TOA and position fingerprint combined indoor positioning method based on UWB

A joint positioning and fingerprint technology, which is applied in the field of positioning technology and public security, can solve the problems of heavy workload and reduced calculation, and achieve the effects of wide bandwidth, reduced matching workload and high penetration

Pending Publication Date: 2022-03-18
ANHUI UNIV OF SCI & TECH
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AI Technical Summary

Problems solved by technology

The present invention aims at the problem that the environment seriously affects the fingerprint positioning accuracy and the workload of fingerprint matching in the real-time positioning stage is relatively large. By using the TOA value as the fingerprint information, the improved WKNN algorithm is used for fingerprint matching before using trilateral distance measurement. The algorithm obtains the estimated range of the coordinates of the mobile tag, which reduces the amount of calculation to a certain extent and improves the indoor positioning accuracy

Method used

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  • TOA and position fingerprint combined indoor positioning method based on UWB
  • TOA and position fingerprint combined indoor positioning method based on UWB
  • TOA and position fingerprint combined indoor positioning method based on UWB

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Embodiment Construction

[0035] Such as figure 1 As shown, the process of the UWB-based TOA and location fingerprint joint indoor positioning method is:

[0036] (1) Establish a two-dimensional Cartesian coordinate system as a reference system in the wireless sensor network, and arrange three reference anchor nodes, and their position coordinates are recorded as (x 1 ,y 1 ),(x 2 ,y 2 ), (x 3 ,y 3 ); In addition, mark the position coordinates of the mobile tag to be located as (a, b).

[0037] (2) In the offline phase, a relatively accurate fingerprint is selected to construct an offline fingerprint database.

[0038] (3) The range where the mobile tag is located is calculated by the trilateral ranging method. The corresponding TOA value is obtained according to the signals sent by different anchor nodes receiving mobile tags, but due to measurement errors, the three circles will not intersect at the same point, so an overlapping area S will be obtained.

[0039] (4) In the online stage, on the...

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Abstract

The invention discloses a UWB (Ultra Wideband)-based TOA (Time of Arrival) and position fingerprint combined indoor positioning method, which comprises the following steps of: acquiring fingerprint information in a wireless sensor network, processing the fingerprint information to obtain an offline fingerprint information library, firstly determining an estimated position range of a mobile tag by using a trilateral ranging method in an online real-time positioning stage, and then determining an estimated position range of the mobile tag; and an improved enhanced weighted K-proximity algorithm is used in the estimation range to obtain estimated position coordinates of the mobile tag. According to the method, the arrival time information is collected as a fingerprint vector, interference of factors such as the environment on fingerprints is reduced, the matching calculation amount is reduced by using a trilateral ranging algorithm before fingerprint matching, and the positioning precision can be improved.

Description

technical field [0001] The invention relates to a UWB-based TOA and position fingerprint combined indoor positioning method, which belongs to the technical field of positioning and the field of public security. Background technique [0002] With the increasing progress of society and the development of wireless networks, location-based services already have a broad application market. Since the global navigation and positioning system (GNSS) has the problem of lack of signal and weak signal for indoor positioning, accurate location information is required for public areas such as elderly care institutions, large hospitals, shopping malls, subway stations, and underground parking lots, so indoor positioning accuracy can be improved appears to be particularly important. At present, existing indoor positioning technologies mainly include Bluetooth, radio frequency technology (RFID), WI-FI, Zigbee, computer vision, and ultra-wideband (UWB). Among them, ultra-wideband (UWB) tec...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04W4/02H04W4/021H04W4/33H04W64/00G01S5/02G06K9/62
CPCH04W4/023H04W4/021H04W4/33H04W64/006G01S5/0264G06F18/22G06F18/23213
Inventor 郁露唐超礼黄友锐韩涛徐善永甘福宝
Owner ANHUI UNIV OF SCI & TECH
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