CN104333903A - Indoor multi-object positioning system and method based on RSSI (receiver signal strength indicator) and inertia measurement - Google Patents

Indoor multi-object positioning system and method based on RSSI (receiver signal strength indicator) and inertia measurement Download PDF

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Publication number
CN104333903A
CN104333903A CN201410474704.2A CN201410474704A CN104333903A CN 104333903 A CN104333903 A CN 104333903A CN 201410474704 A CN201410474704 A CN 201410474704A CN 104333903 A CN104333903 A CN 104333903A
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anchor node
positioning
rssi
location
node
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冉静
袁东明
胡鹤飞
高锦春
谢刚
刘元安
刘宇杰
田亮亮
尚颖
周赟
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Beijing University of Posts and Telecommunications
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Beijing University of Posts and Telecommunications
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/10—Scheduling measurement reports ; Arrangements for measurement reports

Abstract

The invention discloses an indoor multi-object positioning system and method based on an RSSI (receiver signal strength indicator) and inertia measurement. The system is provided with three components: a positioning server, positioning anchor anodes and positioners, integrates positioning data of an RSSI method and the positioning data of an inertia measurement method, and then executes dynamic correction on the positions of the positioning anchor nodes and the positioners so as to reduce system positioning errors, improve system positioning precision and enhance system positioning stability. According to the invention, by use of a characteristic that anchor node positions are relatively fixed in a progressive maximum positioning process, through increasing measuring time and reducing the influence of environment accidental factors on the RSSI, the RSSI measuring precision of the anchor nodes is improved. During a positioning measuring process, period correction is performed on the positions of each stage of anchor nodes by use of new range finding signal values so that the stability and the accuracy of the positioning system are improved. Besides, the two methods of a RSSI propagation model and the inertia measurement are utilized for data fusion and positioning, so that the strengths of the two can be integrated, and the positioning precision is higher.

Description

Based on the multiobject navigation system in indoor and the method for RSSI and inertia measurement
Technical field
The present invention relates to a kind of location technology solving indoor environment, exactly, relate to a kind of multiobject navigation system in indoor based on RSSI and inertia measurement and method, belong to the technical field of indoor positioning.
Background technology
Wireless indoor location technology all has the prospect of wide application because of it in indoor navigation, trajectory track, mobile office, emergency position circular etc., become the strategic development emphasis of the Invention service provider such as Google, Foursquare and the mobile operator such as China Mobile, China Telecom, and become a requisite part in nowadays mobile Internet business.GPS because it is with high costs, to search star speed slow, and the problem such as cannot to locate by barrier obstruction, be not suitable for being directly used in indoor positioning, other alternative methods must be found.The research origin of indoor positioning is in the 1990s age, the research of current indoor positioning comprises GSM location, infrared ray location (Active Badge), ultrasonic wave location (Cricket System and Active Bat), ultra broadband (UWB) is located, radio frequency identification (RFID) location (LANDMARK) etc.The location technology that the present invention uses comprises: received signal strength indicator RSSI (Receive Signal Strength Indicator) propagation model location technology and inertia measurement location technology.Below, first these two kinds of technical background situations of brief introduction:
(1) RSSI propagation model location is a kind of location algorithm of classics, because it calculates simple, therefore in current wireless location system still extensive application.The method is the distance indirectly obtaining between signal sending point and acceptance point by propagation model, the position of recycling geometrical relationship determination target.
The relation of the received signal strength RSSI of wireless signal and the transmission range of signal can simply be expressed as: RSSI=-(A+10nlgd)+pt; Wherein, RSSI value when A is signal propagation 1m, n is the path attenuation factor, and d is the spacing of transmitting terminal and receiving terminal, and pt obeys the factor of influence that average is the Gaussian Profile of 0.According to above-mentioned formula, ignore pt item, the distance d of receiving terminal and transmitting terminal can be calculated by the RSSI value of receiving terminal.
The following describes RSSI propagation model method at three-dimensional position fixing process.
