CN112714396A - Polar coordinate-based positioning method and system - Google Patents
Polar coordinate-based positioning method and system Download PDFInfo
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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
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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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
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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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
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Abstract
The invention relates to a positioning method and a system based on polar coordinates, wherein the method comprises the following steps: establishing a coordinate system by taking a base station as a coordinate origin, and dividing a plane into four quadrants; acquiring an array signal of a signal sent by an object to be positioned and reaching a base station antenna array through an embedded system; calculating an azimuth angle alpha of the array signal through an MUSIC algorithm, and determining a quadrant of the object to be positioned according to the azimuth angle alpha; acquiring an RSSI signal; filtering the RSSI signal to obtain a target RSSI signal; obtaining distance information d between the base station and the object to be positioned through the target RSSI signal by a propagation model; and obtaining the coordinate information of the object to be positioned by the azimuth angle alpha and the distance information d through the coordinate system. The positioning method and the positioning system can reduce the deployment of the base station and improve the positioning precision.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to a positioning method and a positioning system based on polar coordinates.
Background
The indoor positioning refers to the realization of position positioning in an indoor environment, and mainly adopts multiple technologies such as wireless communication, base station positioning, inertial navigation positioning, motion capture and the like to integrate and form an indoor position positioning system, so that the position monitoring of personnel, objects and the like in an indoor space is realized. The traditional indoor positioning method needs to arrange a plurality of base stations indoors and establish map coordinates according to the field conditions, and is complex in calculation, complex in operation and poor in practicability.
Therefore, how to design a positioning method and system capable of reducing base station deployment and improving positioning accuracy becomes a problem to be solved in the field at present.
Disclosure of Invention
The invention aims to provide a positioning method and a positioning system based on polar coordinates. And noise interference in the RSSI signal is eliminated through Gaussian filtering, weighted average amplitude limiting filtering and Kalman filtering in sequence, and the influence of noise on a measured value is reduced, so that the positioning precision can be greatly improved.
In order to achieve the purpose, the invention provides the following scheme:
a polar coordinate-based positioning method comprises the following steps:
establishing a coordinate system by taking a base station as a coordinate origin, and dividing a plane into four quadrants;
acquiring an array signal of a signal sent by an object to be positioned and reaching a base station antenna array through an embedded system;
calculating an azimuth angle alpha of the array signal through an MUSIC algorithm, and determining a quadrant of the object to be positioned according to the azimuth angle alpha;
acquiring an RSSI signal;
filtering the RSSI signal to obtain a target RSSI signal;
obtaining distance information d between the base station and the object to be positioned through the target RSSI signal by a propagation model;
and obtaining the coordinate information of the object to be positioned by the azimuth angle alpha and the distance information d through the coordinate system.
Optionally, the base station is disposed at a central position of the room where the object to be positioned is located.
Optionally, the acquiring the RSSI signal specifically includes:
and the RSSI signal is acquired through the WIFI module, the Bluetooth module or the RFID module.
Optionally, the filtering the RSSI signal to obtain a target RSSI signal specifically includes:
and filtering the RSSI signal through Gaussian filtering, weighted average amplitude limiting filtering and Kalman filtering in sequence to obtain a target RSSI signal.
Optionally, the propagation model is:
wherein p (d) is the signal strength of the signal at d; d represents the distance between the base station and the object to be positioned; d0Is a reference distance; n is the path loss exponent; xσInterference caused by shadowing effects.
Optionally, an enabling label is arranged on the object to be positioned and used for sending buzzing or light rays.
The invention also provides a polar coordinate-based positioning system, comprising:
the coordinate system unit is used for establishing a coordinate system by taking the base station as a coordinate origin and dividing the plane into four quadrants;
the array signal acquisition unit is used for acquiring an array signal of a signal sent by an object to be positioned and reaching the base station antenna array through the embedded system;
the azimuth angle acquisition unit is used for calculating an azimuth angle alpha of the array signal through an MUSIC algorithm and determining a quadrant of the object to be positioned according to the azimuth angle alpha;
an RSSI signal acquisition unit for acquiring an RSSI signal;
the filtering processing unit is used for filtering the RSSI signal to obtain a target RSSI signal;
the distance measurement unit is used for obtaining distance information d between the base station and the object to be positioned through the target RSSI signal by a propagation model;
and the coordinate determination unit is used for obtaining the coordinate information of the object to be positioned according to the azimuth angle alpha and the distance information d through the coordinate system.
