CN116647909A - Virtual anchor node weighted centroid indoor positioning method based on received signal strength - Google Patents

Virtual anchor node weighted centroid indoor positioning method based on received signal strength Download PDF

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Publication number
CN116647909A
CN116647909A CN202310931226.2A CN202310931226A CN116647909A CN 116647909 A CN116647909 A CN 116647909A CN 202310931226 A CN202310931226 A CN 202310931226A CN 116647909 A CN116647909 A CN 116647909A
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node
anchor node
virtual
target node
distance
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Inventor
李子申
杨阔
王亮亮
刘振耀
王志宇
楚焕鑫
韦永僧
尹心彤
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Qilu Aerospace Information Research Institute
Aerospace Information Research Institute of CAS
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Aerospace Information Research Institute of CAS
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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
    • 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
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
    • 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
    • H04W4/30—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
    • 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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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The invention provides a virtual anchor node weighted centroid indoor positioning method based on received signal strength, which belongs to the field of wireless indoor positioning and comprises target node area selection; setting a virtual anchor node; calculating a virtual distance; the target node location is estimated. The invention further improves the positioning precision of the weighted centroid positioning algorithm on the premise of not additionally increasing the hardware cost of the system, introduces virtual anchor nodes, does not increase the hardware cost of an actual positioning system, and improves the arrangement density of the anchor nodes in an indoor positioning area. In the invention, when the number of the anchor nodes in the indoor positioning area is increased, namely the density of the anchor nodes in the positioning area is increased, the performance of the positioning algorithm is correspondingly improved.

