An angle of arrival positioning system fusion positioning method

Abstract

The application discloses a kind of angle of arrival positioning system fusion positioning method, comprising: server receives each terminal observation information data packet uploaded by base station, marks time stamp, and pre-processes according to sub-region;Grouping, subfamily is carried out to the received data according to time interval, and the data in subfamily is screened;Based on the data in subfamily, fusion positioning is carried out to obtain positioning estimate value;When the same terminal multiple sub-regions appear, sub-region switching decision, fusion positioning are carried out, and output is carried out.The application has the characteristics of multi-source heterogeneous data fusion technology, and is beneficial to construct angle of arrival positioning system fusion positioning engine.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of wireless positioning technology, in particular to a kind of angle of arrival positioning system fusion positioning method. BACKGROUND

[0002] In the era of Internet of Everything, not only the information of target time, state, etc. is needed, but also the position information of target. For single server multi-region positioning application, the present application deeply studies the angle of arrival direction finding positioning technology, and proposes a kind of angle of arrival positioning system fusion positioning method. The server receives the observation information data packet uploaded by each terminal of the base station, marks the time stamp, and pre-processes according to the sub-region. The received data is grouped and grouped according to time interval, and the data in the group is screened. Based on the data in the group, the fusion positioning is carried out to obtain the positioning estimate value. When the same terminal appears in multiple sub-regions, sub-region switching decision and fusion positioning are carried out, and output is carried out. SUMMARY

[0003] In order to overcome the deficiencies in the prior art, the present application provides a kind of angle of arrival positioning system fusion positioning method, which has the characteristics of multi-source heterogeneous data fusion technology, and is beneficial to construct angle of arrival positioning system fusion positioning engine.

[0004] In order to achieve the above application purpose and solve its technical problems, the technical scheme adopted is as follows:

[0005] A kind of angle of arrival positioning system fusion positioning method, comprising the following steps:

[0006] Step S1: the server receives the observation information data packet uploaded by each terminal of the base station, marks the time stamp, and pre-processes according to the sub-region;

[0007] Step S2: the received data is grouped and grouped according to time interval, and the data in the group is screened.

[0008] Step S3: based on the data in the group, the fusion positioning is carried out to obtain the positioning estimate value;

[0009] Step S4: when the same terminal appears in multiple sub-regions, sub-region switching decision and fusion positioning are carried out, and output is carried out.

[0010] Further, the step S1 comprises the following steps:

[0011] Step S11: the base station and the server exist observation information communication protocol;

[0012] Step S12: the protocol contains terminal MAC address, base station MAC address, received signal energy intensity indication value RSSI, angle of incidence information;Or, the protocol contains terminal MAC address, base station MAC address, received signal energy intensity indication value RSSI, sampling signal for facilitating extraction of angle of incidence information.

[0013] Step S13: The server timestamps the received communication data;

[0014] Step S14: The base station MACs within the sub-area are grouped into a set;

[0015] Step S15: The server compares the base station MAC addresses in the received information with the set of sub-area MAC addresses, and groups the received information into the sub-area group matching the base station MAC addresses;

[0016] Step S16: The data packets within the sub-area are grouped according to the terminal MAC addresses and sorted according to the timestamps.

[0017] Further, the step S2 comprises the following steps:

[0018] Step S21: The data packets in the terminal MAC address group are segmented at a certain time interval Ts, and the continuous multiple data packets within the time interval Tc before the current fusion time are taken as a family;

[0019] Step S22: The data packets in the family are grouped according to the base station MAC addresses, and the data packets in the group are clustered according to the RSSI values, and the data packets with large RSSI value deviation are excluded and do not participate in the fusion positioning.

[0020] Further, the step S3 comprises the following steps:

[0021] Step S31: The confidence angle interval is set in combination with the incident angle in the data packet, and the base station position coordinates in the corresponding family and the terminal relative working layer height, and the two-dimensional confidence area is determined at the terminal working height level; or, the incident angle information is calculated from the sampling signal;

[0022] Step S32: The two-dimensional confidence area confidence weight is designed in combination with the incident angle and the RSSI value in the data packet, and the two-dimensional confidence area confidence weights generated by each data packet participating in the fusion positioning in the family are superimposed;

[0023] Step S33: In order to reduce invalid area search and improve positioning efficiency, the search interval is set, the search interval of the next moment is set according to the position of the previous moment combined with the motion speed; or, the boundary of the effective coverage range formed by each base station in the current moment is taken as the search interval;

[0024] Step S34: The region with the maximum weight in the search area range is searched, and the centroid position of the region is taken as the result of the fusion positioning of the data packets in the current family.