Optionally, the RSSI signal acquisition unit includes a WIFI module, a bluetooth module, and an RFID module.
Optionally, the filtering processing unit includes a gaussian filtering module, a weighted average amplitude limiting filtering module, and a kalman filtering module.
Optionally, the object to be positioned is provided with an enabling label for emitting buzzing or light.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
1. the precision of the distance measurement is improved: the positioning method and the positioning system provided by the invention can eliminate the influence of the distance measurement error caused by indoor complex environment to a certain extent, effectively eliminate the error influence caused by personnel walking, improve the distance measurement precision and improve the positioning precision.
2. Reducing base station deployment: in the conventional indoor positioning method, a plurality of base stations are required to realize positioning. The number of base stations is increased, the layout is relatively complicated, the calculation amount is increased, and the cost is increased. The positioning method and the positioning system can realize positioning through one base station, are easy to deploy and reduce the calculation amount.
3. The adaptability of the environment is as follows: in the traditional indoor positioning method, an indoor map is required to be constructed to describe where an article to be positioned is or a coordinate system is required to be established, the coordinates of a plurality of base stations are required to be marked to calculate the coordinates of the article to be positioned, and if the environment changes, reconstruction is required. The positioning method and the positioning system can directly realize the positioning function by taking the base station as the origin of coordinates under different environments, are flexible, changeable and easy to arrange, have stronger environmental adaptability and improve the adaptation degree in different environments.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a structural diagram of a positioning method based on polar coordinates according to embodiment 1 of the present invention;
fig. 2 is a flowchart of a positioning method based on polar coordinates according to embodiment 1 of the present invention;
fig. 3 is a block diagram of a polar coordinate-based positioning system according to embodiment 2 of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a positioning method and a positioning system based on polar coordinates, and the positioning method and the positioning system can be used for conveniently reducing the number of base stations, simplifying the establishment process of a coordinate system, have strong environmental adaptability, can reduce calculation, are convenient to arrange and search, and have strong practicability.
In addition, the measurement of DOA based on MUSIC algorithm, RSSI filtering processing and ranging are utilized in the invention, thus greatly improving the positioning precision. Wherein, doa (direction of arrival) refers to the arrival direction of the spatial signal (the direction angle of each signal arriving at the array reference array element, referred to as the arrival direction for short); RSSI (received Signal Strength indicator) is an indication of the Strength of the received Signal.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example 1:
referring to fig. 1 and 2, the present invention provides a polar coordinate-based positioning method, including the following steps:
s1: the method comprises the following steps of arranging a base station at the indoor central position of an object to be positioned, establishing a coordinate system by taking the base station as an origin of coordinates, and dividing a plane into four quadrants;
it should be noted that, the base station is located at the central position of the room where the object to be located is located, so as to facilitate signal coverage (taking RFID as an example, readers and array antennas need to be arranged), simplify establishment of a coordinate system, improve adaptability of different environments, and have strong practicability. The problems that a plurality of base stations are needed to realize positioning, the number of the base stations is large, the layout is complex, and the calculated amount and the cost are increased in the traditional indoor positioning method can be effectively solved.
S2: acquiring an array signal of a signal sent by an object to be positioned and reaching a base station antenna array through an embedded system;
the embedded system has the characteristics of good real-time performance and high reliability, so that the influence of measurement errors caused by indoor complex environment can be eliminated to a certain extent by acquiring the array signals through the embedded system, and a foundation is laid for improving the positioning accuracy.
S3: calculating an azimuth angle alpha of the array signal through DOA measurement based on an MUSIC algorithm, and determining a quadrant of the object to be positioned according to the azimuth angle alpha; the MUSIC algorithm obtains the azimuth angle of an arrival signal according to the spatial phase difference;
the MUSIC (Multiple Signal Classification) algorithm is a method based on matrix eigenspace decomposition. Geometrically, the observation space of signal processing can be decomposed into a signal subspace and a noise subspace, which are obviously orthogonal. The signal subspace consists of the eigenvectors corresponding to the signals in the data covariance matrix received by the array, and the noise subspace consists of the eigenvectors corresponding to all the minimum eigenvalues (noise variances) in the covariance matrix. A signal spectrum function can be constructed according to the obtained noise subspace, and the incidence direction of the signal can be obtained through spectrum peak searching. The computation complexity is reduced by the MUSIC algorithm, and meanwhile, the computation amount is also reduced.
