CN104297725A - Terminal positioning method and system - Google Patents

Abstract

The invention provides a terminal positioning method and system. As the heights of a first selected router and a second selected router are equal to the height of a terminal, the spatial three-dimensional coordinates are simplified into two-dimensional planar coordinates, and the algorithm is made easy. An upper computer works out a first measurement distance and a second measurement distance through an RSSI distance measurement algorithm and determines the to-be-selected coordinates of the terminal in combination with the coordinates of the first router and the coordinates of the second router, and the final coordinates are determined according to the to-be-selected coordinates of the terminal. The final coordinates of the terminal are calculated through the algorithm, the algorithm is simple, the phenomenon that positioning fails is avoided, the positioning result is the coordinates of one point, and accuracy is high. Meanwhile, the process of selecting the first router and the second router is executed by the upper computer, the complexity of the terminal is lowered, the energy consumption of the terminal is reduced, and the continuous working time of the terminal positioning system is prolonged.

Description

Method of locating terminal and system

Technical field

The present invention relates to location technology, be specifically related to a kind of method of locating terminal and system.

Background technology

Along with the development of wireless communication technology, increasing occasion all needs location technology.At present, common location technology has: GPS location technology, infrared confirming orientation technology, RFID location technology, ultrasound wave location technology and ZigBee location technology etc.

Chinese patent literature CN104080053A discloses a kind of falling over of human body detection and location system based on ZigBee technology, this positioning system comprises: some mobile tag nodes, multiple router node, coordinator node and long distance monitoring platform, wherein, mobile tag node collect its with around RSSI value between the router node that communicates, and the RSSI value collected is sorted, selects the ID of the router node of three wherein maximum values and three maximal values to be sent to nearest router node as locating information; Each router node is arranged on the fixed position in environment for use, is connected respectively with mobile tag node and coordinator node, for the locating information received is sent to coordinator node; Coordinator node is connected with each router node and long distance monitoring platform respectively, for initiating ZigBee-network, setup parameter, and the locating information received is sent to long distance monitoring platform; Long distance monitoring platform for receiving locating information, and calculates this mobile tag node particular location in the environment according to locating information.Long distance monitoring platform adopts three limit location algorithms when positioning mobile tag node, that is: utilize more than three and three distances between known point and unknown point to calculate the two-dimensional coordinate of unknown point, if three coordinate nodes are to the radius R 1 of unknown node, R2, R3, then the intersection point of these three radiuses is exactly the position coordinates of unknown node, and radius can calculate according to the RSSI value between unknown node and reference mode.The disclosed falling over of human body detection and location system based on ZigBee technology of above-mentioned patent documentation, mobile tag node need to collect with around RSSI value between the router node that communicates, to go forward side by side line ordering, which increase the complexity of mobile tag node, increase the energy consumption of mobile node label, be unfavorable for the time of the sustainable work of prolongation system; Simultaneously, due to ZigBee signal, in transmitting procedure, inevitably there is signal weak, and unknown node exists error to the radius of three coordinate nodes, and cannot ensure that three radiuses one are sent on some fixing points surely, if three radiuses are without intersection point, then can cause locating unsuccessfully.

Summary of the invention

For this reason, to be solved by this invention is that existing positioning system easily occurs locating failed technical matters, and for solving the problems of the technologies described above, the technical solution used in the present invention is as follows:

A kind of method of locating terminal, comprises the steps:

Terminal sends the signal of predetermined power, and described signal is effectively received by the router of this terminal surrounding and sends to host computer;

The router identical with terminal height that the size of the described signal intensity that described host computer receives according to router selects two signal intensities maximum is as the first router and the second router;

The power of the signal that described host computer receives according to described the first router and described the second router, by RSSI location algorithm, calculate the first measuring distance between described the first router and described terminal, the second measuring distance between described the second router and described terminal;

The coordinate to be selected of described terminal is determined according to described first measuring distance, the second measuring distance and the coordinate of the first router, the coordinate of the second router;

Coordinate to be selected according to described terminal determines final coordinate.

Described method of locating terminal, according to the process of the coordinate to be selected of the coordinate of described first measuring distance, the second measuring distance and the first router, the coordinate determination terminal of the second router, comprising:

In setting plane, certain point is true origin, and the position at the first router place is A point, and the coordinate of A is (a, 0), and the position at the second router place is B point, and the coordinate of B is (b, 0), wherein, and b > a>=0; Described first measuring distance is L ₁, described second measuring distance L ₂; The position at described terminal place is Z point, and the coordinate of Z point is (x, y), then have:

$\left\{\begin{array}{c}{(x-a)}^2+y^2={L_1}^2\\ {(x-b)}^2+y^2={L_2}^2\end{array}\right.$

Work as L ₁+ L ₂during>=b-a, system of equations has solution, solves this system of equations, then draw the coordinate to be selected of described terminal.

Described method of locating terminal, the process of the coordinate to be selected of the coordinate of described first measuring distance, the second measuring distance and the first router, the coordinate determination terminal of the second router, comprising:

In setting plane, certain point is true origin, and the position at the first router place is A point, and the coordinate of A is (a, 0), and the position at the second router place is B point, and the coordinate of B is (b, 0), wherein, and b > a>=0; Described first measuring distance is L ₁, described second measuring distance L ₂; The position at described terminal place is Z point, and the coordinate of Z point is (x, y), then have:

$\left\{\begin{array}{c}{(x-a)}^2+y^2={L_1}^2\\ {(x-b)}^2+y^2={L_2}^2\end{array}\right.$

Work as L ₁+ L ₂during>=b-a, system of equations has solution, solves this system of equations, then draw the coordinate to be selected of described terminal;

Work as L ₁+ L ₂during < b-a, system of equations without solution, then with default positive number d for step value is to L ₁and L ₂carry out superposition, namely by L ₁ ^/and L ₂ ^/substitute into above-mentioned system of equations; If L ₁ ^/+ L ₂ ^/>=b-a, system of equations has solution, solves this system of equations, then draw the coordinate to be selected of described terminal; If L ₁ ^/+ L ₂ ^/< b-a, system of equations without solution, then continues with default positive number d as step value pair with carry out superposition until system of equations has solution, draw the coordinate to be selected of described terminal.

