CN113466787B - RSS-based zoned Min-Max indoor positioning method - Google Patents
RSS-based zoned Min-Max indoor positioning method Download PDFInfo
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Abstract
The invention relates to the technical field of wireless positioning, in particular to an RSS-based zoned Min-Max indoor positioning method, which comprises the following steps: determining a locating interest area and acquiring vertex coordinates and geometric centroids of the locating interest area; dividing the positioning interest region into a plurality of sub-regions with equal areas by at least one straight line passing through the geometric centroid, wherein each sub-region comprises at least one vertex of the positioning interest region; determining the vertex of the positioning interest zone closest to the target node according to a preset condition, and taking the sub-zone containing the vertex as the sub-zone to which the target node belongs; and calculating the position coordinates of the target node according to the vertex coordinates of the sub-region. The invention provides an RSS-based zoned Min-Max indoor positioning method, which solves the problem of low positioning accuracy of the existing positioning method.
Description
Technical Field
The invention relates to the technical field of wireless positioning, in particular to a zoned Min-Max indoor positioning method based on RSS.
Background
In recent years, with the progress of scientific technology and the rapid development of artificial intelligence and internet of things, the demands of people for location information based applications are increasing, and the experience of people for location awareness based services is also becoming seamless. In indoor applications where position information is heavily dependent, the data collected by the deployed sensor nodes must contain its precise position information in the indoor measurement coordinate system.
At present, the GPS navigation technology or the Beidou satellite navigation system can achieve the positioning accuracy of 10 meters in an outdoor environment under most outdoor conditions. However, in a complex indoor environment, satellite signals are hindered by various indoor facilities, so that satellite signals received indoors are very weak, and the requirements of people on indoor high-precision positioning are not satisfied.
Indoor positioning means obtaining the position of one or more indoor devices to learn the position of the person wearing those devices, and thus indoor positioning has become an important extension of the Global Positioning System (GPS). Positioning accuracy is generally considered to be one of the most critical indicators measuring the performance of a positioning system. Since Received Signal Strength (RSS) has low power and low complexity, a positioning technology based on Received Signal Strength (RSS) is often used in the prior art.
The positioning methods based on the received signal strength, which are widely used at present, can be divided into two types: a non-ranging indoor positioning mode and a positioning mode based on ranging. In ranging-based positioning, we generally consider that the measured received signal strength values can be used to estimate the distance between the target node and the anchor node (sensor node), and the estimated distance will eventually combine with different positioning algorithms to estimate the exact coordinates of the target node. Among the numerous indoor positioning algorithms, the Min-Max algorithm is one of the most widely used indoor positioning algorithms based on received signal strength due to its simple geometry and ease of implementation.
However, the conventional Min-Max algorithm only achieves a rough estimate of the target node, where the location of the target node is determined by converting the measured RSS value into the geometric centroid of the intersection rectangular box (location interest area) defined by the distance value of the anchor node from the target node. Due to the existence of dense multipath effects and the blocking of various obstacles in the indoor positioning environment, the RSS value received at the receiving end is obviously smaller than the actual value, so that the distance value is larger than the actual value when the RSS is converted into the distance, the rectangular frame (positioning interest area) formed by the original Min-Max algorithm is larger, and finally the positioning accuracy is reduced. Although the recently proposed extended weighted Min-Max algorithm uses the weighted centroid of the location interest area instead of adopting a method of simply solving the geometric centroid to solve the problem that the original Min-Max algorithm is not high in accuracy, the improved algorithm obtains improvement of the location accuracy to a certain extent, but still has limited improvement degree of the location performance.
Disclosure of Invention
The invention provides an RSS-based zoned Min-Max indoor positioning method, which aims to solve the problem that the existing positioning method is low in positioning accuracy.
The technical scheme for solving the problems is as follows: the indoor positioning method of the zoned Min-Max based on the RSS comprises the following steps:
s1: determining a locating interest area and acquiring vertex coordinates and geometric centroids of the locating interest area;
s2: dividing the positioning interest region into a plurality of subareas with equal areas by utilizing at least one straight line passing through the geometric centroid, wherein each subarea contains at least one vertex of the positioning interest region;
s3: determining the vertex of the positioning interest zone closest to the target node according to a preset condition, and taking the sub-zone containing the vertex as the sub-zone to which the target node belongs;
s4: and calculating the position coordinates of the target node according to the vertex coordinates of the sub-region.
