CN111683345A - Wireless sensor network anti-interference positioning method based on CSI and RSSI - Google Patents

Wireless sensor network anti-interference positioning method based on CSI and RSSI Download PDF

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CN111683345A
CN111683345A CN202010516313.8A CN202010516313A CN111683345A CN 111683345 A CN111683345 A CN 111683345A CN 202010516313 A CN202010516313 A CN 202010516313A CN 111683345 A CN111683345 A CN 111683345A
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positioning
rssi
anchor point
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CN111683345B (en
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纪添
张宇星
李加启
杨强强
赵杰
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Jiangsu Xita Information Technology Co.,Ltd.
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Harbin Hita Technology Co ltd
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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
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks

Abstract

The invention discloses an indoor positioning method based on a CSI and RSSI signal attenuation model, wherein positioning signal sending equipment is worn on a positioning target object to be positioned according to positioning requirements, anchor point equipment grouping deployment is carried out based on the CSI model according to space conditions, anchor point equipment areas are divided after the grouping deployment, the signal sending equipment sends an RSSI value to the anchor point equipment, and the RSSI value is uploaded to a server through a main node; then, filtering and smoothing the uploaded data to obtain the specific position of the unknown point; finally the dither corrects its final positioned position. The method utilizes anchor point grouping based on a CSI model to realize minimum deployment, and is matched with algorithms such as filtering, smoothing and positioning, so that the problems of high anchor point equipment consumption, poor positioning precision and poor anti-interference capability in the existing RSSI-based positioning method are solved, and low-cost and high-precision indoor positioning is realized.

Description

Wireless sensor network anti-interference positioning method based on CSI and RSSI
Technical Field
The invention discloses an anti-interference indoor positioning method of a wireless sensor network based on CSI and RSSI, which is mainly used for positioning a target object in a complex indoor environment and relates to the technical field of wireless sensor networks.
Background
With the continuous development of positioning technology, in actual life, the application scenes of the positioning technology are more and more abundant, the current GNSS (global navigation satellite system) is a mature positioning technology, the application in daily life is more common, and almost all outdoor positioning scenes are covered.
A Wireless Sensor Network (WSN) is a new wireless communication technology network, belongs to a system taking data information processing as a center, integrates three technologies of a sensor, a network and a micro-electrical system, is mainly used for sensing, collecting and processing objects covered by the network, and returns processed results to an observer. The wireless sensor network has the advantages of miniaturization, high flexibility, rapid deployment and the like, so that the wireless sensor network has great application potential in military, medical treatment, environment, space exploration and various commercial application scenes.
The positioning technology is a basic technology of the wireless sensor network, and the development of the positioning technology influences the expansion of the upper layer technology of the wireless sensor network, the confirmation of the coverage area of the sensor network, the analysis of environmental factors and the topology optimization of the sensor network, and the accurate acquisition of the position of the sensor is required.
The indoor target object positioning realized by the CSI and RSSI based anti-interference indoor positioning method of the wireless sensor network is very simple and convenient, the positioning of the target object can be realized by the sensor without adding any external equipment, but factors influencing the RSSI strength are many, the RSSI can be influenced by an electromagnetic field in the environment, different obstacles in a path, multipath effects and the like, so that the accurate positioning cannot be realized, and the environmental factors influencing the RSSI can be effectively eliminated through the channel state information CSI.