Described method of locating terminal, determine the step of final coordinate according to the coordinate to be selected of described terminal, comprising:

If coordinate to be selected is unique, then described coordinate to be selected is as final coordinate;

If coordinate to be selected is not unique, then also comprise the steps:

Choose third router, the height of described third router is identical with the height of described the first router, described the second router, described third router is positioned at outside the straight line at described the first router and the second router place, and described third router effectively can receive the signal that described terminal sends;

The power of the signal that described host computer receives according to described third router, by RSSI location algorithm, calculates the 3rd measuring distance between described third router and described terminal;

Calculate the distance of described each coordinate to be selected and described third router according to the coordinate of third router, and compare with described 3rd measuring distance, select immediate coordinate to be selected as final coordinate.

A kind of Terminal Position Location System, comprising:

Terminal, described terminal sends the signal of predetermined power;

At least two routers, described router receives the signal that described terminal sends, and the described signal received and self unique corresponding identification code is packed and be sent to host computer;

Host computer, comprises further:

Router selects module, and the router identical with terminal height that the size for the described signal intensity received according to described router selects two signal intensities maximum is as the first router and the second router;

Measuring distance computing module, for the power of signal received according to described the first router and described the second router, by RSSI location algorithm, calculate the first measuring distance between described the first router and described terminal, the second measuring distance between described the second router and described terminal;

Coordinate calculation module to be selected, for determining the coordinate to be selected of described terminal according to described first measuring distance, the second measuring distance and the coordinate of the first router, the coordinate of the second router;

Final coordinate calculation module, determines final coordinate for the coordinate to be selected according to described terminal.Described Terminal Position Location System, described coordinate calculation module to be selected comprises further:

System of equations sets up submodule, and be true origin for setting certain point in plane, the position at the first router place is A point, and the coordinate of A is (a, 0), the position at the second router place is B point, and the coordinate of B is (b, 0), wherein, b > a>=0; Described first measuring distance is L ₁, described second measuring distance L ₂; The position at described terminal place is Z point, and the coordinate of Z point is (x, y), then have:

$\left\{\begin{array}{c}{(x-a)}^2+y^2={L_1}^2\\ {(x-b)}^2+y^2={L_2}^2\end{array}\right.;$

First solving equations submodule, for judging L ₁+ L ₂with the size of b-a, work as L ₁+ L ₂during>=b-a, system of equations has solution, solves this system of equations, then draw the coordinate to be selected of described terminal.

Described Terminal Position Location System, described coordinate calculation module to be selected comprises further:

Second solving equations submodule, for working as L ₁+ L ₂during < b-a, with default positive number d for step value is to L ₁and L ₂carry out superposition, namely then:

$\left\{\begin{array}{c}{(x-a)}^2+y^2={\left({L_1}^{/}\right)}^2\\ {(x-b)}^2+y^2={\left({L_2}^{/}\right)}^2\end{array}\right.$

If L ₁ ^/+ L ₂ ^/>=b-a, system of equations has solution, solves this system of equations, then draw the coordinate to be selected of described terminal; If L ₁ ^/+ L ₂ ^/< b-a, system of equations without solution, then continues with default positive number d as step value pair with carry out superposition until system of equations has solution, draw the coordinate to be selected of described terminal.

Described Terminal Position Location System, described final coordinate calculation module also comprises: the first final coordinate calculating sub module, and for judging that whether described coordinate to be selected is unique, if described coordinate to be selected is unique, then described coordinate to be selected is as final coordinate.

Described Terminal Position Location System, also comprises:

Third router, the height of described third router is identical with the height of described the first router, described the second router, described third router is positioned at outside the straight line at described the first router and the second router place, and described third router effectively can receive the signal that described terminal sends;

Described host computer also comprises: the 3rd measuring distance computing module, for the power of signal received according to described third router, by RSSI location algorithm, calculates the 3rd measuring distance between described third router and described terminal;

Described final coordinate calculation module also comprises: the second final coordinate calculating sub module, for when described coordinate to be selected is not unique, the distance of described each coordinate to be selected and described third router is calculated according to the coordinate of third router, and compare with described 3rd measuring distance, select immediate coordinate to be selected as final coordinate.

Described Terminal Position Location System, described terminal also comprises transmission signal time and selects module, and for sending the signal of predetermined power every Preset Time, described Preset Time is 5S.

Described Terminal Position Location System, described terminal also comprises alarm module, for sending alerting signal to described host computer.

Described Terminal Position Location System, described router also comprises sound and light alarm module, and the alarm command sent for receiving host computer is reported to the police.

A kind of method of locating terminal, is characterized in that, comprising:

The router identical with terminal height that the size of the signal intensity that the terminal received according to router sends selects two signal intensities maximum is as the first router and the second router;

According to the power of the signal that the first router and the second router receive, by RSSI location algorithm, calculate the first measuring distance between described the first router and terminal, the second measuring distance between described the second router and terminal;

According to the coordinate to be selected of the coordinate of described first measuring distance, the second measuring distance and the first router, the coordinate determination terminal of the second router;

Coordinate to be selected according to described terminal determines final coordinate.

For a host computer for terminal positioning, comprising:

Router selects module, and the router identical with terminal height that the size of the signal intensity that the terminal for receiving according to router sends selects two signal intensities maximum is as the first router and the second router;

Measuring distance computing module, for the power of the signal according to the first router and the second router reception, by RSSI location algorithm, calculate the first measuring distance between described the first router and terminal, the second measuring distance between described the second router and terminal;

Coordinate calculation module to be selected, for determining the coordinate to be selected of described terminal according to described first measuring distance, the second measuring distance and the coordinate of the first router, the coordinate of the second router;

Final coordinate calculation module, determines final coordinate for the coordinate to be selected according to described terminal.

