Positioning base station layout method

Abstract

The invention provides a positioning base station layout method. The positioning base station layout method comprises the following steps: discretizing the space of a target area into a plurality of lattice points which are arranged at equal intervals; taking the plurality of position coordinates as particles of a particle swarm method; and taking the positioning service performance index as fitness, and constructing the positioning service performance index according to # imgabs0 #. Through the positioning base station layout method, the positioning base station layout obtained by adopting the positioning base station layout method has relatively high overall positioning service performance, the efficiency of determining the positioning base station layout can be improved, and in the process of determining the positioning base station layout, not only can the global exploration capability be ensured, but also the positioning base station layout can be ensured. And a more accurate result can be obtained locally.

Description

Technical Field

[0001] The present disclosure relates to the field of navigation and positioning technology, and in particular to a positioning base station layout method. Background Art

[0002] In recent years, various types of wireless signals and wireless positioning technologies have been applied to indoor positioning systems to provide positioning services for indoor equipment and personnel, in order to solve the problem of being unable to obtain satellite positioning services due to the failure of GNSS (Global Navigation Satellite System) positioning indoors. When building an indoor positioning system, it is necessary to deploy positioning base stations in the target area and calibrate the specific coordinates of each positioning base station as one of the information contained in the base station's transmission signal.

[0003] Factors that affect positioning performance include not only the accuracy of the observed quantity and the choice of positioning algorithms, but also the location (layout) of the positioning base stations in the target area. On the one hand, if the linear propagation of the signal between the receiver and the base station is blocked by obstacles, the receiver will not be able to receive the base station signal, or will receive a non-linear signal, introducing a large observation deviation; on the other hand, even if the linear propagation of the signal is not blocked by obstacles, the geometric layout of the positioning base stations relative to the receiver in the target area will affect the positioning accuracy of the receiver. Therefore, before building an indoor positioning system, it is necessary to select the appropriate positioning base station location based on the number of positioning base stations and according to the propagation characteristics of the signal and the obstruction of the target area, so as to determine the optimal layout of the positioning base stations, thereby optimizing the overall positioning performance of the target area.

[0004] At present, the layout of positioning base stations has been extensively studied, and a variety of optimization algorithms have been applied to the research of positioning base station layout methods, such as genetic algorithm, particle swarm algorithm, ant colony algorithm, simulated annealing algorithm, salp algorithm, grey wolf algorithm, etc. For example, CN114599004A discloses a base station layout method and device based on particle swarm algorithm, which solves the problem of falling into a local optimal solution by adding reverse learning and linear decreasing inertia weight method on the basis of particle swarm algorithm, thereby improving the optimization accuracy.

[0005] There are inevitably obstacles in the target area of ​​the positioning base station layout. The obstruction of the signal propagation by the obstacles will inevitably lead to discontinuous distribution of positioning performance in the target area. The existing positioning base station layout technical solution does not achieve the improvement of the overall positioning service performance of the target area through the positioning base station layout when the positioning performance distribution in the target area is discontinuous. In addition, due to the discontinuous distribution of positioning performance in the target area, the gradient-based optimization method cannot be applied. Summary of the invention

[0006] According to an embodiment of the present application, a positioning base station layout method is provided, which is used to obtain the optimal position coordinates of multiple positioning base stations to be deployed in a layoutable area of ​​a target area corresponding to multiple position coordinates by a particle swarm method, so as to determine the layout of the multiple positioning base stations to be deployed. The positioning base station layout method may include:

[0007] Discretize the space of the target area into multiple grid points arranged at equal intervals;

[0008] Using multiple position coordinates as particles in a particle swarm method; and

[0009] The positioning service performance index is used as the fitness, and according to

[0010]

[0011] Build location service performance indicators,

[0012] in,

[0013] S represents the positioning service performance indicator,

[0014] u j represents the coordinate vector of the jth grid point,

[0015] I N represents a set of serial numbers of multiple grid points, N represents the number of multiple grid points, I N ={1,2,…,N},j∈I N ,

[0016] I(u j ) represents the coordinate vector u of the jth grid point j The Fisher information matrix of

[0017]

[0018] I M represents a set of multiple positioning base stations to be deployed, M represents the number of multiple positioning base stations to be deployed, and I M ={1,2,…,M},

[0019] V(u j ) represents the position of the jth grid point u j There is a set of serial numbers of positioning base stations with straight-line propagation paths between the positioning receivers.