[0025] Further, the step S4 comprises the following steps:

[0026] Step S41: When the same terminal appears in multiple sub-areas in the server, obtaining the terminal's corresponding base station received signal strength statistical information in each sub-area within the time interval Tc;

[0027] Step S42: Combining the information of the base stations at the entrances and exits of each sub-area to determine whether to trigger sub-area switching;

[0028] Step S43: If sub-area switching is not triggered, determining the sub-area to which the terminal belongs according to the base station received signal strength statistical information;

[0029] Step S44: If sub-area switching is triggered, combining the information of the base stations at the entrances and exits of each sub-area, the base station received signal strength statistical information to determine whether sub-area switching is needed, if not, the terminal belongs to the original sub-area, and if so, confirming the terminal's entry into a sub-area;

[0030] Step S45: The server determines the terminal's final position estimation and sub-area information according to the sub-area switching result;

[0031] Step S46: If the sub-area is not switched, the terminal's position estimation in the original sub-area is taken as the terminal's positioning estimation in the server;

[0032] Step S47: If the sub-area is switched, the terminal's position estimation in the entered sub-area is taken as the terminal's positioning estimation in the server;

[0033] Step S48: The server outputs the terminal's positioning estimation value and the information of the sub-area to which it belongs according to the time interval Ts, or performs Kalman filtering on the terminal's positioning estimation value according to the time interval Ts, and the filter output result is taken as the terminal's positioning estimation value.

[0034] Compared with the prior art, the application has the characteristics of multi-source heterogeneous data fusion technology, which is beneficial to the construction of the angle of arrival positioning system fusion positioning engine. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can also be obtained by those skilled in the art without creative labor. In the drawings:

[0036] Figure 1 It is an angle of arrival positioning system fusion positioning engine workflow diagram;

[0037] Figure 2 It is an angle of arrival positioning system single server multi-area system structure diagram. DETAILED DESCRIPTION

[0038] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0039] Example 1

[0040] like Figure 2 As shown in Figure 1, the single-server, multi-region positioning architecture of the arrival angle positioning system includes N positioning terminals, L positioning base stations, K switch groups, and one server. The positioning system's coverage area is divided into M sub-regions, and positioning terminals can move within and between sub-regions.

[0041] like Figure 1 As shown, the present invention discloses a method for fusion positioning of an arrival angle positioning system, comprising the following steps:

[0042] Step S1: The server receives the observation information data packets of each terminal uploaded by the base station, marks the timestamp, and pre-processes them according to the sub-area;

[0043] Step S2: Group the received data by time interval and divide them into clusters, and filter the data within the clusters;

[0044] Step S3: Perform fusion positioning based on the intra-cluster data to obtain a positioning estimate;

[0045] Step S4: When multiple sub-areas exist for the same terminal, sub-area switching decision is made, fusion positioning is performed, and output is performed.

[0046] Furthermore, the step S1 includes the following steps:

[0047] Step S11: There is an observation information communication protocol between the base station and the server;

[0048] Step S12: The protocol includes the terminal MAC address, base station MAC address, received signal strength indicator RSSI, and incident angle information;

[0049] Step S13: The server timestamps the received communication data;

[0050] Step S14: grouping the MAC addresses of the base stations in the sub-area into a set;

[0051] Step S15: The server compares the base station MAC address in the received information with the sub-region MAC address set, and classifies the received information into the sub-region group with the matching base station MAC address;

[0052] Step S16: The data packets in the sub-region are grouped according to the terminal MAC address and sorted according to the time stamp.

[0053] Further, the step S2 comprises the following steps:

[0054] Step S21: The data packets in the terminal MAC address group are segmented at a certain time interval of 0.1 s, and the continuous multiple data packets within the current fusion time backtracking 1 s long are taken as a family;

[0055] Step S22: The data packets in the family are grouped according to the base station MAC address, the data packets in the group are clustered according to the RSSI value, and the data packets with large RSSI value deviation are excluded and do not participate in the fusion positioning.

[0056] Further, the step S3 comprises the following steps:

[0057] Step S31: The incident angle in the data packet is combined, and the base station position coordinates in the corresponding family and the terminal relative working layer height are set. The confidence angle interval (pitch angle -2°~2°, azimuth angle -5°~5°) is set to determine the two-dimensional confidence region at the terminal working height level;

[0058] Step S32: The incident angle and RSSI value in the data packet are combined to design the confidence weight of the two-dimensional confidence region, and the confidence weights of the two-dimensional confidence regions generated by each data packet participating in the fusion positioning in the family are superimposed;

[0059] Step S33: In order to reduce invalid region search and improve positioning efficiency, the search interval is set, and the search interval of the next moment is set according to the position of the previous moment combined with the motion speed;

[0060] Step S34: The region with the maximum weight in the search area range is taken as the result of the fusion positioning of the data packets in the current family.