Preferably, step S2 specifically includes: dividing the locating interest area into four rectangular subareas with equal areas by utilizing two mutually perpendicular straight lines passing through geometric centroids, wherein each rectangular subarea comprises a vertex of the locating interest area.
Preferably, the preset condition is that the expression is:
wherein the return value
Representing the determined vertex mark of the original interest area closest to the target node, namely the mark value of the sub-area to which the target node belongs, |and| represent modulo; d (D) i，j Characterizing the Euclidean distance between the ith anchor node and the jth vertex of the locating interest region; d, d i Is the estimated distance between the ith anchor node and the target node.
Preferably, step S4 specifically includes:
s401: obtaining the weight of each vertex coordinate of the sub-region by using a weighting formula according to the vertex coordinate of the sub-region;
s402: and obtaining the position coordinates of the target node through a weighted centroid formula.
Preferably, the expression of the weighted centroid formula is:
wherein W is a (j) Weight for jth vertex coordinate, (x) j ，y j ) Is the coordinates of the jth vertex.
Preferably, the expression of the weighting formula is W 1 (j)、W 2 (j)、W 3 (j)、W 4 (j)、W 5 (j)、W 5 (j)、W 6 (j) One of, W 1 (j)、W 2 (j)、W 3 (j)、W 4 (j)、W 5 (j)、W 5 (j)、W 6 (j) The expressions of (2) are respectively:
wherein D is i，j And M i，j The Euclidean distance and Manhattan distance between the ith anchor node and the jth vertex of the rectangular box of the region of interest are characterized, respectively.
Preferably, the D i，j And M i，j The expression of (2) is:
M i，j ＝|x i -x j |+|y i +y j |
wherein, (x) i ，y i ) I=1, 2, …, N for the position coordinates of the i-th anchor node; (x) j ，y j ) Coordinates of the vertices of the region of interest are located for j=1, 2,3,4.
Preferably, step S1 specifically includes: acquiring position coordinates and estimated distances of all anchor nodes; the estimated distance is obtained by converting an RSS value sent by the anchor node and measured by the target node;
and determining the location interest region by using a Min-Max algorithm according to the position coordinates and the estimated distance of each anchor node, and calculating to obtain the vertex coordinates and the geometric centroid of the location interest region.
Compared with the prior art, the invention has the beneficial effects that: the invention divides the initially obtained localized region of interest into a plurality of sub-regions, each sub-region containing at least one vertex of the localized region of interest. Further, a minimum distance difference criterion is utilized to determine the target sub-region of the vertex "closest" to the target node. Then in the target estimation stage, the weighted centroid of the sub-region to which the target belongs is used as an estimation value of the target node position, and because the sub-region to which the target belongs is far smaller than the positioning interest region and is only one quarter of the positioning interest region, the position estimation adopting the weighted centroid of the sub-region to which the target belongs as the target node is more accurate than the weighted centroid of the original interest region.
Drawings
FIG. 1 is a schematic diagram of determining a localized region of interest;
FIG. 2 is a schematic diagram of a localized interest zone partitioning strategy of the present invention;
FIG. 3 is a schematic diagram of the minimum distance difference criterion in example 2;
FIG. 4 is a graph of average positioning error versus signal-to-noise ratio in the simulation verification result of example 3;
FIG. 5 is a graph of complementary cumulative functions of average positioning errors in the simulation verification results of example 3;
fig. 6 is a comparative chart of positioning accuracy with respect to an arbitrarily selected sampling point in the simulation result of embodiment 3.
In fig. 4-6: original Min-Max represents the traditional Min-Max algorithm, E-Min-Max (W4) represents the weighted Min-Max algorithm, and Min-Max-APS represents the zoned Min-Max indoor positioning method.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, are intended to fall within the scope of the present invention. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention.
