CN116419147A - Indoor UWB positioning resolving method based on distance difference under non-line-of-sight environment - Google Patents
Indoor UWB positioning resolving method based on distance difference under non-line-of-sight environment Download PDFInfo
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- CN116419147A CN116419147A CN202111664715.3A CN202111664715A CN116419147A CN 116419147 A CN116419147 A CN 116419147A CN 202111664715 A CN202111664715 A CN 202111664715A CN 116419147 A CN116419147 A CN 116419147A
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- 238000000034 method Methods 0.000 title claims abstract description 31
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- 238000005259 measurement Methods 0.000 claims description 5
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- 238000007781 pre-processing Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 6
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- 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
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- 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
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Signal Processing (AREA)
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The application discloses an indoor UWB positioning resolving method under a non-line-of-sight environment based on distance difference, which comprises the following steps: acquiring distance information from a plurality of base station coordinates to a tag; the distance between the current time tag and each base station and the distance between the previous time tag and each base station are subjected to differential processing; respectively comparing and judging the distance difference value between the label and each base station with a threshold value, and eliminating the distance information which does not meet the requirement; and after removing the distance information with larger error, calculating the variance information of the distance from each rest base station to the tag. The influence of UWB positioning errors in non-line-of-sight environments is reduced, the preprocessing of distance errors is realized, positioning accuracy is further improved through the arrangement of reasonable weight information, and the reliability of UWB positioning in complex environments is improved.
Description
Technical Field
The invention relates to an indoor positioning technology, in particular to an indoor UWB positioning resolving method under a non-line-of-sight environment based on distance difference.
Background
With the development of scientific technology, accurate position information plays an irreplaceable important role in various aspects of military and civil use. Satellite positioning is a way to acquire effective position information, but satellite positioning is easily affected by external environment, and under the condition of poor communication, satellite cannot realize accurate positioning. In order to make up for the positioning condition that the satellite cannot realize, seamless positioning service is provided, and the realization of node positioning by using a wireless sensor network is widely focused. The wireless sensor network (wireless sensor network, WSN) is utilized to realize positioning, so that the cost and the power consumption can be reduced, the defect of satellite positioning can be overcome, and seamless positioning can be realized. At present, the positioning method mainly has two means, namely, the positioning method is based on ranging information and does not need ranging information. The positioning algorithm based on the ranging information needs to obtain parameters such as a measured distance or an azimuth angle, and calculate the position of a node by using the parameters, and the classical method comprises a trilateration method, a triangulation method and a least square method. Classical least square methods utilize measured distances and estimate approximate solutions of node positions through linearization of a distance formula, and although the calculation complexity is low, the calculation result is not accurate enough. The UWB-based positioning technology is most widely applied, and the UWB positioning adopts the ultra-wideband technology, so that the positioning accuracy of the centimeter level can be achieved. However, the use of UWB positioning in complex environments faces a problem of signal occlusion. In general, UWB has strong penetrability to common wooden materials, plastics, glass, etc., but weak penetrability to iron materials and concrete walls with complex structures, and in addition, the UWB signal absorption by the human body itself, the UWB technology has poor effect in application scenarios in complex environments. Under such circumstances, it is necessary to study a UWB positioning method that can be applied to a complex environment, and thus effectively solve the problem.
Disclosure of Invention
The purpose of the application is to provide an indoor UWB positioning resolving method under a non-line-of-sight environment based on distance difference, which can further improve UWB positioning accuracy.
In order to achieve the above purpose, the present application provides the following technical solutions: a gesture resolving method based on MEMS under dynamic condition comprises the following steps: an indoor UWB positioning resolving method under a non-line-of-sight environment based on distance difference comprises the following steps: acquiring distance information from a plurality of base station coordinates to a tag; the distance between the current time tag and each base station and the distance between the previous time tag and each base station are subjected to differential processing; respectively comparing and judging the distance difference value between the label and each base station with a threshold value, and eliminating the distance information which does not meet the requirement; and after removing the distance information with larger error, calculating the variance information of the distance from each rest base station to the tag.
Compared with the prior art, the invention has the beneficial effects that: according to the method, UWB distance difference information is introduced, and a calculation model based on UWB ranging difference is established. The influence of UWB positioning errors in non-line-of-sight environments is reduced. The variance processing technology is applied to UWB ranging information, so that the preprocessing of the distance error is realized, and the positioning accuracy is further improved by setting reasonable weight information. The weighted least square method is provided and applied to the UWB positioning system, so that the reliability of UWB positioning in a complex environment is further improved.
Detailed Description
The following description will make clear and complete a description of the technical solutions in the embodiments of the present application, it being apparent that the described embodiments are only some of the embodiments of the present application, but not all of the embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
The invention relates to an indoor UWB positioning resolving method under a non-line-of-sight environment based on distance difference, which is characterized in that:
step 1: and acquiring distance information from the coordinates of the plurality of base stations to the tag.
Measuring N pieces of base station coordinate information: (A) x1 ，A y1 ，A z1 )、(A x2 ，A y2 ，A z2 )、(A x3 ，A y3 ，A z3 )、(A x3 ，A y3 ，A z3 )、...、(A xN ，A yN ，A zN ). Wherein A is x1 ，A y1 ，A z1 Three coordinate values of x, y and z of the base station 1 are respectively indicated. Similarly, A x2 ，A y2 ，A z2 Three coordinate values of x, y and z of the base station 2 are respectively indicated.