In three dimensions, unknown node can determine the coordinate of self according to the range information between itself and 4 not coplanar neighbours' reference nodes.Suppose unknown node E (x, y, z) according to 4 not coplanar neighbours' reference node A (x 1, y 1, z 1), B (x 2, y 2, z 2), C (x 3, y 3, z 3) and D (x 4, y 4, z 4) between distance be respectively d 1, d 2, d 3, d 4.That is: d 1 2 = ( x - x 1 ) 2 + ( y - y 1 ) 2 + ( z - z 1 2 ) d 2 2 = ( x - x 2 ) 2 + ( y - y 2 ) 2 + ( z - z 2 2 ) d 3 2 = ( x - x 3 ) 2 + ( y - y 3 ) 2 + ( z - z 3 2 ) d 4 2 = ( x - x 4 ) 2 + ( y - y 4 ) 2 + ( z - z 4 2 ) ; Arrange again: r i 2 = d i 2 - x i 2 - y i 2 - z i 2 r i 2 = d i 2 - x i 2 - y i 2 , And i=1,2,3,4, then deduct the 4th equation respectively by front 3 equations, can obtain: 2 x 4 - 2 x 1 2 y 4 - 2 y 1 2 z 4 - 2 z 1 2 x 4 - 2 x 2 2 y 4 - 2 y 2 2 z 4 - 2 z 2 2 x 4 - 2 x 3 2 y 4 - 2 y 3 2 z 4 - 2 z 3 x y z = r 1 2 - r 4 2 r 2 2 - r 4 2 r 3 2 - r 4 2 . Establish again: Q = 2 x 4 - 2 x 1 2 y 4 - 2 y 1 2 z 4 - 2 z 1 2 x 4 - 2 x 2 2 y 4 - 2 y 2 2 z 4 - 2 z 2 2 x 4 - 2 x 3 2 y 4 - 2 y 3 2 z 4 - 2 z 3 , θ = x y z , b = r 1 2 - r 4 2 r 2 2 - r 4 2 r 3 2 - r 4 2 ; Then above-mentioned formula can be exchanged into: Q θ=b, obtains least square solution: in formula, for unknown node E (x, y, the z) position coordinates calculated by least square method.
From analyzing above, when rssi measurement accuracy is higher, the distance between node calculates will be more accurate, and the positioning precision of propagation model method is also higher.
But, rssi measurement and indoor environment Relationship Comparison close.For outdoor, the interior space is less, layout is complicated, the multiple accidentalia such as to walk about of wall, door and window, electrical equipment, personnel all can be propagated signal and have an impact, and cause such as reflect, reflect, diffraction and scattering phenomenon, and then cause the multipath transmisstion effect of wireless signal, therefore, the shake of RSSI real-time measurement values is very large, makes the error of the real-time positioning mode of RSSI propagation model larger.
But, if RSSI effective sample is enough large, by parameter optimization and filtering process, the measure error of RSSI can be reduced.Therefore the sampling time is longer, and the RSSI effective sample quantity of acquisition is more, and RSSI propagation model method location is more stable, and accuracy also can be higher.
(2) inertia measurement location technology is a kind of independent positioning technology not relying on external information, by measuring carrier in the acceleration of inertial reference system and direction, it is carried out integration to the time, just can obtain the information such as the speed of localizing objects in reference frame, yaw angle and position.Along with popularizing of inertia measurement equipment, inertia measurement location technology is also used to indoor positioning more and more.
Pedestrian's reckoning algorithm is a kind of conventional inertia measurement location algorithm, and this algorithm general principle utilizes home position, displacement and direction to calculate pedestrian position.Concrete grammar is: adopt the product of step number and step-length as the distance of walking, then calculate the displacement of walking in conjunction with direction of travel, then according to the initial position of pedestrian, just can calculate pedestrian move after position.
The process of reckoning algorithm can be expressed as: in formula, (x n, y n, z n) be initial position, (x n+1, y n+1, z n+1) be the position of subsequent time, k, l are step number, the step-length of movement respectively, it is three-dimensional moving direction vector.
The reckoning algorithm of inertial sensor has completely autonomous location, a dependence transducer and by the advantage such as outer signals and environmental impact, can be user-provided location information in the short time very flexibly, whenever and wherever possible.
In reckoning algorithm, step number, direction and step-length are three principal elements affecting positioning precision, wherein, step number is that the data analysis gathered by acceleration transducer is drawn, direction can be obtained by electronic compass, step-length directly cannot be measured because of it and draw, general use experience estimated value.Step-length due to user has very large randomness and variability, and the step number drawn by sensing data and directional information also exist error, and therefore, along with the increase of time, the position error of pedestrian's reckoning algorithm also can constantly increase.
