CN102469406A - Mobile location mark based on wireless sensing technology - Google Patents
Mobile location mark based on wireless sensing technology Download PDFInfo
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- CN102469406A CN102469406A CN2010105496522A CN201010549652A CN102469406A CN 102469406 A CN102469406 A CN 102469406A CN 2010105496522 A CN2010105496522 A CN 2010105496522A CN 201010549652 A CN201010549652 A CN 201010549652A CN 102469406 A CN102469406 A CN 102469406A
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Abstract
The invention provides a mobile location mark LM, which consists of a main control unit and a wireless sensing unit. The LM is connected to a wireless sensing network through the wireless sensing unit and regularly transmits a normal state message to a superior network node, wherein the normal state message includes self identity identification number ID-2, signal intensity approaching the network node, a node identity (ID) and self work state information; or an alarming state report message is triggered by a special button to be instantly transmitted to the superior network node, wherein the alarming state report message includes the self identity identification number ID-2, the signal intensity approaching to the network node and the node ID information. The mobile location mark is convenient to use, can adequately utilize the present mobile network terminal to do business, has low power consumption, favors multiple types of location value-added service, and particularly favors the realizing of location services having requirements on low power consumption and disguise of the location terminal.
Description
Technical field
The present invention relates to the Location based service system, relate in particular to the system that comprehensive utilization GPS technology, inertial navigation technology, wireless communication technology and wireless sensor technology provide positioning service.
Background technology
As one of characteristic service of wireless communication system, positioning service receives the common concern of industry as a bright spot of mobile value-added service.At present, the main mobile operator of North America, Europe and the Asian-Pacific area has opened mobile location service.The location technology of in Location based service, using at present mainly contains following several kinds:
Based on network cell-of-origin (COO) location technology, promptly based on the location technology of Cell ID, it is obtained the base station Cell information at the current place of user to obtain user's current location by network side, and its precision depends on the distribution of mobile base station and the size of coverage;
Triangulation technique based on the time of advent (TOA) or the time of advent poor (TDOA) principle; Like AFLT (the Advanced Forward Link Trilateration) location technology of using in the cdma network; When positioning action; The pilot frequency information of a plurality of base stations is monitored at mobile phone/terminal simultaneously, utilizes the chip time delay to be determined near the distance of base station, calculates particular location with triangulation location at last;
Assistant GPS (A-GPS) technology based on the satellite-based radio-navigation systems.Tradition GPS technology is owing to too rely on terminal capabilities, is about to that satellite scan, catches, pseudo range signals receives and work such as location computing combines in the terminal all over the body, and location sensitivity is low to reach aspect defectives such as terminal power consumption is big thereby cause.A-GPS is the position calculation work simplification at terminal, cooperatively interact by the location-server of network side and terminal and accomplish location work, with satellite scanner uni location computing etc. the most the hard work location-server that one side is transferred to network one side from the terminal accomplish.Positioning accuracy, sensitivity and cold start speed, the power consumption of reduction terminal at terminal have been improved.Particularly; Wide area gps satellite grid of reference of forming by a plurality of high sensitivity GPS receivers of A-GPS techniques make use; Location information needed such as the almanac data of overhead all gps satellites in responsible round-the-clock monitoring overlay area, Doppler frequency shift, dynamic refresh is stored in the gps satellite database (satellite data and geographical position corresponding relation) in the locating platform.The terminal is only just circulated a notice of Position Approximate (belonging to which base station) through wireless network to locating platform when needs are located, obtain gps satellite information through locating platform then, thereby shorten the acquiring satellite time greatly, reduces power consumption significantly.By the location-server powerful operation capacity, thereby can adopt complicated location algorithm to improve positioning accuracy and sensitivity with the influence that reduces unfavorable factors such as receiving a little less than the signal;
The GPSONE technology is that QualCom company is the location technology of location-based mobile service development.It organically combines wireless auxiliary A-GPS and two kinds of location technologies of AFLT triangulation location; All can't accomplish under the situation of location separately at gps satellite signal and wireless network signal; The GPSONE system can make up this two kinds of information sources, as long as have a satellite and a cell site just can accomplish the location, has solved the insurmountable problem of traditional GPS; Realize degree of precision, high availability and quick location, improved the indoor positioning effect.In the environment that these two kinds of location technologies all can't be used, GPSONE can automatically switch to Cell ID sector locate mode, guarantees position success rate.
In addition; The targeting scheme RTLS that some utilize short distance wireless technical and triangulation technique to realize also appears in recent years; Like WiFi navigation system, ZigBee navigation system etc., their working mechanism all is through disposing many locating base station, terminal to be positioned then through measuring adjacent base station signal strength signal intensity and go out position coordinates through the location algorithm Model Calculation; Location and precision that these technical schemes can only be used among a small circle room area particularly are not high, and applicable situation is limited.
