CN110376548A - A kind of multi-target orientation method and system - Google Patents
A kind of multi-target orientation method and system Download PDFInfo
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- CN110376548A CN110376548A CN201910659653.3A CN201910659653A CN110376548A CN 110376548 A CN110376548 A CN 110376548A CN 201910659653 A CN201910659653 A CN 201910659653A CN 110376548 A CN110376548 A CN 110376548A
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention discloses a kind of multi-target orientation methods, including enter monitoring region in response to N number of target, acquire target from monitoring region anchor node received signal；Using the corresponding anchor node of strongest top n signal as the cluster heart, N number of grid is divided into for region is monitored using Grid Clustering Algorithm；In each grid, the anchor node signal arrived according to intended recipient calculates the position of target.The present invention is using the strongest several anchor nodes of signal as cluster point, multiple grids are divided into for region is monitored using Grid Clustering Algorithm, according to grid position where target and receive anchor node number of signals, target position is calculated using different methods, registration, suitable for various different scenes, there is good generalization.
Description
Technical field
The present invention relates to a kind of multi-target orientation method and systems, belong to Internet of Things field of locating technology.
Background technique
With the development of science and technology, location technology has obtained extensive concern, outdoor positioning technology mainly passes through global location
System (GPS) or BEI-DOU position system position target, and indoors, above-mentioned positioning system is difficult to receive satellite letter
Number, lose positioning accuracy；Therefore a kind of higher localization method of precision is badly in need of in interior now.
Summary of the invention
The present invention provides a kind of multi-target orientation method and systems, solve above-mentioned existing for existing indoor positioning ask
Topic.
In order to solve the above-mentioned technical problem, the technical scheme adopted by the invention is that:
A kind of multi-target orientation method, including,
Enter monitoring region in response to N number of target, acquires target from monitoring region anchor node received signal；
Using the corresponding anchor node of strongest top n signal as the cluster heart, region division will be monitored using Grid Clustering Algorithm
At N number of grid；
In each grid, the anchor node signal arrived according to intended recipient calculates the position of target.
Own location information and RSSI value are sent to target by anchor node.
N number of cluster heart remains unchanged in Grid Clustering Algorithm.
It is located in grid in response to target and receives more than or equal to three anchor node signals, using weighted mass center method
Solve target position；
It is located in grid and receives two anchor node signals in response to target, using two anchor node positions as the centre of sphere,
Range-to-go is that radius draws ball；If two balls are tangent, tangent line where straight line where target is located at the two ball centre ofs sphere and point of contact
Intersection point on；If two ball intersections solve target position using the cosine law and two anchor node positions；
It is located in grid in response to target and receives an anchor node signal and is pressed with the anchor node and inertial guidance data
The method for receiving two anchor node signals is positioned.
It is located at adjacent mesh intersection in response to target, filters out the most strong letter for four different directions that intended recipient arrives
Number, according to the anchor node position of this four peak signals, target position is solved using weighted mass center method.
It is located at that monitoring section is overseas in response to target, the ordinary node of utilization monitoring edges of regions after positioning positions mesh
Mark；
If solving target position using weighted mass center method there are three the above ordinary node and destinations traffic；
If the cosine law and two ordinary node positions solve target position there are two ordinary node and destinations traffic；
It is common by receiving two with the ordinary node and inertial guidance data if having an ordinary node and destinations traffic
The method of node signal is positioned.
A kind of multi-target positioning system, including,
Signal acquisition module: enter monitoring region in response to N number of target, acquisition target is received from monitoring region anchor node
Signal；
Grid Clustering module: using the corresponding anchor node of strongest top n signal as the cluster heart, using Grid Clustering Algorithm
Monitoring region is divided into N number of grid；
Target computing module: in each grid, the anchor node signal arrived according to intended recipient calculates the position of target.
Target computing module includes the first computing module, the second computing module and third computing module；
First computing module: being located in grid in response to target and receives more than or equal to three anchor node signals, adopts
Target position is solved with weighted mass center method；
Second computing module: being located in grid in response to target and receives two anchor node signals, with two anchor sections
Point is set to the centre of sphere, and range-to-go is that radius draws ball；If two balls are tangent, target is located at straight line where the two ball centre ofs sphere
On the intersection point of tangent line where point of contact；If two ball intersections solve target position using the cosine law and two anchor node positions
It sets；
Third computing module: being located in grid in response to target and receives an anchor node signal, with the anchor node
And inertial guidance data, it is positioned by the method for receiving two anchor node signals.
