CN108535754A - A kind of indoor and outdoor positioning system and method based on GPS and Zigbee - Google Patents
A kind of indoor and outdoor positioning system and method based on GPS and Zigbee Download PDFInfo
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- CN108535754A CN108535754A CN201810189764.8A CN201810189764A CN108535754A CN 108535754 A CN108535754 A CN 108535754A CN 201810189764 A CN201810189764 A CN 201810189764A CN 108535754 A CN108535754 A CN 108535754A
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- zigbee
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
A kind of indoor and outdoor positioning system and method based on GPS and Zigbee, the system comprises：Positioning terminal, Zigbee subnet gateway node, Zigbee subnets routing node and data center, the wherein described Zigbee subnet gateway node is communicated with the data center, and the positioning terminal and the Zigbee subnets routing node are communicated by the Zigbee subnet gateway node with the data center.It can be in communication with each other between the positioning terminal and the Zigbee subnets routing node, communication mode is wireless communication.The Zigbee subnet gateway node is communicated between the data center using the communications cable.It is an advantage of the invention that having good indoor and outdoor positioning function, and by increasing Zigbee subnets routing node and Zigbee subnet gateway nodes, indirectly expand the transmission range and area coverage of Zigbee module.Switching on and shutting down and calling for help can realize that it is to be automatically performed to connect network and switching positioning method, for the elderly, is more prone to operate by two kinds of actions of a button.
Description
Technical field
The present invention relates to field of locating technology, and system is positioned more particularly to a kind of indoor and outdoor based on GPS and Zigbee
System and method, for realizing the positioning function of indoor and outdoor.
Background technology
With the gradual intensification of China human mortality aging degree, endowment problem also getting worse, wherein Aged caring institutions are for we
More important one kind in state's Aged mode.In numerous application demands of Aged caring institutions, room of the solution old man in mechanism garden
It is interior, outdoor, and outgoing orientation problem, it is extremely necessary demand.
However, although existing widely applied indoor and outdoor location technology is highly developed, as GPS positioning, the Big Dipper are defended
Star positioning, base station location, wifi positioning, bluetooth positioning and Zigbee positioning, but each location technology but respectively has its excellent scarce
Point.By taking GPS and Zigbee as an example, GPS when GPS signal is good, is determined based on GPS its advantage is that area coverage is big, round-the-clock
For its positioning accuracy error of position device generally within 5 meters, positioning accuracy is higher；But its disadvantage is also particularly evident, i.e., GPS is by ground
Reason position is affected, and when in underground garage and interior, the positioning of GPS just will receive considerable influence or even nothing
Method is positioned.Such as smart mobile phone of the mobile device based on GPS that longest is shown in also is supported while capable of realizing GPS positioning
GPRS is positioned and bluetooth location technology, but to carry out equipment price higher for cell phone type mobile device one, and GPRS locating effects are same
It is influenced by signal intensity of mobile phone, when mobile phone signal is weaker, locating effect is bad；Two carry out bluetooth location technology, relative to mobile phone
For such mobile device, power consumption is higher, and duration performance is poor；Three carry out smart mobile phone for the elderly, and operation is complex.
In addition, Zigbee positioning also has its respective advantage and disadvantage, as it has such as low-power consumption, low cost, network capacity are big, data pass
The advantages that defeated reliable, positioning accuracy is high, still, have the shortcomings that transmission rate is low, transmission range is short, diffracting power is weak again,
So that it is more suitble to the place that interior etc. is limited in scope.
Invention content
For the above, it is fixed that a kind of indoor and outdoor based on GPS and Zigbee is disclosed according to an aspect of the present invention
Position system, including：Multiple positioning terminals, multiple Zigbee subnets, multiple web browsers and data center, wherein the positioning
Terminal can carry out two-way communication by multiple Zigbee subnets and data center, carry out indoor positioning, the positioning terminal can be straight
It connects and is communicated with the data center, carry out outdoor positioning, the multiple web browser is connected with data center, is used for pair
The location information of the positioning terminal is monitored.
Preferably, the Zigbee subnets include：Zigbee subnet gateway node and Zigbee subnet routing nodes,
In, the Zigbee subnet gateway node and the Zigbee subnets routing node carry out wireless communication, the ZIgbee positioning
Terminal can be carried out wireless communication with the Zigbee subnet gateway node or Zigbee subnet routing nodes.
It is furthermore preferred that carrying out cable modem using the communications cable between the Zigbee subnet gateway node and the data center
Letter.
