CN113395762A - Position correction method and device in ultra-wideband positioning network - Google Patents
Position correction method and device in ultra-wideband positioning network Download PDFInfo
- Publication number
- CN113395762A CN113395762A CN202110415396.6A CN202110415396A CN113395762A CN 113395762 A CN113395762 A CN 113395762A CN 202110415396 A CN202110415396 A CN 202110415396A CN 113395762 A CN113395762 A CN 113395762A
- Authority
- CN
- China
- Prior art keywords
- vector
- node
- position ranging
- ranging
- reference position
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
-
- 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
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
Abstract
The embodiment of the application provides a method and a device for correcting a position in an ultra-wideband positioning network, wherein the method comprises the following steps: acquiring an initial position ranging vector of a node to be positioned in an ultra-wideband positioning network; acquiring a projection vector of the ultra-wideband positioning network; and determining the final position ranging vector of the node to be positioned according to the initial ranging vector and the projection vector, so that the accuracy of position acquisition of the node to be positioned can be improved.
Description
Technical Field
The application relates to the technical field of data processing, in particular to a position correction method and device in an ultra-wideband positioning network.
Background
The wireless ad hoc network is a branch of wireless network technology, and has the biggest characteristics that the network has no base station, nodes in the network are equal, no central control node is required to be arranged, and each node has message forwarding capability. The method has the advantages of fast networking, free movement of nodes and the like.
Ultra wideband (inspection, UWB) has a large system capacity because of its fast transmission speed; the transmitting power is low, the radiation is small, and the cruising ability is strong; the multipath resolution is high; the system security is good; the penetration ability is strong, and the like, and the method is most commonly applied to a positioning system and a wireless ad hoc network. The ultra-wideband positioning system has the characteristic of high positioning precision, so the ultra-wideband positioning system is commonly used for an indoor precise positioning network, and the ultra-wideband wireless ad hoc network can reduce the error delay by linking the advantages of the ultra-wideband technology with the advantages of the wireless ad hoc network, but the ranging delay and the delay caused by a wireless channel cannot be avoided.
In an indoor accurate positioning network, the positioning is actually the positioning of the position of a node, and the positioning of the network node is mainly realized through ranging, the main ranging methods include a time of arrival ranging method (TOA for short), a time difference of arrival ranging method (TODA for short) and a relative intelligent algorithm based on maximum likelihood, and the main ranging error sources are a small-range error of signal propagation and a large-range error of non-line-of-sight. How to quickly reduce the error in the prediction of the network topology is an important problem in the determination of the position of the ultra-wideband positioning network node.
In the existing positioning method for the ultra-wideband positioning network, other work is generally performed under the condition that the position information is known, for example, the protocol of the positioning method is optimized, and the position information is added. For example, the distance information between nodes is measured according to the ranging technology, and then the measured node information is taken as a known node to continue measuring other unknown information, and the whole network is traversed in a reciprocating way. The strategy can quickly determine the distance of the whole network node, but the method considers that the inter-node measurement information is accurate information and does not consider the inaccuracy of the ranging information, so that the final predicted node positioning accuracy is low.
Disclosure of Invention
The embodiment of the application provides a position correction method and device in an ultra-wideband positioning network, which can improve the accuracy of position acquisition of a node to be positioned.
A first aspect of an embodiment of the present application provides a method for correcting a position in an ultra-wideband positioning network, where the method includes:
acquiring an initial position ranging vector of a node to be positioned in an ultra-wideband positioning network;
acquiring a projection vector of the ultra-wideband positioning network;
and determining a final position ranging vector of the node to be positioned according to the initial ranging vector and the projection vector.
With reference to the first aspect, in a possible implementation manner, the obtaining an initial position ranging vector of a node to be located in an ultra-wideband positioning network includes:
and acquiring the initial position ranging vector with the positioning point by a time difference of arrival ranging method.
