Equivalent band weighted wireless positioning method and device

Abstract

The invention discloses a wireless positioning method and device based on equivalent band weighting, and relates to the technical field of monitoring analysis, and the method comprises the steps: obtaining signal intensity information corresponding to each wireless signal emission source; constructing a signal intensity equivalent band according to the signal intensity information; determining a weighted value corresponding to each wireless signal emission source based on the signal intensity equivalent band, wherein the weighted value corresponding to each wireless signal emission source can be adjusted according to the change of the signal intensity; and carrying out comprehensive calculation on the weighted values of the signal emission sources so as to confirm an estimated coordinate corresponding to the target position. The method and the device have the effect of improving the wireless positioning accuracy.

Description

Technical Field

[0001] The present application relates to the field of monitoring and analysis technology, and in particular to an equivalued band weighted wireless positioning method and device. Background Art

[0002] Wireless positioning technology has been widely developed and applied in the past few decades, especially in the fields of Internet of Things, intelligent transportation, logistics management and mobile device navigation. The core of wireless positioning technology is to determine the location of a device or object by analyzing the characteristics of wireless signals. Common wireless positioning technologies include signal strength-based positioning, arrival time and arrival time difference positioning, arrival angle positioning, and fingerprint-based positioning methods. The signal strength-based positioning method uses the propagation characteristics of wireless signals in space to estimate the distance between the device and the signal source by measuring the signal strength received by the device. This method is simple and easy to use and does not require additional hardware support, so it is very common in practical applications. With the popularization of wireless networks and the increase in positioning needs, how to improve the accuracy of wireless positioning has become a research hotspot. In recent years, positioning methods combining machine learning and data fusion technology have gradually emerged. By comprehensively utilizing multiple signal characteristics and environmental information, the positioning performance can be improved to a certain extent.

[0003] In the related technology, the existing positioning methods are mostly based on a single signal feature, which makes it difficult to fully utilize multi-source information for comprehensive judgment. In complex environments, a single signal feature is often not sufficient to provide reliable positioning results, which leads to inaccurate positioning. There is room for improvement. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present application provides an equal-value band weighted wireless positioning method and device.

[0005] In a first aspect, the present application provides an equal-value band weighted wireless positioning method, which adopts the following technical solution:

[0006] A wireless positioning method with equal value band weighting comprises the following steps:

[0007] Obtain signal strength information corresponding to each wireless signal transmission source;

[0008] Constructing a signal strength contour band according to the signal strength information;

[0009] Determining a weighted value corresponding to each wireless signal transmission source based on the signal strength equal value band, wherein the weighted value corresponding to each wireless signal transmission source can be adjusted according to a change in signal strength;

[0010] The weighted values ​​of each signal transmission source are comprehensively calculated to confirm the estimated coordinates corresponding to the target location.

[0011] Preferably, obtaining the signal strength information corresponding to each wireless signal transmission source specifically includes:

[0012] Confirming basic information corresponding to multiple wireless signal transmission sources, wherein the basic information includes name information, location coordinate information, address information, and signal strength information corresponding to the wireless signal transmission sources;

[0013] Based on the basic information corresponding to the multiple wireless signal transmission sources, the address information and the corresponding signal strength information of the multiple wireless signal transmission sources are stored in a first preset data structure;

[0014] Confirm the required number n corresponding to the wireless signal transmission sources, and sort the signal strength information stored in the preset data structure in descending order, and then filter out the first n wireless signal transmission sources based on the descending order, and mark the first n wireless signal transmission sources as each wireless signal transmission source;

[0015] The basic information corresponding to each wireless signal transmission source is stored in a second preset data structure.