Target computing module includes the 4th computing module；
4th computing module: being located at adjacent mesh intersection in response to target, filters out four differences that intended recipient arrives
The peak signal in orientation solves target position using weighted mass center method according to the anchor node position of this four peak signals.
Target computing module includes the 5th computing module；
5th computing module: being located at that monitoring section is overseas in response to target, utilization monitoring edges of regions after positioning it is general
Logical node locating target；
If solving target position using weighted mass center method there are three the above ordinary node and destinations traffic；
If the cosine law and two ordinary node positions solve target position there are two ordinary node and destinations traffic；
It is common by receiving two with the ordinary node and inertial guidance data if having an ordinary node and destinations traffic
The method of node signal is positioned.
Advantageous effects of the invention: the present invention is using the strongest several anchor nodes of signal as cluster point, using grid
Clustering algorithm is divided into multiple grids for region is monitored, and according to grid position where target and receives anchor node signal number
Amount calculates target position using different methods, and registration is suitable for various different scenes, has good generalization.
Detailed description of the invention
Fig. 1 is flow chart of the invention；
Fig. 2 is target and the triangle that two anchor nodes form.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating this hair
Bright technical solution, and not intended to limit the protection scope of the present invention.
As shown in Figure 1, a kind of multi-target orientation method, before positioning, first deployment positioning network, by multiple anchor nodes
Be deployed in monitoring region, when N number of target enters monitoring region, anchor node sends signal to target, signal include anchor node from
Body location information and RSSI value, server are communicated with target, carry out Multi-target position, and specific method is as shown in Figure 1, packet
It includes:
Step 1, enter monitoring region in response to N number of target, acquire target from monitoring region anchor node received signal.
Step 2, strongest top n signal is extracted from being ranked up to weak by force to all signal strengths.
Step 3, using the corresponding anchor node of strongest top n signal as the cluster heart, using Grid Clustering Algorithm by monitoring section
Domain is divided into N number of grid；Wherein, N number of cluster heart remains unchanged in Grid Clustering Algorithm, not only simplifies calculating process, and utilize
The nearest N number of anchor node location information of distance objective, may be implemented Multi-target position in single pass.
Step 3, in each grid, the anchor node signal arrived according to intended recipient calculates the position of target.
Position of the target in grid can be divided into following several situations:
1, target is located inside grid；
Intended recipient converts range information for RSSI data, then with anchor section to three anchor node signals are more than or equal to
Point is set to the center of circle, with target and i-th of anchor node distance RiBall is drawn for radius, target position is solved using weighted mass center method,
Specific formula is as follows:
Wherein, (x0, y0, z0) it is coordinates of targets, (xi, yi, zi) it is i-th of anchor node coordinate, i1 is to receive anchor node
Number of signals,
Intended recipient is to two anchor node signals, and using two anchor node positions as the centre of sphere, range-to-go is radius picture
Ball, there are following two situations for the two balls:
If A, two balls are tangent, can obtain,
Wherein, (x1, y1, z1) it is first anchor node coordinate, (x2, y2, z2) it is second anchor node coordinate, R1It is first
A anchor node range-to-go, R2For second anchor node range-to-go；
By R1And R2Formula can obtain,
Formula (4) can be further simplified are as follows:
ax0+by0+cz0=d (5)
Wherein -2 (x1-x2)=a, -2 (y1-y2)=b, -2 (z1-z2)=c,
According to two anchor node position coordinates, linear equation can be obtained are as follows:
Target is located on the intersection point of two ball centre ofs sphere place straight lines and point of contact place tangent line, then the calculation formula of target position
For,
Wherein, k is slope.
If B, two ball intersections, target and two anchor nodes constitute triangle, utilize the cosine law and two anchor sections
Point position solves target position, specific formula is as follows:
Wherein, D is the distance between two centre ofs sphere, α1Connect for the line of first anchor node to target and two anchor nodes
The angle of line.
Intended recipient is to an anchor node signal, with the anchor node and inertial guidance data, by receiving two anchor node signals
Method positioned.
2, target is located at adjacent mesh intersection, and target receives the close anchor node signal of two intensity sizes, mesh at this time
Mark uses dynamic virtual network style to filter out four that intended recipient arrives that is, when target reaches net boundary when getting over grid
The peak signal of different direction (generally four orientation up and down), the anchor node of this four peak signals is reconfigured
At new grid, according to the anchor node position of this four peak signals, target position is solved using weighted mass center method.