Disclosure of Invention
The invention provides an anti-interference positioning method of a wireless sensor network based on CSI and RSSI, which solves the problems mentioned in the background technology. The invention provides a wireless sensor network anti-interference positioning method based on CSI and RSSI, which comprises the following specific implementation steps:
step one, according to the positioning requirement, a positioning signal sending device is worn on a positioning target object to be positioned;
step two, dividing the positioning area, and the specific method comprises the following steps:
(1) distributing the area ID, and acquiring a CSI model of the corresponding area, wherein the specific formula of the CSI model is as follows:
P＝[P1，Pi+1，...，Pi+l-1]；
wherein, PiThe ith packet of CSI, l the length of the window, and P a matrix of 30 × P;
calculate the corresponding variance σ for each packetpThe calculation formula used specifically is:
Figure BDA0002530233030000021
(2) each region acquires a CSI model according to a static environment and a dynamic environment, the static model is used as a reference model of the region, and a threshold value of corresponding change is calculated and acquired through the acquired dynamic environment model;
(3) binding the area ID with the reference model and the corresponding threshold value thereof, and storing the area ID in a data server;
each region is then divided into 3 types according to the positioning requirements:
(a) range detection control zone: a single anchor point device is deployed in the area, and early warning is carried out when a positioning target object enters or exits the area;
(b) single vector long and narrow positioning zone: two anchor point devices are arranged in the region, most of the anchor point devices are rectangular long and narrow regions, and most of the anchor point devices concern one-way positions due to the characteristics of the regions;
(c) high-precision polygonal positioning area: the area is divided into triangular areas according to the size of the area, and the dividing formula is as follows:
Figure BDA0002530233030000022
wherein R isareaRadius of the center point of the environment to be located, SiArea of the divided i-th region, SareaThe total area of the positioning area;
after the areas are divided, anchor point equipment is deployed at three vertexes of each divided area, and only one anchor point equipment needs to be deployed at the area coincident point.
Step three, acquiring data sent to the anchor point equipment by the signal sending equipment, calculating according to a CSI model calculation formula, comparing a calculation result with an input CSI model, selecting an appointed area ID, then selecting RSSI data received in a corresponding area according to the area ID, and performing mixed filtering processing on the data, wherein the specific filtering step comprises the following steps:
(1) performing sliding median filtering on the data by using a formula:
(a) formula of mean value:
Figure BDA0002530233030000031
wherein, Vmean-iIs the mean at this time, N is the total number of all points involved in the calculation, and N is the threshold for the mean.
(b) And filtering and replacing according to the median value, wherein a specific formula is as follows:
Figure BDA0002530233030000032
wherein, ViRSSI value at this time, f (V)mean-i) The sliding median value corresponding to this time.
(2) Performing Kalman filtering on the data subjected to the sliding median filtering, wherein a formula is specifically used:
Figure BDA0002530233030000033
wherein, ViFor new data values after processing, KiIs Kalman gain (Kalman-gain), PiFor error covariance, Q is the system noise and R is the measurement noise.
Step four, smoothing the data after filtering, specifically comprising the following processing steps:
(1) acquiring anchor point equipment data participating in positioning in the current round according to a Message Serial Number (MSN) in the data;
(2) comparing the logical grouping numbers in the anchor point device data, and filtering out non-same group of anchor point device data;
(3) comparing the serial numbers in the logical groups of the residual anchor point equipment data, and supplementing the missing anchor point equipment data;
the RSSI value calculation formula of the supplementary points is as follows:
Figure BDA0002530233030000034
wherein, Vrssi-plusIs an increasing point, Vrssi-snodeIs the starting point for the lack of MSN, Vrssi-nnodeIs the end point of MSN deficiency, Vsmooth-thresholdIs a set smoothing threshold, SD-valueIs the difference in the absence of data MSN.
Step five, carrying out final positioning calculation on the data subjected to the smoothing processing, wherein the specific positioning calculation step comprises the following steps:
1. dividing the smoothed data in a positioning mode according to the logic group number in the data;
2. respectively bringing the divided data into corresponding positioning algorithm modules, if the logic grouping is single power, calculating a corresponding distance d value according to RSSI, and specifically using a calculation formula:
Figure BDA0002530233030000043
wherein RSSI is a signal strength value, n is an environment attenuation factor, and RSSI1The signal strength is the signal strength when the transmitting end and the receiving end gather 1 meter.
