WO2013185541A1 - Méthode et dispositif de positionnement de cible - Google Patents

Méthode et dispositif de positionnement de cible Download PDF

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Publication number
WO2013185541A1
WO2013185541A1 PCT/CN2013/076466 CN2013076466W WO2013185541A1 WO 2013185541 A1 WO2013185541 A1 WO 2013185541A1 CN 2013076466 W CN2013076466 W CN 2013076466W WO 2013185541 A1 WO2013185541 A1 WO 2013185541A1
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WO
WIPO (PCT)
Prior art keywords
positioning
target
detection node
positioning position
detection
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PCT/CN2013/076466
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English (en)
Chinese (zh)
Inventor
王悦
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华为技术有限公司
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Publication of WO2013185541A1 publication Critical patent/WO2013185541A1/fr

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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
    • G01S5/0205—Details
    • G01S5/0244—Accuracy or reliability of position solution or of measurements contributing thereto

Definitions

  • the present invention relates to the field of positioning technology and, more particularly, to a method and apparatus for locating a target. Background technique
  • the wireless positioning technology (hereinafter referred to as positioning technology;) is to measure certain parameters of the received radio waves, and determine the position of the measured object according to the processing of the parameter measurement data, including the received signal strength.
  • RSS-based positioning is to locate the target by measuring the power of the received signal and a known channel fading model
  • TOA-based positioning is to locate the target by measuring the time that the received signal arrives at the detection node from the transmission
  • AOA-based positioning The target is located by measuring the angle of incidence of the received signal relative to a certain direction.
  • the positioning technology can be divided into a self-positioning system and a network-based positioning system according to the number of detection nodes participating in the positioning system and the positioning system structure.
  • the self-positioning system is characterized in that the detecting node determines the geometric positional relationship between the transmitting node and the transmitter according to the received characteristic information of the transmitted signal at the known position transmitter, and thereby calculates its own position. Position to complete self-positioning.
  • the network-based positioning system is characterized in that a plurality of detecting nodes simultaneously detect signals radiated by the measured object, and transmit characteristic information related to the position of the measured object carried in each received signal to an information fusion center, and the information fusion center Calculate the position of the measured object to complete the joint positioning of multiple detection nodes.
  • the entire observation area can be viewed as a grid.
  • the task to be solved by the multi-target positioning system is how to accurately locate all the target positions by measuring the data.
  • An ideal solution to solve the above tasks is to deploy detection nodes at all coordinate points in the grid to obtain RSS at all positions in the grid, so that the distribution of power (energy) in the entire grid is obtained. To accurately locate multiple targets within the grid.
  • the Compressive Sensing (CS) technology which has recently appeared in the field of signal processing, can realize the positioning of multiple targets in the observation area with fewer detection nodes.
  • the sampling rate of the signal should be at least equal to 2 times the signal bandwidth to recover the original signal without distortion, and the minimum sampling rate is called Nyquist sampling. rate.
  • Nyquist sampling. rate the minimum sampling rate is called Nyquist sampling. rate.
  • the proposed CS technique is based on the premise of signal sparsity, that is, a signal can correspond to a sparse coefficient vector on a set of orthogonal basis of a transform space, and there are only a few non-zero elements in the coefficient vector.
  • the signal is linearly projected by a low-speed (less than Nyquist sampling rate) sampling matrix.
  • the data obtained after low-speed sampling is a dimensionally reduced sampling output vector (the vector dimension is smaller than the original signal vector dimension);
  • the premise of the sparseness of the signal makes this underdetermined problem (the number of unknowns is greater than the number of equations) can be solved by the method of sudden optimization, that is, reconstruction of the original signal.
  • the multi-target positioning system randomly selects a certain number of detection nodes in the grid at one time, and the detection nodes collect the RSS measurement data at the respective locations and send the measurement data to the fusion center (FC, Fusion). Center ), and the signal reconstruction by FC to locate multiple targets.
  • FC Fusion center
  • FC Fusion Center
  • Embodiments of the present invention provide a method and apparatus for positioning a target, which can reduce the influence of the detection node being far away from the target position on the positioning effect.
  • an embodiment of the present invention provides a method for locating a target, the method comprising: determining a detection node of a first location; determining a first location of the target according to the positioning data measured by the detection node of the first positioning According to the k-1th positioning position of the target, the detection node of the kth positioning is determined, k is a positive integer and k is greater than or equal to 2; the first time of the target is determined according to the positioning data measured by the detection node of the kth positioning Positioning position; Determine the final position of the target based on the target's first positioning position.
  • an embodiment of the present invention provides a device for locating a target, the device comprising: a first determining module, configured to determine a detecting node of the first positioning; and a first processing module, configured to determine according to the first determining module
  • the first positioning detection node measures the positioning data to determine the first positioning position of the target
  • the second determining module is configured to determine the detection node of the second positioning according to the second positioning position of the target, which is a positive integer and greater than
  • a second processing module configured to determine, according to the positioning data measured by the detecting node of the second positioning determined by the second determining module, the % k times positioning position of the target
