阅读说明：本技术 定位系统中传感器的部署方法、装置及介质 (Method, device and medium for deploying sensor in positioning system ) 是由 徐升 王顺 王志扬 熊荣 欧勇盛 赛高乐 刘超 吴新宇 于 2020-12-17 设计创作，主要内容包括：本申请公开了一种定位系统中传感器的部署方法、装置及介质。该定位系统包括至少三个传感器,该部署方法包括：获取至少三个传感器中第一传感器与目标之间的第一方位角,以及至少三个传感器与目标之间的仰角；根据仰角确定以第一算法或第二算法计算其他传感器与目标之间的第二方位角；在第一算法或第二算法中,基于第一方位角、其他传感器的序号以及所有传感器的数量计算第二方位角,以确定其他传感器的部署位置。通过上述方式,本申请能够得到提高三维空间定位精度的传感器部署方案。(The application discloses a method, a device and a medium for deploying a sensor in a positioning system. The positioning system comprises at least three sensors, and the deployment method comprises the following steps: acquiring a first azimuth angle between a first sensor of the at least three sensors and the target and an elevation angle between the at least three sensors and the target; calculating a second azimuth angle between the other sensor and the target according to the elevation angle determination by the first algorithm or the second algorithm; in the first algorithm or the second algorithm, a second azimuth is calculated based on the first azimuth, the serial numbers of the other sensors, and the number of all the sensors to determine the deployment positions of the other sensors. By means of the method, the sensor deployment scheme capable of improving the three-dimensional space positioning accuracy can be obtained.)

1. A method for deploying sensors in a positioning system, wherein the positioning system comprises at least three sensors, the method comprising:

acquiring a first azimuth angle between a first sensor of the at least three sensors and a target and an elevation angle between the at least three sensors and the target;

calculating a second azimuth angle between the other sensor and the target according to the elevation angle determination by the first algorithm or the second algorithm;

in the first algorithm or the second algorithm, the second azimuth is calculated based on the first azimuth, the serial numbers of the other sensors, and the number of all sensors to determine the deployment positions of the other sensors.

2. The method of claim 1, wherein said calculating a second azimuth angle between the other sensor and the target with the first algorithm or the second algorithm from the elevation angle determination comprises:

calculating the second azimuth angle with the first algorithm or the second algorithm according to the sign determination of the value of the elevation angle.

3. The deployment method of claim 2 wherein the calculating the second azimuth angle with the first or second algorithm according to the sign determination of the value of the elevation angle comprises:

determining to calculate the second azimuth with the first algorithm in response to the sign of the value of the elevation angle being positive;

wherein the first algorithm is:

wherein, theta_kIs the second azimuth angle, k is the serial number of the other sensors, N is the number of all the sensors, and theta₀Is the first azimuth angle.

4. The deployment method of claim 3 wherein the elevation angle ranges from 42 ° to 43 °.

5. The method of claim 2, wherein said calculating a second azimuth angle between the other sensor and the target with the first algorithm or the second algorithm from the elevation angle determination comprises:

determining to calculate the second azimuth with the second algorithm in response to the sign of the value of the elevation angle being negative;

wherein the second algorithm is:

wherein, theta_kIs the second azimuth angle, k is the serial number of the other sensors, N is the number of all the sensors, and theta₀Is the first azimuth angle.

6. The deployment method of claim 5 wherein the elevation angle ranges from-42 ° to-43 °.

7. The deployment method according to any one of claims 1-6 wherein the first azimuth angle is an arbitrary angle.

8. The deployment method of any one of claims 1-6 wherein said sensor is a target angle of arrival sensor.

9. A sensor deployment device in a positioning system, comprising a processor and a memory, wherein the processor is coupled to the memory and executes instructions to cooperate with the memory to implement the sensor deployment method in the positioning system according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which can be executed by a processor to implement the method of deploying a sensor in a positioning system according to any of claims 1 to 8.

Technical Field

The present disclosure relates to the field of sensor positioning, and in particular, to a method and an apparatus for deploying a sensor in a positioning system, and a computer-readable storage medium.

Background

With the rapid development of social economy and the continuous progress of science and technology, the accurate acquisition of position information in modern life is more urgent, and the requirement on positioning accuracy is more strict particularly in emergency scenes, such as fire rescue, emergency evacuation, earthquake relief, special personnel search and the like. Accordingly, a variety of positioning technologies are developed to be suitable for target positioning in different scenes, and the current positioning technologies can be broadly divided into active positioning and passive positioning according to different positioning modes and application scenes. As the name suggests, the active positioning method is that the target actively reports the current position information through the intelligent device, and on the contrary, when the target is positioned by using the passive positioning method, the key information capable of judging the position of the target is firstly detected from the target, and then the positioning system obtains the target position by performing certain operation and processing on the detected key information.

