CN111132008A - Intrusion object detection positioning system based on wireless local area network signals - Google Patents

Intrusion object detection positioning system based on wireless local area network signals Download PDF

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CN111132008A
CN111132008A CN201911322116.6A CN201911322116A CN111132008A CN 111132008 A CN111132008 A CN 111132008A CN 201911322116 A CN201911322116 A CN 201911322116A CN 111132008 A CN111132008 A CN 111132008A
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wifi signal
wifi
signal
receiving
threshold value
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郭茂耘
汪梦倩
梁皓星
朱思宁
陈行
夏焌虓
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Chongqing University
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/309—Measuring or estimating channel quality parameters
    • H04B17/318—Received signal strength

Abstract

The invention relates to an intruding object detecting and positioning system based on wireless local area network signals, and belongs to the technical field of intruding object detecting and positioning and security protection. The system comprises a WIFI signal sending device, a WIFI signal receiving device and a WIFI signal analyzing device; arranging a plurality of WIFI signal sending devices and WIFI signal receiving devices in an area needing to be monitored, wherein the WIFI signal sending devices and the WIFI signal receiving devices are used for sending and receiving WIFI signals and transmitting the received WIFI signals to a WIFI signal analysis device; the system utilizes the WIFI signal analysis device to analyze the WIFI signal received by the WIFI signal receiving device, utilizes the WIFI signal with the signal intensity variation larger than the threshold value to determine the position information of the transmitting and receiving end, further determines the straight line where the invaded object is located, and utilizes the method for solving the multivariate function extremum to determine the position of the invaded object, so as to realize the detection and positioning of the invaded object. According to the method, the detection and the positioning of the invading object are realized by analyzing the intensity change characteristics of the WIFI signal, and compared with the traditional method, the method has the advantages that the communication function of the original WIFI system is not influenced, the concealment is good, and the like.

Description

Intrusion object detection positioning system based on wireless local area network signals
Technical Field
The invention belongs to the technical field of invasive object detection positioning and security protection, and relates to an invasive object detection positioning system based on wireless local area network signals.
Background
Intrusion detection is the detection and monitoring of intrusion behavior, and is the discovery and location of people or objects entering a specific area by monitoring means in the area. Intrusion object detection and localization are the main functions of security systems concern.
At present, related technologies for intrusion detection positioning mainly use infrared sensors and video sensors for detection, a large number of sensors are required to be installed in the detection method, various wiring arrangements are required, the detection method is easy to find and damage, and the stability and the concealment are all deficient.
Disclosure of Invention
In view of the above, an object of the present invention is to provide an intruding object detection positioning system based on wireless local area network signals, the method utilizes the characteristic that the received signal intensity changes due to the shielding of an object on the propagation path of the wireless local area network signals (WIFI signals), determines whether an object intrudes into a monitoring area by analyzing the intensity value changes of a plurality of WIFI signals in the monitoring area on the premise of not affecting WIFI network communication, and implements positioning estimation on an intruding object by solving a multivariate function extreme value method; the method does not need to use special intrusion detection sensors (infrared sensors, video sensors and the like) to detect and position the intrusion object, and has the advantages of strong concealment and the like.
In order to achieve the purpose, the invention provides the following technical scheme:
an intrusion object detection and positioning system based on wireless local area network signals comprises a wireless local area network signal (WIFI signal) sending device, a wireless local area network signal (WIFI signal) receiving device and a wireless local area network signal (WIFI signal) analyzing device; arranging a plurality of WIFI signal sending devices and WIFI signal receiving devices in an area needing to be monitored, wherein the WIFI signal sending devices and the WIFI signal receiving devices are used for sending and receiving WIFI signals and transmitting the received WIFI signals to a WIFI signal analysis device;
the system utilizes the WIFI signal analysis device to analyze the WIFI signal received by the WIFI signal receiving device, utilizes the WIFI signal with the signal intensity variation larger than the threshold value to determine the position information of the receiving and transmitting end, determines the straight line where the invading object is located, utilizes the multivariate function extremum to determine the position of the invading object, and realizes the detection and positioning of the invading object.
Further, the wireless local area network signal transmitting device and the wireless local area network signal receiving device include but are not limited to a WIFI repeater, a WIFI router, a WIFI network card, and a WIFI access AP node device; the WIFI signal analysis apparatus is a device with computational analysis capability, including but not limited to a smartphone, a computer, and a tablet computer.
