CN112985396A - Method, device, medium and electronic equipment for dynamically optimizing indoor positioning - Google Patents
Method, device, medium and electronic equipment for dynamically optimizing indoor positioning Download PDFInfo
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Abstract
The embodiment of the application discloses a method, a device, a medium and electronic equipment for dynamically optimizing indoor positioning. The method comprises the following steps: determining an initial reference position of the RFID label by acquiring the signal strength of the anchor nodes of the RFID label and the position information of each anchor node; determining a reference anchor node according to the anchor node signal strength; determining a circular ring region with the reference anchor node as the center according to a preset confidence coefficient; taking the end points of the circular ring area in the first preset direction and the second preset direction, and determining the semicircular ring area according to the proximity degree of the position of each end point and the initial reference position; the first preset direction and the second preset direction are perpendicular to each other; and (3) taking points in the semi-circular ring area by adopting a two-stage step method, bringing the points into a target optimizing function, and determining the positioning point of the RFID label. By executing the technical scheme, the positioning precision effect of the indoor positioning technology can be improved through a dynamic optimization searching mode.
Description
Technical Field
The embodiment of the application relates to the technical field of positioning, in particular to a method, a device, a medium and electronic equipment for dynamically optimizing indoor positioning.
Background
With the rapid development of the technology level, the precision requirement of indoor positioning is higher and higher.
In the prior art, a trilateration algorithm is often used for locating a target object. The trilateration algorithm may be based on an RFID (Radio Frequency Identification) technology, and receive signals of the RFID tag by three or more base stations, where the base stations are anchor nodes and the locations of the base stations are known. And determining the distance between each base station and the radio frequency identification card according to the signal intensity obtained by each base station. However, in the trilateral localization algorithm, the problems of occlusion and the like are likely to exist between the three anchor nodes and the target object, so that the accuracy is not accurate enough. And the signal strength between any one anchor node and the target object is influenced, so that the result of the trilateral location algorithm has larger deviation, and the location precision is influenced.
Disclosure of Invention
The embodiment of the application provides a method, a device, a medium and electronic equipment for dynamically optimizing indoor positioning, which can improve the positioning precision effect of an indoor positioning technology through a dynamic optimization mode.
In a first aspect, an embodiment of the present application provides a method for dynamically optimizing indoor positioning, where the method includes:
acquiring the signal intensity of anchor nodes of the RFID label and the position information of each anchor node, and determining the initial reference position of the RFID label;
determining a reference anchor node according to the anchor node signal strength; determining a circular ring region with the reference anchor node as the center according to a preset confidence coefficient;
taking the end points of the circular ring area in the first preset direction and the second preset direction, and determining the semicircular ring area according to the proximity degree of the position of each end point and the initial reference position; the first preset direction and the second preset direction are perpendicular to each other;
and bringing the points in the semi-circular ring area into a target optimizing function, and determining the positioning points of the RFID tags.
Optionally, the anchor node includes a base station for receiving the RFID tag signal, and/or a landmark device for transmitting a signal to the RFID tag;
if the anchor node comprises a base station and a landmark device, determining a reference anchor node according to the signal strength of the anchor node comprises:
determining a reference anchor node according to the preset level weight of the anchor node type and the signal strength of each anchor node;
and taking the anchor node with the strongest signal in the reference anchor nodes as a reference anchor node.
Optionally, determining the semicircular area according to the proximity of the position of each endpoint to the initial reference position includes:
determining an endpoint with the minimum approach degree according to the position of each endpoint and the distance between the anchor node and the initial reference position;
and deleting half of the circular ring area where the end point with the minimum approach degree is located to obtain a semicircular ring area.
Optionally, determining the endpoint with the minimum proximity according to the position of each endpoint and the distance between the anchor node and the initial reference position, including:
and substituting the position of each end point into a preset weighted least square function, comparing the calculation result of each end point and the initial reference position, and determining the end point with the minimum approach degree.
Optionally, the step of bringing a point in the semi-circular ring area into an objective optimization function to determine a location point of the RFID tag includes:
and (3) taking points in the semi-circular ring area by adopting a two-stage step method, bringing the points into a target optimizing function, and determining the positioning point of the RFID label.