[0016] Preferably, constructing a signal strength equal value band according to the signal strength information specifically includes:

[0017] Confirm the target area, set multiple sampling points in the target area, and obtain the position coordinates (ai, bi) and signal strength values ​​ri corresponding to each sampling point, where i represents the number corresponding to each sampling point in the target area, i=1, 2, 3...N;

[0018] Obtain the target area, divide the target area into grids, identify the corresponding grid points in the target area, and calculate the target area by the formula Confirm the signal strength value R(x,y) corresponding to the grid point in the target area, where di represents the distance between the sampling point numbered i and the grid point, and N represents the total number of sampling points in the target area;

[0019] The signal strength value corresponding to each grid point in the target area is calculated, and the signal strength value corresponding to each grid point in the target area is divided into multiple levels according to the preset signal strength interval, and the signal strength of each level is interpolated to form a continuous signal strength surface, and based on the signal strength surface, a plurality of signal strength contour bands are generated, and the signal strength contour bands are used to represent the spatial distribution characteristics of the signal strength.

[0020] Preferably, determining the weighted value corresponding to each wireless signal transmission source based on the signal strength equal value band specifically includes:

[0021] Confirming basic information corresponding to each wireless signal transmission source, extracting position coordinate information corresponding to each wireless signal transmission source from the basic information, and making one-to-one correspondence between the position coordinate information corresponding to each wireless signal transmission source and the position coordinates corresponding to each grid point;

[0022] By formula Confirm the signal strength gradient information corresponding to each wireless signal transmission source in, Represented as the partial derivative symbol, and then the signal strength gradient information corresponding to each wireless signal transmission source is Substitute into the formula The weighted value W(x, y) corresponding to each wireless signal transmission source is calculated, where β represents a preset correction coefficient.

[0023] Preferably, the weighted values ​​of the signal transmission sources are comprehensively calculated to determine the estimated coordinates corresponding to the target position, which specifically includes:

[0024] By formula Confirm the estimated coordinates corresponding to the target location Among them, p represents the number corresponding to each wireless signal transmission source, p=1,2,3...q, Wp represents the weighted value corresponding to the wireless signal transmission source numbered p, and (xp,yp) represents the position coordinates corresponding to the wireless signal transmission source numbered p.

[0025] Preferably, after comprehensively calculating the weighted values ​​of the signal transmission sources and then confirming the estimated coordinates corresponding to the target position, the method further includes:

[0026] By formula Determine the position deviation coefficient κ corresponding to the target position, where (xact, yact) represents the actual position coordinates corresponding to the target position, and L′ represents the maximum allowable deviation distance;

[0027] Compare the position deviation coefficient κ corresponding to the target position with the preset position deviation threshold κ′;

[0028] If the position deviation coefficient κ ≤ κ′ corresponding to the target position, no adjustment is required;

[0029] If the position deviation coefficient κ corresponding to the target position is greater than κ′, further optimization is required.

[0030] Preferably, the process of further optimizing specifically includes:

[0031] Confirming the direction influence vector corresponding to the position deviation coefficient of the target position, and calculating the unit direction influence vector corresponding to the position deviation coefficient of the target position based on the direction influence vector;

[0032] By formula The adjusted position coordinates (xnew, ynew) corresponding to the target position are confirmed, where Δx and Δy represent the unit direction influence vectors corresponding to the x-axis and y-axis respectively, and μ represents the preset adjustment step coefficient.

[0033] In a second aspect, the present application provides an equal-value band weighted wireless positioning device, which adopts the following technical solution:

[0034] A wireless positioning device with equal value band weighting, comprising:

[0035] An information acquisition module is used to obtain signal strength information corresponding to each wireless signal transmission source;

[0036] A construction module, used to construct a signal strength equal value band according to the signal strength information;

[0037] An analysis module, used to confirm the weighted value corresponding to each wireless signal transmission source based on the signal strength equal value band, and the weighted value corresponding to each wireless signal transmission source can be adjusted according to the change of signal strength;

[0038] The estimation module is used to comprehensively calculate the weighted values ​​of each signal transmission source, and then determine the estimated coordinates corresponding to the target position.

[0039] In a third aspect, the present application provides a computer-readable storage medium storing instructions, which, when executed on a computer, enables the computer to execute any one of the above-described equal-value band weighted wireless positioning methods.

