CN107037402A - A kind of localization method under indoor nlos environment based on UWB rangings - Google Patents
A kind of localization method under indoor nlos environment based on UWB rangings Download PDFInfo
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- CN107037402A CN107037402A CN201710375400.4A CN201710375400A CN107037402A CN 107037402 A CN107037402 A CN 107037402A CN 201710375400 A CN201710375400 A CN 201710375400A CN 107037402 A CN107037402 A CN 107037402A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000004807 localization Effects 0.000 title claims abstract description 16
- 238000000605 extraction Methods 0.000 claims abstract description 7
- 238000012706 support-vector machine Methods 0.000 claims abstract description 4
- 230000006854 communication Effects 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 8
- 230000011664 signaling Effects 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 239000000284 extract Substances 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 6
- 230000008901 benefit Effects 0.000 abstract description 2
- 210000001367 artery Anatomy 0.000 description 2
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- 210000003462 vein Anatomy 0.000 description 2
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Classifications
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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
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
, should comprising the following steps that based on the localization method under the indoor nlos environment of UWB rangings the invention discloses the localization method under a kind of indoor nlos environment based on UWB rangings in the service technology field of position：S1：Lay each beaconing nodes；S2：Search target to be measured；S3：Receive pulse signal；S4：Channel statistical feature extraction；S5：Send data to server；S6：Estimated location coordinate；S7：Terminal display is shown, the present invention is by extracting UWB signal propagation channel statistical nature, non line of sight signal identification is realized using conventional support vector machine classifier, so as to eliminate the range error that non line of sight signal is brought in positioning stage, being accurately positioned with very big advantage under complex environment is seriously blocked indoors.
Description
Technical field
The present invention relates to the service technology field of position, under specially a kind of indoor nlos environment based on UWB rangings
Localization method.
Background technology
As the interior space of people's activity is more and more huger and complexity, the demand of indoor location-based positioning service is got over
Come more obvious.Such as, in large-scale shopping square, people can be quickly found out required commodity；In hospital, administrative staff can
Medical Devices and patient to hospital carry out in real time accurately positioning；In rescue sites such as fire, commanding is to indoor fire-fighting
Determination of member position etc..It is well known that GPS (GLONASS) satellite-signals can cause in serious shielding part or
Whole positioning functions are lost, and are highly susceptible to the interference of multi-path environment, therefore using GPS are difficult indoors reality under environment
Now position.Under the huge demand driving in market, the indoor locating system (Indoor being consistent with indoor environment is urgently built
Position System, IPS) become numerous scientific worker's focus of attention.
UWB technology is an important development direction of wireless communication field, it has also become the content of domestic and international hot research it
One.When UWB applies to short distance indoor positioning, its high positioning precision, strong penetration capacity, anti-multipath, low transmitting work(
Rate, the clear superiority as it with other indoor positioning technologies.However, compared with broad outdoor environment, indoor wireless communication
Road environment wants many of complexity, and signal meeting in communication process, by the stop or reflection of the barriers such as wall, furniture, ground, is drawn
Play non line of sight (Non-Line-of-Sight, NLOS) phenomenon.In this case, in way is propagated excess delay can occur for signal,
So that ranging carries positivity bias so that positioning precision has a strong impact on, so the high accuracy positioning under nlos environment indoors
As urgent need to solve the problem.Therefore, we have proposed the localization method under a kind of indoor nlos environment based on UWB rangings
Come into operation, to solve the above problems.
The content of the invention
It is an object of the invention to provide the localization method under a kind of indoor nlos environment based on UWB rangings, to solve
The problem of being proposed in certainly above-mentioned background technology.
To achieve the above object, the present invention provides following technical scheme：A kind of indoor nlos environment based on UWB rangings
Under localization method, should comprising the following steps that based on the localization method under the indoor nlos environment of UWB rangings：
S1：Each beaconing nodes are laid, and set up indoor relative position coordinates system, the coordinate of each beaconing nodes is measured and record
Value；Each beacon coordinate is inputted into server, and server is connected with beaconing nodes by LAN；
S2：The positioning instruction that server is assigned in each beaconing nodes response of step S1, launches pulse signal, searches mesh to be measured
Mark；
S3：The pulse signal that intended recipient to be measured is sent into step S2 by each beaconing nodes, reflects the signal and returns immediately
Sending node；
S4：Each beaconing nodes receive the pulse signal reflected in step S3 by target to be measured, using with launching arteries and veins
Identical template signal is rushed, and then carries out correlation demodulation, signal time delay estimation is carried out and obtains between beaconing nodes and target to be measured
Distance measuring, and carry out channel statistical feature extraction；
S5：Each beaconing nodes utilize step S1 LAN, by the distance measuring obtained in step S4, pulse signal channel
The data such as statistical nature are sent to server；
S6：The pusing channel statistical nature that each beaconing nodes in server receiving step S5 are sent, carries out non line of sight knowledge
Not, on the basis of identification, using the distance measuring and the position coordinates of each beacon of each beacon, by location algorithm, estimate and treat
Survey position coordinates of the target in relative position coordinates system；
S7：The estimated location obtained in step S6 is included on terminal display, so as to realize indoor nlos environment
Under target positioning.
