CN104297725B - Method of locating terminal and system - Google Patents

Abstract

A kind of method of locating terminal of present invention offer and system, owing to the first router chosen is identical with the height of terminal with the height of the second router, be simplified to two dimensional surface coordinate so that algorithm is simple by 3 d space coordinate；Host computer calculates the first measurement distance and second by RSSI location algorithm and measures distance, 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, algorithm does not simply have the situation that location is failed, and the result of location is exactly the coordinate of a point, and the degree of accuracy is high；Simultaneously as 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 extending the time of the sustainable work of Terminal Position Location System.

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 is required for location technology.At present, common location skill Art has: GPS location technology, infrared confirming orientation technology, RFID location technology, ultrasonic wave location technology and ZigBee location technology Deng.

Chinese patent literature CN104080053A discloses a kind of falling over of human body of based on ZigBee technology detection and location system System, this alignment system includes: some mobile tag nodes, multiple router node, coordinator node and long distance monitoring platform, its In, mobile tag node collect its with around RSSI value between the router node that communicates, and to the RSSI value collected It is ranked up, selects the ID of the router node of maximum of which three value and three maximums to send extremely as location information Nearest router node；Each router node is arranged on the fixed position used in environment, respectively with mobile tag node and Coordinator node connects, and sends to coordinator node for the location information that will receive；Coordinator node respectively with each route Device node and long distance monitoring platform connect, and are used for initiating ZigBee-network, setup parameter, and the location information received are sent To long distance monitoring platform；Long distance monitoring platform is used for receiving location information, and calculates this mobile tag joint according to location information Point particular location in the environment.Long distance monitoring platform uses three limit location algorithms when positioning mobile tag node, it may be assumed that Utilize three and more than three distances between known point and unknown point to calculate the two-dimensional coordinate of unknown point, if three coordinates Node is to radius R1, R2, R3 of unknown node, then the intersection point of these three radius is exactly the position coordinates of unknown node, and radius can To calculate according to the RSSI value between unknown node and reference mode.Above-mentioned patent document is disclosed based on ZigBee technology Falling over of human body detection and location system, mobile tag node need to collect with around RSSI between the router node that communicates Value, and be ranked up, which increase the complexity of mobile tag node, increase the energy consumption of mobile node label, be unfavorable for prolonging The time of the sustainable work of long system；Simultaneously as ZigBee signal inevitably to there is signal in transmitting procedure weak, There is error to the radius of three coordinate nodes in unknown node, and cannot ensure that three radiuses necessarily can be sent to some and fix Point on, if three radiuses are without intersection point, then can cause positioning unsuccessfully.

Summary of the invention

It is that existing alignment system easily occurs positioning failed technical problem, for solving to this end, to be solved by this invention Above-mentioned technical problem, 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 is sent to Host computer；

The size of the described signal strength signal intensity that described host computer receives according to router selects two signal strength signal intensities maximums The router identical with terminal height 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, passes through RSSI location algorithm, calculates the first measurement distance between described the first router and described terminal, described the second router And the second measurement distance between described terminal；

Distance, the second measurement distance and the coordinate of the first router, seat of the second router is measured according to described first Mark determines the coordinate to be selected of described terminal；

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

Described method of locating terminal, measures distance, the second measurement distance and the first router according to described first Coordinate, the coordinate of the second router determine the process of the coordinate to be selected of terminal, including:

Setting certain point in plane is the origin of coordinates, and the position at the first router place is A point, and the coordinate of A is (a, 0), the The position at two router places is B point, and the coordinate of B is (b, 0), wherein, and b ＞ a >=0；Described first measurement distance is L₁, described Second measures distance L₂；The position at described terminal place is Z point, the coordinate of Z point be (x, y), then has:

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

Work as L₁+L₂During >=b-a, equation group has solution, solves this equation group, then draw the coordinate to be selected of described terminal.

Described method of locating terminal, described first measurement distance, the second measurement distance and the coordinate of the first router, The coordinate of the second router determines the process of the coordinate to be selected of terminal, including:

Setting certain point in plane is the origin of coordinates, and the position at the first router place is A point, and the coordinate of A is (a, 0), the The position at two router places is B point, and the coordinate of B is (b, 0), wherein, and b ＞ a >=0；Described first measurement distance is L₁, described Second measures distance L₂；The position at described terminal place is Z point, the coordinate of Z point be (x, y), then has:

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

Work as L₁+L₂During >=b-a, equation group has solution, solves this equation group, then draw the coordinate to be selected of described terminal；

Work as L₁+L₂During ＜ b-a, equation group is without solving, then with default positive number d for step value to L₁And L₂Carry out superposition, i.e.By L₁ ^/And L₂ ^/Substitute into above-mentioned equation group；If L₁ ^/+L₂ ^/>=b-a, equation group has solution, solves this side Journey group, then draw the coordinate to be selected of described terminal；If L₁ ^/+L₂ ^/＜ b-a, equation group without solving, then continues with default positive number d as step It is right to enter to be worthWithCarry out superposition until equation group has solution, draw the coordinate to be selected of described terminal.