S4, acquiring RSSI signals through a WIFI module, a Bluetooth module or an RFID module;
taking the WIFI module as an example, the RSSI signal can be obtained only through the signal strength of the WIFI, which is simple and convenient, and the complexity of calculation can be greatly reduced.
S5: filtering the RSSI signal through Gaussian filtering, weighted average amplitude limiting filtering and Kalman filtering in sequence to obtain a target RSSI signal;
firstly, the RSSI signal strength value of a high-probability occurrence area is selected by Gaussian filtering on the acquired RSSI signal strength, so that the interference can be reduced; on the basis, RSSI sampling values deviating from the true value greatly are removed through weighted average amplitude limiting filtering, and the influence caused by personnel walking can be effectively reduced. And finally, removing additive noise superposed on the signal by using Kalman filtering, and smoothing the obvious error. Therefore, noise interference in the RSSI can be effectively eliminated, the influence of noise on a measured value is reduced, and the ranging precision is improved.
S6: obtaining distance information d between the base station and the object to be positioned through the target RSSI signal by a propagation model;
specifically, the propagation model is:
wherein p (d) is the signal strength of the signal at d; d represents the distance between the base station and the object to be positioned; d0Is a reference distance; n is the path loss exponent; xσInterference caused by shadowing effects.
S7: and obtaining the coordinate information of the object to be positioned by the azimuth angle alpha and the distance information d through the coordinate system.
As a possible implementation manner, a base station is used as a coordinate origin, a two-dimensional plane coordinate system is established as shown in fig. 1, the plane is divided into four quadrants by using the base station as the coordinate origin, an azimuth angle a of a signal arrival angle is calculated by a MUSIC algorithm, and the reduction to one of the quadrants can be achieved. And then obtaining the distance d from the target to be positioned to the base station through the RSSI. The coordinates (x, y) of the object to be positioned can be obtained, as shown in formula (1):
x＝d×cosa
y＝d×sina (1)
the position can be further accurately positioned through the coordinates.
And finally, in the goods searching stage, buzzing or light rays are emitted through the object label to be positioned, so that the target to be positioned can be conveniently and quickly searched.
Example 2:
referring to fig. 2, the present invention further provides a polar coordinate-based positioning system, including:
a coordinate system unit 1, configured to establish a coordinate system with a base station as a coordinate origin, and divide a plane into four quadrants; the base station is arranged at the indoor central position of the object to be positioned, so that the signal coverage is facilitated.
The array signal acquisition unit 2 is used for acquiring an array signal of a signal sent by an object to be positioned and reaching the base station antenna array through an embedded system;
the azimuth angle acquisition unit 3 is used for calculating an azimuth angle alpha of the array signal through an MUSIC algorithm and determining a quadrant of the object to be positioned according to the azimuth angle alpha;
an RSSI signal acquisition unit 4 for acquiring an RSSI signal; the RSSI signal acquisition unit 4 comprises a WIFI module, a Bluetooth module and an RFID module.
And the filtering processing unit 5 is used for filtering the RSSI signal to obtain a target RSSI signal.
Specifically, the filtering processing unit 5 includes a gaussian filtering module, a weighted average amplitude limiting filtering module, and a kalman filtering module.
Firstly, the RSSI signal strength value of a high-probability occurrence area is selected for the RSSI signal strength through a Gaussian filtering module, so that the interference can be reduced; on the basis, RSSI sampling values deviating from the true value greatly are removed through the weighted average amplitude limiting filtering module, and the influence caused by personnel walking can be effectively reduced. And finally, removing additive noise superposed on the signal by using a Kalman filtering module, and smoothing the obvious error. Therefore, noise interference in the RSSI can be effectively eliminated, the influence of noise on a measured value is reduced, and the ranging precision is improved.
And the distance measuring unit 6 is used for obtaining the distance information d between the base station and the object to be positioned through the target RSSI signal by a propagation model.
Specifically, the propagation model is:
wherein p (d) is the signal strength of the signal at d; d represents the distance between the base station and the object to be positioned; d0Is a reference distance; n is the path loss exponent; xσInterference caused by shadowing effects.