For Location based service such as public safety, location tracking, navigation; Though the high still precision of location technology success rate based on CELL ID and base station radio measurement can not satisfy business need far away; Therefore the location technology based on GPS is adopted in this type service mostly, like A-GPS or GPSONE.But there is very big problem in the availability of GPS technology in practical application, can cause that such as can receive the reflection to gps signal of the stopping of a lot of high buildings, locating terminal surrounding buildings at the urban environment gps signal measure error, many positions of positioning service that needs can't receive gps signal (like indoor environments such as the road under the overhead road of city, underground parking, station terminal or the like).For addressing the above problem; Some new technologies are introduced into field of location services in recent years; Just adopt gps receiver to add that dead reckoning (Dead-Reckoning) equipment accomplishes navigation feature jointly like common Vehicular navigation system; Common dead reckoning equipment such as gyroscope, accelerograph, digital compass and wheel signal etc., the change in location of their energy measurement vehicles in the short relatively time, and gps receiver can be in the error range of confirming the absolute position of measuring vehicle.The two has natural complementarity: dead reckoning equipment can on average fall the error in the gps receiver short time, and gps receiver can be calibrated dead reckoning equipment in long-time.But it is high bulky and cost an arm and a leg to be used for the traditional dead reckoning equipment precision of aerospace field, and is not suitable for general civilian vehicle navigation.Along with the progress of MEMS (MEMS) technology in recent ten years; Advantages such as the gyroscope of employing MEMS technology, the performance of little accelerometer device have obtained improving rapidly, and the MEMS device is little with its volume, cost is low, peripheral circuit is simple are that the design of navigation positioning system provides new selection.Except gps receiver and dead reckoning equipment, automatic navigator also is mounted with a digitized traffic route database---numerical map.Information and the measurement data of utilizing numerical map is through map match can confirm well to wait the to navigate position of vehicle.Design good navigator and can be good at integrating measurement data, thereby further make good map match from gps receiver and dead reckoning equipment.For these measurement data of fine integration to reach satisfied navigation effect; Industry usually adopts Kalman filter (Kalman filter) to come current measurement of balance and historical measurement data; With linear, do not have partially, minimum variance is that principle realizes optimal estimation, improves positioning accuracy and availability thereby reduce system noise as far as possible.
In sum; Mobile positioning technique is obtained marked improvement through continuous development in recent years; But satisfy the requirement of high-quality Location based service; Especially for some application such as the public safety fields such as location tracking of personnel positioning tracking, sensitivity or dangerous goods, existing market provides institute's technology and product that following deficiency is still arranged:
Existing location product size is considered disguised design more greatly and not, is difficult to satisfy miniaturization, microminiaturization and the disguised demand of above-mentioned application;
Existing location product does not design on low power dissipation design especially, is difficult to satisfy the low-power consumption demand when adopting powered battery in the above-mentioned application;
Existing location products & services are confined to obtain locating information, circular locating information or combining geographic information system (GIS) and electronic chart provides simple historical track writing function, lack tracking and early warning, utilize background system to value-added service functions such as the unified management of a large amount of locating terminals, the historical redundant information raising positioning accuracy of utilizing background system and success rates.
Chinese patent CN2010101477791 has proposed solution to above problem; But also brought new problem; This patent proposes a kind of localizer beacon LIU and is used to proofread and correct locating information and the flight path that moves near the running fix terminal LE it; Obtain good effect and just need dispose localizer beacon LIU in some crucial places according to application scenarios, this can bring bigger system implementation cost, also can run into bigger performance difficulty in a lot of occasions.
If a kind of convenient deployment and localizer beacon cheaply can be provided on the basis of above-mentioned patent, just can meet the need of market better.
Summary of the invention
The present invention proposes a kind of running fix sign LM, comprising:
A) wireless sensing unit adopts short-distance wireless communication technology to survey radio sensing network node on every side, inserts radio sensing network according to the radio sensing network agreement automatically;
B) main control unit is accomplished initialization, parameter configuration, the working state monitoring control of LM, is connected to radio sensing network and the primary network station node transmit status message that regularly makes progress through wireless sensing unit.
Preferably, the wireless sensing unit of said LM adopts the ZigBee wireless technology, is configured to simplify function device RFD, inserts the radio sensing network that closes on as end node.
The configuration parameter of said LM comprises identity recognition number ID-2 and radio sensing network ID, node ID, cipher mode, key, mode of operation, and these parameters are through local configured port configuration and can be by online modification after inserting radio sensing network.
The primary network station node that regularly makes progress behind the radio sensing network that said LM access closes on sends the normal condition report message; Comprising self identity recognition number ID-2, the signal strength signal intensity of closing on network node and node ID and self work state information, said work state information comprises self residual electric weight and local alarm information.
Said LM can trigger upwards that the primary network station node sends the alarm status report message immediately by specific button, comprising self identity recognition number ID-2, the signal strength signal intensity of closing on network node and node ID information thereof.
The workflow of said LM is following:
A) change operating state by timing mechanism triggering or specific button triggering over to from resting state;
B) at first if inspection still in original network, is then skipped next step C whether also in original radio sensing network);
C) search for radio sensing network on every side, and insert the radio sensing network that searches according to predefined running parameter;
D) send normal condition report message or alarm status report message to superior node;
E) get into resting state, get back to steps A after the moment or danger button are pressed) up to regularly trigger next time.
Apparatus of the present invention are disposed convenient, can make full use of existing mobile network terminal and commence business, and the power consumption of LM is extremely low, helps carrying out the value-added service of multiple location, are particularly conducive to carry out those have low-power consumption, disguised requirement to locating terminal positioning service.