With reference to the first aspect, in a possible implementation manner, the obtaining a projection vector of the ultra-wideband positioning network includes:
determining the projection vector by a method shown by the following formula:
wherein p iskIs the projection vector at the k iteration, the matrix I is the identity matrix, AkA network model for the ultra-wideband positioning network is matrix in a standard mode,
is AkIs rotatedFlower bud leaf of Chinese character 'ji')-1Representing its inverse matrix, k being the number of iterations.
With reference to the first aspect, in a possible implementation manner, the determining a final position ranging vector of the node to be located according to the initial ranging vector and the projection vector includes:
and performing iterative computation on the initial ranging vector through the projection vector to obtain the final position ranging vector with the positioning point.
With reference to the first aspect, in a possible implementation manner, the iteratively calculating the initial ranging vector through the projection vector to obtain the final position ranging vector with the anchor point includes:
performing iterative computation on the initial ranging vector according to the projection vector to obtain a first reference position ranging vector, and performing iterative computation on the initial ranging vector according to the projection vector to obtain a second reference position ranging vector, wherein the first reference position ranging vector is a position ranging vector obtained by previous iteration of the second reference position ranging vector;
acquiring a first measurement error corresponding to the first reference position ranging vector and acquiring a second measurement error corresponding to the second reference ranging vector;
and if the offset between the second measurement error and the first measurement error is smaller than a preset offset value, determining the second reference position ranging vector as the final position ranging vector.
With reference to the first aspect, in a possible implementation manner, the iteratively calculating the initial ranging vector according to the projection vector to obtain a first reference position ranging vector includes:
iteratively calculating to determine the first reference location ranging vector by a method shown in the following equation:
wherein the content of the first and second substances,
obtaining a reference position ranging vector of a node to be positioned after the iteration;
is composed of
Obtaining a node v to be positioned after iterating for k timesnThe position ranging vector of (1); alpha is alphakIs an iteration step length;
a Jacobian matrix for solving a network correction convex optimization problem; r iskIs based on v to be positionednFrom the current information
Calculated residual vector, vnIs a node to be positioned.
With reference to the first aspect, in a possible implementation manner, after determining the first reference location ranging vector, the method further includes:
performing consensus processing on the first reference position ranging vector to obtain a consensus processed reference position ranging vector;
and determining the reference position ranging vector after the consensus processing as the first reference position ranging vector.
With reference to the first aspect, in a possible implementation manner, the performing consensus processing on the first reference position ranging vector to obtain a consensus-processed reference position ranging vector includes:
performing consensus processing on the first reference position ranging vector by a method shown in the following formula to obtain a consensus-processed reference position ranging vector:
performing consensus processing on the first reference position ranging vector by a method shown in the following formula to obtain a consensus-processed reference position ranging vector:
wherein the content of the first and second substances,
to agree on the processed reference position ranging vectors,
is a first reference position ranging vector, W ═ Wi,j]The common-identification matrix is determined according to a bottom-layer node communication graph of the ultra-wideband positioning network;
n(vi) Indicated at the node to be positioned
Lower node viDegree of connection of, n (v)j) Indicated at the node to be positioned
Lower node vjThe degree of connectivity of (c).
With reference to the first aspect, in one possible implementation manner, the preset offset value is 0.1, and the iteration step size is 0.2.
A second aspect of an embodiment of the present application provides a device for correcting a position in an ultra-wideband positioning network, where the device includes:
the first acquisition unit is used for acquiring an initial position ranging vector of a node to be positioned in the ultra-wideband positioning network;
the second acquisition unit is used for acquiring a projection vector of the ultra-wideband positioning network;
and the determining unit is used for determining the final position ranging vector of the node to be positioned according to the initial ranging vector and the projection vector.
A third aspect of the embodiments of the present application provides a terminal, including a processor, an input device, an output device, and a memory, where the processor, the input device, the output device, and the memory are connected to each other, where the memory is used to store a computer program, and the computer program includes program instructions, and the processor is configured to call the program instructions to execute the step instructions in the first aspect of the embodiments of the present application.
A fourth aspect of embodiments of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program for electronic data exchange, where the computer program makes a computer perform part or all of the steps as described in the first aspect of embodiments of the present application.