[0040] In summary, the present application includes at least one of the following beneficial technical effects:

[0041] 1. The present invention provides a wireless positioning method with weighted iso-value bands, which obtains the signal strength information corresponding to each wireless signal transmission source and constructs a signal strength iso-value band according to the signal strength information; based on the signal strength iso-value bands, the weighted values ​​corresponding to each wireless signal transmission source are confirmed, and the weighted values ​​of each signal transmission source are comprehensively calculated, thereby confirming the estimated coordinates corresponding to the target position, and then making full use of multi-source information for comprehensive judgment, effectively reducing the positioning error caused by environmental interference, thereby effectively improving the accuracy of wireless positioning;

[0042] 2. By confirming the position deviation coefficient corresponding to the target position, comparing the position deviation coefficient corresponding to the target position with the preset position deviation threshold, and optimizing based on the comparison results, the accuracy of wireless positioning is effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0044] Figure 1 It is a flow chart of the method of equal-value band weighted wireless positioning in an embodiment of the present application.

[0045] Figure 2 It is a schematic diagram of a device for equivalent-valued weighted wireless positioning according to an embodiment of the present application. DETAILED DESCRIPTION

[0046] The following is combined with Figure 1-2 This application is described in further detail.

[0047] Example 1

[0048] The embodiment of the present application discloses an equal-value band weighted wireless positioning method.

[0049] Reference Figure 1 , a wireless positioning method with equal value band weighting, comprising the following steps:

[0050] S1. Obtain the signal strength information corresponding to each wireless signal transmission source;

[0051] S2. Constructing signal strength equal value bands according to the signal strength information;

[0052] S3. Confirm the weighted value corresponding to each wireless signal transmission source based on the signal strength equal value band, and the weighted value corresponding to each wireless signal transmission source can be adjusted according to the change of signal strength;

[0053] S4. Comprehensively calculate the weighted values ​​of each signal transmission source, and then confirm the estimated coordinates corresponding to the target position.

[0054] By adopting the above technical scheme, the signal strength information corresponding to each wireless signal transmission source is obtained, and a signal strength contour band is constructed according to the signal strength information; the weighted value corresponding to each wireless signal transmission source is confirmed based on the signal strength contour band, and the weighted value of each signal transmission source is comprehensively calculated to confirm the estimated coordinates corresponding to the target position, and then make full use of multi-source information for comprehensive judgment, effectively reducing the positioning error caused by signal attenuation, multipath effect and environmental interference, thereby effectively improving the accuracy of wireless positioning.

[0055] It should be noted that obtaining the signal strength information corresponding to each wireless signal transmission source specifically includes:

[0056] Confirming basic information corresponding to multiple wireless signal transmission sources, wherein the basic information includes name information, location coordinate information, address information, and signal strength information corresponding to the wireless signal transmission sources;

[0057] Based on the basic information corresponding to the multiple wireless signal transmission sources, the address information and the corresponding signal strength information of the multiple wireless signal transmission sources are stored in a first preset data structure;

[0058] Confirm the required number n corresponding to the wireless signal transmission sources, and sort the signal strength information stored in the preset data structure in descending order, and then filter out the first n wireless signal transmission sources based on the descending order, and mark the first n wireless signal transmission sources as each wireless signal transmission source;

[0059] The basic information corresponding to each wireless signal transmission source is stored in a second preset data structure.

[0060] By adopting the above technical solution, the signal strength information corresponding to each wireless signal transmission source can be obtained through Wi-Fi scanning technology, Bluetooth beacon technology or ultra-wideband technology. In an embodiment of the present application, Wi-Fi scanning technology is set to obtain the signal strength information corresponding to each wireless signal transmission source, wherein the signal strength information is represented as RSSI and the address information is represented as BSSID.

[0061] The specific implementation code is as follows:

[0062]

[0063]

[0064] Specifically, screening out the top n wireless signal transmission sources from multiple wireless signal transmission sources can improve the accuracy and reliability of the positioning system. By selecting the signal source with the strongest or most stable signal strength, the positioning error caused by signal attenuation, multipath effect and environmental interference can be effectively reduced, thereby improving the accuracy of positioning. In addition, screening signal sources helps to reduce computational complexity and resource consumption. In a wireless network environment, processing the strength information of all available signals may lead to unnecessary computational burden and energy consumption. By screening, resources can be concentrated to process the most valuable information, thereby improving system efficiency.