After the detailed description in conjunction with the advantages embodiment of the present invention, other characteristics of the present invention and advantage will become clearer.
Description of drawings
Fig. 1 is the system architecture diagram of an embodiment of apparatus of the present invention application system;
Fig. 2 is the functional block diagram of an embodiment of locating terminal LE in the application system of the present invention;
Fig. 3 is the functional block diagram of an embodiment of positioning mark LM of the present invention;
Fig. 4 is a kind of hardware implementations of an embodiment of locating terminal LE in the application system of the present invention;
Fig. 5 is the another kind of hardware implementations of an embodiment of locating terminal LE in the application system of the present invention;
Fig. 6 be among embodiment of application system of the present invention LE at the register flow path sketch map of orientation management platform;
Fig. 7 is a positioning mark LM workflow sketch map among embodiment of application system of the present invention;
Fig. 8 is the schematic flow sheet of orientation management platform processes LE reporting information among embodiment of application system of the present invention;
Fig. 9 is a principle schematic of estimating the LE Position Approximate through wireless parameter.
Embodiment
Specify embodiment of the present invention below in conjunction with accompanying drawing.
Fig. 1 has provided the system architecture diagram of one embodiment of the invention; Wherein a plurality of locating terminal LE also and then with orientation management platform S102 establish a communications link through Radio Link S103 access communications network S101; Orientation management platform S102 gathers the location measurement information that each LE reports, and the terminal historical track information in the binding data storehouse and location algorithm are definite and write down the current position of each LE; Simultaneously; Locating terminal LE and positioning mark LM form netted radio sensing network automatically through short range links S104; The LE that wherein is in gateway location gathers the state information of each node and reports orientation management platform S102; Orientation management platform S102 obtains the position coordinates of LM in view of the above according to short-distance wireless location RTLS technique computes, further, orientation management platform S102 also can utilize the state information of this radio sensing network that the locating information of its node LE is carried out treatment for correcting.In addition; Orientation management platform S102 also establishes a communications link through communication network S101 and authorized third party's positioning service merchant LBS and positioning service user LUE, to present position information and the value-added service information such as location alarm, historical track of LBS and LUE issue LE and LM.Said communication network is meant mobile communications network, wired broadband network, wireless broadband network or their combination that can provide wide area to cover, and is clear succinct in order to explain here, is that example is explained thought of the present invention with the cdma mobile communication network only.As shown in Figure 1, orientation management platform S102 establishes a communications link through the Short Message Service Gateway among the S101, packet data serving node PDSN (Packet Data Serving Node) and router and a plurality of LE, LUE and LBS.
Orientation management platform S102 adopts distributed, modular framework in the specific implementation, and visual application scale adopts a station server or multiple servers group to constitute flexibly.Comprising information gathering release unit, data processing unit, Database Unit and administrative unit, the function and the annexation of each unit are following:
The information gathering release unit is responsible for accomplishing the communication between orientation management platform S102 and LE, LUE and the LBS based on ICP/IP protocol or note SMS, accomplishes the encapsulation and the opening of interaction message between them; Also be responsible for simultaneously from the reporting message of LE, extracting identifier, LE identifier, location measurement information and the radio sensing network state information of LM and handing to data processing unit; In addition, the information gathering release unit also is responsible for issuing the LE positional information according to the instruction of administrative unit to mandate LBS and LUE.
Database Unit is the comprehensive of multiple logical data base, comprises terminal management database TM_DB, user management database CM_DB and Service Database TF_DB.The terminal management data of TM_DB storage comprise the location survey ability, LE of positioning service classification, the LE configuration of the current attitude of conventional motor pattern and current motor pattern, the LE of identifier, the LE of all LE, the LE coverage through short distance wireless technical identification LM, and the conventional motor pattern of the identifier of LM, LM and current motor pattern etc.Identifier, authentication information, authorization service classification and grade etc. that the customer management data of CM_DB storage is drawn together LUE and LBS.The business datum of TF_DB storage comprises commence business regional all previous radio sensing network state information that reports of all previous location measurement information that reports of numerical map, geomorphological features information, mobile base station planning information, LE, LE historical position information, gateway LE and LM historical position information etc.
The responsible LE location survey data of delivering according to location algorithm process information collecting unit of data processing unit; The GIS-Geographic Information System of this LE historical movement track, previous moment motor pattern and the athletic posture and the LE region of binding data library unit record is confirmed this LE current position coordinates, current motor pattern and athletic posture and is write down the result.The radio sensing network state information that the gateway LE that responsible simultaneously process information collecting unit is delivered reports; At first the positioning result confidence level of each node LE in the radio sensing network is carried out evaluates calculation; The LE that confidence level is higher than standard value is as calibration source; Combine short-distance wireless location technology RTLS that the position coordinates of each node LE is carried out treatment for correcting with relevant flight path then, and and then obtain the position coordinates of LM node.
Administrative unit is in charge of registration, access authentication, working state monitoring statistics, upgrade maintenance and the relating attribute updating data of all LE, LM, also is in charge of service fulfillment, business change and the professional service recorder of LBS and LUE.