Comparing the calculated d value with a set range radius threshold value, and performing early warning when the d value exceeds the threshold value;
(1) if the logical grouping is multipoint, the calculation is divided into two cases, and the specific method comprises the following steps:
(a)2 point proportional positioning, setting anchor point device a and anchor point device b at two ends of the area, and setting the coordinate (x) of the anchor point device aa，ya) Coordinates (x) of anchor point device bb，yb) Unknown point (x, y), calculating the distance d of the unknown point to the anchor device aaCalculating the distance d from the unknown point to the anchor point device bbAnd calculating the coordinates of the unknown points:
Figure BDA0002530233030000041
(b)3, accurate proportional positioning of points, any triangular area, base station a, base station b, base station c and base station a coordinate (x) respectively arranged in three anglesa，ya) Base station b coordinate (x)b，yb) Base station c coordinate (x)c，yc) Calculating to obtain the coordinates of mass center (x)center，ycenter) Based on the scale characteristic, the scale factor P of the reference point can be calculated by referring to the method in a)benchmarkThen calculating the scale factor P of the unknown pointunknownIn the base station, the reference coordinate (x) closest to the origin is selected based on the set coordinate systembenchmark，ybenchmark) And calculating the coordinates of the unknown points:
Figure BDA0002530233030000042
step six, carrying out shake correction on the coordinates obtained in the positioning calculation, and specifically comprising the following steps:
(1) setting a difference upper threshold (T) for dither controlupper) With a lower threshold (T)lower)；
(2) Performing difference operation on the calculated coordinates and the last effective coordinates to obtain a result VD-value；
(3) Comparing the difference value with a threshold value, wherein a specific comparison formula is as follows:
Figure BDA0002530233030000051
wherein VxyLocating the coordinates, V, for this resultxy-lastLocating the coordinates, V, for the last resultxy-thisAnd coordinates obtained by the previous step of proportional positioning calculation.
The coordinate after the shake correction is the final positioning coordinate in the positioning;
the positioning method realized by the invention has the following advantages:
different from the traditional method for realizing accurate positioning by using the CSI, which needs to acquire a large amount of off-line environment signal data, the method only needs to establish a static environment model and a dynamic environment model based on the CSI for a specified area after area division, determines the area of a point to be measured according to a threshold value in the models, reduces the positioned target area by using the characteristic of the CSI for resisting the multipath effect, realizes accurate positioning by using the positioning method based on the RSSI in the target area, and can greatly save the workload of signal acquisition.
Similarly, anchor point grouping based on a CSI model is utilized to realize minimum deployment, and algorithms such as filtering, smoothing and positioning are matched, so that the problems of high consumption, poor positioning accuracy and poor anti-interference capability of anchor point equipment in the conventional RSSI-based positioning method are solved, and low-cost and high-precision indoor positioning is realized.
In the aspect of positioning based on RSSI, compared with the traditional positioning algorithm based on RSSI, the SL (scale location) positioning algorithm used in the invention has stronger environmental adaptability, the traditional positioning algorithm based on RSSI can be influenced by environmental factors (multipath effect and the like), and the positioning accuracy is poor, the SL (scale location) algorithm used in the invention utilizes the proportional characteristic of signal strength to replace the signal strength value to realize positioning, so that the direct influence of the environment on the signal strength is effectively avoided, and the anti-interference capability based on the RSSI positioning algorithm is effectively improved.
Drawings
FIG. 1 is a schematic diagram of anchor point device deployment in a high-precision polygonal positioning area;
FIG. 2 is a schematic view of a unidirectional long and narrow positioning area anchor point device deployment;
FIG. 3 is a schematic view of anchor point device deployment in a range-sensing-control-positioning area;
fig. 4 deploys an overall framework schematic.
Detailed Description
The following are specific embodiments of the present invention, but it should be understood that the scope of the present invention is not limited to the specific embodiments.