[0065] Further, constructing a signal strength equal value band according to the signal strength information specifically includes:

[0066] Confirm the target area, set multiple sampling points in the target area, and obtain the position coordinates (ai, bi) and signal strength values ​​ri corresponding to each sampling point, where i represents the number corresponding to each sampling point in the target area, i=1, 2, 3...N;

[0067] Obtain the target area, divide the target area into grids, identify the corresponding grid points in the target area, and calculate the target area by the formula Confirm the signal strength value R(x,y) corresponding to the grid point in the target area, where di represents the distance between the sampling point numbered i and the grid point, and N represents the total number of sampling points in the target area;

[0068] The signal strength value corresponding to each grid point in the target area is calculated, and the signal strength value corresponding to each grid point in the target area is divided into multiple levels according to the preset signal strength interval, and the signal strength of each level is interpolated to form a continuous signal strength surface, and based on the signal strength surface, a plurality of signal strength contour bands are generated, and the signal strength contour bands are used to represent the spatial distribution characteristics of the signal strength.

[0069] Specifically, signal strength contour bands can intuitively display the signal coverage range and strength distribution, help identify areas of signal strength changes and potential coverage blind spots, and help optimize the layout and configuration of wireless transmission sources, thereby improving the overall performance of the network and user experience. Secondly, in wireless positioning, contour bands provide a detailed understanding of signal propagation characteristics and can be used to improve the accuracy of positioning algorithms. By analyzing contour bands, the positioning system can better adapt to environmental changes and reduce the impact of multipath effects and interference on positioning accuracy.

[0070] For example, if the position coordinates and signal strength values ​​corresponding to each sampling point in the target area are: point A: (0,0), signal strength value is -50db; point B: (0,10), signal strength value is -60db; point C: (10,0), signal strength value is -55db; point D: (10,10), signal strength value is -65db;

[0071] Select any grid point (5,5) in the target area, and then use the formula The season concluded that the signal strength value corresponding to the above grid points was -57.5db, and confirmed that the preset signal strength interval was 5db. Then, based on the results of the difference processing, contour lines were drawn, and points with the same signal strength values ​​were connected into lines. Then, based on the contour lines, the target area was divided into different contour zones.

[0072] It should be noted that determining the weighted value corresponding to each wireless signal transmission source based on the signal strength equal value band specifically includes:

[0073] Confirming basic information corresponding to each wireless signal transmission source, extracting position coordinate information corresponding to each wireless signal transmission source from the basic information, and making one-to-one correspondence between the position coordinate information corresponding to each wireless signal transmission source and the position coordinates corresponding to each grid point;

[0074] By formula Confirm the signal strength gradient information corresponding to each wireless signal transmission source in, Represented as the partial derivative symbol, and then the signal strength gradient information corresponding to each wireless signal transmission source is Substitute into the formula The weighted value W(x, y) corresponding to each wireless signal transmission source is calculated, where β represents a preset correction coefficient.

[0075] Specifically, the signal strength gradient information can reflect the severity of the signal strength change, that is, the smaller the gradient, the more stable the signal. The partial derivatives can be approximately calculated by the finite difference method.

[0076] Furthermore, the weighted values ​​of each signal transmission source are comprehensively calculated to determine the estimated coordinates corresponding to the target position, including:

[0077] By formula Confirm the estimated coordinates corresponding to the target location Among them, p represents the number corresponding to each wireless signal transmission source, p=1,2,3...q, Wp represents the weighted value corresponding to the wireless signal transmission source numbered p, and (xp,yp) represents the position coordinates corresponding to the wireless signal transmission source numbered p.

[0078] For example, if the position coordinates and weights of each signal source are: the position coordinates of signal source 1 are (2,3), and the weight is 0.6; the position coordinates of signal source 2 are (5,7), and the weight is 0.3; the position coordinates of signal source 3 are (8,1), and the weight is 0.1; then the estimated coordinates of the target position are is (3.5,4.0).