Fig. 2 has provided the functional block diagram of an embodiment of LE.Wherein,
Location Measurement Unit comprises GPS module and inertia measurement module IM U (Inertial Measurement Unit), and GPS is responsible for the unit receiving gps signal and decoding is exported positioning result to main control unit.The output signal of GPS is followed the NMEA-0183 protocol specification that the NMEA of National Marine Electronics Association (National Marine Electronics Association) works out, comprising GPS locator data time, longitude, latitude, used satellite number, highly, information such as observed GNSS number of satellite and numbering thereof, position, signal to noise ratio, ground digit rate, course, ground, date.Comprise acceleration transducer and the angular-rate sensor on three directions of rectangular coordinate system X/Y/Z among the Inertial Measurement Unit IMU (Inertial Measurement Unit); Be responsible for measuring in real time LE three reference axis to acceleration and angular speed, can calculate athletic posture, course and the speed of a ship or plane of LE in view of the above and report main control unit.
Wireless sensing unit utilizes short distance wireless technical such as ZigBee technology to survey LM on every side and other LE automatically; Wherein be configured to identity recognition number ID-1 and the unified in advance configuration ZigBee network parameter of the ZigBee module stores LE of full-function device FFD; Like network ID, node ID, cipher mode, key, mode of operation etc.; When LE can set up wireless connections during near other LE that has disposed the ZigBee module equally or LM automatically, detect the identity recognition number and the signal strength signal intensity thereof of closing on LE or LM.
Thereby wireless communication unit is responsible for establishing a communications link through access communications network S101 and management platform S102; Also can report some wireless network parameters simultaneously according to the control command of main control unit; Comprise pseudo-random code phases biasing coefficient, pilot tone Active Set, pilot tone Candidate Set and pilot tone Neighbor Set for the said wireless network parameter of cdma network, these parameters are obtained from network side when wireless communication module inserts cdma network.
Display unit adopts LCDs to provide to the user and uses the interface, shows such as LE operating state such as wireless network name, signal strength signal intensity, battery dump energy and user with graphics context mode and uses menu.
Input-output unit provides input/output function modules such as keyboard, headset, external power supply, extension storage card to the user.
Main control unit is connected other functional units through control with data-interface; Accomplish initialization, parameter configuration, the working state monitoring control of each unit; The measurement result that the handling positioning measurement unit reports also reports management platform S102 through wireless communication unit, receives through wireless communication unit simultaneously and the supervisory instruction of response management platform S102.
It should be appreciated by those skilled in the art that the LE of a complete meaning also should comprise general functional units such as power supply, clock, storage, succinct in order to narrate, describe no longer one by one for these general functional units, do not omit among Fig. 2 yet and draw., following LM embodiment also does same processing in describing.
Fig. 3 has provided the functional block diagram of an embodiment of LM; Wherein wireless sensing unit adopts short-distance wireless communication technology such as ZigBee; Be configured to simplify function device RFD, when the radio sensing network node that detects on every side, insert radio sensing network according to the radio sensing network agreement as end node automatically; Main control unit is accomplished initialization, parameter configuration, the working state monitoring control of LM; Pre-configured and the preservation quiescent operation parameter through local configured port; Like ZigBee network parameters such as identity recognition number ID-2 and radio sensing network ID, node ID, cipher mode, key, mode of operations; Through wireless sensing unit be connected to radio sensing network and and then regularly upwards the primary network station node send " heartbeat " message, the operating state of forming comprising self identity recognition number ID-2, the signal strength signal intensity of closing on network node and node ID thereof, by information such as self residual electric weight and local alarms is reported or the like.Further; Main control unit can connect a local alarm button; When this button is pressed, main control unit immediately upwards the primary network station node send " alarm " message, comprising contents such as self identity recognition number ID-2, the signal strength signal intensity of closing on network node and node ID thereof.
For the radio sensing network of above-mentioned automatic network-building, LE node wherein is by online gateway node or the routing node of being assigned as of orientation management platform.Send " heartbeat " message as the primary network station node that regularly makes progress behind the LE access network of routing node; Comprising information such as self identity recognition number ID-1, the signal strength signal intensity of closing on network node and node ID thereof, routing node LE also transmits the message that downstream site is sent to superior node simultaneously; And the state information of this radio sensing network that will collect as the LE of gateway node regularly reports the orientation management platform, and the state information of said radio sensing network comprises " heartbeat " message that topology of networks, the observed neighbor node signal strength signal intensity of each node, all end node LM of subordinate report and the information such as corresponding time of this status report.
