CN108174443A - LoRa localization methods based on beaconing nodes auxiliary - Google Patents

LoRa localization methods based on beaconing nodes auxiliary Download PDF

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Publication number
CN108174443A
CN108174443A CN201810067296.7A CN201810067296A CN108174443A CN 108174443 A CN108174443 A CN 108174443A CN 201810067296 A CN201810067296 A CN 201810067296A CN 108174443 A CN108174443 A CN 108174443A
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gateway
beaconing nodes
combination
error
lora
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张科
蒋雪妍
刘强
杨宁
杨鲲
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University of Electronic Science and Technology of China
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University of Electronic Science and Technology of China
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

A kind of LoRa localization methods based on beaconing nodes auxiliary provided by the invention, belong to localization method field.The present invention is by dividing region, form several beaconing nodes, for each beaconing nodes, first to all gateway progress permutation and combination for receiving it and sending message, and this error combined is calculated with the Euclidean distance of beaconing nodes actual position according to the positioning result of the combination, all combinations are screened according to the size of error, and to garbled combination distribution weight, establish a gateway built-up pattern.Then terminal and the similarity of the signal strength of different beaconing nodes that all gateways receive are calculated, to carry out position resolving to terminal with the gateway built-up pattern for choosing the highest node structure of similarity, influence of the relative time error to positioning accuracy between gateway can be effectively reduced, improves positioning accuracy.