  • the third processing module configured to use the second processing module Determine the kth positioning position of the target and determine the final position of the target.
  • the method and apparatus for locating an object determines a target node to be positioned at a later time according to a previous positioning position of the target, thereby achieving target positioning, and reducing a distance of the detecting node from the target position.
  • the impact of the positioning effect so that the positioning resources can be effectively utilized to improve the accuracy of the target positioning.
  • FIG. 1 is a schematic flow chart of a method of locating a target according to an embodiment of the present invention.
  • FIGS. 2A and 2B are schematic flowcharts of a method of determining a detection node of a kth position according to an embodiment of the present invention.
  • 3A and 3B are schematic diagrams of two multi-target positioning scenarios in accordance with an embodiment of the present invention.
  • 4 is a schematic block diagram of an apparatus for locating a target in accordance with an embodiment of the present invention.
  • 5A and 5B are schematic block diagrams of a second determining module in accordance with an embodiment of the present invention. detailed description
  • FIG. 1 shows a schematic flow diagram of a method 100 of locating a target in accordance with an embodiment of the present invention. As shown in FIG. 1, the method 100 includes:
  • S120 Determine, according to the positioning data measured by the detecting node of the first positioning, the first positioning position of the target;
  • S140 Determine, according to the positioning data measured by the detection node of the second positioning, the second positioning position of the target;
  • the device for locating the target first determines the detection node of the first location in the positioning system, and determines the first positioning position of the target according to the positioning data measured by the detection node of the first positioning;
  • the target performs the second or more positioning, and according to the previous positioning position of the target, the detection node of the next positioning is determined, and then the measurement node of the subsequent positioning is determined.
  • Bit data which determines the next position of the target and determines the final position of the target.
  • the detection node of the next positioning is determined according to the previous positioning position of the target, thereby realizing the target positioning, and the influence of the detection node being far away from the target position on the positioning effect can be achieved. Therefore, the positioning resources can be effectively utilized to improve the accuracy of target positioning.
  • the technical solution of the embodiment of the present invention can be used not only for a single target positioning system but also for a multi-target positioning system, that is, in the embodiment of the present invention, the target can be either a single target or a multi-target.
  • the method 100 is performed by a device for locating a target, and the device for locating the target may be a positioning system or a fusion center in the positioning system, but the embodiment of the present invention is not limited thereto.
  • the following embodiments will be described by taking a fusion center as an example.
  • the detection node of the first positioning is determined.
  • the fusion center may determine the number according to a random selection manner.
  • the detection node of the first positioning; the detection node of the first positioning may also be determined according to a predetermined manner, for example, determining the detection node of the first positioning based on the prior information of the target position, or some of the positioning systems
  • the detection node is fixed as the detection node of the first positioning.
  • the embodiment of the present invention does not limit the manner of determining the detection node of the first positioning.
  • the first positioning position of the target is determined according to the positioning data measured by the detecting node of the first positioning.
  • the detection nodes of the first location measure the positioning data at the respective locations.
  • the positioning data may be the RSS, or other measurement data that can be used for the target positioning, which is not limited by the embodiment of the present invention.
  • the detection node of the first positioning transmits the measured positioning data to the fusion center.
  • Fusion Center Determines the first positioning position of the target based on the positioning data measured by the detection node of the first positioning.
  • the fusion center performs a decorrelation operation on the positioning data measured by the detecting node of the first positioning, and then performs signal reconstruction to determine the first positioning position of the target.
  • the detection node of the second positioning is determined according to the klth positioning position of the target.
  • the target may be subjected to the second or more positioning.
  • the detection node of the second positioning is determined according to the first positioning position of the target. That is to say, starting from the second positioning, each positioning determines the detection node of the positioning according to the previous positioning position of the target.
  • S130 includes: 5131. Determine, according to the k1th positioning position of the target, the newly detected detecting node of the second positioning, where the distance between the newly added detecting node and the klth positioning position of the target is within a predetermined range;
  • S130 includes:
  • the fusion center determines a newly added detection node for the next positioning according to the previous positioning position of the target, and then at least one detection node of the newly added detection node or the previously positioned detection node. And the newly added detection node is determined as the detection node of the next positioning.
  • the fusion center determines the newly detected detection node for the second location according to the k-1th positioning position of the target, and the distance between the newly added detection node and the k-th positioning position of the target is within a predetermined range. Specifically, the fusion center determines a detection node whose distance between the target position and the second positioning position is within a predetermined range, and detects the previously unselected detection nodes among the detection nodes as the newly added detection nodes. In other words, the newly added node should be near the previous location of the target. For example, in the detection node in the circular area with the predetermined distance as the center centered on the previous positioning position of the target, the previously unselected detection node is selected as the newly added detection node.