[0079] It should be noted that after the weighted values ​​of the signal transmission sources are comprehensively calculated to determine the estimated coordinates corresponding to the target position, the following steps are specifically included:

[0080] By formula Determine the position deviation coefficient κ corresponding to the target position, where (xact, yact) represents the actual position coordinates corresponding to the target position, and L′ represents the maximum allowable deviation distance;

[0081] Compare the position deviation coefficient κ corresponding to the target position with the preset position deviation threshold κ′;

[0082] If the position deviation coefficient κ ≤ κ′ corresponding to the target position, no adjustment is required;

[0083] If the position deviation coefficient κ corresponding to the target position is greater than κ′, further optimization is required.

[0084] Furthermore, the optimization process is further performed, specifically including:

[0085] Confirming the direction influence vector corresponding to the position deviation coefficient of the target position, and calculating the unit direction influence vector corresponding to the position deviation coefficient of the target position based on the direction influence vector;

[0086] Specifically, through the formula Confirm the unit direction influence vector corresponding to the x-axis. Similarly, confirm the unit direction influence vector corresponding to the y-axis, where c represents the preset correction coefficient;

[0087] By formula The adjusted position coordinates (xnew, ynew) corresponding to the target position are confirmed, where Δx and Δy represent the unit direction influence vectors corresponding to the x-axis and y-axis respectively, and μ represents the preset adjustment step coefficient.

[0088] Example 2

[0089] The embodiment of the present application also discloses an equal-value band weighted wireless positioning device.

[0090] Reference Figure 2 , a wireless positioning device with equal value band weighting, comprising:

[0091] An information acquisition module is used to obtain signal strength information corresponding to each wireless signal transmission source;

[0092] A construction module, used to construct a signal strength equal value band according to the signal strength information;

[0093] An analysis module, used to confirm the weighted value corresponding to each wireless signal transmission source based on the signal strength equal value band, and the weighted value corresponding to each wireless signal transmission source can be adjusted according to the change of signal strength;

[0094] The estimation module is used to comprehensively calculate the weighted values ​​of each signal transmission source, and then determine the estimated coordinates corresponding to the target position.

[0095] The above contents are merely examples and explanations of the concept of the present invention. The technicians in this technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the concept of the invention or exceed the scope defined by the claims, they should all fall within the protection scope of the present invention.

[0096] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0097] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A wireless positioning method with equal value band weighting, characterized in that: The following steps are involved: Obtain signal strength information corresponding to each wireless signal transmission source; Constructing a signal strength contour band according to the signal strength information; Determining a weighted value corresponding to each wireless signal transmission source based on the signal strength equal value band, wherein the weighted value corresponding to each wireless signal transmission source can be adjusted according to a change in signal strength; The weighted values ​​of each signal transmission source are comprehensively calculated to confirm the estimated coordinates corresponding to the target location.

2. The wireless positioning method of equal value band weighting according to claim 1, characterized in that: Obtain the signal strength information corresponding to each wireless signal transmission source, including: Confirming basic information corresponding to multiple wireless signal transmission sources, wherein the basic information includes name information, location coordinate information, address information, and signal strength information corresponding to the wireless signal transmission sources; Based on the basic information corresponding to the multiple wireless signal transmission sources, the address information and the corresponding signal strength information of the multiple wireless signal transmission sources are stored in a first preset data structure; Confirm the required number n corresponding to the wireless signal transmission sources, and sort the signal strength information stored in the preset data structure in descending order, and then filter out the first n wireless signal transmission sources based on the descending order, and mark the first n wireless signal transmission sources as each wireless signal transmission source; The basic information corresponding to each wireless signal transmission source is stored in a second preset data structure.

