CN207399518U - A kind of alignment system based on Wi-Fi internet of things equipment networks - Google Patents
A kind of alignment system based on Wi-Fi internet of things equipment networks Download PDFInfo
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- CN207399518U CN207399518U CN201720554358.8U CN201720554358U CN207399518U CN 207399518 U CN207399518 U CN 207399518U CN 201720554358 U CN201720554358 U CN 201720554358U CN 207399518 U CN207399518 U CN 207399518U
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Abstract
The utility model is related to the alignment systems based on Wi Fi internet of things equipment networks, the data packet transmitted by same target device to be positioned is received in the range of each comfortable information transmit-receive of locating and monitoring node in subnet, it records corresponding data packet and receives clock information, and the identification information of data packet reception clock information and target device to be positioned is supplied to subnet host node；The subnet host node receives the signal arrival time difference of the data packet of same target device to be positioned using multiple locating and monitoring nodes, and the physical distance that locating and monitoring node is mutual, the range difference of the relatively multiple locating and monitoring nodes of target device to be positioned is calculated, and determines position of the target device to be positioned in subnet physical range.The utility model realizes the real-time locating and monitoring of big physical extent, big destination number.
Description
Technical field
The utility model is related to a kind of (partly) Distributed Calculation based on Wi-Fi internet of things equipment networks, concentrate positioning letter
Cease the alignment system of management.
Background technology
In recent years, indoor positioning and its application have become a hot issue, have broad application prospects.Various rooms
Interior positioning technology layer goes out not thoroughly, and application scenarios are also multifarious.Generally, mainly there are two aspects for indoor positioning application：Room
Inner machine people's equipment location navigation and Indoor Natural people's location navigation.
To the location navigation of Indoor Robot equipment, the different operating requirement based on Indoor Robot, usual positioning accuracy
More demanding, the detecting devices species and function of outfit are more, and algorithm requirement is also more complicated, and system requirements is high, and cost of implementation is high.
Common Detection location technology has：Robot visual location, ultrasonic radar, infrared acquisition, laser acquisition, Radio Frequency Identification Technology
(RF-ID), SLAM technologies etc..In practical applications, often two kinds or more of location technology is integrated and used, it is accurate fixed to realize
Position.
To the location navigation of Indoor Natural people, required precision is relatively low, mostly using the hand-held intelligent equipment side of being locally-located
Formula, occupation mode is cumbersome, and application popularization degree is very low, does not support concentration location information management and the navigation of big destination number at present
Service.In practical application, there are several usual ways：
1) location algorithm of received signal strength (RSSI) information based on multiple communication base stations or Wi-Fi access hot spots.
However, the usually negligible amounts of communication base station or Wi-Fi Hotspot, and layout density is relatively low, in addition wireless channel attenuation is answered
Miscellaneous, the localization method algorithm complexity based on RSSI is high, poor reliability, and error is very big.
2) based on technologies such as UWB, TOA (time of arrival, arrival time), the TDOA of equipment reception signal are utilized
The information such as (time difference of arrival, reaching time-difference), AOA (angle of arrival, angle of arrival)
Carry out location navigation.The positioning of this mode, precision is higher, and algorithm is also relatively simple.But based on UWB circuit customization design compared with
Complexity, hardware cost is very high, and working frequency range is very high, and power consumption is larger, therefore the positioning method has no idea to accomplish low cost
Low-power consumption large-scale application.Moreover, the positioning based on UWB technology, positioning accuracy is significantly larger than Indoor Natural under normal circumstances
The positioning accuracy demand of people.
In general, the positioning application of Indoor Natural people carries out big destination number, it is necessary in larger indoor physical extent
Concentrate positioning.The solution party that cost that the prior art is not provided with to solve application demand in this case is low, performance is high
Case.
With the arrival of the Internet of things era, many domestic or commercial internet of things equipment are emerged in the market.Internet of Things is set
Between standby, generally follow certain wireless connection technology and realize interconnection.802.11Wi-Fi wireless communication standard is current application range
One of most wide wireless access technology standard.In Internet of Things field, Wi-Fi Internet of Things access ways are even more most widely used, cost
It is minimum, one of best Internet of Things access way of scalability.
