CN103501535A - Method and device for locating node - Google Patents

Abstract

Translated fromChinese

本发明公开了一种定位节点的方法及装置，属于定位技术领域。该方法包括：接收多个基站发送的信号，根据接收的信号，获取待定位节点的每一路非视距；根据待定位节点的每一路非视距和数据库中存储的每个标校点的每一路非视距，从数据库中选择标校点；根据选择的每个标校点的每一路非视距和待定位节点的每一路非视距，分别计算选择的每个标校点的每一路非视距的权值；根据选择的每个标校点的每一路视距、选择的每个标校点的每一路非视距和选择的每个标校点的每一路非视距的权值，分别计算待定位节点的每一路非视距误差；根据待定位节点的每一路非视距误差和待定位节点的每一路非视距，计算待定位节点的坐标。本发明提高了定位节点的效率。

The invention discloses a method and a device for positioning a node, belonging to the technical field of positioning. The method includes: receiving signals sent by a plurality of base stations, and obtaining each non-line-of-sight of the node to be positioned according to the received signals; One non-line-of-sight, select the calibration point from the database; according to each non-line-of-sight of each selected calibration point and each non-line-of-sight of the node to be positioned, calculate each path of each selected calibration point The weight of non-line-of-sight; according to the weight of each path of sight distance of each selected calibration point, the weight of each path of non-line-of-sight of each selected calibration point and the weight of each path of non-line-of-sight of each selected calibration point Calculate the non-line-of-sight error of each node to be positioned separately; calculate the coordinates of the node to be positioned according to the non-line-of-sight error of each node to be positioned and each non-line-of-sight error of the node to be positioned. The invention improves the efficiency of positioning nodes.

Description

A kind of method of location node and device

Technical field

The present invention relates to field of locating technology, particularly a kind of method of location node and device.

Background technology

In the navigation system based on base station, the signal that launch to node to be positioned base station will produce the non-line-of-sight propagation phenomenon while blocked by building, make the signal propagation distance that node to be positioned records be greater than the actual distance between node to be positioned and base station, the non line of sight error occurs, so how to reduce the non line of sight error, treat the method that location node positions and become one of problem of paying close attention to the most at present.

At present, a kind of method of location node is provided, has been specially: the grid division has been carried out in geographic area, record the coordinate at the place, four summits of each grid, gather the characteristic parameter at each place, summit, the corresponding relation of the coordinate on the characteristic parameter at each place, summit and this summit is stored in database; When treating location node and position, node to be positioned gathers the characteristic parameter of its position, and the characteristic parameter at each place, summit of the grid stored in the characteristic parameter of collection and database is compared, obtain and node to be positioned between the grid of similarity maximum, determine the coordinate of node to be positioned according to the grid obtained.

In realizing process of the present invention, the inventor finds that at least there is following problem in prior art:

Prior art need to be carried out the grid division by geographic area, and need to carry out data acquisition to the place, four summits of each grid, in order to improve the precision of location, that grid need to be divided is less, when geographical zone is large and grid is divided hour, the characteristic parameter of storing in database is many especially, and when treating location node and positioning, all characteristic parameters of storing in the characteristic parameter of node to be positioned and database need to be compared, the time of cost is longer, and the efficiency of location is lower.

Summary of the invention

In order to solve the problem of prior art, the embodiment of the present invention provides a kind of method and device of location node.Described technical scheme is as follows:

On the one hand, provide a kind of method of location node, described method comprises:

Receive the signal that a plurality of base stations send, according to the signal received, obtain each road non line of sight of node to be positioned;

According to each road non line of sight of each calibration point of storing in each road non line of sight of described node to be positioned and database, from described database, select calibration point;

According to each road non line of sight of each calibration point of selecting and each road non line of sight of described node to be positioned, calculate respectively the weights of each road non line of sight of each calibration point of described selection;

According to the weights of each road non line of sight of each calibration point of each road non line of sight of each calibration point of each road sighting distance of each calibration point of described selection, described selection and described selection, calculate respectively each road non line of sight error of described node to be positioned;

According to each road non line of sight error of described node to be positioned and each road non line of sight of described node to be positioned, calculate the coordinate of described node to be positioned.

Wherein, each road non line of sight of each calibration point of storing in described each road non line of sight according to described node to be positioned and database is selected calibration point from described database, comprising:

Each road non line of sight according to each calibration point of storing in each road non line of sight of described node to be positioned and database, calculate the Euclidean distance between each calibration point of storing in described node to be positioned and described database;

A default value school punctuate of the Euclidean distance minimum between selection and described node to be positioned;

According to a default value school punctuate of selecting and the Euclidean distance between described node to be positioned, a described default value school punctuate is screened, the school punctuate filtered out is defined as to the calibration point of selecting from described database.

Further, each road non line of sight of described each calibration point according to selecting and each road non line of sight of described node to be positioned, calculate respectively the weights of each road non line of sight of each calibration point of described selection, comprising:

According to each calibration point of selecting and the Euclidean distance between described node to be positioned, calculate respectively the weights of each calibration point of described selection;

According to each road non line of sight of each calibration point of described selection and each road non line of sight of described node to be positioned, calculate respectively described selection each calibration point each road non line of sight shared weights in the road non line of sight that selectively calibration point is corresponding;

According to each road non line of sight of each calibration point of described selection the weights of each calibration point of shared weights and described selection in the road non line of sight that selectively calibration point is corresponding, calculate respectively the weights of each road non line of sight of each calibration point of described selection.

