CN103809187A - Method for sharing satellite positioning data through wireless sensor network - Google Patents
Method for sharing satellite positioning data through wireless sensor network Download PDFInfo
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- CN103809187A CN103809187A CN201410057119.2A CN201410057119A CN103809187A CN 103809187 A CN103809187 A CN 103809187A CN 201410057119 A CN201410057119 A CN 201410057119A CN 103809187 A CN103809187 A CN 103809187A
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- location data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/05—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing aiding data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- Radar, Positioning & Navigation (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a method for sharing satellite positioning data through a wireless sensor network. The method includes the steps of establishing at least one wireless sensor network through a plurality of positioning devices; if at least one of the positioning devices receives satellite positioning data, sending out a broadcast of the satellite positioning data through the positioning device serving as a main device, and allowing other positioning devices to join the wireless sensor network; enabling other positioning devices needing to obtaining the satellite positioning data to join the wireless sensor network and configuring the positioning devices into auxiliary devices of the main device; sending the satellite positioning data to the auxiliary devices through the main device. By means of the characteristic of flexibility of the wireless sensor network, the method for sharing the satellite positioning data through the wireless sensor network can share the satellite positioning data in the coverage range of the wireless sensor network, and fundamentally solves the problem of poor satellite positioning effects indoors.
Description
Technical field
The present invention relates to a kind of method of improving satnav effect, relate in particular to one and utilize wireless sense network to share satellite location data, thereby improve the method for indoor satnav effect, belong to technical field of navigation and positioning.
Background technology
Satnav is the technology that uses satellite object to be carried out to radiolocation.At present, ripe global position system comprises the GPS(Global Positioning System of the U.S., GPS) and Chinese dipper system etc.In addition, the global position system of oneself is also being developed in Russia and Europe.Utilize global position system, can be in the world round-the-clockly for terrain object provides information, thus determine the parameters such as exact position on the ground of this target, speed, operation aspect.
But satnav is a kind of radiolocation technology in essence.Be easy to be absorbed and reflection by buildings etc. for realizing the radio signal of location, be not easy to receive good satellite positioning signal in inside such as high building, factory building, automobiles, therefore mobile satellite location equipment is adapted at outdoor application.In indoor environment, due to ambient conditions complexity, radio signal decay is serious, and satnav is also inapplicable.
Along with the fast development of data service and multimedia service, the demand of people's location information increases day by day, particularly under the indoor environment of relative complex, as market, library, parking lot, mine etc., the position that often need to obtain rapidly and accurately user or equipment.In order to solve the problem of outdoor positioning navigation " last kilometer ", about research institution has carried out a large amount of research at indoor positioning technical elements, for example assistant GPS based on mobile communications network (A-GPS) location, pseudo satellite, pseudolite (Pseudolite) location, location based on wireless lan (wlan) or wireless sense network, ultra-broadband radio location, infrared location, light track and localization, computer vision location, ultrasound wave location etc.These technology are take navigator fix for example, as special or main application, pseudolite positioning a bit; Some is mainly used in communication, but positioning service, such as WLAN (wireless local area network) location etc. also can be provided simultaneously.
ZigBee is a kind of sensor network technology based on IEEE802.15.4 agreement, is mainly used in apart from carrying out data transmission between various electronic equipments short, low in energy consumption and that transfer rate is not high.This sensor network technology is particularly suitable for typically there is periodic data, the application scenario of intermittent data and low reaction time data transmission.For example, in the Chinese patent application that is CN103117034A at application publication number, a kind of travel navigation system and method based on GPS and ZigBee triggering is disclosed.In the time that gps satellite signal intensity meets navigation needs, carry out navigator fix by GPS module; In the time that gps satellite signal intensity cannot meet navigation needs, produce trigger pip, and be switched to ZigBee module, set up and be arranged on the wireless connections between the ZigBee pointing device at sight spot by ZigBee module, obtain current positional information from ZigBee pointing device, utilize this positional information to navigate.This technical scheme has solved that gps signal intensity is poor, navigating instrument be cannot search satellite-signal time, cannot carry out accurate location navigation, the problem easily meeting accident.