Optionally, the point in the semi-circular ring region is fetched by using a two-stage step method, and the fetched point is brought into the target optimizing function, so as to determine the location point of the RFID tag, including:
taking a first-stage step length point by adopting a first-stage step length, and bringing the first-stage step length point into a target optimizing function and a first-stage positioning point;
determining the square extraction range of the secondary step length point by taking the primary positioning point as the center and taking two times of the primary step length as the side length;
and taking a secondary step length point according to the secondary step length, and bringing the secondary step length point into the target optimizing function to obtain the locating point of the RFID label.
In a second aspect, an embodiment of the present application provides an apparatus for dynamically optimizing indoor positioning, where the apparatus includes:
the initial reference position determining module is used for acquiring the signal strength of the anchor nodes of the RFID label and the position information of each anchor node and determining the initial reference position of the RFID label;
the reference anchor node determining module is used for determining a reference anchor node according to the signal strength of the anchor node; determining a circular ring region with the reference anchor node as the center according to a preset confidence coefficient;
the semicircular ring area determining module is used for taking the end points of the circular ring area in a first preset direction and a second preset direction and determining the semicircular ring area according to the proximity degree of the position of each end point and the initial reference position; the first preset direction and the second preset direction are perpendicular to each other;
and the optimizing positioning module is used for bringing the points in the semi-circular ring area into an object optimizing function to determine the positioning points of the RFID labels.
Optionally, the anchor node includes a base station for receiving the RFID tag signal, and/or a landmark device for transmitting a signal to the RFID tag;
if the anchor node includes a base station and a landmark device, the reference anchor node determining module is specifically configured to:
determining a reference anchor node according to the preset level weight of the anchor node type and the signal strength of each anchor node;
and taking the anchor node with the strongest signal in the reference anchor nodes as a reference anchor node.
In a third aspect, embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a method for dynamically optimizing indoor positioning according to embodiments of the present application.
In a fourth aspect, embodiments of the present application provide an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the method for dynamically optimizing indoor positioning according to embodiments of the present application.
According to the technical scheme provided by the embodiment of the application, the signal strength of the anchor nodes of the RFID label and the position information of each anchor node are obtained, and the initial reference position of the RFID label is determined; determining a reference anchor node according to the anchor node signal strength; determining a circular ring region with the reference anchor node as the center according to a preset confidence coefficient; taking the end points of the circular ring area in the first preset direction and the second preset direction, and determining the semicircular ring area according to the proximity degree of the position of each end point and the initial reference position; the first preset direction and the second preset direction are perpendicular to each other; and bringing the points in the semi-circular ring area into a target optimizing function, and determining the positioning points of the RFID tags. By adopting the technical scheme provided by the application, the positioning precision effect of the indoor positioning technology can be improved through a dynamic optimization searching mode.
Drawings
Fig. 1 is a flowchart of a method for dynamically optimizing indoor positioning according to an embodiment of the present application;
fig. 2 is a flowchart of a method for dynamically optimizing indoor positioning according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an apparatus for dynamically optimizing indoor positioning according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Fig. 1 is a flowchart of a method for dynamically optimizing indoor positioning according to an embodiment of the present application, where the method is applicable to indoor positioning, and the method may be executed by an apparatus for dynamically optimizing indoor positioning according to an embodiment of the present application, where the apparatus may be implemented by software and/or hardware, and may be integrated in an electronic device with a positioning calculation function.
As shown in fig. 1, the method for dynamically optimizing indoor positioning includes:
s110, acquiring the signal intensity of the anchor nodes of the RFID label and the position information of each anchor node, and determining the initial reference position of the RFID label.
The anchor node signal strength of the RFID tag is the strength of a signal received or transmitted between the RFID tag and the anchor node. The anchor node is used for receiving the signal transmitted by the RFID label or transmitting the signal to the RFID label, and is a built communication facility.
The position information of each anchor node is a position relationship between each anchor node and the RFID tag, and the distance from each anchor node may be obtained according to a signal distance-following attenuation model, and then the position coordinate of the RFID tag is obtained through calculation, which is not limited in this embodiment. The position obtained at this time is taken as the initial reference position of the RFID tag.
S120, determining a reference anchor node according to the signal strength of the anchor node; and determining a circular ring region with the reference anchor node as the center according to a preset confidence coefficient.
The anchor node with the strongest signal strength can be used as a reference anchor node, and a circular ring area is constructed by taking the confidence interval as the radius of the inner circular ring and the outer circular ring and taking the anchor node as the center of a circle according to the preset confidence coefficient. For example, if the confidence is 90%, if the distance between the reference anchor node and the initial reference position is 2 meters, and the confidence interval is [1.8,2.2], then 1.8 meters is used as the inner torus radius, and 2.2 meters is used as the outer torus radius.
