CN112399350B - WiFi-RTT (wireless fidelity-round trip time) -based ranging and positioning system and method suitable for realizing indoor positioning of mobile phone - Google Patents
WiFi-RTT (wireless fidelity-round trip time) -based ranging and positioning system and method suitable for realizing indoor positioning of mobile phone Download PDFInfo
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- CN112399350B CN112399350B CN202011063397.0A CN202011063397A CN112399350B CN 112399350 B CN112399350 B CN 112399350B CN 202011063397 A CN202011063397 A CN 202011063397A CN 112399350 B CN112399350 B CN 112399350B
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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
- H04W4/029—Location-based management or tracking services
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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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
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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
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
Abstract
The invention discloses a WiFi-RTT (wireless fidelity-round trip time) based distance measurement and positioning system and a method suitable for realizing indoor positioning of a mobile phone, wherein the distance measurement and positioning system comprises a central processing unit, a distance measurement system and a positioning system; the central processing unit comprises a data preprocessing module, and the data preprocessing module comprises a system error correction module, a non-line-of-sight data processing module and a non-multipath line-of-sight data screening module; the distance measuring system is used for obtaining distance measuring information from the mobile phone to a router capable of communicating with the mobile phone and the position information of the router; the invention can eliminate the influence caused by clock error and provide more accurate distance measurement and positioning results.
Description
Technical Field
The invention belongs to the technical field of indoor positioning, and particularly relates to a WiFi-RTT (wireless fidelity-round-trip time) based ranging positioning system and method suitable for realizing indoor positioning of a mobile phone.
Background
The application of location-based services makes the positioning technology receive more and more attention, and simultaneously, higher requirements are put on the precision of the positioning result. With the popularization and application of smart phones, the mobile phones providing various location-based services will become the main carrier for the high-precision positioning of the masses in the future. Since a Global Navigation Satellite System (GNSS) based navigation signal is hardly received indoors, it cannot be used for indoor positioning. In order to solve the indoor positioning problem, various technical solutions have been proposed, such as those based on WiFi, ultra-wideband, bluetooth, inertial sensor, etc., and compared with other technologies, WiFi receives more attention due to its huge audience and low price. The ranging methods such as ToA and TDoA cause the ranging result to have a serious deviation due to clock errors, so that the methods are unreasonable to be used for positioning. The RTT ranging method can provide a more accurate ranging result due to the elimination of the influence caused by the clock offset, and no reasonable ranging and positioning scheme has been proposed.
Disclosure of Invention
In view of this, the invention provides a WiFi-RTT based ranging and positioning system and method suitable for mobile phone to achieve indoor positioning, which can eliminate the influence caused by clock error and provide more accurate ranging and positioning results.
The technical scheme for realizing the invention is as follows:
a WiFi-RTT (wireless fidelity-round-trip time) based distance measurement and positioning system suitable for realizing indoor positioning of a mobile phone comprises a central processing unit, a distance measurement system and a positioning system; the central processing unit comprises a data preprocessing module, and the data preprocessing module comprises a system error correction module, a non-line-of-sight data processing module and a non-multipath line-of-sight data screening module;
the distance measuring system is used for obtaining distance measuring information from a mobile phone to a router capable of communicating with the mobile phone and the position information of the router;
the system error correction module, the non-line-of-sight data processing module and the non-multipath line-of-sight data screening module are used for respectively performing system error correction, non-line-of-sight data processing and non-multipath line-of-sight data screening on the ranging information and the router position information;
and the positioning system performs positioning calculation on the preprocessed data to obtain a positioning result.
Further, the systematic error correction module does not treat the systematic error as a constant systematic error.
Further, in the non-line-of-sight data processing module, the non-line-of-sight data is absorbed as a constant error by the non-parametric part of the semi-parametric model.
Furthermore, in a multipath-free line-of-sight data screening module, a line-of-sight result mean value is extracted through data screening to participate in positioning calculation, so that positioning errors are reduced.