Wherein, the weights of each road non line of sight of each road non line of sight of each calibration point of each road sighting distance of described each calibration point according to described selection, described selection and each calibration point of described selection, calculate respectively each road non line of sight error of described node to be positioned, comprising:

According to each road non line of sight of each calibration point of each road sighting distance of each calibration point of described selection and described selection, calculate respectively each road non line of sight error of each calibration point of described selection;

According to the weights of each road non line of sight of each calibration point of each road non line of sight error of each calibration point of described selection and described selection, calculate respectively each road non line of sight error of described node to be positioned.

Wherein, described according to each road non line of sight error of described node to be positioned and each road non line of sight of described node to be positioned, calculate the coordinate of described node to be positioned, comprising:

According to each road non line of sight error of described node to be positioned and each road non line of sight of described node to be positioned, calculate each road sighting distance of described node to be positioned;

According to the coordinate of at least one calibration point in the calibration point of the coordinate of each road sighting distance of described node to be positioned, described a plurality of base stations and selection, calculate the coordinate of described node to be positioned.

On the other hand, provide a kind of device of location node, described device comprises:

Receiver module, the signal sent for receiving a plurality of base stations, according to the signal received, obtain each road non line of sight of node to be positioned;

Select module, each road non line of sight of each calibration point of storing for each road non line of sight and database according to described node to be positioned is selected calibration point from described database;

The first computing module, for each road non line of sight of each calibration point according to selecting and each road non line of sight of described node to be positioned, calculate respectively the weights of each road non line of sight of each calibration point of described selection;

The second computing module, for the weights of each road non line of sight of each calibration point of each road non line of sight of each calibration point of each the road sighting distance according to each calibration point of described selection, described selection and described selection, calculate respectively each road non line of sight error of described node to be positioned;

The 3rd computing module, for each road non line of sight of each the road non line of sight error according to described node to be positioned and described node to be positioned, calculate the coordinate of described node to be positioned.

Wherein, described selection module comprises:

The first computing unit, each road non line of sight of each calibration point of storing for each road non line of sight and database according to described node to be positioned, calculate the Euclidean distance between each calibration point of storing in described node to be positioned and described database;

Selected cell, for a default value school punctuate of the Euclidean distance minimum between selection and described node to be positioned;

Determination module, for the default value school punctuate according to selecting and the Euclidean distance between described node to be positioned, screened a described default value school punctuate, and the school punctuate filtered out is defined as to the calibration point of selecting from described database.

Further, described the first computing module comprises:

The second computing unit, for each calibration point according to selecting and the Euclidean distance between described node to be positioned, calculate respectively the weights of each calibration point of described selection;

The 3rd computing unit, for each the road non line of sight according to each calibration point of described selection and each road non line of sight of described node to be positioned, calculate respectively shared weights in the road non line of sight that each road non line of sight of each calibration point of described selection is corresponding at the selectable calibration point of institute;

The 4th computing unit, the weights of each calibration point of the shared weights of a road non line of sight corresponding at the selectable calibration point of institute and described selection for each the road non line of sight according to each calibration point of described selection, calculate respectively the weights of each road non line of sight of each calibration point of described selection.

Wherein, described the second computing module comprises:

The 5th computing unit, for each road non line of sight of each calibration point of each road sighting distance of each calibration point according to described selection and described selection, calculate respectively each road non line of sight error of each calibration point of described selection;

The 6th computing unit, for the weights of each road non line of sight of each calibration point of each road non line of sight error of each calibration point according to described selection and described selection, calculate respectively each road non line of sight error of described node to be positioned.

Wherein, described the 3rd computing module comprises:

The 7th computing unit, for each road non line of sight of each the road non line of sight error according to described node to be positioned and described node to be positioned, calculate each road sighting distance of described node to be positioned;

The 8th computing unit, for the coordinate of at least one calibration point of the calibration point of the coordinate according to each road sighting distance of described node to be positioned, described a plurality of base stations and selection, calculate the coordinate of described node to be positioned.

In embodiments of the present invention, need not arrange too many calibration point in each geographic area, the signal that the calibration point that only need arrange in this geographic area can receive at least three base stations transmissions gets final product, make each road non line of sight of the calibration point stored in database less, when treating location node and position, select again calibration point in the calibration point of storing from database, because the calibration point of storing in database is originally just less, the calibration point of now selecting from database can be still less, so calculate the coordinate time of node to be positioned according to each road non line of sight of each road non line of sight of the calibration point of selecting and node to be positioned, reduced the complexity of calculating, improved the efficiency of location node.

The accompanying drawing explanation

In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, in below describing embodiment, the accompanying drawing of required use is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.

Fig. 1 is the method flow diagram of a kind of location node of providing of the embodiment of the present invention one;

Fig. 2 is the method flow diagram of a kind of location node of providing of the embodiment of the present invention two;

Fig. 3 is the apparatus structure schematic diagram of a kind of location node of providing of the embodiment of the present invention three.

Embodiment

For making the purpose, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing, embodiment of the present invention is described further in detail.