Technique scheme of the present invention has the following advantages compared to existing technology:

(1) a kind of method of locating terminal provided by the invention and system, because the first router chosen is identical with the height of terminal with the height of the second router, has been simplified to two dimensional surface coordinate by 3 d space coordinate, has made algorithm simple; Host computer calculates the first measuring distance and the second measuring distance by RSSI location algorithm, then determines the coordinate to be selected of described terminal in conjunction with the coordinate of the first router, the coordinate of the second router; Finally determine final coordinate according to the coordinate to be selected of described terminal.By the final coordinate of this kind of algorithm computing terminal, the situation that algorithm simply there will not be location failed, and the result of location is exactly the coordinate of a point, accuracy is high; Meanwhile, because the process choosing the first router and the second router is performed by host computer, reduce the complexity of terminal, reduce the energy consumption of terminal, be conducive to the time of the sustainable work extending Terminal Position Location System.

(2) a kind of host computer for terminal positioning provided by the invention and localization method, because the first router chosen is identical with the height of terminal with the height of the second router, 3 d space coordinate is simplified to two dimensional surface coordinate, makes algorithm simple; Calculate the first measuring distance and the second measuring distance by RSSI location algorithm, then determine the coordinate to be selected of described terminal in conjunction with the coordinate of the first router, the coordinate of the second router; Finally determine final coordinate according to the coordinate to be selected of described terminal.By the final coordinate of this kind of algorithm computing terminal, the situation that algorithm simply there will not be location failed, and the result of location is exactly the coordinate of a point, accuracy is high.

Accompanying drawing explanation

In order to make content of the present invention be more likely to be clearly understood, below according to a particular embodiment of the invention and by reference to the accompanying drawings, the present invention is further detailed explanation, wherein

Fig. 1 is the process flow diagram of the method for locating terminal according to the embodiment of the present invention;

Fig. 2 A-2B is the schematic diagram determining coordinate to be selected in the method for locating terminal according to the embodiment of the present invention;

Fig. 3 is the schematic diagram determining final coordinate in the method for locating terminal according to the embodiment of the present invention;

Fig. 4 is the schematic diagram of the Terminal Position Location System according to the embodiment of the present invention;

Fig. 5 is the schematic diagram of coordinate calculation module to be selected in the Terminal Position Location System according to the embodiment of the present invention;

Fig. 6 is the schematic diagram of another coordinate calculation module to be selected in the Terminal Position Location System according to the embodiment of the present invention;

Fig. 7 is the process flow diagram of method of locating terminal according to another embodiment of the present invention;

Fig. 8 is the block diagram of Terminal Position Location System according to another embodiment of the present invention.

Embodiment

Embodiment 1

A kind of method of locating terminal, for positioning terminal.At present, along with cargo transport on water and naval strategy need, volume and the scale of the marine freighter in various countries and warship are increasing, and the space of its inner cabin and layout are also increasingly sophisticated.In order to realize the safety patrol inspection of operating personnel in cabin to ensure the safety of operating personnel in cabin, first need to realize the location to operating personnel in cabin.When locating, terminal can be worn on enter cabin inside operating personnel with it, and place plural router inside each cabin; Described terminal sends signal, and realize communicating by router and host computer, host computer is positioned terminal by location algorithm, and then located the position of operating personnel in cabin.

As shown in Figure 1, method of locating terminal provided by the invention, comprises the steps:

Terminal sends the signal of predetermined power, and described signal is effectively received by the router of this terminal surrounding and sends to host computer; The router identical with terminal height that the size of the described signal intensity that described host computer receives according to router selects two signal intensities maximum is as the first router and the second router; The power of the signal that described host computer receives according to described the first router and described the second router, by RSSI location algorithm, calculate the first measuring distance between described the first router and described terminal, the second measuring distance between described the second router and described terminal; The coordinate to be selected of described terminal is determined according to described first measuring distance, the second measuring distance and the coordinate of the first router, the coordinate of the second router; Coordinate to be selected according to described terminal determines final coordinate.

A kind of method of locating terminal that the present embodiment provides, because the first router chosen is identical with the height of terminal with the height of the second router, has been simplified to two dimensional surface coordinate by 3 d space coordinate, has made algorithm simple; Calculate the first measuring distance and the second measuring distance by RSSI location algorithm, then determine the coordinate to be selected of described terminal in conjunction with the coordinate of the first router, the coordinate of the second router; Finally determine final coordinate according to the coordinate to be selected of described terminal.By the final coordinate of this kind of algorithm computing terminal, the situation that algorithm simply there will not be location failed, and the result of location is exactly the coordinate of a point, accuracy is high.Simultaneously, the intensity of the signal that the same terminal that host computer receives according to router sends sorts, thus choose the maximum router of two signal intensities, in general, the computing energy force rate terminal of host computer is strong, the process chosen that this sorted is placed in host computer, is conducive to shortening the time required for location.

On the basis of above-described embodiment, according to the process of the coordinate to be selected of the coordinate of described first measuring distance, the second measuring distance and the first router, the coordinate determination terminal of the second router, comprising:

In setting plane, certain point is true origin, and the position at the first router place is A point, and the coordinate of A is (a, 0), and the position at the second router place is B point, and the coordinate of B is (b, 0), wherein, and b > a>=0; Described first measuring distance is L ₁, described second measuring distance L ₂; The position at described terminal place is Z point, and the coordinate of Z point is (x, y), then have:

$\left\{\begin{array}{c}{(x-a)}^2+y^2={L_1}^2\\ {(x-b)}^2+y^2={L_2}^2\end{array}\right.$

As shown in Figure 2 A, L is worked as ₁+ L ₂during>=b-a, system of equations has solution, solves this system of equations, then draw the coordinate to be selected of described terminal.Because the first measuring distance is L ₁with the second measuring distance L ₂drawn by RSSI location algorithm, RSSI location algorithm, when calculating distance, can be corrected the distance of required calculating, can learn that described first measuring distance is L thus ₁with described second measuring distance L ₂be accurately, and the coordinate of router is also accurately, then namely the coordinate to be selected of the terminal calculated is accurately.