The indoor positioning method of the zoned Min-Max based on the RSS comprises the following steps:
s1: determining a locating interest area and acquiring vertex coordinates and geometric centroids of the locating interest area, wherein the locating interest area is rectangular;
acquiring position coordinates and estimated distances of all anchor nodes; the estimated distance is obtained by converting an RSS value sent by the anchor node and measured by the target node;
and determining the location interest region by using a Min-Max algorithm according to the position coordinates and the estimated distance of each anchor node, and calculating to obtain the vertex coordinates and the geometric centroid of the location interest region.
S2: dividing the positioning interest region into a plurality of subareas with equal areas by utilizing at least one straight line passing through the geometric centroid, wherein each subarea comprises at least one vertex of the positioning interest region, namely one vertex or two vertexes of each subarea are overlapped with the corresponding vertex of the positioning interest region;
s3: determining the vertex of the positioning interest zone closest to the target node according to a preset condition, and taking the sub-zone containing the vertex as the sub-zone to which the target node belongs;
s4: and calculating the position coordinates of the target node according to the vertex coordinates of the sub-region.
As a preferred embodiment of the present invention, the region of interest is divided into four rectangular sub-regions of equal area by two straight lines perpendicular to each other and passing through the geometric centroid, each rectangular sub-region containing a vertex of the region of interest.
As a preferred embodiment of the present invention, the preset condition is that the expression is:
wherein the return value
Representing the determined vertex index of the original interest area closest to the target node, i.e. the target nodeThe sub-region label value to which the sub-region label value belongs, |and| represent modulo; d (D) i，j Characterizing the Euclidean distance between the ith anchor node and the jth vertex of the locating interest region; d, d i Is the estimated distance between the ith anchor node and the target node.
As a preferred embodiment of the present invention, step S4 specifically includes:
obtaining the weight of each vertex coordinate of the sub-region by using a weighting formula according to each vertex coordinate of the sub-region;
and obtaining the position coordinates of the target node through a weighted centroid formula.
As a preferred embodiment of the present invention, the expression of the weighted centroid formula is:
wherein W is a (j) Weight for jth vertex coordinate, (x) j ，y j ) Is the coordinates of the jth vertex.
As a preferred embodiment of the present invention, the distances between the respective anchor nodes and the target node are converted from RSS values measured by the anchor nodes.
As a preferred embodiment of the present invention, the expression of the weighting formula is W 1 (j)、W 2 (j)、W 3 (j)、W 4 (j)、W 5 (j)、 W 5 (j)、W 6 (j) One of, W 1 (j)、W 2 (j)、W 3 (j)、W 4 (j)、W 5 (j)、W 5 (j)、W 6 (j) The expressions of (2) are respectively:
wherein D is i，j And M i，j The Euclidean distance and Manhattan distance between the ith anchor node and the jth vertex of the rectangular box of the region of interest are characterized, respectively.
D i，j And M i，j The expression of (2) is:
M i，j ＝|x i -x j |+|y i +y j |
wherein, (x) i ，y i ) I=1, 2, …, N for the position coordinates of the i-th anchor node; (x) j ，y j ) Coordinates of the vertices of the region of interest are located for j=1, 2,3,4.
As a preferred embodiment of the present invention, step S3 specifically includes:
s301: determining a localized region of interest
Determining the vertex of the initial positioning interest area nearest to the target node according to a preset condition, and taking a rectangular sub-area containing the vertex as the input of the step S302;
s302: dividing the rectangular subarea into four areas with equal areas by using two mutually perpendicular straight lines passing through geometric centroids;
s303: obtaining vertex coordinates of the rectangular subregion in the S302, determining the vertex of the rectangular subregion nearest to the target node according to preset conditions, and determining a region containing the vertex;
s303: and iteratively executing the steps S302 and S303 until the length of the diagonal line of the second sub-region is smaller than the positioning error threshold value, ending the iteration, and taking the obtained second sub-region as the sub-region to which the target node belongs. The area obtained in step S303 is the input rectangular sub-area of step S302. The positioning error threshold is set according to a specific positioning scene, for example, a positioning error of not more than 50 cm is required to be obtained in an indoor positioning scene, and then the positioning error threshold is set to be 50 cm.