3. The wireless positioning method of equal value band weighting according to claim 1, characterized in that: Constructing a signal strength equal value band according to the signal strength information specifically includes: Confirm the target area, set multiple sampling points in the target area, and obtain the position coordinates (ai, bi) and signal strength values ​​ri corresponding to each sampling point, where i represents the number corresponding to each sampling point in the target area, i=1, 2, 3...N; Obtain the target area, divide the target area into grids, identify the corresponding grid points in the target area, and calculate the target area by the formula Confirm the signal strength value R(x,y) corresponding to the grid point in the target area, where di represents the distance between the sampling point numbered i and the grid point, and N represents the total number of sampling points in the target area; The signal strength value corresponding to each grid point in the target area is calculated, and the signal strength value corresponding to each grid point in the target area is divided into multiple levels according to the preset signal strength interval, and the signal strength of each level is interpolated to form a continuous signal strength surface, and based on the signal strength surface, a plurality of signal strength contour bands are generated, and the signal strength contour bands are used to represent the spatial distribution characteristics of the signal strength.

4. The wireless positioning method of equal value band weighting according to claim 3, characterized in that: Determining the weighted value corresponding to each wireless signal transmission source based on the signal strength equal value band specifically includes: Confirming basic information corresponding to each wireless signal transmission source, extracting position coordinate information corresponding to each wireless signal transmission source from the basic information, and making one-to-one correspondence between the position coordinate information corresponding to each wireless signal transmission source and the position coordinates corresponding to each grid point; By formula Confirm the signal strength gradient information corresponding to each wireless signal transmission source in, Represented as the partial derivative symbol, and then the signal strength gradient information corresponding to each wireless signal transmission source is Substitute into the formula The weighted value W(x, y) corresponding to each wireless signal transmission source is calculated, where β represents a preset correction coefficient.

5. The wireless positioning method of equal value band weighting according to claim 4, characterized in that: The weighted values ​​of each signal transmission source are comprehensively calculated to determine the estimated coordinates corresponding to the target location, including: By formula Confirm the estimated coordinates corresponding to the target location Among them, p represents the number corresponding to each wireless signal transmission source, p=1,2,3...q, Wp represents the weighted value corresponding to the wireless signal transmission source numbered p, and (xp,yp) represents the position coordinates corresponding to the wireless signal transmission source numbered p.

6. The wireless positioning method of equal value band weighting according to claim 5, characterized in that: After the weighted values ​​of each signal transmission source are comprehensively calculated to determine the estimated coordinates corresponding to the target position, the following steps are specifically included: By formula Determine the position deviation coefficient κ corresponding to the target position, where (xact, yact) represents the actual position coordinates corresponding to the target position, and L′ represents the maximum allowable deviation distance; Compare the position deviation coefficient κ corresponding to the target position with the preset position deviation threshold κ′; If the position deviation coefficient κ ≤ κ′ corresponding to the target position, no adjustment is required; If the position deviation coefficient κ corresponding to the target position is greater than κ′, further optimization is required.

7. The wireless positioning method of equal value band weighting according to claim 6, characterized in that: The further optimization process includes: Confirming the direction influence vector corresponding to the position deviation coefficient of the target position, and calculating the unit direction influence vector corresponding to the position deviation coefficient of the target position based on the direction influence vector; The adjusted position coordinates (xnew, ynew) corresponding to the target position are determined by the formula (xnew, ynew) = (x + μ·Δx, y + μ·Δy), where Δx and Δy represent the unit direction influence vectors corresponding to the x-axis and y-axis respectively, and μ represents the preset adjustment step coefficient.

8. A wireless positioning device with equal value band weighting, characterized in that: include: An information acquisition module is used to obtain signal strength information corresponding to each wireless signal transmission source; A construction module, used to construct a signal strength equal value band according to the signal strength information; An analysis module, used to confirm the weighted value corresponding to each wireless signal transmission source based on the signal strength equal value band, and the weighted value corresponding to each wireless signal transmission source can be adjusted according to the change of signal strength; The estimation module is used to comprehensively calculate the weighted values ​​of each signal transmission source, and then determine the estimated coordinates corresponding to the target position.

9. A computer-readable storage medium, characterized in that: Instructions are stored, and when the instructions are executed on a computer, the computer executes an equal-value band weighted wireless positioning method as described in any one of claims 1 to 7.

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