3, it is located at that monitoring section is overseas in response to target, the ordinary node positioning of utilization monitoring edges of regions after positioning
Target: if there are three the above ordinary node and destinations traffic, target position is solved using weighted mass center method；If there are two general
Logical node and destinations traffic, then the cosine law and two ordinary node positions solve target position；If have an ordinary node with
Destinations traffic is positioned then with the ordinary node and inertial guidance data by the method for receiving two ordinary node signals.
Multiple targets are positioned using the above method, by positioning result and actual measurement Structure Comparison, find this method
Positioning result precision can reach Centimeter Level.
To sum up, the above method is using the strongest several anchor nodes of signal as cluster point, using Grid Clustering Algorithm by monitoring section
Domain is divided into multiple grids, according to grid position where target and anchor node number of signals is received, using different methods
Target position is calculated, registration is suitable for various different scenes, has good generalization.
A kind of multi-target positioning system, comprising:
Signal acquisition module: enter monitoring region in response to N number of target, acquisition target is received from monitoring region anchor node
Signal.
Grid Clustering module: using the corresponding anchor node of strongest top n signal as the cluster heart, using Grid Clustering Algorithm
Monitoring region is divided into N number of grid.
Target computing module: in each grid, the anchor node signal arrived according to intended recipient calculates the position of target.
Target computing module includes the first computing module, the second computing module, third computing module, the 4th computing module
With the 5th computing module.
First computing module: being located in grid in response to target and receives more than or equal to three anchor node signals, adopts
Target position is solved with weighted mass center method.
Second computing module: being located in grid in response to target and receives two anchor node signals, with two anchor sections
Point is set to the centre of sphere, and range-to-go is that radius draws ball；If two balls are tangent, target is located at straight line where the two ball centre ofs sphere
On the intersection point of tangent line where point of contact；If two ball intersections solve target position using the cosine law and two anchor node positions
It sets.
Third computing module: being located in grid in response to target and receives an anchor node signal, with the anchor node
And inertial guidance data, it is positioned by the method for receiving two anchor node signals.
4th computing module: being located at adjacent mesh intersection in response to target, filters out four differences that intended recipient arrives
The peak signal in orientation solves target position using weighted mass center method according to the anchor node position of this four peak signals.
5th computing module: being located at that monitoring section is overseas in response to target, utilization monitoring edges of regions after positioning it is general
Logical node locating target；If solving target position using weighted mass center method there are three the above ordinary node and destinations traffic；
If the cosine law and two ordinary node positions solve target position there are two ordinary node and destinations traffic；If there is one
Ordinary node and destinations traffic, then with the ordinary node and inertial guidance data, by receive the methods of two ordinary node signals into
Row positioning.
A kind of computer readable storage medium storing one or more programs, one or more of programs include referring to
Enable, described instruction when executed by a computing apparatus so that the calculatings equipment execution multi-target orientation method.
A kind of calculating equipment, including one or more processors, memory and one or more programs, one of them
Or the storage of multiple programs in the memory and is configured as being executed by one or more of processors, it is one or
Multiple programs include the instruction for executing multi-target orientation method.
It should be understood by those skilled in the art that, embodiments herein can provide as method, system or computer journey
Sequence product.Therefore, complete hardware embodiment, complete software embodiment or combining software and hardware aspects can be used in the application
The form of embodiment.Moreover, it wherein includes the calculating of computer usable program code that the application, which can be used in one or more,
The computer program implemented in machine usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The application is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that can be realized by computer program instructions each in flowchart and/or the block diagram
The combination of process and/or box in process and/or box and flowchart and/or the block diagram.It can provide these computers
Processor of the program instruction to general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices
To generate a machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute
For realizing the function of being specified in one or more flows of the flowchart and/or one or more blocks of the block diagram
Device.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that instruction stored in the computer readable memory generation includes
The manufacture of command device, the command device are realized in one box of one or more flows of the flowchart and/or block diagram
Or the function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that
Series of operation steps are executed on computer or other programmable devices to generate computer implemented processing, thus calculating
The instruction executed on machine or other programmable devices is provided for realizing in one or more flows of the flowchart and/or side
The step of function of being specified in block diagram one box or multiple boxes.