[0020] b i represents the coordinate vector of the i-th base station to be positioned, i∈V(u j ),

[0021] Represents the variance of the normal distribution of independent white Gaussian noise of the line-of-sight distance observation between the i-th positioning base station to be deployed and the positioning receiver located at the j-th grid point.

[0022] By using the positioning base station layout method according to this embodiment, the positioning base station layout obtained by using the positioning base station layout method can have a higher overall positioning service performance.

[0023] According to a preferred embodiment of the present application, a positioning base station layout method is provided. In addition to the technical features of the positioning base station layout method described above, the positioning base station layout method further includes:

[0024] according to

[0025]

[0026] constructing a velocity update equation; and

[0027] according to

[0028] x (l) (d+1)=x (l) (d)+v (l) (d+1)

[0029] Construct the position update equation,

[0030] in,

[0031] v (l) (d+1) represents the speed of the d+1th iteration of the lth particle,

[0032] v (l) (d) represents the speed of the dth iteration of the lth particle,

[0033] represents the historical optimal solution of the lth particle from the 1st to the dth iteration,

[0034] g best (d) represents the historical optimal solution of the entire particle swarm from the 1st to the dth iteration,

[0035] represents the subtraction operation in the quotient space,

[0036]

[0037] and is the acceleration constant,

[0038] r1 and r2 represent random numbers uniformly distributed in the range [0,1], r1, r2 ~ U[0,1],

[0039] x (l) (d+1) represents the vector of the position coordinates of the base station to be deployed corresponding to the d+1th iteration of the lth particle,

[0040] x (l) (d) represents the vector of the position coordinates of the base station to be deployed corresponding to the d-th iteration of the l-th particle,

[0041]

[0042] The positioning base station layout method according to this embodiment can not only make the positioning base station layout obtained by adopting the positioning base station layout method have a higher overall positioning service performance, but also improve the efficiency of determining the positioning base station layout.

[0043] In the positioning base station layout method according to the preferred embodiment of the present application, in addition to the corresponding technical features of the positioning base station layout method described above, it also includes: after evaluating the fitness and before updating the speed according to the speed update equation and updating the position according to the position update equation, the global optimal particle in the particle swarm is optimized based on the gradient of the positioning service performance indicator at the vector of the position coordinates of the positioning base station to be arranged to obtain a better global optimal particle, according to

[0044]

[0045] Determine the gradient,

[0046] in,

[0047]

[0048] V(b i ) represents the set of grid point numbers where the positioning receivers that have a straight line propagation path with the i-th positioning base station to be deployed are located,

[0049]

[0050] r j,i =u j -b i ,

[0051]

[0052] Through the positioning base station layout method according to the preferred embodiment, in addition to enabling the positioning base station layout obtained by adopting the positioning base station layout method to have a higher overall positioning service performance and to improve the efficiency of determining the positioning base station layout, it is also possible to ensure global exploration capabilities and obtain more accurate results locally in the process of determining the positioning base station layout.

[0053] In the positioning base station layout method according to the preferred embodiment of the present application, in addition to the corresponding technical features of the positioning base station layout method described above, according to

[0054]

[0055] Determine positioning service performance indicators.

[0056] In the positioning base station layout method according to the preferred embodiment of the present application, in addition to the technical features of the positioning base station layout method described above, it also includes:

[0057] After evaluating the fitness and before updating the speed according to the speed update equation and updating the position according to the position update equation, the global optimal particle in the particle swarm is optimized based on the gradient of the positioning service performance indicator at the vector of the position coordinates of the positioning base station to be deployed to obtain a better global optimal particle, according to

[0058]

[0059] Determine the gradient,

[0060] in,

[0061]

[0062] V(b i ) represents the set of grid point numbers where the positioning receivers that have a straight line propagation path with the i-th positioning base station to be deployed are located,

[0063] r j,i =u j -b i ,

[0064]

[0065] In the positioning base station layout method according to the preferred embodiment of the present application, in addition to the technical features of the above-mentioned positioning base station layout method, if the position coordinates of the positioning base station to be laid out corresponding to the updated particle are not within the predetermined deployable area in the target area, the updated particle is placed at the position before the update and the speed of the updated particle is reversed.

[0066] In the positioning base station layout method according to the preferred embodiment of the present application, in addition to the corresponding technical features of the above-mentioned positioning base station layout method, if the position coordinates of the positioning base station to be laid out corresponding to the updated particle are not within the predetermined deployable area in the target area, the updated particle is replaced to the nearest boundary and the speed of the updated particle is set to zero.