As shown in Figure 2 B, L is worked as ₁+ L ₂during < b-a, system of equations without solution, then with default positive number d for step value is to L ₁and L ₂carry out superposition, namely by L ₁ ^/and L ₂ ^/substitute into above-mentioned system of equations; If L ₁ ^/+ L ₂ ^/>=b-a, system of equations has solution, solves this system of equations, then draw the coordinate to be selected of described terminal; If L ₁ ^/+ L ₂ ^/< b-a, system of equations without solution, then continues with default positive number d as step value pair with carry out superposition until system of equations has solution, draw the coordinate to be selected of described terminal.The value of the default positive number d in the present embodiment is determined by the precision of positioning requirements, and the value of d is less, then the number of times of superposition is more, and the precision of location is higher; The coordinate to be selected of the terminal obtained is relatively accurate to adopt this kind of algorithm to ensure, and under the prerequisite not increasing software complexity, positions calculations is succinct.

Setting true origin like this, the coordinate of the first router and the coordinate of the second router, make the straight line at the first router and the second router place, be the X-axis of set up coordinate system, this just conveniently solves above-mentioned system of equations, alleviate the burden of host computer computing, save the speed that host computer solves the coordinate to be selected drawing terminal.In actual use, often namely the first router is set as true origin, namely the position at the first router place is A point, the coordinate of A is (a, 0), wherein a=0, this more convenient computing.

On the basis of such scheme, determine the step of final coordinate according to the coordinate to be selected of described terminal, comprising:

If coordinate to be selected is unique, then described coordinate to be selected is as final coordinate.

If coordinate to be selected is not unique, then also comprise the steps: to choose third router, the height of described third router is identical with the height of described the first router, described the second router, described third router is positioned at outside the straight line at described the first router and the second router place, and described third router effectively can receive the signal that described terminal sends; The power of the signal that described host computer receives according to described third router, by RSSI location algorithm, calculates the 3rd measuring distance between described third router and described terminal; Calculate the distance of described each coordinate to be selected and described third router according to the coordinate of third router, and compare with described 3rd measuring distance, select immediate coordinate to be selected as final coordinate.In actual use, described third router is positioned at the certain distance of the straight line at described the first router and the second router place outward, and that should not lean on is too near.

Such as, when the coordinate of A point is (0,0), the coordinate of B point is (5,0); First measuring distance L ₁=1, second measuring distance L ₂=4; Then have:

$\left\{\begin{array}{c}{(x-0)}^2+y^2=1\\ {(x-5)}^2+y^2=16\end{array}\right.---\left(1\right)$

Now, L ₁+ L ₂=1+4=5, b-a=5, then L ₁+ L ₂=b-a, above-mentioned system of equations (1) has unique solution, solving equation group (1), then show that solution of equations is: x=1, y=0; Then the coordinate to be selected of the Z point at terminal place is unique, and the coordinate of Z point is (1,0).Because this coordinate to be selected is unique, then using the final coordinate of this coordinate to be selected as described terminal, namely the final coordinate of the Z point at terminal place is (1,0).

Such as, when the coordinate of A point is (0,0), the coordinate of B point is (5,0); First measuring distance L ₁=10, second measuring distance then have:

$\left\{\begin{array}{c}{(x-0)}^2+y^2=100\\ {(x-5)}^2+y^2=45\end{array}\right.---\left(2\right)$

Now, L ₁+ L ₂=10+6.7=16.7, b-a=5, then L ₁+ L ₂> b-a, above-mentioned system of equations (2) has solution, solving equation group (2), then show that two roots of system of equations are: x ₁=8, y ₁=6; x ₂=8, y ₂=-6; Then the coordinate to be selected of the Z point at terminal place has two, Z ₁: (8,6) and Z ₂: (8 ,-6).

As shown in Figure 3, because the coordinate to be selected of the Z point at terminal place has two, then continue to choose third router, to determine the final coordinate of terminal.Read the 3rd measuring distance L ₃numerical value, the position at third router place is the coordinate (c of C point, C point _x, c _y).Calculate Z ₁distance between point and C point $L_{1c}=\sqrt{{(8-c_X)}^2+{\left({6-c}_y\right)}^2},$ Calculate Z ₂distance between point and C point $L_{2c}=\sqrt{{(8-c_X)}^2+{\left({-6-c}_y\right)}^2};$ By L _1cand L _2cwith the 3rd measuring distance L ₃compare, if L _1cnumerical value closer to L ₃, then Z ₁the coordinate of point is the final coordinate of terminal, and namely the final coordinate of terminal is (8,6); If L _2cnumerical value closer to L ₃, then Z ₂the coordinate of point is the final coordinate of terminal, and namely the final coordinate of terminal is (8 ,-6).

Such as, when the coordinate of A point is (0,0), the coordinate of B point is (5,0); First measuring distance L ₁=2, second measuring distance L ₂=1; Then have:

$\left\{\begin{array}{c}{(x-0)}^2+y^2=4\\ {(x-5)}^2+y^2=1\end{array}\right.---\left(3\right)$

Now, L ₁+ L ₂=2+1=3, b-a=5, then L ₁+ L ₂< b-a, above-mentioned system of equations (3) without separate, then with default positive number d (d desirable 0.03) for step value is to L ₁and L ₂carry out superposition, namely $L_1^{/}=L_1+d=2+0.03=2.03,$ $L_2^{/}=L_2+d=1+0.03=1.03,$ With default positive number d for step value is to L1 and L ₂after carrying out superposition N time, L ₁+ L ₂will be greater than or equal to b-a, now system of equations (3) has solution, and solving equation group (3) then draws the coordinate to be selected of described terminal.