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

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

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

Choose third router, the height of described third router and described the first router, described the second router The most identical, described third router is positioned at outside the straight line at described the first router and the second router place, described 3rd tunnel The signal that described terminal sends can be effectively received by device；

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

Coordinate according to third router calculates the distance of described each coordinate to be selected and described third router, and with institute State the 3rd measurement distance to compare, select immediate coordinate to be selected as final coordinate.

A kind of Terminal Position Location System, including:

Terminal, described terminal sends the signal of predetermined power；

At least two router, described router receives the signal that described terminal sends, and the described signal that will receive The identification code the most corresponding with self transmits to host computer；

Host computer, farther includes:

Router selects module, and the size of the described signal strength signal intensity for receiving according to described router selects two letters The router identical with terminal height of number maximum intensity is as the first router and the second router；

Measure distance calculation module, for the signal that receives according to described the first router and described the second router Power, by RSSI location algorithm, calculates the first measurement distance between described the first router and described terminal, and described the The second measurement distance between two routers and described terminal；

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

Final coordinate calculation module, for determining final coordinate according to the coordinate to be selected of described terminal.Described terminal is fixed Position system, described coordinate calculation module to be selected farther includes:

Equation group sets up submodule, and being used for setting in plane certain point is the origin of coordinates, and the position at the first router place is A Point, 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, b ＞ a >=0；Described First measurement distance is L₁, described second measures distance L₂；The position at described terminal place is Z point, the coordinate of Z point be (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, is used for judging L₁+L₂With the size of b-a, work as L₁+L₂During >=b-a, equation group has Solve, solve this equation group, then draw the coordinate to be selected of described terminal.

Described Terminal Position Location System, described coordinate calculation module to be selected farther includes:

Second solving equations submodule, for working as L₁+L₂During ＜ b-a, with default positive number d for step value to L₁And L₂Enter Row superposition, i.e.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 L₁ ^/+L₂ ^/>=b-a, equation group has solution, solves this equation group, then draw the coordinate to be selected of described terminal；If L₁ ^/+ L₂ ^/＜ b-a, equation group without solving, then continues with default positive number d for step value pairWithCarry out superposition until equation group has solution, Draw the coordinate to be selected of described terminal.

Described Terminal Position Location System, described final coordinate calculation module also includes: the first final coordinate calculating sub module, For judging that described coordinate to be selected is the most unique, if described coordinate to be selected is unique, the most described coordinate to be selected is as final coordinate.

Described Terminal Position Location System, also includes:

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

Described host computer also includes: the 3rd measures distance calculation module, for receive according to described third router The power of signal, by RSSI location algorithm, calculates the 3rd measurement distance between described third router and described terminal；

Described final coordinate calculation module also includes: the second final coordinate calculating sub module, at described coordinate to be selected Time unique, according to the coordinate described each coordinate to be selected of calculating and the distance of described third router of third router, and with Described 3rd measures distance compares, and selects immediate coordinate to be selected as final coordinate.

Described Terminal Position Location System, described terminal also includes that sending signal time selects module, for when default Between send the signal of predetermined power, described Preset Time is 5S.

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

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

A kind of method of locating terminal, it is characterised in that including:

The size of the signal strength signal intensity that the terminal received according to router sends select two signal strength signal intensities maximum with end Hold the most identical router 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 institute State the first measurement distance between the first router and terminal, the second measurement distance between described the second router and terminal；

Distance, the second measurement distance and the coordinate of the first router, seat of the second router is measured according to described first Mark determines the coordinate to be selected of terminal；

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

A kind of host computer for terminal positioning, including:

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

Measure distance calculation module, the power of the signal for receiving according to the first router and the second router, passes through RSSI location algorithm, calculates the first measurement distance between described the first router and terminal, described the second router and end The second measurement distance between end；

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

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

The technique scheme of the present invention has the advantage that compared to existing technology

(1) present invention provide a kind of method of locating terminal and system, due to the first router chosen and secondary route The height of device is identical with the height of terminal, 3 d space coordinate has been simplified to two dimensional surface coordinate so that algorithm is simple；Upper Machine calculates the first measurement distance and second by RSSI location algorithm and measures distance, in conjunction with the first router coordinate, the The coordinate of two routers determines the coordinate to be selected of described terminal；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, algorithm does not simply have the situation that location is failed, and the result of location is just Being the coordinate of a point, the degree of accuracy is high；Simultaneously as the process choosing the first router and the second router is held by host computer OK, reduce the complexity of terminal, reduce the energy consumption of terminal, be conducive to extend Terminal Position Location System sustainable work time Between.

