CN108513254A - A kind of interior 3-D positioning method - Google Patents
A kind of interior 3-D positioning method Download PDFInfo
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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
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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
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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Abstract
The present invention relates to a kind of indoor 3-D positioning method, be it is higher for the network cost for solving existing congenic method, the larger technical problem of difference in height is brought to indoor positioning between node error and design.Its main points is that the localization method is based on vertical space distinguishing hierarchy algorithm, and the difference in height between node is added in positioning, and as the parameter factors wherein calculated, eliminating error of the difference in height in positioning influences, and realizes three-dimensional indoor positioning；I.e. the localization method determines the central core of network by calculating nodal information transmittability and the dump energy of wireless device, fuzzy positioning is carried out to unknown node further according to the range information of known node coordinate and node, the coordinate of unknown node is calculated followed by gained relative information and formula, final unknown node coordinate is acquired finally by weighted average arithmetic.Which reduce the complexities of algorithm, while ensure that accuracy, realize more efficient, high-precision indoor positioning.
Description
Technical field
The present invention relates to the interior localization methods of wireless technology, are a kind of indoor 3-D positioning methods.
Background technology
Currently, the influence of location technology has had been extended to the various aspects of people's life, and indoor positioning technologies conduct
The continuity of location technology environment indoors, compensates for the deficiency of traditional position location techniques, there is good application prospect.Since with
GPS has been since the location technology of representative occurs, and efficiently, easily and fast and accurately positioning makes people’s lives occur huge
Big variation, has driven the fast development of a collection of application and service, but traditional position location techniques are due to the limitation of technical principle,
The locating effect of indoor environment is ideal not to the utmost.Application number 201410027297.0 as disclosed in Chinese patent literature, application are public
Cloth day 2015.07.22, denomination of invention " GPS indoor locating systems and the indoor orientation method based on GPS indoor locating systems "；
The indoor orientation method is using GPS receiver device transmission node information to realize indoor positioning.However, if owning in network
Node be all equipped with GPS positioning module, the cost of network will increase considerably.Meanwhile existing indoor orientation method is most of
All it is the positioning realized in two dimension, and is often on a three dimensions with positioning target, therefore ignores the height between node
Degree difference also brings error to indoor positioning.
Invention content
It is a kind of based on the calculation of vertical space distinguishing hierarchy the purpose of the present invention is being provided to this field to overcome above-mentioned deficiency
The indoor 3-D positioning method of method, fuzzy location algorithm, weighted average arithmetic, makes it solve the network cost of existing congenic method
It is higher, the larger technical problem of difference in height is brought to indoor positioning between node error.The purpose is to by following technical solution
It realizes.
A kind of interior 3-D positioning method, the wireless device of the localization method are equipped with sensor, it is characterised in that the positioning
Method is based on vertical space distinguishing hierarchy algorithm, the difference in height between node is added in positioning, as the ginseng wherein calculated
The number factor, eliminating error of the difference in height in positioning influences, and realizes three-dimensional indoor positioning；I.e. the localization method is by calculating nothing
The nodal information transmittability and dump energy of line equipment determines the central core of network, further according to known node coordinate and node
Range information fuzzy positioning is carried out to unknown node, unknown node is calculated followed by gained relative information and formula
Coordinate acquires final unknown node coordinate finally by weighted average arithmetic.The range information of above-mentioned node passes through signal strength
It calculates, to ensure that higher positioning accuracy, energy expenditure is low, performance more preferably algorithm.
It is described that location information in internal home network is previously deployed at by calculating based on vertical space distinguishing hierarchy algorithm, i.e.,
Know the pitch angle and deflection between node, realizes the positioning to unknown node.
The vertical direction to cyberspace where known node divides, and need to choose a node as network
Center node layer.
The number of plies of space division is pre-set in the cyberspace, every layer of height is the difference of peak and minimum point
Divided by the number of plies divided, it is known that node and the coordinate of unknown node randomly generate, and all nodes are also randomly dispersed in respectively
In a layer；Wherein, hierarchy parameters represent the z-axis coordinate in three-dimensional coordinate, and three-dimensional localization is so down to the positioning of two dimensional surface
Algorithm also reduces computation complexity；The relative position information in the several sections of points of different layers is calculated, to utilize fuzzy positioning
Algorithm obtains the coordinate information of unknown node.
The indoor orientation method of the present invention is feasible, and indoor positioning result is accurate, and positioning is convenient, fast, has a wide range of application；Its
The indoor application of 3-D positioning method and the improvement of similar localization method are suitable as in similar product.
Description of the drawings
Fig. 1 is the fuzzy positioning schematic diagram of center layer plane of the present invention.
Fig. 2 is the simulation layering indoor positioning algorithms flow chart of the present invention.
