CN110267342B - Positioning method based on WIFI in complex indoor scene - Google Patents
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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
- G01S5/0278—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 involving statistical or probabilistic considerations
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- H04B17/30—Monitoring; Testing of propagation channels
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- H04B17/318—Received signal strength
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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract
The invention discloses a positioning method based on WIFI in a complex indoor scene, which comprises the steps of initializing a system; pairing and networking an unknown node and an anchor node deployed in a monitoring area; communicating the unknown node with each paired anchor node; and the server calculates the position of the unknown node according to the received RSSI value and the number of the position information of the anchor node. The invention utilizes the server to plan the anchor node number and the work flow for the same label in a unified way; clock synchronization is realized by periodically sending clock synchronization messages to each anchor node through a network port by means of a server, so that the problem of data asynchronization is solved; counting the serial numbers of the anchor nodes of the hardware address of the same label node received by a server in a positioning period, and designating the sequence of the anchor nodes to avoid data collision among multiple nodes; receiving anchor node signal formats and signal strengths according to different types in a positioning period; the intelligent and networked nodes are improved, the positioning timeliness is improved, and the positioning is more accurate.
Description
Technical Field
The invention belongs to the technical field of application of Internet of things, and particularly relates to a positioning method based on WIFI in a complex indoor scene.
Background
With the advent of the big data age, the application of the internet of things based on location awareness is playing an increasingly large role. The GPS positioning technology has limitations, such as difficulty in receiving signals of satellites when an object to be positioned is located indoors, and the positioning accuracy of the GPS is on the meter scale, and the accuracy of the GPS is far from sufficient for some cases requiring accurate positioning. A Wireless Local Area Network (WLAN) is a brand new information acquisition platform, and can implement complex and large-scale positioning, monitoring and tracking tasks in a wide application field, and network node self-positioning is the basis and premise of most applications. The current popular WIFI positioning is a positioning solution of IEEE802.11, which is a series of standards for wireless local area networks. The system adopts a mode of combining an empirical test and a signal propagation model, is easy to install, needs few base stations, can adopt the same bottom wireless network structure and has high total precision.
The Ekahau company of finland developed software that enables indoor positioning using WIFI. WIFI mapping has an accuracy in the range of approximately 1 meter to 20 meters, and is generally more accurate than cellular network triangulation location methods. However, if the estimation of the location only depends on which WIFI access point is closest, rather than on the composite signal strength map, errors in floor location are easily made. At present, the method is applied to indoor positioning in a small range and is low in cost.
However, no matter the positioning device is used for indoor or outdoor positioning, the WIFI transceiver can only cover an area with the radius within 90 meters, and the WIFI transceiver is easily interfered by other signals, so that the precision of the positioning device is influenced, and the energy consumption of the positioning device is high.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a positioning method based on WIFI in a complex indoor scene aiming at the defects of the prior art, respectively positioning according to the received WIFI signal strength (RSSI value) and the number of position information aiming at different indoor environment characteristics, being suitable for various scenes and having good popularization.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:
a positioning method based on WIFI in a complex indoor scene comprises the following steps:
s1: initializing a system;
s2: pairing and networking an unknown node and an anchor node deployed in a monitoring area;
s3: the unknown nodes communicate with the paired anchor nodes, and each anchor node transmits the RSSI value and the position information to the server through the communication module;
s4: and the server calculates the position of the unknown node according to the received RSSI value and the number of the position information of the anchor node.
In order to optimize the technical scheme, the specific measures adopted further comprise:
the above step S1 includes the following steps:
s11: powering on an unknown node, an anchor node and a server, and initializing various hardware parameters;
s12: the anchor node sends an initialization success message to the server, and periodically broadcasts information of the anchor node, coordinate information and ID information to the periphery;
s13: after the unknown node receives the anchor node information in the range, the RSSI value and the position information of the anchor node are recorded;
s14: and after the server confirms that each anchor node is initialized successfully, the server periodically sends clock synchronization information to each anchor node through the network port, and each anchor node performs clock calibration through the clock synchronization information.