(2) present invention provide a kind of host computer for terminal positioning and localization method, due to the first via chosen Identical with the height of terminal with the height of the second router by device, 3 d space coordinate is simplified to two dimensional surface coordinate, has made Obtain algorithm simple；Calculate the first measurement distance and second by RSSI location algorithm and measure distance, in conjunction with the first router Coordinate, the coordinate of the second router determine the coordinate to be selected of described terminal；Finally determine according to the coordinate to be selected of described terminal Final coordinate.By the final coordinate of this kind of algorithm computing terminal, algorithm does not simply have the situation that location is failed, and location Result be exactly the coordinate of a point, the degree of accuracy is high.

Accompanying drawing explanation

In order to make present disclosure be more likely to be clearly understood, below according to the specific embodiment of the present invention and combine Accompanying drawing, the present invention is further detailed explanation, wherein

Fig. 1 is the flow chart of method of locating terminal according to embodiments of the present invention；

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

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

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

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

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

Fig. 7 is the flow chart 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.

Detailed description of the invention

Embodiment 1

A kind of method of locating terminal, for positioning terminal.At present, need along with cargo transport on water and naval strategy , sea, various countries freighter and the volume of warship and scale are increasing, and space and the layout of its internal cabin are the most increasingly sophisticated.For Realize the safety patrol inspection of operating personnel in cabin to ensure the safety of operating personnel in cabin, first need to realize operating personnel in cabin Location.When location, terminal can be worn on the operating personnel entered within cabin, and put inside each cabin Put plural router；Described terminal sends signal, realizes communicating with host computer by router, and host computer is by location Terminal is positioned by algorithm, and then located the position of operating personnel in cabin.

As it is shown in figure 1, the method for locating terminal that the present invention provides, comprise the steps:

Terminal sends the signal of predetermined power, and described signal is effectively received by the router of this terminal surrounding and is sent to Host computer；The size of the described signal strength signal intensity that described host computer receives according to router select two signal strength signal intensities maximum with The identical router of terminal height is as the first router and the second router；Described host computer according to described the first router and The power of the signal that described the second router receives, by RSSI location algorithm, calculates described the first router with described The first measurement distance between terminal, the second measurement distance between described the second router and described terminal；According to described One coordinate measuring distance, the second measurement distance and the coordinate of the first router, the second router determines treating of described terminal Select coordinate；Coordinate to be selected according to described terminal determines final coordinate.

A kind of method of locating terminal that the present embodiment provides, due to the first router chosen and the height of the second router Identical with the height of terminal, 3 d space coordinate is simplified to two dimensional surface coordinate so that algorithm is simple；Found range by RSSI Algorithm calculates the first measurement distance and second and measures distance, in conjunction with coordinate, the coordinate of the second router of the first router Determine the coordinate to be selected of described terminal；Finally determine final coordinate according to the coordinate to be selected of described terminal.By this kind of algorithm meter Calculating the final coordinate of terminal, algorithm does not simply have the situation that location is failed, and the result of location is exactly the coordinate of a point, The degree of accuracy is high.Meanwhile, the intensity of the signal that the same terminal that host computer receives according to router sends is ranked up, thus selects Taking the router that two signal strength signal intensities are maximum, in general, the calculating disposal ability of host computer is stronger than terminal, this sequence is chosen Process be placed in host computer, be conducive to shorten location required for time.

On the basis of above-described embodiment, measure distance, the second measurement distance and the first router according to described first Coordinate, the coordinate of the second router determine the process of coordinate to be selected of terminal, including:

Setting certain point in plane is the origin of coordinates, and the position at the first router place is A point, and the coordinate of A is (a, 0), the The position at two router places is B point, and the coordinate of B is (b, 0), wherein, and b ＞ a >=0；Described first measurement distance is L₁, described Second measures distance L₂；The position at described terminal place is Z point, the coordinate of Z point be (x, y), then has:

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

As shown in Figure 2 A, L is worked as₁+L₂During >=b-a, equation group has solution, solves this equation group, then draws the to be selected of described terminal Coordinate.Owing to the first measurement distance is L₁Distance L is measured with second₂Being drawn by RSSI location algorithm, RSSI location algorithm is at meter When calculating distance, the distance of required calculating can be corrected, thus be appreciated that described first measurement distance is L₁With described Two measure distance L₂Be accurately, and the coordinate of router is also accurately, then the coordinate to be selected of the terminal calculated is i.e. accurate True.

