CN113395762B - Position correction method and device in ultra-wideband positioning network - Google Patents
Position correction method and device in ultra-wideband positioning network Download PDFInfo
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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
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- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H04W4/02—Services making use of location information
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Abstract
The embodiment of the application provides a position correction method and device in an ultra-wideband positioning network, wherein the method comprises the following steps: acquiring an initial position ranging vector of a node to be positioned in an ultra-wideband positioning network; obtaining a projection vector of the ultra-wideband positioning network; and determining a final position ranging vector of the node to be positioned according to the initial ranging vector and the projection vector, so that the accuracy of the position acquisition of the node to be positioned can be improved.
Description
Technical Field
The application relates to the technical field of data processing, in particular to a position correction method and device in an ultra-wideband positioning network.
Background
The wireless self-organizing network is a branch of wireless network technology, and has the biggest characteristics that the network has no base station, the nodes in the network are equal, no central control node is required to be arranged, and each node has message forwarding capability. The method has the advantages of quick networking, free movement of nodes and the like.
Ultra wideband (inspection, UWB) has a large system capacity because of a high transmission speed; the emission power is low, the radiation is small, and the cruising ability is strong; the multipath resolution is high; the confidentiality of the system is good; the method has the characteristics of strong penetrating power and the like, and is most commonly applied to positioning systems and wireless ad hoc networks. The ultra-wideband positioning system has the characteristic of high positioning precision, so that the ultra-wideband positioning system is commonly used for an indoor accurate positioning network, the advantage of the ultra-wideband technology is connected with the advantage of the wireless ad hoc network, the error time delay of the ultra-wideband positioning system can be reduced, but the distance measurement time delay and the time delay caused by a wireless channel are unavoidable.
In an indoor accurate positioning network, the positioning is to position the node in practice, and the positioning of the network node is mainly realized through ranging, and the main ranging methods include a time-of-arrival ranging method (TOA) and a time-of-arrival ranging method (TODA) and a relative intelligent algorithm based on maximum likelihood, and the main ranging error sources are small range errors of signal propagation and large range errors of non-line-of-sight. How to quickly reduce the error in network topology predictions is an important issue in ultra wideband positioning network node position determination.
In the existing ultra-wideband positioning network positioning method, other works are generally performed under the condition that the position information is known, for example, the protocol is optimized, and the position information is added. For example, distance information between nodes is measured according to a ranging technique, then measured node information is used as a known node to continuously measure other unknown information, and the whole network is traversed in a reciprocating manner. The strategy can quickly determine the distance of the whole network node, but the method considers the inter-node measurement information as accurate information, and does not consider the inaccuracy of the ranging information, so that the final predicted node positioning accuracy is lower.
Disclosure of Invention
The embodiment of the application provides a position correction method and device in an ultra-wideband positioning network, which can improve the accuracy of the position acquisition of a node to be positioned.
A first aspect of an embodiment of the present application provides a method for correcting a position in an ultra-wideband positioning network, where the method includes:
Acquiring an initial position ranging vector of a node to be positioned in an ultra-wideband positioning network;
Obtaining a projection vector of the ultra-wideband positioning network;
and determining a final position ranging vector of the node to be positioned according to the initial ranging vector and the projection vector.
With reference to the first aspect, in one possible implementation manner, the obtaining an initial position ranging vector of a node to be located in an ultra-wideband positioning network includes:
And acquiring the initial position ranging vector with the positioning point by an arrival time difference ranging method.
With reference to the first aspect, in one possible implementation manner, the obtaining a projection vector of the ultra-wideband positioning network includes:
The projection vector is determined by a method shown in the following formula:
Wherein p k is a projection vector at the kth iteration, I matrix is an identity matrix, A k is a matrix of a network model of the ultra-wideband positioning network in a standard mode, Transpose of a k, (-) -1 represents its inverse matrix, k being the number of iterated times.
With reference to the first aspect, in one possible implementation manner, the determining, according to the initial ranging vector and the projection vector, a final location ranging vector of the node to be located includes:
And carrying out iterative computation on the initial ranging vector through the projection vector to obtain the final position ranging vector with the positioning point.
