CN112711024B - Audio indoor positioning system node layout method based on visual range space maximization - Google Patents
Audio indoor positioning system node layout method based on visual range space maximization Download PDFInfo
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
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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 an audio indoor positioning system node layout method based on visual range space maximization, which comprises the following steps: step 1: performing three-dimensional modeling on the target positioning area; step 2: in a space rectangular coordinate system, obtaining three-dimensional coordinates of each key position; step 3: considering node power and effective working range factors, determining a constraint range of each node coordinate according to a preset rule; step 4: respectively calculating the non-line-of-sight space volumes of N nodes caused by obstacle shielding, and solving a node coordinate set when the non-line-of-sight space volumes take minimum values; step 5: and carrying out combination calculation on all the coordinates, and solving the coordinate combination corresponding to the minimum value of the non-line-of-sight space volume union under each combination condition to obtain a node layout scheme. According to the distribution situation, sound propagation characteristics and space solid geometry of indoor barriers, the node layout scheme with the minimum non-line-of-sight space volume is obtained, the line-of-sight space volume of the system is improved, and the positioning accuracy and the robustness of the system are improved.
Description
Technical Field
The invention relates to the field of indoor positioning and navigation, in particular to a high-precision robust audio indoor positioning system node layout method based on line-of-sight space maximization.
Background
With the development of navigation technology, related services based on location information play an increasingly important role in people's daily lives. In an outdoor environment, the global positioning system and the Beidou satellite navigation system are widely applied. However, GPS and beidou systems cannot be applied to indoor positioning due to the shielding of buildings and the effects of multipath. With the development of society and the arrival of informatization age, related services based on indoor positioning show great commercial prospect, and positioning technology using intelligent terminals as carriers is also widely studied. Indoor positioning schemes based on various technologies such as computer vision, bluetooth, infrared, UWB, WIFI and audio are proposed. The audio indoor positioning has the advantages of low cost, high positioning precision, easy development and the like, and is one of the indoor positioning technologies with the highest potential.
An audio indoor positioning system generally consists of a signal transmitting end and a signal receiving end, and two implementation schemes are common. In the first scheme, the speaker node is fixedly arranged in an indoor positioning area as an audio signal transmitting end, and a positioning target (such as an intelligent terminal) is used as a receiving end. In the second scheme, the microphone node is fixedly arranged in an indoor positioning area as a receiving end, and a positioning target (such as an intelligent terminal) is used as a transmitting end. Common to both schemes is the need to arrange loudspeakers or microphones as positioning nodes in an indoor environment, positioning by detecting the time required for an audio signal to travel between the positioning node and a positioning target, or the resulting frequency shift, etc. In indoor environment, barriers such as walls, gates and furniture can block the direct path of an audio signal between a transmitting end and a receiving end, so that non-line-of-sight propagation is caused, difficulties are brought to detection of parameters such as signal arrival time, and the system positioning accuracy is affected.
In an audio indoor positioning system, signals from a plurality of different positioning nodes are required to achieve positioning of a target. As shown in fig. 2, taking a single speaker node as an example, assuming that an audio signal propagates along a straight line, the occlusion of an obstacle may cause a non-line-of-sight effect, and the non-line-of-sight space of the node, that is, the region shown by a solid line in the figure, may be determined by mapping. The different positioning nodes respectively have respective non-line-of-sight spaces, and when a positioning target is positioned in the non-line-of-sight spaces, positioning accuracy is greatly affected due to the lack of reliable positioning node signals.
Disclosure of Invention
In order to reduce the influence caused by non-line-of-sight propagation of signals in an audio positioning system, the invention provides a node layout method of an audio indoor positioning system based on line-of-sight space maximization. According to the method, according to the characteristic of sound propagation along a straight line and spatial solid geometry knowledge, non-line-of-sight space of each node is calculated by utilizing node coordinates and the distribution condition of obstacles, and a node layout scheme is determined by taking the line-of-sight space maximization as a principle, so that the accuracy and the robustness of a positioning system are improved. The core idea is as follows: based on the distribution condition of nodes and barriers in the indoor space, the joint line-of-sight space covered by the nodes is used as an optimization target to guide the node layout of the audio positioning system, so that the aims of reducing non-line-of-sight effect and improving the accuracy and the robustness of the positioning system are fulfilled.