Further, the WIFI signal analysis device stores data information including numbers and position characteristic information of the WIFI signal sending device and the WIFI signal receiving device, can inquire the WIFI signals received by the WIFI signal receiving devices, and analyzes and judges whether an object invades through an analysis strategy.
Further, the WIFI signal analysis device judges whether intensity variation of the WIFI signal received by the WIFI receiving device is larger than a threshold set by a system, the threshold is a variation value of the intensity variation caused by shielding the WIFI signal due to object intrusion, and the threshold includes but is not limited to an average value of the intensity variation of the WIFI signal under various intrusion situations; and when the intensity change is larger than the threshold value, judging that an invasive object is shielded between the WIFI signal receiving device and the sending device, and storing the number of the sending device, the number of the receiving device and the position data corresponding to the signal.
Further, the system determines a straight line connecting the two points according to the two-point position data corresponding to the WIFI signal sending device and the corresponding receiving device, wherein the stored WIFI signal intensity variation is larger than the threshold value; and obtaining straight lines corresponding to the WIFI signal sending devices and the corresponding receiving devices of which the WIFI signal intensity changes are larger than the threshold value, and forming a straight line group.
Further, the WIFI signal analysis apparatus obtains the position of the intruding object by using a multivariate function extremum solving method, thereby implementing positioning and detection of the intruding object, and the specific analysis method is as follows:
1) when only one path of WIFI signal intensity variation value is larger than the threshold value: when the fact that the intensity of one path of WIFI signal changes and the change value is larger than the threshold value is detected, the invading object is located on a connecting line determined by a WIFI signal receiving device receiving the signal and a WIFI signal transmitting device transmitting the signal;
2) when the variation value of the two or more WIFI signal intensities is larger than the threshold value: the connecting line can be determined by the positions of the WIFI signal transmitting device and the WIFI signal receiving device:
2.1) when all the connecting lines intersect at one point, simultaneously solving linear equations corresponding to the connecting lines to obtain a solution, namely the position of the invading object;
2.2) when the connecting lines do not intersect at one point, obtaining the position estimation of the invading object by utilizing a method of solving multivariate extremum.
The invention has the beneficial effects that: according to the technical scheme provided by the invention, on the premise of not influencing WIFI network communication, whether an object invades a monitoring area is judged by analyzing the change of the intensity values of a plurality of WIFI signals in the monitoring area, the method does not use special invasion detection sensors such as infrared and video, and the detection and positioning of the invaded object are realized by analyzing the intensity change characteristics of the WIFI signals and adopting methods such as a multivariate function extremum and the like by utilizing the characteristic that the signal intensity of the WIFI signals can be obviously changed when the WIFI signals are shielded by the invaded object. Compared with the traditional intrusion detection method, the method has the advantages of not influencing the communication function of the original WIFI system, having good concealment and the like.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
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For the purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of a single set of signal transmitting devices and signal receiving devices;
FIG. 3 is a diagram illustrating a situation where connection lines between a plurality of signal transmitting devices and signal receiving devices intersect at a point;
FIG. 4 is a diagram illustrating a situation where connection lines between a plurality of signal transmitting devices and signal receiving devices intersect at multiple points;
fig. 5 is a schematic layout diagram of a WIFI signal transceiver in an embodiment;
FIG. 6 is a diagram illustrating a situation where two sets of signal transmitters and two sets of signal receivers intersect at a point in an embodiment;
fig. 7 is a schematic diagram illustrating a situation in which the connection lines between three sets of signal transmitting devices and three sets of signal receiving devices intersect at multiple points in the embodiment.
Detailed Description
Fig. 1 is a schematic structural diagram of the present invention, and as shown in fig. 1, the system provided by the present invention mainly includes a WIFI signal transmitting device, a WIFI signal receiving device and a WIFI signal analyzing device, and the utilization of the WIFI signal transmitting and receiving device by the present system does not affect the original WIFI wireless local area network communication function.
In the system, the WIFI signal transmitting device is a device for transmitting a WIFI signal, and can be but is not limited to a WIFI network card, a WIFI router, a WIFI access node AP and the like; the WIFI signal receiving device is a device for receiving a WIFI signal, and can be a WIFI network card, a WIFI router, a WIFI access node AP and the like. Above WIFI signal transmitting device and WIFI information receiving arrangement all have unique identification number (number for short), and can unite two into one and constitute WIFI signal transceiver.
