CN113009415A - Dynamic power positioning method and dynamic power positioning system thereof - Google Patents
Dynamic power positioning method and dynamic power positioning system thereof Download PDFInfo
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- CN113009415A CN113009415A CN201911316951.9A CN201911316951A CN113009415A CN 113009415 A CN113009415 A CN 113009415A CN 201911316951 A CN201911316951 A CN 201911316951A CN 113009415 A CN113009415 A CN 113009415A
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000012360 testing method Methods 0.000 claims description 45
- 238000009826 distribution Methods 0.000 claims description 35
- 238000004364 calculation method Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004590 computer program Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
Abstract
A dynamic power positioning method and a dynamic power positioning system thereof comprise the following steps: controlling the positioning equipment to be tested to transmit a plurality of positioning signals at a plurality of transmitting powers; enabling a plurality of known position devices to receive a plurality of positioning signals, and recording the intensity of the positioning signals, a plurality of corresponding receiving time and the coordinates of the known position devices to a database; finding out known position equipment with higher signal strength in the received positioning signals; taking out a signal intensity-distance function and a signal intensity-distance standard deviation function from a database; and finding out the equipment position of the positioning equipment to be tested according to the signal intensity-distance function and the signal intensity-distance standard deviation function.
Description
Technical Field
The present invention relates to a dynamic power positioning method and a dynamic power positioning system thereof, and more particularly, to a dynamic power positioning method and a dynamic power positioning system thereof using signals of different powers for positioning.
Background
Conventionally, a positioning method for indoor devices usually uses trilateration, and distances required for trilateration are usually calculated by using signal strength or Time of flight (ToA). Therefore, the accuracy of the signal strength or time of flight calculation affects the inferred distance and thus the accuracy of trilateration. The prior art positioning methods all rely on a fixed power transmit signal only. Positioning methods based on fixed transmitted signal power, such that positioning accuracy is limited to fading versions of a single power signal.
Nowadays, mobile devices such as mobile phones are often equipped with sensors with different functions, and the sensors such as gyroscopes and electronic compasses are used to assist and improve positioning accuracy. However, the indoor positioning equipment is not necessarily equipped with various sensors in consideration of the cost of the equipment. Indoor positioning without the assistance of other sensors, one can only rely on signal strength to estimate distance and use this data for positioning. However, in the prior art, the signal strength of the bluetooth device often varies greatly, resulting in a large positioning error.
Therefore, it is necessary to invent a new dynamic power positioning method and a dynamic power positioning system thereof to solve the deficiencies of the prior art.
Disclosure of Invention
The present invention is directed to a dynamic power positioning method, which can achieve the effect of positioning by using signals with different powers.
It is another primary object of the present invention to provide a dynamic power positioning system for use in the above method.
To achieve the above object, the dynamic power positioning method of the present invention is applied to a dynamic power positioning system to find the device position of a positioning device to be tested in a space, wherein the space further includes a plurality of devices with known positions. The method comprises the following steps: controlling the positioning equipment to be tested to transmit a plurality of positioning signals at a plurality of transmitting powers; enabling a plurality of known position devices to receive a plurality of positioning signals, and recording the intensity of the positioning signals, a plurality of corresponding receiving time and the coordinates of the known position devices to a database; finding out known position equipment with higher signal strength in the received positioning signals; taking out a signal intensity-distance function and a signal intensity-distance standard deviation function from a database; and finding out the equipment position of the positioning equipment to be tested according to the signal intensity-distance function and the signal intensity-distance standard deviation function.
The dynamic power positioning system comprises a processing module, a database and a calculation module. The processing module controls the positioning device to be tested to transmit a plurality of positioning signals with a plurality of transmitting powers, so that a plurality of known position devices receive the plurality of positioning signals. The database is electrically connected with the processing module and used for storing the signal strength-distance function and the signal strength-distance standard deviation function, and after a plurality of positioning signals are received by a plurality of known position devices, the database records the strength of the positioning signals, a plurality of corresponding receiving time and the coordinates of the known position devices, so that the processing module finds the known position device with higher signal strength in the received positioning signals. The computing module is electrically connected to the database and is used for querying the signal strength-distance function and the signal strength-distance standard deviation function according to the strength of the positioning signals, the corresponding receiving time and the known position equipment with larger strength so as to find out the equipment position of the positioning equipment to be tested.
The invention is described in detail below with reference to the drawings and specific examples, but the invention is not limited thereto.
Drawings
FIG. 1 is a system architecture diagram illustrating the configuration of the dynamic power positioning system of the present invention;
FIG. 2 is a flow chart illustrating the steps of the data setting process according to the present invention;
FIG. 3 is a system architecture diagram of the dynamic power positioning system of the present invention for positioning;
FIG. 4 is a flow chart of the steps of the dynamic power location method of the present invention;
fig. 5A-5B are schematic diagrams of probability distributions of a dynamic power positioning method according to the present invention, according to fig. 4.
