CN109831740A - A method of wireless location is realized based on embedded real-time operating system - Google Patents
A method of wireless location is realized based on embedded real-time operating system Download PDFInfo
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- CN109831740A CN109831740A CN201910268990.XA CN201910268990A CN109831740A CN 109831740 A CN109831740 A CN 109831740A CN 201910268990 A CN201910268990 A CN 201910268990A CN 109831740 A CN109831740 A CN 109831740A
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Abstract
The invention belongs to technical field, a method of wireless location being realized based on embedded real-time operating system, comprising: master base station sends broadcast, and whether inquiry nearby has wireless terminal；Wireless terminal informs its Termination ID of master base station, and starts to carry out DS ranging；Master base station issues the notice for having obtained wireless terminal ID to wireless terminal, and continues DS ranging；After wireless terminal receives the notice, start to carry out DS ranging with secondary base station, meanwhile, wireless terminal broadcasts the relevant DS data of master base station, after master base station receives the relevant DS data of master base station, show that master base station at a distance from wireless terminal, and is reported to server；Secondary base station and wireless terminal carry out DS ranging, and wireless terminal broadcasts the relevant DS data in secondary base station, after secondary base station receives the relevant DS data in secondary base station, show that secondary base station at a distance from wireless terminal, and is reported to server.The present invention is able to ascend the maximum positioning terminal number that can be carried under same space-time.
Description
Technical field
The invention belongs to wirelessly communicate field of locating technology, more particularly to it is a kind of based on embedded real-time operating system realization
The method of wireless location.
Background technique
The method of wireless location first is that being tested out using the method for DS (Double-sided Two-way Ranging)
Locating base station completes a DS ranging and needs 6 steps at a distance from wireless terminal.
1. equipment A sends POLL packet.And write down sending time T1.
2. equipment B receives POLL packet, time T2 is recorded.
3. equipment B sends Response packet at T3 (T3=T2+Treply1) moment.
4. equipment A receives Response packet, moment T4 is recorded.
5. equipment A sends Final packet at T5 (T5=T4+Treply2).
6. equipment B receives Final packet, time T6 is recorded.
The method must carry out transmitting-receiving and operation using embedded real-time operating system, only in this way just can guarantee ranging
The range data of each wireless terminal is transmitted to location-server again by precision, locating base station, and location-server uses two o'clock or three
The accurate location of equipment can be obtained in the algorithm of point location.As shown in Figure 1, DS ranging is to be further added by one on the basis of SS ranging
Secondary communication, the time communicated twice can make up mutually because of the error that clock skew introduces.
Distance=Tprop × the light velocity.
The derivation of equation:
Tround1=Treply1+2Tprop；
Tround2=Treply2+2Tprop；
Tround1*Tround2-Treply1*Treply2=4Tprop2+2Tprop*Treply1+2Tprop*
Treply2；
Tround1+Tround2+Treply1+Treply2=4Tprop+2Treplyl+2Treply2；
So Trop is equal to the formula of upper figure.
Here is to calculate the specific time:
Tround1=T4-T1
Tround2=T6-T3
Treplyl=T3-T2
Treply2=T5-T4
Because the data acquisition of wireless location carries out transmitting-receiving and operation using embedded real-time operating system, cannot be same
When be received and transmitted, cause more wireless terminals to be positioned in same place and when requiring to be positioned, space-time can be generated
On conflict, it is necessary to designed controlled and received and the method for transmission sequence solves the problems, such as this using one.And because energy consumption,
The factors such as price, it has to the hardware of low cost is selected, so common method cannot play the performance of hardware to greatest extent,
It is assumed that need to update the location information of a wireless terminal each second, maximum can simultaneous wireless terminal number there was only 10-
20, the demand not being able to satisfy in actual production life.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of side that wireless location is realized based on embedded real-time operating system
Method is able to ascend the maximum positioning terminal number that can be carried under same space-time.
The embodiments of the present invention are implemented as follows:
A method of wireless location is realized based on embedded real-time operating system, comprising:
Master base station sends broadcast, and whether inquiry nearby has wireless terminal；
Wireless terminal informs its Termination ID of master base station, and takes T1 data, and starts to carry out DS ranging；
Master base station receives the message of wireless terminal and records T1, T2, T3, has obtained wireless terminal ID to wireless terminal sending
Notice, continue DS ranging；
After wireless terminal receives the notice, continue to carry out DS ranging with master base station, meanwhile, wireless terminal is related by master base station
DS data T4, T5 broadcasted, after master base station receives the relevant DS data of wireless terminal, record T4, T5, T6, be calculated
Master base station is reported to server at a distance from wireless terminal；
After secondary base station receives the broadcast of wireless terminal and base station communication, using the T5 time value in message as T1 when
Between, and record T2, T3 and then send message to wireless terminal, notice terminal continues DS ranging；
After wireless terminal receives the notice, continue to carry out DS ranging with secondary base station, meanwhile, wireless terminal is related by secondary base station
DS data T4, T5 broadcasted, after secondary base station receives the relevant DS data of wireless terminal, record T4, T5, T6, be calculated
Secondary base station is reported to server at a distance from wireless terminal.