The WIFI signal analysis processing device stores device characteristic information such as the numbers and the positions of the WIFI transceiver devices, analyzes and processes the WIFI signals according to a certain method (such as threshold-based invasive object judgment, a multivariate function extreme method and the like), and realizes detection and positioning of invasive objects. The WIFI signal analyzing and processing device may be, but is not limited to, a device having data processing and analyzing capabilities, such as a personal computer or a mobile phone. In the system, the WIFI signal transmitting device transmits a WIFI signal with the ID information of the WIFI transmitting device. The WIFI analysis device receives characteristic information such as the intensity of WIFI signals transmitted by the WIFI transmitting devices from the WIFI signal receiving device in a certain mode (such as polling or interrupt triggering) and analyzes and processes the characteristic information so as to complete detection and positioning of the invading object.
When the WIFI signal transmission device is in the intrusion detection process, the related WIFI signal related inquiry and analysis process is always operated, namely, the WIFI signal receiving device always receives the signal of the WIFI signal transmission device and transmits the signal to the WIFI signal analysis device for analysis. The WIFI signal analysis device compares the signal with a previous intensity value, and once intensity change exceeds a threshold value, it is judged that an object invades, and the specifically adopted method comprises the following steps:
1) when only one path of WIFI signal intensity variation value is larger than the threshold value:
when the signal intensity of one path of WIFI signal device is detected to change, the invading object is positioned on a connecting line determined by the WIFI signal receiving device receiving the signal and the WIFI signal transmitting device transmitting the signal.
As shown in fig. 2, the invading object is being transmitted by WIFI signal transmitter TR2(the position is A point) and WIFI signal receiving device TR1On the line AB defined (at point B).
2) When the variation value of the two or more WIFI signal intensities is larger than the threshold value:
similar to 1), can be by the line that WIFI signal transmission device and WIFI signal receiving arrangement position can be confirmed.
A: when all the connecting lines intersect at one point, the linear equations corresponding to the connecting lines can be solved simultaneously, and the obtained solution is the position of the invading object.
As shown in fig. 3, the intensity value of the WIFI signal changes due to the shielding of the intrusion object. Similar to 1), can be determined by the positions of the WIFI transmitter and the WIFI receiver, i.e. the intrusion object is at the node TRKAnd TRK+3Determined link LK,K+3，TRK+1And TRK+N-1Determined link LK+1，K+N-1，TRK+2And TRK+NDetermined link LK+2,K+NThe above.
Thus, can be based on TRK，TRK+1，TRK+2，TRK+3，TRK+N-1And TRK+NPosition coordinates (X)K,YK,ZK)，(XK+1,YK+1,ZK+1)，(XK+2,YK+2,ZK+2)，(XK+3,YK+3,ZK+3)，(XK+N-1,YK+N-1,ZK+N-1) And (X)K+N,YK+N,ZK+N) Determination of LK,K+3，LK+1，K+N-1And LK+2,K+N. The corresponding linear equation is as follows: l isK,K+3：
Figure BDA0002326808650000041
LK+1，K+N-1:
Figure BDA0002326808650000042
LK+2,K+N：
Figure BDA0002326808650000043
The equations of the two lines can be optionally selected (e.g., line L is selected)K+1，K+N-1And a straight line LK+2,K+NCorresponding equation) to yield the following system of equations:
Figure BDA0002326808650000044
and solving the equation system to obtain a solution, namely the position of the invading object.
B: when the connecting lines do not intersect at one point, the position estimation of the invading object can be obtained by utilizing a method of solving multivariate extremum.
As shown in fig. 4, the intensity value of the WIFI signal changes due to the shielding of the intrusion object. Similar to 1), the connecting line can be determined by the positions of the WIFI signal transmitting device and the WIFI signal receiving device. I.e. the intruding object is at node TRKAnd TRK+4Determined link LK,K+4，TRK+1And TRK+N-2Determined link LK+1，K+N-2，TRK+2And TRK+N-1Determined link LK+2,K+N-1，...，TRK+3And TRK+NDetermined link LK+3,K+NThe above.
Thus, can be based on TRK，TRK+1，TRK+2，TRK+3，TRK+4，...，TRK+N-2，TRK+N-1And TRK+NPosition coordinates (X)K,YK,ZK)，(XK+1,YK+1,ZK+1)，(XK+2,YK+2,ZK+2)(XK+3,YK+3,ZK+3)，(XK+4,YK+4,ZK+4)，...，(XK+N-2,YK+N-2,ZK+N-2)，(XK+N-1,YK+N-1,ZK+N-1) And (X)K+N,YK+N,ZK+N) Determination of LK,K+4，LK+1,K+N-2，...，LK+2,K+N-1And LK+3,K+NEqual line, its corresponding line equation:
LK,K+4：
Figure BDA0002326808650000051
LK+1,K+N-2：
Figure BDA0002326808650000052
LK+2,K+N-1：
Figure BDA0002326808650000053
...