With reference to the first aspect, in one possible implementation manner, the performing, by using the projection vector, iterative calculation on the initial ranging vector to obtain the final position ranging vector with the positioning point includes:
Performing iterative computation on the initial ranging vector according to the projection vector to obtain a first reference position ranging vector, and performing iterative computation on the initial ranging vector according to the projection vector to obtain a second reference position ranging vector, wherein the first reference position ranging vector is a position ranging vector obtained by the previous iteration of the second reference position ranging vector;
Acquiring a first measurement error corresponding to the first reference position ranging vector and acquiring a second measurement error corresponding to the second reference ranging vector;
And if the offset between the second measurement error and the first measurement error is smaller than a preset offset value, determining the second reference position ranging vector as the final position ranging vector.
With reference to the first aspect, in one possible implementation manner, the performing iterative calculation on the initial ranging vector according to the projection vector to obtain a first reference position ranging vector includes:
performing iterative calculation by a method shown by the following formula to determine the first reference position ranging vector:
Wherein, The reference position ranging vector of the node to be positioned obtained after the iteration is obtained; /(I)For/>The position ranging vector of the node v n to be positioned is obtained after iterating k times; alpha k is the iteration step; /(I)A jacobian matrix for solving a network correction convex optimization problem; r k is the slave/>, according to the current information of v n to be locatedThe calculated residual vector, v n, is the node to be located.
With reference to the first aspect, in one possible implementation manner, after determining the first reference position ranging vector, the method further includes:
performing consensus processing on the first reference position ranging vector to obtain a reference position ranging vector after the consensus processing;
And determining the reference position ranging vector after the consensus processing as the first reference position ranging vector.
With reference to the first aspect, in one possible implementation manner, the performing a consensus process on the first reference position ranging vector to obtain a reference position ranging vector after the consensus process includes:
And carrying out consensus processing on the first reference position ranging vector by a method shown in the following formula to obtain a reference position ranging vector after the consensus processing:
And carrying out consensus processing on the first reference position ranging vector by a method shown in the following formula to obtain a reference position ranging vector after the consensus processing:
Wherein, For the reference position ranging vector after consensus processing,/>For a first reference position ranging vector, W= [ W i,j ] is a consensus matrix, and the consensus matrix is determined according to a bottom node communication diagram of an ultra-wideband positioning network;
n (v i) represents the node to be located Connectivity of the lower node v i, n (v j) represents the node/>, to be locatedConnectivity of the lower node v j.
With reference to the first aspect, in one possible implementation manner, the preset offset value is 0.1, and the iteration step is 0.2.
A second aspect of an embodiment of the present application provides a position correction device in an ultra-wideband positioning network, the device including:
the first acquisition unit is used for acquiring an initial position ranging vector of a node to be positioned in the ultra-wideband positioning network;
The second acquisition unit is used for acquiring the projection vector of the ultra-wideband positioning network;
And the determining unit is used for determining a final position ranging vector of the node to be positioned according to the initial ranging vector and the projection vector.
A third aspect of the embodiments of the present application provides a terminal comprising a processor, an input device, an output device and a memory, the processor, the input device, the output device and the memory being interconnected, wherein the memory is adapted to store a computer program comprising program instructions, the processor being configured to invoke the program instructions to execute the step instructions as in the first aspect of the embodiments of the present application.
A fourth aspect of the embodiments of the present application provides a computer-readable storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to execute some or all of the steps as described in the first aspect of the embodiments of the present application.
A fifth aspect of embodiments of the present application provides a computer program product, wherein the computer program product comprises a non-transitory computer readable storage medium storing a computer program operable to cause a computer to perform part or all of the steps described in the first aspect of embodiments of the present application. The computer program product may be a software installation package.
The embodiment of the application has at least the following beneficial effects:
the method comprises the steps of obtaining an initial position ranging vector of a node to be positioned in an ultra-wideband positioning network, obtaining a projection vector of the ultra-wideband positioning network, and determining a final position ranging vector of the node to be positioned according to the initial ranging vector and the projection vector, so that the initial position ranging vector can be corrected according to the projection vector to obtain the final position ranging vector, and accuracy of determining the final position ranging vector is improved.
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In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a node in an ultra-wideband network according to an embodiment of the present application;
FIG. 2 is a schematic diagram of an underlying communication node according to an embodiment of the present application;
Fig. 3 is a schematic flow chart of a position correction method in an ultra wideband positioning network according to an embodiment of the present application;
FIG. 4 is a schematic flow chart of another method for correcting a position in an ultra wideband positioning network according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a terminal according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a position correction device in an ultra-wideband positioning network according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The terms first, second and the like in the description and in the claims and in the above-described figures are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the described embodiments of the application may be combined with other embodiments.
