CN101526601B - Self-adaptive localization method, equipment and system adopting TOA and RSS fusion mode - Google Patents

Abstract

The invention provides a self-adaptive localization method, equipment and system which adopt a TOA and RSS fusion mode. The self-adaptive equipment comprises an observation result collector for collecting results of the TOA and the RSS of signals sent by an object, a TOA result counter for determining the number of the TOA results, and a position counter for selectively calculating the strategy of the position of the object and calculating the position of the object according to the selected strategy. The equipment can select the position strategy in a self-adaptive mode according to the number of the TOA results. Compared with the prior art, the self-adaptive method, equipment and system have the characteristics of self-adaptivity, reliability, accuracy, expandability, low cost, and the like.

Description

Take adaptive location method, equipment and the system of TOA and RSS amalgamation mode

Technical field

The positioning strategy of relate generally to target of the present invention, more specifically, the invention provides robust and accurate adaptive location method, equipment and system, be used for integrated positioning strategy based on RSS (received signal strength) and based on the advantage of the positioning strategy of TOA (time of arrival).

Background technology

Digitized continuous reinforcement promotes computer network towards the future development of " universality information society ".Can provide various services in response to provider location by mobile device, micro radio identification (RFID) tag (tag), sensor network etc.Positional information is extremely important in people's daily life.The investigation demonstration of NTTSoCoMo, 85% information is relevant with the position in the world, and 5% data, services is relevant with the position on the mobile system.Location-based service (Location based service, LBS) is devoted to accurately to identify individual's position, and various markets and service are next to provide more personalized and gratifying Information Mobile Service to the user by positional information is applied to.

LBS is regarded as a kind of essential service in multiple industry and individual application, for example raising of office's throughput rate, hospital's interaction platform, emergency condition answering system, children/pet monitoring, data access control, building safety, public transport, robot navigation, supply chain management, ecommerce etc.It is to improve office's throughput rate that a kind of typical case uses.In office environment, require employee's addressing machine confidential information database in a certain safety zone.Outside this zone, any access all will be under an embargo.For example, on the same group member can not access the information database of their group in their workspace, just can be used when perhaps some fail-safe computer is only in they are in a certain zone.Above these principles can be by realizing with LBS.So.Positional information can be regarded as a kind of physical key, uses in order to strengthen authentication，authorization，accounting (AAA).This is particularly useful when needing centralized server computer in the company (for example bank and defense sector) that high safety ensures preventing hacker attacks, because it not only needs digital cipher, also needs physical key.And LBS can bring the new man-machine interaction of user and experience in the routine work life.As user during in the computing machine front, computing machine knows that whom this user is and automatically shows his/her desktop on screen.Imagine, when the user was watching one section video, if the user breaks away for some reason, computing machine can suspend this video intelligently.And when the user returns, computing machine will continue to play this video file.Here also comprise other examples, for example, look for user's phone to call in if having, this call can be automatically routed to the phone near the user.And, LBS the employee not fixedly desk but can take in the office environment of any free space be particularly useful, because positioning system can provide the ability that shows interactively real-time map, whom described real-time map can illustrate in office and their position.

In the prior art, exist the location determining method and the technology that much are called as " positioning strategy " can be used to provide positional information.But, do not have a kind of Existing policies in all expect environment (for example indoor, valley, suburb and open region), all effectively to work with enough degree of accuracy.These positioning strategies adopt different media signal, for example infrared, light, ultrasound wave or radio frequency (RF) signal.In them each may have advantage in some cases, but also has shortcoming separately.For example, RSS and TOA are the most frequently used positioning strategies.Come according to the propagation model indication sender of RF signal and the distance between the recipient with RSS based on the method for RF, and use the positioning system of RSS method to measure to be no more than hundreds of meters distance.But, easily be subject to the impact of environmental change (for example multipath and noise) based on the performance of the positioning system of RSS.Ultrasonic method multiply by TOA (time of arrival) with ultrasonic velocity and comes measuring distance.Can provide the solution of pinpoint accuracy based on the localization method of TOA, but it can only process the position measurement in several meters distances owing to hyperacoustic quick decay.

In sum, be summarized as follows based on the positioning strategy of TOA with based on the common disadvantage of the positioning strategy of RSS:

(1) method based on RSS can provide large coverage, but setting accuracy is low;

(2) can provide the solution of pinpoint accuracy based on the method for TOA, but coverage is very little.

This shows, we believe if a kind of multi-mode positioning strategy of the fusion based on RSS and TOA, the advantage that can't obtain when then the fusion of multi-signal can be provided in independent use ultrasound wave or RF signal can be provided.Particularly, the advantage of RSS and TOA (being the long propagation characteristic of RSS and the accurate locating features of TOA) should be integrated, thereby a kind of accurate, sparse deployment and positioning system cheaply is provided.

Below, will at first traditional location technologies more of the prior art simply be introduced.The tradition localization method generally can be divided into two classes: 1) based on the localization method of RSS; With 2) based on the localization method of TOA.They all are called as the monotype positioning strategy.

An example based on the localization method of RSS is that Padmanabhan proposes " Radar " system (in Proc.IEEE INFOCOM, Bahl, P.Padmanabhan V.N.RADAR:anin-building RF-based user location and tracking system), wherein experience RSS in off-line phase with (t, x, y, d, RSSI) form be recorded to indicate diverse location and towards on RSS, and at real time phase, (in the signal space) distance between the RSS that observes by calculating and the experience RSS of the record set is carried out triangulation, to find the position of the RSS that optimum matching observes.The U.S. Patent No. 7116988 that is entitled as the Dietrich of " Location of wireless node using signal strength weightingmetric " proposes a kind of strength of differential signal tolerance, be used for calculating poor to the RSS that locates to detect of each wireless receiver, rather than use absolute received signal strength or the power of the RF of radio node emission.Particularly, this invention will be compared with the corresponding difference that characterizes by the RF environmental model in the difference of many signal strength values that the radio receiver place is detected.

Typical case based on the localization method of TOA is that A.Smith is at " Tracking MovingDevices with the Cricket Location System " (Proc.ACM MOBISYS Conf., Boston, MA, in July, 2004) middle " Cricket " system that proposes.In this system, in buildings, be covered with the cricket beacon.Each beacon comprises RF and ultrasonic transmitter, and periodically sends simultaneously RF signal and ultrasonic pulse.The ultrasound wave audiomonitor that comprises ultrasonic receiver is attached to wants the target of locating.The RF signal that receives is used to time synchronized, and hyperacoustic TOA subsequently is measured to indicate its travel-time.Distance to a plurality of beacons is calculated by TOA being multiply by hyperacoustic speed.Then, audiomonitor utilizes least square method (LSQ) and expansion Kalman filtering (EKF) method to calculate its oneself position.

Be that the people such as A.Ward proposes " Bat " system based on another example of the localization method of TOA, this is a kind of new location technology for movable office (IEEE PersonalCommunications, 4 (5): 42-47, in October, 1997).With " Cricket " system class seemingly, " Bat " system adopts the basic localization method based on TOA, it at first calculates distance between target and the reference point by the TOA information of measuring ultrasonic signal, then utilizes polygon algorithm to come the position of triangulation target.The difference of " Bat " system and " Cricket " system is that " Bat " is a kind of tracker and " Cricket " is a kind of navigational system, in described tracker, a plurality of ultrasonic receivers are installed on the ceiling, and ultrasonic transmitter is attached to target, and in navigational system, a plurality of ultrasonic transmitters are installed on the ceiling, and ultrasonic receiver is attached to target.