AOA (angle-of-arrival) positioning is a classic passive target positioning method, and has been widely used in military and civil fields. When AOA positioning is carried out, firstly, a plurality of sensors measure a target to obtain the elevation angle and azimuth angle information of the target relative to the sensors with measuring noise, and then the position, the speed and other information of the target are determined according to the triangular geometrical relationship measured by a plurality of sensors. In other words, with the AOA measurement, the target state quantity can be estimated by the tracking estimator algorithm. This means that the measurements of the sensors and the position distribution of the sensors play a crucial role in the target location.

Compared with other positioning technologies, the AOA positioning technology has no special requirements on the surrounding environment, the system complexity is low, high-precision positioning can be realized, the positioning ambiguity is avoided, and the AOA positioning technology is widely applied to various positioning fields, especially the search and rescue field. However, to realize high-precision AOA positioning, accurate analysis of the position arrangement of a plurality of detection sensors is required in advance. Extensive research on optimal sensor placement strategies is currently mostly focused on two-dimensional planes, and as the mechanistic models associated therewith in three-dimensional space become more complex, developing optimal sensor deployment strategies for AOA positioning becomes more challenging and not adequately addressed. The establishment of the optimal deployment strategy of the AOA positioning sensor in the three-dimensional space is an important way for improving the positioning precision and meeting the actual target positioning requirement.

Disclosure of Invention

The application provides a deployment method and device of a sensor in a positioning system and a computer readable storage medium, which are used for solving the technical problem that a three-dimensional space optimal sensor deployment strategy is lacked in the related technology.

In order to solve the technical problem, the application provides a deployment method of a sensor in a positioning system. The positioning system comprises at least three sensors, and the deployment method comprises the following steps: acquiring a first azimuth angle between a first sensor of the at least three sensors and the target and an elevation angle between the at least three sensors and the target; calculating a second azimuth angle between the other sensor and the target according to the elevation angle determination by the first algorithm or the second algorithm; in the first algorithm or the second algorithm, a second azimuth is calculated based on the first azimuth, the serial numbers of the other sensors, and the number of all the sensors to determine the deployment positions of the other sensors.

In order to solve the technical problem, the application provides a deployment device of a sensor in a positioning system. The deployment device comprises a processor and a memory, wherein the processor is coupled with the memory and executes instructions during operation so as to cooperate with the memory to realize the deployment method of the sensor in the positioning system.

To solve the above technical problem, the present application provides a computer-readable storage medium. The computer-readable storage medium stores a computer program that can be executed by a processor to implement the deployment method of the sensor in the positioning system described above.

According to the method, the azimuth angles between the other sensors and the target are calculated based on the azimuth angle between the first sensor and the target and the elevation angles between the other sensors and the target, and the deployment position of the sensors in the three-dimensional space can be determined according to the elevation angles and the azimuth angles between each sensor and the target.

Drawings

FIG. 1 is a schematic diagram of an embodiment of a positioning system provided herein;

FIG. 2 is a schematic flow chart diagram illustrating an embodiment of a method for deploying sensors in a positioning system provided herein;

FIG. 3 is a schematic structural diagram of an embodiment of a sensor deployment apparatus in a positioning system provided herein;

FIG. 4 is a schematic structural diagram of an embodiment of a computer-readable storage medium provided in the present application.

Detailed Description

In order to make those skilled in the art better understand the technical solution of the present invention, the following describes in detail a method, an apparatus, and a computer readable storage medium for deploying sensors in a positioning system provided in the present application with reference to the accompanying drawings and the detailed description.

Referring to fig. 1, fig. 1 is a schematic structural diagram of an embodiment of a positioning system provided in the present application. The number of sensors in the positioning system 10 is illustrated as 3 in fig. 1, although the number of sensors may be greater than 3.

The positioning system 10 comprises a sensor 11 and an object 12.

Wherein the number of sensors 11 is at least 3. The sensor 11 may be a target arrival angle sensor, such as an Ultra Wide Band (UWB) base station or a bluetooth base station, and is configured to measure an azimuth angle and an elevation angle between the sensor 11 and the target 12, so as to locate the target 12 according to the azimuth angle and the elevation angle acquired by each sensor 11. The target 12 may be in a quiescent state. The elevation angle and the distance between each sensor 11 and the target 12 are the same, i.e. the sensors 11 are disposed in the same plane.

A first azimuth angle of a first one 111 of the sensors 11 and the target 12, and an elevation angle between each sensor 11 and the target 12, are first determined.