A fifth aspect of embodiments of the present application provides a computer program product, wherein the computer program product comprises a non-transitory computer readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps as described in the first aspect of embodiments of the present application. The computer program product may be a software installation package.
The embodiment of the application has at least the following beneficial effects:
the method comprises the steps of obtaining an initial position ranging vector of a node to be positioned in the ultra-wideband positioning network, obtaining a projection vector of the ultra-wideband positioning network, and determining a final position ranging vector of the node to be positioned according to the initial position ranging vector and the projection vector.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic diagram of a node in an ultra-wideband network according to an embodiment of the present application;
fig. 2 is a schematic diagram of an underlying communication node according to an embodiment of the present application;
fig. 3 is a schematic flowchart of a position correction method in an ultra-wideband positioning network according to an embodiment of the present application;
fig. 4 is a schematic flow chart of another method for correcting a position in an ultra-wideband positioning network according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a terminal according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a position correction apparatus in an ultra-wideband positioning network according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
The terms "first," "second," and the like in the description and claims of the present application and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
In order to better understand the position correction method in the ultra-wideband positioning network in the embodiment of the present application, the ultra-wideband positioning network is briefly introduced below, the ultra-wideband positioning network may be an ultra-wideband wireless self-organizing network (ultra-wideband network), a networking mode is mostly a distributed network, network nodes may measure distances among each other, and there is no limitation that a centralized network is controlled by a central node. The distance between the nodes can be measured through a ranging algorithm, and the topological structure of the whole network can be determined by determining more than two anchor points. A node communicates only with its neighbors, the set of communication links for nodes in the network is E, the set of nodes is V, that is, node VsAnd vtCan communicate, then v willsAnd vtThe constituent communication links are added to E, so the entire network can be represented as a set G of nodes and node communicable links, G ═ V, E, with the network having N nodes and M communication links. v. ofn∈V,n＝1,2,3...,N，emE, M is 1,2, 3.
Referring to fig. 1 and fig. 2, fig. 1 is a schematic diagram of a node in an ultra-wideband network according to an embodiment of the present disclosure, and fig. 2 is a schematic diagram of an underlying communication node according to an embodiment of the present disclosure. It should be noted that the node communication graph and the bottom-layer node communication graph are only schematic diagrams for conveniently describing specific implementation schemes, and are not limited to this specific embodiment.
Referring to fig. 3, fig. 3 is a schematic flow chart illustrating a position correction method in an ultra-wideband positioning network according to an embodiment of the present disclosure. As shown in fig. 3, the position correction method includes:
s301, obtaining an initial position ranging vector of a node to be positioned in the ultra-wideband positioning network.
In this embodiment, a node v to be positionednThe initial ranging vector can be obtained by any existing ranging method such as TOA and TODA, which is not specifically limited by the present invention;
the ranging vector refers to a node v to be positionednAnd the distance vector to each node can position the position of the node to be positioned according to the distance vector and the position information of each anchor point.
For example, in this embodiment, the initial position ranging vector of each node can be expressed as:
wherein, a0，b0，c0，d0Distance vectors (distance coordinate information, to be more specific) of the nodes a, b, c, and d are initially calculated by ranging.
As a preferred implementation of this specific embodiment, in this step, the step
Obtained by TODA method.
The distance between the node to be positioned and other nodes can be acquired by a time difference of arrival ranging method, so that a distance vector and the like are obtained.
S302, obtaining a projection vector of the ultra-wideband positioning network.
The projection vector may be obtained by a matrix of a network model of the ultra-wideband positioning network in a standard mode, for example, the projection vector may be obtained in an iterative manner.
S303, determining a final position ranging vector of the node to be positioned according to the initial ranging vector and the projection vector.
The final position ranging vector may be determined by iteratively projecting the vector on the initial ranging vector.
In the example, the initial position ranging vector of the node to be positioned in the ultra-wideband positioning network is obtained, the projection vector of the ultra-wideband positioning network is obtained, and the final position ranging vector of the node to be positioned is determined according to the initial ranging vector and the projection vector.