The invention provides a CSI and RSSI-based anti-interference positioning method for a wireless sensor network, which comprises the following specific implementation steps of:
a signal sending device is arranged on a to-be-detected positioning target object belt;
dividing the test area and distributing ID to obtain a CSI model in the area, wherein a calculation formula of the CSI model is as follows:
P＝[P1，Pi+1，...，Pi+l-1]；
wherein, PiThe ith packet of CSI, l the length of the window, and P a matrix of 30 × P;
calculate the corresponding variance σ for each packetpThe calculation formula used specifically is:
Figure BDA0002530233030000061
respectively acquiring the static environment and the dynamic environment;
based on the CSI model of the static environment, taking a difference value by utilizing the variance with the dynamic environment model to obtain a changed threshold value;
storing the reference model and the threshold value into a corresponding database server according to the ID;
dividing according to the positioning precision and requirement, wherein a high-precision polygon area is correspondingly positioned by using 3 points, if the area is overlarge, the area is divided into a plurality of triangular areas as shown in figure 1, a unidirectional quantity narrow and long area is positioned by using 2 points as shown in figure 2, and a range detection control is positioned by using 1 point as shown in figure 3;
the anchor point equipment is deployed according to the division in the step (2), and the anchor point equipment is selectively deployed at the top of the house, so that the deployment is beneficial to receiving and transmitting signals, and the interference caused by the environment is reduced as much as possible;
the main base station is used for collecting the anchor point equipment, and is responsible for collecting, packaging, compressing and uplink sending of data of the anchor point equipment in the area;
deploying servers for data processing and storage, wherein deployment is completed completely, and the overall framework of deployment is shown in fig. 4;
the signal sending equipment broadcasts the RSSI value to anchor point equipment in the area, and the anchor point equipment which receives the data sends the data to the main base station;
the main base station sends the data to the server according to the set sending period and the data length requirement of the single sending window;
the server analyzes the received data, calculates according to the CSI model calculation formula in the step (2), compares the calculation result with the CSI model recorded in the step (2), selects an appointed area ID, then selects RSSI data received in a corresponding area according to the area ID, and calculates the positioning result of the data, wherein the specific calculation step comprises the following steps:
1. filtering the data, specifically using a formula:
1) performing sliding median filtering on the data by using a formula:
formula of mean value:
Figure BDA0002530233030000071
wherein, Vmean-iIs the mean at this time, N is the total number of all points involved in the calculation, and N is the threshold for the mean.
And filtering and replacing according to the median value, wherein a specific formula is as follows:
Figure BDA0002530233030000072
wherein, ViRSSI value at this time, f (V)mean-i) The sliding median value corresponding to this time.
2) Performing Kalman filtering on the data subjected to the sliding median filtering, wherein a formula is specifically used:
Figure BDA0002530233030000073
wherein, ViFor new data values after processing, KiIs Kalman gain (Kalman-gain), PiFor error covariance, Q is the system noise and R is the measurement noise.
2. Smoothing the filtered data, wherein a formula is specifically used as follows:
1) acquiring anchor point equipment data participating in positioning in the current round according to MSN in the data;
2) comparing the logical grouping numbers in the anchor point device data, and filtering out non-same group of anchor point device data;
3) comparing the serial numbers in the logical groups of the residual anchor point equipment data, and supplementing the missing anchor point equipment data;
the RSSI value calculation formula of the supplementary points is as follows:
Figure BDA0002530233030000074
wherein, Vrssi-plusIs an increasing point, Vrssi-snodeIs the starting point for the lack of MSN, Vrssi-nnodeIs the end point of MSN deficiency, Vsmooth-thresholdIs a set smoothing threshold, SD-valueIs the difference in the absence of data MSN.
3. And performing positioning calculation on the smoothed result, wherein a formula is specifically used:
1) grouping into a single-point mode, and calculating:
and (3) calculating a corresponding distance d value according to the RSSI, wherein a calculation formula is specifically used:
Figure BDA0002530233030000084
wherein RSSI is a signal strength value, n is an environment attenuation factor, and RSSI1The signal strength is the signal strength when the transmitting end and the receiving end gather 1 meter.