Example 1: the indoor positioning method of the zoned Min-Max based on the RSS comprises the following steps:
s1: obtaining position coordinates and estimated distance of each anchor node
N anchor nodes (sensor nodes) are placed at fixed positions (x i ，y i ) Where i=1, 2, …, N, the target node to be estimated is placed at (x t ，y t ). The RSS value sent by the anchor node and measured at the target node will be converted into the distance between the target node and the anchor node, i.e. the estimated distance d i 。
S2: determining location interest and vertex coordinates thereof
And carrying out the next positioning operation by the estimated distance. A rectangular area will be formed around each anchor node, see bounding box in fig. 1. With each anchor node as a center and double the distance from the anchor node to the target node as a side length, N bounding boxes are formed, the bounding boxes form an intersection area, the position of the estimated target node is in the intersection area, and we refer to the intersection area as a positioning interest area, the positioning interest area is also a rectangular box, and four vertex coordinates of the positioning interest area (namely, V 1 ，V 2 ，V 3 ，V 4 ) Can be obtained according to the following formula:
V 1 ＝[max(x i -d i )max(y i -d i )]
V 2 ＝[max(x i -d i )，min(y i +d i )]
V 3 ＝[min(x i +d i )，min(y i +d i )]
V 4 ＝[min(x i +d i )，max(y i -d i )]
where i=1, 2, …, N represents the number of anchor nodes, max (·) and min (·) represent the maximum and minimum values, d, respectively, of the function i Representing the estimated distance.
S3: determining the geometric centroid of the positioning interest region, wherein the estimation formula of the geometric centroid of the positioning interest region is as follows:
s4: region segmentation
Referring to fig. 2, in the region segmentation stage, the region of interest is divided into four rectangular sub-regions of equal area by two straight lines perpendicular to each other and passing through the geometric centroid. Within each sub-region is contained a vertex of the original region of interest.
Each vertex in the original rectangular box is taken as a reference numeral distinguishing each sub-area in a clockwise direction from the lower left corner. Thus we give each sub-region a reference number for distinguishing four different sub-regions, reference numbers subsubarea #1, subsubarea # 2, subsubarea # 3, subsubarea # 4 respectively. Assuming that the target node is located in the subarea marked as subarea # 2, the area size of the partitioned locating interest area will become one fourth of the original interest area, and at the same time, the vertex of the partitioned locating interest area is also changed from the original V 1 ，V 2 ，V 3 ，V 4 Become V 1-2 ，V 2 ，V 2-3 And an original region of interest centroid C. Because the traditional Min-Max and weighted Min-Max positioning algorithms are all implemented by adopting the original rectangular frameThe final target estimation is performed for locating the region of interest, and the zoned Min-Max indoor locating algorithm limits the final target estimation to a subarea with the size of one quarter of the region of interest, so that three-quarter target estimation points which can occur in positioning errors are eliminated through zoning, that is, the possibility of finding the accurate position of the target in a relatively small zone is higher.
S5: determining a sub-region to which a target node belongs
The minimum distance difference criterion is used to determine which sub-region the target node belongs to. In order to determine the sub-region to which the target belongs, only the vertex in the original interest region needs to be found, which vertex is closest to the target node, and the label corresponding to the vertex is the label of the sub-region, and the expression of the determination criterion is:
The decision criterion is based on the fact that when the target node is closer to a certain original region of interest vertex V j At the time, the distance difference |d i -D i，j The smaller the i will be correspondingly, at the same time the target node falls on the vertex V containing the original region of interest j The greater the likelihood in the sub-region of (c).
After determining the sub-region to which the target belongs, the vertex coordinates of the sub-region are calculated by using the coordinates of the positioning interest region through simple geometric operation.
S6: estimating final target node position
When the sub-region to which the target node belongs is determined, the sub-region is used as a redefined positioning interest region to perform target estimation, and the vertex coordinates of the new interest region can be obtained through geometric operation by the coordinates of the existing original interest region. For example: if we divide the location interest into four word regions, sub-ba_a# 1, sub-ba_a# 2, sub-ba_a# 3, sub-ba_a# 4, through the first step, we determine that the target node is located in sub-ba_a# 2, then all the target estimation operations that follow will be performed in sub-ba_a# 2.