The above step S2 includes the following steps:
s21: the server counts the anchor node serial numbers of the hardware addresses of the same unknown node, and appoints an order for each anchor node according to the time of receiving the RSSI value and the position information of each anchor node;
s22: the server arranges the unknown node that received the RSSI values and location information to communicate with the anchor node that transmitted the RSSI values and location information with reference to the currently idle time sequence.
The step S4 is specifically: the server connects the received anchor nodes into polygons in a counterclockwise way, takes one anchor node with the maximum received signal strength as a vertex, and decomposes the polygons into i-2 triangles.
The above step S4 includes the following two cases:
when the server receives RSSI values and position information of four or more anchor nodes, calculating the position coordinates of the unknown nodes by utilizing an improved weighted centroid positioning algorithm;
when the server receives anchor node RSSI values and position information of less than four anchor nodes, inertial navigation information is used for auxiliary positioning based on the anchor node RSSI values and the position information, and the inertial navigation information is obtained by an inertial navigation module embedded in the unknown node tag.
When the server receives four or more anchor node RSSI values and position information, the unknown node coordinates are calculated by using an improved weighted centroid location algorithm, specifically:
using anchor node location (x) with maximum RSSI value1,y1,z1) Dividing the polygon into i-2 triangles from the common vertex, and simultaneously introducing each centroid point and (x)1,y1,z1) The distance error sum e is used as an influence factor, and the improved weighted centroid method is as follows:
wherein (x)i，yi，zi) Denotes the coordinates of the anchor node i (i ≧ 4), (x)02，y02，z02) Representing unknown nodes and roughly positioning three-dimensional coordinates by using an improved centroid method; (x'i，y′i，z′i) Representing the centroid, s, of the sub-triangleiThe area of the sub-triangle is represented,
the invention has the following beneficial effects:
(1) the invention utilizes the server to plan the anchor node number and the work flow for the same label in a unified way;
(2) the clock synchronization is realized by periodically sending clock synchronization messages to each anchor node through the network port by the server, so that the problem of data asynchronization is solved;
(3) according to the method, the server is used for counting the serial numbers of the anchor nodes of the hardware addresses of the same label node received in one positioning period, and assigning the sequence of the anchor nodes, so that data collision among multiple nodes is avoided;
(4) the invention receives the signal format and signal intensity of the anchor node according to different in a positioning cycle;
(5) the invention improves the intellectualization and the networking of each node, improves the positioning timeliness and ensures that the positioning is more accurate.
Drawings
FIG. 1 is a schematic diagram of a networking communication flow in an embodiment of the present invention;
fig. 2 is a diagram of positioning results in the embodiment of the present invention.
Detailed Description
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
The invention discloses a WIFI-based positioning method under a complex indoor scene, which comprises the following steps:
s1: initializing a system;
in an embodiment, step S1 includes the steps of:
s11: powering on an unknown node, an anchor node and a server, and initializing various hardware parameters;
the following embodiment is illustrated with the unknown node TAG1, TAG1 being the only label code, TAG1 being any label within the monitored area that can be worn on the target to be located.
S12: the anchor node sends an initialization success message to the server, and periodically broadcasts information of the anchor node, coordinate information and ID information to the periphery;
s13: and after the unknown node receives the anchor node information in the range, the RSSI value and the position information of the anchor node are recorded.
S14: and after the server confirms that each anchor node is initialized successfully, the server periodically sends clock synchronization information to each anchor node through the network port, and each anchor node performs clock calibration through the clock synchronization information.
S2: pairing and networking an unknown node and an anchor node deployed in a monitoring area;
in an embodiment, step S2 includes the steps of:
s21: the server counts the anchor node serial numbers of the hardware addresses of the same unknown node, and appoints an order for each anchor node according to the time of receiving the RSSI value and the position information of each anchor node;
for example, the anchor node that reports the same RSSI value and location information first may be set as the first anchor node, i.e., a0, and the anchor nodes thereafter may be set as a1, a2, and A3 … … in this order
S22: the server arranges the unknown node that received the RSSI values and location information to communicate with the anchor node that transmitted the RSSI values and location information with reference to the currently idle time sequence.