Description

LoRa localization methods based on beaconing nodes auxiliary
Technical field
The invention belongs to localization method fields, and in particular to a kind of LoRa localization methods based on beaconing nodes auxiliary.
Background technology
Outdoor positioning depends on global positioning system (Global Position System, GPS) and honeycomb at present Net base station.The communication of the data of GPS and Cellular Networks is needed by 3G/4G networks, therefore to be transmitted signal and will be set up base station, and base The erection cost stood is very high, and the GPS and receiver of Cellular Networks is expensive and high energy consumption.Wherein most is about profit It in the research positioned with cellular network base stations is realized using TDOA technologies, and influences a key of TDOA system accuracies Factor is the synchronous effect of gateway.The gateway in TDOA alignment systems is generally ensured using GPS second impulsive synchronization mode at present The precision of time difference measurement, the time precision after the second grade are calculated by gateway time clock.When gateway each in alignment system is not stringent same During step (each gateway time clock floats when producing different), actually measure contained in obtained TDOA it is opposite between each gateway The time difference, and the relative time error size between each gateway depends on the stability of each gateway time clock.
In August, 2013, Semtech companies have issued a kind of novel ultra long haul low-power consumption based below 1GHz to industry The chip of data transmission technology (Long Range, abbreviation LoRa).It receives-the 148dbm that sensitivity has reached surprising, farthest Transmission range is up to 15 kms, available for extensive outdoor ranging and positioning.
At present to the research of LoRa positioning also in the stage at the early-stage, positioning accuracy is not high.LoRa low-power consumption itself, far Apart from the characteristics of make it suitable for reaching time difference (the Time Difference of of different gateways using signal Arrival, TDOA) technology positioned.Therefore, a main problem for influencing its positioning accuracy is exactly that there are phases between gateway To the time difference.Under the large-scale outdoor scene of multiple gateway, how to select the relatively good gateway of synchronous effect carry out positioning be to carry One critical issue of high position precision.
Invention content
To solve the above-mentioned problems, the present invention provides a kind of LoRa localization methods based on beaconing nodes auxiliary, adaptive Gateway built-up pattern is answered, there are problems that relative time error proposes improvement project between gateway, weakens its influence, it is fixed to improve Position precision.
The LoRa localization methods based on beaconing nodes auxiliary of the present invention, include the following steps：
Step 1, region is divided into several pieces, beaconing nodes known to one position of each piece of region random placement；
Step 2, each beaconing nodes establish a gateway built-up pattern；
Step 3, gateway carries out the signal strength of the terminal to be positioned received and the signal strength of different beaconing nodes Similarity calculation, selection and the gateway combination die of the highest beaconing nodes of signal strength similarity of the terminal to be positioned Type positions the terminal to be positioned.
Further, the idiographic flow of the step 2 is as follows：
Step 21, beaconing nodes can receive the beaconing nodes using preset time as period transmission data packet to all The gateway of the data packet of transmission carries out permutation and combination；
Step 22, each gateway combination positions the beaconing nodes, obtains the positioning result of the beaconing nodes；
Step 23, the position error of each gateway combination is calculated；
Step 24, gateway combination is screened；
Step 25, each weight combined by the gateway screened is determined；
Step 26, the gateway built-up pattern of the beaconing nodes is established.
Further, the idiographic flow of the step 23 is as follows：
It is combined with each gateway to the European of the actual position of the positioning result and beaconing nodes of the beaconing nodes Distance come represent each gateway combination error.
Further, the idiographic flow of the step 24 is as follows：
Kalman filtering is carried out to the error of all gateways combination to determine threshold value；
The gateway that error is more than to the threshold value combines removing, chooses the gateway group that error is not more than the threshold value It closes.
Further, the idiographic flow of the step 25 is as follows：
It is defined through the gateway combination after screening and the similarity of legitimate reading；
Obtain the weight of gateway built-up pattern of the gateway combination in the beaconing nodes.
Further, the idiographic flow of the step 3 is as follows：
Step 31, gateway carries out the signal strength of the terminal to be positioned received and the signal strength of different beaconing nodes Similarity calculation；
Step 32, the gateway built-up pattern of the selection highest beaconing nodes of similarity is treated positioning terminal and is positioned.
Beneficial effects of the present invention：By being screened after carrying out permutation and combination to gateway, when can reduce opposite between gateway Influence of the difference to positioning accuracy improves positioning accuracy.It solves blocking, certain gateways fail to receive due to weather etc. During GPS second pulse synchronous signal, the crystal oscillator of its own clock can be utilized to calculate data packet arrival time, because its own crystal oscillator is inadequate The problem of stablizing, leading to cause very big error.And this method can relative time error is very big between this gateway situation carry out Filtering filters out the relatively good gateway of synchronous effect and combines to be positioned, therefore larger partially in the clock appearance of indivedual gateways Also it can guarantee positioning accuracy in the case of difference.
Description of the drawings
Fig. 1 is the flow chart of the present invention.
Fig. 2 is the flow chart of step 2 in Fig. 1.
Fig. 3 is the flow chart of step 3 in Fig. 1.
Specific embodiment
The invention will be further elaborated with specific embodiment below in conjunction with the accompanying drawings.
As shown in Figure 1, the LoRa localization methods based on beaconing nodes auxiliary of the present invention, include the following steps：
Step 1, region is divided into several pieces, beaconing nodes known to a position are disposed in each piece of region immediately.
All regions that can be positioned are divided, are divided into several pieces, and each piece divide after region in all with A beaconing nodes are disposed, the position of each beaconing nodes is clearly known.
Step 2, each beaconing nodes establishes a gateway built-up pattern.
The flow of step 2 is as shown in Fig. 2, specific as follows：
Step 21, beaconing nodes can receive the beaconing nodes using preset time as period transmission data packet to all The gateway of the data packet of transmission carries out permutation and combination.
Each beaconing nodes externally sends information using a preset time as the period, with one of node A nodes For.The external transmission data packet of A nodes as long as the gateway of the data packet of A nodes transmission can be received, is all recorded, And carry out permutation and combination.If sharing the data packet that n gateway receives A nodes, then shareKind The permutation and combination of gateway, principle are as follows.
Assuming that beaconing nodes A is to gateway i and the range difference of gateway 1：
Wherein, c be electromagnetic wave propagation speed, (Xi,Yi), i=1,2,3...n be the position coordinates of gateway, and (x, y) is A The position coordinates of node, τi,1For i-th of gateway to the TDOA measured values with reference to gateway 1, RiRepresent i-th of gateway to A nodes it Between distance.
First by TDOA equation linearization process, because
Ri 2=(Ri,1+R1)2, (2)
It is unfolded
Wherein have
Abbreviation obtains
RI, 1 2+2RI, 1R1=Ki-2XI, 1x-2YI, 1Y, (4)
Wherein, Xi,1=Xi-X1, Yi,1=Yi-Y1,