Embodiment 2

Shown in Figure 4, present embodiments provide a kind of Terminal Position Location System, comprising: terminal, described terminal sends the signal of predetermined power; At least two routers, described router receives the signal that described terminal sends, and the described signal received and self unique corresponding identification code (MAC Address etc. as self) is packed and be sent to host computer; Host computer, comprises further: router selects module, and the router identical with terminal height that the size for the described signal intensity received according to described router selects two signal intensities maximum is as the first router and the second router; Measuring distance computing module, for the power of signal received according to described the first router and described the second router, by RSSI location algorithm, calculate the first measuring distance between described the first router and described terminal, the second measuring distance between described the second router and described terminal; Coordinate calculation module to be selected, for determining the coordinate to be selected of described terminal according to described first measuring distance, the second measuring distance and the coordinate of the first router, the coordinate of the second router; Final coordinate calculation module, determines final coordinate for the coordinate to be selected according to described terminal.

Due to the wireless communication technology that ZigBee location technology is a kind of with low cost, energy-efficient, registration, be widely used at present in the occasion that all kinds of needs position.In concrete use, the terminal system that the present embodiment provides can use in conjunction with ZigBee location technology, those skilled in the art are to be understood that, described terminal is ZigBee terminal, described router is ZigBee router, ZigBee telegon being separately set, for building ZigBee wireless network, and completing the communication between described ZigBee router and host computer.Can find out, herein what relate to that ZigBee location technology adopts is product ready-made in prior art, directly these existing products of application can implement this programme.If the Terminal Position Location System provided by the present embodiment is in conjunction with after ZigBee location technology, be specially adapted to the location of carrying out equipment or personnel within the enclosed space, described enclosure space refers to receive the space as the satellite-signal such as GPS, the Big Dipper.When the personnel of applying to position, then by ID unique for described terminal distribution and be worn on enter enclosure space personnel with it.

A kind of Terminal Position Location System that the present embodiment provides, because the first router is identical with the height of terminal with the height of the second router, has been simplified to two dimensional surface coordinate by 3 d space coordinate, has made algorithm simple; Calculate the first measuring distance and the second measuring distance by RSSI location algorithm, then determine the coordinate to be selected of described terminal in conjunction with the coordinate of the first router, the coordinate of the second router; Finally determine final coordinate according to the coordinate to be selected of described terminal.By the final coordinate of this kind of algorithm computing terminal, the situation that algorithm simply there will not be location failed, and the result of location is exactly the coordinate of a point, accuracy is high.Meanwhile, because the process choosing the first router and the second router is performed by host computer, reduce the complexity of terminal, reduce the energy consumption of terminal, be conducive to the time of the sustainable work extending Terminal Position Location System.

On the basis of such scheme, coordinate calculation module to be selected comprises further as described in Figure 5: system of equations sets up submodule, for setting in plane, certain is put as true origin, and the position at the first router place is A point, and the coordinate of A is (a, 0), the position at the second router place is B point, and the coordinate of B is (b, 0), wherein, b > a>=0; Described first measuring distance is L ₁, described second measuring distance L ₂; The coordinate of described terminal is (x, y), then have:

$\left\{\begin{array}{c}{(x-a)}^2+y^2={L_1}^2\\ {(x-b)}^2+y^2={L_2}^2\end{array}\right.;$

First solving equations submodule, for judging L ₁+ L ₂with the size of b-a, work as L ₁+ L ₂during>=b-a, system of equations has solution, solves this system of equations, then draw the coordinate to be selected of described terminal.

On the basis of such scheme, as shown in Figure 6, described coordinate calculation module to be selected comprises further:

Second solving equations submodule, for working as L ₁+ L ₂during < b-a, with default positive number d for step value is to L ₁and L ₂carry out superposition, namely then:

$\left\{\begin{array}{c}{(x-a)}^2+y^2={\left({L_1}^{/}\right)}^2\\ {(x-b)}^2+y^2={\left({L_2}^{/}\right)}^2\end{array}\right.$

If L ₁ ^/+ L ₂ ^/>=b-a, system of equations has solution, solves this system of equations, then draw the coordinate to be selected of described terminal; If L ₁ ^/+ L ₂ ^/< b-a, system of equations without solution, then continues with default positive number d as step value pair with carry out superposition until system of equations has solution, draw the coordinate to be selected of described terminal.

On the basis of such scheme, described final coordinate calculation module also comprises: the first final coordinate calculating sub module, and for judging that whether described coordinate to be selected is unique, if described coordinate to be selected is unique, then described coordinate to be selected is as final coordinate.If native system should in time positioning within the enclosed space, can the first router and the second router be arranged on the straight line at the edge of enclosure space, by on the straight line at described enclosure space edge as X-axis, this is just without the need to carrying out final coordinate calculating, because that coordinate to be selected exceeding the edge of enclosure space can directly be abandoned, this just further simplify system, has saved cost.

On the basis of such scheme, described Terminal Position Location System, also comprise: third router, the height of described third router is identical with the height of described the first router, described the second router, described third router is positioned at outside the straight line at described the first router and the second router place, and described third router effectively can receive the signal that described terminal sends; Described host computer also comprises: the 3rd measuring distance computing module, for the power of signal received according to described third router, by RSSI location algorithm, calculates the 3rd measuring distance between described third router and described terminal; Described final coordinate calculation module also comprises: the second final coordinate calculating sub module, for when described coordinate to be selected is not unique, the distance of described each coordinate to be selected and described third router is calculated according to the coordinate of third router, and compare with described 3rd measuring distance, select immediate coordinate to be selected as final coordinate.

On the basis of such scheme, described terminal also comprises transmission signal time and selects module, and for sending the signal of predetermined power every Preset Time, described Preset Time is 5S.Terminal sends signal at interval of Preset Time, and all the other times are in dormant state, and this has just saved terminal energy consumption, extends the cruising time of terminal.

On the basis of such scheme, described terminal also comprises alarm module, for sending alerting signal to described host computer.Terminal arranges alarm module, easy to use, in time there is dangerous situation, can be used for sending alerting signal to host computer, be convenient to the monitoring personnel Timeliness coverage dangerous situation being positioned at host computer.