In the solution based on RSS, the difference method of Dietrich and " Radar " system all adopt RF fingerprint (RF fingerprint) technology, and the signal intensity that is about to moving target is compared with the database of the RF physical model that comprises the overlay area.But the multipath phenomenon that runs in indoor RF environment can be brought some difficulty when the exact position of location moving target, because the reflection of RF signal will affect the relevant of signal intensity with absorbing.Particularly, in " Radar " system, need the effort structure for the experience RSS data acquisition of every kind of interested physical environment.This process need to be repeated when environment change.Therefore, positioning error is very large.This can't be satisfactory for the pinpoint application of needs.

In the solution based on TOA, need intensive deployment ultrasonic detector to overcome supersonic wave short-range from the characteristic of decay, to improve the system expandability." Cricket " and " Bat " system is not always the case, so the cost that system disposes and safeguards is very high.In addition, owing to have more nodes (sensor) in the system, so the fixer network more complex.On the other hand, in " Cricket " system, EKF is computation-intensive, is not suitable for Embedded low speed processor, and LSQ needs at least three TOA measurement results just can provide location estimation.

The solution that does not provide the advantage with RSS and TOA to merge mutually in the prior art.In traditional positioning system based on TOA, the RF signal generally only is used as time synchronizing signal, but its useful information (for example RSS) is not utilized well.In addition, the topology information of infrastructure (receiver/transmitter) seldom is used, and topology information is very useful often in the time can't obtaining range measurements.For example, when receiver can't listen to target, we can guess that target is away from this receiver by high probability.On the other hand, traditional location algorithm (for example triangulation) needs at least three simultaneously-measured TOA results could determine a position.This condition is owing to the movement of dynamic environment variation, unreliable link and target is difficult to satisfy sometimes, thereby it is very high to cause locating failed ratio.

Summary of the invention

Based on above analysis, we believe, by the integrated application to RSS, TOA and topology information, can design a kind of effective multi-mode localization method, so that can realize location positioning with required degree of accuracy and extensibility in the environment that changes.

The invention provides a kind of robust and accurate adaptive location method, equipment and system, its advantage (for example long propagation characteristic of RSS and the accurate locating features of TOA) with RSS and TOA location integrates, and has overcome monotype positioning strategy of the prior art defective separately.Particularly, adaptive location of the present invention system had both used RF also to use ultrasonic signal, so this positioning system not only can detect hyperacoustic TOA information, also can measure the RSS information of RF signal.Here should note, the adaptive location policy that the present invention proposes is independent of system infrastructure, in other words, it not only can be applicable to tracing mode (multiple collector, a transmitter is attached to target) system, also can be applicable to the system of navigation mode (multi-emitting device a, receiver is attached to target).

Location algorithm of the present invention is adaptive, and it can select suitable position calculation strategy adaptively according to the TOA result's of ultrasound examination quantity and the RSS of RF signal.Basically, when the quantity of TOA testing result adopts triangulation more than or equal to 3 the time, to obtain good setting accuracy.For the situation of two TOA testing results, propose a kind of far and near filtrator (Near-Farfilter) method and utilize the topology information subsidiary triangulation, thereby provide unique and accurate location estimation.For the situation of only having a TOA testing result, the RSS information of RF signal is used as additional range and indicates to find unique location estimation.For the situation that does not have the TOA testing result, the historical locating information of RSS result and moving target is used to the location.In addition, in adaptive location of the present invention system, can also comprise a quick TOA reliability filtrator, it is as a kind of pre-treatment step, be used for filtering out the exceptional value (outlier) of TOA measurement result, for example because the caused measured value of hyperacoustic reflection is located robustness thereby further improve.

Particularly, according to first aspect present invention, proposed a kind of method of adaptive location target, it comprises: collect (TOA) result and received signal strength (RSS) result time of arrival about the signal of described target emission; Determine the described TOA result's of collection number; And the strategy of selecting to calculate the position of described target according to described TOA result's number, and according to the position of the described target of selected policy calculation.

According to second aspect present invention, a kind of equipment of adaptive location target has been proposed, it comprises: the observed result collector, be used for to collect (TOA) result and received signal strength (RSS) result time of arrival about the signal of described target emission; The TOA consequence counter is for the described TOA result's who determines to collect number; And position calculator, be used for selecting to calculate the strategy of the position of described target according to described TOA result's number, and utilize the position of the described target of selected policy calculation.

According to third aspect present invention, a kind of system for the adaptive location target has been proposed, comprising: checkout equipment, it comprises for emission and detects the first signal transceiver of first signal and be used for emission and the secondary signal transceiver of detection secondary signal; Be attached to the target device of described target, it comprises for emission and detects the first signal transceiver of first signal and be used for emission and the secondary signal transceiver of detection secondary signal; And the adaptive location device, be used for according to described first signal time of arrival (TOA) result and received signal strength (RSS) result of described secondary signal come adaptively the regioselective strategy to calculate the position of described target.

According to fourth aspect present invention, a kind of method of using said system that target is followed the tracks of has been proposed, comprising: described target device is broadcasted described secondary signal; The described RSS result of described secondary signal is measured and recorded to described checkout equipment; Described target device is broadcasted described first signal; The described TOA result of described first signal is measured and recorded to described checkout equipment; And described adaptive location device receives described TOA result and RSS result, to calculate the position of described target.

According to fifth aspect present invention, a kind of method of using said system that target is navigated has been proposed, comprising: described checkout equipment is broadcasted described secondary signal; The described RSS result of described secondary signal is measured and recorded to described target device; Described checkout equipment is broadcasted described first signal; The described TOA result of described first signal is measured and recorded to described target device; And described adaptive location device receives TOA result and the RSS result of described measurement, to calculate the position of described target.

According to sixth aspect present invention, the method for another kind of adaptive location target has been proposed, comprising: collect a plurality of time of arrival of (TOA) result about the signal of described target emission; Select three TOA results that satisfy the maximum separation standard from described TOA result, described maximum separation standard is so that the separation degree between selected three corresponding receiving positions of TOA result is maximum; And selected three TOA results are carried out triangulation to calculate the position of described target.

According to seventh aspect present invention, the another kind of equipment that is used for the adaptive location target has been proposed, comprising: time of arrival (TOA) collection device, be used for collecting a plurality of TOA results about the signal of described target emission; TOA is selector switch as a result, be used for selecting three TOA results that satisfy the maximum separation standard from the collected TOA result of described TOA collection device, described maximum separation standard is so that the separation degree between selected three corresponding receiving positions of TOA result is maximum; And the triangulation device, be used for to described TOA as a result selected three the TOA results of selector switch carry out triangulation to calculate the position of described target.

The adaptive multi-mode positioning strategy that the present invention proposes compared with prior art has lot of advantages, for example adaptivity, reliability, accuracy, extensibility, low cost etc.The below will specify.