S130, taking end points of the semicircular area in a first preset direction and a second preset direction, and determining the semicircular area according to the proximity degree of the position of each end point and the initial reference position; the first preset direction and the second preset direction are perpendicular to each other.
The first preset direction and the second preset direction can be an X-axis direction or a Y-axis direction, and the two directions are mutually perpendicular; the end points are intersection points of the first preset direction and the second preset direction and the circular ring, when the first preset direction and the second preset direction are X-axis directions or Y-axis directions, four intersection points are respectively arranged on the inner circular ring and the outer circular ring of the circular ring and distributed on positive and negative half shafts of the X axis and the Y axis. The smaller the proximity degree of the position of each end point and the initial reference position is, the larger the difference between the end point and the initial reference position is, and the end point can be excluded from the positioning range; determining the semicircular ring area may be to reserve a semicircular ring area that is less different from the initial reference position.
In this embodiment, optionally, the endpoint with the minimum proximity degree is determined according to the position of each endpoint and the distance between the anchor node and the initial reference position;
and deleting half of the circular ring area where the end point with the minimum approach degree is located to obtain a semicircular ring area.
The distance between the position of each endpoint and the anchor node and the distance between the initial reference position and the anchor node can be determined by the same calculation method; and comparing the distances to obtain a point with the minimum distance proximity degree, namely the maximum difference, between the initial reference position and the anchor node.
And deleting half of the circular ring area where the end point with the minimum approach degree is located to obtain a semicircular ring area, for example, when the first preset direction and the second preset direction are the X-axis direction and the Y-axis direction, if a certain end point located on the lower half shaft of the Y-axis is the point with the minimum approach degree, removing the semicircular rings of the three quadrants and the four quadrants at the moment, and keeping the semicircular rings of the two quadrants. The advantage of setting up like this is, get rid of the semicircle ring region that differs greatly with initial reference position, do further operation to the semicircle ring region that differs less to improve indoor positioning technology's positioning accuracy.
In this embodiment, optionally, determining the endpoint with the minimum proximity according to the position of each endpoint and the distance between the anchor node and the initial reference position includes:
and substituting the position of each end point into a preset weighted least square function, comparing the calculation result of each end point and the initial reference position, and determining the end point with the minimum approach degree.
And (3) substituting the position of each end point and the initial reference position into a preset weighted least square function, comparing the calculation results, and determining the end point with the minimum approach degree, wherein the calculation results are 12, 5, 24 and 33 respectively, the calculation result of the initial reference position is 8, and the end point with the minimum approach degree is the end point with the calculation result of 33. This has the advantage of increasing the accuracy of determining the end point of minimum proximity, and thus the accuracy of the indoor positioning technique.
And S140, bringing the points in the semi-circular ring area into an object optimizing function, and determining the positioning point of the RFID label.
And selecting the points in the semi-circular ring region by a preset algorithm, wherein the points in the semi-circular ring region are candidate positioning points in the semi-circular ring region. And the target optimizing function is used for selecting the most accurate locating point from all the candidate locating points and using the most accurate locating point as the final locating point of the RFID label.
According to the technical scheme provided by the embodiment of the application, the initial reference position of the RFID label is determined by acquiring the signal strength of the anchor node of the RFID label and the position information of each anchor node; determining a reference anchor node according to the anchor node signal strength; determining a circular ring region with the reference anchor node as the center according to a preset confidence coefficient; taking the end points of the circular ring area in the first preset direction and the second preset direction, and determining the semicircular ring area according to the proximity degree of the position of each end point and the initial reference position; the first preset direction and the second preset direction are perpendicular to each other; and bringing the points in the semi-circular ring area into a target optimizing function, and determining the positioning points of the RFID tags. By adopting the technical scheme provided by the application, the positioning precision effect of the indoor positioning technology can be improved through a dynamic optimization searching mode.
In this embodiment, optionally, the anchor node includes a base station that receives a signal of the RFID tag, and/or a landmark device that transmits a signal to the RFID tag;
if the anchor node comprises a base station and a landmark device, determining a reference anchor node according to the signal strength of the anchor node comprises:
determining a reference anchor node according to the preset level weight of the anchor node type and the signal strength of each anchor node;
and taking the anchor node with the strongest signal in the reference anchor nodes as a reference anchor node.
