CN-122027975-A - Indoor and outdoor integration positioning method, system, medium and product of wireless ad hoc network

Abstract

The application provides a wireless ad hoc network indoor and outdoor integration positioning method, a system, a medium and a product, which relate to the technical field of wireless communication positioning, wherein the method comprises the steps of performing communication connection with other anchor nodes detected in a first preset communication range to generate an anchor node communication network; when a first query signal is received, a first distance between the first query signal and at least one node to be positioned is determined by a bidirectional time-of-flight method, a first label is generated, the first distance and the first label are broadcast to other anchor nodes by the communication network, a second distance and the second label are received, the second distance and the second label are broadcast to other anchor nodes, matching detection is carried out on the first label and the received second label, when at least N identical labels are detected, at least N anchor nodes are determined to be a positioning anchor node group, and the actual position of the at least one node to be positioned is determined according to the determined geometric center position, the first distance and the second distance of the positioning anchor node group. The indoor and outdoor co-location performance of the wireless ad hoc network is poor.

Inventors

• MAO DONGFANG
• LOU XUYANG

Assignees

• 无锡真源科技有限公司

Dates

Publication Date

20260512

Application Date

20260127

Claims (10)

1. 1. The indoor and outdoor integration positioning method for the wireless ad hoc network is characterized by comprising the following steps of: Under the condition that other anchor nodes are detected in a first preset communication range, the anchor nodes are in communication connection with the other anchor nodes to generate an anchor node communication network, wherein the anchor node communication network is a cooperative communication network covering an indoor environment and an outdoor environment; Determining a first distance between the first query signal and at least one node to be positioned by utilizing a bidirectional time-of-flight method under the condition of receiving the first query signal sent by the at least one node to be positioned, and generating a first label for the first query signal; Broadcasting the first distance and the first label to the other anchor nodes by using the anchor node communication network, and receiving a second distance and a second label broadcasted by the other anchor nodes by using the anchor node communication network, wherein the second distance is a distance between the other anchor nodes and the at least one node to be positioned, which is determined by using the bidirectional time-of-flight method, when the second query signal sent by the at least one node to be positioned is received by the other anchor nodes, and the second label is a label generated by the other anchor nodes for the second query signal; Performing matching detection on the first label and the received second label, so as to determine at least N anchor nodes corresponding to at least N identical labels as a positioning anchor node group when detecting that the at least N identical labels exist in the first label and the second label, wherein N is a positive integer; And determining the geometric center position of the positioning anchor node group, and determining the actual position of the at least one node to be positioned according to the geometric center position, the first distance and the second distance.
2. 2. The method according to claim 1, wherein in case that another anchor node is detected within a first preset communication range, the method performs communication connection with the other anchor node to generate an anchor node communication network, specifically includes: transmitting a detection signal within the first preset communication range according to a preset detection period; Determining the signal receiving strength of a first response signal of the other anchor node responding to the detection signal under the condition that the first response signal of the other anchor node is received; comparing the signal receiving intensity with a first preset intensity threshold value to obtain a signal intensity comparison result; And under the condition that the signal receiving intensity is determined to be larger than the first preset intensity threshold value according to the signal intensity comparison result, establishing communication connection with other anchor nodes so as to generate the anchor node communication network.
3. 3. The method according to claim 1, wherein said determining a geometric center position of said set of anchor nodes and determining an actual position of said at least one node to be located based on said geometric center position, said first distance and said second distance, comprises: acquiring a first position coordinate of each anchor node in the positioning anchor node group according to a preset coordinate system; determining the geometric center position of the positioning anchor node group according to the first position coordinates of the anchor nodes; establishing a range error equation according to the first distance, the second distance and the first position coordinate; and taking the geometric center position as an initial estimated position of the at least one node to be positioned, and solving the range error equation by combining a least square iteration method to obtain the actual position.