The technical scheme of the invention is as follows: an audio indoor positioning system node layout method based on visual range space maximization comprises the following steps:
step 1: locating region V for target zone Performing three-dimensional modeling;
step 2: establishing a three-dimensional model of a target positioning area into a space rectangular coordinate system to obtain three-dimensional coordinates of each key position, wherein the key positions refer to positions of indoor buildings and obstacles;
step 3: in the space rectangular coordinate system established in the step 2, considering node power and effective working range factors, determining the constraint range of each node coordinate according to a preset rule;
step 4: respectively calculating the non-line-of-sight space volume V of N nodes due to obstacle shielding i，nlos Wherein i1, 2..n; in the case where the target localization area spatial boundary and obstacle vertex coordinates are known, the non-line-of-sight spatial volume is a ternary function with respect to node coordinates, namely: v (V) i，nlos ＝F(x si ，y si ，z si ). Solving for non-line-of-sight spatial volume V i，nlos Coordinate set of each node when taking minimum value, wherein x si ，y si ，z si Is the coordinates of the ith node;
step 5: after the coordinate set of each node is obtained, all coordinates are combined, and the union V of the corresponding non-line-of-sight space volumes under each combination condition is solved nlos Taking V nlos The node coordinate combination corresponding to the minimum value is the optimal combination, namely the node layout scheme, at the moment, the sum of the non-line-of-sight space volumes is minimum, and the node layout scheme is characterized in that the node coordinate combination is the optimal combination according to V nlos +V los ＝V zone It can be seen that when V nlos When taking the minimum value, V los Taking the maximum value, i.e. the sum minimum of the non-line-of-sight space volumes is equivalent to the common line-of-sight space volume maximum, where V los Is a common line-of-sight spatial volume.
Further, the node is a speaker or microphone audio signal transmitting or receiving device.
Further, in the established space rectangular coordinate system, considering factors such as node power and effective working range, determining a constraint range of each node coordinate according to a predetermined rule, wherein the constraint range specifically comprises:
(1) The node layout should be equally distributed in the target positioning area;
(2) The nodes are arranged on the boundary surfaces of the area, cannot be arranged on the ground, but are arranged on 3 boundary surfaces in the subareas, wherein the boundary surfaces are the surfaces of the top surface and the side surface of the wall.
Further, according to the coordinate information of the obstacle shielding points, a function of the non-line-of-sight space volume of each node and the node coordinates is established by utilizing the characteristic that the indoor sound propagates along the straight line and the space geometric knowledge, and the node coordinate set when the non-line-of-sight space volume takes the minimum value is solved.
Further, the coordinates of each node are combined, and the union V of the non-line-of-sight space volumes corresponding to the coordinate combinations is solved nlos Taking V nlos The coordinate combination corresponding to the minimum value is a node layout scheme.
The beneficial effects are that:
according to the invention, an audio signal detection algorithm and a positioning algorithm are not required to be changed, and according to the distribution condition of indoor barriers, the characteristic of indoor sound propagating along a straight line and spatial solid geometry knowledge, a node layout scheme with the minimum non-line-of-sight space volume is calculated, so that the line-of-sight space volume of a positioning system is improved, and the positioning precision and the robustness of the system are further improved
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for node placement of an audio indoor positioning system in an example of the invention;
FIG. 2 is a three-dimensional model of a localized area and an obstacle in an example of the invention;
FIG. 3 is a graph showing the effect of non-line-of-sight effect of an obstacle on a single node and the effect of node coordinate change on non-line-of-sight space in an example of the invention;
FIG. 4 is a preliminary layout scheme for nodes in an example of the invention;
FIG. 5 is a schematic representation of a single-node non-line-of-sight spatial volume solution in an example of the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is evident that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
It can be observed from fig. 2 that if the layout coordinates of the node 1 are adjusted to the node 1' position, the non-line-of-sight space will be changed to the dashed line portion of the graph, i.e. the non-line-of-sight space is reduced compared to the initial layout coordinate position. Therefore, the layout of the speaker nodes can be reasonably planned to ensure the maximum joint common line-of-sight space, so that the positioning accuracy of the system is improved.