Wherein, master base station receives after wireless terminal is sent to the relevant DS data in secondary base station in a broadcast manner, assert this
Secondary positioning terminates, and reenters positioning flow next time.
Wherein, the relevant DS data of master base station are carried out broadcast and carry out the relevant DS data in secondary base station by wireless terminal
After broadcast, re-enter listens to state after wireless terminal deep sleep 1 second, to guarantee that ranging will not be repeated in 1 second.
When the embodiment of the present invention is by controlling the data interaction between master base station, wireless terminal, secondary base station and server
Between sequence, ensure that DS ranging can be gone on smoothly, be able to ascend the maximum positioning terminal number that can be carried under same space-time.
Detailed description of the invention
Fig. 1 is that DS ranging illustrates schematic diagram in the prior art；
Fig. 2 is linear landform major-minor locating base station distribution map in the present invention；
Fig. 3 is tree-shaped landform major-minor locating base station distribution map in the present invention；
Fig. 4 is ranging localization interaction diagrams in the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Specific implementation of the invention is described in detail below in conjunction with specific embodiment:
As shown in Figure 2, Figure 3 and Figure 4, a method of wireless location is realized based on embedded real-time operating system, comprising:
Master base station sends broadcast, and whether inquiry nearby has wireless terminal；
Wireless terminal informs its Termination ID of master base station, and takes T1 data, and starts to carry out DS ranging；
Master base station receives the message of wireless terminal and records T1, T2, T3, has obtained wireless terminal ID to wireless terminal sending
Notice, continue DS ranging；
After wireless terminal receives the notice, continue to carry out DS ranging with master base station, meanwhile, wireless terminal is related by master base station
DS data T4, T5 broadcasted, after master base station receives the relevant DS data of wireless terminal, record T4, T5, T6, be calculated
Master base station is reported to server at a distance from wireless terminal；
After secondary base station receives the broadcast of wireless terminal and base station communication, using the T5 time value in message as T1 when
Between, and record T2, T3 and then send message to wireless terminal, notice terminal continues DS ranging；
After wireless terminal receives the notice, continue to carry out DS ranging with secondary base station, meanwhile, wireless terminal is related by secondary base station
DS data T4, T5 broadcasted, after secondary base station receives the relevant DS data of wireless terminal, record T4, T5, T6, be calculated
Secondary base station is reported to server at a distance from wireless terminal.
Wherein, master base station receives after wireless terminal is sent to the relevant DS data in secondary base station in a broadcast manner, assert this
Secondary positioning terminates, and reenters positioning flow next time.
Wherein, the relevant DS data of master base station are carried out broadcast and carry out the relevant DS data in secondary base station by wireless terminal
After broadcast, re-enter listens to state after wireless terminal deep sleep 1 second, to guarantee that ranging will not be repeated in 1 second.
Detailed process is as follows:
Step 1: because of the occasion of two-point locating, topographic map is usually threadiness or tree-shaped, so being easy for obtain
To the distribution map of major-minor locating base station, as long as there is more than or equal to 1 secondary locating base station between master positioning base station and master positioning base station
, according to the signal cover for being master positioning base station, as long as will not be mutual between master positioning base station and master positioning base station
It mutually covers, for being separated by two secondary locating base stations between master positioning base station, as shown in Figures 2 and 3.
Step 2: the transmission sequence of the Location Request of controlling terminal is responsible in master positioning base station, and surveys to wireless terminal
Away from；Secondary locating base station carries out ranging to wireless terminal, the data supporting as auxiliary positioning；As shown in Figure 4.
Step 3: location-server calculates the newest of terminal using two-point locating method according to the information of major-minor base station feedback
Position location.
When the embodiment of the present invention is by controlling the data interaction between master base station, wireless terminal, secondary base station and server
Between sequence, ensure that DS ranging can be gone on smoothly, be able to ascend the maximum positioning terminal number that can be carried under same space-time.This
The method of invention completes the time that the transmission of a message is at least saved in DS ranging with major and minor base station respectively than wireless client；From
Wireless terminal, which starts to give out a contract for a project, to be counted, and standard DS ranging needs 3 mutual messages every time, is respectively completed and is needed 6 messages, the present invention
Method complete major-minor base station ranging altogether only need 5 mutual messages；Method of the invention creates most succinct wireless
The queuing mechanism of terminal enables the wireless terminal under same space-time to carry out wireless location in the most efficient manner；In theory
It is upper use the method, maximum wireless number of terminals=1 second that same space-time can the carry/the time it takes of DS ranging one time,
If wireless terminal, without being lined up, the collision probability of message is very high between wireless terminal, effective message is just few, because of equipment
A message can only once be received.