Description

Virtual anchor node weighted centroid indoor positioning method based on received signal strength
Technical Field
The invention belongs to the field of wireless indoor positioning, and particularly relates to a virtual anchor node weighted centroid indoor positioning method based on received signal strength.
Background
According to the related statistics, more than 80% of people's daily life spends in indoor environment, so people's needs for location information based services in indoor environment are becoming urgent, and future markets for indoor positioning will be huge, so indoor positioning technology has become a field of interest, and will continue to be one of academic research hotspots for some time in the future.
As is well known, outdoor positioning systems have been developed and widely used, such as: global satellite positioning system (Global Positioning Systems, GPS), beidou navigation positioning system (BeiDou Navigation Satellite System, BDS) independently developed by china and put into use, and the like. The conventional outdoor positioning system can completely and effectively solve the outdoor positioning problem, can realize the positioning accuracy within 10 meters in the global scope, and has many mature GPS products used in daily production and living practice, however, in an indoor environment or an indoor-like environment (such as a mine, a tunnel and the like), satellite signals can be blocked by various walls, so that indoor equipment can only receive weak satellite signals, and the GPS positioning system can not provide the positioning performance expected by people in the indoor environment or can not provide positioning service at all. At the same time, complex indoor environments have many disadvantages for signal propagation, such as: multipath propagation, reflection, scattering, etc., which also drastically reduces the GPS signal strength and quality, and thus does not provide accurate location services as outdoors.
Indoor location is a process of determining location coordinates of a device holder by locking a location of an indoor wireless device, and its operating principle is that a personal mobile terminal provides location information to a user in real time through a wireless communication technology, so services based on indoor location information have become an important extension of the global positioning system. Over the last decades, a variety of positioning algorithms have been proposed to achieve higher positioning accuracy. Among these algorithms, the received signal strength (Received Signal Strength, RSS) is characterized by low power and low complexity, which makes RSS-based positioning technology one of the most interesting ways to achieve accurate indoor positioning.
Disclosure of Invention
In order to solve the technical problems, the invention provides an RSS-based indoor positioning method for a weighted centroid of a virtual anchor node, which is mainly used for further improving the positioning accuracy of a weighted centroid positioning algorithm on the premise of not additionally increasing the hardware cost of a system, because the virtual anchor node is introduced without increasing the hardware cost of an actual positioning system, but the arrangement density of the anchor nodes in an indoor positioning area is improved by introducing the virtual anchor node. For the weighted centroid positioning algorithm, when the number of anchor nodes in the indoor positioning area increases (i.e. the density of anchor nodes in the positioning area increases), the performance of the positioning algorithm also increases accordingly. Therefore, the weighted centroid indoor positioning method based on the virtual anchor node is feasible in theory.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a virtual anchor node weighted centroid indoor positioning method based on received signal strength comprises the following steps:
step (1) target node area selection: dividing the indoor positioning area into four sub-areas by taking horizontal and vertical bisectors thereof as boundaries, wherein each sub-area comprises a real anchor node which is arranged in advance, and dividing the sub-areas into sub-areas #1, #2, #3 and #4 respectively from the lower left corner of the whole indoor positioning area in a clockwise direction; dividing the indoor positioning area and determining a sub-area to which the target node belongs, namely a target node area;
and (2) setting a virtual anchor node: after the target node area determination of step (1), five virtual anchor nodes are introduced into the indoor positioning area and are respectively given reference numeralsWherein->Through the introduction mode of five virtual anchor nodes, each sub-area divided by the indoor positioning area still maintains rectangular characteristics, and four corners of each sub-area are anchor node positions, namely each sub-area comprises a real anchor node and three virtual anchor nodes; the subareas which are divided by the indoor positioning areas are arranged in the same indoor positioning environment as the whole indoor positioning area;
step (3) calculating a virtual distance: after the target node areas of the steps (1) - (2) are determined and the virtual anchor nodes are set, calculating the virtual distance from the target node to the virtual anchor node, so as to obtain three virtual distances and one actually measured distance;
step (4) estimating the target node position: after the steps (1) - (3), the obtained virtual distance from the target node to the virtual anchor node and the coordinate information of the virtual anchor node introduced into the sub-region to which the target node belongs are brought into a weighted centroid positioning algorithm to obtain the position coordinate estimation of the target node with higher precision.
The beneficial effects are that:
the invention mainly introduces the basic principle of a weighted centroid positioning algorithm based on a virtual anchor node and a specific implementation process. In the method, the whole indoor positioning area is firstly required to be divided into different subareas, then virtual anchor nodes are introduced according to the geometric characteristics of the different subareas, and further virtual distance information from a target to the virtual anchor nodes is obtained. The position coordinates of the target node are then estimated by using the virtual anchor node and the calculated virtual distance. Because the anchor node density of the indoor positioning environment is increased by introducing the virtual anchor nodes, the distance from the target node to each anchor node is reduced when the positioning algorithm is applied, the weight of the anchor node is directly increased, namely, the weight of the anchor node which is closer to the target node is increased, and the positioning accuracy of the whole positioning algorithm is improved.
Drawings
Fig. 1 is a schematic diagram of the indoor positioning region segmentation principle.
Fig. 2 is a schematic diagram of virtual anchor node importation and virtual distance computation.
Fig. 3 is a detailed flow chart of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
As shown in fig. 1, fig. 2 and fig. 3, the virtual anchor node weighted centroid positioning algorithm based on the received signal strength of the present invention is divided into four steps in the implementation, which are respectively selecting a target node area, setting a virtual anchor node, calculating a virtual distance, and estimating the position of the target node.