Preferably, the positioning terminal includes：Identification module, the first Zigbee module, GPS/GPRS modules, first
Control module, button and LED light, wherein the Zigbee module, the GPS/GPRS modules, the identification mould
Block, the button and the LED light are connected with the control module respectively.
It is furthermore preferred that the GPS/GPRS modules and the first control module set be in same hardware, described the
Under the control of one control module, the GPS/GPRS modules access network by the identification module, and will by GPRS
GPS positioning information is sent to data center.
Preferably, the Zigbee subnet gateway node includes：Second Zigbee module, the second control module and interface
Module.
Preferably, the Zigbee subnets routing node includes：Third Zigbee module.
It is furthermore preferred that can be carried out wireless communication by Zigbee module between the Zigbee subnets routing node,
Preferably, the data center includes：Data Frontend processing module comes from Zigbee subnet gateway sections for handling
The location information of point forwarding；Data memory module, data that treated for preserving Data Frontend processing module；Web browser,
For by browser, preserving indoor positioning map to data center, showing external position in positioning terminal room.
A kind of localization method using above-mentioned positioning system is disclosed according to another aspect of the present invention, including：S1 is opened
Open positioning terminal；S2 attempts Zigbee networkings；If S3 Zigbee networkings success, is no longer turned on and off GPS positioning function；S4
If Zigbee networkings are unsuccessful, start GPS positioning function；S5 retrieves help information；If S6 is without help information, it is fixed to send
Position information；If S7 retrieves help information, alarm signal and alert locations information are sent；Above-mentioned step is repeated according to the setting period
Rapid S1 to step S7.
It is an advantage of the invention that passing through the combination of GPS positioning technology and Zigbee location technologies so that present system
Indoor and outdoor positioning has good effect, and in Zigbee location technologies, Zigbee locating module transmission ranges are short and spread out
The weak problem of ability is penetrated, by increasing Zigbee subnets routing node and Zigbee subnet gateway sections in positioning system of the present invention
Point indirectly extends the transmission range and coverage area of Zigbee module；In positioning terminal, controlled by control module excellent
It is first positioned using Zigbee so that the power consumption of positioning terminal is very low, considerably increases the ability of its continuous work；Switching on and shutting down
And call for help and can be realized by two kinds of actions of a button, it is to be automatically performed to connect network and switching positioning method, right
For the elderly, it is more prone to operate.In addition, further include having data center in positioning system of the present invention, it can be to each positioning
The location information of terminal carries out arrangement preservation.User can be by downloading respective chambers map to by Zigbee's on the internet
Location information is combined with map, to realize to target real-time location monitoring, and is preserved location information by transferring and is checked pair
As passing location information.
Description of the drawings
By reading the detailed description of following detailed description, various other advantages and benefit are common for this field
Technical staff will become clear.Attached drawing is only used for showing the purpose of specific implementation mode, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings：
Fig. 1 is the system composition figure of the present invention.
Fig. 2 is the positioning terminal hardware structure diagram of the present invention.
Fig. 3 is the Zigbee subnet gateway node hardware structure figures of the present invention.
Fig. 4 is the work flow diagram of the positioning system of the present invention.
Fig. 5 is a kind of system composition figure of alternative embodiment of the present invention.
Specific implementation mode
The invention discloses a kind of indoor and outdoor positioning system based on GPS and Zigbee, by GPS positioning components with
Zigbee module realizes indoor positioning and the function of outdoor positioning, and GPS indoor positioning effects are compensated for using Zigbee module
Bad problem is based on from existing unlike GPS and Zigbee positioning devices, and the Zigbee module in the present invention is no longer
Point-to-point single-point information exchange is carried out using positioning terminal and server, but is used by multiple Zigbee subnet gateway sections
Point, each node are interacted as the mode of an information exchange hinge with data center, multiple Zigbee subnets nets
Artis is positioned over different zones, and multiple Zigbee subnets routing nodes are equipped in region, the routing of Zigbee subnets
By wirelessly being communicated between Zigbee subnets routing node and positioning terminal between node, finally unify by Zigbee subnet nets
Artis is interacted by transmission line of information cable with data center, and to form Zigbee nets, Zigbee nets expand
The orientation range of Zigbee makes it no longer be limited by communications distance itself, and just the outer present invention also has GPS positioning work(for this
It can so that indoor and outdoor has preferable locating effect.Further include data center in positioning system of the present invention, data center can
Indoor map is downloaded by Web and combines the location information of positioning terminal with map, realizes real time position tracking.Below
It will describe in detail to the present invention in conjunction with attached drawing.