Embodiment mono-

The embodiment of the present invention provides a kind of method of location node, and referring to Fig. 1, the method comprises:

Step 101: receive the signal that a plurality of base stations send, according to the signal received, obtain each road non line of sight of node to be positioned;

Step 102: according to each road non line of sight of each calibration point of storing in each road non line of sight of node to be positioned and database, from this database, select calibration point;

Step 103: according to each road non line of sight of each calibration point of selecting and each road non line of sight of node to be positioned, calculate respectively the weights of each road non line of sight of each calibration point of selecting;

Step 104: according to the weights of each road non line of sight of each calibration point of each road non line of sight of each calibration point of each road sighting distance of each calibration point of selecting, selection and selection, calculate respectively each road non line of sight error of node to be positioned;

Step 105: according to each road non line of sight error of node to be positioned and each road non line of sight of node to be positioned, calculate the coordinate of node to be positioned.

Wherein, according to each road non line of sight of each calibration point of storing in each road non line of sight of node to be positioned and database, from this database, select calibration point, comprising:

Each road non line of sight according to each calibration point of storing in each road non line of sight of node to be positioned and database, calculate the Euclidean distance between each calibration point of storing in node to be positioned and this database;

A default value school punctuate of the Euclidean distance minimum between selection and node to be positioned;

According to a default value school punctuate of selecting and the Euclidean distance between node to be positioned, this default value school punctuate is screened, the school punctuate filtered out is defined as to the calibration point of selecting from this database.

Further, according to each road non line of sight of each calibration point of selecting and each road non line of sight of node to be positioned, calculate respectively the weights of each road non line of sight of each calibration point of selecting, comprising:

According to each calibration point of selecting and the Euclidean distance between node to be positioned, calculate respectively the weights of each calibration point of selecting;

According to each road non line of sight of each calibration point of selecting and each road non line of sight of node to be positioned, calculate respectively shared weights in the road non line of sight that each road non line of sight of each calibration point of selecting is corresponding at the selectable calibration point of institute;

According to the weights of each road non line of sight of each calibration point of selecting each calibration point of shared weights and selection in institute's road non line of sight that selectively calibration point is corresponding, calculate respectively the weights of each road non line of sight of each calibration point of selection.

Wherein, according to the weights of each road non line of sight of each calibration point of each road non line of sight of each calibration point of each road sighting distance of each calibration point of selecting, selection and selection, calculate respectively each road non line of sight error of node to be positioned, comprising:

According to each road non line of sight of each calibration point of each road sighting distance of each calibration point of selecting and selection, calculate respectively each road non line of sight error of each calibration point of selecting;

According to the weights of each road non line of sight of each calibration point of each road non line of sight error of each calibration point of selecting and selection, calculate respectively each road non line of sight error of node to be positioned.

Wherein, according to each road non line of sight error of node to be positioned and each road non line of sight of node to be positioned, calculate the coordinate of node to be positioned, comprising:

According to each road non line of sight error of node to be positioned and each road non line of sight of node to be positioned, calculate each road sighting distance of node to be positioned;

According to the coordinate of at least one calibration point in the calibration point of the coordinate of each road sighting distance of node to be positioned, the plurality of base station and selection, calculate the coordinate of node to be positioned.

In embodiments of the present invention, need not arrange too many calibration point in each geographic area, the signal that the calibration point that only need arrange in this geographic area can receive at least three base stations transmissions gets final product, make each road non line of sight of the calibration point stored in database less, when treating location node and position, select again calibration point in the calibration point of storing from database, because the calibration point of storing in database is originally just less, the calibration point of now selecting from database can be still less, so calculate the coordinate time of node to be positioned according to each road non line of sight of each road non line of sight of the calibration point of selecting and node to be positioned, reduced the complexity of calculating, improved the efficiency of location node.

Embodiment bis-

The embodiment of the present invention provides a kind of method of location node, and referring to Fig. 2, the method comprises:

Step 201: node to be positioned receives the signal that a plurality of base stations send, each road non line of sight of the signal acquisition node to be positioned sent according to the plurality of base station;

Wherein, a plurality of base stations are base stations that node to be positioned can receive signal, and adopt in embodiments of the present invention the TDOA location technology, so a plurality of base stations are at least two base stations, if, node to be positioned can receive the signal that s base station sends, and the way of the non line of sight that node to be positioned comprises is

, s is more than or equal to 2.

Particularly, node to be positioned receives the signal that a plurality of base stations send, obtain base station that the plurality of signal is corresponding from it time to node to be positioned, the plurality of time is subtracted each other in twos, obtain each road non line of sight TDOA(Time Difference of Arrival of node to be positioned, reach the time difference), each road non line of sight TDOA and the light velocity of node to be positioned are multiplied each other, obtain each road non line of sight of node to be positioned.

For example, node to be positioned can receive the signal that 4 base stations send, the way of the non line of sight that node to be positioned comprises is 6 tunnels, if the time of signal from the 1st base station to node to be positioned of the 1st base station transmission is 2s, the time of signal from the 2nd base station to node to be positioned of the 2nd base station transmission is 3s, the time of signal from the 3rd base station to node to be positioned of the 3rd base station transmission is 2.5s, the time of signal from the 4th base station to node to be positioned of the 4th base station transmission is 4s, by 2s, 3s, 2.5s with 4s subtracts each other in twos, obtain 6 road non line of sight TDOA and be respectively 1s, 0.5s, 2s, 0.5s, 1s and 1.5s, this 6 road non line of sight TDOA is multiplied each other with the light velocity respectively, obtain 6 road non line of sight of node to be positioned.

