基于定位误差估计的锚节点布局优化

Optimization of Anchor Node Layout Based on Positioning Error Estimation

大多数现有研究忽略了室内定位系统的最佳锚节点布局问题,传统多边测量定位算法误差分析中,存在误差面积不规则、计算困难等问题,作者提出了一种实现最小定位误差的锚节点布局方法。使用几何分析和实验分析相组合的方法研究定位误差和锚节点布局之间的关系,通过几何面积关系精确计算了双锚节点定位误差,提出了一种新的误差上限估计方法,这一误差上限反映了锚节点的位置和锚节点处的误差,可以用于比较任意两个锚节点布局之间的最大误差,描述误差的立体分布。引入耗散均匀搜索粒子群算法(dissipative uniform search particle swarm optimization,DUPSO),提出了一种新的多锚节点空间布局优化算法,找到了一种可以最大限度减少最大定位误差的最优布局。为了验证本文方法适用于各种规则、不规则环境以及不同数量锚节点最优布局的求解,仿真实现了不同数目锚节点和不同环境下锚节点的最优布局,并对不同的锚节点布局方法进行了比较。实验结果表明,使用锚节点的最佳布局,室内定位系统可以获得更高的定位精度。本文的布局优化算法是通用的,在实践中具有可行性和有效性。

In order to solve the problem of optimal anchor node layout in indoor positioning system,an anchor node layout method was proposed in this paper by deploying anchor nodes to achieve the minimum positioning error.Based on the multi-measurement positioning algorithm,for the problems of irregular measurement area,difficulty in calculation and so on,a combination of geometric analysis and experimental analysis was used to study the relationship between positioning error and the layout of anchor nodes.The positioning error of double-anchor nodes was accurately calculated by the geometric area relationship,and a new error upper limit estimation method was proposed for node positioning error.This error upper limit reflected the position of the anchor node and the error at the anchor node.The maximum error between any two anchor node layouts was compared and the three-dimensional distribution of errors was presented.Then,in this paper,DUPSO(dissipative uniform search particle swarm optimization)algorithm was introduced,a new multi-anchor node spatial layout optimization algorithm was proposed,and an optimal layout that can minimize the maximum positioning error was found.In order to verify that the algorithm of this paper is applicable to the solution of various rules,irregular environments and the optimal layout of different number of anchor nodes,the optimal layout of anchor nodes and different numbers of anchor nodes in different environments and the layout of different anchor nodes were simulated,and the layout methods of different anchor nodes were compared.The experimental results showed that with the optimal layout of the anchor nodes,the indoor positioning system can obtain higher positioning accuracy.The layout optimization algorithm presented in the paper is universal,feasible and effective in practice.