Summary of the invention
For the existing deficiency of prior art, technical matters to be solved by this invention is to provide a kind of method of utilizing wireless sense network to share satellite location data.
For realizing above-mentioned goal of the invention, the present invention adopts following technical scheme:
Utilize wireless sense network to share a method for satellite location data, comprise the steps:
Set up at least one wireless sense network by multiple positioning equipments;
If at least one positioning equipment in described wireless sense network receives satellite location data, outwards send satellite location data broadcast as parent device, and allow other positioning equipment to add this wireless sense network;
Other positioning equipment that need to obtain satellite location data adds this wireless sense network, and is configured to the subset of this parent device;
Described parent device sends satellite location data to each described subset.
Wherein more preferably, if the positioning equipment in described wireless sense network does not receive satellite location data, outwards send satellite location data request.
Wherein more preferably, added the positioning equipment of described wireless sense network to be directly configured to the subset of described parent device.
Wherein more preferably, if all positioning equipments in described wireless sense network all do not receive satellite location data, at least one positioning equipment in described wireless sense network sends satellite location data request to other wireless sense network.
Wherein more preferably, described positioning equipment sends after satellite location data request to other wireless sense network, and described satellite location data is sent to described wireless sense network by the wireless sense network of receiving described satellite location data request and preserving satellite location data.
Wherein more preferably, in the time that the described wireless sense network of the described satellite location data request of transmission is received multiple feedback, signal quality to the packet of receiving compares, and the satellite location data using the satellite location data in packet best signal quality as oneself, sends to subset.
Wherein more preferably, all subsets that can receive satellite location data send own satellite location data to parent device, the satellite location data that described parent device reservation precision is the highest, the time is up-to-date.
Wherein more preferably, described positioning equipment at least comprises ZigBee module and GPS module.
The present invention utilizes the characteristic of wireless sense network networking flexibility, can in the coverage of wireless sense network, share satellite location data, has fundamentally solved the problem of satnav poor effect under indoor environment.
Accompanying drawing explanation
Fig. 1 is the method flow diagram that utilizes wireless sense network to share satellite location data provided by the present invention;
Fig. 2 is application scenarios schematic diagram of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
As shown in Figure 1, the invention provides a kind of method of utilizing wireless sense network to share satellite location data, comprise the steps: to set up at least one wireless sense network by multiple positioning equipments; For each positioning equipment in this wireless sense network, if receive satellite location data, outwards send satellite location data broadcast as parent device, and opening time window is so that other positioning equipment adds this wireless sense network, if do not receive satellite location data, outwards send satellite location data request; The positioning equipment that need to obtain satellite location data adds in this wireless sense network, and is configured to the subset (having added the positioning equipment of this wireless sense network to be directly configured to the subset of this parent device) of this parent device; The positioning equipment that receives satellite location data does not receive the positioning equipment transmission satellite location data of satellite location data to other, thereby realizes sharing satellite location data.Each concrete steps of said method are launched to detailed explanation below.
Wireless sense network is the wireless network being made up of in the mode of self-organization and multi-hop a large amount of static or mobile sensors, cover the information of perceived object in geographic area with perception collaboratively, collection, processing and transmission network, and these information send to the owner of network the most at last.ZigBee and RFID are current two kinds of main wireless sense network networking modes.In embodiment hereinafter described, mainly as an example of Zigbee networking example, method provided by the present invention is elaborated.But this part technology contents is also same being suitable for for other wireless sense network networking modes such as RFID, does not just understand specifically at this.