Step 202: each the road non line of sight according to each calibration point of storing in each road non line of sight of node to be positioned and database, calculate the Euclidean distance between each calibration point of storing in node to be positioned and database;

Particularly, each the road non line of sight according to each calibration point of storing in each road non line of sight of node to be positioned and database, calculate respectively the Euclidean distance between each calibration point of storing in node to be positioned and database according to following formula (1);

${\mathrm{EucDis}}_i=\sqrt{\underset{j=1}{\overset{n}{\mathrm{\Σ}}}{(N{\mathrm{los}}_{f,i,j}-{\mathrm{Nlos}}_{p,j})}^2}---\left(1\right)$

Wherein, in above-mentioned formula (1), the way that n is non line of sight, Nlos_{f, i, j}be the j road non line of sight of i calibration point, Nlos_p,jfor the j road non line of sight of node to be positioned, EucDis_iit is the Euclidean distance between i calibration point and node to be positioned.

Each calibration point wherein, adopts in embodiments of the present invention the TDOA location technology, so at least can receive the signal that two base stations send.If certain calibration point can receive the signal that m base station sends, the way of the non line of sight that now this calibration point comprises is

the time that this m base station is arrived to this calibration point subtracts each other in twos, obtains this calibration point

the road non line of sight, m is more than or equal to 2.

Wherein, Euclidean distance between certain calibration point and node to be positioned hour, determine between this calibration point and node to be positioned geographically apart from being also minimum, correspondingly, when the Euclidean distance between certain calibration point and node to be positioned is maximum, determine between this calibration point and node to be positioned geographically apart from being also maximum.

Step 203: according to the Euclidean distance between each calibration point of storing in database and node to be positioned, select calibration point from database;

Particularly, this step can be divided into the step of (1)-(3) as follows, comprising:

(1), according to the Euclidean distance between each calibration point of storing in database and node to be positioned, select and node to be positioned between the default value calibration point of Euclidean distance minimum;

Preferably, can select and node to be positioned between three calibration points of Euclidean distance minimum.

(2), according to a default value calibration point of selecting and the Euclidean distance between node to be positioned, the default value calibration point of selection is screened;

Wherein, for convenience's sake, will and node to be positioned between the calibration point of Euclidean distance minimum be called the first calibration point, the calibration point of other except the first calibration point in default several value calibration points is called to the second calibration point.

Particularly, by the Euclidean distance between the second calibration point and node to be positioned respectively divided by the Euclidean distance between the first calibration point and node to be positioned, obtain the first numerical value, the first numerical value and default thresholding are compared, if this first numerical value is greater than default thresholding, give up this second calibration point, if this first numerical value is less than or equal to default thresholding, retain this second calibration point.

Wherein, default thresholding is greater than 1.

(3) calibration point that, the calibration point after screening is defined as selecting from database.

Particularly, the calibration point that the second calibration point of finally retaining and the first calibration point is defined as selecting from database.

Step 204: according to each calibration point of selecting and the Euclidean distance between node to be positioned, calculate respectively the weights of each calibration point of selecting;

Particularly, according to each calibration point of selecting and the Euclidean distance between node to be positioned, calculate respectively the weights of each calibration point of selecting according to following formula (2);

$W_i=\frac{\left(\underset{i=1}{\overset{k}{\mathrm{\Σ}}}\mathrm{EucD}{\mathrm{is}}_i\right)-\mathrm{EucDi}{s}_i}{(k-1)\×\underset{i=1}{\overset{k}{\mathrm{\Σ}}}\mathrm{Euc}{\mathrm{Dis}}_i}---\left(2\right)$

Wherein, in above-mentioned formula (2), W_ibe the weights of i calibration point, the number that k is the calibration point selected from database, when k is 1, W_ibe 1.

Wherein, the weights sum of each calibration point of selection is 1.

Wherein, when the number of the calibration point of selecting is 1, the weights of the calibration point of this selection are 1.

Step 205: according to each road non line of sight of each calibration point of selecting and each road non line of sight of node to be positioned, calculate respectively shared weights in the road non line of sight that each road non line of sight of each calibration point of selecting is corresponding at the selectable calibration point of institute;

Particularly, according to each road non line of sight of each calibration point of selecting and each road non line of sight of node to be positioned, each the road non line of sight that calculates respectively each calibration point of selecting according to following formula (3) shared weights in a road non line of sight corresponding to selectable calibration point;

$W_{i,j}=\frac{\underset{i=1}{\overset{k}{\mathrm{\Σ}}}|N{\mathrm{los}}_{f,i,j}-{\mathrm{Nlos}}_{p,j}|-|{\mathrm{Nlos}}_{f,i,j}-{\mathrm{Nlos}}_{p,j}|}{(k-1)\×\underset{i=1}{\overset{k}{\mathrm{\Σ}}}|{\mathrm{Nlos}}_{f,i,j}-{\mathrm{Nlos}}_{p,j}|}---\left(3\right)$

Wherein, in above-mentioned formula (3), W_i,jbe i calibration point j road non line of sight shared weights in the j road non line of sight that selectively calibration point is corresponding, when k is 1, W_i,jbe 1.

Wherein, selectively the j road non line of sight sum of calibration point be 1.

If, select 2 calibration points, and each calibration point comprises 6 road non line of sight, this step is calculated is the 1st road non line of sight shared weights in the 1st road non line of sight of the 1st road non line of sight of the 1st calibration point and the 2nd calibration point of the 1st calibration point, the 2nd road non line of sight of the 1st calibration point is shared weights in the 2nd road non line of sight of the 2nd road non line of sight of the 1st calibration point and the 2nd calibration point, the 1st road non line of sight of the 2nd calibration point is shared weights in the 1st road non line of sight of the 1st road non line of sight of the 1st calibration point and the 2nd calibration point, the 2nd road non line of sight of the 2nd calibration point is shared weights in the 2nd road non line of sight of the 2nd road non line of sight of the 1st calibration point and the 2nd calibration point.