Wherein, the landmark device can intermittently transmit wireless signals to the RFID label according to a certain period. The RFID tag may be in a dual frequency format, i.e. adapted to both frequency bands. E.g., 2.4GHz and 125kHz, and is configured to receive a signal from a landmark device when the signal is at 125kHz, including the ID of the landmark device. And the 2.4GHz is used for sending information such as the ID of the RFID label, the ID of the landmark device, the signal strength of the RFID label and the like to the base station, and the information is forwarded to the information processing platform by the base station. The information processing platform is used for determining an initial reference position of the RFID label.
The base station can directly receive the wireless signal transmitted by the RFID label, acquire information such as signal strength of the signal and the like, and forward the information to the information processing platform.
The anchor node can be composed of the base station or the landmark device only, or can be formed by combining the base station and the landmark device. When the anchor node includes a base station and a landmark, the preset level weight of the anchor node type is the level weight of the specified anchor node type, for example, the landmark is specified as a primary anchor node, the weight is higher, the base station is specified as a secondary anchor node, and the weight is lower. Different weights may also be assigned to anchor nodes of the same level based on distance from the initial reference location. The signal strength of each anchor node is obtained, and is considered in combination with the weight to obtain the comprehensive results of the base station and the landmark device, and the comparison result may use the anchor node group with high score as the reference anchor node, which is not limited in this embodiment. For example, when the signal strength is considered in combination with the weight, the anchor node is the base station composite score 92, and the anchor node is the landmark device composite score 96, and the landmark device is selected as the reference anchor node. And selecting the anchor node with the strongest signal from all the reference anchor nodes as a reference anchor node.
On the basis of the above embodiment, the reference anchor node is determined according to the preset level weight of the anchor node type and the signal strength of each anchor node. The accuracy of reference anchor node selection is improved, and therefore the positioning accuracy of the indoor positioning technology is improved.
Fig. 2 is a flowchart of a method for dynamically optimizing indoor positioning according to an embodiment of the present application, where the embodiment is applicable to a case of determining a location point of an RFID tag, and the method may be performed by an apparatus for dynamically optimizing indoor positioning according to an embodiment of the present application, where the apparatus may be implemented by software and/or hardware.
As shown in fig. 2, the method for dynamically optimizing indoor positioning includes:
s210, acquiring the signal strength of the anchor nodes of the RFID label and the position information of each anchor node, and determining the initial reference position of the RFID label.
S220, determining a reference anchor node according to the signal strength of the anchor node; and determining a circular ring region with the reference anchor node as the center according to a preset confidence coefficient.
S230, taking end points of the semicircular area in a first preset direction and a second preset direction, and determining the semicircular area according to the proximity degree of the position of each end point and the initial reference position; the first preset direction and the second preset direction are perpendicular to each other.
S240, taking points in the semi-circular ring area by adopting a two-stage step method, bringing the points into a target optimizing function, and determining the positioning point of the RFID label.
The two-stage step method is that the point is taken by dividing into seed step length when the point is taken, the point is taken by adopting the first-stage step length for the first time, the point is taken by adopting the second-stage step length after the preset treatment, and finally the point obtained by the second-stage step length is brought into the target optimizing function to determine the positioning point of the RFID label.
In this embodiment, optionally, the point in the semi-circular ring region is fetched by using a two-stage step method, and the fetched point is substituted into the target optimizing function, so as to determine the location point of the RFID tag, including:
taking a first-stage step length point according to the first-stage step length, and introducing a target optimizing function to determine a first-stage positioning point;
determining the square extraction range of the secondary step length point by taking the primary positioning point as the center and taking two times of the primary step length as the side length;
and taking a secondary step length point according to the secondary step length, and bringing the secondary step length point into the target optimizing function to obtain the locating point of the RFID label.
The first-stage step length is taken as a first-stage step length point, and all the first-stage step length points are taken according to the first-stage step length in the semicircular area, for example, the first-stage step length is 10cm, and one point is taken every 10cm and is taken as a first-stage step length point. And (4) substituting all the primary step length points into a target optimizing function to obtain an optimal point serving as a primary positioning point.
And determining the square extraction range of the secondary step length point by taking the primary positioning point as the center and taking double times of the primary step length as the side length, for example, if the primary step length is 10cm, constructing a square with the side length of 20cm by taking the primary step length point as the center, and taking the square as the extraction range of the secondary step length point.