In order to better understand the position correction method in the ultra wideband positioning network in the embodiment of the application, the ultra wideband positioning network is briefly introduced below, the ultra wideband positioning network can be an ultra wideband wireless self-organizing network (ultra wideband network), networking modes are mostly distributed networks, network nodes can mutually range, and the limitation of the centralized network controlled by a central node is avoided. The distance between the nodes can be measured by a distance measurement algorithm, and the topological structure of the whole network can be determined by determining more than two anchor points. The node only communicates with its neighboring nodes, the set of communication links of the node in the network is E, the set of nodes V, that is, the nodes V s and V t can communicate, and the communication links formed by V s and V t are added to E, so the whole network can be represented as a set G, g= (V, E) formed by the node and the node communicable links, and the network has N nodes and M communication links. v n∈V,n＝1,2,3...,N,em E, m=1, 2,3,..m, where n is the node number and M is the communication link number.
Referring to fig. 1 and fig. 2, fig. 1 is a schematic diagram of a node in an ultra wideband network according to an embodiment of the present application, and fig. 2 is a schematic diagram of a bottom layer communication node according to an embodiment of the present application. The node a, the node b, and the node c are nodes with known positions (anchor points), and the node d is a node to be positioned, and it should be noted that the node communication diagram and the bottom layer node communication diagram are only schematic diagrams for describing a specific implementation scheme conveniently, and are not limited to the specific embodiment.
Referring to fig. 3, fig. 3 is a flowchart of a method for correcting a position in an ultra wideband positioning network according to an embodiment of the present application. As shown in fig. 3, the position correction method includes:
s301, acquiring an initial position ranging vector of a node to be positioned in an ultra-wideband positioning network.
In this embodiment, the initial ranging vector of the node v n to be located may be obtained by using any one of the existing ranging methods such as TOA and TODA, which is not particularly limited in the present invention;
The distance measurement vector refers to a distance vector from the node v n to be positioned to each node, and the position of the node to be positioned can be positioned according to the distance measurement vector and the position information of each anchor point.
For example, in this embodiment, the ranging vector for each node initial position may be expressed as:
Among them, a 0,b0,c0,d0 is a distance vector (also referred to as distance coordinate information) of node a, node b, node c, and node d, which are initially calculated by ranging.
As a preferred implementation of this particular embodiment, in this step, the following is performedObtained by the TODA method.
The distance between the node to be positioned and other nodes can be obtained through an arrival time difference ranging method, so that a distance vector and the like are obtained.
S302, obtaining projection vectors of the ultra-wideband positioning network.
The projection vector may be obtained by a matrix of a network model of the ultra wideband positioning network in a standard mode, e.g. the projection vector may be obtained by means of iteration.
S303, determining a final position ranging vector of the node to be positioned according to the initial ranging vector and the projection vector.
The final position ranging vector may be determined by iterating the initial ranging vector through the projection vector.
In this example, by acquiring the initial position ranging vector of the node to be positioned in the ultra-wideband positioning network, the projection vector of the ultra-wideband positioning network is acquired, and the final position ranging vector of the node to be positioned is determined according to the initial ranging vector and the projection vector, so that the initial position ranging vector can be corrected according to the projection vector to obtain the final position ranging vector, and accuracy in determining the final position ranging vector is improved.
In one possible implementation, a possible method for obtaining an initial position ranging vector of a node to be positioned in an ultra-wideband positioning network includes:
And acquiring an initial position ranging vector of the to-be-positioned point by an arrival time difference ranging method.
The arrival time difference ranging method may be a general ranging method or the like. The distance vector between the to-be-positioned point and other nodes can be obtained according to the arrival time difference ranging method, and the initial position ranging vector is determined according to the distance vector.
In one possible implementation, a possible method for obtaining a projection vector of the ultra-wideband positioning network includes:
The projection vector is determined by a method shown in the following formula:
Wherein p k is a projection vector at the kth iteration, I matrix is an identity matrix, A k is a matrix of a network model of the ultra-wideband positioning network in a standard mode, Transpose of a k, (-) -1 represents its inverse matrix, k being the number of iterated times.
In one possible implementation manner, a possible method for determining a final position ranging vector of the node to be positioned according to the initial ranging vector and the projection vector includes:
And carrying out iterative computation on the initial ranging vector through the projection vector to obtain the final position ranging vector with the positioning point.