Step (1) As shown in FIG. 1, the indoor positioning area is defined as a rectangular area, four real anchor nodesThe vertex of the indoor positioning area and the target node +.>Is the target node to be estimated indoors. Target node area selection: dividing the indoor positioning area into four small areas by taking the horizontal bisector and the vertical bisector of the indoor positioning area as boundaries, wherein each small area comprises a real anchor node which is arranged in advance, and dividing the area into a subarea #1, a subarea #2, a subarea #3 and a subarea #4 respectively from the lower left corner of the whole indoor positioning area in a clockwise direction.
The criterion for determining the area to which the target node belongs in the entire positioning environment is called the minimum distance criterion. After the target node enters the positioning environment, broadcast polling information is sent so that the RSS value from each anchor node can be obtained, the distance from the target node to each anchor node is reversely deduced according to the RSS value, and the label of the anchor node corresponding to the minimum found distance is the sub-region to which the target node belongs.
And (2) setting a virtual anchor node: as shown in FIG. 2, the present invention introduces five virtual anchor nodes in the modeled indoor positioning zone and labels them separatelyAmong these five virtual anchor nodes, +.>Is placed in the center of four frames of the rectangular positioning area, and a virtual anchor node is left +.>Is positioned at the center of the whole indoor positioning area. The virtual anchor node introduction mode can enable the subarea after the area segmentation and the whole positioning area to keep the same positioning environment setting, and meanwhile, the arrangement density of the anchor nodes in the positioning area is improved by four times compared with the prior art.
Step (3) calculating a virtual distance: after the target node region selection and the virtual anchor node setting in the steps (1) - (2), the virtual distance from the target node to the virtual anchor node needs to be calculated, and the virtual distance is as shown in fig. 2、/>And +.>Because each region contains three virtual anchor nodes and one real anchor node, there are three virtual distances and one measured distance in terms of distance information.
Virtual distanceThe calculation process of (2) is as follows:
from the triangle geometry, it can be derived:
（1）
wherein the method comprises the steps ofFor target node to real anchor node->Connection between and true anchor node->To the real anchor node->Included angle of connecting lines, add>Is a real anchor node in an indoor positioning environment>To->Euclidean distance of>For target node to real anchor node->Distance of->For target node to real anchor node->Is the distance of (a), namely:
（2）
wherein the real anchor nodeCoordinates of->I.e. the abscissa is +.>The ordinate is +.>The method comprises the steps of carrying out a first treatment on the surface of the Real anchor node->Coordinates of->I.e. the abscissa is +.>The ordinate is +.>；/>Representing the Euclidean distance;
thereby obtaining the virtual distanceThe method comprises the following steps:
（3）
virtual distanceThe calculation process of (2) is as follows:
from the triangle geometry, it can be derived:
（4）
wherein the method comprises the steps ofFor target node to real anchor node->Connection between and true anchor node->To the real anchor node->Included angle of connecting lines, add>Is a real anchor node in an indoor positioning environment>To->Euclidean distance of>For target node to real anchor node->Distance of->For target node to real anchor node->Is the distance of (a), namely:
（5）
wherein the real anchor nodeCoordinates of->I.e. the abscissa is +.>The ordinate is +.>The method comprises the steps of carrying out a first treatment on the surface of the Real anchor node->Coordinates of->I.e. the abscissa is +.>The ordinate is +.>；
Thereby obtaining the virtual distanceThe method comprises the following steps:
（6）
virtual distanceThe calculation process of (2) is as follows:
from the triangle geometry, it can be derived:
（7）
wherein the method comprises the steps ofFor target node to real anchor node->Connection between and true anchor node->To virtual anchor node->Included angle of connecting lines, add>For target node to real anchor node->Euclidean distance of>Is a real anchor node in an indoor positioning environment>To->Euclidean distance of>For target node to real anchor nodeDistance of->The representation takes absolute value, namely:
（8）
wherein the real anchor nodeCoordinates of->I.e. the abscissa is +.>The ordinate is +.>The method comprises the steps of carrying out a first treatment on the surface of the Real anchor node->Coordinates of->I.e. the abscissa is +.>The ordinate is +.>；
Thereby obtaining the virtual distanceThe method comprises the following steps:
（9）
wherein the method comprises the steps ofFor virtual anchor node->To anchor node->Euclidean distance between them.
Step (4) estimating the target node position: after steps (1) - (3), the sub-region to which the target node belongs can be obtained, and in addition, the virtual distances from the target node to the three vertexes of sub-region #2 can be calculated through step (3)，And +.>. The local coordinate system coordinates of the virtual anchor node in the positioning environment need to be known to obtain the final target estimated position, and the coordinate solution of the introduced virtual anchor node is relatively easy, and can be obtained only through a simple geometric relationship, as shown in the following formula (4):
（4）
the coordinates of the four anchor nodes (one real anchor node and three introduced virtual anchor nodes at this time) in the sub-region #2 to which the target node belongs are respectively，/>，，/>The distances from the corresponding target node to the four anchor nodes are respectively +.>，/>，/>，/>. The target node is obtained to the anchor node of the sub-area where the target node is located (comprising one anchor node and three introduced virtual anchor nodes, namely:)>) The distance of the anchor node and the coordinates of the four sub-region anchor nodes can be brought into equation (5) to obtain the final estimated coordinates of the target node.
（5）
In the above formula (5)Represents->Weight of each anchor node to target node, weight factorDetermining the contribution of each anchor node to the weight; wherein->An abscissa representing the estimated target node position, +.>Ordinate representing estimated target node position, +.>Represents the +.o. of the sub-region to which the target node belongs>The abscissa of the positions of the individual anchor nodes (i.e. comprising one real anchor node and three incoming virtual anchor nodes), +.>Represents the +.o. of the sub-region to which the target node belongs>The ordinate of the position of each anchor node (i.e. comprising one real anchor node and three incoming virtual anchor nodes).
When the weight factorWhen the numerical value of the weight factor is larger, the weight introduced by the anchor node closer to the target node is larger, and the weight of the anchor node farther from the target node is smaller.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.