In the extraction range of the secondary step length points, taking the secondary step length points according to the secondary step length, for example, if the secondary step length is 2cm, taking one point every 2cm as the secondary step length point; and (4) bringing all the secondary step length points into a target optimizing function to obtain an optimal point serving as a positioning point of the RFID label. The advantage of this arrangement is that the accuracy of the location point determination of the RFID tag is improved, thereby improving the location accuracy of the indoor location technology.
According to the technical scheme provided by the embodiment of the application, the initial reference position of the RFID label is determined by acquiring the signal strength of the anchor node of the RFID label and the position information of each anchor node; determining a reference anchor node according to the anchor node signal strength; determining a circular ring region with the reference anchor node as the center according to a preset confidence coefficient; taking the end points of the circular ring area in the first preset direction and the second preset direction, and determining the semicircular ring area according to the proximity degree of the position of each end point and the initial reference position; the first preset direction and the second preset direction are perpendicular to each other; and (3) taking points in the semi-circular ring area by adopting a two-stage step method, bringing the points into a target optimizing function, and determining the positioning point of the RFID label. By adopting the technical scheme provided by the application, the positioning precision effect of the indoor positioning technology can be improved through a dynamic optimization searching mode.
In order to make the technical scheme more clear to the technical personnel, the application also provides a specific implementation mode.
Four main equipment that this scheme relates to: the system comprises a landmark device, an RFID tag, a base station and a positioning server.
The landmark device intermittently transmits 125kHz low-frequency signals to the RFID label according to a certain period, the low-frequency signals are good in stability and penetrability and not easily influenced by the environment, and the transmitting and covering distance can be adjusted to be different from dozens of centimeters to several meters as required.
The RFID tag adopts a double-frequency mode, 2.4GHz and 125kHz are used, 125kHz is used for receiving a marker signal, and 2.4GHz is used for sending out the ID of the RFID tag, the ID of the marker and the signal strength of the marker.
The base station can receive the wireless signal sent by the RFID label, can acquire the strength of the signal and forwards the information to the positioning server, and the distance of the received signal can reach dozens of meters.
The positioning server runs a positioning algorithm, has geographic positions of the landmark device and the base station, and can analyze RFID label information sent by the base station and analyze an RFID label ID, a landmark device ID and corresponding signal intensity in the label information. And resolving the ID into a geographical position, and then acquiring the geographical position of the ID of the RFID tag according to a positioning algorithm.
The general idea and the flow are as follows:
1. and selecting an anchor node.
The embodiment of the invention combines the characteristics of large signal coverage area, large environmental interference, small coverage area and small environmental interference of the base station, deploys the landmark device in key places such as an entrance and the like and in an environment complex area, improves the positioning precision, deploys the base station in an area with large space, reduces equipment deployment, fully utilizes the advantages of the base station and the environment complex area, and improves the overall performance of the positioning system.
Since the positioning accuracy and reliability of the landmark device are higher than those of the base station, the landmark device is considered preferentially and more in the positioning algorithm, so that the landmark device is used as a primary anchor node and the base station is used as a secondary anchor node. According to the signal distance-following attenuation model, if the same-stage anchor node is closer to the positioning node, the error of signal strength ranging is smaller; and if the distance is large, there is a high probability of environmental interference. Therefore, for the same level of anchor nodes, the anchor nodes with smaller estimated distances from the initial reference position are given larger weights, and the weight values are determined according to the estimated distances of all the anchor nodes corresponding to the RFID tags.
2. A range of positions at which the initial reference position is located is determined.
The embodiment of the invention adopts a traversal optimization method to realize indoor positioning, and in order to improve the positioning performance, on one hand, the traversal range needs to be reduced as much as possible; on the other hand, it is necessary to improve the reliability of the initial reference position falling within this range as much as possible. Based on the above considerations, the measured anchor node closest to the initial reference location is selected for determining the range. Based on a signal attenuation along with distance model, the environmental interference of the anchor node closest to the anchor node is generally small, and the distance measurement error is small, so that the traversal range is minimum, and the reliability is high.
A95% confidence interval [ da, db ] of the measured distance dmin is then calculated from the statistical data to determine an annular region s1 where the initial reference position falls around the anchor node coordinates at the ranging value dmin, da being the inner diameter and db being the outer diameter. And finally, 8 end points of the circular ring, which are intersected with the x axis and the y axis, are solved, a weighted least square method function is substituted, the proximity degree of the distances from the 8 end points to all anchor nodes and the measured values of the anchor nodes is compared, and two adjacent quadrant areas which are the least close to each other are omitted, so that the range is further narrowed to be a semicircular ring s.