The embodiment of the invention provides a system node layout scheme based on the maximization of the line-of-sight space by taking audio as a positioning means, and a flow chart of the invention is shown in fig. 1, and comprises the following steps:
step 1: locating region V for target zone Performing three-dimensional modeling;
step 2: establishing a three-dimensional model of a target positioning area into a space rectangular coordinate system to obtain three-dimensional coordinates of each key position, wherein the key positions refer to positions of indoor buildings and obstacles;
step 3: in the space rectangular coordinate system established in the step 2, considering node power and effective working range factors, determining the constraint range of each node coordinate according to a preset rule;
step (a)4: respectively calculating the non-line-of-sight space volume V of N nodes due to obstacle shielding i，nlos Where i=1, 2,..; in the case where the target localization area spatial boundary and obstacle vertex coordinates are known, the non-line-of-sight spatial volume is a ternary function with respect to node coordinates, namely: v (V) i，nlos ＝F(x si ，y si ，z si ) The method comprises the steps of carrying out a first treatment on the surface of the Solving for non-line-of-sight spatial volume V i，nlos Coordinate set of each node when taking minimum value, wherein x si ，y si ，z si Is the coordinates of the ith node;
step 5: after the coordinate set of each node is obtained, all coordinates are combined, and the union V of the corresponding non-line-of-sight space volumes under each combination condition is solved nlos Taking V nlos The node coordinate combination corresponding to the minimum value is the optimal combination, namely the node layout scheme, at the moment, the sum of the non-line-of-sight space volumes is minimum, and the node layout scheme is characterized in that the node coordinate combination is the optimal combination according to V nlos +V los ＝V zone It can be seen that when V nlos When taking the minimum value, V los Taking the maximum value, i.e. the sum minimum of the non-line-of-sight space volumes is equivalent to the common line-of-sight space volume maximum, where V los Is a common line-of-sight spatial volume.
Taking 4-node layout as an example, assuming that the target positioning area space is a cube of M, N and H, the node coordinates are S i (x si ，y si ，z si ) (i=1, 2,3, 4), the non-line-of-sight spatial volume of each node caused by the obstacle is denoted as V i，nlos The non-line-of-sight space volume is combined intoAssuming that the obstacle is a cube of size m x n x h, each vertex coordinate thereof is a j (x aj ，y aj ，z aj )(j＝1，2，3，4，5，6，7，8)。
The known node coordinates are limited by:
(1) Because the speaker power and the working range are limited, the positioning nodes cannot be too concentrated, otherwise, the signal intensity of a part of areas is too weak, and the positioning target cannot normally detect signals, so that the node layout should be uniformly distributed in the target positioning area, as shown in fig. 3.
(2) In order to ensure concealment as much as possible, the nodes should be arranged on the boundary surfaces of the regions. Considering that the target area is not possible to be laid on the ground in practical situations, the target area is divided into a plurality of subareas, and the nodes can be only arranged on 3 boundary surfaces in the subareas, wherein the boundary surfaces are the surfaces of the top surface and the side surface of the wall.