Iterative computation is understood to mean that the same operation is performed between the projection vector and the initial ranging vector, and the operation rules are the same.
In one possible implementation manner, one possible method for performing iterative calculation on the initial ranging vector through the projection vector to obtain the final position ranging vector with the positioning point includes A1-A3, which is specifically as follows:
A1, carrying out iterative computation on the initial ranging vector according to the projection vector to obtain a first reference position ranging vector, and carrying out iterative computation on the initial ranging vector according to the projection vector to obtain a second reference position ranging vector, wherein the first reference position ranging vector is a position ranging vector obtained by the previous iteration of the second reference position ranging vector;
a2, acquiring a first measurement error corresponding to the first reference position ranging vector and acquiring a second measurement error corresponding to the second reference ranging vector;
A3, if the offset between the second measurement error and the first measurement error is smaller than a preset offset value, determining the second reference position ranging vector as the final position ranging vector.
The first reference position ranging vector is a position ranging vector obtained from a previous iteration of the second reference position ranging vector, which can be understood as a reference position ranging vector after a current iteration, and the first reference position ranging vector is a reference position ranging vector before the current iteration.
The measurement error can be obtained by a method shown in the following formula:
Where ε k is the measurement error of the kth iteration, r * is the true ground residual, and r k is the ground residual of the kth iteration. The first measurement error and the second measurement error may be obtained by the above-described measurement error determination method.
The offset between the first measurement error and the second measurement error may be a value obtained by subtracting the first measurement error from the second measurement error. The preset offset value may be set by an empirical value or historical data.
In this embodiment, any method for determining convergence of the iteration error may be used in this step to determine whether the iteration error converges, for example, whether the residual vector is directly determined to be smaller than a preset threshold, or whether the deviation between the residual vector after the current iteration and the residual vector before the current iteration is determined to be smaller than the preset threshold, which is not particularly limited in the present application.
In one possible implementation manner, one possible method for performing iterative calculation on the initial ranging vector according to the projection vector to obtain a first reference position ranging vector includes:
performing iterative calculation by a method shown by the following formula to determine the first reference position ranging vector:
Wherein, The reference position ranging vector of the node to be positioned obtained after the iteration is obtained; /(I)For/>The position ranging vector of v n obtained after iterating k times; alpha k is the iteration step; /(I)A jacobian matrix for solving a network correction convex optimization problem; r k is the slave/>, according to the current information of v n to be locatedThe calculated residual vector, v n, is the node to be located.
Wherein,A jacobian matrix for solving a network correction convex optimization problem;
Wherein, Representing the partial derivative, y representing the target matrix, i.e./>Here x 1,x2,...,xn denotes each node ranging vector.
The specific formula of the network correction convex optimization problem is as follows:
Wherein x i、xj represents the ranging vectors of node i and node j, respectively; d i,j is the distance obtained by measuring the arrival time difference between the node i and the node j and multiplying the arrival time difference by the speed of light; minimize is the solution minimum sign.
R k is the current information slave according to the nth nodeThe calculated residual vectors are calculated, and n nodes are nodes in an ultra-wideband positioning network, and are specifically as follows;
Where x real represents the true position ranging vector for node v n.
In this example, by performing iterative computation by the above iterative method to obtain the first reference position ranging vector, accuracy of determining the first reference position ranging vector may be improved.
In the embodiment of the present application, the method for determining the second reference position vector may refer to the method for determining the first reference position vector, which is not described herein.
In one possible implementation manner, after determining the first reference position ranging vector, the first reference position ranging vector may be further optimized, which is specifically as follows:
performing consensus processing on the first reference position ranging vector to obtain a reference position ranging vector after the consensus processing;
And determining the reference position ranging vector after the consensus processing as the first reference position ranging vector.
And carrying out consensus processing on the first reference position ranging vector by a method shown in the following formula to obtain a reference position ranging vector after the consensus processing:
Wherein, For the reference position ranging vector after consensus processing,/>For a first reference position ranging vector, W= [ W i,j ] is a consensus matrix, and the consensus matrix is determined according to a bottom node communication diagram of an ultra-wideband positioning network;
n (v i) represents the node to be located Connectivity of the lower node v i, n (v j) represents the node/>, to be locatedConnectivity of the lower node v j.
In one possible implementation, the preset offset value is 0.1, and the iteration step is 0.2.