[0067] In the positioning base station layout method according to the preferred embodiment of the present application, in addition to the corresponding technical features of the positioning base station layout method described above,

[0068]

[0069] Determine positioning service performance indicators,

[0070] in,

[0071] α represents the penalty degree, which depends on the availability and quality of the positioning service.

[0072] In the positioning base station layout method according to the preferred embodiment of the present application, in addition to the corresponding technical features of the above positioning base station layout method, the step length is also determined by backtracking line search.

[0073] In the positioning base station layout method according to the preferred embodiment of the present application, in addition to the corresponding technical features of the above-mentioned positioning base station layout method, the value range of the penalty degree is [-10, 0).

[0074] In the positioning base station layout method according to the preferred embodiment of the present application, in addition to the corresponding technical features of the positioning base station layout method described above, the range of the speed of the updated particle is [-v max ,v max ],v max It is 10% of the length of the predetermined deployable area in the target area in the corresponding direction.

[0075] By using the positioning base station layout method according to the present application, the positioning base station layout obtained by using the positioning base station layout method can have a higher overall positioning service performance, and can improve the efficiency of determining the positioning base station layout. In the process of determining the positioning base station layout, it is possible to ensure global exploration capabilities and obtain more accurate results locally. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] The accompanying drawings illustrate exemplary embodiments of the present application and together with the description are used to explain the principles of the present application. These drawings are included to provide a further understanding of the present application, and the drawings are included in and constitute a part of this specification.

[0077] Figure 1 A schematic diagram of a positioning base station layout method according to an embodiment of the present application is shown;

[0078] Figure 2A schematic diagram showing a straight-line propagation path between a positioning base station and a positioning receiver in a target area for illustrating a positioning base station layout method according to an embodiment of the present application is shown; and

[0079] Figure 3 A schematic diagram of a positioning base station layout method according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0080] The present application is further described in detail below in conjunction with the accompanying drawings and implementations. It is understood that the specific implementations described herein are only used to explain the relevant content, rather than to limit the present application. For the sake of simplicity, in the description of each implementation of the present application, the same or similar reference numerals are used for the same or similar device / method steps.

[0081] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0082] According to the present application, a positioning base station layout method is provided, which is used to obtain the optimal position coordinates of multiple positioning base stations to be arranged in a layoutable area of ​​a target area corresponding to multiple position coordinates through a particle swarm method, so as to determine the layout of the positioning base stations to be arranged. As a global optimization method, the particle swarm method has a strong exploration characteristic in that its optimization process depends on the value of the optimization target corresponding to all particles, and the movement of the particles is guided by the difference between the optimal particle and other particles.

[0083] It should be noted that in the context of the present disclosure, a positioning base station refers to a radio signal transceiver device specifically used for positioning based on radio signals, and does not include a radio signal transceiver device with a communication function. In addition, the multiple positioning base stations involved in the positioning base station layout method of the present disclosure are identical to each other in terms of technical functions and can be interchanged.

[0084] The positioning base station layout method according to the present application is applicable to 2D and 3D positioning scenarios. The position coordinates of the positioning base stations to be deployed can be 2D or 3D, and those skilled in the art can choose according to the specific application scenario. In addition, the positioning base station layout method according to the present application is applicable to both indoor positioning base station scenarios and outdoor positioning base station scenarios.

[0085] Figure 1 A schematic diagram of a positioning base station layout method according to an embodiment of the present application is shown. Figure 1In the positioning base station layout method shown, the optimal position coordinates of multiple positioning base stations to be deployed in the layout area of ​​the target area corresponding to multiple position coordinates can be obtained through the particle swarm method, thereby determining the layout plan of the positioning base stations, for example, including the corresponding position coordinates of all positioning base stations in the area that can be deployed in the target area.

[0086] like Figure 1 As shown, the positioning base station layout method M10 includes: step S100, discretizing the space of the target area into multiple grid points arranged equidistantly; step S200, using multiple position coordinates as particles of the particle swarm method; and step S300, using the positioning service performance indicator as fitness (Fitness), and according to

[0087]

[0088] Construct location service performance indicators.

[0089] In step S100, the space of the target area is discretized into a plurality of equally spaced grid points. The space of the target area here refers to the space in the target area where the positioning base station can be placed (layout), that is, the layout space, which corresponds to the layout area used in the present disclosure. By discretizing the space of the target area to obtain a plurality of equally spaced grid points, the positioning performance of the positioning receiver at these grid points can be evaluated, so that the fitness of the particle swarm method can be constructed based on the evaluation of the positioning performance, so that the fitness can reflect the overall positioning service status of the target area, and then achieve the optimal layout of the positioning base station with the overall positioning service status of the target area as the goal. This will be described in detail below.