● adaptivity: adaptive location algorithm of the present invention can be selected adaptively according to number and the RSS of TOA testing result;

● reliability: rapid abnormal value deletion algorithm can filter out the exceptional value in the TOA measurement result, thereby improves the location robustness;

● accuracy: traditional triangulation needs at least three TOA measurement results could determine a position.But, in adaptive location of the present invention system, no longer need such restriction.In the time can obtaining three or more TOA measurement result, system's degree of accuracy is identical with traditional triangulation algorithm.In the situation that only have two TOA results (traditional triangulation can't provide solution in the case), system of the present invention provides accurate positioning result based on the far and near filtrator that proposes.In the situation that a TOA or do not have TOA result, the degree of accuracy of system of the present invention also will be better than the accuracy of traditional pure RSS localization method.

● extensibility: adaptive location policy of the present invention not only can be applicable to the system of tracing mode, also can be applicable to the system of navigation mode.Based on this, this positioning system can realize larger overlay area expansion in the situation that utilize sparse sensor to dispose, and setting accuracy can keep well simultaneously.In addition, convergence strategy of the present invention can be extended to more TOA and RSS measurement result.

● low cost: the cost of adaptive location of the present invention system is very low, and computational intensity also reduces greatly.

Description of drawings

By reference to the accompanying drawings, from following detailed description to the preferred embodiment of the present invention, will understand better the present invention, similar reference marker is indicated similar part in the accompanying drawing, wherein:

Fig. 1 is the block diagram that illustrates according to the unitary construction of adaptive location of the present invention system 100;

Fig. 2 A is the process flow diagram of the workflow when system shown in Figure 1 100 being shown being in tracing mode;

Fig. 2 B is the process flow diagram of the workflow when system shown in Figure 1 100 being shown being in navigation mode;

Fig. 3 is the internal frame diagram that is shown specifically according to adaptive location equipment 300 of the present invention;

Fig. 4 is the process flow diagram of example 400 that the course of work of the TOA results filter among Fig. 3 is shown;

Fig. 5 is the process flow diagram of example 500 that the overall work process of adaptive location equipment shown in Figure 3 is shown;

Fig. 6 A illustrates according to the present invention, is used for utilizing a plurality of TOA measurement results to carry out the block diagram of inner structure of an example of many TOA position calculator of target localization;

Fig. 6 B illustrates according to " maximum separation standard " to carry out the schematic diagram that the TOA measurement result is selected;

Fig. 7 is the schematic diagram for the positioning strategy in the situation of two TOA measurement results of explanation existence;

Fig. 8 is the schematic diagram for the positioning strategy in the situation of a TOA measurement result of explanation existence; And

Fig. 9 is for the schematic diagram that the positioning strategy in the situation that does not have the TOA measurement result is described.

Embodiment

Fig. 1 is the block diagram that illustrates according to the unitary construction of adaptive location of the present invention system 100.As shown in the figure, as example, system 100 is by the entrained target device 102 of moving target 110, consist of as observer's checkout equipment 120 and central information server 111, and wherein central information server 111 comprises adaptive location equipment 101.As example, the checkout equipment 120 in Fig. 1 has location-independent device (POD) structure, namely comprises head apparatus 103 and leaf equipment 104.Detailed description about POD, another that submit the application's applicant is entitled as the application (applying date: on January 29th, 2008 of " location-independent device and autonomous ultrasonic positioning system and method ", application number No.200810006317.0) describe to some extent in, this application is incorporated into this by reference on the whole to be used for all purposes.Certainly, checkout equipment 120 is not limited to the structure of POD, and other can be used in the equipment that detects the signal that target device launches and also can be used.Below, will the operation of explanation checkout equipment 120 in system 100 as an example of the POD that comprises head apparatus and leaf equipment example.Adaptive location equipment 101 is according to core component of the present invention, its receive that checkout equipment 120 measures about the ultrasound wave of target device 102 emissions and TOA and the RSS measurement result of RF signal, the position of selecting suitable positioning strategy to calculate to follow the tracks of and locate moving target 110.Be comprised in the self-existent central information server 111 although here adaptive location equipment 101 is shown, but this only is an example, the present invention is not limited thereto, those skilled in the art easily understand, according to system works pattern and application demand, adaptive location equipment 101 can be integrated in checkout equipment 120 (for example head apparatus 104 of POD) or the target device 102.In addition, although Fig. 1 illustrates as observer's head apparatus 103 and leaf equipment 104 and is integrated into single autonomous device, and in working order, has known fixed sturcture topological relation between head apparatus and the leaf equipment, but this only is an example, the present invention is not limited thereto, those skilled in the art easily understand, head apparatus 103 and leaf equipment 104 also may be implemented as the autonomous device that is separated from each other and are dispersed deployment, if can be known their volume coordinate (described in application No.200810006317.0).Compare with the disclosed positioning system of prior art, POD has highly accurately, easily disposes, need not the characteristics such as calibration, low-cost and easy coordination owing to its unique structure attribute.Therefore, hereinafter and in the accompanying drawing, the structural topology relation of head apparatus and leaf equipment is shown and describes as an example of POD example.But as mentioned above, the deployment of head apparatus and leaf equipment is not limited to described example.

Both can be operated in the navigation mode according to adaptive location of the present invention system 100 as shown in Figure 1 also can be operated in the tracing mode.In navigation mode, a plurality of transmitters operate as infrastructure, monitor signal and the position of calculating himself, the i.e. position of moving target that a plurality of transmitters send by the receiver that moving target carries.In tracing mode, carry transmitter by moving target, a plurality of receivers serve as infrastructure device, monitor the signal of transmitter transmission and follow the tracks of mobile transmitter to calculate the position of moving target.As shown in Figure 1, be designed to the positioning system of layering according to adaptive location of the present invention system 100, its general inclusion test equipment 120 (POD that for example comprises head apparatus 103 and leaf equipment 104) and target device 102.Wherein, head apparatus can be the microcontroller that is equipped with RF module and ultrasonic wave module, leaf equipment can be the microcontroller that only is equipped with ultrasonic wave module, and target device can be the microcontroller that is equipped with RF module and ultrasonic wave module, and target device is attached to moving target.The position of these adaptive location system 100 known head equipment and leaf equipment, i.e. volume coordinate, and can be operated in navigation mode and the tracing mode.

Fig. 2 A and 2B illustrate respectively the workflow of system 100 in tracing mode and navigation mode, and wherein Fig. 2 A is the process flow diagram of the workflow when system shown in Figure 1 100 being shown being in tracing mode; And Fig. 2 B is the process flow diagram of the workflow when system shown in Figure 1 100 being shown being in navigation mode.

At first with reference to figure 2A, in tracing mode, the workflow 200a of system 100 start from target device 102 transmitting RF signals with head apparatus 103 synchronous (step 201a).Then, in step 202a, head apparatus 103 is synchronous via RF signal and target device 102 that target device 102 sends, measures the RSS of RF signal and synchronous a plurality of leaf equipment 104 to monitor subsequently target device 102 with the ultrasonic pulse of transmission.Next, in step 203a, target device 102 ultrasound wave of going on the air.When being detected by head apparatus 103 and leaf equipment 104 from the ultrasonic pulse of target device 102, each leaf equipment 104 is measured hyperacoustic TOA (step 204a).Subsequently, the RSS result of the RF signal that is measured by head apparatus 103 in step 202a and the ultrasound wave TOA result who is measured by leaf equipment 104 in step 204a are sent to adaptive location equipment 101, in step 205a, TOA and the RSS result of 101 pairs of acquisitions of adaptive location equipment carry out the position that self-adaptation merges to calculate moving target 110.In tracing mode, according to application demand, adaptive location equipment 101 can be arranged in self-existent central information server 111, also can be included in the head apparatus 103.When adaptive location equipment 101 was arranged in self-existent central information server 111, the TOA that measures and RSS result all were sent to basic query 111 to be used for location Calculation.When adaptive location equipment 101 was arranged in head apparatus 103, the TOA result who is measured by leaf equipment 104 can be sent to head apparatus 103, and positions calculating by the adaptive location equipment 101 in the head apparatus 103.