It is preferred that, in the step S1, the beaconing nodes include UWB detectors and wireless communication module, the UWB
Detector is used to modulate, launch, receive, demodulate pulse signal, and extracts signaling channel statistical nature；The LAN is by road
Set up by device, be the wireless communication protocol that beaconing nodes can be supported；The target to be measured includes an active radio frequency label, can
So that the pulse signal received is amplified into reflection；The server is used to initiate target positioning instruction, is issued to each letter
Mark node and carry out target acquisition.
It is preferred that, in the step S4, signaling channel statistical nature, which is extracted, is specially：Beaconing nodes receive reflected signal
R (t), extracts and receives signal gross energy εr, average additional time delay τmed, root mean square delay, τrms, kurtosis k, the channel statistical such as degree of bias s
The calculation formula of feature, wherein each feature is respectively：
Wherein
Wherein
It is preferred that, in the step S6, on the server, support vector cassification is passed through using signaling channel statistical nature
Whether device, identification sorting pulse signal is non line of sight transmission, and the signal for being identified as line-of-sight transmission is used for into location estimation, and will be known
Not Wei non line of sight transmission beacon abandon be not involved in location estimation process.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention is special by extracting UWB signal propagation channel statistics
Levy, non line of sight signal identification is realized using conventional support vector machine classifier, so as to eliminate non line of sight signal in positioning stage
The range error brought, seriously blocks being accurately positioned with very big advantage under complex environment indoors.
Brief description of the drawings
Fig. 1 is space layout figure of the present invention；
Fig. 2 is present system Organization Chart；
Fig. 3 is non line of sight identification process figure of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
The present invention provides a kind of technical scheme：A kind of localization method under indoor nlos environment based on UWB rangings, should
Localization method under indoor nlos environment based on UWB rangings is comprised the following steps that：
S1：As shown in figure 1, laying each beaconing nodes (including 5 beacons in the alignment system shown in Fig. 1), and set up
Indoor relative position coordinates system, measures and records the coordinate value of each beaconing nodes；Each beacon coordinate is inputted into server, and will clothes
Business device is connected with beaconing nodes by LAN；The beaconing nodes include UWB detectors and wireless communication module, the UWB
Detector is used to modulate, launch, receive, demodulate pulse signal, and extracts signaling channel statistical nature；The LAN is by road
Set up by device, be the wireless communication protocol that beaconing nodes can be supported；The target to be measured includes an active radio frequency label, can
So that the pulse signal received is amplified into reflection；The server is used to initiate target positioning instruction, is issued to each letter
Mark node and carry out target acquisition；
S2：The positioning instruction that server is assigned in each beaconing nodes response of step S1, launches pulse signal, searches mesh to be measured
Mark；
As shown in Fig. 2 beaconing nodes include impulse generator, transmitting antenna, reception antenna, demodulation correlator and channel spy
Levy extraction computing module.After beaconing nodes receive the positioning instruction that server is assigned, via impulse generator, by baseband signal
It is modulated on carrier wave, is sent by transmitting antenna；
S3：The pulse signal that intended recipient to be measured is sent into step S2 by each beaconing nodes, reflects the signal and returns immediately
Sending node；
As shown in Fig. 2 target to be measured carries an active radio frequency label, the pulse signal received can be put
Greatly, and reflect away；
S4：Each beaconing nodes receive the pulse signal reflected in step S3 by target to be measured, using with launching arteries and veins
Identical template signal is rushed, and then carries out correlation demodulation, signal time delay estimation is carried out and obtains between beaconing nodes and target to be measured
Distance measuring, and carry out channel statistical feature extraction；
As shown in figure 3, beaconing nodes receive the radiofrequency signal reflected via target to be measured, correlation demodulation is carried out, is obtained
Signal time delay, if beacon A is in t0Moment is reflected after sending a signal to target to be measured, intended recipient to be measured, in t1Moment A is received
To backhaul signals, because intended recipient to launch time is t ', c is propagation velocity of electromagnetic wave, then the distance between beacon A and target
ForBeaconing nodes receive backhaul signals r (t), extract and receive signal gross energy εr, average additional hours