[0090] In step S200, multiple position coordinates are used as particles of the particle swarm method, so that the particle swarm method can be used to optimize all position coordinates corresponding to all possible layout positions of the positioning base station in the layoutable area of ​​the target area to obtain the optimal position coordinates of the positioning base station that meets the target. The principle and specific implementation technology of the particle swarm method belong to the content that those skilled in the art should know, and will not be repeated here.

[0091] In step S300, the positioning service performance index is used as fitness, and the positioning service performance index is constructed according to the following equation:

[0092]

[0093] Among them, S represents the positioning service performance indicator, more specifically, it represents the overall positioning service performance of the target area.

[0094] In the technical field, the overall positioning service performance of the target area refers to the positioning service performance at all positions that can be deployed in the layout area of ​​the target area, rather than the positioning service performance at a specific position. In fact, the user (positioning receiver) may appear at any position in the target area, rather than at one or more specific positions, so the positioning base station layout should serve the entire target area, rather than serving one or more specific positions in the target area.

[0095] The inventor of the present application has noticed that in the current prior art positioning base station layout technical solutions, it has not yet been realized to determine the positioning base station layout based on the overall positioning service performance of the target area. In the positioning base station layout method according to the implementation method of the present application, by constructing the above-mentioned positioning service performance index and using the positioning service performance index as the fitness of the particle swarm method, it is realized to determine the positioning base station layout based on the overall positioning service performance of the target area. In the following content, this will be described in detail.

[0096] Next, we will explain the equations used to construct the positioning service performance indicators. in,u j represents the coordinate vector of the jth grid point among the multiple equidistant grid points obtained by discretizing the space of the target area in step S100, I N represents a set of serial numbers of multiple grid points, N represents the number of multiple grid points, I N ={1,2,…,N},j∈I N ,

[0097] I(u j ) represents the coordinate vector u of the jth grid point j The Fisher information matrix of .

[0098] Specifically,

[0099] Among them, I M represents a set of multiple positioning base stations to be deployed, M represents the number of the multiple positioning base stations to be deployed, and I M ={1,2,…,M},V(u j ) represents the position of the jth grid point u j There is a set of serial numbers of positioning base stations with straight-line propagation paths between the positioning receivers. b i represents the coordinate vector of the i-th base station to be positioned, i∈V(u j ).

[0100] In the positioning base station layout solution according to the present application, TOA (Time of Arrival) is used as a positioning observation, and line-of-sight observation is used for positioning to evaluate the positioning service performance.

[0101] Now combine Figure 2 The existence of a straight line propagation path between the positioning base station and the positioning receiver in the positioning base station layout method according to this embodiment is described.

[0102] Figure 2 Figure 1 shows a schematic diagram of the straight-line propagation path between the positioning base station and the positioning receiver in the target area. Figure 2 As shown, for example, in a rectangular target area obtained by discretization to obtain multiple grid points (10×10), there are 3 exemplary rectangular obstacles, 4 positioning base stations represented by squares (serial numbers 1, 2, 3, 4), and two positioning receivers represented by circles (serial numbers 1, 2). Figure 2 As can be seen in FIG, for example, there is no straight-line propagation path between positioning base stations 2 and 3 and positioning receiver 1 due to the obstruction of obstacles. Conversely, there is a straight-line propagation path between positioning base station 1 and positioning receiver 1. Figure 2 The dotted line in the figure shows the straight-line propagation path between the positioning base station and the positioning receiver.

[0103] based on Figure 2 As shown in the figure, the observed line-of-sight distance between the i-th positioning base station to be deployed and the positioning receiver located at the j-th grid point can be expressed as

[0104]

[0105] in, is the actual distance between the two. It means independent white Gaussian noise that conforms to the normal distribution. Represents the variance of the normal distribution of independent white Gaussian noise of the line-of-sight distance observation between the i-th positioning base station to be deployed and the positioning receiver located at the j-th grid point.

[0106] Now, the mechanism by which the equation used to construct the positioning service performance index can reflect the overall positioning service performance index of the target area is explained.

[0107] According to the above-mentioned model of line-of-sight distance observation, the positioning of the positioning receivers at various locations can be regarded as an estimation problem.