From expression formula, it is only necessary to which three gateways are the position that can determine A nodes.
If a shared n gateway can receive the data packet that A nodes are periodically sent out, N=is sharedKind gateway combination.
Step 23, each gateway combination positions the beaconing nodes, obtains the positioning result of the beaconing nodes.
All gateway combinations, i.e. N kinds gateway combines, A nodes is positioned, to obtain the positioning result of A nodes, The principle of positioning is as follows.
For simplified expression, can set three gateway location coordinates of each combination as：Gateway 1 (0,0), 2 (x of gateway2, 0), 3 (x of gateway3,y3), then haveXi,1=Xi-X1, Yi,1=Yi-Y1=Yi。
Formula (4) can abbreviation be
-2R2,1R1=R2,1 2-X2 2+2X2X, (5)
-2R3,1R1=R3,1 2-(X3 2+Y3 2)+2X3x+2Y3y。 (6)
Formula (5) (6) subtracts each other
Y=g*x+h, (7)
Wherein, g=[(R3,1X2)/R2,1-X3]/Y3, h=[X3 2+Y3 2-R3,1 2+R3,1*R2,1(1-(X2/R2,1)2)]/2Y3。
Formula (7), which is substituted into formula (5), to be obtained
d*x2+ e*x+f=0, (8)
Wherein, d=- [(1- (X2/R2,1)2)+g2], e=X2*(1-(X2/R2,1)2) -2g*h, f=(R2,1 2/4)*(1-(X2/ R2,1)2)2-h2, two solutions can be obtained by solving equation (8)One of them is selected using prior information, so It substitutes into formula (7) afterwards, obtains estimated position y, just obtained the positioning result (x for A nodesa,ya), (xa,ya) represent the The positioning result that a kinds combine.
Step 23, the position error of each gateway combination is calculated.
After the combination of each gateway is obtained to the positioning result of beaconing nodes because the position of each beaconing nodes it is known that with The Euclidean distance of the positioning result of each combination and the actual position of beaconing nodes represents the error d of this combined resulta。
Wherein, daRepresent the error of a kinds Composite gateway combination, (xa,ya) represent to combine in a and beaconing nodes A is determined Position is as a result, (x, y) represents the actual position of beaconing nodes A, a=1,2 ... N.
Step 24, gateway combination is screened.
Theoretically, each gateway combination all should be 0 to the positioning result error of a beaconing nodes, i.e., positioning result with Legitimate reading overlaps, but due to there are relative time error between gateway and surrounding environment influence, positioning result and legitimate reading it Between difference there is very great fluctuation process, therefore a suitable decision threshold is set to be screened to combination, the present invention is led to It crosses and Kalman filtering is carried out to the error of all combinations to select suitable threshold value dth。
The state equation of system is respectively with observational equation：
dk+1=dk,
Zk=dk+nk,
Wherein, dkRepresent the error of kth kind combination, ZkRepresent the error observation of kth kind combination, dkBest estimate by Kalman filter equation provides.
Status predication：
dk+1|k=dk|k,
Error covariance is predicted：
Pk+1|k=Pk|k,
Kalman filtering prediction of gain：
Kk+1=Pk+1|k(Pk+1|k+σ2)-1,
Solve optimum filtering value：
dk+1|k+1=dk+1|k+Kk+1(Zk+1-dk+1|k),
Calculate Kalman Filter Residuals covariance：
Pk+1|k+1=(1-Kk+1)Pk+1|k,
Initial value d1|0For the threshold value once given out a contract for a project before beaconing nodes, if giving out a contract for a project for the first time, then take this first The error of kind combination is as initial value.Initial error covariance P0|0Take the value not for 0 can.σ2For observation noise variance, sheet 4 are taken in text.Threshold value dthFor final filtered result.
According to obtained threshold value, the error for removing all positioning results is more than the gateway combination of threshold value.
Step 25, each weight combined by the gateway screened is determined.
It is combined after screening, leaving gateway of the error no more than threshold value, defines its similarity with legitimate readingThe then weight shared by itWherein M for screening after remaining number of combinations, waIt is combined for a kinds Weight, gaSimilarity for the combination of a kinds.
Step 26, the gateway built-up pattern of the beaconing nodes is established.
For A nodes, each gateway combining weights after screening also determine, then for the gateway combination die of A nodes Type also establishes completion.The above-mentioned gateway model that one of beaconing nodes are illustrated with beaconing nodes A establishes process.Region Inside there are several beaconing nodes, and each beaconing nodes periodicity sending data packet, each period, each beaconing nodes can be built Found a completely new gateway built-up pattern.
Step 3, gateway carries out the signal strength of the terminal to be positioned received and the signal strength of different beaconing nodes Similarity calculation, selection and the gateway combination die of the highest beaconing nodes of signal strength similarity of the terminal to be positioned Type positions the terminal to be positioned.
When needing positioning terminal and sending out Location Request, gateway receives the Location Request, by terminal to be positioned and each letter The similarity for marking the signal strength of node is calculated, and chooses the gateway built-up pattern of the highest beaconing nodes of similarity to undetermined Position terminal is positioned.The flow of step 3 is as shown in figure 3, specific as follows.
Step 31, gateway carries out the signal strength of the terminal to be positioned received and the signal strength of different beaconing nodes Similarity calculation.
Terminal to be positioned and the similarity S of b-th of beaconing nodesbThe signal strength of the two received by all gateways Pearson correlation coefficient obtains.
Wherein, rssikThe signal strength of terminal to be positioned, rssii are received for k-th of gatewayb,kIt is connect for k-th of gateway The signal strength of b-th of beaconing nodes received, n is gateway number, if some gateway is not received by signal, corresponding signal Intensity is 0.
Step 32, the gateway built-up pattern of the selection highest beaconing nodes of similarity is treated positioning terminal and is positioned.
After calculating, signal strength and the highest beaconing nodes of terminal similarity to be positioned are chosen, select the beacon section The gateway built-up pattern of point is positioned to treat positioning terminal.As a result it is as follows：
(xc,yc) be terminal to be positioned position, (xa,ya) for a kinds gateway combination positioning result, waFor a kind groups The weight of conjunction, it is determined that the position of terminal to be positioned.
The present invention is by being several pieces by region division, one beaconing nodes of each piece of region random placement, each node Then periodicity sending data packet carries out permutation and combination, to this after combination to all gateways that can receive wherein some node Node is positioned, and positioning result eliminates combination of the error more than threshold value after being calculated by error calculation and threshold value, After the weight for determining each to combine, the gateway built-up pattern of the node has been obtained.Give out a contract for a project the period in each node, it all can be to every The gateway built-up pattern of a node is recalculated, to ensure the accuracy of each nodal analysis method and real-time.
After terminal to be positioned sends Location Request, gateway receives Location Request, calculates the terminal to be positioned that receives The similarity of signal strength and the signal strength of each beaconing nodes chooses the highest beaconing nodes of similarity, uses the beacon The gateway built-up pattern of node positions the terminal to be positioned.
Those of ordinary skill in the art will understand that the embodiments described herein, which is to help reader, understands this hair Bright principle, it should be understood that protection scope of the present invention is not limited to such specific embodiments and embodiments.This field Those of ordinary skill can make according to these technical inspirations disclosed by the invention various does not depart from the other each of essence of the invention The specific deformation of kind and combination, these deform and combine still within the scope of the present invention.