  • the newly added detection node is determined as the detection node of the second positioning, and is used for the second positioning.
  • S133 at least one of the detection nodes of the k-1th positioning detection node and the newly added detection node are determined as the detection node of the second positioning for the second positioning.
  • S133 includes:
  • the detection node of the k-1th positioning and the newly added detection node are determined as the detection node of the second positioning.
  • the next positioning uses the new detection node and all the previously selected detection nodes.
  • the subsequent positioning by using the newly added detection node can reduce the influence of the detection node being far away from the target position on the positioning effect, thereby improving The accuracy of targeting.
  • the newly added detection nodes are positioned to measure the positioning data at the respective locations. Then, the newly added detection node sends the measured positioning data to the fusion center.
  • the detection node that is located for the first time includes the previously selected detection node, since the positioning data measured by the previously selected detection node has been sent to the fusion center, no repeated measurement or transmission is required.
  • the fusion center determines the target position of the target based on the positioning data measured by the detection node of the second positioning. For example, the fusion center determines the target location of the target based on the location data measured by the new detection node and all previously selected detection nodes.
  • the fusion center performs a de-correlation operation on the positioning data measured by the detection node of the second positioning, and then performs signal reconstruction to determine the second positioning position of the target.
  • the final position of the target is determined according to the target position of the target.
  • S150 includes:
  • the second positioning position of the target is determined as the final position of the target; in the case of multiple positioning, the last positioning position of the target is determined as the final position of the target.
  • S150 includes:
  • the target positioning position is determined as the final position of the target
  • the final position of the target is determined according to the target k+1th positioning position.
  • embodiments of the present invention position the target two or more times.
  • the positioning position can be compared with the previous positioning position. If the positioning positions are the same or similar twice (that is, the difference between the two positioning positions does not exceed the error threshold), The positioning position is determined as the final position of the target; if the difference between the two positioning positions exceeds the error threshold, the next positioning is continued, and the same steps are repeated before.
  • the method for locating an object in the embodiment of the present invention determines the target node of the next positioning according to the previous positioning position of the target by performing two or more positioning on the target, thereby achieving target positioning and reducing the detecting node.
  • the influence of the remote location on the positioning effect so that the positioning resources can be effectively utilized to improve the accuracy of the target positioning.
  • FIG. 3A is a schematic diagram of a multi-target positioning scene on a two-dimensional plane. It should be understood that the technical solution of the embodiment of the present invention is applicable not only to the two-dimensional plane but also to the three-dimensional space, which is not limited by the embodiment of the present invention.
  • the network-based multi-target positioning system includes J detection nodes. Similarly, the positions of the J detection nodes correspond to coordinate points in the grid.
  • the signal radiated by the first target, after reaching the first detecting node via the wireless fading channel may be represented by the following equation (1):
  • the radiation power of the target to be located is an environmental factor, which is a path loss factor
  • ⁇ is the fast fading factor and is the shadow fading factor.
  • the embodiment of the invention achieves accurate positioning of all/target locations by measuring the positioning data RSS(d j ).
  • the positioning data may also be other measurement data that can be used for target positioning, which is not limited by the embodiment of the present invention.
  • N « 2 ). Since / target only appears in / of all N coordinate points, that is, the number of targets to be located is much smaller than the length of the vector ( / ⁇ N ), there are only one non-zero elements in the target vector. The remaining N-/element values are zero, so the target position vector can be said to be sparse. In this way, CS technology can be applied for multi-target positioning.
  • the CS technique can be applied to multi-target positioning applications, and multi-target positioning can be performed on the targets in the N-point grid with fewer J detection nodes ( / ⁇ / «N).
  • the sparse representation matrix ⁇ is an NxN matrix whose element values can be represented by equation (1), ie, the radiant signal is mapped from the grid location.
  • e[l,N] is the wireless channel fading experienced at the grid position e[l,N], therefore, optionally, the received signal vector of the multi-target at each point in the grid can be expressed as an equation (2) ):
  • s is the received signal vector at each point in the Nxl-dimensional grid
  • ⁇ is the sparse representation matrix, characterizing the wireless fading channel propagation model
  • ⁇ corresponds to the position vector of multiple targets in the grid.
  • the first detection node in the positioning system collects the RSS measurement data at the location where it is located and sends the RSS measurement data to the FC, which is also called the detection node in the positioning application. Spatial position matrix.
  • the RSS measurement data sent by all the detection nodes at the FC constitutes the measurement data vector X of the /xl dimension, that is, the first element value in X corresponds to the RSS measurement data at the first detection node.
  • the sparse representation matrix is not related to the sampling matrix, but in the multi-target positioning scenario, ⁇ (the spatial propagation matrix of the wireless fading channel) and ⁇ (the spatial position matrix of the detection node) are all in the spatial domain, so It is also necessary to perform decorrelation processing on the measurement data vector X, for example, which can be expressed as the following equation (4):