And according to the limiting conditions, the coordinate value constraint range of each node can be preliminarily obtained. Taking 4-node layout as an example shown in fig. 3, the coordinate value range of the node 1 is as follows:
then, according to step 4, the non-line-of-sight space volume V of each node is solved i，nlos (i=1, 2,3, 4). As shown in fig. 4, for node 1, let the occlusion vertex of the obstacle be a 2 (x a2 ，y a2 ，z a2 )、A 3 (x a3 ，y a3 ，z a3 )、A 6 (x a6 ，y a6 ，z a6 )、A 7 (x a7 ，y a7 ，z a7 ). Wherein, vertex A 2 、A 6 Establishing a projection plane C with node 1 1 Vertex A 3 、A 7 Establishing a projection plane C with node 1 2 . Let us assume a spatial projection plane C 1 The equation ax+by+cz+d=0, according to the clahm law:
A＝y s1 (z a6 -z a2 )+y a6 (z a2 -z s1 )+y a2 (z s1 -z a6 ) (4)
B＝z s1 (x a6 -x a2 )+z a6 (x a2 -x s1 )+z a2 (x s1 -x a6 ) (5)
C＝x s1 (y a6 -y a2 )+x a6 (y a2 -y s1 )+x a2 (y s1 -y a6 ) (6)
D＝-x s1 (y a6 z a2 -y a2 z a6 )-x a6 (y a2 z s1 -y s1 z a2 )-x a2 (y s1 z a6 -y a6 z s1 ) (7)
the projection plane C can be obtained by the same method 2 Is a function of the equation. Projection plane C 1 、C 2 Boundary surface with space, obstacle surface A 3 A 4 A 7 A 8 、A 2 A 4 A 6 A 8 Intersecting to obtain non-line-of-sight space V 1，nlos As shown in fig. 4. Intersection point B is determined by intersection of projection plane equation and boundary surface of positioning area 1 、B 2 、B 3 、B 4 . Since the location area spatial boundary and obstacle vertex coordinates are known, the non-line-of-sight spatial volume V 1，nlos Can be described as relative to node 1 coordinates (x s1 ，y s1 ，z s1 ) A ternary function of (2), namely: v (V) 1，nlos ＝F 1 (x s1 ，y s1 ，z s1 ),V 1，nlos Is about node 1 coordinate S 1 (x s1 ，y s1 ，z s1 ) For which the ternary function is related to x, respectively s1 ，y s1 ，z s1 Is a partial derivative of:
solving the equation set to obtain V 1，nlos Coordinate values of the node 1 when the minimum value is taken, and meeting the constraint range of the node 1 coordinate value according to all the coordinate requirementsThe surrounding requirements, the set of possible coordinates of node 1 can be obtained:
S 1 {(x s1，j ，y s1，j ，z s1，j )(j＝1，2，.....N 1 )}
similarly, the possible coordinate sets to the remaining 3 nodes 2,3,4 can be found:
S 2 {(x s2，k ，y s2，k ，z s2，k )(k＝1，2，.....N 2 )}
S 3 {(x s3，l ，y s3，l ，z s3，l )(l＝1，2，.....N 3 )}
S 4 {(x s4，m ，y s4，m ，z s4，m )(m＝1，2，.....N 4 )}
after obtaining the possible coordinate set of each node according to step 5, combining the coordinates of each node to obtain N total 1 *N 2 *N 3 *N 4 Different schemes. For each node coordinate combination scheme, determining a non-line-of-sight spatial volume union V nlos {V nlos (i)(i＝1，2，.....，N 1 *N 2 *N 3 *N 4 ) -wherein the minimum value V nlos，min The corresponding node coordinate combination is the node layout scheme.
According to one embodiment of the invention, the node is a speaker or microphone audio signal transmitting or receiving device.
Further, in the established space rectangular coordinate system, considering factors such as node power and effective working range, determining a constraint range of each node coordinate according to a predetermined rule, wherein the constraint range specifically comprises:
(1) The node layout should be equally distributed in the target positioning area;
(2) The nodes are arranged on the boundary surfaces of the area, cannot be arranged on the ground, but are arranged on 3 boundary surfaces in the subareas, wherein the boundary surfaces are the surfaces of the top surface and the side surface of the wall.