Next with reference to figure 2B, it illustrates the workflow 200b of system 100 in navigation mode.As mentioned above, in navigation mode, the target device 102 that is carried by moving target 110 serves as transmitter, and head apparatus 103 and leaf equipment 104 serve as receiver (detecting device).In navigation mode, the workflow 200b of system 100 starts from head apparatus 103 broadcasting RF signals with synchronous with target device 102, and head apparatus 103 also synchronous leaf equipment 104 to broadcast ultrasound wave (step 201b).Then, in step 202b, target device 102 is synchronous via RF signal and head apparatus 103, and measures the RSS of RF signal.At this moment, target device 102 can begin to monitor head apparatus 103 and leaf equipment 104 subsequently with the ultrasound wave that sends.Next, in step 203b, head apparatus 103 and leaf equipment 104 broadcasting ultrasound waves.In step 204b, when target device 102 detected ultrasound wave from head apparatus/leaf equipment, it measured hyperacoustic TOA.Subsequently, the RSS result of the RF signal that is measured by target device 102 in step 202b and the ultrasound wave TOA result who is measured by target device 102 in step 204b are sent to adaptive location equipment 101, in step 205b, TOA and the RSS result of 101 pairs of acquisitions of adaptive location equipment carry out the position that self-adaptation merges to calculate moving target 110.In navigation mode, according to application demand, adaptive location equipment 101 can be arranged in self-existent central information server 111, also can be included in the target device 102.When adaptive location equipment 101 was arranged in self-existent central information server 111, the TOA that measures and RSS result all were sent to basic query 111 to be used for location Calculation.When adaptive location equipment 101 was arranged in target device 102, because TOA and RSS result measure by target device 102, so the adaptive location equipment 101 in the target device 102 can position calculating.

More than be described with reference to the drawings according to adaptive location system 100 of the present invention and operating process thereof.Below, further describe according to adaptive location policy of the present invention and use this tactful adaptive location equipment 101 with reference to Fig. 3-8.

At first with reference to figure 3, it is shown specifically the internal frame diagram according to adaptive location equipment 300 of the present invention.Described adaptive location equipment 300 for example is the adaptive location equipment 101 in the system shown in Figure 1 100.As mentioned above, according to different mode of operations and application demand, in system, this adaptive location equipment 300 can be included in independently in the server, perhaps is integrated into the part of target device 102 or head apparatus 103.

Adaptive location equipment 300 is designed to a kind of real-time general information treatment facility.Its input is simultaneously-measured TOA and RSS testing result, and output is unique location estimation result of moving target.Because the coverage of RSS is more much bigger than TOA, therefore with very high probability, the RSS measurement result is obtainable.But for TOA, because Suitable For Moving-goal Problems and hyperacoustic quick decay, the number of obtainable TOA measurement result is often according to the difference of real-time conditions and great changes will take place.Sometimes, only have two or a TOA result to obtain, sometimes even can't obtain TOA result.For these situations, the number that adaptive location equipment according to the present invention is designed to for TOA is adaptive, and it is also with the topology information of RSS result, positioning system, even historical locating information is incorporated in the positioning strategy to determine unique location estimation.

As shown in Figure 3, adaptive location equipment 300 comprises observed result collector 301, TOA results filter 304, TOA consequence counter 302, position calculator 303 and history data repository 305.Observed result collector 301 is collected from outside TOA result and RSS result, the position of calculating moving target to be provided to position calculator 303.The position that position calculator 303 adopts adaptive TOA and RSS convergence strategy to calculate moving target.Particularly, position calculator 303 is selected different positioning strategies adaptively according to the TOA result's who collects number, the accurate adaptive location to realize robust.To the adaptive location policy of position calculator 303 be described in detail subsequently.History data repository 305 stores the historical location data about moving target, and these historical location data can be in the situation of three of the TOA result's who collects number deficiency, and are for referencial use by position calculator 303 usefulness, to improve the degree of accuracy of locating.

The TOA result who is collected by observed result collector 301 can at first be provided to TOA results filter 304, and this TOA results filter 304 is optional pretreatment components, is used for filtering out insecure TOA measurement result from all TOA results that collect.In the situation that ultrasound wave is reflected by barrier, the distance that measures will be more much bigger than the direct-path distance.The signal of this reflection will cause not wishing the positioning error seen, and this positioning error is called as " exceptional value ", should be eliminated from distance estimations simultaneously.

Fig. 4 is the process flow diagram of example 400 that the course of work of the TOA results filter among Fig. 3 is shown.The basic idea of this filter process is that the difference of two transmitter-receiver distances can not be greater than the distance between these two receivers.But it is very consuming time comparing and measuring in pairs the result, and therefore, the present invention proposes a kind of fast filtering algorithm.Describe in detail below with reference to Fig. 4.

As shown in Figure 4, in step 401, at first input all TOA testing result { T _OA ⁱ, wherein i represents i receiver (being the observer).In addition, also input between any two receivers apart from E _Ij, represent the distance between i and the j receiver.As mentioned above, be known as the head apparatus of receiver and the volume coordinate of leaf equipment, therefore can easily obtain apart from E _Ij

At first, in step 402, all TOA results are carried out coarse filtration, namely delete obviously too large or too little TOA result, wherein TOA result is compared with high threshold and the low threshold value of being scheduled to, in step 403, to be discarded in those the TOA results outside high threshold and the low threshold value limited range.Then, remaining TOA result is compiled and is TOA outcome pool (T _OA ¹, T _OA ²... T _OA ⁿ), n represents the number (step 404) of residue TOA result after coarse filtration.

Then in step 405, remaining TOA result is converted into apart from d _i=T _OA ⁱ* Speed _Ultrasound, to be used for processing subsequently.In step 406, all measuring distances that calculate are like this compiled is distance value pond (d ₁, d ₂..., d _n).Then, process proceeds to the scope exceptional value and abandons process, namely remaining TOA result is carried out further thin the filtration.