In a possible implementation manner, a possible method for obtaining an initial position ranging vector of a node to be positioned in an ultra-wideband positioning network includes:
and acquiring the initial position ranging vector of the point to be located by a time difference of arrival ranging method.
The time difference of arrival ranging method may be a general ranging method or the like. The distance vector between the to-be-positioned point and other nodes can be obtained according to the arrival time difference distance measuring method, and the initial position distance measuring vector is determined according to the distance vector.
In one possible implementation, a possible method for obtaining a projection vector of the ultra-wideband positioning network includes:
determining the projection vector by a method shown by the following formula:
wherein p iskIs the projection vector at the k iteration, the matrix I is the identity matrix, AkA network model for the ultra-wideband positioning network is matrix in a standard mode,
is AkIs transposed, ()-1Representing its inverse matrix, k being the number of iterations.
In one possible implementation manner, a possible method for determining a final position ranging vector of the node to be located according to the initial ranging vector and the projection vector includes:
and performing iterative computation on the initial ranging vector through the projection vector to obtain the final position ranging vector with the positioning point.
The iterative calculation is understood to be that the same operation rule is used by performing the same operation between the projection vector and the initial ranging vector.
In a possible implementation manner, a possible method for iteratively calculating the initial ranging vector through the projection vector to obtain the final position ranging vector with the positioning point includes a1-A3, which is as follows:
a1, performing iterative computation on the initial ranging vector according to the projection vector to obtain a first reference position ranging vector, and performing iterative computation on the initial ranging vector according to the projection vector to obtain a second reference position ranging vector, wherein the first reference position ranging vector is a position ranging vector obtained by previous iteration of the second reference position ranging vector;
a2, acquiring a first measurement error corresponding to the first reference position ranging vector, and acquiring a second measurement error corresponding to the second reference ranging vector;
a3, if the offset between the second measurement error and the first measurement error is smaller than a preset offset value, determining the second reference position ranging vector as the final position ranging vector.
The first reference position ranging vector is a position ranging vector obtained by previous iteration of the second reference position ranging vector, and it can be understood that the second reference position ranging vector is a reference position ranging vector after current iteration, and the first reference position ranging vector is a reference position ranging vector before current iteration.
The measurement error can be obtained by the method shown in the following formula:
wherein epsilonkMeasurement error for the kth iteration, r*Is the true ground residual error, rkIs the ground residual for the kth iteration. The first measurement error and the second measurement error may be obtained by the above-described determination method of measurement error.
The offset between the first measurement error and the second measurement error may be a value of the second measurement error minus the first measurement error. The preset offset value may be set by an empirical value or historical data.
In this embodiment, in this step, it may be determined whether the iterative error is converged by using any method for determining iterative error convergence, for example, directly determining whether a residual vector is smaller than a preset threshold, or determining whether a deviation between a residual vector after the current iteration and a residual vector before the current iteration is smaller than a preset threshold, and the like.
In a possible implementation manner, a possible method for obtaining a first reference position ranging vector by performing iterative computation on the initial ranging vector according to the projection vector includes:
iteratively calculating to determine the first reference location ranging vector by a method shown in the following equation:
wherein the content of the first and second substances,
obtaining a reference position ranging vector of a node to be positioned after the iteration;
is composed of
V obtained after iterating k timesnThe position ranging vector of (1); alpha is alphakIs an iteration ofStep length;
a Jacobian matrix for solving a network correction convex optimization problem; r iskIs based on v to be positionednFrom the current information
Calculated residual vector, vnIs a node to be positioned.
Wherein the content of the first and second substances,
a Jacobian matrix for solving a network correction convex optimization problem;
wherein the content of the first and second substances,
representing partial derivatives, y representing the target matrix, i.e.
Where x is1,x2,...,xnRepresenting the node ranging vector.