Step 206: according to the weights of each road non line of sight of each calibration point of selecting each calibration point of shared weights and selection in institute's road non line of sight that selectively calibration point is corresponding, calculate respectively the weights of each road non line of sight of each calibration point of selection;

Particularly, according to the weights of each road non line of sight of each calibration point of selecting each calibration point of shared weights and selection in institute's road non line of sight that selectively calibration point is corresponding, calculate respectively the weights of each road non line of sight of each calibration point of selection according to following formula (4);

$W_{i,j}^{\′}=\frac{W_{i,j}\×W_i}{\underset{i=1}{\overset{k}{\mathrm{\Σ}}}(W_{i,j}\×W_i)}---\left(4\right)$

Wherein, in above-mentioned formula (4), W'_i,jbe the weights of the j road non line of sight of i calibration point.

The weights sum of each road non line of sight that wherein, each calibration point comprises is 1.

Step 207: according to each road non line of sight of each calibration point of each road sighting distance of each calibration point of selecting and selection, calculate respectively each road non line of sight error of each calibration point of selecting;

Particularly, obtain each road sighting distance of each calibration point of selection, each road sighting distance of each calibration point of selection is deducted to a road non line of sight of its correspondence, obtain each road non line of sight error of each calibration point of selection.

Wherein, the concrete operations of each road sighting distance of obtaining each calibration point of selection are: the coordinate that according to coordinate and each calibration point of each calibration point of selecting, can receive the base station of signal, calculate each road sighting distance of each calibration point of selecting according to following formula (5);

${\mathrm{Los}}_{f,i,j}=\sqrt{{(X_s-x)}^2+{(Y_s-y)}^2+{(Z_s-z)}^2}-\sqrt{{(X_a-x)}^2+{(Y_a-y)}^2+{(Z_a-z)}^2}---\left(5\right)$

Wherein, in above-mentioned formula (5), Los_{f, i, j}be the j road sighting distance of i calibration point, (X_s, Y_s, Z_s) and (X_a, Y_a, Z_a) coordinate of the base station that can receive for calibration point i, the coordinate that (x, y, z) is calibration point i.

Step 208: according to the weights of each road non line of sight of each calibration point of each road non line of sight error of each calibration point of selecting and selection, calculate respectively each road non line of sight error of node to be positioned;

Particularly, according to the weights of each road non line of sight of each calibration point of each road non line of sight error of each calibration point of selecting and selection, calculate respectively each road non line of sight error of node to be positioned according to following formula (6);

${\mathrm{NlosError}}_{p,j}=\underset{i=1}{\overset{k}{\mathrm{\Σ}}}{W}_{i,j}^{\′}\×{\mathrm{NlosError}}_{f,i,j}---\left(6\right)$

Wherein, in above-mentioned formula (6), NlosError_p,jfor the j road non line of sight error of node to be positioned, NlosError_{f, i, j}j road non line of sight error for i calibration point selecting.

Step 209: according to each road non line of sight error of node to be positioned and each road non line of sight of node to be positioned, calculate each road sighting distance of node to be positioned;

Particularly, the road non line of sight addition corresponding with node to be positioned by each road non line of sight error of node to be positioned, obtain each road sighting distance of node to be positioned.

Step 210: according to the coordinate of at least one calibration point in the calibration point of the coordinate of each road sighting distance of node to be positioned, the plurality of base station and selection, calculate the coordinate of node to be positioned.

Particularly, according to the coordinate of each road sighting distance of node to be positioned, the plurality of base station and the coordinate of node to be positioned, set up equation group, the coordinate by the initial value assignment of node coordinate to be positioned for a calibration point in the calibration point of selecting, used Newton iteration method to obtain the coordinate of node to be positioned.

Preferably, can by and node to be positioned between the coordinate assignment of calibration point of Euclidean distance minimum give the initial value of node coordinate to be positioned.

In embodiments of the present invention, need not arrange too many calibration point in each geographic area, the signal that the calibration point that only need arrange in this geographic area can receive at least three base stations transmissions gets final product, make each road non line of sight of the calibration point stored in database less, when treating location node and position, select again calibration point in the calibration point of storing from database, because the calibration point of storing in database is originally just less, the calibration point of now selecting from database can be still less, so calculate the coordinate time of node to be positioned according to each road non line of sight of each road non line of sight of the calibration point of selecting and node to be positioned, reduced the complexity of calculating, improved the efficiency of location node.

Embodiment tri-

Referring to Fig. 3, the embodiment of the present invention provides a kind of device of location node, and this device comprises:

Receiver module 301, the signal sent for receiving a plurality of base stations, according to the signal received, obtain each road non line of sight of node to be positioned;

Select module 302, each road non line of sight of each calibration point of storing for each road non line of sight and database according to node to be positioned is selected calibration point from database;

Thefirst computing module 303, for each road non line of sight of each calibration point according to selecting and each road non line of sight of node to be positioned, calculate respectively the weights of each road non line of sight of each calibration point of selecting;

Thesecond computing module 304, for the weights of each road non line of sight of each calibration point of each road non line of sight of each calibration point of each the road sighting distance of each calibration point according to selecting, selection and selection, calculate respectively each road non line of sight error of node to be positioned;

The3rd computing module 305, for each road non line of sight of each the road non line of sight error according to node to be positioned and node to be positioned, calculate the coordinate of node to be positioned.