Fig. 4 has further provided a kind of hardware implementations of LE; This scheme adopts the CDMA terminal chip solution of QualCom company to realize the function of main control unit and wireless communication unit; Asynchronous Serial Interface UART through master chip connects ZigBee module realization wireless sensing unit function simultaneously, connects acceleration transducer and realizes the IMU Elementary Function.As shown in Figure 4; The CDMA signal that antenna S401 receives is sent into RFL6000 through duplexer and is carried out the low noise processing and amplifying; After SAW filter RxSAW filtering, send into RF receiver module RFR6000 then; The Rx ADC port that RFR6000 sends into CDMA master chip MSM6050 after with receiving signal demodulation to ABB carries out the AD conversion, carries out the CDMA signal processing again after converting analog baseband signal to digital baseband signal.The gps satellite signal that antenna S402 receives is sent into RF receiver module RFR6000 equally through behind the bandpass filtering; The Rx ADC port that RFR6000 sends into MSM6050 after with receiving signal demodulation to ABB carries out the AD conversion, further carries out the gps signal decoding processing again after converting analog baseband signal to digital baseband signal.The CDMA baseband signal that MSM6050 will send is sent into RF sending module RFT6100 through Tx DAC, after Frequency-variable Modulation, carries out filtering TxSAW, power amplification PA processing, through duplexer radio frequency transmit signal feed antenna S401 is sent at last.Power management chip PM6050 is responsible for LE inner power supply and Clock management, comprises battery management, like power supply, charging, electric weight demonstration etc.; The conversion of supply voltage voltage raising and reducing; The back lighting management; Each chip operation power supply is provided; RF reception, tranmitting data register management, system hibernates Clock management or the like.MSM6050 connects PM6050, RFR6000 and RFT6100 through serial bus interface SBI, realizes the control and management to said chip.MSM6050 is embedded with the ARM7 microprocessor, and the main control unit that can be used as locating terminal LE uses.Be connected SDRAM and FLASH memory cell through its parallel data bus line, address bus and storage management port, connect LCDs LCD as display unit as LE.The load button of LE or keyboard are connected to the GPIO interface of MSM6050, and the audio codec interface connects peripheral voicefrequency circuit, and the audio frequency input/output function can be provided.Subscriber identification module UIM (User Identity Model) card circuit can be connected directly to the UART interface of MSM6050.The acceleration sensor outputs signals of realization IMU function is imported the GPIO interface of MSM6050 after analog-to-digital conversion, realize that the ZigBee module of wireless sensing function then is connected to the UART interface of MSM6050 through serial ports.The MEMS transducer can be selected acceleration transducer ADXL335 and the gyroscope ADXRS150 of the ANALOG DEVICES of ADI for use, can realize three axial acceleration analyses of X/Y/Z and angular velocity measurement.The ZigBee module can select for use the CC2431 chip of American TI Company to realize; CC2431 is embedded, and C8051 microprocessor, 2.4GHz meet RF transceiver, 128KB FLASH, the 8KB RAM of IEEE802.15.4 standard, realize ZigBee FFD functions of the equipments through in C8051, loading the ZigBee protocol stack.
Equally, select for use the CC2431 chip of American TI Company to be equipped with the hardware embodiment that peripheral circuits such as power supply and clock have just constituted LM again, its embedded C8051 microprocessor loads the ZigBee protocol stack and realizes that ZigBee simplifies function device RFD.
During concrete the realization, LE can also constitute through on the common commercial mobile phone of band GPS positioning function, adding a functional expansion unit, and is as shown in Figure 5.Wherein functional expansion unit is realized inertia measurement IMU and ZigBee function; USB interface through mobile phone or blue tooth interface or infrared interface are communicated by letter with the mobile phone master cpu, in mobile phone, load the running fix application client simultaneously and to the drive software of functional expansion unit.Certainly, this moment, the ZigBee unit also need increase the external interface module in order to realize USB interface or blue tooth interface or infrared interface function.
In the practical application, positioning mark LM is installed on the vehicle or article that needs the location tracking, perhaps wears on one's body the personnel that follow the tracks of in the needs location, in most cases need adopt powered battery, and it is particularly important that miniaturization, low power dissipation design seem.Locating terminal LE then disposes to relevant industries administrative staff, the government functionary of government and volunteer or the like.When the quantity of LE is enough big, just can LE that close on and LM be connected to the orientation management platform through the ZigBee automatic network-building and through cordless communication network whenever and wherever possible.The orientation management platform then can position computing and Position Tracking to each movable LE and LM according to the information that LE reports.
Need before locating terminal LE uses after new UIM card is installed first to obtain the legitimacy mandate through the authentication of register flow path through orientation management platform S102, concrete steps are as shown in Figure 6:
S601:LE powers up startup;
Whether S602:LE detects is unregistered state, if for unregistered state then forward S603 to, otherwise finishes this flow process, changes over to and lands flow process;
S603:LE passes through wireless communication unit access communications network S101, and then establishes a communications link with orientation management platform S102;
S603:LE sends a request for registration to orientation management platform S102, comprising terminal number and UIM card information;
S604: orientation management platform S102 carries out verification to LE information, comprises whether this locating terminal numbering meets rule, whether locating terminal is registered, whether nullified at platform, if verification makes mistakes, finishes register flow path;
S605: orientation management platform S102 carries out verification to the UIM card information, comprises whether the UIM card is opened, whether state available, if verification makes mistakes, finishes register flow path;
S606: orientation management platform S102 carries out logic verify respectively to UIM card and terminal number; Check whether this UIM card is bound with other terminal number; Perhaps whether this terminal number binds with other UIM card, if having above-mentioned binding relationship then remove original binding.
S607: orientation management platform S102 returns registering result according to the checking result to LE, issues access pin, and creates the binding relationship of terminal number and UIM card;
S608: terminal change self login state is registered.