A second azimuth angle between each of the other sensors 112 than the first sensor 111 and the target 12 can be obtained by the sensor deployment algorithm according to the first azimuth angle and the elevation angle, so as to determine the deployment positions of the other sensors 112.

Through calculation and verification, the elevation angle value range of the deployment sensor 11 can be +/-42 degrees to +/-43 degrees, and specific examples are +/-42 degrees, +/-42.1 degrees, +/-42.2 degrees, +/-42.3 degrees, +/-42.5 degrees, +/-42.8 degrees or +/-43 degrees. The optimum elevation angle may be ± 42.2869 °. Of course, the elevation angle can be adjusted according to the actual precision requirement, for example, the elevation angle can also be ± 42.287 °, 42.29 °, 42.3 ° or ± 42 °. The first azimuthal angle can be any angle.

The deployment algorithm includes a first algorithm and a second algorithm. The first algorithm and the second algorithm are determined from the positive and negative values of the elevation angle.

When the sign of the value of the elevation angle is positive, i.e. the elevation angle is any of the values 42-43, the target is higher than the sensors in the vertical direction, it is determined that the second azimuth angles between the other sensors 112 and the target 12 are calculated using the first algorithm. To make the calculated first elevation angle more accurate, the elevation angle may be determined to be 42.2869 °.

The first algorithm is formulated as follows:

in the formula (1), θ_kIs the second azimuth angle, k is the serial number of other sensors, k is an integer greater than or equal to 2, N is the number of all sensors, and theta₀Is a first azimuth angle.

When the sign of the value of the elevation angle is negative, i.e. the elevation angle is any value from-42 deg. to-43 deg., the target is lower than the sensor in the vertical direction, it is determined to calculate a second azimuth angle between the other sensor 112 and the target 12 using the second algorithm. To make the calculated first elevation more accurate, the elevation may be determined to be-42.2869 °.

The second algorithm is formulated as follows:

in the formula (2), the symbols have the same meanings as in the formula (1).

Based on the positioning system 10, the present application provides the following method for deploying sensors in the positioning system.

Referring to fig. 2, fig. 2 is a schematic flowchart illustrating an embodiment of a method for deploying sensors in a positioning system according to the present disclosure. The embodiment comprises the following steps:

s210: a first azimuth angle between a first sensor of the at least three sensors and the target and an elevation angle between the at least three sensors and the target are obtained.

The target angle of arrival sensor may be an UWB (Ultra Wide Band) base station or a bluetooth base station.

The first azimuthal angle can be any angle. The first azimuth angle may be user input, randomly generated, or preset.

The elevation angle can be the optimal angle for deployment of the sensor in three-dimensional space after calculation and verification. The calculation and verification process of the elevation angle will be described in detail below.

The elevation angle range can be + -42 DEG to + -43 DEG, and specific examples thereof are + -42 DEG, + -42.1 DEG, + -42.2 DEG, + -42.3 DEG, + -42.5 DEG, + -42.8 DEG or + -43 deg. The optimum elevation angle may be ± 42.2869 °. Of course, the elevation angle can be adjusted according to the actual precision requirement, for example, the elevation angle can also be ± 42.287 °, 42.29 °, 42.3 ° or ± 42 °.

In this embodiment, the elevation angle between each sensor and the target is the same, and the distance between each sensor and the target is the same, so that the target can be more accurately positioned based on the data collected by the sensors.

S220: calculating a second azimuth angle between the other sensor and the target with the first algorithm or the second algorithm according to the elevation angle determination.

It is determined from the elevation angle whether the first algorithm or the second algorithm is used to calculate the second azimuth angle.

In the first algorithm or the second algorithm, a second azimuth is calculated based on the first azimuth, the serial numbers of the other sensors, and the number of all the sensors to determine the deployment positions of the other sensors.

Specifically, the present embodiment calculates the second azimuth angle by the first algorithm or the second algorithm according to the sign determination of the value of the elevation angle.

The second azimuth angle is determined to be calculated in the first algorithm in response to the sign of the value of the elevation angle being positive, i.e., the elevation angle being any of 42 ° to 43 °. To make the calculated first elevation angle more accurate, the elevation angle may be determined to be 42.2869 °.

Wherein the first algorithm is:

in the formula (3), θ_kIs the second azimuth angle, k is the serial number of other sensors, k is an integer greater than or equal to 2, N is the number of all sensors, and theta₀Is a first azimuth angle.

For example, when the number of all the sensors is 6 and the first azimuth angle is 0 °, the first algorithm may obtain the second azimuth angles of the other 5 sensors to be 60 °, 120 °, 180 °, 240 °, and 300 °, respectively.