Claims (3)

1. A virtual anchor node weighted centroid indoor positioning method based on received signal strength is characterized by comprising the following steps:
step (1) target node area selection: dividing the indoor positioning area into four sub-areas by taking horizontal and vertical bisectors thereof as boundaries, wherein each sub-area comprises a real anchor node which is arranged in advance, and dividing the sub-areas into sub-areas #1, #2, #3 and #4 respectively from the lower left corner of the whole indoor positioning area in a clockwise direction; dividing the indoor positioning area and determining a sub-area to which the target node belongs, namely a target node area;
and (2) setting a virtual anchor node: through the step (1)Five virtual anchor nodes are introduced into the indoor area after the target node area is determined, and are respectively given reference numeralsWherein->Through the introduction mode of five virtual anchor nodes, each sub-area divided by the indoor positioning area still maintains rectangular characteristics, and four corners of each sub-area are anchor node positions, namely each sub-area comprises a real anchor node and three virtual anchor nodes; the subareas which are divided by the indoor positioning areas are arranged in the same indoor positioning environment as the whole indoor positioning area;
step (3) calculating a virtual distance: after the target node areas of the steps (1) - (2) are determined and the virtual anchor nodes are set, calculating the virtual distance from the target node to the virtual anchor node, so as to obtain three virtual distances and one actually measured distance;
step (4) estimating the target node position: after the steps (1) - (3), the obtained virtual distance from the target node to the virtual anchor node and the coordinate information of the virtual anchor node introduced into the sub-region to which the target node belongs are brought into a weighted centroid positioning algorithm to obtain the position coordinate estimation of the target node with higher precision.
2. The method for indoor positioning of a weighted centroid of a virtual anchor node based on received signal strength of claim 1, wherein the formula of the virtual distance in step (3) is as follows:
virtual distanceThe calculation process of (2) is as follows:
from the triangle geometry, it follows that:
（1）
wherein the method comprises the steps ofFor target node to real anchor node->Connection between and true anchor node->To the real anchor node->Included angle of connecting lines, add>Is a real anchor node in an indoor positioning environment>To->Euclidean distance of>For target node to real anchor node->Distance of->For target node to real anchor node->Is the distance of (a), namely:
（2）
wherein the real anchor nodeCoordinates of->I.e. the abscissa is +.>The ordinate is +.>The method comprises the steps of carrying out a first treatment on the surface of the Real anchor nodeCoordinates of->I.e. the abscissa is +.>The ordinate is +.>；/>Representing the Euclidean distance;
thereby obtaining the virtual distanceThe method comprises the following steps:
（3）
virtual distanceThe calculation process of (2) is as follows:
from the triangle geometry, it follows that:
（4）
wherein the method comprises the steps ofFor target node to real anchor node->Connection between and true anchor node->To the real anchor node->Included angle of connecting lines, add>Is a real anchor node in an indoor positioning environment>To->Euclidean distance of>For target node to real anchor node->Distance of->For target node to real anchor node->Is the distance of (a), namely:
（5）
wherein the real anchor nodeCoordinates of->I.e. the abscissa is +.>The ordinate is +.>The method comprises the steps of carrying out a first treatment on the surface of the Real anchor nodeCoordinates of->I.e. the abscissa is +.>The ordinate is +.>；
Thereby obtaining the virtual distanceThe method comprises the following steps:
（6）
virtual distanceThe calculation process of (2) is as follows:
from the triangle geometry, it follows that:
（7）
wherein the method comprises the steps ofFor target node to real anchor node->Connection between and true anchor node->To virtual anchor node->Included angle of connecting lines, add>For target node to real anchor node->Euclidean distance of>Is a real anchor node in an indoor positioning environment>To->Euclidean distance of>For target node to real anchor node->Distance of->The representation takes absolute value, namely:
（8）
wherein the real anchor nodeCoordinates of->I.e. the abscissa is +.>The ordinate is +.>The method comprises the steps of carrying out a first treatment on the surface of the Real anchor nodeCoordinates of->I.e. the abscissa is +.>The ordinate is +.>；
Thereby obtaining the virtual distanceThe method comprises the following steps:
（9）
wherein the method comprises the steps ofFor virtual anchor node->To anchor node->Euclidean distance between them.
3. The method of claim 2, wherein in the step (4), the final position coordinates of the target node are estimated as follows:
（10）
wherein the method comprises the steps ofRepresents->The weight of each anchor node to the target node, and the weight factor g determines the contribution of each anchor node to the weight, wherein g>0；/>An abscissa representing the estimated target node position, +.>Ordinate representing estimated target node position, +.>Represents the +.o. of the sub-region to which the target node belongs>Abscissa of the position of the individual anchor node, +.>Represents the +.o. of the sub-region to which the target node belongs>The ordinate of the positions of the anchor nodes, i-th anchor node is a point of one real anchor node and three virtual anchor nodes.
CN202310931226.2A 2023-07-27 2023-07-27 Virtual anchor node weighted centroid indoor positioning method based on received signal strength Pending CN116647909A (en)

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Application publication date: 20230825