  • one embodiment of the present invention determines the position of a multi-target by two positionings.
  • the coordinates of these detection nodes in the observation area (grid) are (Xj, yj).
  • Fig. 3 ⁇ , / 1 18, the hollow dot in the figure indicates the position of these first positioning detection nodes.
  • l , S t, y 7l ⁇ / ⁇ / ⁇ , according to ⁇ ⁇ and pre.
  • the first positioning position of the target in Fig. 3 ⁇ is shown by the diamond.
  • the final position of the obtained target is shown as a small five-pointed star.
  • the target may be positioned multiple times, the last positioning position is used as the final position of the target, or the final position of the target is determined by comparing the two previous positioning positions to improve the accuracy of the target positioning.
  • the detection node of the next positioning is determined according to the previous positioning position of the target, thereby achieving the target positioning, and the influence of the detection node being far away from the target position on the positioning effect can be reduced.
  • the positioning resources can be effectively utilized to improve the accuracy of the target positioning.
  • FIG. 4 shows a schematic block diagram of an apparatus 400 for locating a target in accordance with an embodiment of the present invention.
  • the apparatus 400 includes:
  • a first determining module 410 configured to determine a detection node of the first positioning
  • the first processing module 420 is configured to determine, according to the positioning data measured by the detecting node of the first positioning determined by the first determining module 410, the first positioning position of the target;
  • a second determining module 430 configured to determine, according to the k-th positioning position of the target, the detecting node of the kth positioning, which is a positive integer and greater than or equal to 2;
  • the second processing module 440 is configured to determine, according to the positioning data measured by the detection node of the kth positioning determined by the second determining module 430, the second positioning position of the target;
  • the third processing module 450 is configured to determine a final position of the target according to the kth positioning position of the target determined by the second processing module 440.
  • the device for locating a target determines the target node for the next positioning according to the previous positioning position of the target, thereby realizing the target positioning, thereby reducing the influence of the detecting node being far away from the target position on the positioning effect, thereby enabling Effectively use location resources to improve the accuracy of targeting.
  • the first determining module 410 is specifically configured to determine the detecting node of the first positioning according to a randomly selected or predetermined manner.
  • the first processing module 420 is specifically configured to perform a decorrelation operation on the positioning data measured by the detecting node of the first positioning, and then perform signal reconstruction to determine the first positioning of the target. position.
  • the second determining module 430 includes:
  • the first determining unit 431 is configured to determine, according to the second positioning position of the target, the newly added detecting node that is located in the second time, and the distance between the newly added detecting node and the k-1th positioning position of the target is within a predetermined range;
  • a second determining unit 432 configured to determine the newly detected detecting node as a detecting node for the first positioning
  • the third determining unit 433 is configured to determine at least one of the detecting nodes of the k-1th positioning and the newly added detecting node as the detecting node for the second positioning.
  • the third determining unit 433 includes:
  • the determining subunit is configured to determine the detected node that is located at the second time and the newly detected detecting node as the detecting node for the first positioning.
  • the device for locating the target in the embodiment of the present invention can reduce the influence of the detection node being far away from the target position on the positioning effect by using the newly added detection node for subsequent positioning, thereby improving the accuracy of the target positioning.
  • the second processing module 440 is specifically configured to perform a decorrelation operation on the positioning data measured by the detection node of the kth positioning, and then perform signal reconstruction to determine the first positioning position of the target. .
  • the third processing module 450 is specifically configured to: if the kth positioning position of the target does not exceed the error threshold by the k-1th positioning position of the target, The secondary positioning position is determined as the final position of the target, and if the target positioning position differs from the target k1th positioning position by more than the error threshold, the final position of the target is determined according to the target positioning position.
  • the third processing module 450 is specifically configured to determine the second positioning position of the target as the final position of the target.
  • the apparatus 400 for locating a target may correspond to an execution body of a method of locating a target in an embodiment of the present invention, and the above-described and other operations and/or functions of respective modules in the apparatus 400 are respectively implemented in order to implement FIG. 1 to FIG. The corresponding process of each method in 3B is not described here.
  • the device for locating a target determines the target node of the next positioning according to the previous positioning position of the target by performing two or more positioning on the target, thereby achieving target positioning, and reducing the distance of the detecting node from the target position.
  • the effect of the remote location on the positioning effect can effectively utilize the positioning resources to improve the accuracy of the target positioning.
  • the disclosed systems, devices, and methods may be implemented in other ways.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, or an electrical, mechanical or other form of connection.
  • the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the embodiments of the present invention.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium.
  • the technical solution of the present invention contributes in essence or to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium.
  • a number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a removable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and the like, which can store program codes. .