Prolong τmed, root mean square delay, τrms, kurtosis k, the channel statistical feature such as degree of bias s, the calculation formula of wherein each feature is respectively：
Wherein
Wherein
S5：Each beaconing nodes utilize step S1 LAN, by the distance measuring obtained in step S4, pulse signal channel
The data such as statistical nature are sent to server；
S6：The pusing channel statistical nature that each beaconing nodes in server receiving step S5 are sent, carries out non line of sight knowledge
Not, on the basis of identification, using the distance measuring and the position coordinates of each beacon of each beacon, by location algorithm, estimate and treat
Survey position coordinates of the target in relative position coordinates system；
As shown in figure 3, the channel statistical feature of extraction is denoted as into vector f=[εr,τmed,τrms, k, s], each is obtained
The characteristic vector arrived, is put into the support vector machine classifier trained, signal identification label l ∈ { -1 ,+1 } is obtained, during l=-1
It is non line of sight signal during l=+1 for line-of-sight signal.The distance measuring only obtained in positioning stage using line-of-sight signal, using biography
Three side location algorithms of uniting can be obtained by the location estimation of target；
S7：The estimated location obtained in step S6 is included on terminal display, so as to realize indoor nlos environment
Under target positioning.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (4)
1. the localization method under a kind of indoor nlos environment based on UWB rangings, it is characterised in that：This is based on UWB rangings
Localization method under indoor nlos environment is comprised the following steps that：
S1：Each beaconing nodes are laid, and set up indoor relative position coordinates system, the coordinate value of each beaconing nodes is measured and record；
Each beacon coordinate is inputted into server, and server is connected with beaconing nodes by LAN；
S2：The positioning instruction that server is assigned in each beaconing nodes response of step S1, launches pulse signal, searches target to be measured；
S3：The pulse signal that intended recipient to be measured is sent into step S2 by each beaconing nodes, reflects the signal and postbacks and send immediately
Node；
S4：Each beaconing nodes receive the pulse signal reflected in step S3 by target to be measured, using with launching pulsion phase
With template signal, and then carry out correlation demodulation, carry out signal time delay estimation obtain between beaconing nodes and target to be measured away from
From measurement, and carry out channel statistical feature extraction；
S5：Each beaconing nodes utilize step S1 LAN, by the distance measuring obtained in step S4, pulse signal channel statistical
The data such as feature are sent to server；
S6：The pusing channel statistical nature that each beaconing nodes in server receiving step S5 are sent, carries out non line of sight identification,
On the basis of identification, using the distance measuring and the position coordinates of each beacon of each beacon, by location algorithm, target to be measured is estimated
Position coordinates in relative position coordinates system；
S7：The estimated location obtained in step S6 is included on terminal display, so as to realize under indoor nlos environment
Target is positioned.
2. the localization method under a kind of indoor nlos environment based on UWB rangings according to claim 1, its feature exists
In：In the step S1, the beaconing nodes include UWB detectors and wireless communication module, and the UWB detectors are used to adjust
System, transmitting, reception, demodulation pulse signal, and extract signaling channel statistical nature；The LAN is set up by router, is
The wireless communication protocol that beaconing nodes can be supported；The target to be measured includes an active radio frequency label, will can receive
Pulse signal be amplified reflection；The server is used to initiate target positioning instruction, is issued to the progress of each beaconing nodes
Target acquisition.
3. the localization method under a kind of indoor nlos environment based on UWB rangings according to claim 1, its feature exists
In：In the step S4, signaling channel statistical nature, which is extracted, is specially：Beaconing nodes receive reflected signal r (t), and extraction connects
Collection of letters gross energy εr, average additional time delay τmed, root mean square delay, τrms, kurtosis k, the channel statistical feature such as degree of bias s, wherein respectively
The calculation formula of individual feature is respectively：
Wherein
Wherein
4. the localization method under a kind of indoor nlos environment based on UWB rangings according to claim 1, its feature exists
In：In the step S6, on the server, support vector machine classifier, identification classification are passed through using signaling channel statistical nature
Whether pulse signal is non line of sight transmission, and the signal for being identified as line-of-sight transmission is used for into location estimation, and will be identified as non line of sight
The beacon of transmission abandons and is not involved in location estimation process.