The concrete formula of the network correction convex optimization problem is as follows:
wherein x isi、xjRespectively representing the ranging vectors of the node i and the node j; di,jThe distance between the node i and the node j is obtained by measuring the arrival time difference and multiplying the arrival time difference by the speed of light; minimize is the sign of the solution minimum.
rkIs based on the current information of the nth node
N nodes of the calculated residual vector are nodes in the ultra-wideband positioning network, and the method is concretely as follows;
wherein x isrealRepresenting a node vnThe true position ranging vector.
In this example, iterative computation is performed by the iterative method to obtain the first reference position ranging vector, so that the accuracy of determining the first reference position ranging vector can be improved.
In the embodiment of the present application, the method for determining the second reference position vector may refer to the method for determining the first reference position vector, which is not described herein again.
In a possible implementation manner, after the first reference position ranging vector is determined, optimization processing may be further performed on the first reference position ranging vector, specifically as follows:
performing consensus processing on the first reference position ranging vector to obtain a consensus processed reference position ranging vector;
and determining the reference position ranging vector after the consensus processing as the first reference position ranging vector.
Performing consensus processing on the first reference position ranging vector by a method shown in the following formula to obtain a consensus-processed reference position ranging vector:
wherein the content of the first and second substances,
for co-identifying processed reference bitsThe ranging vector is placed in the position of the target,
is a first reference position ranging vector, W ═ Wi,j]The common-identification matrix is determined according to a bottom-layer node communication graph of the ultra-wideband positioning network;
n(vi) Indicated at the node to be positioned
Lower node viDegree of connection of, n (v)j) Indicated at the node to be positioned
Lower node vjThe degree of connectivity of (c).
In one possible implementation, the preset offset value is 0.1, and the iteration step size is 0.2.
Referring to fig. 4, fig. 4 is a schematic flow chart illustrating another position correction method in an ultra-wideband positioning network according to an embodiment of the present disclosure. As shown in fig. 4, includes:
s401, obtaining an initial position ranging vector of a node to be positioned in the ultra-wideband positioning network;
s402, acquiring a projection vector of the ultra-wideband positioning network;
s403, performing iterative computation on the initial ranging vector according to the projection vector to obtain a first reference position ranging vector, and performing iterative computation on the initial ranging vector according to the projection vector to obtain a second reference position ranging vector, wherein the first reference position ranging vector is a position ranging vector obtained by previous iteration of the second reference position ranging vector;
s404, acquiring a first measurement error corresponding to the first reference position ranging vector and acquiring a second measurement error corresponding to the second reference ranging vector;
s405, if the offset between the second measurement error and the first measurement error is smaller than a preset offset value, determining the second reference position ranging vector as the final position ranging vector.
In this example, iterative computation is performed by an iterative method to obtain the first reference position ranging vector, so that the accuracy of determining the first reference position ranging vector can be improved.
In accordance with the foregoing embodiments, please refer to fig. 5, fig. 5 is a schematic structural diagram of a terminal according to an embodiment of the present application, and as shown in the drawing, the terminal includes a processor, an input device, an output device, and a memory, where the processor, the input device, the output device, and the memory are connected to each other, where the memory is used to store a computer program, the computer program includes program instructions, the processor is configured to call the program instructions, and the program includes instructions for performing the following steps;
acquiring an initial position ranging vector of a node to be positioned in an ultra-wideband positioning network;
acquiring a projection vector of the ultra-wideband positioning network;
and determining a final position ranging vector of the node to be positioned according to the initial ranging vector and the projection vector.
The above description has introduced the solution of the embodiment of the present application mainly from the perspective of the method-side implementation process. It is understood that the terminal includes corresponding hardware structures and/or software modules for performing the respective functions in order to implement the above-described functions. Those of skill in the art will readily appreciate that the present application is capable of hardware or a combination of hardware and computer software implementing the various illustrative elements and algorithm steps described in connection with the embodiments provided herein. Whether a function is performed as hardware or computer software drives hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiment of the present application, the terminal may be divided into the functional units according to the above method example, for example, each functional unit may be divided corresponding to each function, or two or more functions may be integrated into one processing unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit. It should be noted that the division of the unit in the embodiment of the present application is schematic, and is only a logic function division, and there may be another division manner in actual implementation.