Further, the distance measuring system comprises mobile phone distance measuring software, a WiFi connecting unit, a router capable of communicating with a mobile phone and a cloud server, wherein the mobile phone distance measuring software sends a communication command to the router capable of communicating with the mobile phone through the WiFi connecting unit, the router capable of communicating with the mobile phone supports an IEEE802.11mc protocol, the router capable of communicating with the mobile phone is connected with the cloud server, the cloud server provides position information of the router capable of communicating with the mobile phone for the mobile phone distance measuring software, and the position information of the router comprises router horizontal coordinate information, router vertical coordinate information and router height information.
Further, the mobile phone ranging software can display a return value, the return value comprises ranging information and router position information, the ranging information comprises a distance value, a distance value standard deviation, an RSSI, a timestamp, a communication request time and a communication success time, the distance value is an average value of results obtained by the communication success time, the distance value standard deviation is an average value of the distance values obtained by the communication success time, the RSSI is an average value of the RSSI obtained by the communication success time, the timestamp is a nine-digit time stamp which can be overflowed, the communication request time is not more than 16, and the communication success time is less than the communication request time.
A WiFi-RTT-based positioning method suitable for realizing indoor positioning of a mobile phone comprises the following steps:
step one, obtaining ranging information from a mobile phone to a router capable of communicating with the mobile phone and router position information;
step two, data preprocessing is carried out on the information obtained in the step one, and the data preprocessing comprises system error correction, non-line-of-sight data processing and multipath-free line-of-sight data screening;
step three, judging whether a preset position exists or not; if yes, entering the step four, otherwise, taking the result obtained by the least square method as a preset position, and entering the step four;
determining regularization parameters by utilizing the preprocessed data through an L curve method or a U curve method;
determining a weight matrix according to the standard deviation of the distance values in the distance measuring information;
sixthly, determining a regularization matrix by using a function related to the distance;
step seven, performing position calculation according to the data results obtained in the step three to the step six to obtain a semi-parameter calculation result;
step eight, judging whether the position difference between the semi-parameter resolving result obtained in the step seven and the preset result obtained in the step three is smaller than a preset threshold value or not, and if so, outputting a position result; and if the semi-parameter calculation result is larger than the threshold value, taking the semi-parameter calculation result as a preset position and returning to the step four.
Has the advantages that:
the invention can provide a positioning result with precision superior to 1m by correcting system errors, processing data under non-line-of-sight and multipath and introducing a half-parameter method.
Drawings
Fig. 1 is a schematic structural diagram of a WiFi-RTT-based ranging and positioning system suitable for implementing indoor positioning by a mobile phone according to the present invention.
Fig. 2 is a schematic structural diagram of a distance measuring system according to the present invention.
Fig. 3 is a schematic structural diagram of ranging software according to an embodiment of the present invention.
Fig. 4 is a flowchart of a positioning method based on WiFi-RTT for implementing indoor positioning by a mobile phone according to the present invention.
Wherein, 1-a central processing unit; 2-a ranging system; 3-a positioning system; 4-a data preprocessing module; 5-a system error correction module; 6-non-line-of-sight data processing module; 7-no multi-path line-of-sight data screening module; 8-based on semi-parametric positioning algorithm; 9-mobile phone ranging software; a 10-WiFi connection unit; 11-a router capable of communicating with a mobile phone; 12-a cloud server; 13-a router; 14-router position information for communicating with the mobile phone; 15-router abscissa information; 16-router ordinate information; 17-router elevation information; 18-return value; 19-ranging information; 20-distance value; 21-standard deviation of distance values; 22-RSSI; 23-timestamp; 24-number of requested communications; 25-number of communication successes.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
As shown in fig. 1-3, the present invention provides a WiFi-RTT-based ranging and positioning system suitable for implementing indoor positioning for a mobile phone, which includes a central processing unit 1, wherein the central processing unit 1 is respectively connected to a ranging system 2 and a positioning system 3, the central processing unit 1 includes a data preprocessing module 4, and the data preprocessing module 4 includes a system error correction module 5, a non-line-of-sight data processing module 6, a non-multipath line-of-sight data screening module 7, and the like.
The distance measuring system 2 is used for obtaining distance measuring information from a mobile phone to a router capable of communicating with the mobile phone and the position information of the router;
the system error correction module 5, the non-line-of-sight data processing module 6 and the non-multipath line-of-sight data screening module 7 respectively perform system error correction, non-line-of-sight data processing and non-multipath line-of-sight data screening on the ranging information and the router position information;
and the positioning system 3 performs positioning calculation on the preprocessed data to obtain a positioning result.