And obtaining the weight of each vertex of the subarea by using one of six weighting formulas according to the vertex coordinates, and finally obtaining the position coordinates of the target node through the weighted centroid formula after obtaining the weight of the subarea.
The expressions of the six weights are respectively:
wherein D is i，j And M i，j The Euclidean distance and Manhattan distance between the ith anchor node and the jth vertex of the rectangular box of the region of interest are characterized, respectively.
The expression of the weighted centroid formula is:
wherein W is a (j) Weight for jth vertex coordinate, (x) j ，y j ) Is the coordinates of the jth vertex.
The flow of the zoning Min-Max indoor positioning algorithm based on RSS is as follows:
s1: setting anchor nodes
Referring to fig. 3, since a general room is mostly square rectangular structure or can be modeled as rectangular structure, the rectangular frame finally formed by the zoning Min-Max algorithm has a certain similarity in spatial structure with four vertexes of the room. Thus one anchor node is provided at each of the four corners of the room.
S2: acquiring position coordinates of four anchor nodes and distances between the anchor nodes and a target node, wherein the position coordinates of the four anchor nodes are respectively A 1 (0，0)、A 2 (0，20)、A 3 (20，20)、A 4 (20,0). Distance from target node d 1 、d 2 、d 3 、d 4 。
S3: and determining the vertex coordinates of the locating interest area by using a traditional Min-Max algorithm.
S4: the region of interest is divided into four rectangular subregions of equal area by two mutually perpendicular straight lines passing through the geometric centroid. Within each sub-region is contained a vertex of the original region of interest.
S5: determining sub-region to which target node belongs and vertex coordinates of sub-region
In this embodiment, two anchor node rooms are respectively arranged at four corners of the room, so that two rectangles with different sizes are formed when the Min-Max algorithm is used for positioning. And calculating the coordinate of the vertex of the positioning interest area with the minimum value of the distance difference between the vertices of the positioning interest area and the anchor nodes of the room with the same azimuth as the sub-area label to which the target node belongs. The accuracy of region division can be improved, and the operation amount can be reduced to a great extent. And calculating the vertex coordinates of the sub-region by using the coordinates of the positioning interest region through simple geometric operation.
S6: after obtaining the vertex coordinates, the weights of all the vertices of the subareas are obtained according to one of six weighting formulas, and after obtaining the weights of the subareas, the position coordinates of the target nodes are finally obtained through the weighted centroid formula.
Example 3: simulation experiment of zoned Min-Max indoor positioning method based on RSS
An indoor positioning scene is designed in MATLAB software in a software simulation mode. The simulation simulates an indoor room with an area of 20m x 20m, four anchor nodes are fixedly arranged at four vertexes of the room and used for communicating with a target node, and then the coordinate estimation of the target node is carried out by using the zoned Min-Max indoor positioning method based on RSS in the embodiment 1.
In order to more intuitively display the performance advantages and disadvantages of the zoned Min-Max indoor positioning method, a traditional Min-Max algorithm and a weighted Min-Max algorithm are used as performance reference objects, and the final results are shown in figures 4-6.
Fig. 4 shows a comparison of average positioning errors (ALE) of the conventional Min-Max algorithm, the weighted Min-Max algorithm, and the zoned Min-Ma positioning method of the present application, respectively, and it can be derived from fig. 4 that when the signal-to-noise ratio (SNR) is greater than 15dB, the positioning accuracy of the zoned Min-Ma positioning method will be reduced to 0.14 meters, which is reduced by 50% relative to the weighted Min-Max algorithm, and by six seventh relative to the conventional Min-Max algorithm.
Fig. 5 shows the Cumulative Distribution Function (CDF) curves of the average positioning error of the conventional Min-Max algorithm, the weighted Min-Max algorithm, and the zoned Min-Max algorithm proposed herein, respectively. As is clear from fig. 5, the probability that the average positioning error is smaller than 0.33 m reaches 90% for the zoned Min-Ma positioning method, and the average positioning error reaches 0.46 m and 1.12 m respectively when the same probability is reached for the weighted Min-Max algorithm and the conventional Min-Max algorithm.