In this algorithm, we suppose that minimum TOA measured value is the most reliable.Based on this, all distance values are sorted by the order that increases progressively, and wherein minimum and maximum range value are denoted as d _iAnd d _j(step 407).In determination step 408, if i=j, then the corresponding TOA measured value of remaining all distance values all is reliably in explanation distance value pond this moment, can be used to location Calculation (step 409) subsequently.If in determination step 408, judge i ≠ j, then determine apart from d according to following triangle inequality _iAnd d _jThe reliability of corresponding TOA measured value:

$\left\{\begin{array}{c}{d}_i-d_j<E_{i,j}\\ d_i+d_j>E_{i,j}\end{array}---\left(1\right)\right.$

In other words, in step 410, judging distance d _iAnd d _jWhether satisfy d _j-d _i＞E _{I, j}The ultimate range d of this moment if so, then is described _jBe likely the exceptional value that causes owing to signal reflex, therefore in step 412, apart from d _jBe dropped, and the next ultimate range in the consideration distance value pond.If do not satisfy d _j-d _i＞E _{I, j}, ultimate range d at this moment then is described _jCan be counted as the direct-path of super body ripple signal, its corresponding TOA result is reliable results, and therefore in step 411, j=j-1 further considers the next ultimate range in the distance value pond.Above process repeats, until all Distance Remainings in the distance value pond all are reliable distances, the corresponding reliable TOA measurement result of these reliable distances can be used to position fixing process subsequently subsequently.

Fig. 5 is the process flow diagram of example 500 that the overall work process of adaptive location equipment shown in Figure 3 is shown.

As shown in the figure, this process starts from step 501, and wherein observed result collector 301 is collected TOA and RSS measurement result.Then, in step 502, TOA results filter 304 is filtered the TOA result who collects according to operation shown in Figure 4.Subsequently in step 503, according to remaining TOA result's the different positioning strategy of number categorizing selection after filtering.As shown in Figure 3, the positioning strategy selector switch 3031 in the position calculator 303 selects respectively different position computation module to calculate the position of moving target according to 302 couples of TOA results' of TOA consequence counter count value.For example, when TOA result's number greater than 2 the time, many TOA position calculator 3032 is called, when TOA result's number equals 2, two TOA position calculators 3033 are called, and when TOA result's number equaled 1, single TOA position calculator 3034 was called, when not existing TOA as a result, zero TOA position calculator 3035 is called.Wherein, for a TOA result or there is not TOA result's situation, need with reference to the historical locating information from history data repository 305.

Return Fig. 5, when determining to exist greater than 2 TOA as a result in step 503, process advances to step 504a, and wherein many TOA position calculator 3032 utilizes the TOA triangulation method to calculate the position of moving target.When the number of determining TOA result in step 503 equals 2, process advances to step 504b, wherein because three of TOA result's number deficiency, therefore need the topology information of reference positioning system, propose the position that a kind of far and near filtrator is used to calculate in conjunction with TOA result moving target here.About far and near filtrator and TOA as a result the positioning strategy that equals in 2 the situation of number will introduce in detail subsequently.In addition, when the number of determining TOA result in step 503 equaled 1, process advanced to step 504c, wherein except TOA result, the RSS result who also needs reference to obtain in advance, and in conjunction with the position of calculating moving target from the historical locating information of history data repository 305.About TOA as a result number be that positioning strategy in 1 situation will be described in detail subsequently.When determining not exist TOA as a result in step 503, process advances to step 504d, and wherein RSS result is utilized, and simultaneously with reference to the position of calculating moving target from the historical locating information of history data repository 305.About do not exist TOA as a result the positioning strategy in the situation will describe in detail subsequently.The position of the moving target that then, calculates is output at step 505 place.Subsequently, process 500 finishes.

Below, with reference to Fig. 6 A, 6B and Fig. 7-9 be described in detail in TOA as a result number greater than 2, equal 2, equal 1, the self-adaptation TOA and the RSS that equal to be used in 0 the situation to calculate the position of moving target merge position fixing process.

(1) TOA as a result number greater than 2 situation

Traditionally, when having three or more TOA measurement results to obtain, triangulation is usually used to calculate the position of target.Suppose always to co-exist in reliably TOA measurement result of k, the given constraint function of the distance of then being determined by these TOA results is as follows:

$2\left[\begin{array}{ccc}{x}_k-x_1& y_k-y_1& z_k-z_1\\ .& .& .\\ .& .& .\\ .& .& .\\ x_k-x_{k-1}& y_k-y_{k-1}& z_k-z_{k-1}\end{array}\right]\left[\begin{array}{c}x\\ y\\ z\end{array}\right]\left[\begin{array}{c}(d_1^2-d_k^2)-(x_1^2-x_k^2)-(y_1^2-d_k^2)-(z_1^2-z_k^2)\\ .\\ .\\ .\\ (d_{k-1}^2-d_k^2)-(x_{k-1}^2-x_k^2)-(y_{k-1}^2-y_k^2)-(z_{k-1}^2-z_k^2)\end{array}\right]---\left(2\right)$

In the device, (x ₁, y ₁, z ₁) ... (x _k, y _k, z _k) provide this k the reliably coordinate of the leaf equipment of TOA measurement result, and (d ₁..., d _k) be corresponding measuring distance.

Order $A=\left[\begin{array}{ccc}{x}_k-x_1& y_k-y_1& z_k-z_1\\ .& .& .\\ .& .& .\\ .& .& .\\ x_k-x_{k-1}& y_k-y_{k-1}& z_k-z_{k-1}\end{array}\right]$ $b=\left[\begin{array}{c}(d_1^2-d_k^2)-(x_1^2-x_k^2)-(y_1^2-y_k^2)-(z_1^2-z_k^2)\\ .\\ .\\ .\\ (d_{k-1}^2-d_k^2)-(x_{k-1}^2-x_k^2)-(y_{k-1}^2-y_k^2)-(z_{k-1}^2-z_k^2)\end{array}\right],$

Then equation (2) can be rewritten as AX=b.This equation can be found the solution by least square method (LSQ), in other words, finds X=[x, y, z] ^TSo that ‖ AX-b is ‖ ₂Minimize.If A is a nonsingular matrix, then the result is:

X＝(A ^TA) ^-1A ^Tb (3)

In sum, TOA result's number greater than 2 situation under, equation (3) can be used to calculate unique position of moving target.

Yet, above-mentionedly traditional come the multimetering method of calculated target positions not high for plant efficiency such as POD with all reliable TOA measurement results, because such multimetering method need to consume in a large number assess the cost, thereby make the POD facility load overweight.For this reason, according to an embodiment, the present invention proposes a kind of structuring three point measurement methods, in order to the optimization aim positioning result.Fig. 6 A and 6B illustrate the detail according to these structuring three point measurement methods of the present invention.

Specifically, be the refining (or selection) of TOA measurement result according to the core of structuring three point measurement methods of the present invention.As shown in Figure 6A, according to the present invention, when observed result collector 301 was collected more than two TOA measurement results, many TOA position calculator 3032 was called, to utilize the position of trigonometric calculations moving target.In this embodiment, many TOA position calculator 3032 can comprise TOA as a result selector switch 601 and triangulation device 602, wherein when the number of the TOA measurement result of collecting greater than 3 the time, TOA as a result selector switch 601 selects 3 TOA results from the TOA result who collects, 602 couples of selected TOA results of triangulation device carry out triangulation, to calculate the position of moving target.

Here, the selection of TOA measurement result can be based on following rule: the separation degree of collecting between TOA result's the receiver is larger, and positioning result is then more accurate.On the contrary, if the separation degree between the receiver is very little, for example three receivers are in a straight line, and the degree of accuracy of positioning result then may be very low.Therefore, we can select three TOA results based on " maximum separation standard ", that is, so that the distance between the receiver is large as much as possible, to obtain more accurate positioning result.Described " maximum separation standard " for example can be so that the phase mutual edge distance between the selected TOA result be maximum, perhaps so that the leg-of-mutton area that selected TOA result consists of is maximum.