According to the embodiment of the invention, according to the coordinate information of the obstacle shielding points, the function of the non-line-of-sight space volume of each node and the node coordinates is established by utilizing the characteristic of indoor sound propagating along a straight line and the space geometric knowledge, and the node coordinate set when the non-line-of-sight space volume takes the minimum value is solved.
According to one embodiment of the invention, the coordinates of each node are combined, and the union V of the non-line-of-sight space volumes corresponding to each coordinate combination is solved nlos Taking V nlos The coordinate combination corresponding to the minimum value is a node layout scheme.
The foregoing is merely one specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the scope of the present invention.
Claims (4)
1. The node layout method of the audio indoor positioning system based on the view distance space maximization is characterized by comprising the following steps of:
step 1: locating region V for target zone Performing three-dimensional modeling;
step 2: establishing a three-dimensional model of a target positioning area into a space rectangular coordinate system to obtain three-dimensional coordinates of each key position, wherein the key positions refer to positions of indoor buildings and obstacles;
step 3: in the space rectangular coordinate system established in the step 2, considering node power and effective working range factors, determining the constraint range of each node coordinate according to a preset rule;
step 4: respectively calculating the non-line-of-sight space volume V of N nodes due to obstacle shielding i,nlos Where i=1, 2, … N; in the case where the target localization area spatial boundary and obstacle vertex coordinates are known, the non-line-of-sight spatial volume is a ternary function with respect to node coordinates, namely: v (V) i,nlos ＝F(x si ,y si ,z si ) The method comprises the steps of carrying out a first treatment on the surface of the Solving for non-line-of-sight spatial volume V i,nlos Coordinate set of each node when taking minimum value, wherein x si ,y si ,z si Is the coordinates of the ith node; wherein, according to the coordinate information of the obstacle shielding point, indoor is utilizedThe characteristic and space geometric knowledge of sound propagating along a straight line are used for establishing functions of non-line-of-sight space volumes and node coordinates of all nodes, and solving a node coordinate set when the non-line-of-sight space volumes take minimum values;
step 5: after the coordinate set of each node is obtained, all coordinates are combined, and the union V of the corresponding non-line-of-sight space volumes under each combination condition is solved nlos Taking V nlos The node coordinate combination corresponding to the minimum value is the optimal combination, namely the node layout scheme, at the moment, the sum of the non-line-of-sight space volumes is minimum, and the node layout scheme is characterized in that the node coordinate combination is the optimal combination according to V nlos +V los ＝V zone It can be seen that when V nlos When taking the minimum value, V los Taking the maximum value, i.e. the sum minimum of the non-line-of-sight space volumes is equivalent to the common line-of-sight space volume maximum, where V los Is a common line-of-sight spatial volume.
2. The audio indoor positioning system node arrangement method based on the line-of-sight space maximization according to claim 1, wherein: the node is a speaker or microphone audio signal transmitting or receiving device.
3. The audio indoor positioning system node arrangement method based on the line-of-sight space maximization according to claim 1, wherein: in the established space rectangular coordinate system, considering node power and effective working range factors, determining the constraint range of each node coordinate according to a preset rule, wherein the constraint range specifically comprises the following steps:
(1) The node layout should be equally distributed in the target positioning area;
(2) The nodes are arranged on the boundary surfaces of the area, cannot be arranged on the ground, but are arranged on 3 boundary surfaces in the subareas, wherein the boundary surfaces are the surfaces of the top surface and the side surface of the wall.
4. The audio indoor positioning system node arrangement method based on the line-of-sight space maximization according to claim 1, wherein: combining the coordinates of all the nodes, and solving a union V of the non-line-of-sight space volumes corresponding to the coordinate combinations nlos Taking V nlos The coordinate combination corresponding to the minimum value is a node layout scheme.
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