3. And traversing and optimizing by adopting a two-stage step method, and determining the coordinates of the positioning points.
The region s is traversed with a certain step size in order to find an optimal point for weighting in which the distances to all anchor nodes are closer to their actual measured distances. Two-stage step length is adopted, a large step length traversal range s is used, coordinates are substituted into a weighted least square method function, a rough optimal point Xc is found, then a small step length is used for traversing a small square area which takes the Xc as the center and 2 times of the large step length as the side length, and a more accurate optimal point Xo, namely the positioning point coordinates of the RFID label, is found.
By executing the scheme, the method has the advantages that firstly, the measurement information of the wireless node is fully utilized, and resources are saved; secondly, the performance of a positioning system is improved by adopting two stages of anchor nodes with different sizes and combining the advantages of a base station and a landmark device; thirdly, the problem of solving an equation set of the traditional trilateral positioning algorithm is converted into an optimization problem, so that the environmental adaptivity and the positioning precision can be improved; and fourthly, large and small step lengths are adopted, coarse adjustment and fine adjustment are combined, a large amount of computing resources are saved, and the positioning speed is improved.
Fig. 3 is a schematic structural diagram of an apparatus for dynamically optimizing indoor positioning according to an embodiment of the present application. As shown in fig. 3, the apparatus for dynamically optimizing indoor positioning includes:
an initial reference position determining module 310, configured to obtain anchor node signal strength of the RFID tag and position information of each anchor node, and determine an initial reference position of the RFID tag;
a reference anchor node determining module 320, configured to determine a reference anchor node according to the anchor node signal strength; determining a circular ring region with the reference anchor node as the center according to a preset confidence coefficient;
a semicircular area determining module 330, configured to take end points of the circular area in the first preset direction and the second preset direction, and determine the semicircular area according to a proximity degree between a position of each end point and the initial reference position; the first preset direction and the second preset direction are perpendicular to each other;
and the optimizing positioning module 340 is configured to bring the point in the semi-circular ring area into the target optimizing function, and determine a positioning point of the RFID tag.
According to the technical scheme provided by the embodiment of the application, the initial reference position of the RFID label is determined by acquiring the signal strength of the anchor node of the RFID label and the position information of each anchor node; determining a reference anchor node according to the anchor node signal strength; determining a circular ring region with the reference anchor node as the center according to a preset confidence coefficient; taking the end points of the circular ring area in the first preset direction and the second preset direction, and determining the semicircular ring area according to the proximity degree of the position of each end point and the initial reference position; the first preset direction and the second preset direction are perpendicular to each other; and bringing the points in the semi-circular ring area into a target optimizing function, and determining the positioning points of the RFID tags. By adopting the technical scheme provided by the application, the positioning precision effect of the indoor positioning technology can be improved through a dynamic optimization searching mode.
On the basis of the above technical solutions, optionally, the anchor node includes a base station that receives a signal of the RFID tag, and/or a landmark device that transmits a signal to the RFID tag;
if the anchor node includes a base station and a landmark device, the reference anchor node determining module 320 is specifically configured to:
determining a reference anchor node according to the preset level weight of the anchor node type and the signal strength of each anchor node;
and taking the anchor node with the strongest signal in the reference anchor nodes as a reference anchor node.
On the basis of the above technical solutions, optionally, the semicircular area determining module 330 includes:
the end point determining unit is used for determining the end point with the minimum approach degree according to the position of each end point and the distance between the anchor node and the initial reference position;
and the semicircular ring area acquisition unit is used for deleting half of the circular ring area where the end point with the minimum approach degree is located to obtain the semicircular ring area.
On the basis of the above technical solutions, optionally, the endpoint determining unit includes:
and the endpoint determination subunit is used for substituting the position of each endpoint into a preset weighted least square function, comparing the calculation result of each endpoint and the initial reference position, and determining the endpoint with the minimum approach degree.
On the basis of the above technical solutions, optionally, the optimizing positioning module 340 includes:
and the optimizing positioning unit is used for taking points in the semi-circular ring area by adopting a two-stage step method, bringing the points into a target optimizing function and determining the positioning points of the RFID labels.