[0061] Further, the step S4 comprises the following steps:

[0062] Step S41: When the same terminal in the server appears in multiple sub-regions, the terminal receives signal strength statistical information of the corresponding base station in each sub-region within a time interval of 1 s is obtained;

[0063] Step S42: Whether to trigger sub-region switching is judged by combining the information of the base stations at the entrances and exits of each sub-region;

[0064] Step S43: If the sub-region switching is not triggered, the sub-region to which the terminal belongs is judged according to the base station received signal strength statistical information;

[0065] Step S44: If sub-area switching is triggered, the terminal determines whether sub-area switching is required based on the information of the entrance and exit base stations of each sub-area and the statistical information of the base station received signal strength. If not, the terminal belongs to the atomic area. If required, the terminal is confirmed to be switched to the sub-area.

[0066] Step S45: The server determines the terminal's final location estimate and sub-area information based on the sub-area switching result;

[0067] Step S46: If the sub-area is not switched, the terminal position estimate in the atomic area is used as the terminal position estimate in the server;

[0068] Step S47: If the sub-area is switched, the terminal position estimate of the switched-in sub-area is used as the terminal position estimate in the server;

[0069] Step S48: The server performs Kalman filtering on the terminal positioning estimation value at a time interval of 0.1s, and uses the filter output result as the positioning estimation value of the positioning terminal, and outputs the terminal positioning estimation value and the sub-area information to which it belongs.

[0070] Example 2

[0071] like Figure 2 As shown in Figure 1, the single-server, multi-region positioning architecture of the arrival angle positioning system includes N positioning terminals, L positioning base stations, K switch groups, and one server. The positioning system's coverage area is divided into M sub-regions, and positioning terminals can move within and between sub-regions.

[0072] like Figure 1 As shown, the present invention discloses a method for fusion positioning of an arrival angle positioning system, comprising the following steps:

[0073] Step S1: The server receives the observation information data packets of each terminal uploaded by the base station, marks the timestamp, and pre-processes them according to the sub-area;

[0074] Step S2: Group the received data by time interval and divide them into clusters, and filter the data within the clusters;

[0075] Step S3: Perform fusion positioning based on the intra-cluster data to obtain a positioning estimate;

[0076] Step S4: When multiple sub-areas exist for the same terminal, sub-area switching decision is made, fusion positioning is performed, and output is performed.

[0077] Furthermore, the step S1 includes the following steps:

[0078] Step S11: There is an observation information communication protocol between the base station and the server;

[0079] Step S12: The protocol contains the terminal MAC address, the base station MAC address, the received signal energy strength indication value RSSI, and the incident angle information.

[0080] Step S13: The server marks the time stamp of the received communication data.

[0081] Step S14: The base station MACs in the sub-area are grouped into a set.

[0082] Step S15: The server compares the base station MAC address in the received information with the sub-area MAC address set, and divides the received information into the sub-area group matched with the base station MAC address.

[0083] Step S16: The data packets in the sub-area are grouped according to the terminal MAC address and sorted according to the time stamp.

[0084] Further, the step S2 comprises the following steps:

[0085] Step S21: The data packets in the terminal MAC address group are segmented at a certain time interval 0.1 s, and the continuous multiple data packets in the 1 s time interval before the current fusion time are taken as a family.

[0086] Step S22: The data packets in the family are grouped according to the base station MAC address, the data packets in the group are clustered according to the RSSI value, the data packets with large RSSI value deviation are excluded, and do not participate in the fusion positioning.

[0087] Further, the step S3 comprises the following steps:

[0088] Step S31: The incident angle in the data packet, the corresponding base station position coordinates in the family, and the terminal relative working layer height are combined to set the confidence angle interval (pitch angle -2°-2°, azimuth angle -5°-5°), and the two-dimensional confidence area is determined at the terminal working height layer.

[0089] Step S32: The incident angle and the RSSI value in the data packet are combined to design the two-dimensional confidence area confidence weight, and the two-dimensional confidence area confidence weights generated by each data packet in the family participating in the fusion positioning are superimposed.

[0090] Step S33: In order to reduce invalid area search and improve positioning efficiency, the search interval is set, and the boundary of the effective coverage range formed by each base station in the family at the current time is taken as the search interval.

[0091] Step S34: The area with the maximum weight in the search area range is searched, and the centroid position of the area is taken as the result of the fusion positioning of the data packets in the current family.