Referring to fig. 4, fig. 4 is a flowchart of another method for correcting a position in an ultra wideband positioning network according to an embodiment of the present application. As shown in fig. 4, includes:
S401, acquiring an initial position ranging vector of a node to be positioned in an ultra-wideband positioning network;
S402, acquiring a projection vector of the ultra-wideband positioning network;
S403, performing iterative computation on the initial ranging vector according to the projection vector to obtain a first reference position ranging vector, and performing iterative computation on the initial ranging vector according to the projection vector to obtain a second reference position ranging vector, wherein the first reference position ranging vector is a position ranging vector obtained by the previous iteration of the second reference position ranging vector;
S404, acquiring a first measurement error corresponding to the first reference position ranging vector and acquiring a second measurement error corresponding to the second reference ranging vector;
S405, if the offset between the second measurement error and the first measurement error is smaller than a preset offset value, determining the second reference position ranging vector as the final position ranging vector.
In this example, by performing iterative calculation by using the iterative method to obtain the first reference position ranging vector, accuracy of determining the first reference position ranging vector can be improved.
In accordance with the foregoing embodiments, referring to fig. 5, fig. 5 is a schematic structural diagram of a terminal provided in an embodiment of the present application, where the terminal includes a processor, an input device, an output device, and a memory, and the processor, the input device, the output device, and the memory are connected to each other, where the memory is configured to store a computer program, the computer program includes program instructions, the processor is configured to invoke the program instructions, and the program includes instructions for executing the following steps;
Acquiring an initial position ranging vector of a node to be positioned in an ultra-wideband positioning network;
Obtaining a projection vector of the ultra-wideband positioning network;
and determining a final position ranging vector of the node to be positioned according to the initial ranging vector and the projection vector.
The foregoing description of the embodiments of the present application has been presented primarily in terms of a method-side implementation. It will be appreciated that, in order to achieve the above-mentioned functions, the terminal includes corresponding hardware structures and/or software modules for performing the respective functions. Those of skill in the art will readily appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as hardware or combinations of hardware and computer software. Whether a function is implemented as hardware or computer software driven hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The embodiment of the application can divide the functional units of the terminal according to the method example, for example, each functional unit can be divided corresponding to each function, and two or more functions can be integrated in one processing unit. The integrated units may be implemented in hardware or in software functional units. It should be noted that, in the embodiment of the present application, the division of the units is schematic, which is merely a logic function division, and other division manners may be implemented in actual practice.
In accordance with the foregoing, referring to fig. 6, fig. 6 is a schematic structural diagram of a position correction device in an ultra wideband positioning network according to an embodiment of the present application. As shown in fig. 6, the apparatus includes:
a first obtaining unit 601, configured to obtain an initial position ranging vector of a node to be located in an ultra wideband positioning network;
a second obtaining unit 602, configured to obtain a projection vector of the ultra-wideband positioning network;
A determining unit 603, configured to determine a final position ranging vector of the node to be located according to the initial ranging vector and the projection vector.
In one possible implementation manner, the first obtaining unit 601 is configured to:
And acquiring the initial position ranging vector with the positioning point by an arrival time difference ranging method.
In one possible implementation manner, the second obtaining unit 602 is configured to:
The projection vector is determined by a method shown in the following formula:
Wherein p k is a projection vector at the kth iteration, I matrix is an identity matrix, A k is a matrix of a network model of the ultra-wideband positioning network in a standard mode, Transpose of a k, (-) -1 represents its inverse matrix, k being the number of iterated times.
In a possible implementation manner, the determining unit 603 is configured to:
And carrying out iterative computation on the initial ranging vector through the projection vector to obtain the final position ranging vector with the positioning point.
In one possible implementation manner, in the aspect that the initial ranging vector is iteratively calculated by the projection vector to obtain the final position ranging vector with the positioning point, the determining unit 603 is configured to:
Performing iterative computation on the initial ranging vector according to the projection vector to obtain a first reference position ranging vector, and performing iterative computation on the initial ranging vector according to the projection vector to obtain a second reference position ranging vector, wherein the first reference position ranging vector is a position ranging vector obtained by the previous iteration of the second reference position ranging vector;
Acquiring a first measurement error corresponding to the first reference position ranging vector and acquiring a second measurement error corresponding to the second reference ranging vector;
And if the offset between the second measurement error and the first measurement error is smaller than a preset offset value, determining the second reference position ranging vector as the final position ranging vector.