On the basis of the above technical solutions, optionally, the optimizing positioning unit includes:
the first-stage positioning point determining subunit is used for taking a first-stage step length point according to the first-stage step length, and bringing the first-stage step length point into a target optimizing function to determine a first-stage positioning point;
the range determining subunit is used for determining the square extraction range of the secondary step length point by taking the primary positioning point as the center and taking two times of the primary step length as the side length;
and the optimizing positioning subunit is used for taking the secondary step length point according to the secondary step length and bringing the secondary step length point into the target optimizing function to obtain the positioning point of the RFID label.
The product can execute the method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method.
Embodiments of the present application also provide a storage medium containing computer-executable instructions that, when executed by a computer processor, perform a method of dynamically optimizing indoor positioning, the method comprising:
acquiring the signal intensity of anchor nodes of the RFID label and the position information of each anchor node, and determining the initial reference position of the RFID label;
determining a reference anchor node according to the anchor node signal strength; determining a circular ring region with the reference anchor node as the center according to a preset confidence coefficient;
taking the end points of the circular ring area in the first preset direction and the second preset direction, and determining the semicircular ring area according to the proximity degree of the position of each end point and the initial reference position; the first preset direction and the second preset direction are perpendicular to each other;
and bringing the points in the semi-circular ring area into a target optimizing function, and determining the positioning points of the RFID tags.
Storage medium-any of various types of memory devices or storage devices. The term "storage medium" is intended to include: mounting media such as CD-ROM, floppy disk, or tape devices; computer system memory or random access memory such as DRAM, DDR RAM, SRAM, EDO RAM, Lanbas (Rambus) RAM, etc.; non-volatile memory such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. In addition, the storage medium may be located in the computer system in which the program is executed, or may be located in a different second computer system connected to the computer system through a network (such as the internet). The second computer system may provide the program instructions to the computer for execution. The term "storage medium" may include two or more storage media that may reside in different locations, such as in different computer systems that are connected by a network. The storage medium may store program instructions (e.g., embodied as a computer program) that are executable by one or more processors.
Of course, the storage medium containing computer-executable instructions provided in the embodiments of the present application is not limited to the operation of dynamically optimizing indoor positioning as described above, and may also perform related operations in the method of dynamically optimizing indoor positioning provided in any embodiments of the present application.
The embodiment of the application provides electronic equipment, and the device for dynamically optimizing indoor positioning, which is provided by the embodiment of the application, can be integrated in the electronic equipment. Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 4, the present embodiment provides an electronic device 400, which includes: one or more processors 420; the storage device 410 is used for storing one or more programs, when the one or more programs are executed by the one or more processors 420, so that the one or more processors 420 implement the method for dynamically optimizing indoor positioning provided by the embodiment of the present application, the method includes:
acquiring the signal intensity of anchor nodes of the RFID label and the position information of each anchor node, and determining the initial reference position of the RFID label;
determining a reference anchor node according to the anchor node signal strength; determining a circular ring region with the reference anchor node as the center according to a preset confidence coefficient;
taking the end points of the circular ring area in the first preset direction and the second preset direction, and determining the semicircular ring area according to the proximity degree of the position of each end point and the initial reference position; the first preset direction and the second preset direction are perpendicular to each other;
and bringing the points in the semi-circular ring area into a target optimizing function, and determining the positioning points of the RFID tags.
Of course, those skilled in the art will understand that the processor 420 also implements the solution of the method for dynamically optimizing indoor positioning provided in any embodiment of the present application.
The electronic device 400 shown in fig. 4 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.
As shown in fig. 4, the electronic device 400 includes a processor 420, a storage device 410, an input device 430, and an output device 440; the number of the processors 420 in the electronic device may be one or more, and one processor 420 is taken as an example in fig. 4; the processor 420, the storage device 410, the input device 430, and the output device 440 in the electronic apparatus may be connected by a bus or other means, and are exemplified by a bus 450 in fig. 4.
The storage device 410 is a computer-readable storage medium for storing software programs, computer-executable programs, and module units, such as program instructions corresponding to the method for dynamically optimizing indoor positioning in the embodiments of the present application.
The storage device 410 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the storage 410 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, storage 410 may further include memory located remotely from processor 420, which may be connected via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input means 430 may be used to receive input numbers, character information, or voice information, and to generate key signal inputs related to user settings and function control of the electronic device. The output device 440 may include a display screen, speakers, etc.
The electronic equipment provided by the embodiment of the application can realize the effect of improving the signal-to-noise ratio and the contrast of the image obtained after fusion by performing brightness fusion on the brightness component of the visible light image and the brightness component of the infrared image, and can achieve the purpose of better retaining the edge information.