[0108] Specifically, the state vector θ contains the coordinates of all multiple grid points, namely

[0109] Observation vector contains all the line-of-sight observations obtained at these grid points, that is,

[0110] in,

[0111] Follow the distribution

[0112] Represents the position of the jth grid point u j There is a set of positioning base stations with straight-line propagation paths between the positioning receivers, M j Represents the position of the jth grid point u j The number of positioning base stations with straight-line propagation paths between positioning receivers,

[0113] Distance vector d = (d (1)T ,d (2)T ,…,d (N)T ) T , Contains the actual distances corresponding to these line-of-sight observations, the covariance matrix ∑=diag(∑1,∑2,…,∑ N ),

[0114] Therefore, the observation vector The likelihood function can be expressed as

[0115]

[0116] In the positioning base station layout method according to this embodiment, the logarithmic determinant of the Fisher information matrix (logdet I(u j )) is used as an indicator to evaluate the positioning service performance of the positioning receiver at each of the multiple grid points. Therefore, multiple log det I(u j ) is summed to construct the index S, that is,

[0117]

[0118] It can reflect the positioning service performance of the positioning receiver at all grid points in the target area, rather than the positioning service performance of the positioning receiver at one or some specific positions, and can evaluate the positioning service performance in an overall or average sense. Furthermore, according to the positioning base station layout method of this embodiment, by using the positioning service performance index that can evaluate the overall positioning service performance of the target area as the particles of the particle swarm method, the positioning base station layout scheme obtained by using the positioning base station layout method can have a higher overall positioning service performance.

[0119] In the positioning base station layout method according to this embodiment, based on steps S100, S200 and S300, those skilled in the art may implement the positioning base station layout method in combination with their knowledge of particle swarm methods well known in the art.

[0120] For example, in one embodiment according to the present application,

[0121]

[0122] Determine the velocity update equation for the lth particle; and according to

[0123] x (l) (n+1)=x (l) (n)+v (l) (n+1)

[0124] Determine the position update equation of the lth particle, where,

[0125] v (l) (n+1) represents the speed of the n+1th iteration of the lth particle,

[0126] v (l) (n) represents the speed of the nth iteration of the lth particle,

[0127] represents the historical optimal solution of the lth particle from the 1st to the nth iteration,

[0128] g best (m) represents the historical optimal solution of the entire particle swarm from the 1st to the nth iteration,

[0129]

[0130] and is the acceleration constant,

[0131] r1 and r2 represent random numbers uniformly distributed in the range [0,1], r1, r2 ~ U[0,1],

[0132] x (l) (n+1) represents the vector of the position coordinates of the base station to be deployed corresponding to the n+1th iteration of the lth particle,

[0133] x (l) (n) represents the vector of the position coordinates of the base station to be deployed corresponding to the nth iteration of the lth particle,

[0134]

[0135] And according to the above speed update equation and position update equation, the positioning base station layout method is further implemented to obtain a positioning base station layout with higher overall positioning service performance.

[0136] Regarding the above speed update equation and position update equation, the inventor of the present application has proposed a preferred technical solution in the preferred embodiment of the present application, which can further improve the efficiency of obtaining the positioning base station layout on the basis of being able to obtain a positioning base station layout with higher overall positioning service performance. Figure 3 This is explained in detail.

[0137] Figure 3 FIG. 1 is a schematic diagram showing a method for positioning base station layout according to a preferred embodiment of the present application. Figure 3 As shown, the positioning base station layout method M20 includes: step S100, discretizing the space of the target area into multiple grid points arranged equidistantly; step S200, using multiple position coordinates as particles of the particle swarm method; step S300, using the positioning service performance index as fitness, and according to

[0138]

[0139] Constructing positioning service performance indicators; Step S400, according to

[0140]

[0141] Construct a speed update equation; and step S500, according to

[0142] x (l) (d+1)=x (l) (d)+v (l) (d+1)

[0143] Construct the position update equation,

[0144] in,

[0145] S represents the positioning service performance indicator,

[0146] u jrepresents the coordinate vector of the jth grid point,

[0147] I N represents a set of serial numbers of multiple grid points, N represents the number of multiple grid points, I N ={1,2,…,N},j∈I N ,

[0148] I(u j ) represents the coordinate vector u of the jth grid point i The Fisher information matrix of

[0149]

[0150] I M represents a set of multiple positioning base stations to be deployed, M represents the number of multiple positioning base stations to be deployed, and I M ={1,2,…,M},

[0151] V(u j ) represents the position of the jth grid point u j There is a set of serial numbers of positioning base stations with straight-line propagation paths between the positioning receivers.