Summary of the invention
In view of this, the object of this invention is to provide a kind of for solve Multi-target position in indoor environment, based on the multiobject navigation system in indoor of RSSI and inertia measurement and method, the present invention combines the feature that RSSI long-term tillage has been stablized and the advantage that inertial navigation location technology short-term positioning precision is high, continuity is good, has better positioning precision.
In order to achieve the above object, the invention provides a kind of multiobject navigation system in indoor based on received signal strength indicator RSSI (Receive Signal Strength Indicator) and inertia measurement, it is characterized in that: described system is the locator data merging RSSI and inertia measurement two kinds of method of measurement, and dynamic calibration is carried out to the position of positioning anchor node and locator, make the stability that system position error reduces and increase system is located; This system is provided with three building blocks: location-server, positioning anchor node and locator, wherein:
Location-server, is responsible for the location measurement information sent according to positioning anchor node and locator, the position of compute location anchor node and locator, and positioning result is sent to locator by positioning anchor node; Be provided with four comprising modules: communication interface, system locating module, data memory module and data disaply moudle;
Positioning anchor node, as the via node of the two-way communication path of location-server and locator, had both been responsible for the operational order of location-server to send to locator; Simultaneously also for for providing position reference data when locator is located, performing and measuring operation, and forwarding positioning result data to location-server; Positioning anchor node divides into the anchor node of multiple grade according to the sequencing that it is placed: the known positioning anchor node in position is anchor node, one-level anchor node, secondary anchor node and follow-up corresponding anchor node; This navigation system is the position of the position calculation determination next stage anchor node according to upper level anchor node: the position first obtaining one-level anchor node according to the position calculation of anchor node, the position of secondary anchor node is obtained again according to the position calculation of one-level anchor node, the like, form multistage anchor node; Each positioning anchor node is respectively equipped with three comprising modules: communication interface, data memory module and rssi measurement module;
Locator, is responsible for gathering RSSI data and inertia measurement data, and sends to location-server, and receive and show the positioning result of location-server; Be provided with four comprising modules: communication interface, data memory module, sensor assembly and display module.
In order to achieve the above object, present invention also offers a kind of multi-target orientation method adopting the indoor multiobject navigation system of the present invention, it is characterized in that: the locator data of two kinds of method of measurement of received signal strength indicator RSSI and inertia measurement is merged, again dynamic corrections is performed to the position of positioning anchor node and locator, with the stability of the positioning precision and increase system location that improve system; Described method comprises following operative step:
Step 1, the initial position of positioning anchor node is set: when starting to locate, first the initial position of positioning anchor node is set in location-server, again before location starts, first the position coordinates of known initial anchor node is input in location-server, and obtains the position of the positioning anchor node of subsequent stages according to the position step-by-step calculation of anchor node;
Step 2, the target of location movement: after target moves a segment distance, the locator placed on the object sends to location-server the RSSI value received and the inertia measurement parameter of itself, before maximum in the RSSI numerical value that location-server receives using locator, k anchor node is as with reference to node, in conjunction with inertia measurement data, data fusion positioning is carried out to locator; Wherein, natural number k should be more than or equal to 4.
The advantage of the multiobject navigation system in indoor and method that the present invention is based on RSSI and inertia measurement is:
The present invention utilizes the incrementally relatively-stationary feature in anchor node position in position fixing process, by increasing Measuring Time and reducing environment accidentalia to the impact of RSSI, improves anchor node rssi measurement precision.
The present invention, in aligner measurements, uses new ranging signal value periodically to revise every one-level anchor node position, increases stability and the accuracy of navigation system.
The present invention uses RSSI propagation model and inertia measurement two kinds of methods to carry out data fusion positioning, is compared to single RSSI location or inertial navigation location, has better positioning precision.
Innovation key technology of the present invention comprises: the relatively-stationary feature in position utilizing anchor node at different levels in incrementally position fixing process, by increasing Measuring Time, reducing the accidentalia of environment to the impact of RSSI, improving anchor node rssi measurement precision.Also in aligner measurements, use new ranging signal value to carry out periodicity correction to every one-level anchor node position, increase stability and the accuracy of navigation system.In a word, the data that the present invention uses RSSI propagation model and inertia measurement two kinds of method of measurement to obtain carry out fusion location, compare be used alone wherein RSSI location or inertial navigation location all have better, more stable positioning precision.