When the number of all the sensors is 3 and the first azimuth angle is 0 °, the first algorithm can obtain the second azimuth angles of the other 2 sensors to be 120 ° and 240 °, respectively.

It can be seen that the sensors are uniformly arranged around the target, and the positioning accuracy of the sensors to the target can be improved.

The second azimuth angle is determined to be calculated with the second algorithm when the sign of the value of the elevation angle is negative, i.e., the elevation angle is any value from-42 ° to-43 °. To make the calculated first elevation more accurate, the elevation may be determined to be-42.2869 °.

Wherein the second algorithm is:

the symbols in the formula (4) have the same meanings as those in the above formula.

According to the method, the azimuth angles of other sensors are calculated by using the first algorithm or the second algorithm based on the elevation angle between the sensor and the target and the first azimuth angle between the first sensor and the target, so that the problem of deployment of the three-dimensional space AOA target positioning sensor is effectively solved, the high positioning precision is ensured by simple and effective deployment measurement, the complexity of a three-dimensional space AOA positioning system can be reduced, and the deployment and positioning efficiency of the sensor is improved.

The derivation of the first and second algorithms for calculating the second azimuth angle from the optimal elevation angle between the sensor and the target is as follows:

in the application, how sensor deployment affects target positioning accuracy is determined through a three-dimensional space AOA target positioning sensor observation model, and the sensor deployment is taken as a starting point, and the optimal sensor deployment method is obtained by searching for the sensor pitch angle and azimuth angle which can enable the trace of a CRLB (Cram-Rao lower bound) matrix to reach the minimum so as to improve positioning performance, with the aim of minimizing sensor estimation errors.

Firstly, modeling is carried out on the optimal deployment problem of the three-dimensional space AOA positioning sensor. The deployment of the sensors satisfies the following conditions: (1) the elevation angle and the distance between each sensor and the target are equal; (2) the number of the sensors is not less than 3, and twice azimuth angles are uniformly distributed; (3) the angle measurement noise is independent and equally distributed.

The sensor is positioned through collecting angle information between the sensor and a target.

Among other things, the ideal (noise-free) angle measurement can be written as:

the position coordinate of the measured target in the Cartesian coordinate system is [ x ]_e,y_e,z_e]The coordinates of the kth sensor are [ x ]_k,y_k,z_k]The distance between the measured target and the kth sensor is d_k，d_kProjection distance d on xy plane_xyk＝||[x_e,y_e]-[x_k,y_k]||＝d_kcosφ_kAnd | | · | is the euclidean norm.

Since the position deployment of the sensors can significantly affect the positioning performance, it is next determined how the sensor deployment affects the target positioning accuracy. The noise angle measurement for sensor k can be written as:

ψ_k＝[θ_k,φ_k]^T+η_k (7)

wherein psi_kIs the measured value at the sensor k, η_kIs an additive zero mean independent gaussian noise vector. Measured value theta_kAnd phi_kRespectively of noise variance ofAnd

if there are N sensors in the target positioning system, the sensor measurement covariance is:

in this application it is assumed that the noise is independently and identically distributed, i.e.The jacobian matrix of measurement errors relative to the true azimuth and elevation estimates may then be written as:

the available charge snow information matrix is:

the final calculation of the snow matrix is as follows:

in order to obtain an accurate target position, a metric method of estimating an error needs to be defined. For this purpose, different criteria are used for the measurement, and in the present application the "a-best criterion" is used, i.e. the equivalent of minimizing the traces of the CRLB matrix. Assuming that the sensor is at the same distance from the target, i.e. d₁＝d₂＝…＝d_N. Then, the optimal sensor deployment problem is simplified to find φ that minimizes the traces of CRLB_kAnd theta_kThe magnitude of the value.

In particular:

CRLB＝Φ^-1 (12)

according to the Courant-Fischer maximum minimum principle, the trace of CRLB can not be less than the sum of the reciprocal of the diagonal elements in FIM. Thus, it is possible to obtain:

where tr (CRLB) represents the trace of CRLB. Only if Φ is a diagonal matrix, the equation in equation (13) holds, tr (crlb) can take the minimum value, which means:

to simplify the inequality (13), we define:

wherein a and b are positive numbers according to:

thus, we obtain:

in conjunction with equation (17), the inequality (13) can be further written as:

the equation holds when a equals b. When 2 theta is_kWith a uniform angular distribution (i.e. k 2 theta)_kEvenly distributed between 0 and 360 degrees) and N ≧ 3 to satisfy formula (14), a ═ b. In this application it is assumed that the absolute elevation angles between all sensors and the target are equal, i.e. | φ₁|＝|φ₂|＝…＝|φ_N|。

The optimization problem now becomes how to minimize the right half of the inequality (18). Let c_k＝cos²φ_kBased on equations (13) and (18), we have:

at d₁＝d₂＝…＝d_N，|φ₁|＝|φ₂|＝…＝|φ_NL and 2 θ_kUnder the constraint of having a uniform angular distribution condition, the inequality (19) becomes:

wherein c is_k∈(0,1]. To obtain the minimum tr (CRLB), equation (20) is first calculated relative to c_kAnd let it be 0.