[0152] b i represents the coordinate vector of the i-th base station to be positioned, i∈V(u j ),

[0153] represents the variance of the normal distribution of independent white Gaussian noise of the line-of-sight distance observation between the i-th positioning base station to be deployed and the positioning receiver located at the j-th grid point,

[0154] v (l) (d+1) represents the speed of the d+1th iteration of the lth particle,

[0155] v (l) (d) represents the speed of the dth iteration of the lth particle,

[0156] represents the historical optimal solution of the lth particle from the 1st to the dth iteration,

[0157] g best (d) represents the historical optimal solution of the entire particle swarm from the 1st to the dth iteration,

[0158] represents the subtraction operation in the quotient space,

[0159]

[0160] and is the acceleration constant,

[0161] r1 and r2 represent random numbers uniformly distributed in the range [0,1], r1, r2 ~ U[0,1],

[0162] x (l) (d+1) represents the vector of the position coordinates of the base station to be deployed corresponding to the d+1th iteration of the lth particle,

[0163] x (l) (d) represents the vector of the position coordinates of the base station to be deployed corresponding to the d-th iteration of the l-th particle,

[0164]

[0165] The corresponding technical features of steps S100, S200 and S300 have been described above and will not be repeated here. Steps S400 and S500 will be described in detail below.

[0166] In step S400, according to

[0167]

[0168] constructing a velocity update equation; and

[0169] In step S500, according to

[0170] x (l) (d+1)=x (l) (d)+v (l) (d+1)

[0171] Construct the position update equation.

[0172] In addition to the physical meanings of the corresponding symbols in these two equations as mentioned above, it is particularly important to explain that In the positioning base station layout method according to this embodiment, the subtraction operation of the quotient space of two solutions in the solution space of the particle swarm algorithm can reflect the real difference between the optimal particle and the lth particle, not the optimal solution. and g best The motion of the lth particle is not directly affected, but the motion of the lth particle is affected by a solution that is equivalent to the optimal solution but closer to the lth particle, thereby improving the efficiency of determining the positioning base station layout through the positioning base station layout method according to this implementation. In other words, the optimization efficiency of the particle swarm method can be improved through the positioning base station layout method according to this implementation, especially the speed update equation and the position update equation constructed according to this implementation.

[0173] In contrast, in the prior art positioning base station layout method (for example, the velocity update equation and the position update equation in the prior art in one embodiment of the positioning base station layout method M10 described above), only the two solutions are subtracted in an arithmetic sense, and only the optimal solution is used. and g best It directly affects the movement of the lth particle, so the efficiency of determining the layout of positioning base stations is relatively low.

[0174] According to the positioning base station layout method of the present application, by including the set of serial numbers of the positioning base stations with straight-line propagation paths between the positioning receivers located on the grid points in the Fisher information matrix during the process of constructing the Fisher information matrix of the coordinate vectors of each grid point in the target area, the factor of the straight-line propagation path between the positioning base station and the positioning receiver is included in the positioning service performance index as the fitness, so that in the process of determining the positioning base station layout according to the positioning base station layout method of the present application, the overall positioning service performance of the target area can be evaluated, and the determined positioning base station layout can have a higher overall positioning service performance; in addition, it also provides technical conditions for applying the gradient descent method, and the gradient descent method can be used in the positioning base station layout method, so that on the basis of obtaining the global exploration capability through the particle swarm method, more accurate optimization results can be obtained locally, which is impossible to achieve in the prior art. This is explained below in conjunction with the positioning base station layout method according to a preferred embodiment of the present application.

[0175] According to a preferred embodiment of the present application, a positioning base station layout method is provided. In the positioning base station layout method, in addition to the corresponding steps of the above preferred embodiments, the method may also include: after evaluating the fitness and before updating the speed according to the speed update equation and updating the position according to the position update equation, optimizing the global optimal particle in the particle swarm based on the gradient of the positioning service performance indicator at the vector of the position coordinates of the positioning base station to be arranged to obtain a better global optimal particle, according to

[0176]

[0177] Determine the gradient,

[0178] in,

[0179]

[0180] V(b i ) represents the set of grid point numbers where the positioning receivers that have a straight line propagation path with the i-th positioning base station to be deployed are located,

[0181] rj,i =u j -b i ,

[0182]

[0183] In the positioning base station layout method, after each round of evaluation of the particle swarm and before updating the speed and position, the global optimal particle in the particle swarm is further optimized using the gradient descent method based on the gradient determined in the above manner to obtain a better global optimal particle to guide the movement of the entire particle swarm.

[0184] The positioning base station layout method according to this embodiment can not only retain the stronger exploration characteristics provided by the particle swarm method, but also have the stronger exploitation ability provided by the gradient descent method.