Of the present invention wirelessly includes UWB, Zigbee, Bluetooth, IrDa, LoRa, WiFi, HomeRF, Z-
Wave, Insteon, RFID, LPWAN etc. be all to be can be used for embedded real-time operating system and carries out all wireless of transmitting-receiving and operation
Technology.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to restrict the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (3)
1. a kind of method for realizing wireless location based on embedded real-time operating system characterized by comprising
Master base station sends broadcast, and whether inquiry nearby has wireless terminal；
Wireless terminal informs its Termination ID of master base station, and takes T1 data, and starts to carry out DS ranging；
Master base station receives the message of wireless terminal and records T1, T2, T3, issues to wireless terminal and has obtained the logical of wireless terminal ID
Know, continues DS ranging；
After wireless terminal receives the notice, continue to carry out DS ranging with master base station, meanwhile, wireless terminal is by the relevant DS of master base station
Data T4, T5 are broadcasted, and after master base station receives the relevant DS data of wireless terminal, record T4, T5, T6, main base is calculated
It stands at a distance from wireless terminal, and is reported to server；
After secondary base station receives the broadcast of wireless terminal and base station communication, using the T5 time value in message as the time of T1, and
It records T2, T3 and then sends message to wireless terminal, notice terminal continues DS ranging；
After wireless terminal receives the notice, continue to carry out DS ranging with secondary base station, meanwhile, wireless terminal is by the relevant DS in secondary base station
Data T4, T5 are broadcasted, and after secondary base station receives the relevant DS data of wireless terminal, record T4, T5, T6, secondary base is calculated
It stands at a distance from wireless terminal, and is reported to server.
2. a kind of method for realizing wireless location based on embedded real-time operating system according to claim 1, feature
It is:
Master base station receives after wireless terminal is sent to the relevant DS data in secondary base station in a broadcast manner, assert this time positioning knot
Beam reenters positioning flow next time.
3. a kind of method for realizing wireless location based on embedded real-time operating system according to claim 1, feature
It is:
After the relevant DS data of master base station are carried out broadcast and are broadcasted the relevant DS data in secondary base station by wireless terminal, nothing
Re-enter listens to state after line terminal deep sleep 1 second, to guarantee that ranging will not be repeated in 1 second.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910268990.XA CN109831740A (en) | 2019-04-04 | 2019-04-04 | A method of wireless location is realized based on embedded real-time operating system |
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| CN201910268990.XA CN109831740A (en) | 2019-04-04 | 2019-04-04 | A method of wireless location is realized based on embedded real-time operating system |
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| KR20110019196A (en) * | 2009-08-19 | 2011-02-25 | 동국대학교 경주캠퍼스 산학협력단 | Location estimation method using effective asynchronous two-way ranging with frequency offset compensation in wireless networks |
| CN103344955A (en) * | 2013-06-13 | 2013-10-09 | 常州大学 | Wireless ranging node and wireless ranging method |
| CN106054126A (en) * | 2016-05-18 | 2016-10-26 | 北京永安信通科技有限公司 | TOF positioning method, device and system |
| WO2016180952A1 (en) * | 2015-05-12 | 2016-11-17 | Decawave Ltd. | Asymmetric double-sided two-way ranging in an ultrawideband communication system |
| CN107329111A (en) * | 2016-04-30 | 2017-11-07 | 南京宝华智能科技有限公司 | Method for rapidly positioning and system based on wireless TOF |
| CN108333558A (en) * | 2018-02-07 | 2018-07-27 | 南京邮电大学 | A kind of method that Tof and Toda are quickly measured in indoor locating system |
| CN108828567A (en) * | 2018-04-23 | 2018-11-16 | 河北大学 | A kind of improved two-way bilateral distance measuring method |
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2019
- 2019-04-04 CN CN201910268990.XA patent/CN109831740A/en not_active Withdrawn
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2105759A1 (en) * | 2008-03-28 | 2009-09-30 | Identec Solutions AG | Method and systems for carrying out a two way ranging procedure |
| CN101730222A (en) * | 2008-10-23 | 2010-06-09 | 华为技术有限公司 | Positioning measurement method, positioning measurement device and positioning measurement system in multi-carrier system |
| KR20110019196A (en) * | 2009-08-19 | 2011-02-25 | 동국대학교 경주캠퍼스 산학협력단 | Location estimation method using effective asynchronous two-way ranging with frequency offset compensation in wireless networks |
| CN103344955A (en) * | 2013-06-13 | 2013-10-09 | 常州大学 | Wireless ranging node and wireless ranging method |
| WO2016180952A1 (en) * | 2015-05-12 | 2016-11-17 | Decawave Ltd. | Asymmetric double-sided two-way ranging in an ultrawideband communication system |
| CN107329111A (en) * | 2016-04-30 | 2017-11-07 | 南京宝华智能科技有限公司 | Method for rapidly positioning and system based on wireless TOF |
| CN106054126A (en) * | 2016-05-18 | 2016-10-26 | 北京永安信通科技有限公司 | TOF positioning method, device and system |
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| CN108828567A (en) * | 2018-04-23 | 2018-11-16 | 河北大学 | A kind of improved two-way bilateral distance measuring method |
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