4. 4. Method according to claim 1, wherein said determining a first distance from at least one node to be located using a two-way time-of-flight method in case of receiving a first interrogation signal transmitted by said at least one node to be located and generating a first label for said first interrogation signal, in particular comprises: Analyzing the received first query signal to determine a first sending time stamp of the first query signal sent by the at least one node to be positioned and node identification information to be positioned, and recording a first receiving time stamp of the first query signal; Transmitting a third interrogation signal to the at least one node to be located and recording a second transmission timestamp of the third interrogation signal; Receiving a second response signal of the at least one node to be positioned responding to the third inquiry signal, and recording a second receiving time stamp of the second response signal; calculating round trip time of flight between the first interrogation signal, the third interrogation signal, and the second response signal according to the first transmit timestamp, the first receive timestamp, the second transmit timestamp, and the second receive timestamp; determining the first distance according to the round trip flight time and the speed of light; and carrying out hash combination on the first receiving timestamp and the node identification information to be positioned so as to generate the first label.
5. 5. The method of claim 4, wherein broadcasting the first distance and the first label to the other anchor nodes using the anchor node communication network and receiving the second distance and the second label broadcast by the other anchor nodes using the anchor node communication network, comprises: Generating a first data packet according to the first distance and the first label, wherein the first data packet comprises the first label, the first distance and first anchor node identification information; transmitting the first data packet to the other anchor nodes through the anchor node communication network according to a preset multi-hop broadcasting mode; monitoring the anchor node communication network in real time to receive second data packets broadcast by the other anchor nodes by using the anchor node communication network; analyzing the second data packet to obtain the second label, the second distance and second anchor node identification information; Binding the second label, the second distance and the second anchor node identification information, and storing the second label, the second distance and the second anchor node identification information into an anchor node local database.
6. 6. The method according to claim 5, wherein the matching detection is performed on the first label and the received second label, so as to determine at least N anchor nodes corresponding to at least N identical labels as a positioning anchor node group when detecting that at least N identical labels exist in the first label and the second label, specifically including: In the case that at least one first label is determined to exist, marking the at least one first label as a set to be matched; Acquiring all data storage records comprising the second label and the second anchor node identification information from the anchor node local database; screening M second marks which are the same as any first mark in the set to be matched from the data storage record; When the M is determined to be greater than or equal to the N, second position coordinates of M anchor nodes corresponding to the M second marks are obtained; determining a third distance between every two anchor nodes in the M anchor nodes according to the second position coordinates; Q anchor nodes meeting a second preset communication range are screened out from the M anchor nodes according to the third distance; And in the case that the Q is determined to be greater than or equal to the N, determining the Q anchor nodes as the positioning anchor node group.
7. 7. The method of claim 6, wherein after determining the Q anchor nodes as the set of anchor nodes if the Q is greater than or equal to the N, the method further comprises: Performing real-time heartbeat monitoring on each anchor node in the positioning anchor node group to obtain a heartbeat monitoring result; Under the condition that a first anchor node which continuously loses T heartbeat signals exists in the positioning anchor node group is determined according to the heartbeat monitoring result, the first anchor node is marked as a fault anchor node, and a topology updating request is broadcast by using an anchor node communication network, wherein T is a positive integer which is greater than or equal to a preset number; Receiving a candidate node data packet sent by a candidate anchor node, wherein the candidate node data packet comprises candidate anchor node identification information, historical communication time delay of the candidate anchor node and the fault anchor node, current signal receiving strength of the candidate anchor node and historical positioning credibility of the candidate anchor node; screening candidate qualified anchor nodes with the current signal receiving intensity greater than or equal to a second preset intensity threshold value from the candidate anchor nodes; screening K anchor nodes with the historical communication time delay smaller than a preset communication time delay from the candidate qualified anchor nodes, wherein K is a positive integer larger than or equal to N; Screening out target anchor nodes with the historical positioning reliability being greater than or equal to preset positioning reliability from the K anchor nodes, determining the target anchor nodes as substitute anchor nodes of the fault anchor nodes, and generating a new positioning anchor node group; and executing environment drift compensation operation on the new positioning anchor node group according to a preset updating period so as to update the position coordinates of each anchor node in the new positioning anchor node group.
8. 8. A wireless ad hoc network indoor and outdoor converged positioning system comprising one or more processors and memory coupled to the one or more processors, the memory for storing computer program code comprising computer instructions that the one or more processors invoke to cause the wireless ad hoc network indoor and outdoor converged positioning system to perform the method of any one of claims 1-7.
9. 9. A computer readable storage medium comprising instructions which, when run on a wireless ad hoc network indoor and outdoor converged positioning system, cause the wireless ad hoc network indoor and outdoor converged positioning system to perform the method of any one of claims 1 to 7.
10. 10. A computer program product which, when run on a wireless ad hoc network indoor and outdoor converged positioning system, causes the wireless ad hoc network indoor and outdoor converged positioning system to perform the method of any one of claims 1 to 7.