S3: the unknown nodes communicate with the paired anchor nodes, and each anchor node transmits the RSSI value and the position information to the server through the communication module;
s4: the server calculates the position of the unknown node according to the received RSSI value and the number of the position information of the anchor node, namely the server receives the RSSI value and the position information sent by each anchor node and calculates the position of the unknown node according to the RSSI value and the position information sent by each anchor node.
In an embodiment, step S4 specifically includes: the server connects the received anchor nodes into polygons in a counterclockwise way, takes one anchor node with the maximum received signal strength as a vertex, and decomposes the polygons into i-2 triangles.
The method specifically comprises the following two conditions:
1. when the server receives RSSI values and position information of four or more anchor nodes, calculating the position coordinates of the unknown nodes by utilizing an improved weighted centroid positioning algorithm;
the method specifically comprises the following steps: using anchor node location (x) with maximum RSSI value1,y1,z1) Dividing the polygon into i-2 triangles from the common vertex, and simultaneously introducing each centroid point and (x)1,y1,z1) The distance error sum e is used as an influence factor, and the improved weighted centroid method is as follows:
wherein (x)i，yi，zi) Denotes the coordinates of the anchor node i (i ≧ 4), (x)02，y02，z02) Representing unknown nodes and roughly positioning three-dimensional coordinates by using an improved centroid method; (x'i，y′i，z′i) Representing the centroid, s, of the sub-triangleiThe area of the sub-triangle is represented,
in the embodiment, when the server receives position information and RSSI (received signal strength indicator) signals sent by more than 4 anchor nodes, namely anchor nodes, a polygon is formed among the anchor nodes, and the coordinates of a positioning point are solved by using the traditional centroid
The method cannot reflect the influence of each anchor node on positioning, and particularly, the influence degree of the loss factor on the distance measurement is larger and larger along with the increase of the distance, so that a larger loss error is generated in a more complex indoor environment. In this embodiment, the anchor node position (x) with the maximum RSSI value is used1,y1,z1) Starting from a common vertex, the polygon is divided into i-2 triangles, and the improved weighted centroid method is as follows:
wherein (x)i，yi，zi) Denotes the i (i ≧ 4) anchor node coordinates, (x 0)2，y02，z02) Representing unknown nodes and roughly positioning three-dimensional coordinates by using an improved centroid method; (x'i，y′i，z′i) Representing the centroid, s, of the sub-triangleiRepresenting the area of the sub-triangle.
The above method cannot distinguish the influence of each triangle centroid on the target to be positioned, because the anchor node with the highest strength RSSI value is generally closest to the target, and each centroid point and (x) are introduced for this purpose1,y1,z1) The distance error sum e is used as an influence factor, and the formula (1) is rewritten as
Wherein,
2. when the server receives anchor node RSSI values and position information of less than four anchor nodes, inertial navigation information is used for auxiliary positioning based on the anchor node RSSI values and the position information, and the inertial navigation information is obtained by an inertial navigation module embedded in the unknown node tag.
2.1 when an unknown node receives three anchor node RSSI values and location information,
wherein,
dmaxdistance of anchor node from target for maximum received signal strength, diIs the distance between the unknown target and the anchor node.
2.2 when the server receives the RSSI values and the position information of 2 anchor nodes, positioning is carried out by utilizing the anchor node distance information and the inertial navigation auxiliary information to obtain
Formulas 4-5 are given:
rewriting formula 11 can yield:
ax0+by0+cz0＝d(7)
wherein, -2 (x)1-x2) Is set as a; -2 (y)1-y2) B is set as; -2 (z)1-z2) C is set as;
d is set as; the inertial navigation point coordinate is set as (r, s, t),
the equation can be found:
the solution is found as:
the position coordinates of the unknown node can be obtained by substituting formula 9 into formula 8.
And 2.3 when the unknown node receives the RSSI value and the position information of 1 anchor node, roughly positioning by using the position information of the nearest inertial navigation point.