In the system error correction module 5, the WiFi-RTT ranging system error is not a constant system error, shows certain regularity and randomness and is a typical semi-parameter system error; the system error correction does not take the system error as a constant system error for processing; this approach is also first discovered and applied in WiFi-RTT positioning.
When the non-line-of-sight data is processed in the non-line-of-sight data processing module 6, the invention considers that the position of the barrier layer does not influence the ranging result, and the non-line-of-sight data can be used as a constant value error to be absorbed by a non-parameter part in the semi-parameter model.
When data obtained under the multipath effect is processed in the multipath-free line-of-sight data screening module 7, the multipath effect is considered to have weak influence on a line-of-sight result, and the line-of-sight result mean value can be extracted through data screening to participate in positioning calculation so as to reduce positioning errors.
In a specific application, for the ranging system 2, the ranging system 2 includes mobile phone ranging software 9, a WiFi connection unit 10, a router 11 capable of communicating with a mobile phone, and a cloud server 12. For the mobile phone ranging software 9, the mobile phone ranging software 9 can send a communication command to the router 13 through the WiFi connection unit 10. For the router 13, the router 13 includes the router 11 capable of communicating with the mobile phone. The router 11 capable of communicating with a mobile phone supports the ieee802.11mc protocol, and is connected to the cloud server 12. For the cloud server 12, the cloud server 12 provides the router location information 14 capable of communicating with the mobile phone to the mobile phone ranging software 9. For the router location information 14, the router location information 14 includes router abscissa information 15, router ordinate information 16, and router elevation information 17.
In a specific application, for the mobile phone ranging software 9, the mobile phone ranging software 9 may display a return value 18, and for the return value 18, the return value 18 includes the ranging information 19 and the router position information 14. For the ranging information 19, the ranging information 19 includes a distance value 20, a distance value standard deviation 21, an RSSI22, a timestamp 23, a requested communication number 24, and a communication success number 25. For the distance value 20, the distance value 20 is the average of the results obtained by the communication success times 25. For the standard deviation 21 of the distance value, the standard deviation 21 of the distance value is the standard deviation of the distance value obtained by the communication success times 25. For RSSI22, the RSSI22 is the average of the RSSI obtained for the number of communication successes 25. For timestamp 23, the timestamp 23 is an overflow nine-bit digital timestamp. The requested communication times 24 do not exceed 16 for the requested communication times 24, and the communication success times 25 are smaller than the requested communication times 24 for the communication success times 25.
According to an embodiment of the present invention, there is also provided a WiFi-RTT-based positioning method suitable for a mobile phone to implement indoor positioning, as shown in fig. 4, the semi-parameter-based positioning method suitable for a mobile phone to implement indoor positioning includes the following steps:
step one, obtaining ranging information from a mobile phone to a router capable of communicating with the mobile phone and router position information;
step two, data preprocessing is carried out on the information obtained in the step one, and the data preprocessing comprises system error correction, non-line-of-sight data processing and multipath-free line-of-sight data screening;
step three, judging whether a preset position exists or not; if yes, entering the step four, otherwise, predetermining through a least square method, taking a result obtained by the least square method as a preset position, and entering the step four;
determining regularization parameters by utilizing the preprocessed data through an L curve method or a U curve method;
determining a weight matrix according to the standard deviation of the distance values in the distance measuring information;
sixthly, determining a regularization matrix by using a function related to the distance;
step seven, performing position calculation according to the data results obtained in the step three to the step six to obtain a semi-parameter calculation result;
step eight, judging whether the position difference between the semi-parameter resolving result obtained in the step seven and the preset result obtained in the step three is smaller than a preset threshold value or not, and if so, outputting a position result; and if the semi-parameter calculation result is larger than the threshold value, taking the semi-parameter calculation result as a preset position and returning to the step four.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A WiFi-RTT (wireless fidelity-round-trip time) based distance measurement and positioning system suitable for realizing indoor positioning of a mobile phone is characterized by comprising a central processing unit, a distance measurement system and a positioning system; the central processing unit comprises a data preprocessing module, and the data preprocessing module comprises a system error correction module, a non-line-of-sight data processing module and a non-multipath line-of-sight data screening module;
the distance measuring system is used for obtaining distance measuring information from a mobile phone to a router capable of communicating with the mobile phone and the position information of the router;
the system error correction module, the non-line-of-sight data processing module and the non-multipath line-of-sight data screening module are used for respectively performing system error correction, non-line-of-sight data processing and non-multipath line-of-sight data screening on the ranging information and the router position information;
the system error is a semi-parameter system error, and the system error is not treated as a constant system error by the system error correction module;
in a non-line-of-sight data processing module, non-line-of-sight data serving as a constant value error is absorbed by a non-parameter part in a semi-parameter model;
in a multipath-free line-of-sight data screening module, a line-of-sight result mean value is extracted through data screening to participate in positioning calculation so as to reduce positioning errors;
and the positioning system performs positioning calculation on the preprocessed data to obtain a positioning result.