In accordance with the above, please refer to fig. 6, fig. 6 is a schematic structural diagram of a position correction device in an ultra-wideband positioning network according to an embodiment of the present application. As shown in fig. 6, the apparatus includes:
a first obtaining unit 601, configured to obtain an initial position ranging vector of a node to be located in an ultra-wideband positioning network;
a second obtaining unit 602, configured to obtain a projection vector of the ultra-wideband positioning network;
a determining unit 603, configured to determine a final position ranging vector of the node to be located according to the initial ranging vector and the projection vector.
In one possible implementation manner, the first obtaining unit 601 is configured to:
and acquiring the initial position ranging vector with the positioning point by a time difference of arrival ranging method.
In a possible implementation manner, the second obtaining unit 602 is configured to:
determining the projection vector by a method shown by the following formula:
wherein p iskIs the projection vector at the k iteration, the matrix I is the identity matrix, AkA network model for the ultra-wideband positioning network is matrix in a standard mode,
is AkIs transposed, ()-1Representing its inverse matrix, k being the number of iterations.
In one possible implementation manner, the determining unit 603 is configured to:
and performing iterative computation on the initial ranging vector through the projection vector to obtain the final position ranging vector with the positioning point.
In a possible implementation manner, in terms of the iterative computation of the initial ranging vector through the projection vector to obtain the final position ranging vector with the anchor point, the determining unit 603 is configured to:
performing iterative computation on the initial ranging vector according to the projection vector to obtain a first reference position ranging vector, and performing iterative computation on the initial ranging vector according to the projection vector to obtain a second reference position ranging vector, wherein the first reference position ranging vector is a position ranging vector obtained by previous iteration of the second reference position ranging vector;
acquiring a first measurement error corresponding to the first reference position ranging vector and acquiring a second measurement error corresponding to the second reference ranging vector;
and if the offset between the second measurement error and the first measurement error is smaller than a preset offset value, determining the second reference position ranging vector as the final position ranging vector.
In a possible implementation manner, in the aspect that the initial ranging vector is iteratively calculated according to the projection vector to obtain a first reference position ranging vector, the determining unit 603 is configured to:
iteratively calculating to determine the first reference location ranging vector by a method shown in the following equation:
wherein the content of the first and second substances,
obtaining a reference position ranging vector of a node to be positioned after the iteration;
is composed of
V obtained after iterating k timesnThe position ranging vector of (1); alpha is alphakIs an iteration step length;
a Jacobian matrix for solving a network correction convex optimization problem; r iskIs based on v to be positionednFrom the current information
Calculated residual vector, vnIs a node to be positioned.
In one possible implementation, after determining the first reference position ranging vector, the apparatus is further configured to:
performing consensus processing on the first reference position ranging vector to obtain a consensus processed reference position ranging vector;
and determining the reference position ranging vector after the consensus processing as the first reference position ranging vector.
In one possible implementation manner, in the performing consensus on the first reference position ranging vector to obtain a consensus-processed reference position ranging vector, the apparatus is further configured to:
performing consensus processing on the first reference position ranging vector by a method shown in the following formula to obtain a consensus-processed reference position ranging vector:
wherein the content of the first and second substances,
to agree on the processed reference position ranging vectors,
is a first reference position ranging vector, W ═ Wi,j]The common-identification matrix is determined according to a bottom-layer node communication graph of the ultra-wideband positioning network;
n(vi) Indicated at the node to be positioned
Lower node viDegree of connection of, n (v)j) Indicated at the node to be positioned
Lower node vjThe degree of connectivity of (c).
In one possible implementation, the preset offset value is 0.1, and the iteration step size is 0.2.
Embodiments of the present application further provide a computer storage medium, where the computer storage medium stores a computer program for electronic data exchange, and the computer program enables a computer to execute part or all of the steps of the position correction method in any one of the ultra-wideband positioning networks as described in the above method embodiments.