Figure BDA0002326808650000054
then, a point A (whose coordinate is (X) is setA,YA,ZA) Distance to the above link is shortest, the distance from point a to the straight line is as follows:
to LK,K+4The distance of (c):
Figure BDA0002326808650000055
to LK+1,K+N-2The distance of (c):
Figure BDA0002326808650000056
to LK+2,K+N-1The distance of (c):
Figure BDA0002326808650000057
...
to LK+3,K+NThe distance of (c):
Figure BDA0002326808650000061
the sum of the distances of point a to the above straight line determined by the WIFI transmitting device and WIFI receiving device positions is as follows:
D＝dK，K+4+dK+1，K+N-2+dK+2，K+N-1+…
when the distance is the minimum value, the coordinates of the point a are the coordinates of the intruding object.
The above minimum value can be obtained by (but not exclusively) the following method:
first, with point A coordinates (X)A,YA,ZA) Distance D vs. X for independent variablesA,YA,ZAOf first order partial derivative of 0A,YA,ZA) Values, i.e. simultaneous solution, for the establishment of the following set of equations (X)A,YA,ZA) The value, i.e. the critical point.
Figure BDA0002326808650000062
Then, the critical points are substituted into the following matrix to judge whether the critical points are positive, if the critical points are positive, the corresponding D takes a minimum value, if the critical points are negative, the corresponding D takes a maximum value, and if the critical points are not positive, the corresponding D is not an extreme value.
Figure BDA0002326808650000063
And finally, respectively substituting the minimum value (if the minimum value exists) and the end points of the connecting line sections which can be determined by the positions of the WIFI transmitting device and the WIFI receiving device in the method of the invention into a calculation formula of the distance D, and taking the minimum value as the position of the invading object.
Example (b): as shown in fig. 5, in order to monitor intrusion in the area R, in this embodiment, 6 WIFI signal transmitting and receiving devices are arranged around the area, and the corresponding position coordinates are (X)1,Y1,Z1)，(X2,Y2,Z2)，(X3,Y3,Z3)，(X4,Y4,Z4)，(X5,Y5,Z5) And (X)6,Y6,Z6) The WIFI signal analysis device queries WIFI signals of other WIFI signal transmitting devices received by each WIFI signal receiving and transmitting device in the embodiment according to a certain period in a polling mode, analyzes whether the intensity change of the WIFI signals is larger than a set threshold value, and indicates that an intruding object exists on a connecting line of the two corresponding WIFI signal transmitting and receiving devices if the intensity change of the WIFI signals is larger than the set threshold value.
The two main cases of this embodiment are described separately, and the specific method is as follows:
1) when the variation value of the intensity of two or more WIFI signals is greater than the threshold value, and the connection lines which can be determined by the positions of the WIFI signal transmitting device and the WIFI signal receiving device are intersected at one point: as shown in fig. 6, with TR1And TR4，TR3And TR5Determined two-way WIFI signalThe intensity variation value is larger than the threshold value, and the corresponding straight lines of the two WIFI signals intersect at a point A (the coordinate is (X)A,YA,ZA))。
The method of the invention can know that the intersection point A of the two straight lines is the position of the invading object and can be obtained by simultaneous solution of corresponding straight line equations, and the equation set is as follows:
Figure BDA0002326808650000071
2) when only two or more WIFI signal intensity variation values are larger than a threshold value, and a connecting line which can be determined by the positions of the WIFI transmitting device and the WIFI receiving device does not intersect at one point.
As shown in fig. 7, with TR1And TR4，TR2And TR5，TR3And TR6The intensity change value of the three WIFI signals is larger than a threshold value, and straight lines corresponding to the three WIFI signals do not intersect at a point. Point A (coordinate is (X)A,YA,ZA))。
The method of the invention can know that when the connecting lines do not intersect at a point, the method for determining the position of the invading object comprises the following steps:
straight line L corresponding to three WIFI signals2,5The equation is:
L1,4：
Figure BDA0002326808650000072
L2,5：
Figure BDA0002326808650000073
L3,6：
Figure BDA0002326808650000074
the distance from point a to the above line is:
Figure BDA0002326808650000075
as can be seen from the method of the present invention, the distance D is minimized (X)A,YA,ZA) The corresponding point (e.g., point a in fig. 7) is the location of the intruding object. Thus, also known from the method of the invention, the following equation is solved:
Figure BDA0002326808650000081
obtained by solving the above equation (X)A,YA,ZA) Is the critical point.