As shown in Figure 2 B, L is worked as₁+L₂During ＜ b-a, equation group is without solving, then with default positive number d for step value to L₁And L₂Carry out Superposition, i.e.By L₁ ^/And L₂ ^/Substitute into above-mentioned equation group；If L₁ ^/+L₂ ^/>=b-a, equation group has solution, Solve this equation group, then draw the coordinate to be selected of described terminal；If L₁ ^/+L₂ ^/＜ b-a, equation group without solving, then continues just presetting Number d is step value pairWithCarry out superposition until equation group has solution, draw the coordinate to be selected of described terminal.In the present embodiment The value of default positive number d be determined by the precision of positioning requirements, the value of d is the least, then the number of times of superposition is the most, the precision of location The highest；The coordinate to be selected of the terminal obtained is relatively accurate to use this kind of algorithm ensure that, and is not increasing software complexity On the premise of, positions calculations is succinct.

So set the origin of coordinates, the coordinate of the first router and the coordinate of the second router so that the first router and The straight line at the second router place, is the X-axis of set up coordinate system, and this most conveniently solves above-mentioned equation group, alleviates The burden of position machine computing, has saved host computer and has solved the speed of the coordinate to be selected drawing terminal.In actually used, often by the first via I.e. being set as that by device the origin of coordinates, the i.e. position at the first router place are A point, the coordinate of A is (a, 0), and wherein a=0, this is more Facilitate computing.

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

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

If coordinate to be selected is not unique, the most also comprise the steps: to choose third router, the height of described third router Identical with the height of described the first router, described the second router, described third router be positioned at described the first router and Outside the straight line at the second router place, described third router can effectively receive the signal that described terminal sends；Described host computer According to the power of the signal that described third router receives, by RSSI location algorithm, calculate described third router with The 3rd measurement distance between described terminal；Coordinate according to third router calculates described each coordinate to be selected and the described 3rd The distance of router, and compare with described 3rd measurement distance, select immediate coordinate to be selected as final coordinate.In reality In using, described third router is positioned at the outer a certain distance of straight line at described the first router and the second router place, no That preferably leans on is the nearest.

Such as, when the coordinate of A point is (0,0), the coordinate of B point is (5,0)；First measures distance L₁=1, second measure away from From L₂=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, L₁+L₂=1+4=5, b-a=5, then L₁+L₂=b-a, above-mentioned equation group (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).Owing to this coordinate to be selected is unique, then using this coordinate to be selected as the final coordinate of described terminal, i.e. the Z point at terminal place Final coordinate be (1,0).

Such as, when the coordinate of A point is (0,0), the coordinate of B point is (5,0)；First measures distance L₁=10, second measures DistanceThen have:

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

Now, L₁+L₂=10+6.7=16.7, b-a=5, then L₁+L₂＞ b-a, above-mentioned equation group (2) has solution, the side of solving Journey group (2), then show that two roots of equation group are: x₁=8, y₁=6；x₂=8, y₂=-6；Then the Z point at terminal place is to be selected Coordinate has two, Z₁: (8,6) and Z₂: (8 ,-6).

As it is shown on figure 3, owing to the coordinate to be selected of the Z point at terminal place has two, then continue to choose third router, in order to Determine the final coordinate of terminal.Read the 3rd measurement distance L₃Numerical value, the position at third router place is C point, the seat of C point Mark (c_X,c_y).Calculate Z₁Distance between point and C point $L_{1c}=\sqrt{{(8-c_X)}^2+{\left({6-c}_y\right)}^2},$ Calculate Z₂Distance between point and C point $L_{2c}=\sqrt{{(8-c_X)}^2+{\left({-6-c}_y\right)}^2};$ By L_1cAnd L_2cDistance L is measured with the 3rd₃Compare, if L_1cNumerical value closer to L₃, Then Z₁The final coordinate that coordinate is terminal of point, i.e. the final coordinate of terminal is (8,6)；If L_2cNumerical value closer to L₃, then Z₂Point The final coordinate that coordinate is terminal, i.e. 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 measures distance L₁=2, second measure away from From L₂=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, L₁+L₂=2+1=3, b-a=5, then L₁+L₂＜ b-a, above-mentioned equation group (3) is without solving, then with default positive number d (d desirable 0.03) is that step value is to L₁And L₂Carry out superposition, i.e. $L_1^{/}=L_1+d=2+0.03=2.03,$ $L_2^{/}=L_2+d=1+0.03=1.03,$ With default positive number d for step value to L1 and L₂After carrying out superposition n times, L₁+L₂B-a, now equation group will be more than or equal to (3) there is solution, solving equation group (3), then draw the coordinate to be selected of described terminal.