In general, Wi-Fi internet of things equipment directly passes through Wi-Fi access points (Wi-Fi Access Point, also referred to as Wi-Fi
Hot spot or wireless router) access network.But as the integrated level of electronic equipment, the raising of calculation processing power and equipment are given birth to
The continuous reduction of cost is produced, more and more commonly used equipments are loaded with Wi-Fi internet of things functional, form the considerable Wi- of scale
Fi internet of things equipment nets.
In the case where covering larger physical extent and possessing larger internet of things equipment quantity, the Internet of Things of enormous amount is set
Between standby, certain topological structure (most common for tree) is usually used, to realize interconnection, control and data transmission
Deng.Such as the Wi-Fi Internet of Things lighting installation networks in public domain in a big way, Wi-Fi environment of internet of things monitoring facilities networks
(smog, fire alarm) etc..In general, the position of these internet of things equipment is more fixed compared to Wi-Fi access points, and
Function is simpler, and the data transmission and data processing resources of single Wi-Fi internet of things equipment have larger redundancy, while implantation of device
Density is higher, and has stable power supply supply.However, the prior art is not yet using these Wi-Fi internet of things equipment as fixed
Its redundant resource is used for carrying out indoor positioning navigation and tracking by potential reference point.
Utility model content
The utility model utilizes the networking structure of Wi-Fi internet of things equipment networks, passes through the side of Wi-Fi local subnets synchronization
Formula receives the TDOA information of signal using subnet equipment room, realizes the real-time locating and monitoring of big physical extent, big destination number
System.
In order to achieve the above object, a technical solution of the utility model is to provide one kind and is set based on Wi-Fi Internet of Things
The alignment system of standby network：
Multiple locating and monitoring nodes, the subnet are included in the node of any one subnet of Wi-Fi internet of things equipment networks
Subnet host node be one of locating and monitoring node, be connected with other locating and monitoring node signals；The locating and monitoring
The respective spatial positional information of node and mutual physical distance are knowable；
Other all positioning in all locating and monitoring nodes or the subnet in the subnet in addition to subnet host node
Node is monitored, is connected to set the target to be positioned with same target device signal to be positioned in the range of each leisure information transmit-receive
Standby transmitted data packet is received, and the data packet of record is received to the identification letter of clock information and target device to be positioned
Breath is supplied to subnet host node；
The subnet host node receives the information that multiple locating and monitoring nodes each provide, and utilizes multiple locating and monitoring nodes
The signal arrival time difference of the data packet of same target device to be positioned is received, it is relatively multiple fixed to calculate target device to be positioned
The range difference of position monitoring node, and determine position of the target device to be positioned in subnet physical range.
Preferably, other locating and monitoring nodes from subnet host node to place subnet, periodic broadcasting local clock information or
The clock of local clock information and each locating and monitoring node makes the locating and monitoring node for receiving broadcast packet apart from adjustment information
The deviation of clock information can be adjusted, make all locating and monitoring nodes in subnet that there is synchronous clock.
Preferably, target device to be positioned sends Beacon bags by SoftAP patterns by the setting cycle, should wherein including
The MAC Address of target device to be positioned；
Alternatively, target device tool to be positioned presses setting there are two MAC Address by SoftAP patterns and the first MAC Address
Cycle sends the Beacon bags comprising the first MAC Address and by the Wi-Fi near STA mode and the connection of the second MAC Address
Access point, to obtain the information of the Internet of Things central control unit of Wi-Fi internet of things equipment networks transmission.
Preferably, any one locating and monitoring node is locally being set there are one target device mac address table to be positioned, and is connect
The fresh information that subnet host node is periodically sent is received, to be safeguarded to the table；
The locating and monitoring node receives transmitted by target device to be positioned, support in MAC layer adjustment sending cycle
Beacon bags；There is the MAC Address for representing the Beacon bag senders, in target device to be positioned in the Beacon bags
Lookup comparison is carried out in mac address table；
The locating and monitoring node includes Beacon bag senders' into the information that its corresponding subnet host node provides
MAC Address, the receiving time of Beacon bags, Beacon bag received signal strength RSSI values include Beacon bag senders
MAC Address, receiving time, Beacon bag received signal strengths RSSI value, the sensing of target device to be positioned of Beacon bags
The detection information that detection module obtains.