Accompanying drawing explanation
Fig. 1 is the indoor multiobject positioning system network structure composition schematic diagram that the present invention is based on RSSI and inertia measurement.
Fig. 2 is the location-server structure composition schematic diagram in the indoor multiobject navigation system of the present invention.
Fig. 3 is the positioning anchor node structure composition schematic diagram in the indoor multiobject navigation system of the present invention.
Fig. 4 is the locator structure composition schematic diagram in the indoor multiobject navigation system of the present invention.
Fig. 5 is the localization method operating procedure flow chart of the multiobject navigation system in indoor that the present invention is based on RSSI and inertia measurement.
Embodiment
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with drawings and Examples, the present invention is described in further detail.
The present invention, in conjunction with RSSI propagation model positioning mode and inertia measurement two kinds of indoor orientation methods, proposes a kind of indoor multi-target positioning system based on RSSI and inertia measurement.The core concept of this system is the locator data by merging RSSI and inertia measurement two kinds of method of measurement, and carries out dynamic calibration to the position of positioning anchor node and locator, makes the stability that system position error reduces and increase system is located.
See Fig. 1 ~ Fig. 4, introduce three parts of present system: location-server, positioning anchor node and locator, wherein positioning anchor node can be divided into anchor node, one-level anchor node, secondary anchor node etc. according to its sequencing placed.This system block diagram as shown in Figure 1.Introduce this three building blocks below respectively:
(1) location-server: be responsible for the location measurement information sent according to positioning anchor node and locator, the position of compute location anchor node and locator, and positioning result is sent to locator by positioning anchor node.Be provided with four comprising modules (see Fig. 2): communication interface, system locating module, data memory module and data disaply moudle.Location-server modules function is as follows:
Communication interface, as the reception of location-server and the communication interface of transmission data, uses the interactive communication of the maintenance of WLAN communication protocol and locator and positioning anchor node, completes the transmission-receiving function of locator data.The two-way communication path of location-server and locator is all using positioning anchor node as via node.
Data memory module, the locating information received for storage networking communication module and system locating module calculate the positional information of each node generated, and call for other modules.
System locating module, for the locating information according to data memory module, runs location algorithm, calculates the positional information of each node, then pass to data memory module.
Information display module, is responsible for reading locating information from data memory module, and shows to user.
(2) positioning anchor node: as the via node of the two-way communication path of location-server and locator, had both been responsible for the operational order of location-server to send to locator; Simultaneously also for for providing position reference data when locator is located, performing and measuring operation, and forwarding positioning result data to location-server.Positioning anchor node divides into the anchor node of multiple grade according to the sequencing that it is placed: the known positioning anchor node in position is anchor node, one-level anchor node, secondary anchor node and follow-up corresponding anchor node.This navigation system is the position of the position calculation determination next stage anchor node according to upper level anchor node: the position first obtaining one-level anchor node according to the position calculation of anchor node, the position of secondary anchor node is obtained again according to the position calculation of one-level anchor node, the like, form multistage anchor node.Each positioning anchor node is respectively equipped with three comprising modules (see Fig. 3): communication interface, data memory module and rssi measurement module.Three functions of modules are described below:
Communication interface, as the communication interface of the digital received and sent of positioning anchor node, use WLAN communication protocol keeps the communication interaction with location-server and locator respectively, completes the transmission-receiving function of locating information.
Data memory module, the locating information received for storage networking communication module and rssi measurement module calculate the rssi measurement positional information of each node generated, and call for other modules.
Rssi measurement module, be responsible for gather statistics receive from other positioning anchors node R SSI information.
(3) locator: be responsible for gathering RSSI data and inertia measurement data, and send to location-server, and receive and show the positioning result of location-server.Be provided with four comprising modules (see Fig. 4): communication interface, data memory module, sensor assembly and display module.Four functions of modules are described below:
Communication interface, as the communication interface of the digital received and sent of locator, uses WLAN communication protocol to carry out interactive communication with location-server device and positioning anchor node respectively, completes the transmission-receiving function of locating information.
Data memory module, the locating information received for storage networking communication module and rssi measurement module calculate the rssi measurement information of each node generated.