Substituting into the following matrix:
Figure BDA0002326808650000082
if the matrix is a positive definite matrix, the corresponding D takes a minimum value, if the matrix is a negative definite matrix, the corresponding D takes a maximum value, and if the matrix is not definite, the corresponding D is not an extreme value. In this embodiment, a critical point can always be found for making the matrix positive definite. Therefore, the critical point and the position coordinates of the transmitter/receiver are substituted into D, and the point corresponding to the minimum value is selected as the position of the intruding object.
Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.

Claims (6)

1. An intrusion object detection positioning system based on wireless local area network signals is characterized in that: the system comprises a wireless local area network signal (WIFI signal) sending device, a wireless local area network signal (WIFI signal) receiving device and a wireless local area network signal (WIFI signal) analyzing device; arranging a plurality of WIFI signal sending devices and WIFI signal receiving devices in an area needing to be monitored, wherein the WIFI signal sending devices and the WIFI signal receiving devices are used for sending and receiving WIFI signals and transmitting the received WIFI signals to a WIFI signal analysis device;
the system utilizes the WIFI signal analysis device to analyze the WIFI signal received by the WIFI signal receiving device, utilizes the WIFI signal with the signal intensity variation larger than the threshold value to determine the position information of the receiving and transmitting end, determines the straight line where the invading object is located, and utilizes a multivariate function extremum method to determine the position of the invading object, thereby realizing the detection and positioning of the invading object.
2. The system according to claim 1, wherein the system comprises: the wireless local area network signal sending device and the wireless local area network signal receiving device comprise but are not limited to a WIFI repeater, a WIFI router, a WIFI network card and WIFI access AP node equipment; the WIFI signal analysis apparatus is a device with computational analysis capability, including but not limited to a smartphone, a computer, and a tablet computer.
3. The system according to claim 2, wherein the system comprises: the WIFI signal analysis device stores data information including numbers and position characteristic information of the WIFI signal sending device and the WIFI signal receiving device, can inquire the WIFI signals received by the WIFI signal receiving devices, and judges whether an object invades or not through analysis strategy analysis.
4. The system according to claim 3, wherein the system comprises: the WIFI signal analysis device judges whether the intensity change of the WIFI signal received by the WIFI receiving device is larger than a threshold value set by a system, the threshold value is a change value of the intensity change of the WIFI signal caused by the fact that the WIFI signal is shielded by an object in an invading mode, and the threshold value includes but is not limited to an average value of the intensity change of the WIFI signal under various invading situations; and when the intensity change is larger than the threshold value, judging that an invasive object is shielded between the WIFI signal receiving device and the sending device, and storing the number of the sending device, the number of the receiving device and the position data corresponding to the signal.
5. The system according to claim 4, wherein the system comprises: the system determines a straight line connecting the two points according to the two-point position data corresponding to the WIFI signal sending device and the corresponding receiving device, wherein the stored WIFI signal intensity variation of the WIFI signal sending device is larger than the threshold; and obtaining straight lines corresponding to the WIFI signal sending devices and the corresponding receiving devices of which the WIFI signal intensity changes are larger than the threshold value, and forming a straight line group.
6. The system according to claim 5, wherein the system comprises: the WIFI signal analysis device obtains the position of an invading object by utilizing a multivariate function extremum solving method, thereby realizing the positioning and detection of the invading object, and the specific analysis method is as follows:
1) when only one path of WIFI signal intensity variation value is larger than the threshold value: when the fact that the intensity of one path of WIFI signal changes and the change value is larger than the threshold value is detected, the invading object is located on a connecting line determined by a WIFI signal receiving device receiving the signal and a WIFI signal transmitting device transmitting the signal;
2) when the variation value of the two or more WIFI signal intensities is larger than the threshold value: the connecting line can be determined by the positions of the WIFI signal transmitting device and the WIFI signal receiving device:
2.1) when all the connecting lines intersect at one point, simultaneously solving linear equations corresponding to the connecting lines to obtain a solution, namely the position of the invading object;
2.2) when the connecting lines do not intersect at one point, obtaining the position estimation of the invading object by utilizing a method of solving multivariate extremum.
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Application publication date: 20200508