System of the present invention includes：Multiple outdoor positioning terminals, multiple Zigbee subnets, multiple web browser sum numbers
According to center.Wherein, public network two-way communication is used between multiple Zigbee subnets and data center.In system of the present invention
In, when the positioning terminal is located in Zigbee subnet coverage areas, positioning terminal is positioned preferably through Zigbee,
And location information is sent to by data center by Zigbee subnets.It can not be covered when the positioning terminal is located at Zigbee subnets
Range, when such as outdoor, the positioning terminal is positioned by GPS, and accesses GPRS network by identification module, is led to
It crosses GPRS nets and is sent to data center.
Specifically, as shown in Figure 1, wherein data center is oval white area, Zigbee subnet gateway nodes are black
Color dot, Zigbee subnet routing nodes are grey dot, and positioning terminal is white dot, and Web browser is black triangles mark
Note, wherein Zigbee subnet gateway node is indicated by public network and data center's two-way communication with for the four-headed arrow of dotted line, institute
Stating Zigbee subnets routing node can be logical by the Zigbee subnet gateway node and data center with the positioning terminal
Letter, is indicated, the positioning terminal can be used as transfer by the Zigbee subnets routing node with for the four-headed arrow of solid line
It is communicated with data center by the Zigbee subnet gateway node, is made by way of forming Zigbee nets again
Zigbee's is no longer influenced by self transmission distance, realizes indoor accurate positionin.More specifically, the transmission of the Zigbee nets
Mode is optionally, to be communicated with Zigbee subnet routing nodes by positioning terminal, the Zigbee subnets routing node with
Zigbee subnet gateway nodes communicate, the mode that the Zigbee subnet gateway node is communicated with the data center；Optionally,
It is communicated with Zigbee subnet gateway nodes by positioning terminal, the Zigbee subnet gateway node is communicated with the data center
Mode, wherein between the positioning terminal and the Zigbee subnets routing node, between the Zigbee subnets routing node with
And it is communicated by wireless transmission method between the Zigbee subnets routing node and the Zigbee subnet gateway node, institute
It states and is communicated by way of wire transmission between the data center between Zigbee subnet gateway nodes.
When positioned at interior, ZIgbee networking modes are as shown in Figure 1, include：Zigbee subnets 1, Zigbee subnets 2,
Zigbee subnets 3 and Zigbee subnets 4, wherein Zigbee subnets 1 include three positioning terminals, two Zigbee subnets routing sections
Point, a Zigbee subnet gateway node, two of which positioning terminal by a Zigbee subnets routing node with it is described
Zigbee subnet gateway nodes communicate, to being communicated with the data center, another positioning terminal and another
Zigbee subnets routing node is communicated with the ZIgbee subnet gateway node respectively, to be carried out with the data center
Communication.
Zigbee subnets 2 include three positioning terminals, four Zigbee subnets routing nodes, a Zigbee subnet gateway
Node, wherein above three positioning terminal passes through corresponding Zigbee subnets routing node and the Zigbee subnets
Gateway node is communicated, to be communicated with the data center, another Zigbee subnets routing node and above-mentioned three
One in a ZIgbee subnets routing node is communicated.
Zigbee subnets 3 include three positioning terminals, three Zigbee subnets routing nodes and a Zigbee subnet net
Artis, two in three Zigbee subnet routing nodes are in communication with each other, and then pass through the road postal of one of Zigbee subnets
Office's node is communicated with the Zigbee subnet gateway node, and to be communicated with the data center, described three fixed
Position terminal is communicated with three Zigbee subnet routing nodes respectively, to be communicated with the data center.
Zigbee subnets 4 include three positioning terminals and two Zigbee subnets routing nodes and a ZIgbee subnets road
By node, two of which positioning terminal is directly communicated with the Zigbee subnets routing node, to logical with the data center
Letter, two Zigbee subnet routing nodes communicate, and then pass through one of Zigbee subnets routing node and the number
Communicated according to center, the last one positioning terminal is communicated with described two Zigbee subnets routing nodes, and then with the number
It is communicated according to center.
When positioning terminal is located outside, the positioning terminal is positioned by GPS, then passes through identification module
GPRS nets are accessed, and then location information is sent to data center.In addition it is clear can to connect one or more Web for the data center
Device is look at, for handle after location information that Zigbee subnet gateway nodes forwards, preservation Data Frontend processing module are handled
Data and by browser to data center preserve indoor positioning map, show location information.