Transducer, is provided with two assemblies: rssi measurement unit and Inertial Measurement Unit, gathers the relevant position information of locator respectively: rssi measurement unit be responsible for gather with statistics receive from other positioning anchors node R SSI information; Inertia measuring module be responsible for gather locator self measure obtain comprise: the multi-motion information at moving step length, mobile step number, moving direction angle.
Information display module, for reading locating information from data memory module, and shows current location and the movement locus of locator to user.
The present invention is based on the multi-target orientation method of the indoor multi-target positioning system of RSSI and inertia measurement, its core concept is mainly: the locator data of two kinds of method of measurement of received signal strength indicator RSSI and inertia measurement merged, again dynamic corrections is performed to the position of positioning anchor node and locator, with the stability of the positioning precision and increase system location that improve system.
See Fig. 5, introduce the following operative step of multi-target orientation method of the present invention:
Step 1, the initial position of positioning anchor node is set: when starting to locate, first the initial position of positioning anchor node is set in location-server, again before location starts, first the position coordinates of known initial anchor node is input in location-server, and obtains the position of the positioning anchor node of subsequent stages according to the position step-by-step calculation of anchor node.
Step 2, the target of location movement: after target moves a segment distance, the locator placed on the object sends to location-server the RSSI value received and the inertia measurement parameter of itself, before maximum in the RSSI numerical value that location-server receives using locator, k anchor node is as with reference to node, in conjunction with inertia measurement data, data fusion positioning is carried out to locator; Wherein, natural number k should be more than or equal to 4.
In this step, front k anchor node maximum in the RSSI numerical value utilizing locator to receive as with reference to node, in conjunction with inertia measurement data, the method of locator being carried out to data fusion positioning is by coefficient weighting, according to the following equation: (x, y, z)=λ 0(x i, y i, z i)+(1-λ 0) (x r, y r, z r) calculate the three-dimensional position coordinates (x, y, z) of unknown node; Wherein, (x i, y i, z i) be measure the Nodes Three-dimensional locus calculated by pedestrian's reckoning algorithm, (x according to inertial navigation r, y r, z r) be the Nodes Three-dimensional locus adopting RSSI propagation model location Calculation to obtain, λ 0inertial navigation measuring position coordinate (x i, y i, z i) fixed weight coefficient.
In conjunction with inertia measurement data in this step, the method for locator being carried out to data fusion positioning comprises following content of operation:
(21) because of in three dimensions, unknown node E (x, y, z) is according to the not coplanar neighbours' reference node A (x of itself and 4 1, y 1, z 1), B (x 2, y 2, z 2), C (x 3, y 3, z 3) and D (x 4, y 4, z 4) between range information determine that the formula of self three dimensional space coordinate is: establish these four not coplanar neighbor nodes (x respectively i, y i, z i) to the distance of unknown node E (x, y, z) be d i: d 1 2 = ( x - x 1 ) 2 + ( y - y 1 ) 2 + ( z - z 1 2 ) d 2 2 = ( x - x 2 ) 2 + ( y - y 2 ) 2 + ( z - z 2 2 ) d 3 2 = ( x - x 3 ) 2 + ( y - y 3 ) 2 + ( z - z 3 2 ) d 4 2 = ( x - x 4 ) 2 + ( y - y 4 ) 2 + ( z - z 4 2 ) ; Arrange again: r i 2 = d i 2 - x i 2 - y i 2 - z i 2 , Then deduct the 4th equation respectively by front 3 equations, obtain: 2 x 4 - 2 x 1 2 y 4 - 2 y 1 2 z 4 - 2 z 1 2 x 4 - 2 x 2 2 y 4 - 2 y 2 2 z 4 - 2 z 2 2 x 4 - 2 x 3 2 y 4 - 2 y 3 2 z 4 - 2 z 3 x y z = r 1 2 - r 4 2 r 2 2 - r 4 2 r 3 2 - r 4 2 ; In formula, natural number i is four not coplanar neighbor node sequence numbers, therefore its value is respectively: 1,2,3 and 4.