Embodiment 2

Shown in Figure 4, present embodiments provide a kind of Terminal Position Location System, including: terminal, described terminal sends default The signal of power；At least two router, described router receives the signal that described terminal sends, and the described letter that will receive Number identification code (such as self MAC Address etc.) uniquely the most corresponding with self transmits to host computer；Host computer, wraps further Including: router selects module, the size of the described signal strength signal intensity for receiving according to described router selects two signals strong The router identical with terminal height of degree maximum is as the first router and the second router；Measure distance calculation module, use In the power of the signal received according to described the first router and described the second router, by RSSI location algorithm, calculate Go out the first measurement distance between described the first router and described terminal, the between described the second router and described terminal Two measure distance；Coordinate calculation module to be selected, for according to described first measure distance, second measure distance and the first via by The coordinate of device, the coordinate of the second router determine the coordinate to be selected of described terminal；Final coordinate calculation module, for according to described The coordinate to be selected of terminal determines final coordinate.

Owing to ZigBee location technology is a kind of with low cost, energy-efficient, wireless communication technology of registration, at present Have been widely used for all kinds of needs to carry out in the occasion positioned.In specifically used, the terminal system that the present embodiment provides can Use combining ZigBee location technology, it will be appreciated by those skilled in the art that described terminal is ZigBee terminal, described Router is ZigBee router, separately arranges ZigBee telegon, is used for building ZigBee wireless network, and completes described Communication between ZigBee router and host computer.It can be seen that herein relate to what ZigBee location technology was used It is product ready-made in prior art, directly applies these existing products can implement this programme.If the present embodiment is provided Terminal Position Location System combine ZigBee location technology after, be particularly well-suited to carry out within the enclosed space determining of equipment or personnel Position, described closing space refers to cannot receive such as the space of the satellite-signal such as GPS, the Big Dipper.When applying to personnel and positioning, then By unique for described terminal distribution ID and be worn on enter close space personnel with.

A kind of Terminal Position Location System that the present embodiment provides, due to the first router and the height of the second router and terminal Height identical, 3 d space coordinate has been simplified to two dimensional surface coordinate so that algorithm is simple；By RSSI location algorithm meter Calculate the first measurement distance and second and measure distance, determine institute in conjunction with the coordinate of the first router, the coordinate of the second router State the coordinate to be selected of terminal；Finally determine final coordinate according to the coordinate to be selected of described terminal.By this kind of algorithm computing terminal Final coordinate, algorithm does not simply have the failed situation in location, and the result positioned is exactly the coordinate of a point, the degree of accuracy High.Simultaneously as the process choosing the first router and the second router is performed by host computer, reduce the complexity of terminal Degree, reduces the energy consumption of terminal, is conducive to extending the time of the sustainable work of Terminal Position Location System.

On the basis of such scheme, coordinate calculation module the most to be selected farther includes: equation group sets up submodule Block, being used for setting in plane certain point is the origin of coordinates, and the position at the first router place is A point, and the coordinate of A is (a, 0), second The position at router place is B point, and the coordinate of B is (b, 0), wherein, and b ＞ a >=0；Described first measurement distance is L₁, described Two measure distance L₂；The coordinate of described terminal be (x, y), then has:

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

First solving equations submodule, is used for judging L₁+L₂With the size of b-a, work as L₁+L₂During >=b-a, equation group has Solve, solve this equation group, 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 farther includes:

Second solving equations submodule, for working as L₁+L₂During ＜ b-a, with default positive number d for step value to L₁And L₂Enter Row superposition, i.e.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 L₁ ^/+L₂ ^/>=b-a, equation group has solution, solves this equation group, then draw the coordinate to be selected of described terminal；If L₁ ^/+ L₂ ^/＜ b-a, equation group without solving, then continues with default positive number d for step value pairWithCarry out superposition until equation group has solution, Go out the coordinate to be selected of described terminal.

On the basis of such scheme, described final coordinate calculation module also includes: the first final coordinate calculating sub module, For judging that described coordinate to be selected is the most unique, if described coordinate to be selected is unique, the most described coordinate to be selected is as final coordinate.As Really the first router and the second router should can be arranged at envelope in positioning within the enclosed space when by native system On the straight line at the edge closing space, as X-axis on the straight line closing spatial edge that will be described, this is just without entering The final coordinate of row calculates, because that coordinate to be selected beyond the edge closing space can directly be abandoned, this most more simplifies System, has saved cost.

On the basis of such scheme, described Terminal Position Location System, also include: third router, described 3rd route The height of device is identical with the height of described the first router, described the second router, and described third router is positioned at described first Outside the straight line at router and the second router place, described third router can effectively receive the signal that described terminal sends；Institute State host computer also to include: the 3rd measures distance calculation module, the power of the signal for receiving according to described third router, By RSSI location algorithm, calculate the 3rd measurement distance between described third router and described terminal；Described final seat Mark computing module also includes: the second final coordinate calculating sub module, for when described coordinate to be selected is not unique, according to the 3rd tunnel Calculated the distance of described each coordinate to be selected and described third router by the coordinate of device, and with the described 3rd measure distance than Relatively, select immediate coordinate to be selected as final coordinate.