The device, medium, and electronic device for dynamically optimizing indoor positioning provided in the above embodiments may perform the method for dynamically optimizing indoor positioning provided in any embodiment of the present application, and have corresponding functional modules and beneficial effects for performing the method. For technical details not described in detail in the above embodiments, reference may be made to the method for dynamically optimizing indoor positioning provided in any embodiment of the present application.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present application and the technical principles employed. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the appended claims.
Claims (10)
1. A method for dynamically optimizing indoor positioning, comprising:
acquiring the signal intensity of anchor nodes of the RFID label and the position information of each anchor node, and determining the initial reference position of the RFID label;
determining a reference anchor node according to the anchor node signal strength; determining a circular ring region with the reference anchor node as the center according to a preset confidence coefficient;
taking the end points of the circular ring area in the first preset direction and the second preset direction, and determining the semicircular ring area according to the proximity degree of the position of each end point and the initial reference position; the first preset direction and the second preset direction are perpendicular to each other;
and bringing the points in the semi-circular ring area into a target optimizing function, and determining the positioning points of the RFID tags.
2. The method of claim 1, wherein the anchor node comprises a base station that receives RFID tag signals, and/or a landmark device that transmits signals to RFID tags;
if the anchor node comprises a base station and a landmark device, determining a reference anchor node according to the signal strength of the anchor node comprises:
determining a reference anchor node according to the preset level weight of the anchor node type and the signal strength of each anchor node;
and taking the anchor node with the strongest signal in the reference anchor nodes as a reference anchor node.
3. The method of claim 1, wherein determining a semi-circular area based on the proximity of the location of each endpoint to the initial reference location comprises:
determining an endpoint with the minimum approach degree according to the position of each endpoint and the distance between the anchor node and the initial reference position;
and deleting half of the circular ring area where the end point with the minimum approach degree is located to obtain a semicircular ring area.
4. The method of claim 3, wherein determining the endpoint with the minimum proximity based on the location of each endpoint and the distance of the anchor node from the initial reference location and the anchor node comprises:
and substituting the position of each end point into a preset weighted least square function, comparing the calculation result of each end point and the initial reference position, and determining the end point with the minimum approach degree.
5. The method of claim 1, wherein the step of fitting a point in the semi-circular region into an objective optimization function to determine the location point of the RFID tag comprises:
and (3) taking points in the semi-circular ring area by adopting a two-stage step method, bringing the points into a target optimizing function, and determining the positioning point of the RFID label.
6. The method of claim 5, wherein the determining the location point of the RFID tag by taking points in the semi-circular ring region by a two-step method and substituting the points into an object optimization function comprises:
taking a first-stage step length point according to the first-stage step length, and introducing a target optimizing function to determine a first-stage positioning point;
determining the square extraction range of the secondary step length point by taking the primary positioning point as the center and taking two times of the primary step length as the side length;
and taking a secondary step length point according to the secondary step length, and bringing the secondary step length point into the target optimizing function to obtain the locating point of the RFID label.
7. An apparatus for dynamically optimizing indoor positioning, comprising:
the initial reference position determining module is used for acquiring the signal strength of the anchor nodes of the RFID label and the position information of each anchor node and determining the initial reference position of the RFID label;
the reference anchor node determining module is used for determining a reference anchor node according to the signal strength of the anchor node; determining a circular ring region with the reference anchor node as the center according to a preset confidence coefficient;
the semicircular ring area determining module is used for taking the end points of the circular ring area in a first preset direction and a second preset direction and determining the semicircular ring area according to the proximity degree of the position of each end point and the initial reference position; the first preset direction and the second preset direction are perpendicular to each other;
and the optimizing positioning module is used for bringing the points in the semi-circular ring area into an object optimizing function to determine the positioning points of the RFID labels.
8. The apparatus of claim 7, wherein the anchor node comprises a base station that receives RFID tag signals, and/or a landmark device that transmits signals to RFID tags;
if the anchor node includes a base station and a landmark device, the reference anchor node determining module is specifically configured to:
determining a reference anchor node according to the preset level weight of the anchor node type and the signal strength of each anchor node;
and taking the anchor node with the strongest signal in the reference anchor nodes as a reference anchor node.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method for dynamically optimizing indoor positioning according to any one of claims 1-6.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements the method of dynamically optimizing indoor positioning according to any of claims 1-6.
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