(22) arrange: Q = 2 x 4 - 2 x 1 2 y 4 - 2 y 1 2 z 4 - 2 z 1 2 x 4 - 2 x 2 2 y 4 - 2 y 2 2 z 4 - 2 z 2 2 x 4 - 2 x 3 2 y 4 - 2 y 3 2 z 4 - 2 z 3 , θ = x y z , b = r 1 2 - r 4 2 r 2 2 - r 4 2 r 3 2 - r 4 2 ; Then left side formula can be exchanged into: Q θ=b, obtains least square solution: wherein, r i, Q, b be the intermediate variable of formulae discovery derivation, it is the position coordinates of the unknown node E (x, y, z) calculated by least square method; And when rssi measurement accuracy is higher, the distance between node calculates will be more accurate, and the positioning precision of propagation model method is also higher.
(23) increase and record the position of new anchor node: if when the total quantity of anchor node is less than the maximum S that system allows, then arrange new anchor node in the current position of measurement target, and the anchor node position that record is newly-increased, anchor node number adds 1.
(24) revise anchor node rssi measurement value: from one-level anchor node, adopt middle position value filtering algorithm to revise the node R SSI value of every one-level positioning anchor node step by step.Wherein, meta algorithm filtering algorithm is after gathering N number of effective RSSI value, by this N number of RSSI value according to the arrangement of numerical values recited order, choose the RSSI value being wherein positioned at middle and export as filtering, that is: the median RSSI obtained when n-th RSSI of anchor node revises medn=Med (RSSI 1, RSSI 2, RSSI 3...., RSSI n); Wherein, natural number N is odd number.If the sample size gathered is larger, middle position value filtering method more effectively can overcome the fluctuation interference that accidentalia causes.
(25) anchor node position is revised: use step (24) revised RSSI value, step by step the position of anchor node at different levels is revised according to anchor node position correction algorithm.Wherein, the computing formula of anchor node position correction algorithm is: by coefficient weighting, anchor node z after revising for n-th time nposition three dimensional space coordinate (x n, y n, z n)=(λ 0+ ε (n)) (x i, y i, z i)+(1-λ 0-ε (n)) (x rn, y rn, z rn); In formula, (x i, y i, z i) be the three-dimensional space position coordinate of anchor node using track Calculation to obtain, (x rn, y rn, z rn) be according to n-th revised signal receiving strength value RSSI mednwith the three-dimensional space position coordinate of the anchor node that propagation model method calculates, λ 0inertial navigation surving coordinate (x i, y i, z i) fixed weight coefficient, additional weight coefficient function ε (n) is the subtraction function of variable about rssi measurement frequency n, and ε (n) <1-λ 0,
(26) location-server judges whether to receive the instruction stopping location survey, if receive, then exits location, terminates the whole flow process in location.Otherwise, return step 2, continue to perform next round positioning action.
Inventions have been and repeatedly implement test, the result of test is successful, achieves goal of the invention.

Claims (9)

1. the multiobject navigation system in indoor based on received signal strength indicator RSSI (Receive Signal Strength Indicator) and inertia measurement, it is characterized in that: described system is the locator data merging RSSI and inertia measurement two kinds of method of measurement, and dynamic calibration is carried out to the position of positioning anchor node and locator, make the stability that system position error reduces and increase system is located; This system is provided with three building blocks: location-server, positioning anchor node and locator, wherein:
Location-server, is responsible for the location measurement information sent according to positioning anchor node and locator, the position of compute location anchor node and locator, and positioning result is sent to locator by positioning anchor node; Be provided with four comprising modules: communication interface, system locating module, data memory module and data disaply moudle;
Positioning anchor node, as the via node of the two-way communication path of location-server and locator, had both been responsible for the operational order of location-server to send to locator; Simultaneously also for for providing position reference data when locator is located, performing and measuring operation, and forwarding positioning result data to location-server; Positioning anchor node divides into the anchor node of multiple grade according to the sequencing that it is placed: the known positioning anchor node in position is anchor node, one-level anchor node, secondary anchor node and follow-up corresponding anchor node; This navigation system is the position of the position calculation determination next stage anchor node according to upper level anchor node: the position first obtaining one-level anchor node according to the position calculation of anchor node, the position of secondary anchor node is obtained again according to the position calculation of one-level anchor node, the like, form multistage anchor node; Each positioning anchor node is respectively equipped with three comprising modules: communication interface, data memory module and rssi measurement module;
Locator, is responsible for gathering RSSI data and inertia measurement data, and sends to location-server, and receive and show the positioning result of location-server; Be provided with four comprising modules: communication interface, data memory module, sensor assembly and display module.