Embodiments of the present application further provide a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program causes a computer to execute part or all of the steps of any one of the above-mentioned method embodiments of the position correction method in an ultra-wideband positioning network.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one type of division of logical functions, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some interfaces, devices or units, and may be an electric or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may be implemented in the form of a software program module.
The integrated units, if implemented in the form of software program modules and sold or used as stand-alone products, may be stored in a computer readable memory. Based on such understanding, the technical solution of the present application may be substantially implemented or a part of or all or part of the technical solution contributing to the prior art may be embodied in the form of a software product stored in a memory, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned memory comprises: various media capable of storing program codes, such as a usb disk, a read-only memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and the like.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable memory, which may include: flash memory disks, read-only memory, random access memory, magnetic or optical disks, and the like.
The foregoing detailed description of the embodiments of the present application has been presented to illustrate the principles and implementations of the present application, and the above description of the embodiments is only provided to help understand the method and the core concept of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (10)
1. A method for correcting a position in an ultra-wideband positioning network, the method comprising:
acquiring an initial position ranging vector of a node to be positioned in an ultra-wideband positioning network;
acquiring a projection vector of the ultra-wideband positioning network;
and determining a final position ranging vector of the node to be positioned according to the initial ranging vector and the projection vector.
2. The method of claim 1, wherein obtaining an initial position ranging vector of a node to be positioned in the ultra-wideband positioning network comprises:
and acquiring the initial position ranging vector with the positioning point by a time difference of arrival ranging method.
3. The method of claim 1 or 2, wherein the obtaining the projection vector of the ultra-wideband positioning network comprises:
determining the projection vector by a method shown by the following formula:
wherein p iskIs the projection vector at the k iteration, the matrix I is the identity matrix, AkA network model for the ultra-wideband positioning network is matrix in a standard mode,
is AkIs transposed, ()-1Representing its inverse matrix, k being the number of iterations.
4. The method of claim 3, wherein the determining a final position ranging vector for the node to be located according to the initial ranging vector and the projection vector comprises:
and performing iterative computation on the initial ranging vector through the projection vector to obtain the final position ranging vector with the positioning point.
5. The method of claim 4, wherein the iteratively calculating the initial ranging vector by the projection vector to obtain the final position ranging vector with the anchor point comprises:
performing iterative computation on the initial ranging vector according to the projection vector to obtain a first reference position ranging vector, and performing iterative computation on the initial ranging vector according to the projection vector to obtain a second reference position ranging vector, wherein the first reference position ranging vector is a position ranging vector obtained by previous iteration of the second reference position ranging vector;
acquiring a first measurement error corresponding to the first reference position ranging vector and acquiring a second measurement error corresponding to the second reference ranging vector;
and if the offset between the second measurement error and the first measurement error is smaller than a preset offset value, determining the second reference position ranging vector as the final position ranging vector.
6. The method of claim 5, wherein iteratively computing the initial ranging vector from the projection vector to obtain a first reference position ranging vector comprises:
iteratively calculating to determine the first reference location ranging vector by a method shown in the following equation:
wherein the content of the first and second substances,
obtaining a reference position ranging vector of a node to be positioned after the iteration;
is composed of
Obtaining a node v to be positioned after iterating for k timesnThe position ranging vector of (1); alpha is alphakIs an iteration step length;
a Jacobian matrix for solving a network correction convex optimization problem; r iskIs based on v to be positionednFrom the current information
Calculated residual vector, vnIs a node to be positioned.
7. The method of claim 6, after determining the first reference location ranging vector, further comprising:
performing consensus processing on the first reference position ranging vector to obtain a consensus processed reference position ranging vector;
and determining the reference position ranging vector after the consensus processing as the first reference position ranging vector.