Wherein,select module 302 to comprise:

The first computing unit, each road non line of sight of each calibration point of storing for each road non line of sight and database according to node to be positioned, calculate the Euclidean distance between each calibration point of storing in node to be positioned and this database;

Selected cell, for a default value school punctuate of the Euclidean distance minimum between selection and node to be positioned;

Determination module, for the default value school punctuate according to selecting and the Euclidean distance between node to be positioned, screened a default value school punctuate, and the school punctuate filtered out is defined as to the calibration point of selecting from this database.

Further, thefirst computing module 303 comprises:

The second computing unit, for each calibration point according to selecting and the Euclidean distance between node to be positioned, calculate respectively the weights of each calibration point of selecting;

The 3rd computing unit, for each road non line of sight of each calibration point according to selecting and each road non line of sight of node to be positioned, calculate respectively shared weights in the road non line of sight that each road non line of sight of each calibration point of selecting is corresponding at the selectable calibration point of institute;

The 4th computing unit, the weights of each calibration point of weights shared at institute's road non line of sight that selectively calibration point is corresponding and selection for each road non line of sight of each calibration point according to selecting, calculate respectively the weights of each road non line of sight of each calibration point of selection.

Wherein, thesecond computing module 304 comprises:

The 5th computing unit, for each road non line of sight of each calibration point of each the road sighting distance of each calibration point according to selecting and selection, calculate respectively each road non line of sight error of each calibration point of selecting;

The 6th computing unit, for the weights of each road non line of sight of each calibration point of each the road non line of sight error of each calibration point according to selecting and selection, calculate respectively each road non line of sight error of node to be positioned.

Wherein, the3rd computing module 305 comprises:

The 7th computing unit, for each road non line of sight of each the road non line of sight error according to node to be positioned and node to be positioned, calculate each road sighting distance of node to be positioned;

The 8th computing unit, for the coordinate of at least one calibration point of the calibration point of the coordinate according to each road sighting distance of node to be positioned, the plurality of base station and selection, calculate the coordinate of node to be positioned.

In embodiments of the present invention, need not arrange too many calibration point in each geographic area, the signal that the calibration point that only need arrange in this geographic area can receive at least three base stations transmissions gets final product, make each road non line of sight of the calibration point stored in database less, when treating location node and position, select again calibration point in the calibration point of storing from database, because the calibration point of storing in database is originally just less, the calibration point of now selecting from database can be still less, so calculate the coordinate time of node to be positioned according to each road non line of sight of each road non line of sight of the calibration point of selecting and node to be positioned, reduced the complexity of calculating, improved the efficiency of location node.

It should be noted that: the device of the location node that above-described embodiment provides is when location node, only the division with above-mentioned each functional module is illustrated, in practical application, can above-mentioned functions be distributed and completed by different functional modules as required, the internal structure that is about to device is divided into different functional modules, to complete all or part of function described above.In addition, the device of the location node that above-described embodiment provides and the embodiment of the method for location node belong to same design, and its specific implementation process refers to embodiment of the method, repeats no more here.

The invention described above embodiment sequence number, just to describing, does not represent the quality of embodiment.

One of ordinary skill in the art will appreciate that all or part of step that realizes above-described embodiment can complete by hardware, also can come the hardware that instruction is relevant to complete by program, described program can be stored in a kind of computer-readable recording medium, the above-mentioned storage medium of mentioning can be read-only memory, disk or CD etc.

The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.

Claims (10)