2. system according to claim 1, is characterized in that: each building block function of described location-server is as follows:
Communication interface, as the reception of location-server and the communication interface of transmission data, uses the interactive communication of the maintenance of WLAN communication protocol and locator and positioning anchor node, completes the transmission-receiving function of locator data; The two-way communication path of location-server and locator is all using positioning anchor node as via node;
Data memory module, the locating information received for storage networking communication module and system locating module calculate the positional information of each node generated, and call for other modules;
System locating module, for the locating information according to data memory module, runs location algorithm, calculates the positional information of each node, then pass to data memory module;
Information display module, is responsible for reading locating information from data memory module, and shows to user.
3. system according to claim 1, is characterized in that: three building block functions of described positioning anchor node are as follows:
Communication interface, as the communication interface of the digital received and sent of positioning anchor node, use WLAN communication protocol keeps the communication interaction with location-server and locator respectively, completes the transmission-receiving function of locating information;
Data memory module, the locating information received for storage networking communication module and rssi measurement module calculate the rssi measurement positional information of each node generated, and call for other modules;
Rssi measurement module, be responsible for gather statistics receive from other positioning anchors node R SSI information.
4. system according to claim 1, is characterized in that: four building block functions of described locator are as follows:
Communication interface, as the communication interface of the digital received and sent of locator, uses WLAN communication protocol to carry out interactive communication with location-server device and positioning anchor node respectively, completes the transmission-receiving function of locating information;
Data memory module, the locating information received for storage networking communication module and rssi measurement module calculate the rssi measurement information of each node generated;
Transducer, is provided with two assemblies: rssi measurement unit and Inertial Measurement Unit, gathers the relevant position information of locator respectively: rssi measurement unit be responsible for gather with statistics receive from other positioning anchors node R SSI information; Inertia measuring module be responsible for gather locator self measure obtain comprise: the multi-motion information at moving step length, mobile step number, moving direction angle;
Information display module, for reading locating information from data memory module, and shows current location and the movement locus of locator to user.
5. one kind adopts the multi-target orientation method of indoor multiobject navigation system described in claim 1, it is characterized in that: the locator data of two kinds of method of measurement of received signal strength indicator RSSI and inertia measurement is merged, again dynamic corrections is performed to the position of positioning anchor node and locator, with the stability of the positioning precision and increase system location that improve system; Described method comprises following operative step:
Step 1, the initial position of positioning anchor node is set: when starting to locate, first the initial position of positioning anchor node is set in location-server, again before location starts, first the position coordinates of known initial anchor node is input in location-server, and obtains the position of the positioning anchor node of subsequent stages according to the position step-by-step calculation of anchor node;
Step 2, the target of location movement: after target moves a segment distance, the locator placed on the object sends to location-server the RSSI value received and the inertia measurement parameter of itself, before maximum in the RSSI numerical value that location-server receives using locator, k anchor node is as with reference to node, in conjunction with inertia measurement data, data fusion positioning is carried out to locator; Wherein, natural number k should be more than or equal to 4.
6. method according to claim 5, it is characterized in that: in described step 2, front k anchor node maximum in the RSSI numerical value utilizing locator to receive is as reference node, in conjunction with inertia measurement data, the method of locator being carried out to data fusion positioning is by coefficient weighting, according to the following equation:
(x, y, z)=λ 0(x i, y i, z i)+(1-λ 0) (x r, y r, z r) calculate the three-dimensional position coordinates (x, y, z) of unknown node; Wherein, (x i, y i, z i) be measure the Nodes Three-dimensional locus calculated by pedestrian's reckoning algorithm, (x according to inertial navigation r, y r, z r) be the Nodes Three-dimensional locus adopting RSSI propagation model location Calculation to obtain, λ 0inertial navigation measuring position coordinate (x i, y i, z i) fixed weight coefficient.