On the basis of such scheme, described terminal also includes that sending signal time selects module, for when default Between send the signal of predetermined power, described Preset Time is 5S.Terminal sends signal at interval of Preset Time, and remaining time is in Resting state, this has just saved terminal energy consumption, has extended the cruising time of terminal.

On the basis of such scheme, described terminal also includes alarm module, for sending alarm signal to described host computer Number.Terminal arranges alarm module, it is simple to use, when there is dangerous situation when, can be used for sending alarm signal to host computer, The monitoring personnel being easy to be positioned at host computer find dangerous situation in time.

On the basis of such scheme, described router also includes sound and light alarm module, for receiving what host computer sent Alarm command is reported to the police.Described sound and light alarm module can be flashing lamp, or emergency alarm bell etc., by arranging sound and light alarm mould Block is easy to the particular location of dangerous situation investigation personnel positioning generation dangerous situation.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, and this host computer can be used for the end in above-described embodiment 2 In end alignment system, as shown in Figure 8, including: router selection module, it is used for the letter sent according to the terminal that router receives The size of number intensity selects the maximum router identical with terminal height of two signal strength signal intensities as the first router and second Router；Measure distance calculation module, the power of the signal for receiving according to the first router and the second router, passes through RSSI location algorithm, calculates the first measurement distance between described the first router and terminal, described the second router and end The second measurement distance between end；Coordinate calculation module to be selected, for according to described first measure distance, second measure distance with And the coordinate of the coordinate of the first router, the second router determines the coordinate to be selected of described terminal；Final coordinate calculation module, uses Final coordinate is determined in the coordinate to be selected according to described terminal.

The host computer for terminal positioning that the present embodiment provides, due to the first router chosen and the second router Height is identical with the height of terminal, 3 d space coordinate has been simplified to two dimensional surface coordinate so that algorithm is simple；Pass through RSSI Location algorithm calculates the first measurement distance and second and measures distance, in conjunction with the coordinate of the first router, the second router Coordinate determines the coordinate to be selected of described terminal；Finally determine final coordinate according to the coordinate to be selected of described terminal.Upper by this The final coordinate of machine computing terminal, algorithm does not simply have the situation that location is failed, and one point of result of location Coordinate, the degree of accuracy is high.

In specifically used, described coordinate calculation module to be selected farther includes: equation group sets up submodule, is used for setting flat In face, certain point is the origin of coordinates, and the position at the first router place is A point, and the coordinate of A is (a, 0), the second router place Position is B point, and the coordinate of B is (b, 0), wherein, and b ＞ a >=0；Described first measurement distance is L₁, described second measures distance L₂； The position at described terminal place is Z point, the coordinate of Z point be (x, y), then has:

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

First solving equations submodule, is used for judging L₁+L₂With the size of b-a, work as L₁+L₂During >=b-a, equation group has Solve, solve this equation group, then draw the coordinate to be selected of described terminal.

Described coordinate calculation module to be selected farther includes:

Second solving equations submodule, for working as L₁+L₂During ＜ b-a, with default positive number d for step value to L₁And L₂Enter Row superposition, i.e.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 L₁ ^/+L₂ ^/>=b-a, equation group has solution, solves this equation group, then draw the coordinate to be selected of described terminal；If L₁ ^/+ L₂ ^/＜ b-a, equation group without solving, then continues with default positive number d for step value pairWithCarry out superposition until equation group has solution, Go out the coordinate to be selected of described terminal.

Described final coordinate calculation module also includes: the first final coordinate calculating sub module, is used for judging described seat to be selected Mark is the most unique, if described coordinate to be selected is unique, the most described coordinate to be selected is as final coordinate.

Described host computer also includes: the 3rd measures distance calculation module, for the signal received according to third router Power, by RSSI location algorithm, calculate the 3rd measurement distance between described third router and described terminal；

Described final coordinate calculation module also includes: the second final coordinate calculating sub module, at described coordinate to be selected Time unique, according to the coordinate described each coordinate to be selected of calculating and the distance of described third router of third router, and with Described 3rd measures distance compares, and selects immediate coordinate to be selected as final coordinate.

Embodiment 4

The present embodiment provides the method for locating terminal in a kind of host computer being applied in embodiment 3, as it is shown in fig. 7, Including the size of: the signal strength signal intensity that the terminal that host computer receives according to router sends select two signal strength signal intensities maximum with The identical router of terminal height is as the first router and the second router；Receive according to the first router and the second router The power of signal, by RSSI location algorithm, calculate the first measurement distance between described the first router and terminal, institute State the second measurement distance between the second router and terminal；According to described first measuring distance, second measuring distance and the The coordinate of one router, the coordinate of the second router determine the coordinate to be selected of terminal；Coordinate to be selected according to described terminal determines Final coordinate.