b) Comparing the calculated d value with a set range radius threshold value, and performing early warning when the d value exceeds the threshold value;
2) grouping into a multipoint mode, and calculating:
2, positioning in proportion: setting anchor point device a and anchor point device b at two ends of the area, the coordinate (x) of anchor point device aa，ya) Coordinates (x) of anchor point device bb，yb) Unknown point (x, y), calculating the distance d of the unknown point to the anchor device aaCalculating the distance d from the unknown point to the anchor point device bbAnd calculating the coordinates of the unknown points:
Figure BDA0002530233030000081
3, accurate proportional positioning of points: in any triangular area, a base station a, a base station b and a base station c are respectively arranged in three angles, and the coordinate (x) of the base station aa，ya) Base station b coordinate (x)b，yb) Base station c coordinate (x)c，yc) Calculating to obtain the coordinates of mass center (x)center，ycenter) Based on the scale characteristic, the scale factor P of the reference point can be calculated by referring to the method in a)benchmarkThen calculating the scale factor P of the unknown pointunknownIn the base station, the reference coordinate (x) closest to the origin is selected based on the set coordinate systembenchmark，ybenchmark) And calculating the coordinates of the unknown points:
Figure BDA0002530233030000082
4. and correcting the positioning calculation result by using a formula:
1) setting a difference upper threshold (T) for dither controlupper) With a lower threshold (T)lower)；
2) Performing difference operation on the calculated coordinates and the last effective coordinates to obtain a result VD-value；
3) Comparing the difference value with a threshold value, wherein a specific comparison formula is as follows:
Figure BDA0002530233030000083
wherein VxyLocating the coordinates, V, for this resultxy-lastLocating the coordinates, V, for the last resultxy-thisCoordinates obtained by proportional positioning calculation in the previous step;
5. the coordinates after correction processing are final positioning coordinates;
and transmitting the positioning coordinates to a display client, wherein the client displays the specific position of the positioning target object in a graphical mode.

Claims (6)

1. An anti-interference positioning method of a wireless sensor network based on CSI and RSSI is characterized by comprising the following steps:
step one, according to the positioning requirement, a positioning signal sending device is worn on a positioning target object to be positioned;
secondly, anchor point equipment grouping deployment is carried out based on a CSI model according to the space condition, and anchor point equipment areas after grouping deployment are divided;
step three, the signal sending equipment sends the RSSI value to the anchor point equipment, and the anchor point equipment uploads the RSSI value to a server through a main node and carries out filtering processing on uploaded data;
step four, smoothing the data processed by the filter in the step three;
step five, positioning calculation is carried out on the data subjected to smoothing processing in the step four by using a proportional positioning algorithm, and the specific position of the unknown point is obtained;
and step six, calculating the position obtained by using a proportional positioning algorithm in the step five, performing shake correction, and taking the corrected position as the final positioning position.
2. The CSI-RSSI based anti-interference positioning method for the wireless sensor network according to claim 1, wherein: in the second step, anchor point equipment grouping deployment is carried out based on a CSI model according to the space condition, and the specific method for dividing the anchor point equipment area after grouping deployment is as follows:
step 1, dividing a region to be positioned into a plurality of regions according to requirements, and giving a unique identification ID to each region;
step 2, training a CSI model according to a static environment and a dynamic environment respectively for each area, wherein a specific calculation formula of the CSI model is as follows:
p＝[P1，Pi+1，...，Pi+l-1]
wherein, PiThe ith packet of CSI, l the length of the window, and P a matrix of 30 × P;
calculate the corresponding variance σ for each packetpThe calculation formula used specifically is:
Figure FDA0002530233020000011
step 3, taking the CSI model obtained through the static environment as a reference, and taking the CSI model obtained through the dynamic environment of the corresponding area as a reference for determining a threshold value;
step 4, initializing the obtained regional CSI model reference and dynamically-changed threshold binding ID to a data server;
after the area division based on the CSI model is completed, according to the indoor space condition, dividing the ID area based on the CSI model, and according to the positioning requirement, dividing the ID area into the following three conditions:
1) and (3) range detection control: the method mainly comprises the steps of prohibiting, detecting and alarming in a designated area, adopting single-point deployment according to a control range, and enabling each point to be responsible for a range within 10 m;
2) unidirectional quantity elongated area positioning: mainly aiming at the area which only needs to be positioned in a single vector direction in a coordinate system, the area is mostly rectangular, double-point deployment is adopted, and double-point grouping expansion can be carried out according to the length of the actual area;
3) positioning a high-precision polygonal area: mainly aiming at the area needing accurate positioning, the area can be in any shape, the area is decomposed into a plurality of triangles, and the vertex of each triangle is provided with an anchor point device.