Wherein the reference numerals
Dynamic power positioning system 1
Database 12
Test launch apparatus 20
Receiving apparatus 30
Positioning device under test 40
Device location 41
Location- aware devices 50, 51, 52, 53
Probability distribution planes A1, A2, A3, A4, A5, A6, A7, A8, A9
Calculated probability distribution planes B1, B2, B3
Final probability distribution plane C1
Detailed Description
To better understand the technical content of the present invention, preferred embodiments are specifically illustrated as follows.
Please refer to fig. 1, which is a system architecture diagram for setting the dynamic power positioning system of the present invention.
In an embodiment of the present invention, the dynamic power positioning system 1 includes a processing module 11, a database 12 and a calculating module 13, which are electrically connected to each other. The dynamic power positioning system 1 is used to find a device position of a device 40 to be measured in a space by using the known position device 50 (as shown in fig. 3). Before finding the positioning device 40 to be tested, the dynamic power positioning system 1 may also utilize the test transmitter 20 and the receiver 30 to establish the required data, but the invention is not limited thereto. The test transmitting device 20, the receiving device 30, the positioning device 40 to be tested, and the known location device 50 can all transmit and receive wireless signals, the wireless signals can be bluetooth signals, and the test transmitting device 20, the receiving device 30, the positioning device 40 to be tested, and the known location device 50 can also be the same or different home appliances, computer devices, mobile devices, etc., but the invention is not limited thereto.
It should be noted that, the modules of the dynamic power positioning system 1 can be configured by hardware devices, software programs combined with hardware devices, firmware combined with hardware devices, etc., for example, a computer program product can be stored in a computer readable medium and read and executed to achieve the functions of the present invention, but the present invention is not limited to the above-mentioned manner. In addition, the present embodiment only illustrates the preferred embodiments of the present invention, and all possible combinations and modifications are not described in detail to avoid redundancy. However, one of ordinary skill in the art should appreciate that each of the above modules or elements is not necessarily required. And may include other existing modules or components in greater detail for practicing the invention. Each module or component may be omitted or modified as desired, and no other module or component may necessarily exist between any two modules. The processing module 11, the database 12 or the calculating module 13 may be disposed in the same device or in different devices, or may be disposed in any one of the test transmitting device 20, the receiving device 30, the positioning device under test 40 or the known position device 50, but the invention is not limited thereto.
Therefore, in an embodiment of the present invention, the processing module 11 sets a plurality of transmission powers of the test transmitting device 20, so that the test transmitting device 20 can transmit a plurality of test signals. The receiving device 30 then receives the test signals at a plurality of corresponding distances from the test transmitting device 20, for example, at different distances of 10 cm, 20 cm or 1 m to 6 m, and transmits different test signals with different transmitting powers. But the present invention is not limited to this value. The processing module 11 detects and obtains the strength of the test signals received by the receiving device 30, and records the strength of the test signals and the corresponding distances to the database 12. Finally, the calculation module 13 calculates the values in the database 12 to obtain the signal strength-distance function and the signal strength-distance standard deviation function, and stores the functions back in the database 12.
Please refer to fig. 2, which is a flowchart illustrating a data setting process according to the present invention. It should be noted that, although the data setting procedure of the present invention is described below by taking the dynamic power positioning system 1 as an example, the data setting procedure of the present invention is not limited to the dynamic power positioning system 1 with the same structure as described above.
First, the processing module 11 sets a plurality of transmission powers of the test transmitting device 20. The test transmission device 20 can transmit a plurality of test signals, which are then received by the receiving device 30 at a plurality of corresponding distances from the test transmission device 20, for example at different distances of 10 cm, 20 cm or between 1 m and 6 m.
It then proceeds to step 202: a plurality of test signal strengths received by the receiving device are detected.
Secondly the processing module 11 detects the signal strength of all signals received by the receiving device 30.
Then, step 203 is performed: recording the test signal intensities and the corresponding distances to a database.
The processing module 11 then stores the signal strength of all the test signals received by the receiving device 30 and the corresponding distance of the test signals in the database 12.
Finally, step 204 is performed: and calculating to obtain a signal intensity-distance function and a signal intensity-distance standard deviation function, and storing the signal intensity-distance standard deviation function in the database.
Finally, the calculation module 13 calculates according to the signal strengths of all the signals and the corresponding distances of the signals, and then calculates a signal strength-distance function and a signal strength-distance standard deviation function for each different transmission power, so as to obtain the relationship between the signal strength received by the receiving device 30 and the distance between the testing transmitting devices 20 and the standard deviation thereof. Thereby being able to be stored back in the database 12. Thus, the data setting process of the present invention can be completed.