In one possible implementation manner, in the performing iterative calculation on the initial ranging vector according to the projection vector to obtain a first reference position ranging vector, the determining unit 603 is configured to:
performing iterative calculation by a method shown by the following formula to determine the first reference position ranging vector:
Wherein, The reference position ranging vector of the node to be positioned obtained after the iteration is obtained; /(I)For/>The position ranging vector of v n obtained after iterating k times; alpha k is the iteration step; /(I)A jacobian matrix for solving a network correction convex optimization problem; r k is the slave/>, according to the current information of v n to be locatedThe calculated residual vector, v n, is the node to be located.
In one possible implementation, after determining the first reference position ranging vector, the apparatus is further configured to:
performing consensus processing on the first reference position ranging vector to obtain a reference position ranging vector after the consensus processing;
And determining the reference position ranging vector after the consensus processing as the first reference position ranging vector.
In one possible implementation manner, in the aspect of performing the consensus processing on the first reference position ranging vector to obtain a reference position ranging vector after the consensus processing, the apparatus is further configured to:
And carrying out consensus processing on the first reference position ranging vector by a method shown in the following formula to obtain a reference position ranging vector after the consensus processing:
Wherein, For the reference position ranging vector after consensus processing,/>For a first reference position ranging vector, W= [ W i,j ] is a consensus matrix, and the consensus matrix is determined according to a bottom node communication diagram of an ultra-wideband positioning network;
n (v i) represents the node to be located Connectivity of the lower node v i, n (v j) represents the node/>, to be locatedConnectivity of the lower node v j.
In one possible implementation, the preset offset value is 0.1, and the iteration step is 0.2.
The embodiment of the application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program makes a computer execute part or all of the steps of the position correction method in any ultra-wideband positioning network as described in the embodiment of the method.
Embodiments of the present application also provide a computer program product comprising a non-transitory computer-readable storage medium storing a computer program that causes a computer to perform some or all of the steps of a method for position correction in an ultra wideband positioning network as described in any of the method embodiments above.
It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present application is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present application.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, such as the division of the units, merely a logical function division, and there may be additional manners of dividing the actual implementation, such as multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, or may be in electrical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present invention may be integrated in one processing unit, each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units described above may be implemented either in hardware or in software program modules.
The integrated units, if implemented in the form of software program modules, may be stored in a computer-readable memory for sale or use as a stand-alone product. Based on this understanding, the technical solution of the present application may be embodied essentially or partly in the form of a software product, or all or part of the technical solution, which is stored in a memory, and includes several instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned memory includes: a U-disk, a read-only memory (ROM), a random access memory (random access memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Those of ordinary skill in the art will appreciate that all or a portion of the steps in the various methods of the above embodiments may be implemented by a program that instructs associated hardware, and the program may be stored in a computer readable memory, which may include: flash disk, read-only memory, random access memory, magnetic or optical disk, etc.
The foregoing has outlined rather broadly the more detailed description of embodiments of the application, wherein the principles and embodiments of the application are explained in detail using specific examples, the above examples being provided solely to facilitate the understanding of the method and core concepts of the application; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.
Claims (6)
1. A method for correcting a position in an ultra-wideband positioning network, the method comprising:
Acquiring an initial position ranging vector of a node to be positioned in an ultra-wideband positioning network;
Obtaining a projection vector of the ultra-wideband positioning network;
determining a final position ranging vector of the node to be positioned according to the initial ranging vector and the projection vector;
the obtaining the projection vector of the ultra-wideband positioning network includes:
The projection vector is determined by a method shown in the following formula:
wherein p k is the projection vector at the kth iteration, I matrix is the identity matrix, A k is the matrix of the network model of the ultra-wideband positioning network in the standard mode, Transpose of a k, (-) -1 represents its inverse matrix, k being the number of iterated times;
The determining the final position ranging vector of the node to be positioned according to the initial ranging vector and the projection vector comprises the following steps:
performing iterative computation on the initial ranging vector through the projection vector to obtain a final position ranging vector of the to-be-positioned point;
the iterative calculation is performed on the initial ranging vector through the projection vector to obtain a final ranging vector of the position to be positioned, which comprises the following steps:
Performing iterative computation on the initial ranging vector according to the projection vector to obtain a first reference position ranging vector, and performing iterative computation on the initial ranging vector according to the projection vector to obtain a second reference position ranging vector, wherein the first reference position ranging vector is a position ranging vector obtained by the previous iteration of the second reference position ranging vector;
Acquiring a first measurement error corresponding to the first reference position ranging vector and acquiring a second measurement error corresponding to the second reference ranging vector;
If the offset between the second measurement error and the first measurement error is smaller than a preset offset value, determining the second reference position ranging vector as the final position ranging vector;
The iterative calculation is performed on the initial ranging vector according to the projection vector to obtain a first reference position ranging vector, which comprises the following steps:
performing iterative calculation by a method shown by the following formula to determine the first reference position ranging vector:
Wherein, The reference position ranging vector of the node to be positioned obtained after the iteration is obtained; /(I)For/>The position ranging vector of the node v n to be positioned is obtained after iterating k times; alpha k is the iteration step; /(I)A jacobian matrix for solving a network correction convex optimization problem; r k is the slave/>, according to the current information of v n to be locatedThe calculated residual vector, v n, is the node to be located.