Translated fromChinese

1.一种定位节点的方法，其特征在于，所述方法包括：1. A method for positioning nodes, characterized in that the method comprises:接收多个基站发送的信号，根据接收的信号，获取待定位节点的每一路非视距；Receive signals sent by multiple base stations, and obtain each non-line-of-sight of the node to be positioned according to the received signals;根据所述待定位节点的每一路非视距和数据库中存储的每个标校点的每一路非视距，从所述数据库中选择标校点；Select calibration points from the database according to each non-line-of-sight of the node to be positioned and each non-line-of-sight of each calibration point stored in the database;根据选择的每个标校点的每一路非视距和所述待定位节点的每一路非视距，分别计算所述选择的每个标校点的每一路非视距的权值；According to each road non-sight distance of each selected calibration point and each road non-sight distance of the node to be positioned, calculate the weight of each road non-sight distance of each calibration point selected;根据所述选择的每个标校点的每一路视距、所述选择的每个标校点的每一路非视距和所述选择的每个标校点的每一路非视距的权值，分别计算所述待定位节点的每一路非视距误差；According to the weight of each line-of-sight distance of each calibration point selected, each non-line-of-sight distance of each calibration point selected and each non-line-of-sight distance of each calibration point selected , respectively calculating each non-line-of-sight error of the node to be positioned;根据所述待定位节点的每一路非视距误差和所述待定位节点的每一路非视距，计算所述待定位节点的坐标。Calculate the coordinates of the node to be positioned according to each path of non-line-of-sight error of the node to be positioned and each path of non-line-of-sight error of the node to be positioned.2.如权利要求1所述的方法，其特征在于，所述根据所述待定位节点的每一路非视距和数据库中存储的每个标校点的每一路非视距，从所述数据库中选择标校点，包括：2. The method according to claim 1, wherein, according to each road non-line-of-sight of the node to be positioned and each road non-line-of-sight of each calibration point stored in the database, from the database Select calibration points, including:根据所述待定位节点的每一路非视距和数据库中存储的每个标校点的每一路非视距，计算所述待定位节点与所述数据库中存储的每个标校点之间的欧式距离；According to each non-line-of-sight distance of the node to be positioned and each non-line-of-sight distance of each calibration point stored in the database, calculate the distance between the node to be positioned and each calibration point stored in the database Euclidean distance;选择与所述待定位节点之间的欧式距离最小的预设数值个校标点；Select the preset numerical calibration points with the smallest Euclidean distance between the nodes to be positioned;根据选择的预设数值个校标点与所述待定位节点之间的欧式距离，对所述预设数值个校标点进行筛选，将筛选出的校标点确定为从所述数据库中选择的标校点。According to the Euclidean distance between the selected preset numerical calibration points and the node to be positioned, the preset numerical calibration points are screened, and the screened calibration points are determined as the calibration points selected from the database point.3.如权利要求2所述的方法，其特征在于，所述根据选择的每个标校点的每一路非视距和所述待定位节点的每一路非视距，分别计算所述选择的每个标校点的每一路非视距的权值，包括：3. The method according to claim 2, wherein, according to each selected non-line-of-sight of each calibration point and each non-line-of-sight distance of the node to be positioned, calculate the selected NLOS respectively. The weight of each non-line-of-sight of each calibration point, including:根据选择的每个标校点与所述待定位节点之间的欧式距离，分别计算所述选择的每个标校点的权值；Calculate the weight of each calibration point selected according to the Euclidean distance between each calibration point selected and the node to be positioned;根据所述选择的每个标校点的每一路非视距和所述待定位节点的每一路非视距，分别计算所述选择的每个标校点的每一路非视距在所有选择的标校点对应的一路非视距中所占的权值；According to the non-line-of-sight of each path of each calibration point selected and each non-line-of-sight distance of the node to be positioned, calculate the non-line-of-sight of each path of each calibration point of the selection in all selected The weight of the non-line-of-sight corresponding to the calibration point;根据所述选择的每个标校点的每一路非视距在所有选择的标校点对应的一路非视距中所占的权值和所述选择的每个标校点的权值，分别计算所述选择的每个标校点的每一路非视距的权值。According to the weight of each non-line-of-sight of each selected calibration point in the non-line-of-sight corresponding to all selected calibration points and the weight of each selected calibration point, respectively Calculate the weight of each non-line-of-sight of each selected calibration point.4.如权利要求1所述的方法，其特征在于，所述根据所述选择的每个标校点的每一路视距、所述选择的每个标校点的每一路非视距和所述选择的每个标校点的每一路非视距的权值，分别计算所述待定位节点的每一路非视距误差，包括：4. The method according to claim 1, characterized in that, each line-of-sight distance of each calibration point according to the selection, each road non-line-of-sight distance of each calibration point of the selection and the selected The weight of each path of non-line-of-sight of each calibration point selected above is calculated respectively for each path of non-line-of-sight error of the node to be positioned, including:根据所述选择的每个标校点的每一路视距和所述选择的每个标校点的每一路非视距，分别计算所述选择的每个标校点的每一路非视距误差；According to the line-of-sight error of each line-of-sight of each calibration point selected and the non-line-of-sight error of each line of each line-of-sight of the selected calibration point, calculate the non-line-of-sight error of each line of each calibration point selected ;根据所述选择的每个标校点的每一路非视距误差和所述选择的每个标校点的每一路非视距的权值，分别计算所述待定位节点的每一路非视距误差。According to the non-line-of-sight error of each path of each calibration point selected and the weight of each non-line-of-sight error of each calibration point of the selection, calculate each non-line-of-sight distance of the node to be positioned respectively error.5.如权利要求1所述的方法，其特征在于，所述根据所述待定位节点的每一路非视距误差和所述待定位节点的每一路非视距，计算所述待定位节点的坐标，包括：5. The method according to claim 1, wherein, according to each path non-line-of-sight error of the node to be positioned and each path non-line-of-sight error of the node to be positioned, calculate the NLOS error of the node to be positioned coordinates, including:根据所述待定位节点的每一路非视距误差和所述待定位节点的每一路非视距，计算所述待定位节点的每一路视距；Calculate each line-of-sight distance of the node to be located according to each line of non-line-of-sight error of the node to be positioned and each line of non-line-of-sight error of the node to be positioned;根据所述待定位节点的每一路视距、所述多个基站的坐标和选择的标校点中的至少一个标校点的坐标，计算所述待定位节点的坐标。