Positioning terminal includes in above system composition：Identification module, the first Zigbee module, the first control module,
GPS/GPRS modules, button and LED light, wherein the identification module, the Zigbee module, GPS/GPRS moulds
Block, the button and the LED light are connected with first control module respectively.
Specifically, as shown in Fig. 2, the identification module is SIM card, the Zigbee module preferably uses
Freescale HC13213 type ZIgbee modules, the Freescale HC13213Zigbee modules for ZigBee networkings,
Transmit ZigBee location informations and send help information etc., wherein ZigBee-network location information is ZigBee-network gateway section
The performance number of the specific information frame for the positioning terminal that point or ZigBee routing nodes receive.The GPS/GPRS modules and described the
One control module set is in a hardware, wherein the control of first control module includes：Pass through GPS receiver satellite
Position information, and the location information is sent to data center by GPRS network；It is controlled and is positioned by first control module
The positioning method (GPS positioning is positioned or used using ZIgbee) of terminal；It determines to seek help and warning message and send.The button is used
In switching on and shutting down or emergency help information is sent out, the LED light is dual-colored LED lamp.Optionally executed by long-press button
Switching on and shutting down operate, and when correct operation, the LED light is shown with a kind of its color；Optionally by continuously pressing three times
Distress call operation is executed, when correct operation, the LED light is shown with its another color.It is positioned eventually in the present invention
End it is easy to operate, two kinds of actions that switching on and shutting down and calling for help can pass through a button are realized, network and switching positioning are connected
Mode is to be automatically performed, and for the elderly, is more prone to operate.
The Zigbee subnet gateway node hardware structure is as shown in figure 3, the Zigbee subnet gateway node includes：The
Two Zigbee modules, the second control module and interface module, second Zigbee module are controlled by second control module,
It is communicated with data center by the interface module, wherein preferably, second Zigbee module is Freescale
HC13213 type ZIgbee modules, the control module are ARM7 processors, and the interface module is RJ45 (public telecommunication networks
Interface), be connected with the data center by the communications cable and carry out wire communication.
In addition, the hardware core device of the Zigbee routing nodes in the ZIgbee nets only needs FreescaleHC13213
, as above-mentioned third Zigbee module, Freescale HC13213 modules are integrated with 1 MCU, itself can meet number
According to the demand of processing.
The data center includes：Data Frontend processing module, data memory module, Web browser, for by clear
Look at device.Specifically, the Data Frontend processing module, for handling the location information forwarded from ZigBee subnet gateway nodes
And warning message calculates ZigBee-network location information using sliding average scheduling algorithm, so that it is determined that positioning terminal is indoors
Position；The GPS positioning information from GPRS network is handled, so that it is determined that positioning terminal is in outdoor position；Then pass through described
Above-mentioned location information and warning message is automatically stored in data memory module.The Web browser, user can be by clear
Device of looking at is downloaded, and preserves the map of indoor positioning in the data center, data center is by by location information and corresponding interior
Figure combines, and realizes the real-time location monitoring of positioning terminal, user can also deposit the data by the Web browser in addition
The location information stored in storage module is checked.The course of work of present system is as described below.
The localization method of the positioning system, including：S1, positioning terminal is opened；S2, Zigbee networkings are attempted；If S3,
Zigbee networkings success, then be no longer turned on and off GPS positioning function；If S4, Zigbee networking are unsuccessful, it is fixed to start GPS
Bit function；S5, retrieval help information；If S6, without help information, location information is sent；If S7, retrieving help information,
Then send alarm signal and alert locations information；S8, according to setting the period repeat the above steps 1 arrive step 7.Specifically, such as Fig. 4
It is shown, it is the work flow diagram of positioning system of the present invention, the switch of positioning terminal is can control by button, opens positioning terminal
Afterwards, positioning terminal first attempts to carry out Zigbee networkings, if networking success, is no longer turned on and off GPS positioning function, only makes
It is positioned with Zigbee module, if networking is unsuccessful, opens GPS positioning function, positioned by GPS, then passed through
SIM card accesses GPRS network, location information is sent to data center using GPRS network, and attempt according to the setting period
Zigbee networkings, once Zigbee networkings success, then close GPS positioning function, only use Zigbee module and positioned.It is above-mentioned
The reason of way, which is Zigbee, has the characteristics that low-power consumption, strong interference immunity and positional accuracy are high, is sending location information
Before need to retrieve request of seeking help, if no help information only location information is passed to by ZIgbee networks or GPRS in data
The heart, if there is help information, data center is connected to alarm of seeking help, and shows the location information sought help.