The coordinates of the sphere center and the inertial navigation point of the known anchor node are respectively (x)1,y1,z1)，(r，s，t)，
Knowing the coordinates of the centre of the sphere (x)1,y1,z1) And radius r, the sphere equation can be written as:
(x0-x1)2+(y0-y1)2+(z0-z1)2＝r1 2 (9)
the three-dimensional coordinate system is established by taking the sphere center as the origin of coordinates, and the position information can be obtained as
Wherein
d1Respectively the distance between the target to be measured and the inertial navigation point, d2Is the distance between the center of the sphere and the inertial navigation point.
And 2.4 when the server receives the RSSI values and the position information of 0 anchor nodes, positioning by mainly utilizing inertial navigation auxiliary information.
And analyzing the RSSI value and the position information of the anchor node, and obtaining the position information of the target at the moment through the increment information of the accelerometer based on inertial navigation in three directions. The inertial system provides the positioning information of the positioning system at the previous moment as the initial position information of the inertial navigation at the previous moment, and then estimates the specific position information of the moving carrier at the current moment by using the acceleration increment information of the inertial navigation in three directions.
As shown in fig. 2, the measured value and the actual value data have a measurement error in a period of time by using the method of the present invention, and the actual position can be tracked quickly in the following period of time as the positioning time goes by, and the quality requirement of indoor positioning is met from the viewpoint of the positioning error.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (4)
1. A positioning method based on WIFI in a complex indoor scene is characterized in that: the method comprises the following steps:
s1: initializing a system;
s2: pairing and networking an unknown node and an anchor node deployed in a monitoring area;
s3: the unknown nodes communicate with the paired anchor nodes, and each anchor node transmits the RSSI value and the position information to the server through the communication module;
s4: the server calculates the position of the unknown node according to the received RSSI value and the number of the position information of the anchor node;
when the server receives RSSI values and position information of four or more anchor nodes, calculating the position coordinates of the unknown nodes by utilizing an improved weighted centroid positioning algorithm;
when the server receives anchor node RSSI values and position information of less than four anchor nodes, inertial navigation information is used for auxiliary positioning based on the anchor node RSSI values and the position information, and the inertial navigation information is obtained by an inertial navigation module embedded in the unknown node label;
step S2 includes the following steps:
s21: the server counts the anchor node serial numbers of the hardware addresses of the same unknown node, and appoints an order for each anchor node according to the time of receiving the RSSI value and the position information of each anchor node;
s22: the server arranges the unknown node that received the RSSI values and location information to communicate with the anchor node that transmitted the RSSI values and location information with reference to the currently idle time sequence.
2. The WIFI-based positioning method in the complex indoor scenario of claim 1, wherein: step S1 includes the following steps:
s11: powering on an unknown node, an anchor node and a server, and initializing various hardware parameters;
s12: the anchor node sends an initialization success message to the server, and periodically broadcasts information of the anchor node, coordinate information and ID information to the periphery;
s13: after the unknown node receives the anchor node information in the range, the RSSI value and the position information of the anchor node are recorded;
s14: and after the server confirms that each anchor node is initialized successfully, the server periodically sends clock synchronization information to each anchor node through the network port, and each anchor node performs clock calibration through the clock synchronization information.
3. The WIFI-based positioning method in the complex indoor scenario of claim 1, wherein: step S4 specifically includes: the server connects the received anchor nodes into polygons in a counterclockwise way, takes one anchor node with the maximum received signal strength as a vertex, and decomposes the polygons into i-2 triangles.
4. The WIFI-based positioning method in the complex indoor scenario of claim 1, wherein: when the server receives RSSI values and position information of four or more anchor nodes, the unknown node coordinates are calculated by using an improved weighted centroid positioning algorithm, specifically:
using anchor node location (x) with maximum RSSI value1,y1,z1) Dividing the polygon into i-2 triangles from the common vertex, and simultaneously introducing each centroid point and (x)1,y1,z1) The distance error sum e is used as an influence factor, and the improved weighted centroid method is as follows:
wherein x isi yi ziDenotes the i (i ≧ 4) anchor node coordinate, x02 y02 z02Representing unknown nodes and roughly positioning three-dimensional coordinates by using an improved centroid method; x'i y′i z′iRepresenting the centroid, s, of the sub-triangleiThe area of the sub-triangle is represented,
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