The coordinates of the node to be positioned are calculated according to the line-of-sight of the node to be positioned, the coordinates of the plurality of base stations, and the coordinates of at least one calibration point among the selected calibration points.6.一种定位节点的装置，其特征在于，所述装置包括：6. A device for positioning nodes, characterized in that the device comprises:接收模块，用于接收多个基站发送的信号，根据接收的信号，获取待定位节点的每一路非视距；The receiving module is used to receive signals sent by multiple base stations, and obtain each non-line-of-sight of the node to be positioned according to the received signals;选择模块，用于根据所述待定位节点的每一路非视距和数据库中存储的每个标校点的每一路非视距，从所述数据库中选择标校点；A selection module, configured to select a calibration point from the database according to each non-line-of-sight of the node to be positioned and each non-line-of-sight of each calibration point stored in the database;第一计算模块，用于根据选择的每个标校点的每一路非视距和所述待定位节点的每一路非视距，分别计算所述选择的每个标校点的每一路非视距的权值；The first calculation module is used to calculate each non-line-of-sight of each calibration point selected according to each non-line-of-sight of each selected calibration point and each non-line-of-sight of the node to be positioned. distance weight;第二计算模块，用于根据所述选择的每个标校点的每一路视距、所述选择的每个标校点的每一路非视距和所述选择的每个标校点的每一路非视距的权值，分别计算所述待定位节点的每一路非视距误差；The second calculation module is used for each line-of-sight distance of each calibration point selected, each non-line-of-sight distance of each calibration point selected and each line-of-sight distance of each calibration point selected. A non-line-of-sight weight of one path is calculated respectively for each non-line-of-sight error of the node to be positioned;第三计算模块，用于根据所述待定位节点的每一路非视距误差和所述待定位节点的每一路非视距，计算所述待定位节点的坐标。The third calculation module is configured to calculate the coordinates of the node to be positioned according to each non-line-of-sight error of the node to be positioned and each non-line-of-sight error of the node to be positioned.7.如权利要求6所述的装置，其特征在于，所述选择模块包括：7. The device according to claim 6, wherein the selection module comprises:第一计算单元，用于根据所述待定位节点的每一路非视距和数据库中存储的每个标校点的每一路非视距，计算所述待定位节点与所述数据库中存储的每个标校点之间的欧式距离；The first calculation unit is used to calculate the node to be positioned and each NLOS stored in the database according to each NLOS of the node to be positioned and each NLOS of each calibration point stored in the database. Euclidean distance between calibration points;选择单元，用于选择与所述待定位节点之间的欧式距离最小的预设数值个校标点；A selection unit, configured to select a preset number of calibration points with the smallest Euclidean distance to the node to be positioned;确定模块，用于根据选择的预设数值个校标点与所述待定位节点之间的欧式距离，对所述预设数值个校标点进行筛选，将筛选出的校标点确定为从所述数据库中选择的标校点。A determining module, configured to filter the preset numerical calibration points according to the Euclidean distance between the selected preset numerical calibration points and the node to be positioned, and determine the screened out calibration points from the database The calibration points selected in .8.如权利要求7所述的装置，其特征在于，所述第一计算模块包括：8. The device according to claim 7, wherein the first computing module comprises:第二计算单元，用于根据选择的每个标校点与所述待定位节点之间的欧式距离，分别计算所述选择的每个标校点的权值；The second calculation unit is used to calculate the weight of each selected calibration point according to the Euclidean distance between each selected calibration point and the node to be positioned;第三计算单元，用于根据所述选择的每个标校点的每一路非视距和所述待定位节点的每一路非视距，分别计算所述选择的每个标校点的每一路非视距在所有选择的标校点对应的一路非视距中所占的权值；The third calculation unit is used to calculate each path of each selected calibration point according to each path of non-line-of-sight of each selected calibration point and each path of non-line-of-sight of the node to be positioned. The weight of non-line-of-sight in all the selected calibration points corresponding to one path of non-line-of-sight;第四计算单元，用于根据所述选择的每个标校点的每一路非视距在所有选择的标校点对应的一路非视距中所占的权值和所述选择的每个标校点的权值，分别计算所述选择的每个标校点的每一路非视距的权值。The fourth calculation unit is used to calculate the weight of each non-line-of-sight of each selected calibration point in the non-line-of-sight corresponding to all selected calibration points and each selected calibration point. The weight of the calibration point is to calculate the weight of each non-line-of-sight of each calibration point selected.9.如权利要求6所述的装置，其特征在于，所述第二计算模块包括：9. The device according to claim 6, wherein the second calculation module comprises:第五计算单元，用于根据所述选择的每个标校点的每一路视距和所述选择的每个标校点的每一路非视距，分别计算所述选择的每个标校点的每一路非视距误差；The fifth calculation unit is used to calculate each selected calibration point according to the line-of-sight distance of each selected calibration point and the non-line-of-sight distance of each selected calibration point. The non-line-of-sight error of each path;第六计算单元，用于根据所述选择的每个标校点的每一路非视距误差和所述选择的每个标校点的每一路非视距的权值，分别计算所述待定位节点的每一路非视距误差。The sixth calculation unit is used to calculate the to-be-positioned error according to the selected non-line-of-sight error of each calibration point and the weight of each non-line-of-sight error of each calibration point selected. The non-line-of-sight error of each node.10.如权利要求6所述的装置，其特征在于，所述第三计算模块包括：10. The device according to claim 6, wherein the third calculation module comprises:第七计算单元，用于根据所述待定位节点的每一路非视距误差和所述待定位节点的每一路非视距，计算所述待定位节点的每一路视距；A seventh calculation unit, configured to calculate each line-of-sight distance of the node to be positioned according to each line of non-line-of-sight error of the node to be positioned and each line of non-line-of-sight error of the node to be positioned;第八计算单元，用于根据所述待定位节点的每一路视距、所述多个基站的坐标和选择的标校点中的至少一个标校点的坐标，计算所述待定位节点的坐标。An eighth calculation unit, configured to calculate the coordinates of the node to be positioned according to the line-of-sight of the node to be positioned, the coordinates of the plurality of base stations, and the coordinates of at least one calibration point among the selected calibration points .

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