On the basis of such scheme, described router also comprises sound and light alarm module, and the alarm command sent for receiving host computer is reported to the police.Described sound and light alarm module can be flashing lamp, or emergency alarm bell etc., the particular location of dangerous situation investigation personnel positioning generation dangerous situation is convenient to by arranging sound and light alarm module.Remind the personnel's emergency escape being positioned at dangerous situation region simultaneously.

Embodiment 3

The present embodiment provides a kind of host computer for terminal positioning, this host computer can be used in the Terminal Position Location System in above-described embodiment 2, as shown in Figure 8, comprise: router selects module, the router identical with terminal height that the size of the signal intensity that the terminal for receiving according to router sends selects two signal intensities maximum is as the first router and the second router; Measuring distance computing module, for the power of the signal according to the first router and the second router reception, by RSSI location algorithm, calculate the first measuring distance between described the first router and terminal, the second measuring distance between described the second router and terminal; Coordinate calculation module to be selected, for determining the coordinate to be selected of described terminal according to described first measuring distance, the second measuring distance and the coordinate of the first router, the coordinate of the second router; Final coordinate calculation module, determines final coordinate for the coordinate to be selected according to described terminal.

The host computer for terminal positioning that the present embodiment provides, because the first router chosen is identical with the height of terminal with the height of the second router, has been simplified to two dimensional surface coordinate by 3 d space coordinate, has made algorithm simple; Calculate the first measuring distance and the second measuring distance by RSSI location algorithm, then determine the coordinate to be selected of described terminal in conjunction with the coordinate of the first router, the coordinate of the second router; Finally determine final coordinate according to the coordinate to be selected of described terminal.By the final coordinate of this host computer computing terminal, the situation that algorithm simply there will not be location failed, and the result of location is exactly the coordinate of a point, accuracy is high.

In concrete use, described coordinate calculation module to be selected comprises further: system of equations sets up submodule, for setting in plane, certain is put as true origin, and the position at the first router place is A point, and the coordinate of A is (a, 0), the position at the second router place is B point, and the coordinate of B is (b, 0), wherein, b > a>=0; Described first measuring distance is L ₁, described second measuring distance L ₂; The position at described terminal place is Z point, and the coordinate of Z point is (x, y), then have:

$\left\{\begin{array}{c}{(x-a)}^2+y^2={L_1}^2\\ {(x-b)}^2+y^2={L_2}^2\end{array}\right.;$

First solving equations submodule, for judging L ₁+ L ₂with the size of b-a, work as L ₁+ L ₂during>=b-a, system of equations has solution, solves this system of equations, then draw the coordinate to be selected of described terminal.

Described coordinate calculation module to be selected comprises further:

Second solving equations submodule, for working as L ₁+ L ₂during < b-a, with default positive number d for step value is to L ₁and L ₂carry out superposition, namely then:

$\left\{\begin{array}{c}{(x-a)}^2{+y}^2={\left({L_1}^{/}\right)}^2\\ {(x-b)}^2+y^2={\left({L_2}^{/}\right)}^2\end{array}\right.$

If L ₁ ^/+ L ₂ ^/>=b-a, system of equations has solution, solves this system of equations, then draw the coordinate to be selected of described terminal; If L ₁ ^/+ L ₂ ^/< b-a, system of equations without solution, then continues with default positive number d as step value pair with carry out superposition until system of equations has solution, draw the coordinate to be selected of described terminal.

Described final coordinate calculation module also comprises: the first final coordinate calculating sub module, and for judging that whether described coordinate to be selected is unique, if described coordinate to be selected is unique, then described coordinate to be selected is as final coordinate.

Described host computer also comprises: the 3rd measuring distance computing module, for the power of signal received according to third router, by RSSI location algorithm, calculates the 3rd measuring distance between described third router and described terminal;

Described final coordinate calculation module also comprises: the second final coordinate calculating sub module, for when described coordinate to be selected is not unique, the distance of described each coordinate to be selected and described third router is calculated according to the coordinate of third router, and compare with described 3rd measuring distance, select immediate coordinate to be selected as final coordinate.

Embodiment 4

Method of locating terminal in a kind of host computer be applied in embodiment 3 is provided in the present embodiment, as shown in Figure 7, comprising: the router identical with terminal height that the size of the signal intensity that the terminal that host computer receives according to router sends selects two signal intensities maximum is as the first router and the second router; According to the power of the signal that the first router and the second router receive, by RSSI location algorithm, calculate the first measuring distance between described the first router and terminal, the second measuring distance between described the second router and terminal; According to the coordinate to be selected of the coordinate of described first measuring distance, the second measuring distance and the first router, the coordinate determination terminal of the second router; Coordinate to be selected according to described terminal determines final coordinate.

A kind of method of locating terminal that the present embodiment provides, because the first router chosen is identical with the height of terminal with the height of the second router, has been simplified to two dimensional surface coordinate by 3 d space coordinate, has made algorithm simple; Calculate the first measuring distance and the second measuring distance by RSSI location algorithm, then determine the coordinate to be selected of described terminal in conjunction with the coordinate of the first router, the coordinate of the second router; Finally determine final coordinate according to the coordinate to be selected of described terminal.By the final coordinate of this kind of algorithm computing terminal, the situation that algorithm simply there will not be location failed, and the result of location is exactly the coordinate of a point, accuracy is high.

As embodiment, according to the process of the coordinate to be selected of the coordinate of described first measuring distance, the second measuring distance and the first router, the coordinate determination terminal of the second router, comprising:

In setting plane, certain point is true origin, and the position at the first router place is A point, and the coordinate of A is (a, 0), and the position at the second router place is B point, and the coordinate of B is (b, 0), wherein, and b > a>=0; Described first measuring distance is L ₁, described second measuring distance L ₂; The position at described terminal place is Z point, and the coordinate of Z point is (x, y), then have:

$\left\{\begin{array}{c}{(x-a)}^2+y^2={L_1}^2\\ {(x-b)}^2+y^2={L_2}^2\end{array}\right.$

Work as L ₁+ L ₂during>=b-a, system of equations has solution, solves this system of equations, then draw the coordinate to be selected of described terminal.Because the first measuring distance is L ₁with the second measuring distance L ₂drawn by RSSI location algorithm, RSSI location algorithm, when calculating distance, can be corrected the distance of required calculating, can learn that described first measuring distance is L thus ₁with described second measuring distance L ₂be accurately, and the coordinate of router is also accurately, then namely the coordinate to be selected of the terminal calculated is accurately.