Measuring the obtained distance information between N base stations and the tag: d (D) 1 、D 2 ·D 3 …D N . Wherein D is 1 Indicating the distance of the base station 1 to the tag. D (D) 2 Indicating the distance of the base station 2 from the tag.
Measuring and obtaining distance information between N base stations and the tag at the moment t:
wherein (1)>
The distance from the base station 1 to the tag at time t is indicated. />
The distance from the base station 2 to the tag at time t is indicated. And simultaneously recording the distance information between N base stations and the tag at the last moment (t-1 moment): />
Wherein (1)>
Indicating the distance from the base station 1 to the tag at time t-1. />
Indicating the distance from the base station 2 to the tag at time t-1.
Step 2: and carrying out differential processing on the distance from the tag at the current moment to each base station and the distance from the tag at the previous moment to each base station.
The method comprises the following steps:
wherein,,
representing the distance difference between the tag and the base station 1 (the distance difference between time t and time t-1);
representing the distance difference between the tag and the base station 2 (the distance difference between time t and time t-1); />
Representing the distance difference between the tag and the base station 3 (the distance difference between time t and time t-1); />
Representing the distance difference between the tag and the base station N (the distance difference between time t and time t-1);
step 3: and respectively comparing and judging the distance difference value between the label and each base station with a threshold value, and eliminating the distance information which does not meet the requirement.
In particular, the position and speed of the person do not change greatly under normal walking/working conditions. Therefore, according to the assumption, a threshold value f is set to judge the detection in the case of sudden shielding of an obstacle.
The method comprises the following steps:
wherein the threshold f=50 cm,
and respectively comparing and judging the distance difference value between the tag and each base station with a threshold value f. Eliminating the distance information which does not meet the requirement, and assuming that the distance information after elimination is:
step 4: and calculating the variance information of the distance from each rest base station to the tag after calculating the distance information with larger rejection error.
In particular, the method comprises the steps of,
…
where L represents the data length used in calculating the variance, implemented by a sliding window. Where l=10.
The average of the distances of 10 measurements from the base station 1 to the tag is shown. />
The average of the distances of 10 measurements from the base station 2 to the tag is shown.
The average of the distances of 10 measurements from the base station 3 to the tag is shown. />
Representing the average of the distances of 10 measurements from the base station M to the tag. />
Indicating the distance variance information of the base station 1 to the tag. />
Indicating the distance variance information of the base station 2 to the tag. />
Representing base station 3 to tagDistance variance information. />
Indicating the distance variance information of the base station M to the tag.
Step 5: the positioning result is estimated by a weighted least square method introduced here by the distance variance information.
A weighted least squares method is introduced here by the distance variance information. First, a weight W is calculated from the distance variance information.
W＝diag{w 1 ，w 2 ，w 3 ，…w M }
UWB positioning calculation formula based on weighted least square method is written as follows:
wherein the matrix is represented as follows:
although embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the application, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. An indoor UWB positioning resolving method under a non-line-of-sight environment based on distance difference is characterized in that: the method comprises the following steps:
step 1: acquiring distance information from a plurality of base station coordinates to a tag;
step 2: the distance between the current time tag and each base station and the distance between the previous time tag and each base station are subjected to differential processing;
step 3: respectively comparing and judging the distance difference value between the label and each base station with a threshold value, and eliminating the distance information which does not meet the requirement;
step 4: after removing the distance information with larger error, calculating the variance information of the distance from each rest base station to the tag;
step 5: the positioning result is estimated by a weighted least square method introduced here by the distance variance information.
2. The indoor UWB positioning solution method in a non-line-of-sight environment based on distance difference as defined in claim 1, wherein: in the step 2, distance information between N base stations and the tag at the time t is measured and obtained:
wherein,,
wherein,,
representing the difference in distance between the tag and the base station N.
3. The indoor UWB positioning solution method of the distance difference-based non-line-of-sight environment of claim 2, wherein: in the step 4 described above, the step of,
wherein L represents the data length used in calculating the variance, and is realized through a sliding window;
a distance average representing 10 measurements from the base station M to the tag; />
Indicating the distance variance information of the base station M to the tag.
4. The indoor UWB positioning solution method of claim 3 in a non-line-of-sight environment based on distance difference, wherein: in the above step 5, the weight W is calculated based on the distance variance information,
W＝diag{w 1 ，w 2 ，w 3 ，…w M }
UWB positioning solving mode based on weighted least square method:
wherein the matrix is represented as follows:
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116819433A (en) * | 2023-08-29 | 2023-09-29 | 湘江实验室 | UWB non-line-of-sight positioning method based on estimated distance |
| CN118488546A (en) * | 2024-07-09 | 2024-08-13 | 河海大学 | Robot UWB positioning method based on robust least square method |
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2021
- 2021-12-31 CN CN202111664715.3A patent/CN116419147A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116819433A (en) * | 2023-08-29 | 2023-09-29 | 湘江实验室 | UWB non-line-of-sight positioning method based on estimated distance |
| CN116819433B (en) * | 2023-08-29 | 2023-11-14 | 湘江实验室 | UWB non-line-of-sight positioning method based on estimated distance |
| CN118488546A (en) * | 2024-07-09 | 2024-08-13 | 河海大学 | Robot UWB positioning method based on robust least square method |
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