For example, in Fig. 6 B example shown, the situation of selecting TOA result based on " maximum separation standard " is shown as an example of POD equipment example.Obviously, here be described as an example of POD equipment example just to being convenient to explanation, principle of the present invention is not limited to and is applied to the situation that POD and so on has the equipment of fixed sturcture, in the situation that receiver is distributed in the space, the present invention is applicable equally.

In the situation that for POD equipment, because POD has fixing structural topology, therefore can be easily define separation degree between the receiver according to 3 the possible distributions on the POD.Therefore shown in Fig. 6 B, in this example, POD equipment has hexagonal shape, can have 3 distributions of four kinds of possible differences, such as (a) among Fig. 6 B, (b), (c) with (d).According to the order among Fig. 6 B, the head apparatus at center is marked as 0, and leaf equipment on every side is labeled as 1-6 successively.

For situation (a), 3 distributions of candidate for example can be the large equilateral triangles that is made of receiver (1,3,5) or (2,4,6), and in the case, always co-existing in two kinds may distribute.For situation (b), 3 distributions can be the triangles that is made of node (1,3,4) or (1,2,4), and in the case, always co-existing in 12 kinds may distribute.For situation (c), 3 distributions for example can be the triangles that is made of node (1,2,6) or (0,2,6), and in the case, always co-existing in 12 kinds may distribute.For situation (d), 3 distributions for example can be the triangles that is made of node (0,1,2) or (0,2,3), and in the case, always co-existing in 6 kinds may distribute.

Obviously, in the example of POD equipment shown in Fig. 6 B, the separation degree between the TOA result can be ordered as: (a)＞(b)＞(c)＞(d).In other words, 3 distributions in situation (a) have the maximum separation degree, thereby are selected for triangulation so that three TOA measurement results corresponding with this situation should have limit priority, to carry out target localization.On the contrary, the TOA result corresponding with situation (d) represents the minimum separation degree, therefore have lowest priority when selecting, but it still can be used to target localization.As for other 3 distributions except situation shown in Fig. 6 B, (1,0,4) that for example are in a straight line, its TOA result will be abandoned, because can't carry out accurate target localization in this case.

Those skilled in the art are apparent, and " maximum separation standard " is not limited to the application on POD and so on fixed sturcture equipment, but can expand the situation that is applied to any dispersed placement.

(2) the TOA number situation that equals 2 as a result

In the situation that only there are 2 TOA results, traditional triangulation method can't be used.The accurate location estimation in order to provide unique, the present invention proposes a kind of far and near filtrator, is used for utilizing the topology information in the space to provide constraint condition to triangulation algorithm, thereby calculates the position of moving target.In the case, at first hypothetical target is slowly mobile at the z direction of principal axis, therefore can be with the nearest historical estimated value z of z _hAs the z axial coordinate of moving target when measured.According to this hypothesis, problem is simplified as two dimension, and the function that is provided by range observation is as follows:

$\left\{\begin{array}{c}{(x_1-x)}^2+{(y_1-y)}^2=d_1^2-{(z_1-z_h)}^2\\ {(x_2-x)}^2+{(y_2-y)}^2={\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="H2008101351527E00051.png"\; state="\{\{state\}\}">d</figure-callout>}}_2^2-{(z_2-z_h)}^2\end{array}\right.---\left(4\right)$

By finding the solution above equation, can obtain two solutions.As shown in Figure 7, these two solutions are actually two intersection point X1 and X2 that observe circle C1 and C2.Here, observe circle C1 and C2 and be defined in respectively z=z _hThe plane on, take the receiver apparatus (head apparatus or leaf equipment) that detects corresponding TOA measurement result as the center of circle and with

With

Be radius, wherein l _{1, TOA}And l _{2, TOA}Be respectively the corresponding distance of the first and second TOA results.As shown in Figure 7, two intersection points are denoted as X ₁={ x ₁', y ₁' and X ₂={ x ₂', y ₂'.According to the present invention, be used for from the method for determining a unique solution among these two solutions based on the following fact: can't provide the distance of the leaf equipment of TOA measurement result must surpass hyperacoustic distance that detects from moving target to other.The hyperacoustic detection apart from the hyperacoustic distance that is defined as therein uppick transmitter transmission of receiver.This distance should be relevant with emissive power, signal to noise ratio (S/N ratio) etc.This distance is a scalar value, is denoted as U.

Therefore, according to the present invention, can from the leaf equipment that the TOA testing result can't be provided, select randomly a leaf equipment (being denoted as A), and calculate from this leaf device A to two estimated position (X ₁, X ₂) distance.If AX ₁≤ U and AX ₂＞U in the case, illustrates X ₂The detected distance that exceeds A should be defined as unique location estimation.Otherwise, if AX ₁＞U, AX ₂＞U or AX ₁≤ U, AX ₂≤ U then needs to select to provide another leaf equipment of TOA testing result to repeat above the detection, until find unique location estimation of moving target.This shows, in the situation that TOA as a result number equal 2, the topology information of positioning system is used to subsidiary triangulation, to determine the position of moving target.

(3) the TOA number situation that equals 1 as a result

Only having in the obtainable situation of TOA result, be used to the location of auxiliary moving target by the RSS result of head apparatus (or target device) record.Here provide the RSS distance model by following equation:

$P\left(d\right)\left[\mathrm{dbm}\right]=P\left(d_0\right)\left[\mathrm{dbm}\right]-10m\log \left(\frac{d}{d_0}\right)-\left(\begin{array}{cc}\mathrm{mW}*\mathrm{WAF}& \mathrm{mW}<C\\ C*\mathrm{WAF}& \mathrm{mW}\&GreaterEqual;C\end{array}\right.---\left(5\right)$

Wherein, the speed that m indication path loss increases with distance, P (d ₀) be at certain reference distance d ₀On signal power, and d is transmitter-receiver (T-R) spacing distance.C is so that biggest obstacle thing (wall) number that decay factor creates a difference, and nW is the number of the barrier (wall) between transmitter and the receiver, and WAF is decay factor.Generally speaking, the value of m and WAF depends on building layout and building materials, and they obtain by experience.P (d ₀) value can obtain by experience, perhaps obtain by hardware specification.

In the situation that only have a TOA measurement result, as shown in Figure 8, can determine two at z=z based on the distance of TOA with by the distance that equation (5) calculates _hObservation circle on the plane is denoted as respectively C _TOAAnd C _RSSHere the same with the situation with two TOA results, suppose that moving target is slowly mobile in Z-direction.Wherein, C _TOABe based on the circle that TOA result determines, it is take leaf equipment that this TOA result is provided as the center of circle, and with

Be radius (TOA circle), wherein l _TOADistance corresponding to TOA result.C _RSSBe based on the circle that RSS result determines, it is take head apparatus as the center of circle, with Be radius (RSS circle), wherein l _RSSBe distance corresponding to described RSS result.As shown in Figure 8, because based on the range measurements of RSS may great changes will take place, so the RSS circle is actually a ring, rather than a circle.The width of supposing this ring is 2 σ.Therefore the intersection of RSS circle and TOA circle is two sections intersection arcs, but not two point of crossing.In order to determine unique position of moving target, can be used to the historical locating information from history data repository 305.Particularly, intersect after the arcs obtaining two, unique position of moving target can obtain by finding on two sections arcs the point near reliable historical position.Wherein, for example, reliable historical position can be the position that calculates by two or more TOA results.Therefore, this process can be represented as following equation (6):

X _Est=arg min ‖ X _i-X _Previous‖ ₂, wherein i is the point on the intersection arc, (6)

(4) there is not TOA result's situation

In the situation that there is not TOA result, only have RSS result to be used.At this moment historical locating information can be used to the aided location estimation.As shown in Figure 9, be similar to a TOA result's of existence shown in Figure 8 situation, can be at z=z according to RSS result _hDetermine a RSS circle on the plane, this circle is take head apparatus as the center of circle, with

Be radius, wherein l _RSSBe distance corresponding to RSS result.At this moment, unique position of moving target is that the point near reliable historical position obtains by finding in all candidate points on the RSS circle.