Work as L ₁+ L ₂during < b-a, system of equations without solution, then with default positive number d for step value is to L ₁and L ₂carry out superposition, namely by L ₁ ^/and L ₂ ^/substitute into above-mentioned system of equations; If L ₁ ^/+ L ₂ ^/>=b-a, system of equations has solution, solves this system of equations, then draw the coordinate to be selected of described terminal; If L ₁ ^/+ L ₂ ^/< b-a, system of equations without solution, then continues with default positive number d as step value pair with carry out superposition until system of equations has solution, draw the coordinate to be selected of described terminal.The value of the default positive number d in the present embodiment is determined by the precision of positioning requirements, and the value of d is less, then the number of times of superposition is more, and the precision of location is higher; The coordinate to be selected of the terminal obtained is relatively accurate to adopt this kind of algorithm to ensure, and under the prerequisite not increasing software complexity, positions calculations is succinct.

Setting true origin like this, the coordinate of the first router and the coordinate of the second router, make the straight line at the first router and the second router place, be the X-axis of set up coordinate system, this just conveniently solves above-mentioned system of equations, alleviate computational burden, then improve the speed solving the coordinate to be selected drawing terminal.In actual use, often namely the first router is set as true origin, namely the position at the first router place is A point, the coordinate of A is (a, 0), wherein a=0, this more convenient computing.

Determine the step of final coordinate according to the coordinate to be selected of described terminal, comprising:

If coordinate to be selected is unique, then described coordinate to be selected is as final coordinate.

If coordinate to be selected is not unique, then also comprise the steps: to choose third router, the height of described third router is identical with the height of described the first router, described the second router, described third router is positioned at outside the straight line at described the first router and the second router place, and described third router effectively can receive the signal that described terminal sends; The power of the signal that described host computer receives according to described third router, by RSSI location algorithm, calculates the 3rd measuring distance between described third router and described terminal; Calculate the distance of described each coordinate to be selected and described third router according to the coordinate of third router, and compare with described 3rd measuring distance, select immediate coordinate to be selected as final coordinate.In actual use, described third router is positioned at the certain distance of the straight line at described the first router and the second router place outward, and that should not lean on is too near.

Obviously, above-described embodiment is only for clearly example being described, and the restriction not to embodiment.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without the need to also giving all embodiments.And thus the apparent change of extending out or variation be still among the protection domain of the invention.

Claims (14)

1. a method of locating terminal, is characterized in that, comprises the steps:

Terminal sends the signal of predetermined power, and described signal is effectively received by the router of this terminal surrounding and sends to host computer;

The router identical with terminal height that the size of the described signal intensity that described host computer receives according to router selects two signal intensities maximum is as the first router and the second router;

The power of the signal that described host computer receives according to described the first router and described the second router, by RSSI location algorithm, calculate the first measuring distance between described the first router and described terminal, the second measuring distance between described the second router and described terminal;

The coordinate to be selected of described terminal is determined according to described first measuring distance, the second measuring distance and the coordinate of the first router, the coordinate of the second router;

Coordinate to be selected according to described terminal determines final coordinate.

2. method of locating terminal according to claim 1, is characterized in that, according to the process of the coordinate to be selected of the coordinate of described first measuring distance, the second measuring distance and the first router, the coordinate determination terminal of the second router, comprising:

In setting plane, certain point is true origin, and the position at the first router place is A point, and the coordinate of A is (a, 0), and the position at the second router place is B point, and the coordinate of B is (b, 0), wherein, and b > a>=0; Described first measuring distance is L ₁, described second measuring distance L ₂; The position at described terminal place is Z point, and the coordinate of Z point is (x, y), then have:

$\left\{\begin{array}{c}{(x-a)}^2+y^2={L_1}^2\\ {(x-b)}^2+y^2={L_2}^2\end{array}\right.$

Work as L ₁+ L ₂during>=b-a, system of equations has solution, solves this system of equations, then draw the coordinate to be selected of described terminal.

3. method of locating terminal according to claim 1 and 2, is characterized in that, the process of the coordinate to be selected of the coordinate of described first measuring distance, the second measuring distance and the first router, the coordinate determination terminal of the second router, comprising:

In setting plane, certain point is true origin, and the position at the first router place is A point, and the coordinate of A is (a, 0), and the position at the second router place is B point, and the coordinate of B is (b, 0), wherein, and b > a>=0; Described first measuring distance is L ₁, described second measuring distance L ₂; The position at described terminal place is Z point, and the coordinate of Z point is (x, y), then have:

$\left\{\begin{array}{c}{(x-a)}^2+y^2={L_1}^2\\ {(x-b)}^2+y^2={L_2}^2\end{array}\right.$

Work as L ₁+ L ₂during>=b-a, system of equations has solution, solves this system of equations, then draw the coordinate to be selected of described terminal;

Work as L ₁+ L ₂during < b-a, system of equations without solution, then with default positive number d for step value is to L ₁and L ₂carry out superposition, namely by L ₁ ^/and L ₂ ^/substitute into above-mentioned system of equations; If L ₁ ^/+ L ₂ ^/>=b-a, system of equations has solution, solves this system of equations, then draw the coordinate to be selected of described terminal; If L ₁ ^/+ L ₂ ^/< b-a, system of equations without solution, then continues with default positive number d as step value pair with carry out superposition until system of equations has solution, draw the coordinate to be selected of described terminal.