[0185] In a preferred embodiment of the present application, when the gradient descent method is applied, the step size can be determined by backtracking line search. When the step size is determined by backtracking line search, in addition to requiring the optimization target to obtain sufficient increments in the gradient direction, it is also required that the line of sight relationship between the positioning base station position represented by the optimal particle and all grid points remains unchanged before and after the optimization, so as to ensure the continuity of the optimization target when the gradient descent method is applied.

[0186] In a positioning base station layout method according to a preferred embodiment of the present application, unlike the above-mentioned embodiment, it is not based on

[0187]

[0188] Determine the positioning service performance indicators based on

[0189]

[0190] Determine positioning service performance indicators.

[0191] Accordingly, in a positioning base station layout method according to a preferred embodiment, similar to the above embodiment, after evaluating the fitness and before updating the speed according to the speed update equation and updating the position according to the position update equation, the global optimal particle in the particle swarm is optimized based on the gradient of the positioning service performance indicator at the position coordinate vector of the positioning base station to be laid out to obtain a better global optimal particle, according to

[0192]

[0193] Determine the gradient,

[0194] However, different from the above-mentioned embodiment,

[0195]

[0196] V(b i ) represents the set of grid point numbers where the positioning receivers that have a straight line propagation path with the i-th positioning base station to be deployed are located,

[0197]

[0198] r j,i =u j -b i ,

[0199]

[0200] At this point, through the above description, those skilled in the art can know that, by using the positioning base station layout method according to the present application, the positioning base station layout obtained by adopting the method can have a higher overall positioning service performance, can improve the efficiency of determining the positioning base station layout, and in the process of determining the positioning base station layout, can ensure global exploration capabilities and can also obtain more accurate results locally.

[0201] Next, in combination with the positioning base station layout method according to multiple preferred embodiments of the present application, the technical features of the constraints and boundary conditions related to the particle velocity in the positioning base station layout method are described.

[0202] In a positioning base station layout method according to a preferred embodiment of the present application, if the position coordinates of the positioning base station to be laid out corresponding to the updated particle are not within the predetermined deployable area in the target area, the updated particle is placed at the position before the update and the speed of the updated particle is reversed. Thus, the problem of extra computational cost caused by finding the nearest boundary to the positioning base station due to the complexity of the target area, especially the indoor environment, can be solved.

[0203] In a positioning base station layout method according to a preferred embodiment of the present application, if the position coordinates of the positioning base station to be laid out corresponding to the updated particle are not within the predetermined deployable area in the target area, the updated particle is relocated to the nearest boundary and the speed of the updated particle is set to zero.

[0204] In a positioning base station layout method according to a preferred embodiment of the present application, according to

[0205]

[0206] Determine positioning service performance indicators.

[0207] α represents the penalty, which depends on the availability and quality of the positioning service. The penalty here is set as a negative constant, through which the positioning service performance index can be penalized, so as to achieve a trade-off between the availability and quality of the positioning service. The larger the absolute value of the penalty, the greater the penalty, which means that the occurrence of singular situations in the target area is more unbearable.

[0208] In the embodiment according to the present application, the penalty degree may be determined according to the trade-off between the availability and quality of the positioning service or the degree of preference for the availability and quality.

[0209] Based on the positioning base station layout method in the preferred implementation mode, the positioning service performance indicators can be adjusted by setting appropriate penalty levels, and the quantifiability of the positioning service performance indicators that may be missing in certain specific situations can be compensated, so that the positioning base station layout method can be applicable to a variety of areas to be laid out, thereby improving the applicability of the positioning base station layout method to the areas to be laid out, and further improving the overall positioning service performance of the positioning base station layout obtained by using the positioning base station layout method.

[0210] This problem can be effectively solved by setting the value of the penalty. In a positioning base station layout method according to a preferred embodiment of the present application, the value range of the penalty is [-10, 0).

[0211] In addition, in a positioning base station layout method according to a preferred embodiment of the present application, the range of the speed of updating particles is [-v max ,v max ],v max The length is 10% of the length in the corresponding direction of the predetermined deployable area in the target area.

[0212] In the description of this specification, the reference terms "first", "second", "one embodiment / method", "some embodiments / methods", "example", "specific example", or "some examples" (if any) and the like mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment / method or example are included in at least one embodiment / method or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment / method or example. Moreover, the specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments / methods or examples. In addition, unless there is a contradiction, a person skilled in the art may combine and combine the different embodiments / methods or examples described in this specification and the features of the different embodiments / methods or examples.