[0092] Further, the step S4 comprises the following steps:

[0093] Step S41: When the same terminal appears in multiple sub-areas in the server, obtain the corresponding base station received signal strength statistical information of the terminal in each sub-area within the time interval 1s;

[0094] Step S42: Determine whether to trigger sub-area switching in combination with the information of the entrance and exit base stations of each sub-area;

[0095] Step S43: If the sub-area switching is not triggered, determine the sub-area to which the terminal belongs according to the base station received signal strength statistical information;

[0096] Step S44: If the sub-area switching is triggered, determine whether the sub-area switching is needed in combination with the information of the entrance and exit base stations of each sub-area and the base station received signal strength statistical information, if not, the terminal belongs to the original sub-area, and if yes, confirm the terminal to cut into the sub-area;

[0097] Step S45: The server determines the final position estimation and the sub-area information of the terminal according to the sub-area switching result;

[0098] Step S46: If the sub-area is not switched, the terminal position estimation of the original sub-area is taken as the terminal positioning estimation in the server;

[0099] Step S47: If the sub-area is switched, the terminal position estimation of the cut-in sub-area is taken as the terminal positioning estimation in the server;

[0100] Step S48: The server outputs the terminal positioning estimation value and the sub-area information to which the terminal belongs according to the time interval 0.1s.

[0101] The above is only the preferred specific implementation of the present application, but the protection scope of the present application is not limited to this, any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for angle of arrival positioning system fusion positioning, characterized in that, The method comprises the following steps: Step S1: the server receives the terminal observation information data packet uploaded by the base station, marks the time stamp, and pre-processes according to the sub-area; Step S2: the received data is grouped according to the time interval, and the data in the group is screened; Step S3: the data in the group is fused to obtain the positioning estimation value; Step S4: when the same terminal appears in multiple sub-areas, the sub-area switching decision and fusion positioning are performed, and the output is performed; The step S4 comprises the following steps: Step S41: when the same terminal appears in multiple sub-areas in the server, the terminal receives the signal strength statistical information of the corresponding base station in each sub-area within the time interval Tc; Step S42: whether the sub-area switching is triggered is determined by combining the base station information at the entrance and exit of each sub-area; Step S43: if the sub-area switching is not triggered, the sub-area to which the terminal belongs is determined according to the base station received signal strength statistical information; Step S44: if the sub-area switching is triggered, whether the sub-area switching is needed is determined by combining the base station information at the entrance and exit of each sub-area and the base station received signal strength statistical information; if not, the terminal belongs to the original sub-area; if yes, the terminal is confirmed to cut into the sub-area; Step S45: the server determines the final terminal position estimation and sub-area information according to the sub-area switching result; Step S46: if the sub-area is not switched, the terminal position estimation in the original sub-area is taken as the terminal positioning estimation in the server; Step S47: if the sub-area is switched, the terminal position estimation in the cut-in sub-area is taken as the terminal positioning estimation in the server; Step S48: the server outputs the terminal positioning estimation value and the sub-area information according to the time interval Ts; or, the terminal positioning estimation value is Kalman filtered according to the time interval Ts, and the filter output result is taken as the positioning estimation value of the terminal.

2. The angle of arrival positioning system fusion positioning method according to claim 1, characterized in that, The step S1 comprises the following steps: Step S11: the base station and the server have an observation information communication protocol; Step S12: the protocol contains the terminal MAC address, the base station MAC address, the received signal energy strength indication value RSSI, and the incident angle information; or, the protocol contains the terminal MAC address, the base station MAC address, the received signal energy strength indication value RSSI, and the sampling signal facilitating the extraction of the incident angle information; Step S13: the server marks the time stamp of the received communication data; Step S14: the base station MAC in the sub-area is grouped into a set; Step S15: the server compares the base station MAC address in the received information with the sub-area MAC address set, and divides the received information into the sub-area group matched with the base station MAC address; Step S16: the data packet in the sub-area is grouped according to the terminal MAC address, and is sorted according to the time stamp.

3. The angle of arrival positioning system fusion positioning method according to claim 1, wherein, The step S2 comprises the following steps: Step S21: the data packet in the terminal MAC address group is segmented according to a certain time interval Ts, and the continuous multiple data packets within the Tc time length from the current fusion time are taken as a group; Step S22: Grouping the data packets in the family according to the base station MAC address, clustering the data packets in the group according to the RSSI value, and excluding the data packets with large RSSI value deviation from the fusion positioning.

4. The angle of arrival positioning system fusion positioning method according to claim 1, wherein, The step S3 comprises the following steps: Step S31: Combining the incident angle in the data packet, the corresponding in-family base station position coordinates, and the terminal relative working layer height, setting a confidence angle interval, and determining a two-dimensional confidence region at the terminal working height level; or, calculating the incident angle information from the sampling signal; Step S32: Combining the incident angle and the RSSI value in the data packet, designing a two-dimensional confidence region confidence weight, and superimposing the two-dimensional confidence region confidence weights generated by each data packet participating in the fusion positioning in the family; Step S33: In order to reduce invalid region search and improve positioning efficiency, setting a search interval, setting the search interval of the next moment according to the position of the previous moment combined with the motion speed; or, taking the boundary of the effective coverage range formed by each base station in the family at the current moment as the search interval; Step S34: Searching the region with the maximum weight in the search region range, and taking the centroid position of the region as the result of the fusion positioning of the current data packet in the family.

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