Thereby obtaining a unique real solution c_k0.547282350699011. Thus when phi_kAt ± 42.2868668755864 °, tr (crlb) may be minimized, and therefore, the optimal sensor deployment is given by:

φ_k＝±42.2869°

wherein, theta₀Any angle is possible, k is 1,2,3, …, N, and N ≧ 3. With N ═ 2, it is impossible to find θ satisfying equation (14)₁And theta₂. Therefore, in the present embodiment, the total number of sensors is required to be greater than or equal to 3.

Furthermore, as can be readily seen from equation (20), if the number of sensors is increased and deployed closer to the target, tr (crlb) will be smaller, resulting in better estimation performance.

In order to verify the effectiveness of the deployment method of the sensor in the positioning system, a simple AOA positioning system is designed to evaluate the estimation performance.

Since the AOA target location problem in three-dimensional space involves a non-linear measurement equation, verification is performed using EKF (extended Kalman filter). The target state vector is defined as:

whereinIs the target speed. In this patent, we assume that the target is stationary and therefore the speed is all zero. The EKF algorithm based on the state space equation is given by:

X_k+1|k＝F_kX_k|k (24a)

P_k+1|k＝F_kP_k|kF_k ^T (24b)

ψ＝[θ_k,φ_k]^T+η_k (24c)

K_k＝P_k+1|kH_k ^T(H_kP_k+1|kH_k ^T+R_k)^-1 (24d)

P_k+1|k+1＝(I-K_kH_k)P_k+1|k (24e)

X_k+1|k+1＝X_k+1|k+K_k(ψ_k-h_k+1|k) (24f)

wherein F_kIs a state transformation matrix, H (-) is a nonlinear measurement function, H_k+1|kIs h (X)_k+1|k) Of Jacobian, P_k|kIs a kalman covariance matrix that can be used to evaluate the performance of the estimate.

T denotes a constant time interval between measurements. Matrix R_kIs the angular measurement noise covariance affected by the target distance:

wherein σ_uIs the unit distance squared error and gamma is the power loss exponent. Since assume σ_θ＝σ_φSo that theta_kAnd phi_kThe unit square error of (a) is the same.

Assuming there are N sensors in the object-locating system, the estimator will process the sensor measurements one by one, starting with the first sensor.

The first embodiment of the method for deploying a sensor in a positioning system is implemented by a deployment device of a sensor in a positioning system, so that the present application also provides a deployment device of a sensor in a positioning system, please refer to fig. 3, where fig. 3 is a schematic structural diagram of an embodiment of the deployment device of a sensor in a positioning system provided by the present application. The robot 300 of the present embodiment may include a processor 301 and a memory 302 connected to each other. The memory 302 is configured to store a first algorithm and a second algorithm, and in the first algorithm or the second algorithm, a second azimuth is calculated based on the first azimuth, the serial numbers of the other sensors, and the number of all the sensors to determine the deployment positions of the other sensors. The processor 301 is configured to obtain a first azimuth angle between a first sensor of the at least three sensors and the target, and an elevation angle between the at least three sensors and the target; calculating a second azimuth angle between the other sensor and the target with the first algorithm or the second algorithm according to the elevation angle determination.

The processor 301 may be an integrated circuit chip having signal processing capability. The processor 301 may also be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

For the method of the above embodiment, it may exist in the form of a computer program, so that the present application provides a computer readable storage medium, please refer to fig. 4, where fig. 4 is a schematic structural diagram of an embodiment of the computer readable storage medium provided in the present application. The computer-readable storage medium 400 of the present embodiment has stored therein a computer program 401 that can be executed to implement the method in the above-described embodiments.

The computer-readable storage medium 400 of this embodiment may be a medium that can store program instructions, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, or may be a server that stores the program instructions, and the server may send the stored program instructions to other devices for operation, or may self-execute the stored program instructions.

In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a module or a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

Units described as separate parts may or may not be physically separate, and parts displayed 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 can be selected according to actual needs to achieve the purpose of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.