The above is only the embodiment of the present invention, are not intended to restrict the invention, all in the spirit and principles in the present invention
Within, any modification, equivalent substitution, improvement and etc. done, be all contained in apply pending scope of the presently claimed invention it
It is interior.
Claims (10)
1. a kind of multi-target orientation method, it is characterised in that: including,
Enter monitoring region in response to N number of target, acquires target from monitoring region anchor node received signal；
Using the corresponding anchor node of strongest top n signal as the cluster heart, using Grid Clustering Algorithm will monitor region be divided into it is N number of
Grid；
In each grid, the anchor node signal arrived according to intended recipient calculates the position of target.
2. a kind of multi-target orientation method according to claim 1, it is characterised in that: anchor node by own location information and
RSSI value is sent to target.
3. a kind of multi-target orientation method according to claim 1, it is characterised in that: N number of cluster heart in Grid Clustering Algorithm
It remains unchanged.
4. a kind of multi-target orientation method according to claim 1, it is characterised in that: be located in grid simultaneously in response to target
And more than or equal to three anchor node signals are received, target position is solved using weighted mass center method；
It is located in grid and receives two anchor node signals in response to target, using two anchor node positions as the centre of sphere, arrives mesh
Target distance is that radius draws ball；If two balls are tangent, the friendship of tangent line where straight line where target is located at the two ball centre ofs sphere and point of contact
Point on；If two ball intersections solve target position using the cosine law and two anchor node positions；
It is located in grid and receives an anchor node signal in response to target, with the anchor node and inertial guidance data, by reception
Method to two anchor node signals is positioned.
5. a kind of multi-target orientation method according to claim 1, it is characterised in that: be located at adjacent mesh in response to target
Intersection filters out the peak signal for four different directions that intended recipient arrives, according to the anchor node position of this four peak signals
It sets, target position is solved using weighted mass center method.
6. a kind of multi-target orientation method according to claim 1, it is characterised in that: be located at monitoring region in response to target
Outside, the utilization ordinary node after positioning for monitoring edges of regions positions target；
If solving target position using weighted mass center method there are three the above ordinary node and destinations traffic；
If the cosine law and two ordinary node positions solve target position there are two ordinary node and destinations traffic；
If having an ordinary node and destinations traffic, with the ordinary node and inertial guidance data, by receiving two ordinary nodes
The method of signal is positioned.
7. a kind of multi-target positioning system, it is characterised in that: including,
Signal acquisition module: entering monitoring region in response to N number of target, acquires target from the monitoring received letter of region anchor node
Number；
Grid Clustering module: it using the corresponding anchor node of strongest top n signal as the cluster heart, will be monitored using Grid Clustering Algorithm
Region division is at N number of grid；
Target computing module: in each grid, the anchor node signal arrived according to intended recipient calculates the position of target.
8. a kind of multi-target positioning system according to claim 7, it is characterised in that: target computing module includes the first meter
Calculate module, the second computing module and third computing module；
First computing module: being located in grid in response to target and receives more than or equal to three anchor node signals, using adding
It weighs centroid method and solves target position；
Second computing module: being located in grid in response to target and receives two anchor node signals, with two anchor node positions
It is set to the centre of sphere, range-to-go is that radius draws ball；If two balls are tangent, target is located at straight line and point of contact where the two ball centre ofs sphere
On the intersection point of place tangent line；If two ball intersections solve target position using the cosine law and two anchor node positions；
Third computing module: being located in grid in response to target and receives an anchor node signal, with the anchor node and is used to
Derivative evidence is positioned by the method for receiving two anchor node signals.
9. a kind of multi-target positioning system according to claim 7, it is characterised in that: target computing module includes the 4th meter
Calculate module；
4th computing module: being located at adjacent mesh intersection in response to target, filters out four different directions that intended recipient arrives
Peak signal target position is solved using weighted mass center method according to the anchor node position of this four peak signals.
10. a kind of multi-target positioning system according to claim 7, it is characterised in that: target computing module includes the 5th
Computing module；
5th computing module: it is located at monitoring edges of regions in response to target, utilization is after positioning to monitor the common of edges of regions
Node locating target；
If solving target position using weighted mass center method there are three the above ordinary node and destinations traffic；
If the cosine law and two ordinary node positions solve target position there are two ordinary node and destinations traffic；
If having an ordinary node and destinations traffic, with the ordinary node and inertial guidance data, by receiving two ordinary nodes
The method of signal is positioned.
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