Specific implementation mode
In conjunction with attached drawing, structure of the invention and use are further described.The wireless device of the localization method, which is equipped with, to be passed
Sensor, it is characterised in that the localization method is based on vertical space distinguishing hierarchy algorithm, and it is fixed that the difference in height between node is added to
In position, as the parameter factors wherein calculated, eliminating error of the difference in height in positioning influences, and realizes three-dimensional indoor positioning.
It is described that location information in internal home network is previously deployed at by calculating based on vertical space distinguishing hierarchy algorithm, i.e., known node it
Between pitch angle and deflection, realize positioning to unknown node.The vertical direction to cyberspace where known node
It is divided, center node layer of the node as network need to be chosen.
The number of plies of space division is pre-set in the cyberspace, which is 10, and every layer of height is most
The number of plies of the difference divided by division of high point and minimum point, it is known that node (reference point) and the coordinate of unknown node are to randomly generate
, and all nodes are also randomly dispersed in each layer；Wherein, hierarchy parameters represent the z-axis coordinate in three-dimensional coordinate, so will
Three-dimensional localization is down to the location algorithm of two dimensional surface, also reduces computation complexity；The phase in the several sections of points of different layers is calculated
To location information, to obtain the coordinate information of unknown node using fuzzy location algorithm.
As shown in Fig. 2, the above process is as follows：
S100：According to the average information transfer ability of node, by formulaChoose one
Node layer centered on node, and other nodes are divided with every layer of unit height；Wherein, ViFor a certain section in network
Point, average information transfer abilityFor a certain node ViNeighbors number, n be network node sum,
F (max) is the best average information transfer ability of network node, E (Vi) it is node ViDump energy, EsFor primary power,
μ, κ indicate that message transmission capability and the influence coefficient of dump energy, value are respectively μ=0.3, κ=0.4 respectively；
S200：Unknown node needs to take three or three or more known node information, is then believed by the distance of node
Breath, which calculates to measure, obtains known node at a distance from unknown node, and is carried out to unknown node according to the coordinate information of known node
Fuzzy positioning, distance calculation formula are as follows：Wherein P (x, y, z)
Coordinate, P are obscured for unknown nodei(xi, yi, zi) it is known node coordinate；
S300：The relative position information for determining each known node and unknown node in different levels network, calculate its most
Small information transmits angle αI, j, i.e., the communication path and the minimum possible angle of horizontal plane and the spacing of two nodes of front and back two nodes
From being projected on distance P obtained by center layer planeM, n, wherein i, j and m, n indicate two adjacent nodes of serial number.
The step S300 is as follows：
S310：Assuming that nodal information transmission radius is R, it is D per layer height, the number of plies of the i-th node is expressed as Fi, two adjacent sections point
Between simulation layering difference be FI, j=| Fi-Fi|, then the minimal information transmission angle between node is represented by
S320：Assuming that the average distance between node is expressed as AD, then node b can with the average distance of other nodes a, c
It is expressed asWherein PM, nIt can be by following calculation formula
It acquires：
S400：At least three known nodes and unknown node are projected on the layer plane of center；Assuming that unknown node is opposite
The observation position of known node isDeflection isThe obtained position of node isAnd it will be unknown
Node forms several triangles with any other two known nodes in the same plane, according to above-mentioned required known node it
Between average distance AD and sensor measurement deflection is obtained at a distance from unknown nodeIt is following as shown in Figure 1：
S500：According to above-mentioned the data obtained, the coordinate of unknown node is calculated according to following formula：
Z=D | F-F0|
So that it is determined that the coordinate of unknown node, realizes indoor positioning；Wherein, two node Pi、PjThe distance between d (Pi,
Pj) i.e. PM, n, center segment F0, F is unknown node with respect to plane layer where the observation position of known node；
S600：If there are m kind possible positions by the node that above-mentioned algorithm obtains, acquired by weighted average formula
Final coordinate
In conclusion the present invention proposes a kind of new method for the indoor positioning in three-dimensional space, by three-dimensional space
Between in node divided in vertical height, be down in two-dimensional space and calculated by projection, reduce algorithm
Complexity, while ensure that accuracy, it can realize more efficient, high-precision indoor positioning.Meanwhile the localization method is not
Such as GPS receiver device sensor is needed, technical costs is greatly reduced.
Claims (7)
1. a kind of interior 3-D positioning method, the wireless device of the localization method are equipped with sensor, it is characterised in that the positioning side
Method is based on vertical space distinguishing hierarchy algorithm, the difference in height between node is added in positioning, as the parameter wherein calculated
The factor, eliminating error of the difference in height in positioning influences, and realizes three-dimensional indoor positioning；I.e. the localization method is wireless by calculating
The nodal information transmittability and dump energy of equipment determines the central core of network, further according to known node coordinate and node
Range information carries out fuzzy positioning to unknown node, and the seat of unknown node is calculated followed by gained relative information and formula
Mark, final unknown node coordinate is acquired finally by weighted average arithmetic.
2. the indoor 3-D positioning method of degree of precision according to claim 1, it is characterised in that described to be based on vertical blank
Between level partitioning algorithm by calculate be previously deployed at location information in internal home network, i.e. pitch angle between known node and side
To angle, the positioning to unknown node is realized.