And the coordinate determination unit 7 is configured to obtain, through the coordinate system, coordinate information of the object to be positioned from the azimuth angle α and the distance information d.
And finally, in the goods searching stage, buzzing or light rays are emitted through the object label to be positioned, so that the target to be positioned can be conveniently and quickly searched.
In summary, the positioning can be realized through one base station by adopting the scheme of the invention, the deployment is easy, the calculated amount is reduced, and the problems of a plurality of base stations, a large number of base stations, complex layout, large calculated amount and high cost in the traditional indoor positioning method for realizing the positioning are effectively solved. The positioning scheme provided by the invention can eliminate the influence of the distance measurement error caused by indoor complex environment to a certain extent, effectively eliminate the error influence caused by personnel walking, improve the distance measurement precision and improve the positioning precision. In addition, in the conventional indoor positioning method, an indoor map needs to be built to describe where an article to be positioned is located or a coordinate system needs to be established, coordinates of a plurality of base stations need to be marked to calculate the coordinates of the article to be positioned, and if the environment changes, the coordinates need to be reconstructed. The positioning method and the positioning system can directly realize the positioning function by taking the base station as the origin of coordinates under different environments, are flexible, changeable and easy to arrange, have stronger environmental adaptability and improve the adaptation degree in different environments.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A polar coordinate-based positioning method is characterized by comprising the following steps:
establishing a coordinate system by taking a base station as a coordinate origin, and dividing a plane into four quadrants;
acquiring an array signal of a signal sent by an object to be positioned and reaching a base station antenna array through an embedded system;
calculating an azimuth angle alpha of the array signal through an MUSIC algorithm, and determining a quadrant of the object to be positioned according to the azimuth angle alpha;
acquiring an RSSI signal;
filtering the RSSI signal to obtain a target RSSI signal;
obtaining distance information d between the base station and the object to be positioned through the target RSSI signal by a propagation model;
and obtaining the coordinate information of the object to be positioned by the azimuth angle alpha and the distance information d through the coordinate system.
2. The positioning method according to claim 1, wherein the base station is disposed at a central position in a room where the object to be positioned is located.
3. The method according to claim 1, wherein the acquiring the RSSI signal specifically comprises:
and the RSSI signal is acquired through the WIFI module, the Bluetooth module or the RFID module.
4. The method according to claim 1, wherein the filtering the RSSI signal to obtain a target RSSI signal specifically comprises:
and filtering the RSSI signal through Gaussian filtering, weighted average amplitude limiting filtering and Kalman filtering in sequence to obtain a target RSSI signal.
5. The positioning method according to claim 1, wherein the propagation model is:
wherein p (d) is the signal strength of the signal at d; d represents the distance between the base station and the object to be positioned; d0Is a reference distance; n is the path loss exponent; xσInterference caused by shadowing effects.
6. The positioning method according to claim 1, wherein an enabling label is arranged on the object to be positioned for emitting buzzing or light.
7. A polar coordinate-based positioning system, comprising:
the coordinate system unit is used for establishing a coordinate system by taking the base station as a coordinate origin and dividing the plane into four quadrants;
the array signal acquisition unit is used for acquiring an array signal of a signal sent by an object to be positioned and reaching the base station antenna array through the embedded system;
the azimuth angle acquisition unit is used for calculating an azimuth angle alpha of the array signal through an MUSIC algorithm and determining a quadrant of the object to be positioned according to the azimuth angle alpha;
an RSSI signal acquisition unit for acquiring an RSSI signal;
the filtering processing unit is used for filtering the RSSI signal to obtain a target RSSI signal;
the distance measurement unit is used for obtaining distance information d between the base station and the object to be positioned through the target RSSI signal by a propagation model;
and the coordinate determination unit is used for obtaining the coordinate information of the object to be positioned according to the azimuth angle alpha and the distance information d through the coordinate system.
8. The location system of claim 7, wherein the RSSI signal acquisition unit comprises a WIFI module, a Bluetooth module and an RFID module.
9. The positioning system of claim 7, wherein the filter processing unit comprises a Gaussian filter module, a weighted mean slicer filter module, and a Kalman filter module.
10. The positioning system as claimed in claim 7, wherein an enabling tag is provided on the object to be positioned for emitting a beep or a light.
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Application publication date: 20210427 |