The excessive routing influence that is subject to RF owing to the range observation meeting based on RSS becomes unstable, and the position of therefore only inferring based on RSS information is very unreliable, and is especially true in circumstance complication (for example mobile people's) situation.Therefore, in adaptive location policy according to the present invention, this location situation based on RSS is that effect is the poorest.In fact, only receive RF and do not have TOA result's situation always to occur on the position away from location system center.For the situation of avoiding as much as possible only receiving RSS result occurs, we dispose more POD (or other forms of detecting device) at suggestion in guarded region, and the fusion of a plurality of POD can provide more reliable TOA information to be used for the location.

Below be described in detail with reference to the attached drawings respectively according to TOA of the present invention and RSS and merged adaptive location method, equipment and system, can find out according to foregoing description, the present invention has following effect:

Adaptive location algorithm of the present invention can be selected adaptively according to number and the RSS of TOA testing result.Rapid abnormal value deletion algorithm wherein can filter out the exceptional value in the TOA measurement result, thereby improves the location robustness.

Traditional triangulation needs at least three TOA measurement results could determine a position.But, in adaptive location of the present invention system, no longer need such restriction.In the time can obtaining three or more TOA measurement result, system's degree of accuracy is identical with traditional triangulation algorithm.In the situation that only have two TOA results (traditional triangulation can't provide solution in the case), system of the present invention provides accurate positioning result based on the far and near filtrator that proposes.In the situation that a TOA or do not have TOA result, the degree of accuracy of system of the present invention also will be better than the accuracy of traditional pure RSS localization method.

Adaptive location policy of the present invention not only can be applicable to the system of tracing mode, also can be applicable to the system of navigation mode.Based on this, this positioning system can realize larger overlay area expansion in the situation that utilize sparse sensor to dispose, and setting accuracy can keep well simultaneously.In addition, convergence strategy of the present invention can be extended to more TOA and RSS measurement result.

In addition, the cost of adaptive location of the present invention system is very low, and computational intensity also reduces greatly.

In the above-described embodiments, describe and show some concrete steps as example.But procedure of the present invention is not limited to the concrete steps that institute describes and illustrates, and those skilled in the art can make various changes, modification and interpolation after understanding spirit of the present invention, perhaps change the order between the step.

The present invention can realize with other concrete form, and do not break away from its spirit and essential characteristic.For example, the algorithm described in the specific embodiment can be modified, and system architecture does not break away from essence spirit of the present invention.Therefore, current embodiment is counted as exemplary but not determinate in all respects, scope of the present invention is by claims but not foregoing description definition, and, thereby the whole changes that fall in the scope of the implication of claim and equivalent all are included among the scope of the present invention.

Claims (24)

1. the method for an adaptive location target comprises:

Collection is about the TOA result and received signal strength RSS result time of arrival of the signal of described target emission;

Determine the described TOA result's of collection number; And

Select to calculate the strategy of the position of described target according to described TOA result's number, and utilize the position of the described target of selected policy calculation,

The strategy of the position of wherein said calculating target comprises:

When described TOA result's number equals 2, calculate the position of described target by following operation:

Obtain the Z axis coordinate z=z of described target _h

At z=z _hThe plane on determine that two are observed circle, observe circle respectively take observer that the first and second TOA results are provided as the center of circle for these two, with

With

Be radius, wherein l _{1, TOA}And l _{2, TOA}Be respectively the corresponding distance of described the first and second TOA results;

Determine described two intersection points of observing circle, as position candidate X ₁And X ₂

Measure respectively described position candidate X ₁And X ₂The distance A X of TOA result's observer A is not provided to any one ₁And AX ₂And

If AX ₁≤ U, AX ₂＞U then determines X ₂Be the position of described target, wherein U represents that the observer can the hyperacoustic distance of uppick.

2. the method for an adaptive location target comprises:

Collection is about the TOA result and received signal strength RSS result time of arrival of the signal of described target emission;

Determine the described TOA result's of collection number; And

Select to calculate the strategy of the position of described target according to described TOA result's number, and utilize the position of the described target of selected policy calculation,

The strategy of the position of wherein said calculating target comprises:

When described TOA result's number equals 1, calculate the position of described target by following operation:

Obtain the Z axis coordinate z=z of described target _h

At z=z _hThe plane on determine that two are observed circle, one of them observes circle take observer that described RSS result is provided as the center of circle, with

Be radius, wherein said l _RSSBe distance corresponding to described RSS result, another observes circle take observer that described TOA result is provided as the center of circle, with Be radius, wherein said l _TOABe distance corresponding to described TOA result; And

From the intersection point of two described observations circles, determine the point of close reliable historical position, as the position of described target.

3. method as claimed in claim 1 or 2, wherein said TOA result obtains from the ultrasonic signal of described target emission, and described RSS result obtains from the radiofrequency signal of described target emission.

4. method as claimed in claim 1 or 2 also comprises:

The described TOA result who collects is filtered, with the exceptional value among the described TOA result of filtering.

5. method as claimed in claim 4, wherein said exceptional value are because the caused TOA result that will cause positioning error of signal reflex.

6. method as claimed in claim 4, wherein said filtration comprises:

Described TOA result is carried out coarse filtration, with the TOA result outside the filtering preset range; And

To carrying out following rapid abnormal value deletion algorithm through the remaining TOA result of described coarse filtration carefully to filter:

Calculate as a result institute's respective distances and by the ordering of ascending order of each TOA;

Accept lowest distance value; And

By order from big to small maximum range value and described lowest distance value are carried out the triangle inequality judgement, if satisfy triangle inequality, then keep all distance values and withdraw from described rapid abnormal value deletion algorithm, if do not satisfy, then delete described maximum range value, and inferior large distance value is repeated described triangle inequality judge, until current last maximum range value satisfies described triangle inequality.