Referring to fig. 3, a system architecture diagram of the dynamic power positioning system of the present invention is shown for positioning.
After the signal strength-distance function and the signal strength-distance standard deviation function are established in the database 12, the dynamic power positioning system 1 can use the known position device 50 to find a device position of a device 40 to be measured in space. It should be noted that although the signal strength-distance function and the signal strength-distance standard deviation function are obtained by directly performing the data setting procedure in the embodiment of the present invention, the present invention is not limited to performing the data setting procedure to re-establish the signal strength-distance function and the signal strength-distance standard deviation function in the database 12 every time. The signal strength-distance functions and the signal strength-distance standard deviation functions can be preset in the positioning device 40 to be measured or the known position device 50.
In this way, the processing module 11 controls the positioning apparatus 40 to be tested to transmit a plurality of positioning signals with a plurality of transmitting powers, so that the positioning signals are received by the position-aware apparatuses 50, and the strength of the positioning signals, the corresponding receiving times and the positions of the position-aware apparatuses 50 are recorded in the database 12. The positioning apparatuses 50 also receive an identification code of the positioning apparatus 40 to identify the positioning apparatus 40. The identification code is also stored in the database 12. Thereby, the processing module 11 finds out the device with higher signal strength, such as the known location devices 51, 52, 53, in the received positioning signals. Finally, the calculating module 13 can find the device position of the positioning device 40 to be measured according to the signal strength-distance function and the signal strength-distance standard deviation function from the positions of the known position devices 51, 52, 53.
For a detailed method for finding the device position of the positioning device 40 to be tested, please refer to fig. 4, which is a flowchart illustrating the device positioning process according to the present invention.
Step 401 is performed first: and controlling the positioning equipment to be tested to transmit a plurality of positioning signals with a plurality of transmitting powers so that the plurality of positioning signals are received by the plurality of equipment with known positions.
First, when the positioning device 40 to be tested enters a space, the processing module 11 controls the positioning device 40 to transmit positioning signals at different transmitting powers, so that different devices 50 with known positions can receive the positioning signals of the positioning device 40 to be tested. The plurality of known location devices 50 also receive the identification code of the location device under test 40.
Next, step 402 is performed: and recording the intensity of the positioning signals, the corresponding receiving time and the coordinates of the known position devices.
Since the positioning device 40 under test transmits positioning signals at different transmission powers, after the known location device 50 receives the positioning signals, the known location device 50 transmits all the positioning signals, their corresponding receiving times, and the coordinates of the known location device 50 back to the database 12.
Then, step 403 is performed: and finding the known position equipment with larger signal strength in the plurality of received positioning signals.
The processing module 11 will find out from the data in the database 12 that there is the known- location device 51, 52, 53 with higher received signal strength among the positioning signals.
Then, step 404 is performed: and obtaining a plurality of probability distribution planes of the equipment under a plurality of different powers according to the signal strength-distance function and the signal strength-distance standard deviation function.
Then, the calculating module 13 can query the signal strength-distance function and the signal strength-distance standard deviation function according to the strengths of the positioning signals, the corresponding receiving times and the known location devices with higher strength, and calculate the distance under the signal strength according to the signal strength-distance function with the fixed point coordinates of the known location devices 51, 52 and 53 as the center of circle, i.e. setting the distance as the basic radius. Then, the standard deviation of the distance under the signal intensity is obtained by the signal intensity-standard deviation function of the distance, and the standard deviation is set as the basis for adjusting the radius. Thereby calculating a plurality of probability distribution planes of the known position devices 51, 52, 53 at different powers.
Referring to fig. 5A-5B, fig. 4 is a schematic diagram of probability distribution correlation of an apparatus positioning process according to the present invention.
For example, in this embodiment, 9 probability distribution planes a1 to a9 possible for positioning signals received by the known position devices 51, 52, 53 can be obtained at high, medium, and low power, where probability distribution planes a1 to A3 are probability distributions of the known position devices 51, 52, 53 at high power, probability distribution planes a4 to a6 are probability distributions of the known position devices 51, 52, 53 at medium power, and probability distribution planes a7 to a9 are probability distributions of the known position devices 51, 52, 53 at high power, respectively.
Then, step 405 is performed: multiplying the probability distribution planes to obtain a final probability distribution plane.
The calculation module 13 then multiplies the 9 probability distribution planes a1 through a9, i.e., the probability distribution planes a1 through A3 are multiplied first to obtain a calculated probability distribution plane B1, the probability distribution planes a4 through a6 are multiplied to obtain a calculated probability distribution plane B2, and the probability distribution planes a7 through a9 are multiplied to obtain a calculated probability distribution plane B3. Finally, the probability distribution planes B1 through B3 are multiplied to obtain the final probability distribution plane C1.