[0213] In addition, the terms "first" and "second" (if any) are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0214] Those skilled in the art should understand that the above embodiments are only for the purpose of clearly illustrating the present disclosure, and are not intended to limit the scope of the present disclosure. For those skilled in the art, other changes or modifications may be made based on the above disclosure, and these changes or modifications are still within the scope of the present disclosure.

Claims

1. A positioning base station layout method, which is used to obtain the optimal position coordinates of multiple positioning base stations to be deployed in a layoutable area of ​​a target area corresponding to multiple position coordinates by a particle swarm method, so as to determine the layout of the multiple positioning base stations to be deployed, and the positioning base station layout method includes: Discretizing the space of the target area into a plurality of equally spaced grid points; using the plurality of position coordinates as particles of a particle swarm method; as well as The positioning service performance index is used as the fitness, and according to constructing the positioning service performance indicator, in, S represents the positioning service performance indicator, u j represents the coordinate vector of the jth grid point, I N represents a set of serial numbers of the plurality of grid points, N represents the number of the plurality of grid points, and I N ={1,2,…,N},j∈I N , I(u j ) represents the coordinate vector u of the jth grid point j The Fisher information matrix of I M represents the set of the plurality of positioning base stations to be deployed, M represents the number of the plurality of positioning base stations to be deployed, and I M ={1,2,…,M}, V(u j ) represents the position of the jth grid point u j There is a set of serial numbers of positioning base stations with straight-line propagation paths between the positioning receivers. b i represents the coordinate vector of the i-th base station to be positioned, i∈V(u j ), Represents the variance of the normal distribution of independent white Gaussian noise of the line-of-sight distance observation between the i-th positioning base station to be deployed and the positioning receiver located at the j-th grid point.

2. The positioning base station layout method according to claim 1, further comprising: according to Construct velocity update equation; as well as according to x (l) (d+1)=v (l) (d)+v (l) (d+1) Construct the position update equation, in, v (l) (d+1) represents the speed of the d+1th iteration of the lth particle, v (l) (d) represents the speed of the dth iteration of the lth particle, represents the historical optimal solution of the lth particle from the 1st to the dth iteration, g best (d) represents the historical optimal solution of the entire particle swarm from the 1st to the dth iteration, represents the subtraction operation in the quotient space, and is the acceleration constant, r1 and r2 represent random numbers uniformly distributed in the range [0,1], r1, r2 ~ U[0,1], x (l) (d+1) represents the vector of the position coordinates of the base station to be deployed corresponding to the d+1th iteration of the lth particle, x (l) (d) represents the vector of the position coordinates of the base station to be deployed corresponding to the d-th iteration of the l-th particle, 3. The positioning base station layout method according to claim 2, further comprising: After evaluating the fitness and before updating the speed according to the speed update equation and updating the position according to the position update equation, the global optimal particle in the particle swarm is optimized based on the gradient of the positioning service performance indicator at the vector of the position coordinates of the positioning base station to be deployed to obtain a better global optimal particle, according to Determine the gradient, in, V(b i ) represents the set of grid point numbers where the positioning receivers that have a straight line propagation path with the i-th positioning base station to be deployed are located, r j,i =u j -b i , 4. The positioning base station layout method according to any one of claims 1 to 3, wherein: according to Determine the positioning service performance indicator.

5. The method for positioning base station layout according to claim 4, wherein:

6. The positioning base station layout method according to any one of claims 3 to 5, wherein: If the position coordinates of the base station to be deployed corresponding to the updated particle are not within the predetermined deployable area in the target area, the updated particle is placed at the position before the update and the speed of the updated particle is reversed.

7. The positioning base station layout method according to any one of claims 3 to 5, wherein: If the position coordinates of the base station to be deployed corresponding to the updated particle are not within the predetermined deployable area in the target area, the updated particle is relocated to the nearest boundary and the speed of the updated particle is set to zero.

8. The positioning base station layout method according to any one of claims 1 to 7, wherein: according to determining the positioning service performance indicator, in, α represents a penalty degree, which depends on the availability and quality of the positioning service.

9. The method for positioning base station layout according to claims 3-8, wherein: The step size is determined by backtracking the line search.

10. The method for positioning base station layout according to claim 9, wherein: The penalty value range is [-10, 0).

11. The positioning base station layout method according to any one of claims 2 to 10, wherein: The range of updating particle speed is [-v max ,v max ],v max The length is 10% of the length in the corresponding direction of the predetermined deployable area in the target area.

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