7. method according to claim 6, is characterized in that: in described step 2 in conjunction with inertia measurement data, the method for locator being carried out to data fusion positioning comprises following content of operation:
(21) because of in three dimensions, unknown node E (x, y, z) is according to the not coplanar neighbours' reference node A (x of itself and 4 1, y 1, z 1), B (x 2, y 2, z 2), C (x 3, y 3, z 3) and D (x 4, y 4, z 4) between range information determine that the formula of self three dimensional space coordinate is: establish these four not coplanar neighbor nodes (x respectively i, y i, z i) to the distance of unknown node E (x, y, z) be d i: d 1 2 = ( x - x 1 ) 2 + ( y - y 1 ) 2 + ( z - z 1 2 ) d 2 2 = ( x - x 2 ) 2 + ( y - y 2 ) 2 + ( z - z 2 2 ) d 3 2 = ( x - x 3 ) 2 + ( y - y 3 ) 2 + ( z - z 3 2 ) d 4 2 = ( x - x 4 ) 2 + ( y - y 4 ) 2 + ( z - z 4 2 ) ; Arrange again: r i 2 = d i 2 - x i 2 - y i 2 - z i 2 , Then deduct the 4th equation respectively by front 3 equations, obtain: 2 x 4 - 2 x 1 2 y 4 - 2 y 1 2 z 4 - 2 z 1 2 x 4 - 2 x 2 2 y 4 - 2 y 2 2 z 4 - 2 z 2 2 x 4 - 2 x 3 2 y 4 - 2 y 3 2 z 4 - 2 z 3 x y z = r 1 2 - r 4 2 r 2 2 - r 4 2 r 3 2 - r 4 2 ; In formula, natural number i is four not coplanar neighbor node sequence numbers, therefore its value is respectively: 1,2,3 and 4;
(22) arrange: Q = 2 x 4 - 2 x 1 2 y 4 - 2 y 1 2 z 4 - 2 z 1 2 x 4 - 2 x 2 2 y 4 - 2 y 2 2 z 4 - 2 z 2 2 x 4 - 2 x 3 2 y 4 - 2 y 3 2 z 4 - 2 z 3 , &theta; = x y z , b = r 1 2 - r 4 2 r 2 2 - r 4 2 r 3 2 - r 4 2 ; Then left side formula can be exchanged into: Q θ=b, obtains least square solution: wherein, r i, Q, b be the intermediate variable of formulae discovery derivation, it is the position coordinates of the unknown node E (x, y, z) calculated by least square method; And when rssi measurement accuracy is higher, the distance between node calculates will be more accurate, and the positioning precision of propagation model method is also higher;
(23) increase and record the position of new anchor node: if when the total quantity of anchor node is less than the maximum S that system allows, then arrange new anchor node in the current position of measurement target, and the anchor node position that record is newly-increased, anchor node number adds 1;
(24) revise anchor node rssi measurement value: from one-level anchor node, adopt middle position value filtering algorithm to revise the node R SSI value of every one-level positioning anchor node step by step;
(25) anchor node position is revised: use step (24) revised RSSI value, step by step the position of anchor node at different levels is revised according to anchor node position correction algorithm;
(26) location-server judges whether to receive the instruction stopping location survey, if receive, then exits location, terminates the whole flow process in location; Otherwise, return step 2, continue to perform next round positioning action.
8. method according to claim 5, it is characterized in that: in described step (24), meta algorithm filtering algorithm is after gathering N number of effective RSSI value, this N number of RSSI value is arranged according to numerical values recited order, choose the RSSI value being wherein positioned at middle to export as filtering, that is: the median RSSI obtained when n-th RSSI of anchor node revises medn=Med (RSSI 1, RSSI 2, RSSI 3...., RSSI n); Wherein, natural number N is odd number; If the sample size gathered is larger, middle position value filtering method more effectively can overcome the fluctuation interference that accidentalia causes.
9. method according to claim 5, is characterized in that: in described step (25), and the computing formula of anchor node position correction algorithm is: by coefficient weighting, anchor node z after revising for n-th time nposition three dimensional space coordinate (x n, y n, z n)=(λ 0+ ε (n)) (x i, y i, z i)+(1-λ 0-ε (n)) (x rn, y rn, z rn); In formula, (x i, y i, z i) be the three-dimensional space position coordinate of anchor node using track Calculation to obtain, (x rn, y rn, z rn) be according to n-th revised signal receiving strength value RSSI mednwith the three-dimensional space position coordinate of the anchor node that propagation model method calculates, λ 0inertial navigation surving coordinate (x i, y i, z i) fixed weight coefficient, additional weight coefficient function ε (n) is the subtraction function of variable about rssi measurement frequency n, and ε (n) <1-λ 0,
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