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108810807A (en) * | 2018-05-18 | 2018-11-13 | 浙江优勝科技有限公司 | A kind of Indoor Positioning System Using Ultra Wideband Radio based on UWB |
| CN108989988A (en) * | 2018-06-12 | 2018-12-11 | 东南大学 | Indoor orientation method based on machine learning |
| CN109151724A (en) * | 2018-01-22 | 2019-01-04 | 中南大学 | Sighting distance based on channel impulse response Energy distribution/obstructed path recognition methods |
| CN110113709A (en) * | 2019-04-24 | 2019-08-09 | 南京邮电大学 | A kind of UWB indoor position error elimination algorithm based on support vector machines |
| WO2020010558A1 (en) * | 2018-07-12 | 2020-01-16 | 罗伯特·博世有限公司 | Detection method and detection apparatus |
| CN110824421A (en) * | 2019-11-15 | 2020-02-21 | 广东博智林机器人有限公司 | Position information processing method and device, storage medium and electronic equipment |
| WO2020042143A1 (en) * | 2018-08-31 | 2020-03-05 | 罗伯特·博世有限公司 | Method and apparatus for detecting signal propagation type |
| CN111308420A (en) * | 2019-12-06 | 2020-06-19 | 长安大学 | An indoor non-line-of-sight positioning method based on acoustic signal delay estimation and arrival frequency |
| CN111631474A (en) * | 2020-05-25 | 2020-09-08 | 深圳供电局有限公司 | Safety helmet |
| CN112567834A (en) * | 2018-08-14 | 2021-03-26 | 罗伯特·博世有限公司 | Method and apparatus for detecting signal propagation type |
| CN112637760A (en) * | 2020-12-07 | 2021-04-09 | 西安电子科技大学 | Indoor non-line-of-sight rapid positioning method based on UWB |
| CN114928811A (en) * | 2022-05-05 | 2022-08-19 | 南京理工大学 | Ultra-wideband mine underground personnel accurate positioning method based on neural network |
| CN114944855A (en) * | 2021-02-16 | 2022-08-26 | 诺基亚技术有限公司 | Method and apparatus for efficient positioning |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109151724A (en) * | 2018-01-22 | 2019-01-04 | 中南大学 | Sighting distance based on channel impulse response Energy distribution/obstructed path recognition methods |
| CN108810807A (en) * | 2018-05-18 | 2018-11-13 | 浙江优勝科技有限公司 | A kind of Indoor Positioning System Using Ultra Wideband Radio based on UWB |
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| CN112425220A (en) * | 2018-07-12 | 2021-02-26 | 罗伯特·博世有限公司 | Detection method and detection device |
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| CN112567834A (en) * | 2018-08-14 | 2021-03-26 | 罗伯特·博世有限公司 | Method and apparatus for detecting signal propagation type |
| CN112567834B (en) * | 2018-08-14 | 2023-11-24 | 罗伯特·博世有限公司 | Method and apparatus for detecting signal propagation type |
| WO2020042143A1 (en) * | 2018-08-31 | 2020-03-05 | 罗伯特·博世有限公司 | Method and apparatus for detecting signal propagation type |
| CN112534293A (en) * | 2018-08-31 | 2021-03-19 | 罗伯特·博世有限公司 | Method and apparatus for detecting signal propagation type |
| US12422537B2 (en) | 2018-08-31 | 2025-09-23 | Robert Bosch Gmbh | Method and apparatus for detecting signal propagation type |
| CN110113709A (en) * | 2019-04-24 | 2019-08-09 | 南京邮电大学 | A kind of UWB indoor position error elimination algorithm based on support vector machines |
| CN110824421A (en) * | 2019-11-15 | 2020-02-21 | 广东博智林机器人有限公司 | Position information processing method and device, storage medium and electronic equipment |
| CN111308420A (en) * | 2019-12-06 | 2020-06-19 | 长安大学 | An indoor non-line-of-sight positioning method based on acoustic signal delay estimation and arrival frequency |
| CN111631474A (en) * | 2020-05-25 | 2020-09-08 | 深圳供电局有限公司 | Safety helmet |
| CN112637760A (en) * | 2020-12-07 | 2021-04-09 | 西安电子科技大学 | Indoor non-line-of-sight rapid positioning method based on UWB |
| CN114944855A (en) * | 2021-02-16 | 2022-08-26 | 诺基亚技术有限公司 | Method and apparatus for efficient positioning |
| CN114928811A (en) * | 2022-05-05 | 2022-08-19 | 南京理工大学 | Ultra-wideband mine underground personnel accurate positioning method based on neural network |
| CN114928811B (en) * | 2022-05-05 | 2024-05-07 | 南京理工大学 | A method for accurate positioning of personnel in underground mines based on ultra-wideband neural network |
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Application publication date: 20170811 |