3. the indoor 3-D positioning method of degree of precision according to claim 2, it is characterised in that described to known node
The vertical direction of place cyberspace is divided, and center node layer of the node as network need to be chosen.
4. the indoor 3-D positioning method of degree of precision according to claim 3, it is characterised in that in the cyberspace
The number of plies of space division is pre-set, every layer of height is peak and the difference of minimum point divided by the number of plies of division, it is known that section
Point and the coordinate of unknown node randomly generate, and all nodes are also randomly dispersed in each layer；Wherein, hierarchy parameters generation
Three-dimensional localization, is so down to the location algorithm of two dimensional surface by the z-axis coordinate in table three-dimensional coordinate；It is calculated in the different numbers of plies
The relative position information of node, to obtain the coordinate information of unknown node using fuzzy location algorithm.
5. the indoor 3-D positioning method of degree of precision according to claim 4, it is characterised in that the tool of the localization method
Steps are as follows for body：
S100：According to the average information transfer ability of node, by formulaChoose a node
Centered on node layer, and other nodes are divided with every layer of unit height；Wherein, ViFor a certain node in network,
Average information transfer abilityFor a certain node ViNeighbors number, n be network node sum, f
(max) it is the best average information transfer ability of network node, E (Vi) it is node ViDump energy, EsFor primary power,
μ, κ indicate message transmission capability and the influence coefficient of dump energy respectively；
S200：Unknown node needs to take three or three or more known node information, then passes through the range information meter of node
It calculates to measure and obtains known node at a distance from unknown node, and unknown node is obscured according to the coordinate information of known node
Positioning, distance calculation formula are as follows：Wherein P (x, y, z) is not
Know that node obscures coordinate, Pi(xi, yi, zi) it is known node coordinate；
S300：The relative position information for determining each known node and unknown node in different levels network calculates its minimum letter
Breath transmission angle αI, j, i.e., the communication path of front and back two nodes and the minimum of horizontal plane distance may be thrown between angle and two nodes
Shadow distance P obtained by the layer plane of centerM, n, wherein i, j and m, n indicate two adjacent nodes of serial number；
S400：At least three known nodes and unknown node are projected on the layer plane of center；Assuming that unknown node is relatively known
The observation position of node isDeflection isThe obtained position of node isAnd by unknown node
Several triangles are formed with any other two known nodes in the same plane, according between above-mentioned required known node
Average distance AD and sensor measurement obtain deflection at a distance from unknown node
S500：According to above-mentioned the data obtained, the coordinate of unknown node is calculated according to following formula：
Z=D | F-F0|
So that it is determined that the coordinate of unknown node, realizes indoor positioning；Wherein, two node Pi、PjThe distance between d (Pi, Pj) i.e.
PM, n, center segment F0, F is unknown node with respect to plane layer where the observation position of known node；
S600：If there are m kind possible positions by the node that above-mentioned algorithm obtains, acquired finally by weighted average formula
Coordinate
6. the indoor 3-D positioning method of degree of precision according to claim 5, it is characterised in that the value of described μ, κ point
It Wei not μ=0.3, κ=0.4.
7. the indoor 3-D positioning method of degree of precision according to claim 5, it is characterised in that the step S300's
It is as follows：
S310：Assuming that nodal information transmission radius is R, it is D per layer height, the number of plies of the i-th node is expressed as Fi, two adjacent sections point
Between simulation layering difference be FI, j=| Fi-Fj|, then the minimal information transmission angle between node is represented by
S320：Assuming that the average distance between node is expressed as AD, then node b and the average distance of other nodes a, c can indicate
ForWherein PM, nIt can be acquired by following calculation formula：
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111308418A (en) * | 2020-03-10 | 2020-06-19 | 慧众行知科技（北京）有限公司 | A Robust Method for 2D Localization of Objects of Unknown Height |
| CN111537849A (en) * | 2020-05-18 | 2020-08-14 | 广东电网有限责任公司东莞供电局 | Method and device for positioning local discharge source |
| CN113503856A (en) * | 2021-07-30 | 2021-10-15 | 中铁工程装备集团有限公司 | Tunnel trolley positioning measurement method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111308418A (en) * | 2020-03-10 | 2020-06-19 | 慧众行知科技（北京）有限公司 | A Robust Method for 2D Localization of Objects of Unknown Height |
| CN111308418B (en) * | 2020-03-10 | 2021-11-23 | 慧众行知科技（北京）有限公司 | Steady method for two-dimensional positioning of target with unknown height |
| CN111537849A (en) * | 2020-05-18 | 2020-08-14 | 广东电网有限责任公司东莞供电局 | Method and device for positioning local discharge source |
| CN113503856A (en) * | 2021-07-30 | 2021-10-15 | 中铁工程装备集团有限公司 | Tunnel trolley positioning measurement method and system |
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