In fig. 6, when the signal-to-noise ratio is 30dB, we compare the positioning process of a randomly selected sampling point with a certain coordinate (5, 6), and it can be clearly seen from fig. 6 that the zoned Min-Ma positioning method will obtain a more accurate estimate for the target node compared with the conventional Min-Max algorithm and the weighted Min-Max algorithm.
Simulation results show that compared with the traditional Min-Max and weighted Min-Max algorithms, the zoned Min-Ma positioning method has more accurate positioning performance.
The foregoing description is only exemplary embodiments of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present invention, or direct or indirect application in other related system fields are included in the scope of the present invention.
Claims (6)
1. The indoor positioning method of the partition Min-Max based on the RSS is characterized by comprising the following steps:
s1: determining a locating interest area and acquiring vertex coordinates and geometric centroids of the locating interest area;
s2: dividing the positioning interest region into a plurality of subareas with equal areas by utilizing at least one straight line passing through the geometric centroid, wherein each subarea contains at least one vertex of the positioning interest region;
s3: determining the vertex of the positioning interest zone closest to the target node according to a preset condition, and taking the sub-zone containing the vertex as the sub-zone to which the target node belongs;
s4: calculating according to the vertex coordinates of the sub-areas to obtain the position coordinates of the target nodes;
the step S2 specifically comprises the following steps: dividing the positioning interest region into four rectangular subregions with equal areas by utilizing two mutually perpendicular straight lines passing through geometric centroids, wherein each rectangular subregion comprises a vertex of the positioning interest region;
the preset condition is expressed as:
wherein the return value
Representing the label of the vertex of the positioning interest area closest to the target node, namely the label value of the sub-area to which the target node belongs, |and| represent modulo; d (D) i,j Characterizing the Euclidean distance between the ith anchor node and the jth vertex of the locating interest region; d, d i Is the estimated distance between the ith anchor node and the target node.
2. The indoor positioning method of RSS-based partition Min-Max according to claim 1, wherein step S4 specifically comprises:
s401: obtaining the weight of each vertex coordinate of the sub-region by using a weighting formula according to the vertex coordinate of the sub-region;
s402: and obtaining the position coordinates of the target node through a weighted centroid formula.
3. The RSS-based zoned Min-Max indoor positioning method of claim 2, wherein the expression of the weighted centroid formula is:
wherein W is a (j) Weight for jth vertex coordinate, (x) j ,y j ) Is the coordinates of the jth vertex.
4. The RSS-based zoned Min-Max indoor positioning method of claim 2, wherein the expression of the weighting formula is W 1 (j)、W 2 (j)、W 3 (j)、W 4 (j)、W 5 (j)、W 6 (j) One of, W 1 (j)、W 2 (j)、W 3 (j)、W 4 (j)、W 5 (j)、W 6 (j) The expressions of (2) are respectively:
wherein D is i,j And M i,j The Euclidean distance and Manhattan distance between the ith anchor node and the jth vertex of the rectangular box of the region of interest are characterized, respectively.
5. The RSS-based zoned Min-Max indoor positioning method of claim 4, wherein the D i,j And M i,j The expression of (2) is:
M i,j ＝|x i -x j |+|y i +y j |
wherein, (x) i ,y i ) I=1, 2, …, N for the position coordinates of the i-th anchor node; (x) j ,y j ) Coordinates of the vertices of the region of interest are located for j=1, 2,3,4.
6. The indoor positioning method of RSS-based partition Min-Max according to claim 1, wherein step S1 specifically comprises:
acquiring position coordinates and estimated distances of all anchor nodes; the estimated distance is obtained by converting an RSS value sent by the anchor node and measured by the target node;
and determining the location interest region by using a Min-Max algorithm according to the position coordinates and the estimated distance of each anchor node, and calculating to obtain the vertex coordinates and the geometric centroid of the location interest region.
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