With the carrier of positioning equipment when open field and the indoor moving, positioning equipment can receive satellite location data well at outdoor open field, blocking or reflecting and do not receive satellite location data due to objects such as building walls of indoor positioning equipment.In order fundamentally to address this problem, the positioning equipment in the present invention all includes ZigBee module and GPS module (or Big Dipper terminal module etc.).ZigBee networking mode, according to IEEE802.15.4 agreement, mutually coordinates to realize communication between thousands of small ZigBee modules.These ZigBee modules only need little energy, by radiowave, data are passed to another ZigBee module from a ZigBee module, so the communication efficiency between them is very high in the mode of relay.
As shown in Figure 2, be distributed in indoor or outdoor multiple positioning equipments and can set up multiple small-sized ZigBee-networks by ZigBee networking mode.This Zigbee network preferably adopts the wireless signal of 2.4GHz, can be penetrated into a certain extent house and automotive interior.Any one in above-mentioned positioning equipment, for example that the positioning equipment that is positioned at open field receives after satellite location data, if near other positioning equipment that does not receive satellite location data of (tens meters to rice up to a hundred) also needs to obtain this satellite location data, outwards send satellite location data request.Or the positioning equipment that receives satellite location data outwards sends satellite location data broadcast, initiatively shares this satellite location data.This positioning equipment that receives satellite location data is removed the restriction that adds Zigbee network, for example opening time window, the positioning equipment that near other do not receive satellite location data adds in this Zigbee network at positioning equipment place that receives satellite location data.The positioning equipment that receives satellite location data newly adds the positioning equipment of Zigbee network to be configured to these, and shares satellite location data in this Zigbee network.
When this positioning equipment that receives satellite location data is configured other positioning equipment, this positioning equipment that receives satellite location data is configured to parent device, the positioning equipment that has added Zigbee network and do not received satellite location data is configured to the subset of this parent device, and is that subset distributes address.In one embodiment of the invention, because the network address of ZigBee is 16 system numbers of 2 bytes, from 0x0000 to 0xFFF7.When this positioning equipment that receives satellite location data distributes address to other positioning equipment that does not receive satellite location data, the address of parent device is fixed as to 0x0000, and the address of subset is by parent device Random assignment and guarantee can not repeat in same Zigbee network.
Parent device configures subset complete and distributes behind address, and now subset can move freely and roam in Zigbee network.Because Zigbee network has the characteristic of MANET, subset can move freely in each place, does not need fixed installation, thereby reduces system cost.Parent device is shared satellite location data in Zigbee network, and these subsets all unify to receive satellite location data.Because parent device and subset are all in same Zigbee network, parent device sends satellite location data to subset.The all subsets that can receive satellite location data also can be to the satellite location data of parent device transmission oneself, and parent device can retain the satellite location data that precision is the highest, the time is up-to-date.If some subset can not receive satellite location data, will share data to parent device request, parent device can be issued these subsets by the satellite location data of reservation.In addition, any positioning equipment in a Zigbee network receives after satellite location data, can also send satellite location data to the positioning equipment in other Zigbee network.Like this, adjoining Zigbee network also can be shared satellite location data.
When some positioning equipments need to receive satellite location data, if all positioning equipments that do not receive in satellite location data and current Zigbee network all do not receive satellite location data, at least one positioning equipment in current Zigbee network sends request to other adjacent Zigbee network, shares satellite location data.Detailed process is as follows: if all positioning equipments in a Zigbee network all can not receive satellite location data, the parent device of this Zigbee network can send broadcast (being satellite location data request) between a net, near all other Zigbee networks issuing, near other Zigbee network request is shared satellite location data.If any one Zigbee network near other Zigbee network has been preserved satellite location data and received between the net of asking to share satellite location data and broadcast, the Zigbee network of having preserved satellite location data can share to the satellite location data of oneself and send the Zigbee network of sharing satellite location data request.In the time that the Zigbee network of transmission satellite location data request is received multiple feedback, can compare the signal quality of the packet of receiving, satellite location data using the satellite location data in packet best signal quality as oneself, and this satellite location data is issued to subset, thereby reach the object of sharing satellite location data between different Zigbee networks.So, even if the communication distance of two positioning equipments reaches tens meters, can reach by Zigbee network equally the object of the shared satellite location data in indoor and outdoor.