4. method of locating terminal according to claim 1, is characterized in that, determines the step of final coordinate, comprising according to the coordinate to be selected of described terminal:

If coordinate to be selected is unique, then described coordinate to be selected is as final coordinate;

If coordinate to be selected is not unique, then also comprise the steps:

Choose third router, the height of described third router is identical with the height of described the first router, described the second router, described third router is positioned at outside the straight line at described the first router and the second router place, and described third router effectively can receive the signal that described terminal sends;

The power of the signal that described host computer receives according to described third router, by RSSI location algorithm, calculates the 3rd measuring distance between described third router and described terminal;

Calculate the distance of described each coordinate to be selected and described third router according to the coordinate of third router, and compare with described 3rd measuring distance, select immediate coordinate to be selected as final coordinate.

5. a Terminal Position Location System, is characterized in that, comprising:

Terminal, described terminal sends the signal of predetermined power;

At least two routers, described router receives the signal that described terminal sends, and the described signal received and self unique corresponding identification code is packed and be sent to host computer;

Host computer, comprises further:

Router selects module, and the router identical with terminal height that the size for the described signal intensity received according to described router selects two signal intensities maximum is as the first router and the second router;

Measuring distance computing module, for the power of signal received according to described the first router and described the second router, by RSSI location algorithm, calculate the first measuring distance between described the first router and described terminal, the second measuring distance between described the second router and described terminal;

Coordinate calculation module to be selected, for determining the coordinate to be selected of described terminal according to described first measuring distance, the second measuring distance and the coordinate of the first router, the coordinate of the second router;

Final coordinate calculation module, determines final coordinate for the coordinate to be selected according to described terminal.

6. Terminal Position Location System according to claim 5, is characterized in that, described coordinate calculation module to be selected comprises further:

System of equations sets up submodule, and be true origin for setting certain point in plane, the position at the first router place is A point, and the coordinate of A is (a, 0), the position at the second router place is B point, and the coordinate of B is (b, 0), wherein, b > a>=0; Described first measuring distance is L ₁, described second measuring distance L ₂; The position at described terminal place is Z point, and the coordinate of Z point is (x, y), then have:

$\left\{\begin{array}{c}{(x-a)}^2+y^2={L_1}^2\\ {(x-b)}^2+y^2={L_2}^2\end{array}\right.;$

First solving equations submodule, for judging L ₁+ L ₂with the size of b-a, work as L ₁+ L ₂during>=b-a, system of equations has solution, solves this system of equations, then draw the coordinate to be selected of described terminal.

7. Terminal Position Location System according to claim 6, is characterized in that, described coordinate calculation module to be selected comprises further:

Second solving equations submodule, for working as L ₁+ L ₂during < b-a, with default positive number d for step value is to L ₁and L ₂carry out superposition, namely then:

$\left\{\begin{array}{c}{(x-a)}^2+y^2={\left({L_1}^{/}\right)}^2\\ {(x-b)}^2+y^2={\left({L_2}^{/}\right)}^2\end{array}\right.$

If L ₁ ^/+ L ₂ ^/>=b-a, system of equations has solution, solves this system of equations, then draw the coordinate to be selected of described terminal; If L ₁ ^/+ L ₂ ^/< b-a, system of equations without solution, then continues with default positive number d as step value pair with carry out superposition until system of equations has solution, draw the coordinate to be selected of described terminal.

8. Terminal Position Location System according to claim 5, whether it is characterized in that, described final coordinate calculation module also comprises: the first final coordinate calculating sub module, unique for judging described coordinate to be selected, if described coordinate to be selected is unique, then described coordinate to be selected is as final coordinate.

9. Terminal Position Location System according to claim 8, is characterized in that, also comprises:

Third router, the height of described third router is identical with the height of described the first router, described the second router, described third router is positioned at outside the straight line at described the first router and the second router place, and described third router effectively can receive the signal that described terminal sends;

Described host computer also comprises: the 3rd measuring distance computing module, for the power of signal received according to described third router, by RSSI location algorithm, calculates the 3rd measuring distance between described third router and described terminal;

Described final coordinate calculation module also comprises: the second final coordinate calculating sub module, for when described coordinate to be selected is not unique, the distance of described each coordinate to be selected and described third router is calculated according to the coordinate of third router, and compare with described 3rd measuring distance, select immediate coordinate to be selected as final coordinate.

10. according to the arbitrary described Terminal Position Location System of claim 5-9, it is characterized in that, described terminal also comprises transmission signal time and selects module, and for sending the signal of predetermined power every Preset Time, described Preset Time is 5S.

11. according to the arbitrary described Terminal Position Location System of claim 5-10, and it is characterized in that, described terminal also comprises alarm module, for sending alerting signal to described host computer.

12. according to the arbitrary described Terminal Position Location System of claim 5-11, and it is characterized in that, described router also comprises sound and light alarm module, and the alarm command sent for receiving host computer is reported to the police.

13. 1 kinds of method of locating terminal, is characterized in that, comprising:

The router identical with terminal height that the size of the signal intensity that the terminal received according to router sends selects two signal intensities maximum is as the first router and the second router;

According to the power of the signal that the first router and the second router receive, by RSSI location algorithm, calculate the first measuring distance between described the first router and terminal, the second measuring distance between described the second router and terminal;

According to the coordinate to be selected of the coordinate of described first measuring distance, the second measuring distance and the first router, the coordinate determination terminal of the second router;

Coordinate to be selected according to described terminal determines final coordinate.

14. 1 kinds for the host computer of terminal positioning, is characterized in that, comprising:

Router selects module, and the router identical with terminal height that the size of the signal intensity that the terminal for receiving according to router sends selects two signal intensities maximum is as the first router and the second router;

Measuring distance computing module, for the power of the signal according to the first router and the second router reception, by RSSI location algorithm, calculate the first measuring distance between described the first router and terminal, the second measuring distance between described the second router and terminal;

Coordinate calculation module to be selected, for determining the coordinate to be selected of described terminal according to described first measuring distance, the second measuring distance and the coordinate of the first router, the coordinate of the second router;

Final coordinate calculation module, determines final coordinate for the coordinate to be selected according to described terminal.