Description

Indoor and outdoor integration positioning method, system, medium and product of wireless ad hoc network Technical Field The application relates to the technical field of wireless communication positioning, in particular to a wireless ad hoc network indoor and outdoor integration positioning method, a system, a medium and a product. Background Along with the rapid development of the technology of the Internet of things and intelligent mobile terminals, the requirements of high-precision seamless positioning in the fields of smart cities, unmanned inspection, emergency rescue and the like are increasingly urgent. In the related technical field, indoor and outdoor positioning networks in a wireless ad hoc network positioning scene are often independent from each other. Specifically, indoor positioning mainly depends on Bluetooth, wi-Fi, ultra Wideband (UWB) and other technologies, and local area positioning is achieved through anchor node networking. However, due to the influence of signal multipath effects (such as wall reflection and obstruction), positioning accuracy is susceptible to environmental interference, and coverage is limited. In contrast, outdoor positioning mainly depends on satellite navigation systems such as GPS and beidou, and although the positioning can be realized in a large scale, signals are easy to lose in shielding scenes such as forestation, tunnels and canyons of high buildings, so that the positioning accuracy is obviously reduced. However, because the indoor and outdoor positioning networks are independent of each other and lack of cooperative communication mechanisms, when the node to be positioned moves between indoor and outdoor scenes, the signal coverage areas, communication protocols and data interaction logic of the indoor and outdoor positioning networks are difficult to be compatible, and the problems of positioning signal interruption, data transmission faults and the like are easy to occur. This may lead to a discontinuous positioning accuracy of the indoor and outdoor scenes. And further, the indoor and outdoor co-location performance of the wireless ad hoc network in the related technology is poor. Disclosure of Invention The application provides a wireless ad hoc network indoor and outdoor integration positioning method, a system, a medium and a product, which are used for improving indoor and outdoor co-positioning performance of a wireless ad hoc network. In a first aspect, the application provides a wireless ad hoc network indoor and outdoor converged positioning method, which is applied to the wireless ad hoc network indoor and outdoor converged positioning system, and the method comprises the steps of performing communication connection with other anchor nodes to generate an anchor node communication network under the condition that the other anchor nodes are detected in a first preset communication range, wherein the anchor node communication network is a collaborative communication network covering an indoor environment and an outdoor environment; the method comprises the steps of receiving a first query signal sent by at least one node to be positioned, determining a first distance between the first query signal and the at least one node to be positioned by a bidirectional time-of-flight method, generating a first label for the first query signal, broadcasting the first distance and the first label to other anchor nodes by using an anchor node communication network, receiving a second distance and a second label broadcast by the other anchor nodes by using the anchor node communication network, wherein the second distance is the distance between the other anchor nodes and the at least one node to be positioned when the second query signal sent by the at least one node to be positioned is received by the other anchor nodes, determining the geometric center position of the anchor node group by using the bidirectional time-of-flight method, the second label is the label generated by the other anchor nodes by using the second query signal, and carrying out matching detection on the first label and the received second label, so that when at least N identical labels exist in the first label and the second label, at least N anchor nodes corresponding to the at least N identical labels are determined as a positioning anchor node group, determining the geometric center position of the positioning anchor node group by using the N identical labels, and determining the geometric center position of the positioning anchor node group according to the geometric center position, the first distance and the actual position of the at least one anchor node to be positioned. By adopting the technical scheme, a cooperative communication network covering the indoor environment and the outdoor environment is constructed, and a communication foundation is provided for the positioning process. When the node to be positioned sends a first query signal, a bidirectional time-of-flight me