In sum, utilize the present invention normal the positioning equipment at the open field satellite location data receiving can be shared to other positioning equipment by local wireless sense network, positioning equipment in the coverage of wireless sense network can be shared same satellite location data, thereby has fundamentally solved the problem of satnav poor effect under indoor environment.
Above the method for utilizing wireless sense network to share satellite location data provided by the present invention is had been described in detail.For one of ordinary skill in the art, any apparent change of under the prerequisite that does not deviate from connotation of the present invention, it being done, all will form infringement of patent right of the present invention, will bear corresponding legal liabilities.
Claims (9)
1. utilize wireless sense network to share a method for satellite location data, it is characterized in that comprising the steps:
Set up at least one wireless sense network by multiple positioning equipments;
If at least one positioning equipment in described wireless sense network receives satellite location data, outwards send satellite location data broadcast as parent device, and allow other positioning equipment to add this wireless sense network;
Other positioning equipment that need to obtain satellite location data adds this wireless sense network, and is configured to the subset of this parent device;
Described parent device sends satellite location data to each described subset.
2. the method for utilizing wireless sense network to share satellite location data as claimed in claim 1, is characterized in that,
If the positioning equipment in described wireless sense network does not receive satellite location data, outwards send satellite location data request.
3. the method for utilizing wireless sense network to share satellite location data as claimed in claim 1, is characterized in that,
Add the positioning equipment of described wireless sense network to be directly configured to the subset of described parent device.
4. the method for utilizing wireless sense network to share satellite location data as claimed in claim 1, is characterized in that,
If all positioning equipments in described wireless sense network all do not receive satellite location data, at least one positioning equipment in described wireless sense network sends satellite location data request to other wireless sense network.
5. the method for utilizing wireless sense network to share satellite location data as claimed in claim 4, is characterized in that,
Described positioning equipment sends after satellite location data request to other wireless sense network, and described satellite location data is sent to described wireless sense network by the wireless sense network of receiving described satellite location data request and preserving satellite location data.
6. the method for utilizing wireless sense network to share satellite location data as claimed in claim 5, is characterized in that,
In the time that the described wireless sense network of the described satellite location data request of transmission is received multiple feedback, signal quality to the packet of receiving compares, satellite location data using the satellite location data in packet best signal quality as oneself, sends to subset.
7. the method for utilizing wireless sense network to share satellite location data as claimed in claim 1, is characterized in that,
The all subsets that can receive satellite location data send own satellite location data to parent device, the satellite location data that described parent device reservation precision is the highest, the time is up-to-date.
8. the method for utilizing wireless sense network to share satellite location data as claimed in claim 1, is characterized in that,
Described positioning equipment at least comprises ZigBee module and GPS module.
9. the method for utilizing wireless sense network to share satellite location data as claimed in claim 8, while it is characterized in that described wireless sense network is Zigbee network, the address of described parent device is fixed as 0x0000.
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| CN201410057119.2A CN103809187A (en) | 2014-02-19 | 2014-02-19 | Method for sharing satellite positioning data through wireless sensor network |
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| CN201410057119.2A CN103809187A (en) | 2014-02-19 | 2014-02-19 | Method for sharing satellite positioning data through wireless sensor network |
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| CN105445770A (en) * | 2014-08-28 | 2016-03-30 | 国际商业机器公司 | Positioning method of positioning device for satellite positioning system and positioning device |
| CN106125115A (en) * | 2016-08-30 | 2016-11-16 | 苏州真趣信息科技有限公司 | A kind of indoor and outdoor localization method of low-power consumption |
| CN106707319A (en) * | 2015-07-24 | 2017-05-24 | 中兴通讯股份有限公司 | Positioning method and terminal device |
| CN110234087A (en) * | 2019-06-18 | 2019-09-13 | 深圳逗号互联科技有限公司 | The logistics retroactive method of shareable data |
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Application publication date: 20140521 |