2. The method of claim 1, wherein the obtaining the initial position ranging vector for the node to be located in the ultra-wideband positioning network comprises:
And acquiring an initial position ranging vector of the to-be-positioned point by an arrival time difference ranging method.
3. The method of claim 1, further comprising, after determining the first reference location ranging vector:
performing consensus processing on the first reference position ranging vector to obtain a reference position ranging vector after the consensus processing;
And determining the reference position ranging vector after the consensus processing as the first reference position ranging vector.
4. A method according to claim 3, wherein said co-identifying the first reference position ranging vector to obtain a co-identified reference position ranging vector comprises:
And carrying out consensus processing on the first reference position ranging vector by a method shown in the following formula to obtain a reference position ranging vector after the consensus processing:
Wherein, For the reference position ranging vector after consensus processing,/>For a first reference position ranging vector, W= [ W i,j ] is a consensus matrix, and the consensus matrix is determined according to a bottom node communication diagram of an ultra-wideband positioning network;
n (v i) represents the node to be located Connectivity of the lower node v i, n (v j) represents the node/>, to be locatedConnectivity of the lower node v j.
5. The method of claim 4, wherein the preset offset value is 0.1 and the iteration step is 0.2.
6. A position correction device in an ultra wideband positioning network, the device comprising:
the first acquisition unit is used for acquiring an initial position ranging vector of a node to be positioned in the ultra-wideband positioning network;
The second acquisition unit is used for acquiring the projection vector of the ultra-wideband positioning network;
The determining unit is used for determining a final position ranging vector of the node to be positioned according to the initial ranging vector and the projection vector;
in the aspect of acquiring the projection vector of the ultra-wideband positioning network, the second acquiring unit is configured to:
The projection vector is determined by a method shown in the following formula:
wherein p k is the projection vector at the kth iteration, I matrix is the identity matrix, A k is the matrix of the network model of the ultra-wideband positioning network in the standard mode, Transpose of a k, (-) -1 represents its inverse matrix, k being the number of iterated times;
The second obtaining unit is configured to, in the aspect of determining the final position ranging vector of the node to be located according to the initial ranging vector and the projection vector:
performing iterative computation on the initial ranging vector through the projection vector to obtain a final position ranging vector of the to-be-positioned point;
in the aspect of performing iterative calculation on the initial ranging vector through the projection vector to obtain a final position ranging vector of the to-be-positioned point, the second obtaining unit is configured to:
Performing iterative computation on the initial ranging vector according to the projection vector to obtain a first reference position ranging vector, and performing iterative computation on the initial ranging vector according to the projection vector to obtain a second reference position ranging vector, wherein the first reference position ranging vector is a position ranging vector obtained by the previous iteration of the second reference position ranging vector;
Acquiring a first measurement error corresponding to the first reference position ranging vector and acquiring a second measurement error corresponding to the second reference ranging vector;
If the offset between the second measurement error and the first measurement error is smaller than a preset offset value, determining the second reference position ranging vector as the final position ranging vector;
in the aspect of performing iterative computation on the initial ranging vector according to the projection vector to obtain a first reference position ranging vector, the second obtaining unit is configured to:
performing iterative calculation by a method shown by the following formula to determine the first reference position ranging vector:
Wherein, The reference position ranging vector of the node to be positioned obtained after the iteration is obtained; /(I)For/>The position ranging vector of the node v n to be positioned is obtained after iterating k times; alpha k is the iteration step; /(I)A jacobian matrix for solving a network correction convex optimization problem; r k is the slave/>, according to the current information of v n to be locatedThe calculated residual vector, v n, is the node to be located.
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