The locating terminal LE that has succeeded in registration also need be through landing the legitimacy of flow verification terminal and UIM card after powering up startup at every turn, guarantees that the terminal can correctly insert the orientation management platform and carry out positioning service smoothly.
Orientation management platform S102 is through issuing the positioning strategy that configuration parameter is controlled LE to the locating terminal LE that has landed.Said positioning strategy confirms according to the positioning service classification of this LE application, the conventional motor pattern of LE and the factors such as operational capability of LE, and positioning strategy comprises the positional parameter that need regularly measure and report in the terminal, regularly measures and time interval of reporting, content such as corresponding change positioning strategy how when motion state is suddenlyd change.Such as using for vehicle positioning; Orientation management platform S102 has write down information such as the cruising velocity interval, daily routines scope of vehicle under this on-vehicle positioning terminal in advance; According to these information and combine the location tracking accuracy to require and the positioning strategy of this LE of LE economize on electricity demand definable following: the LE movement rate of measuring as IUM is during less than 1m/s; LE carried out a GPS in per 10 seconds and measures and reported result; Per 100 milliseconds of samplings are also write down IUM measurement result but are reported (be per 10 seconds report once) behind 100 results of accumulative total, report one time wireless network parameter in per 10 minutes; The LE movement rate of measuring as IUM is during more than or equal to 15m/s; LE per second kind is carried out a GPS and is measured and reported result; Per 10 milliseconds of samplings are also write down IUM measurement result but are reported (being that per second reports once) behind 100 results of accumulative total, report one time wireless network parameter in per 1 minute; When the LE movement rate of IUM measurement is in 1m/s to 15m/s, gradually reduce the LE location survey and the time interval that reports from low to high according to movement rate.Adopt this positioning strategy; The correlation module of LE such as location survey, demonstration, master control, radio communication etc. can be taked economize on electricity measures such as dormancy, shutoff peripheral circuit power supply during twice measurement and report; Significantly reduce the average power consumption of LE; Simultaneously guarantee that again the orientation management platform in time obtains enough locating information, guarantee location and track following precision, guarantee location quality of service LE.
Positioning mark LM adopts the ZigBee technology of low-power consumption to realize the wireless sensing function, and its workflow is as shown in Figure 7:
1) regularly triggering or danger button are pressed and trigger the entering operating state;
2) at first if inspection still in original network, is then skipped next step whether also in original radio sensing network;
3) search for radio sensing network on every side, and insert the radio sensing network that searches according to predefined running parameter;
4) send foregoing " heartbeat " or " alarm " message to superior node, report information such as the identity recognition number of oneself, detected wireless sensing node signal strength signal intensity on every side;
5) get into resting state, get back to the first step after the moment or danger button are pressed up to regularly trigger next time.
The a plurality of LM and the LE that are in the same area consult the netting mesh network automatically according to the radio sensing network agreement; Wherein LM is in the end node position; LE is in routing node or gateway node position, and gateway node will regularly report subordinate's radio sensing network real-time status message to give the location management platform through wireless communication module.Said radio sensing network real-time status message comprises " heartbeat " message that network topology, the observed neighbor node signal strength signal intensity of each node, all end node LM of subordinate report and the information such as corresponding time of this status report.If gateway node is received " alarm " message of subordinate LM node, then be transmitted to the orientation management platform at once in the very first time.The orientation management platform in view of the above according to short-distance wireless real-time positioning technology RTLS calculate relevant LM relatively with the orientation of closing on LE, and and then obtain the position coordinates of these LM.Simultaneously, the orientation management platform also can further be proofreaied and correct the position coordinates of high position precision LE LE on every side in view of the above.
Locating terminal LE also can be provided with a specific button Use of Emergency Alarm;, this specific button promptly gets into alarm status after being pressed; This moment, LE sent alarm information to orientation management platform S102 immediately; Orientation management platform S102 can initiate audio call to this LE after receiving alarm information in the movement locus of following the tracks of this LE; LE is to the automatic answer-back from orientation management platform S102, sets up and keeps this audio call, then by orientation management platform S102 monitors and record is passed back from this LE any acoustic information.Obviously, these help the residing emergency of LE is distinguished and emergency processing from locating terminal LE on-the-spot voice information.
The interaction message that uses in the operation flow between above-mentioned locating terminal LE and the orientation management platform is by the Applied layer interface protocol encapsulation on the predefined SMS of being carried on, TCP or the UDP, and is as shown in Figure 8.TCP wherein and udp port can pre-configured or online modifications number as configurable parameter.Locating terminal LE and orientation management platform S102 through resolve and response from the other side's message, accomplish registration, land authentication, parameter configuration, locating information reports and function such as alarm management.Need to prove; Below only specified the reciprocal process between locating terminal LE and the orientation management platform S102 with the register flow path of LE; For other such as land, parameter configuration, locating information reports and flow process such as alarm all can adopt similar mechanism, give unnecessary details no longer one by one at this.