Claims (6)

1. a kind of LoRa localization methods based on beaconing nodes auxiliary, which is characterized in that include the following steps：
Step 1, region is divided into several pieces, beaconing nodes known to one position of each piece of region random placement；
Step 2, each beaconing nodes establish a gateway built-up pattern；
Step 3, gateway is similar with the progress of the signal strength of different beaconing nodes by the signal strength of the terminal to be positioned received Degree calculates, selection and the gateway built-up pattern pair of the highest beaconing nodes of signal strength similarity of the terminal to be positioned The terminal to be positioned is positioned.
2. the LoRa localization methods as described in claim 1 based on beaconing nodes auxiliary, which is characterized in that the step 2 Idiographic flow is as follows：
Step 21, beaconing nodes can receive the beaconing nodes transmission using preset time as period transmission data packet to all Data packet gateway carry out permutation and combination；
Step 22, each gateway combination positions the beaconing nodes, obtains the positioning result of the beaconing nodes；
Step 23, the position error of each gateway combination is calculated；
Step 24, gateway combination is screened；
Step 25, each weight combined by the gateway screened is determined；
Step 26, the gateway built-up pattern of the beaconing nodes is established.
3. the LoRa localization methods as claimed in claim 2 based on beaconing nodes auxiliary, which is characterized in that the step 23 Idiographic flow is as follows：
With the combination of each gateway to the Euclidean distance of the actual position of the positioning result and beaconing nodes of the beaconing nodes To represent the error of each gateway combination.
4. the LoRa localization methods as claimed in claim 2 based on beaconing nodes auxiliary, which is characterized in that the step 24 Idiographic flow is as follows：
Kalman filtering is carried out to the error of all gateways combination to determine threshold value；
The gateway that error is more than to the threshold value combines removing, and the gateway for choosing error no more than the threshold value combines.
5. the LoRa localization methods as claimed in claim 4 based on beaconing nodes auxiliary, which is characterized in that the step 25 Idiographic flow is as follows：
It is defined through the gateway combination after screening and the similarity of legitimate reading；
Obtain the weight of gateway built-up pattern of the gateway combination in the beaconing nodes.
6. the LoRa localization methods as described in claim 1 based on beaconing nodes auxiliary, which is characterized in that the step 3 Idiographic flow is as follows：
Step 31, gateway is similar with the progress of the signal strength of different beaconing nodes by the signal strength of the terminal to be positioned received Degree calculates；
Step 32, the gateway built-up pattern of the selection highest beaconing nodes of similarity is treated positioning terminal and is positioned.
CN201810067296.7A 2018-01-24 2018-01-24 LoRa localization methods based on beaconing nodes auxiliary Pending CN108174443A (en)

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CN110876191B (en) * 2018-08-31 2021-10-26 哈尔滨海能达科技有限公司 Positioning information determination method, positioning method, node, gateway and Internet of things system
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CN110536413A (en) * 2019-07-31 2019-12-03 武汉剑通信息技术有限公司 A kind of method and system of LTE base station GPS positioning
CN111050275A (en) * 2019-11-26 2020-04-21 武汉虹信技术服务有限责任公司 Bluetooth positioning method based on RSSI characteristic value

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