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

L'invention concerne une méthode et un dispositif de positionnement de cible. La méthode consiste à : déterminer un nœud de détection pour le positionnement au premier instant ; déterminer l'emplacement du positionnement au premier instant de la cible en fonction des données de positionnement mesurées par le nœud de détection pour le positionnement au premier instant ; déterminer le nœud de détection pour le positionnement au ke instant en fonction de l'emplacement du positionnement au (k-1)e instant de la cible, k étant un entier positif supérieur ou égal à 2 ; déterminer l'emplacement du positionnement au ke instant de la cible en fonction des données de positionnement mesurées par le nœud de détection pour le positionnement au ke instant ; déterminer l'emplacement final de la cible en fonction de l'emplacement du positionnement au ke instant de la cible. La méthode et le dispositif de positionnement de cible des modes de réalisation de la présente invention sont capables de réduire l'influence sur l'effet de positionnement lorsque le nœud de détection est éloigné de l'emplacement de la cible, ce qui utilise efficacement les ressources de positionnement pour améliorer la précision du positionnement de cible.
PCT/CN2013/076466 2012-06-15 2013-05-30 Méthode et dispositif de positionnement de cible WO2013185541A1 (fr)

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CN103905277B (zh) * 2014-03-28 2017-10-17 华为技术有限公司 一种系统检测方法和装置
CN111273228B (zh) * 2019-05-09 2023-02-07 哈尔滨工程大学 一种基于遍历搜索策略的多相干源定位方法

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US20040267495A1 (en) * 2003-06-24 2004-12-30 Nec Corporation Terminal with position-measuring functions
CN101860959A (zh) * 2010-06-04 2010-10-13 上海交通大学 基于rssi的无线传感器网络的定位方法
CN102395200A (zh) * 2011-11-17 2012-03-28 苏州大学 无线传感器网络中节点定位方法及装置

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US20040267495A1 (en) * 2003-06-24 2004-12-30 Nec Corporation Terminal with position-measuring functions
CN101860959A (zh) * 2010-06-04 2010-10-13 上海交通大学 基于rssi的无线传感器网络的定位方法
CN102395200A (zh) * 2011-11-17 2012-03-28 苏州大学 无线传感器网络中节点定位方法及装置

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