
S56, step S55 is repeated, persistently exports the real time position status information of the robot and radio frequency label.
3. robot passive location method according to claim 2, which is characterized in that the expression of the sliding window sequence
Formula is as follows:
S=[μ0,μ1,…,μj,…,μn-1,b0,b1,…,bi,…,bm-1]T
Wherein, n is the number of robot location's state variable in the sliding window, and m is that robot is seen in the sliding window
The total number of the radio frequency label measured, μjFor the location status variable of the robot at j-th of timestamp, biFor i-th of nothing
The location status variable of line RF tag, only comprising the robot location at nearest n timestamp in the sliding window
State variable.
4. robot passive location method according to claim 1 or 2, which is characterized in that the robot-less radio-frequency
Label position state Fusion Model is by the angle of arrival, the inertial parameter, robot location's state variable and described
Radio frequency label location status is merged, and cost function is as follows:
Cost=A (S)+D (S)
Wherein, S is the sliding window sequence, and A (S) is angle of arrival constraint, and for indicating the observation residual error of angle of arrival, D (S) is
Mileage constraint, for indicating the observation residual error of robot motion's mileage.
5. robot passive location method according to claim 4, which is characterized in that the expression formula of the angle of arrival constraint
It is as follows:
Wherein,It is expectation observation of i-th of radio frequency label in j-th of timestamp, value is vector 0, rightIt is converted to obtainValue, whereinIt indicates i-th that robot observes
Radio frequency label is defined as in the direction vector of the angle of arrival of j-th of timestamp
Indicate the robot increment of rotation from the 0th timestamp to jth timestamp, μjFor the position of the robot at j-th of timestamp,
biFor the position of i-th of radio frequency label,For Gaussian noise,It is i-th of radio frequency label at j-th
Between angle of arrival at stamp covariance.
6. robot passive location method according to claim 4, which is characterized in that the expression formula of the mileage constraint is such as
Under:
Wherein, whereinIt is that robot is estimated at+1 timestamp of kth relative to displacement of the robot at k-th of timestamp
Meter, it is rightIt is converted to obtainValue, whereinTable
Show increment of rotation of state of the robot at k-th of timestamp relative to original state, Δ t is between two adjacent measurements
Time interval, μkFor position of the robot at k-th of timestamp, vkFor speed of the robot at k-th of timestamp, g attaches most importance to
Power acceleration,For additive noise,For at+1 timestamp of kth relative to robot at k-th of timestamp
The covariance of displacement.
7. robot passive location method according to claim 2, which is characterized in that the arrival is often calculated
Angle just slides the primary sliding window and obtains robot location's state variable at n nearest timestamp, using FIFO
(first-in-first-out) mode will enter at first robot location's state variable of the sliding window from the sliding
The head of series of windows removes, and current newest robot location's state variable is put into the tail of the sliding window sequence
Portion, update sliding window sequence are S=[μ1,…,μn-1,μn,b0,b1,…,bm-1]T。
8. the robot passive location method according to claim 2 or 7, which is characterized in that sliding the sliding window
During, using LIFO (last-in-first-out) mode to the newest angle of arrival that is currently calculated and it is last into
Enter angle of arrival corresponding to robot location's state variable of sliding window to be compared, according to measuring similarity formulaThe similarity M between angle of arrival is calculatedjk, whereinFor the angle of arrival of radio frequency signal at j-th of timestamp, OjIt (i) is matrix OjI-th
Column, m are the quantity that observed radio frequency label at j-th of timestamp, MjkFor jth timestamp and arriving when kth timestamp
Up to the variation degree between angle, Mjk∈ [0,2], works as MjkWhen < ε, then it is assumed that two angle of arrival are similar, current newest robot
Location status variable does not enter the sliding window sequence.
9. a kind of robot passive location system characterized by comprising radio signal source, radio frequency label, robot；
The radio signal source, the radio frequency label and the robot are placed in the same space；
The radio signal source is for sending wireless signal to cover the space；
The radio frequency label obtains label rebound signal for wireless signal to rebound away, and the radio frequency label can
It is multiple to have, it is placed on the object to be positioned in the same space；
The robot measures inertial parameter, constructs robot-nothing based on sliding window for receiving the label rebound signal
Line RF tag location status Fusion Model calculates robot and nothing in the model according to gained angle of arrival and inertial parameter
The location status variable of line RF tag.
10. a kind of robot passive location equipment characterized by comprising signal receiving unit, signal processing unit, inertia
Measuring unit；
The output end of the signal receiving unit is connected with the input terminal of the signal processing unit, the Inertial Measurement Unit
Output end is connected with the input terminal of the signal processing unit；
The label rebound letter that the signal receiving unit is used to rebound out using radio frequency label described in antenna array receiver
Number；
The Inertial Measurement Unit is for measuring inertial parameter；
The signal processing unit is used to construct robot-radio frequency label location status Fusion Model based on sliding window,
The location status variable of robot and radio frequency label in the model is calculated according to resulting angle of arrival and inertial parameter.
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