8. The method of claim 7, wherein the consensus processing of the first reference position ranging vector to obtain a consensus processed reference position ranging vector comprises:
performing consensus processing on the first reference position ranging vector by a method shown in the following formula to obtain a consensus-processed reference position ranging vector:
wherein the content of the first and second substances,
to agree on the processed reference position ranging vectors,
is a first reference position ranging vector, W [ deg. ] [ [ deg. ] ]wi,j]The common-identification matrix is determined according to a bottom-layer node communication graph of the ultra-wideband positioning network;
n(vi) Indicated at the node to be positioned
Lower node viDegree of connection of, n (v)j) Indicated at the node to be positioned
Lower node vjThe degree of connectivity of (c).
9. The method according to any of claims 6-8, wherein the preset offset value is 0.1 and the iteration step size is 0.2.
10. An apparatus for position correction in an ultra-wideband positioning network, the apparatus comprising:
the first acquisition unit is used for acquiring an initial position ranging vector of a node to be positioned in the ultra-wideband positioning network;
the second acquisition unit is used for acquiring a projection vector of the ultra-wideband positioning network;
and the determining unit is used for determining the final position ranging vector of the node to be positioned according to the initial ranging vector and the projection vector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110415396.6A CN113395762A (en) | 2021-04-18 | 2021-04-18 | Position correction method and device in ultra-wideband positioning network |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110415396.6A CN113395762A (en) | 2021-04-18 | 2021-04-18 | Position correction method and device in ultra-wideband positioning network |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113395762A true CN113395762A (en) | 2021-09-14 |
Family
ID=77617738
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110415396.6A Pending CN113395762A (en) | 2021-04-18 | 2021-04-18 | Position correction method and device in ultra-wideband positioning network |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113395762A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113965989A (en) * | 2021-10-18 | 2022-01-21 | 歌尔科技有限公司 | Positioning method, device, system and storage medium |
-
2021
- 2021-04-18 CN CN202110415396.6A patent/CN113395762A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113965989A (en) * | 2021-10-18 | 2022-01-21 | 歌尔科技有限公司 | Positioning method, device, system and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101556711B1 (en) | Time of arrival based wireless positioning system | |
| US7196662B2 (en) | Probabilistic model for a positioning technique | |
| JP2009065394A (en) | Attenuation constant estimation system for sensor network, node position estimation system, estimating method and program thereof | |
| JP2008178006A (en) | Wireless node location estimating method and system, and processing apparatus therefor | |
| JP2009517988A (en) | System and method for calculating the location of a mobile device operating in a wireless network | |
| CN111352069A (en) | Indoor positioning method, server, storage medium and program product | |
| WO2016112758A1 (en) | Method and apparatus for locating terminal | |
| CN111505570A (en) | Ultra-wideband two-dimensional positioning method based on linear search | |
| CN109991591B (en) | Positioning method and device based on deep learning, computer equipment and storage medium | |
| CN113395762A (en) | Position correction method and device in ultra-wideband positioning network | |
| JP4727421B2 (en) | Electromagnetic field evaluation method and system | |
| CN113759311B (en) | Positioning method, positioning device and storage medium | |
| He et al. | A unified analytical framework for RSS-based localization systems | |
| CN110940951A (en) | Positioning method and device | |
| CN112333819B (en) | Equipment positioning method and device, computer equipment and storage medium | |
| CN115942231A (en) | RSS-based 5G outdoor positioning method | |
| CN109884587B (en) | Wireless sensor network positioning method for fog computing environment | |
| CN109116342B (en) | Positioning method, positioning device, positioning medium and computing equipment | |
| CN109115219B (en) | Indoor three-dimensional positioning method based on scene coefficients | |
| CN115460534A (en) | Positioning method, positioning device and processor-readable storage medium | |
| CN112188388A (en) | Hybrid indoor positioning method based on machine learning | |
| CN114630416B (en) | Method, device and equipment for positioning mobile terminal | |
| CN110958565B (en) | Method and device for calculating signal distance, computer equipment and storage medium | |
| US11546779B2 (en) | Method and apparatus for accelerating estimation of a radio model of an access point | |
| CN115696572B (en) | Method and device for generating positioning data and related equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |