CN115633400B - Target positioning calculation method and device - Google Patents

Target positioning calculation method and device Download PDF

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CN115633400B
CN115633400B CN202211638165.2A CN202211638165A CN115633400B CN 115633400 B CN115633400 B CN 115633400B CN 202211638165 A CN202211638165 A CN 202211638165A CN 115633400 B CN115633400 B CN 115633400B
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target
base station
range
interval
calculating
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CN115633400A (en
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陈钧
杨庆
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Nanjing Time Series Intelligent Technology Co ltd
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    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Abstract

The invention discloses a target positioning calculation method and a target positioning calculation device. The method comprises the steps of firstly estimating a possible range of target positioning, then traversing in a fast iteration mode through a dot matrix in the possible range, and calculating a point with the minimum comprehensive error as a final positioning target. The method can avoid the error accumulation problem possibly caused by algorithms such as Taylor positioning algorithm, kalman filtering algorithm and the like.

Description

Target positioning calculation method and device
Technical Field
The invention relates to a wireless positioning technology.
Background
The wireless positioning technology is a technology that calculates the angle and distance between a target and a base station through information such as the arrival angle, arrival time, signal strength and the like of a wireless signal, and then calculates the position of the target according to the angle and distance between the target and the base station and the position of the base station. The technology of positioning based on the angle of arrival of a wireless signal is generally applied to a mobile network, and the positioning technology based on short-range wireless communication such as bluetooth, wifi, zigBee and the like is generally used for performing position positioning calculation according to the distance between a base station and a target. In this technique of calculating the position location based on the distance between the base station and the object, the accuracy of the location depends on whether the distance measurement between the base station and the object is accurate. However, the real problem is that the distance between the base station and the target measured by the wireless signal is relatively large, which is determined by the characteristics of the wireless signal itself, especially in non-line-of-sight environments or strong magnetic interference. Therefore, in order to reduce the inevitable error interference of the measured distance between the base station and the target, the base stations are densely arranged in the prior art, the target is covered by the base stations in an overlapping manner, the distances between the base stations and the target are collected, and then the distances are calculated by a mathematical method to improve the positioning accuracy. In the prior art, such calculation methods include taylor positioning algorithm, kalman filtering algorithm, and the like.
Disclosure of Invention
The problems to be solved by the invention are as follows: and under the condition that the distance measured between the base station and the target has inevitable errors, the accuracy of target positioning calculation is improved.
In order to solve the problems, the invention adopts the following scheme:
the invention relates to a target positioning calculation method, which comprises the following steps:
step S1, for: acquiring position information of each base station and measurement distance data of each base station in a target;
step S2, is used for: calculating the estimated position of the target according to the position information of each base station and the measured distance data of each base station to the target
Figure 373656DEST_PATH_IMAGE001
(ii) a Wherein the content of the first and second substances,
Figure 872771DEST_PATH_IMAGE002
，
Figure 641007DEST_PATH_IMAGE003
(ii) a Wherein the content of the first and second substances,
Figure 618190DEST_PATH_IMAGE004
respectively represent the firstiThe abscissa and ordinate of the individual base station position information;
Figure 483378DEST_PATH_IMAGE005
is shown as the firstiA measured distance between the individual base station and the target;
Nit is indicated that the number of base stations minus 1,N≥3；
a step S3 for: according to the estimated position
Figure 280957DEST_PATH_IMAGE001
Calculating range of intervalw：
Figure 395544DEST_PATH_IMAGE006
；
Step S4, is used for: to estimate the position
Figure 51784DEST_PATH_IMAGE001
Centered on the intervalwInternally constructed lattice setP：
Figure 833795DEST_PATH_IMAGE007
(ii) a Wherein R is preset;
step S5, is used for: to the lattice setPCalculating the comprehensive error evaluation value at each point in theD(j)：
Figure 799346DEST_PATH_IMAGE008
(ii) a Wherein the content of the first and second substances,j∈[0..R]；
and record thereinD(j) Minimum value corresponds to
Figure 604491DEST_PATH_IMAGE009
As a target approach position
Figure 189056DEST_PATH_IMAGE010
；
Wherein the content of the first and second substances,D(j) Representing a set of latticesPTo middlejThe comprehensive error evaluation value of the points;
step S6, is used for: get
Figure 700940DEST_PATH_IMAGE011
And narrow the range of the intervalwRepeating the steps S4 to S6 until the interval range is reachedwLess than a predetermined thresholdeAt the approaching position of the target
Figure 712758DEST_PATH_IMAGE012
As the final calculated target location position.
Further, according to the target location calculating method of the present invention, in the step S4,
Figure 739620DEST_PATH_IMAGE013
；
wherein the content of the first and second substances,
Figure 518089DEST_PATH_IMAGE014
，
Figure 743534DEST_PATH_IMAGE015
，H≥2。
further, according to the target location calculating method of the present invention, in the step S4,H=4; step S6 of narrowing the range of the sectionwWhen the value range of (2) is selected, the range of the interval is narrowedwTo 2w/3。
Further, according to the object location calculation method of the present invention, a threshold valueeNot more than half the required positioning accuracy.
An object location calculation apparatus according to the present invention includes the following modules:
a module M1 for: acquiring position information of each base station and measurement distance data of each base station in a target;
a module M2 for: calculating the estimated position of the target according to the position information of each base station and the measured distance data of each base station to the target
Figure 129516DEST_PATH_IMAGE001
(ii) a Wherein the content of the first and second substances,
Figure 846937DEST_PATH_IMAGE002
，
Figure 773304DEST_PATH_IMAGE003
(ii) a Wherein, the first and the second end of the pipe are connected with each other,
Figure 56518DEST_PATH_IMAGE004
respectively representiThe abscissa and ordinate of the individual base station position information;
Figure 65931DEST_PATH_IMAGE005
is shown asiA measured distance between the individual base station and the target;
Nit is indicated that the number of base stations minus 1,N≥3；
a module M3 for: according to the estimated position
Figure 67385DEST_PATH_IMAGE001
Calculating range of intervalw：
Figure 531865DEST_PATH_IMAGE006
；
A module M4 for: to estimate the position
Figure 872847DEST_PATH_IMAGE001
Centered on the intervalwInner construction lattice setP：
Figure 866211DEST_PATH_IMAGE016
(ii) a Wherein R is preset;
a module M5 for: to the lattice setPCalculating the comprehensive error evaluation value at each point in theD(j)：
Figure 886120DEST_PATH_IMAGE008
(ii) a Wherein the content of the first and second substances,j∈[0..R]；
and record thereinD(j) Minimum value corresponds to
Figure 807153DEST_PATH_IMAGE017
As a target approach position
Figure 861696DEST_PATH_IMAGE018
；
Wherein the content of the first and second substances,D(j) Representing a set of latticesPTo middlejThe comprehensive error evaluation value of the points;
a module M6 for: get the
Figure 760382DEST_PATH_IMAGE019
And narrow the range of the intervalwRepeating the modules M4 to M6 until reaching the interval rangewLess than a predetermined thresholdeAt the approaching position of the target
Figure 674111DEST_PATH_IMAGE020
As the final calculated target location position.
Further, according to the object location calculation device of the present invention, in the module M4,
Figure 745973DEST_PATH_IMAGE021
；
wherein the content of the first and second substances,
Figure 858285DEST_PATH_IMAGE022
，
Figure 380402DEST_PATH_IMAGE023
，H≥2。
further, according to the object location calculation device of the present invention, in the module M4,H=4; the module M6 reduces the range of the intervalwWhen the value range of (2) is selected, the range of the interval is narrowedwTo 2w/3。
Further, according to the object localization calculation device of the present invention, the threshold valueeNot more than half the required positioning accuracy.
The invention has the following technical effects: the method comprises the steps of firstly estimating a possible range of target positioning, then traversing in a fast iteration mode through a dot matrix in the possible range, and calculating a point with the minimum comprehensive error as a final positioning target. In addition, the invention avoids the error accumulation problem possibly caused by algorithms such as Taylor positioning algorithm, kalman filtering algorithm and the like.
Drawings
Fig. 1 is a schematic structural diagram of a wireless positioning system according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Fig. 1 illustrates a wireless positioning system including a control center host 100 and a plurality of base stations 200 densely arranged in a specific area, the control center host 100 being connected to the base stations 200. The object 300 under test is located within the area in which the base station 200 is disposed. When wireless positioning is performed, the target 300 to be measured interacts with the base station 200, the base station 200 measures the distance between the target 300 to be measured through the interaction with the target 300 to be measured, and the base station 200 sends distance data to the control center host 100 after measuring the distance between the target 300 to be measured and the base station 200. The control center host 100 implements the target location calculation method of the present embodiment by executing a computer program. That is, the object localization calculation method and the object localization calculation apparatus of the present invention are realized by a machine computer software program. The wireless communication technology of which technology is used by the base station 200 and the target 300 to be measured, how the base station 200 measures the distance to the target 300 to be measured, and how the base station 200 transmits the distance data to the control center host 100 are not the scope of the present disclosure, and need not be described in detail.
The target positioning calculation method of the embodiment comprises the following steps:
s1, acquiring position information of each base station and measurement distance data of each base station in a target;
s2, calculating the estimated position of the target according to the position information of each base station and the measured distance data of each base station to the target
Figure 374903DEST_PATH_IMAGE001
；
Step S3, according to the estimated position
Figure 125821DEST_PATH_IMAGE001
Calculating range of intervalw；
Step S4, estimating the position
Figure 358220DEST_PATH_IMAGE001
Centered on the intervalwInternally constructed lattice setP；
Step S5, aiming at the dot matrix setPCalculating the comprehensive error evaluation value at each point in theD(j) Recording the integrated error estimate thereinD(i) Minimum value corresponds to
Figure 395446DEST_PATH_IMAGE024
As a target approach position
Figure 533035DEST_PATH_IMAGE025
；
Step S6, to approach the position
Figure 149961DEST_PATH_IMAGE025
As the estimated position, and reducing the range of the intervalwCarrying out the iteration from the step S4 to the step S6 until the interval rangewLess than a predetermined thresholde。
Step S1 indicates that the position information of each base station and the measured distance data of each base station to the target are input to the present invention. The target is the object to be measured. The location information of each base station can be expressed as
Figure 299183DEST_PATH_IMAGE026
The measured distance data to the target for each base station can be expressed as
Figure 382676DEST_PATH_IMAGE027
(ii) a Wherein the content of the first and second substances,
Figure 555032DEST_PATH_IMAGE028
is shown asiHorizontal and vertical coordinates of the base station position;
Figure 772386DEST_PATH_IMAGE029
denotes the firstiThe distance between each base station and the target;
Figure 900748DEST_PATH_IMAGE030
is represented by from 0 toNIs selected. N is the base station number minus 1, i.e., N +1 is the base station number. It should be noted that the number of base stations is not the total number of base stations in the whole wireless positioning system, but the number of base stations from which effective distance data can be measured with the target to be measured. It should be noted that the target location calculation method of the present invention requires that the number of base stations capable of measuring the effective distance data of the measured target is at least 4, so as to satisfy the redundancy requirement. That is to sayN≥3。
In addition, the position information of each base station and the measurement distance data of each base station to the target can also be expressed as the following ternary structure:
Figure 748618DEST_PATH_IMAGE031
. Those skilled in the art will appreciate how the input data is represented in a manner that does not affect the calculation of the object location of the present invention.
From the input of step S1, those skilled in the art will appreciate that to calculate the target position, the following overdetermined system of equations for solving for the target position may be constructed from the distance formula:
Figure 205008DEST_PATH_IMAGE032
；
in the above equation system, subtracting the first expression from the last N expressions can obtain the following equation system expressed in matrix:AX＝B(ii) a Wherein the content of the first and second substances,
Figure 101419DEST_PATH_IMAGE033
，
Figure 959654DEST_PATH_IMAGE034
，
X＝[x,y]。
from this, a positioning error function can be derived:
Figure 902727DEST_PATH_IMAGE035
. According to the least square method, forf(X) To findxAndyrespectively, the partial derivatives are equal to 0: ∂f(X)/ ∂x ＝0，∂f(X)/ ∂y =0, the estimated position of the target can be calculated
Figure 784095DEST_PATH_IMAGE036
：
Figure 608832DEST_PATH_IMAGE002
，
Figure 196939DEST_PATH_IMAGE003
。
The mathematical derivation process is the estimated position in step S2 of the present invention
Figure 386612DEST_PATH_IMAGE036
The source of the calculation of (2).
In step S3, the section rangewCalculated according to the following formula:
Figure 817593DEST_PATH_IMAGE006
。
obviously, the range of intervalswIs essentially an average distance error value.
In step S4, the lattice setPCan be expressed as:
Figure 305075DEST_PATH_IMAGE037
. In this embodiment, the lattice set is constructed as followsP：
Figure 872323DEST_PATH_IMAGE013
(ii) a Wherein, the first and the second end of the pipe are connected with each other,
Figure 232897DEST_PATH_IMAGE038
，
Figure 760961DEST_PATH_IMAGE015
，H≥2。
that is, in this embodiment, the lattice setPIs formed by taking the horizontal coordinate as an intervalx p －w, x p ＋w]The equidistant points and the ordinate in the range are the interval [ 2 ]y p －w, y p ＋w]A square matrix of equally spaced points within the range, the spacing of the intervals being 2w/H. Lattice setPThe number of interior points is: (H+1)×(H+ 1), that is to sayR＝(H+1)×(H+1) －1。
Those skilled in the art will appreciate that the lattice set P may be constructed in other ways. For example, the lattice set P is an estimated position
Figure 927500DEST_PATH_IMAGE039
Points on the circumference of the circle as the center of the circle, and points and estimated positions on different circumferences
Figure 818096DEST_PATH_IMAGE036
The distances of (a) are in an arithmetic progression. Regardless of the manner in which the lattice set P is constructed, the abscissa of the point in the lattice set P lies in the interval [ 2 ]x p －w, x p ＋w]In the range, the ordinate is in the interval [ ]y p －w, y p ＋w]Within the range. This is also the case
Figure 270943DEST_PATH_IMAGE036
Centered on the intervalwThe meaning of "inner construct".
In step S5, the overall error evaluation value D (j) is calculated by using the following formula:
Figure 676517DEST_PATH_IMAGE040
(ii) a Wherein the content of the first and second substances,j∈[0..R]；
wherein the content of the first and second substances,D(j) Representing a set of latticesPTo middlejAnd (4) comprehensive error evaluation values of the points.
Step S6 represents that steps S4 to S6 are a loop iteration process, and each loop passes through the reduced interval rangewConvergence is performed. Range of current intervalwLess than thresholdeWhen so, the loop iteration is ended. Threshold valueeThe predetermined value is generally not less than half of the required positioning accuracy. For example, if the positioning accuracy required by a positioning system is not less than 1 meter, the threshold value is seteAnd may be selected to be 0.5 meter or 0.4 meter.
Those skilled in the art will appreciate that step S6 narrows the rangewThe reduced scale determines the speed of the target positioning calculation method of the invention, and if the reduced scale is larger, the convergence is faster, and the overall calculation speed is faster. On the other hand, if the scale of reduction is too large, the point of minimum error may be missed. To this end, in general, the interval range is determined for each iterationwThe reduced value should not be less than half the maximum spacing between adjacent dots in the dot matrix set P. For example, the points in the lattice set P of this embodiment are constructed as follows:
Figure 318851DEST_PATH_IMAGE013
(ii) a Wherein the content of the first and second substances,
Figure 736057DEST_PATH_IMAGE038
，
Figure 235171DEST_PATH_IMAGE015
。Hin this embodiment, preferably, 4 points are 25 points in the lattice set P. I.e. R =24. At this time, half of the maximum distance between adjacent dots in the dot matrix set P
Figure 252674DEST_PATH_IMAGE041
About 0.36w. Therefore, step S6 reduces the range of the sectionwShould not be less than 0.36w. In this embodiment, step S6 narrows down the rangewReduced to 2w/3。
In addition, those skilled in the art understand that when constructing the lattice set P in the present embodiment, the larger H, the larger the calculation amount of each iteration. The iteration efficiency is comprehensively considered, and H is more suitable to be 3-6.
Furthermore, it is emphasized that, when calculating the integrated error evaluation value D (j),
Figure 698699DEST_PATH_IMAGE042
in the formula, an absolute value is taken.
In addition, the device and the method in the invention correspond, and the modules in the device and the steps in the method correspond, which are not described again.

Claims (6)

1. A method of calculating target location, the method comprising the steps of:
step S1, for: acquiring position information of each base station and measurement distance data of each base station in a target;
step S2, is used for: calculating the estimated position of the target according to the position information of each base station and the measured distance data of each base station to the target
Figure QLYQS_1
(ii) a Wherein the content of the first and second substances,
Figure QLYQS_2
，
Figure QLYQS_3
(ii) a Wherein the content of the first and second substances,
Figure QLYQS_4
respectively represent the firstiThe abscissa and ordinate of the individual base station position information;
Figure QLYQS_5
is shown asiA measured distance between the individual base station and the target;
Nit is indicated that the number of base stations minus 1,N≥3；
step S3, is used for: according to the estimated position
Figure QLYQS_6
Calculating range of intervalw：
Figure QLYQS_7
；
Step S4, is used for: to estimate the position
Figure QLYQS_8
Centered on the intervalwInternally constructed lattice setP：
Figure QLYQS_9
；
Wherein, the first and the second end of the pipe are connected with each other,
Figure QLYQS_10
，
Figure QLYQS_11
，H≥2；
step S5, is used for: to the lattice setPCalculating the comprehensive error evaluation value at each point in theD(j)：
Figure QLYQS_12
(ii) a Wherein the content of the first and second substances,j∈[0..R]；
and record thereinD(j) Minimum value corresponds to
Figure QLYQS_13
As a target approach position
Figure QLYQS_14
；
Wherein, the first and the second end of the pipe are connected with each other,D(j) Representing a set of latticesPTo middlejThe comprehensive error evaluation value of the points;
step S6, is used for: get
Figure QLYQS_15
And narrow the range of the intervalwRepeating the steps S4 to S6 until the interval range is reachedwLess than a predetermined thresholdeAt the approaching position of the target
Figure QLYQS_16
As the final calculated target location。
2. The object-locating calculation method according to claim 1, wherein, in step S4,H=4; step S6 of narrowing the range of the sectionwWhen the value range of (2) is selected, the range of the interval is narrowedwTo 2w/3。
3. The method of object localization calculation of claim 1, wherein the threshold valueeNot more than half the required positioning accuracy.
4. An object localization calculation apparatus, comprising:
a module M1 for: acquiring position information of each base station and measurement distance data of each base station in a target;
a module M2 for: calculating the estimated position of the target according to the position information of each base station and the measured distance data of each base station to the target
Figure QLYQS_17
(ii) a Wherein the content of the first and second substances,
Figure QLYQS_18
，
Figure QLYQS_19
(ii) a Wherein the content of the first and second substances,
Figure QLYQS_20
respectively representiThe abscissa and ordinate of the individual base station position information;
Figure QLYQS_21
is shown asiA measured distance between the individual base station and the target;
Nit is indicated that the number of base stations minus 1,N≥3；
a module M3 for: according to the estimated position
Figure QLYQS_22
Calculating range of intervalw：
Figure QLYQS_23
；
A module M4 for: to estimate the position
Figure QLYQS_24
Centered on the intervalwInternally constructed lattice setP：
Figure QLYQS_25
；
Wherein the content of the first and second substances,
Figure QLYQS_26
，
Figure QLYQS_27
，H≥2；
a module M5 for: to the lattice setPCalculating the comprehensive error evaluation value at each point in theD(j)：
Figure QLYQS_28
(ii) a Wherein, the first and the second end of the pipe are connected with each other,j∈[0..R]；
and record thereinD(j) Minimum value corresponds to
Figure QLYQS_29
As a target approach position
Figure QLYQS_30
；
Wherein the content of the first and second substances,D(j) Representing a set of latticesPTo middlejThe comprehensive error evaluation value of the points;
a module M6 for: get
Figure QLYQS_31
And narrow the range of the intervalwRepeating the modules M4 to M6 until reaching the interval rangewLess than a predetermined thresholdeAt the approaching position of the target
Figure QLYQS_32
As the final calculated target location position.
5. Object-positioning computing device according to claim 4, characterized in that in said module M4,H=4; the module M6 reduces the range of the intervalwWhen the value range of (2) is selected, the range of the interval is narrowedwTo 2w/3。
6. Object localization computing device according to claim 4, characterized by a threshold valueeNot more than half the required positioning accuracy.
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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022027073A1 (en) * 2020-07-31 2022-02-03 Cohere Technologies, Inc. Localization and auto-calibration in a wireless network
CN114487998A (en) * 2021-08-26 2022-05-13 苏州楚亦捷科技有限公司 High-precision lattice positioning method without base station

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022027073A1 (en) * 2020-07-31 2022-02-03 Cohere Technologies, Inc. Localization and auto-calibration in a wireless network
CN114487998A (en) * 2021-08-26 2022-05-13 苏州楚亦捷科技有限公司 High-precision lattice positioning method without base station

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
李正东等.基于测距技术的井下动目标精确定位方法.《工矿自动化》.2015,(第05期), *

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