3. The CSI-RSSI based anti-interference positioning method for the wireless sensor network according to claim 1, wherein: in the third step, the signal sending device sends the RSSI value to the anchor point device, the anchor point device uploads the RSSI value to the server through the host node, and the specific method for filtering the uploaded data is as follows:
step A, processing by using a sliding mean method, filtering out seriously distorted data, and calculating the mean value by the following formula:
Figure FDA0002530233020000021
wherein, Vmean-iIs the mean value at this time, N is the total number of all points involved in the calculation, and N is the threshold value of the mean value;
step B, comparing the RSSI value of the point calculated at this time with the mean value calculated in the previous step, if the RSSI value is smaller than the mean value, replacing the point with the mean value, otherwise, reserving the point;
and C, performing Kalman filtering processing on the data subjected to the sliding mean processing, filtering out interference in the data, and using a formula:
Figure FDA0002530233020000022
wherein, ViFor new data values after processing, KiTo Kalman gain, PiFor error covariance, Q is the system noise and R is the measurement noise.
4. The CSI-RSSI based anti-interference positioning method for the wireless sensor network according to claim 1, wherein: in the fourth step, the specific method for smoothing the data processed by the filter in the third step is as follows:
step a, anchor point equipment data participating in positioning in the current round is obtained according to an information serial number MSN in the data;
step b, comparing the logic grouping numbers in the anchor point device data, and filtering out non-same group of anchor point device data;
c, comparing the logical group internal serial numbers of the residual anchor point equipment data, and supplementing the missing anchor point equipment data;
the RSSI value calculation formula of the supplementary points is as follows:
Figure FDA0002530233020000023
wherein, Vrssi-plusIs an increasing point, Vrssi-snodeIs the starting point of MSN discontinuity, Vrssi-nnodeIs the MSN discontinuous end point, Vsmooth-thresholdIs a set smoothing threshold, SD-valueIs the difference of the discontinuously missing portions of the data MSN.
5. The CSI-RSSI based anti-interference positioning method for the wireless sensor network according to claim 1, wherein: in the fifth step, the method for obtaining the specific position of the unknown point by using the proportional localization algorithm to perform the localization calculation on the data subjected to the smoothing processing in the fourth step comprises the following steps:
calculating the value d according to the relation between the RSSI and the distance d, and calculating the formula:
Figure FDA0002530233020000031
wherein RSSI is the signal strength value, n is the environmental attenuation factor, RSSI1The signal strength is the signal strength when the transmitting end and the receiving end gather for 1 meter;
when calculating the d value, the calculation is divided into two cases:
method a)2 point proportional positioning method, anchor point device a and anchor point device b are arranged at two ends of the area, and the coordinate (x) of the anchor point device aa，ya) Coordinates (x) of anchor point device bb，yb) Unknown point (x, y), calculating the distance d of the unknown point to the anchor device aaCalculating the distance d from the unknown point to the anchor point device bbAnd calculating the coordinates of the unknown points:
Figure FDA0002530233020000032
method b)3 point accurate proportional positioning method, deploying base station a, base station b and base station c in any triangular area respectively in three angles, and arranging coordinates (x) of base station aa，ya) Base station b coordinate (x)b，yb) Base station c coordinate (x)c，yc) Calculating to obtain the coordinates of mass center (x)center，ycenter) Calculating the scale factor P of the reference point according to the scale characteristic and referring to the method a)bencdmarkThen calculating the scale factor P of the unknown pointunknownIn the base station, the reference coordinate (x) closest to the origin is selected based on the set coordinate systembencdmark，ybencdmark) And calculating the coordinates of the unknown points:
Figure FDA0002530233020000033
6. the CSI-RSSI based anti-interference positioning method for the wireless sensor network according to claim 1, wherein: and C, calculating the position obtained by using a proportional positioning algorithm in the step V, performing shake correction, and taking the corrected position as the final positioned position by the specific method comprising the following steps of:
step α, setting the upper threshold T of the difference value of the jitter controlupperWith a lower threshold value Tlower；
β comparing the calculated coordinates with the last existing coordinatesPerforming difference operation on the effective coordinates to obtain a result VD-value；
Step gamma: comparing the difference value with a threshold value, wherein a specific comparison formula is as follows:
Figure FDA0002530233020000041
wherein VxyLocating the coordinates, V, for this resultxy-lastLocating the coordinates, V, for the last resultxy-thisAnd coordinates obtained by the previous step of proportional positioning calculation.
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