2. The WiFi-RTT based ranging and positioning system suitable for indoor positioning of mobile phones according to claim 1, wherein the ranging system comprises mobile phone ranging software, a WiFi connection unit, a router capable of communicating with mobile phones and a cloud server, the mobile phone ranging software sends a communication command to the router capable of communicating with mobile phones through the WiFi connection unit, the router capable of communicating with mobile phones supports IEEE802.11mc protocol, the router capable of communicating with mobile phones is connected with the cloud server, the cloud server provides router position information capable of communicating with mobile phones to the mobile phone ranging software, and the router position information comprises router horizontal coordinate information, router vertical coordinate information and router height information.
3. The WiFi-RTT based ranging and positioning system for indoor positioning of mobile phone as claimed in claim 2, wherein the mobile phone ranging software can display a return value, the return value comprises ranging information and the router location information, the ranging information comprises a distance value, a distance value standard deviation, RSSI, a timestamp, a communication request number and a communication success number, the distance value is a result average value of the communication success number, the distance value standard deviation is a result distance value standard deviation of the communication success number, the RSSI is a RSSI average value of the communication success number, the timestamp is a nine-bit digital timestamp that can be overflowed, the communication request number is not more than 16, and the communication success number is less than the communication request number.
4. A positioning method applied to the ranging positioning system of claim 1, comprising the steps of:
step one, obtaining ranging information from a mobile phone to a router capable of communicating with the mobile phone and router position information;
step two, data preprocessing is carried out on the information obtained in the step one, and the data preprocessing comprises system error correction, non-line-of-sight data processing and multipath-free line-of-sight data screening;
step three, judging whether a preset position exists or not; if yes, entering the step four, otherwise, taking the result obtained by the least square method as a preset position, and entering the step four;
determining regularization parameters by utilizing the preprocessed data through an L curve method or a U curve method;
determining a weight matrix according to the standard deviation of the distance values in the distance measuring information;
sixthly, determining a regularization matrix by using a function related to the distance;
step seven, performing position calculation according to the data results obtained in the step three to the step six to obtain a semi-parameter calculation result;
step eight, judging whether the position difference between the semi-parameter resolving result obtained in the step seven and the preset result obtained in the step three is smaller than a preset threshold value or not, and if so, outputting a position result; and if the semi-parameter calculation result is larger than the threshold value, taking the semi-parameter calculation result as a preset position and returning to the step four.
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| CN113365217B (en) * | 2021-04-20 | 2022-09-30 | 中国科学院空天信息创新研究院 | Monitoring and positioning system and method based on WIFI-RTT (wireless fidelity-round-trip time) ranging |
| CN113670312B (en) * | 2021-08-16 | 2023-05-02 | 中国科学院空天信息创新研究院 | WiFi-RTT-based noise reduction and multipath effect removal system and method |
| CN113613327B (en) * | 2021-08-16 | 2024-04-12 | 中国科学院空天信息创新研究院 | WiFi-RTT positioning processing system and method based on reflection projection model enhancement |
| CN114173413B (en) * | 2021-12-23 | 2024-03-29 | 深圳泓越信息科技有限公司 | Wireless positioning method based on Wi-Fi accurate time measurement |
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