7. the equipment of an adaptive location target comprises:

The observed result collector be used for to be collected the TOA result and received signal strength RSS result time of arrival about the signal of described target emission;

The TOA consequence counter is for the described TOA result's who determines to collect number; And

Position calculator is used for selecting to calculate the strategy of the position of described target according to described TOA result's number, and utilizes the position of the described target of selected policy calculation,

Wherein said position calculator comprises:

The positioning strategy selector switch is used for selecting described strategy according to described TOA result's number;

Two TOA position calculators are used for calculating the position of described target by following operation when described TOA result's number equals 2:

Obtain the Z axis coordinate z=z of described target _h

At z=z _hThe plane on determine that two are observed circle, observe circle respectively take observer that the first and second TOA results are provided as the center of circle for these two, with

With

Be radius, wherein l _{1, TOA}And l _{2, TOA}Be respectively the corresponding distance of described the first and second TOA results;

Determine described two intersection points of observing circle, as position candidate X ₁And X ₂

Measure respectively described position candidate X ₁And X ₂The distance A X of TOA result's observer A is not provided to any one ₁And AX ₂And

If AX ₁≤ U, AX ₂＞U then determines X ₂Be the position of described target, wherein U represents that the observer can the hyperacoustic distance of uppick.

8. the equipment of an adaptive location target comprises:

The observed result collector be used for to be collected the TOA result and received signal strength RSS result time of arrival about the signal of described target emission;

The TOA consequence counter is for the described TOA result's who determines to collect number; And

Position calculator is used for selecting to calculate the strategy of the position of described target according to described TOA result's number, and utilizes the position of the described target of selected policy calculation,

Wherein said position calculator comprises:

The positioning strategy selector switch is used for selecting described strategy according to described TOA result's number;

Single TOA position calculator is used for calculating the position of described target by following operation when described TOA result's number equals 1:

Obtain the Z axis coordinate z=z of described target _h

At z=z _hThe plane on determine that two are observed circle, one of them observes circle take observer that described RSS result is provided as the center of circle, with

Be radius, wherein said l _RSSBe distance corresponding to described RSS result, another observes circle take observer that described TOA result is provided as the center of circle, with Be radius, wherein said l _TOABe distance corresponding to described TOA result; And

From the intersection point of two described observations circles, determine the point of close reliable historical position, as the position of described target.

9. such as claim 7 or 8 described equipment, wherein said TOA result obtains from the ultrasonic signal of described target emission, and described RSS result obtains from the radiofrequency signal of described target emission.

10. such as claim 7 or 8 described equipment, also comprise:

History data repository is used for storage about the historical locating information of described target.

11. such as claim 7 or 8 described equipment, also comprise:

The TOA results filter is used for the described TOA result who collects is filtered, with the exceptional value among the described TOA result of filtering.

12. equipment as claimed in claim 11, wherein said exceptional value are because the caused TOA result that will cause positioning error of signal reflex.

13. a system that is used for the adaptive location target comprises:

Checkout equipment, it comprises for emission and detects the first signal transceiver of first signal and be used for emission and the secondary signal transceiver of detection secondary signal;

Be attached to the target device of described target, it comprises for emission and detects the first signal transceiver of first signal and be used for emission and the secondary signal transceiver of detection secondary signal; And

The adaptive location device, be used for according to described first signal time of arrival TOA result and the received signal strength RSS result of described secondary signal come adaptively the regioselective strategy calculating the position of described target,

Wherein said adaptive location device comprises:

The observed result collector is used for collecting described TOA result and described RSS result;

The TOA consequence counter is for the described TOA result's who determines to collect number; And

Position calculator is used for selecting described positioning strategy calculating the position of described target according to described TOA result's number,

And wherein said position calculator comprises:

The positioning strategy selector switch is used for selecting described strategy according to described TOA result's number;

Two TOA position calculators are used for calculating the position of described target by following operation when described TOA result's number equals 2:

Obtain the Z axis coordinate z=z of described target _h

At z=z _hThe plane on determine that two are observed circle, observe circle respectively take observer that the first and second TOA results are provided as the center of circle for these two, with

With Be radius, wherein l _{1, TOA}And l _{2, TOA}Be respectively the corresponding distance of described the first and second TOA results;

Determine described two intersection points of observing circle, as position candidate X ₁And X ₂

Measure respectively described position candidate X ₁And X ₂The distance A X of TOA result's observer A is not provided to any one ₁And AX ₂And

If AX ₁≤ U, AX ₂＞U then determines X ₂Be the position of described target, wherein U represents that the observer can the hyperacoustic distance of uppick.

14. a system that is used for the adaptive location target comprises:

Checkout equipment, it comprises for emission and detects the first signal transceiver of first signal and be used for emission and the secondary signal transceiver of detection secondary signal;

Be attached to the target device of described target, it comprises for emission and detects the first signal transceiver of first signal and be used for emission and the secondary signal transceiver of detection secondary signal; And

The adaptive location device, be used for according to described first signal time of arrival TOA result and the received signal strength RSS result of described secondary signal come adaptively the regioselective strategy calculating the position of described target,

Wherein said adaptive location device comprises:

The observed result collector is used for collecting described TOA result and described RSS result;

The TOA consequence counter is for the described TOA result's who determines to collect number; And

Position calculator is used for selecting described positioning strategy calculating the position of described target according to described TOA result's number,

And wherein said position calculator comprises:

The positioning strategy selector switch is used for selecting described strategy according to described TOA result's number;

Single TOA position calculator is used for calculating the position of described target by following operation when described TOA result's number equals 1:

Obtain the Z axis coordinate z=z of described target _h

At z=z _hThe plane on determine that two are observed circle, one of them observes circle take observer that described RSS result is provided as the center of circle, with Be radius, wherein said l _RSSBe distance corresponding to described RSS result, another observes circle take observer that described TOA result is provided as the center of circle, with

Be radius, wherein said l _TOABe distance corresponding to described TOA result; And

From the intersection point of two described observations circles, determine the point of close reliable historical position, as the position of described target.

15. such as claim 13 or 14 described systems, wherein said first signal is ultrasound wave or voice signal, described secondary signal is radio frequency, infrared or microwave signal.

16. such as claim 13 or 14 described systems, also comprise central information server, wherein said adaptive location device is integrated in the described central information server.

17. such as claim 13 or 14 described systems, wherein said adaptive location device is integrated in the described checkout equipment.

18. such as claim 13 or 14 described systems, wherein said adaptive location device is integrated in the described target device.

19. the method that a utilization such as claim 13 or 14 described systems follow the tracks of target comprises:

Described target device is broadcasted described secondary signal;

The described RSS result of described secondary signal is measured and recorded to described checkout equipment;

Described target device is broadcasted described first signal;

The described TOA result of described first signal is measured and recorded to described checkout equipment; And

Described adaptive location device receives described TOA result and RSS result, to calculate the position of described target.

20. method as claimed in claim 19 also comprises:

Described checkout equipment is synchronous according to described secondary signal and described target device.

21. method as claimed in claim 19, the position of wherein calculating described target comprise described adaptive location device according to described TOA result's number adaptively the regioselective strategy to calculate the position of described target.

22. the method that a utilization such as claim 13 or 14 described systems navigate to target comprises:

Described checkout equipment is broadcasted described secondary signal;

The described RSS result of described secondary signal is measured and recorded to described target device;

Described checkout equipment is broadcasted described first signal;

The described TOA result of described first signal is measured and recorded to described target device; And

Described adaptive location device receives described TOA result and RSS result, to calculate the position of described target.

23. method as claimed in claim 22 also comprises:

Described target device is synchronous according to described secondary signal and described checkout equipment.

24. method as claimed in claim 22, the position of wherein calculating described target comprise described adaptive location device according to described TOA result's number adaptively the regioselective strategy to calculate the position of described target.

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