Embodiment
As shown in figure 5, a kind of system composition figure of alternative embodiment for the present invention, specifically another for Zigbee networkings
Kind optional embodiment system composition figure, one of positioning terminal pass through Zigbee subnets routing node and Zigbee subnet nets
Artis communicates, to be communicated with data center；Other two positioning terminal, one of positioning terminal as with its phase
Even another positioning terminal transfer, then communicated with the Zigbee subnet gateway node, so with the data center
It is communicated.
It is noted that the number of Zigbee subnets in present system, the structure composition mode of ZIgbee subnets and
The number of ZIgbee subnet gateway node or ZIgbee subnet routing nodes is not limited to said circumstances, and the ZIgbee networks can
It flexibly builds according to actual needs.
More than, illustrative specific implementation mode only of the invention, but scope of protection of the present invention is not limited thereto, appoints
What those familiar with the art in the technical scope disclosed by the present invention, the change or replacement that can be readily occurred in, all
It is covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (10)
1. a kind of indoor and outdoor positioning system based on GPS and Zigbee, which is characterized in that including：It is multiple positioning terminals, multiple
Zigbee subnets, multiple web browsers and data center, wherein the positioning terminal can pass through multiple Zigbee subnets and data
Center carries out two-way communication, carries out indoor positioning, and the positioning terminal can be communicated directly with the data center, carries out room
Outer positioning, the multiple web browser are connected with data center, are monitored for the location information to the positioning terminal.
2. system according to claim 1, which is characterized in that the Zigbee subnets include：Zigbee subnet gateway sections
Point and Zigbee subnet routing nodes, wherein the Zigbee subnet gateway node and the Zigbee subnets routing node into
Row wireless communication, the ZIgbee positioning terminals can with the Zigbee subnet gateway node or Zigbee subnets routing node into
Row wireless communication.
3. positioning system according to claim 2, which is characterized in that the Zigbee subnet gateway node and the data
Between center wire communication is carried out using the communications cable.
4. positioning system according to claim 1, which is characterized in that the positioning terminal includes：Identification module,
One Zigbee module, GPS/GPRS modules, the first control module, button and LED light, wherein the Zigbee module, institute
State GPS/GPRS modules, the identification module, the button and the LED light respectively with the control module phase
Even.
5. positioning system according to claim 4, which is characterized in that the GPS/GPRS modules control mould with described first
Set of blocks is in same hardware, and under the control of first control module, the GPS/GPRS modules are known by the identity
Other module accesses network, and GPS positioning information is sent to data center by GPRS.
6. positioning system according to claim 1, which is characterized in that the Zigbee subnet gateway node includes：Second
Zigbee module, the second control module and interface module.
7. positioning system according to claim 1, which is characterized in that the Zigbee subnets routing node includes：Third
Zigbee module.
8. positioning system according to claim 7, which is characterized in that can pass through between the Zigbee subnets routing node
Zigbee module carries out wireless communication.
9. positioning system according to claim 1, which is characterized in that the data center includes：
Data Frontend processing module, for handling the location information forwarded from Zigbee subnet gateway nodes；
Data memory module, data that treated for preserving Data Frontend processing module；
Web browser, for by browser, indoor positioning map, display positioning terminal indoor and outdoor position to be preserved to data center
It sets.
10. a kind of localization method using the positioning system described in any one of claim 1-9, which is characterized in that including：
S1 opens positioning terminal；
S2 attempts Zigbee networkings；
If S3 Zigbee networkings success, is no longer turned on and off GPS positioning function；
If S4 Zigbee networkings are unsuccessful, start GPS positioning function；
S5 retrieves help information；
If S6 sends location information without help information；
If S7 retrieves help information, alarm signal and alert locations information are sent；
It is repeated the above steps S1 to step S7 according to the setting period.
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| CN201810189764.8A CN108535754A (en) | 2018-03-08 | 2018-03-08 | A kind of indoor and outdoor positioning system and method based on GPS and Zigbee |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810189764.8A CN108535754A (en) | 2018-03-08 | 2018-03-08 | A kind of indoor and outdoor positioning system and method based on GPS and Zigbee |
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| US20090256743A1 (en) * | 2008-04-14 | 2009-10-15 | Yao Ming Yang | Mobile positioning and tracking system |
| CN101400159A (en) * | 2008-11-11 | 2009-04-01 | 江苏技术师范学院 | ZigBee cellular network |
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