For the locating information that LE reports for the m time, the handling process of orientation management platform is as shown in Figure 9:
1) the locating information acquisition unit receives the timing reporting message from LE, extracts locating information wherein, comprises GPS location output information, IMU metrical information and wireless network parameter;
2) data processing unit at first carries out preliminary treatment to locating information, for next step location computing is prepared:
A) for GPS location output information (positioning time, longitude, latitude, used satellite number, highly, information such as observed GNSS number of satellite and numbering thereof, position, signal to noise ratio, ground speed, course, ground, date); Need carry out the confidence level assessment to it; Specific practice is following: definition GPS locating information confidence level C_L, it is by number of satellite N_S and satellite-signal signal to noise ratio SN in the output information of GPS location
i, i=1,2 ... n draws according to computes,
SN in the formula
0Be the required satellite-signal snr threshold of GPS receiver right demodulation signal of this LE configuration, unit is dB, and this numerical value is stored in orientation management platform data library unit in advance as the property parameters of LE.
B) calculate the LE instantaneous velocity vector and the course of each sampling instant that is comprised in this reported data according to the IMU measurement data.
C), then confirm serving BS and the adjacent base station that LE is current through the wireless network planning information of storing in advance in the searching database according to wherein pseudo-random code phases biasing coefficient, pilot tone Active Set, pilot tone Candidate Set and pilot tone Neighbor Set data if comprise wireless network parameter in this reporting information.
3) according to the second step preliminary treatment gained data, further position computing, obtain reliable LE position coordinates.
A) adopt habitual Kalman (Kalman) filter structure of industry that the GPS locator data is carried out optimal estimation;
B) carry out dead reckoning (Dead-Reckoning) with the IMU measurement data, promptly instantaneous velocity and the course according to each sampling time point obtains the flight path of LE in this report cycle through integral operation;
C) combine numerical map to estimate the approximate location of LE by LE Current Serving BTS and adjacent base station information; Under the ideal situation for example shown in Figure 9, position and the coverage of LE adjacent base station S901, S902 and S903 through the retrieve data library storage can be judged the common area of coverage S904 that LE is positioned at three base stations; Certainly it is much complicated that actual wireless coverage situation is wanted, but still can obtain the covering of base station near actual conditions through common wireless network planning method, and then estimate the approximate location of LE.Said wireless network planning method comprises according to the topography and landform character of neighboring area, base station sets up radio waves propagation model, utilizes the wireless parameter (hanging height, transmitting power, receiving sensitivity etc. like antenna) of base station and the numerical map of neighboring area to adopt the wireless coverage situation of radio waves propagation model calculation base station neighboring area;
D) Query Database is confirmed the type of LE and current motor pattern, and it is subsequent use to transfer LE athletic posture and track data before;
E) it is subsequent use that Query Database is transferred the numerical map of LE peripheral region;
F) adopt information fusion technology that the above-mentioned locating information that a)-e) obtains is carried out integrated treatment,, comprise following measure in the hope of obtaining the location estimation of global optimum:
I. as GPS locating information confidence level C_L＜C_L
0The time, give up the GPS locating information, directly adopt the dead reckoning result, start dead reckoning navigation timer T simultaneously, as T＞T
0The time, send ALM; Otherwise adopt the Kalman filtering technique to a), b) output information carries out information fusion and handles, and obtains the optimal estimation of LE positional information; Said C_L
0And T
0Be the predefined threshold value of orientation management platform, and can revise at any time the requirement and the practical effect of precision according to corresponding positioning service;
Ii. the LE positional information that obtains for i; Utilize numerical map to carry out matching operation; Be about to LE current motor pattern, athletic posture before, track data, course variation and desired location and near map feature and carry out correlation relatively; When the flight path of LE changes when relevant with the variation of vector road in the numerical map; So just can utilize path coordinate information in the numerical map further to revise current location and the flight path of LE, particularly move to the crossing when turning round along road as LE, map-matching algorithm can be proofreaied and correct the position coordinates of LE well;
Iii. confirm the positional information of LE and by c) consistency of the LE approximate location that obtains;
G) finish this flow process behind the output positioning result, comprise that the result is delivered to IMU dead reckoning unit carries out feedback compensation, so that its systematic error along with time integral is clamped down in tolerable scope; LE historical movement speed, flight path and the attitude of storehouse record Update Information.
The orientation management platform will carry out following processing after receiving the radio sensing network status message that gateway LE sends:
1) check the positioning states of all LE in this radio sensing network, relatively their GPS locating information confidence level C_L selects wherein confidence level C_L＞C_L
1LE as the position correction source of this radio sensing network, wherein C_L
1Be the predefined threshold value of orientation management platform, can revise at any time the requirement and the practical effect of precision according to corresponding positioning service;
2) searching database accesses the attribute data of calibration source LE, comprises distance that its current location, its wireless sensing unit can effectively be surveyed and wireless sensing unit antenna directivity parameter etc.;
3) information that reports according to gateway LE and calibration source LE attribute information successively the LE that closes on of calculation correction source LE with respect to the distance of calibration source LE; This calculating can be carried out according to the propagation model of electric wave at free space, draws through triangulation technique then and closes on LE in the corresponding time t of status report, the position in the moment;
4) searching database accesses and is corrected the nearest motion trace data of LE, to the corresponding time t of status report
sProofread and correct LE position constantly, and upgrade t based on its IMU historical data through dead reckoning again
sUp to current LE flight path, will proofread and correct with result of calculation and be updated to database constantly;
5) calculate the position coordinates that obtains LM in this radio sensing network according to the identical method of step 3).