Finally, step 406 is performed: and finding out the maximum probability position in the final probability distribution plane to set the position of the positioning equipment to be tested.
Finally, the calculation module 13 finds the maximum probability position from the final probability distribution plane C1, and sets the maximum probability position as the device position 41 of the positioning device 40 to be tested, so as to obtain the coordinates of the positioning device 40 to be tested.
It should be noted that the dynamic power positioning method of the present invention is not limited to the above-mentioned sequence of steps, and the sequence of steps can be changed as long as the objective of the present invention is achieved.
By using the dynamic power positioning method and the dynamic power positioning system 1, the position of the positioning device 40 to be tested can be effectively found without installing too many additional sensing modules.
The present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it should be understood that various changes and modifications can be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A dynamic power positioning method for use in a dynamic power positioning system to locate a device position of a device to be measured in a space, the space further including a plurality of devices having known positions, the method comprising the steps of:
controlling the positioning equipment to be tested to transmit a plurality of positioning signals at a plurality of transmitting powers;
enabling the plurality of known position devices to receive the plurality of positioning signals, and recording the strength of the plurality of positioning signals, a plurality of corresponding receiving times and the coordinates of the plurality of known position devices to a database;
finding the known position equipment with larger signal intensity in the received positioning signals;
taking out a signal intensity-distance function and a signal intensity-distance standard deviation function from the database; and
and finding out the equipment position of the positioning equipment to be tested according to the signal intensity-distance function and the signal intensity-distance standard deviation function.
2. The dynamic power positioning method of claim 1, further comprising the steps of:
obtaining a plurality of known position devices with higher intensity and a plurality of probability distribution planes of the known position devices under a plurality of different powers according to the signal intensity-distance function and the signal intensity-distance standard deviation function;
multiplying the probability distribution planes to obtain a final probability distribution plane; and
and finding out the maximum probability position in the final probability distribution plane to set the position of the positioning equipment to be tested.
3. A method as claimed in claim 1 or 2, further comprising the step of finding three devices with known locations with greater signal strength.
4. The dynamic power positioning method of claim 1 further comprising the step of receiving an identification code of the positioning device under test.
5. The dynamic power allocation method of claim 1, further comprising the step of performing a data setup procedure, the data setup procedure comprising:
setting a plurality of transmitting powers of a test transmitting device, so that the test transmitting device transmits a plurality of test signals to a receiving device under a plurality of corresponding distances, wherein different test signals correspond to different transmitting powers;
detecting a plurality of test signal strengths received by the receiving device;
recording the intensity of the test signals and the corresponding distances to a database; and
and calculating to obtain the signal intensity-distance function and the signal intensity-distance standard deviation function, and storing the functions in the database.
6. A dynamic power positioning system for locating a device location of a positioning device under test in a space that also includes a plurality of known location devices, the dynamic power positioning system comprising:
the processing module is used for controlling the positioning equipment to be tested to transmit a plurality of positioning signals with a plurality of transmitting powers so that the plurality of known position equipment receives the plurality of positioning signals;
a database electrically connected to the processing module for storing a signal strength-distance function and a signal strength-distance standard deviation function, and recording the signal strengths, corresponding receiving times and coordinates of the known position devices after the known position devices receive the positioning signals, so that the processing module finds out the known position device with higher signal strength in the received positioning signals; and
and the calculation module is electrically connected with the database and used for inquiring the signal intensity-distance function and the signal intensity-distance standard deviation function according to the intensities of the positioning signals, the corresponding receiving times and the known position equipment with higher intensity so as to find out the equipment position of the positioning equipment to be detected.
7. The dynamic power positioning system of claim 6, wherein the processing module obtains a plurality of devices with known positions with higher intensity and a plurality of probability distribution planes of the devices with different powers according to the signal intensity-distance function and the signal intensity-distance standard deviation function, so that the calculating module multiplies the probability distribution planes to obtain a final probability distribution plane, and finds a maximum probability position in the final probability distribution plane to set the device position of the positioning device to be tested.
8. The dynamic power location system of claim 6 or 7, wherein the processing module finds three devices with known locations with greater signal strength.
9. The dynamic power positioning system of claim 6, comprising receiving an identification code of the positioning device under test.
10. The dynamic power allocation system of claim 6, wherein the processing module sets a plurality of transmit powers of a test transmitter to transmit a plurality of test signals, such that a receiver receives the plurality of test signals at a plurality of corresponding distances from the test transmitter, wherein different test signals correspond to different transmit powers; therefore, the processing module detects and obtains a plurality of test signal intensities received by the receiving equipment so as to record the test signal intensities and the corresponding distances to the database, so that the calculating module can calculate and obtain the signal intensity-distance function and the signal intensity-distance standard deviation function and store the signal intensity-distance standard deviation function in the database.
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