A kind of method of locating terminal that the present embodiment provides, due to the first router chosen and the height of the second router Identical with the height of terminal, 3 d space coordinate is simplified to two dimensional surface coordinate so that algorithm is simple；Found range by RSSI Algorithm calculates the first measurement distance and second and measures distance, in conjunction with coordinate, the coordinate of the second router of the first router Determine the coordinate to be selected of described terminal；Finally determine final coordinate according to the coordinate to be selected of described terminal.By this kind of algorithm meter Calculating the final coordinate of terminal, algorithm does not simply have the situation that location is failed, and the result of location is exactly the coordinate of a point, The degree of accuracy is high.

As detailed description of the invention, measure distance, the second measurement distance and seat of the first router according to described first Mark, the coordinate of the second router determine the process of the coordinate to be selected of terminal, including:

Setting certain point in plane is the origin of coordinates, and the position at the first router place is A point, and the coordinate of A is (a, 0), the The position at two router places is B point, and the coordinate of B is (b, 0), wherein, and b ＞ a >=0；Described first measurement distance is L₁, described Second measures distance L₂；The position at described terminal place is Z point, the coordinate of Z point be (x, y), then has:

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

Work as L₁+L₂During >=b-a, equation group has solution, solves this equation group, then draw the coordinate to be selected of described terminal.Due to One measurement distance is L₁Distance L is measured with second₂Drawn by RSSI location algorithm, RSSI location algorithm calculate distance time, meeting The distance of required calculating is corrected, is thus appreciated that described first measurement distance is L₁Distance L is measured with described second₂ Be accurately, and the coordinate of router is also accurately, then the coordinate to be selected of the terminal calculated is i.e. accurately.

Work as L₁+L₂During ＜ b-a, equation group is without solving, then with default positive number d for step value to L₁And L₂Carry out superposition, i.e.By L₁ ^/And L₂ ^/Substitute into above-mentioned equation group；If L₁ ^/+L₂ ^/>=b-a, equation group has solution, solves this side Journey group, then draw the coordinate to be selected of described terminal；If L₁ ^/+L₂ ^/＜ b-a, equation group without solving, then continues with default positive number d as step It is right to enter to be worthWithCarry out superposition until equation group has solution, draw the coordinate to be selected of described terminal.Default positive number in the present embodiment The value of d is determined by the precision of positioning requirements, and the value of d is the least, then the number of times of superposition is the most, and the precision of location is the highest；Use This kind of algorithm ensure that the coordinate to be selected of the terminal obtained is relatively accurate, and on the premise of not increasing software complexity, Positions calculations is succinct.

So set the origin of coordinates, the coordinate of the first router and the coordinate of the second router so that the first router and The straight line at the second router place, is the X-axis of set up coordinate system, and this most conveniently solves above-mentioned equation group, alleviates fortune Calculate burden, then improve the speed solving the coordinate to be selected drawing terminal.In actually used, often the first router is i.e. set as The origin of coordinates, the i.e. position at the first router place are A point, and the coordinate of A is (a, 0), wherein a=0, this more convenient computing.

Coordinate to be selected according to described terminal determines the step of final coordinate, including:

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

If coordinate to be selected is not unique, the most also comprise the steps: to choose third router, the height of described third router Identical with the height of described the first router, described the second router, described third router be positioned at described the first router and Outside the straight line at the second router place, described third router can effectively receive the signal that described terminal sends；Described host computer According to the power of the signal that described third router receives, by RSSI location algorithm, calculate described third router with The 3rd measurement distance between described terminal；Coordinate according to third router calculates described each coordinate to be selected and the described 3rd The distance of router, and compare with described 3rd measurement distance, select immediate coordinate to be selected as final coordinate.In reality In using, described third router is positioned at the outer a certain distance of straight line at described the first router and the second router place, no That preferably leans on is the nearest.

Obviously, above-described embodiment is only for clearly demonstrating example, and not restriction to embodiment.Right For those of ordinary skill in the field, can also make on the basis of the above description other multi-form change or Variation.Here without also cannot all of embodiment be given exhaustive.And the obvious change thus extended out or Change among still in the protection domain of the invention.

Claims (8)

1. a method of locating terminal, it is characterised in that comprise the steps:

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

The size of the described signal strength signal intensity that described host computer receives according to router select two signal strength signal intensities maximum with end Hold the most identical router 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, is surveyed by RSSI Away from algorithm, calculating the first measurement distance between described the first router and described terminal, described the second router is with described The second measurement distance between terminal；

Coordinate according to described first measurement distance, the second measurement distance and the coordinate of the first router, the second router is true The coordinate to be selected of fixed described terminal；Wherein, described according to described first measurement distance, the second measurement distance and the first router Coordinate, the coordinate of the second router determine that the process of coordinate to be selected of described terminal includes:

Setting certain point in plane is the origin of coordinates, and the position at the first router place is A point, and the coordinate of A is (a, 0), the second tunnel Being B point by the position at device place, the coordinate of B is (b, 0), wherein, and b ＞ a >=0；Described first measurement distance is L₁, described second Measure distance L₂；The position at described terminal place is Z point, the coordinate of Z point be (x, y), then has:

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

Work as L₁+L₂During >=b-a, equation group has solution, solves this equation group, then draw the coordinate to be selected of described terminal；

Work as L₁+L₂During ＜ b-a, equation group is without solving, then with default positive number d for step value to L₁And L₂Carry out superposition, i.e.By L₁ ^/And L₂ ^/Substitute into above-mentioned equation group；If L₁ ^/+L₂ ^/>=b-a, equation group has solution, solves this side Journey group, then draw the coordinate to be selected of described terminal；If L₁ ^/+L₂ ^/＜ b-a, equation group without solving, then continues with default positive number d as step It is right to enter to be worthWithCarry out superposition until equation group has solution, draw the coordinate to be selected of described terminal；

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

Method of locating terminal the most according to claim 1, it is characterised in that determine according to the coordinate to be selected of described terminal The step of whole coordinate, including:

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

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

Choose third router, the height of described third router and described the first router, the height of described the second router Identical, described third router is positioned at outside the straight line at described the first router and the second router place, described third router Can effectively 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 institute State the 3rd measurement distance between third router and described terminal；

Coordinate according to third router calculates the distance of each described coordinate to be selected and described third router, and with described the Three measure distance compares, and selects immediate coordinate to be selected as final coordinate.

3. a Terminal Position Location System, it is characterised in that including:

Terminal, described terminal sends the signal of predetermined power；

At least two router, described router receives the signal that sends of described terminal, and by the described signal that receives with from The identification code that body is uniquely corresponding transmits to host computer；

Host computer, farther includes:

Router selects module, and the size of the described signal strength signal intensity for receiving according to described router selects two signals strong The router identical with terminal height of degree maximum is as the first router and the second router；

Measure distance calculation module, the merit of the signal for receiving according to described the first router and described the second router Rate, by RSSI location algorithm, calculates the first measurement distance between described the first router and described terminal, and described second The second measurement distance between router and described terminal；

Coordinate calculation module to be selected, for measuring distance, the second measurement distance and seat of the first router according to described first Mark, the coordinate of the second router determine the coordinate to be selected of described terminal；Wherein, described coordinate calculation module to be selected wraps further Include:

Equation group sets up submodule, and being used for setting in plane certain point is the origin of coordinates, and the position at the first router place is A point, A Coordinate be (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 Measurement distance is L₁, described second measures distance L₂；The position at described terminal place is Z point, the coordinate of Z point be (x, y), then has:

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

First solving equations submodule, is used for judging L₁+L₂With the size of b-a, work as L₁+L₂During >=b-a, equation group has solution, asks Solve this equation group, then draw the coordinate to be selected of described terminal；

Second solving equations submodule, for working as L₁+L₂During ＜ b-a, with default positive number d for step value to L₁And L₂Carry out repeatedly Add, i.e.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 L₁ ^/+L₂ ^/>=b-a, equation group has solution, solves this equation group, then draw the coordinate to be selected of described terminal；If L₁ ^/+L₂ ^/＜ B-a, equation group without solving, then continues with default positive number d for step value pairWithCarry out superposition until equation group has solution, draw institute State the coordinate to be selected of terminal；

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

Terminal Position Location System the most according to claim 3, it is characterised in that described final coordinate calculation module also includes: First final coordinate calculating sub module, is used for judging that described coordinate to be selected is the most unique, if described coordinate to be selected is unique, then described Coordinate to be selected is as final coordinate.

Terminal Position Location System the most according to claim 3, it is characterised in that also include:

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 can be effective Receive the signal that described terminal sends；

Described host computer also includes: the 3rd measures distance calculation module, for the signal received according to described third router Power, by RSSI location algorithm, calculate the 3rd measurement distance between described third router and described terminal；

Described final coordinate calculation module also includes: the second final coordinate calculating sub module, at described coordinate to be selected the most only For the moment, calculate the distance of each described coordinate to be selected and described third router according to the coordinate of third router, and with described 3rd measures distance compares, and selects immediate coordinate to be selected as final coordinate.

6. according to the arbitrary described Terminal Position Location System of claim 3-5, it is characterised in that described terminal also includes sending signal Selection of time module, for sending the signal of predetermined power every Preset Time, described Preset Time is 5S.

7. according to the arbitrary described Terminal Position Location System of claim 3-5, it is characterised in that described terminal also includes warning mould Block, for sending alarm signal to described host computer.

8. according to the arbitrary described Terminal Position Location System of claim 3-5, it is characterised in that described router also includes acousto-optic report Alert module, the alarm command sent for receiving host computer is reported to the police.