Description through the foregoing description can find out that the characteristics of system of the present invention are: the orientation management platform connects a plurality of locating terminal LE through communication network and through LE and then connect a plurality of positioning mark LM; LE possesses gps position measurement and IMU measurement function, and wireless sensing function and communication function; LM possesses the wireless sensing function; Preferably; Above-mentioned communication function is based on mobile communications network and technology; Above-mentioned communication network refers to mobile communications network, like GSM, GPRS, EDGE, WCDMA, TD-SCDMA, CDMA2000 1x, CDMA2000 EVDO network and based on above-mentioned mobile network's evolvement network.LE regularly reports the orientation management platform with the location survey data according to predefined positioning strategy, by management platform integrated treatment GPS, IMU and wireless network data and combine the numerical map matching technique to obtain the optimal estimation of LE position.LE that closes on and LM form netted radio sensing network automatically through wireless sensing unit; Gateway LE timing is with the state reporting orientation management platform of this network; The orientation management platform can obtain the position coordinates of LM according to the information calculations that gateway LE reports, and can utilize the high LE of allocation reliability to proofread and correct the position coordinates of other LE.This shows that the location Calculation work of LE is mainly carried out in management platform, LE only is responsible for GPS and IMU and measures and the reporting measurement data, has so just simplified the data processing requirement of LE greatly, helps reducing the power consumption of LE.Further; Can be according to the different positioning strategy of LE motion state Dynamic Definition; LE location survey, the time interval that reports and its movement velocity are associated; Movement velocity raises and then to reduce location survey, report the time interval, otherwise then increases location survey, report the time interval, at twice location survey, report during LE can be through dormancy, turn-off measure saving power consumption such as peripheral circuit power supply; So both guaranteed the location follow-up service quality of orientation management platform, thereby the operating time that reduces LE is again as much as possible reduced its average power consumption to LE.And LM adopts the ZigBee technology of low-power consumption, only needs regularly to insert the radio sensing network that closes on and report related news, is in resting state in the time of most of, therefore can power consumption be dropped to very low degree.
Can the value-added service of multiple location be provided to the user through the embodiment of the present invention device; Can formulate special service strategy to corresponding LM or LE group according to demand for services orientation management platform; For example define the legal scope of activities of LM or LE, normal motion state; Exceed preset normal range (NR) or its motion state and exceed normal range (NR) and can send warning information in case management platform monitors the position of LM or LE, thereby whether management platform can also there be the trend of the alarm of triggering to determine whether to send in advance early warning information with current state prediction LM or LE according to the flight path of LM or LE to the user.
Do not depart from the scope of the present invention and conceive, above-mentioned positioning mark device can be made multiple change and distortion, and much changing is conspicuous for those of ordinary skill in the art.Description of the invention provides for example, is not the disclosed form that exhaustively perhaps limit the invention to.Selecting and describing embodiment is for better explanation principle of the present invention and practical application, thereby and makes those of ordinary skill in the art can understand the various embodiment that have various modifications that the present invention's design is suitable for special-purpose.Scope of the present invention is confirmed by appended claims.
Claims (6)
1. a running fix identifies LM, it is characterized in that said LM comprises:
Wireless sensing unit adopts short-distance wireless communication technology to survey radio sensing network node on every side, inserts radio sensing network according to the radio sensing network agreement automatically;
Main control unit is accomplished initialization, parameter configuration, the working state monitoring control of LM, is connected to radio sensing network and the primary network station node transmit status message that regularly makes progress through wireless sensing unit.
2. positioning mark LM according to claim 1 is characterized in that, the wireless sensing unit of said LM adopts the ZigBee wireless technology, is configured to simplify function device RFD, inserts the radio sensing network that closes on as end node.
3. positioning mark LM according to claim 1 and 2; It is characterized in that; The configuration parameter of said LM comprises identity recognition number ID-2 and radio sensing network ID, node ID, cipher mode, key, mode of operation, and these parameters are through local configured port configuration and can be by online modification after inserting radio sensing network.
4. according to each described positioning mark LM of claim 1-3; It is characterized in that; The primary network station node that regularly makes progress behind the radio sensing network that said LM access closes on sends the normal condition report message; Comprising self identity recognition number ID-2, close on signal strength signal intensity and node ID and self work state information that network is put successively, said work state information comprises self residual electric weight and local alarm information.
5. according to each described positioning mark LM of claim 1-4; It is characterized in that; Said LM can trigger upwards that the primary network station node sends the alarm status report message immediately by specific button, comprising self identity recognition number ID-2, the signal strength signal intensity of closing on network node and node ID information thereof.
6. according to each described positioning mark LM of claim 1-5, it is characterized in that the workflow of said LM is following:
A) change operating state by timing mechanism triggering or specific button triggering over to from resting state;
B) at first if inspection still in original network, is then skipped next step C whether also in original radio sensing network);
C) search for radio sensing network on every side, and insert the radio sensing network that searches according to predefined running parameter;
D) send normal condition report message or alarm status report message to superior node;
E) get into resting state, get back to steps A after the moment or danger button are pressed) up to regularly trigger next time.
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Application publication date: 20120523 |