Preferably, any one target device to be positioned has and target device to be positioned translational speed phase in subnet
Matched data packet sending cycle,
And/or any one target device to be positioned has the quantity phase with all target devices to be positioned in subnet
The data packet anticollision sending cycle matched somebody with somebody.
Alignment system as described in claim 1, which is characterized in that
Subnet host node is equipped with the arithmetic element for calculating the equidistant not good enough curve of each two locating and monitoring node in subnet,
Intersecting point coordinate that equidistant not good enough curve is intersected two-by-two or by equidistant not good enough two one group of calculating of curve corresponding equation group
The coordinate of obtained target device to be positioned is exported as the possible position of target device to be positioned；
When alignment system includes at least three locating and monitoring nodes, the possible position of output includes target device to be positioned
Two-dimensional localization information；Alternatively, when alignment system includes at least four locating and monitoring nodes, the possible position of output is comprising to be positioned
The three-dimensional localization information of target device.
Preferably, it is fixed comprising known to mutual distance information and spatial positional information several first in any one subnet
Position monitoring node, also comprising several second locating and monitoring nodes；The second locating and monitoring node and the first locating and monitoring node
The distance between information, be calculated by the subnet host node of place subnet；
Wherein, the second locating and monitoring node is included based on SoftAP patterns to the transmission of multiple first locating and monitoring nodes
The location data bag of the second locating and monitoring node identification information；
Each first locating and monitoring node is by it to the receiving time of location data bag and the second locating and monitoring node identification letter
The subnet host node of subnet where breath is supplied to；
The subnet host node receives the information that multiple first locating and monitoring nodes each provide, and utilizes the multiple first positioning
The signal arrival time difference that node receives same location data bag is monitored, the second locating and monitoring node is calculated and the first positioning is supervised
Control the distance between node information.
Preferably, multiple Wi-Fi Internet of Things that interconnection is realized with tree topology are included in the Wi-Fi internet of things equipment network
Net equipment, according to the space length between each Wi-Fi internet of things equipment and corresponding primary subnet host node, by described in
Wi-Fi internet of things equipment networks are divided into the subnet of several different stage depth；
In addition to several first order subnet host nodes of Wi-Fi internet of things equipment networks, the son of remaining subnet at different levels
Master node is the host node of this grade of subnet and one of child node of higher level's subnet simultaneously, and higher level's subnet is route
Control command or data are transferred to the child node in this grade of subnet, and the data message that the child node of this grade of subnet is generated is route
To the subnet host node of higher level's subnet；
Child node at different levels and therefrom selected locating and monitoring node are controlled Wi-Fi internet of things equipment, are received
Respective operations are performed during associated control command, and the subnet host node feedback data information of subnet where passing through；
Wherein, provided with reference to the information and the host node of subordinate's subnet that locating and monitoring node in this grade of subnet is provided
Related same target device to be positioned location information, the subnet host node of this grade of subnet handles to obtain corresponding with this grade
, location information in relation to the same target device to be positioned, and provide it to the subnet host node of higher level's subnet.
Preferably, several subnet backup host nodes are provided in arbitrary primary subnet；
The subnet backup host node is one of locating and monitoring node of this grade of subnet；Locating and monitoring in this grade of subnet
The relative position information of node is stored in child node local or is stored in the host node and the main section of subnet backup of this grade of subnet
Point；
The subnet backup host node simultaneously be also higher level's subnet one of child node, the host node with higher level's subnet
Connection；The subnet backup host node takes over it and completes the letter of subnet host node in the current host node failure of this grade of subnet
Cease two-way routing work.
Preferably, several primary subnet host nodes of the Wi-Fi internet of things equipment network, can each with the Wi-
The Internet of Things central control unit direct communication of Fi internet of things equipment networks；
The Internet of Things central control unit provides Wi-Fi internet of things equipment network the instruction that control is safeguarded；The object
Networking central control unit exports all targets to be positioned in its physical extent to the entire Wi-Fi internet of things equipment network coverage
The information that the location information of equipment is summarized, updated, tracked；
Alternatively, the Internet of Things central control unit typing has the MAC Address of target device to be positioned, and pass through multistage son
Net is sent to all locating and monitoring nodes in Wi-Fi internet of things equipment networks；
Alternatively, the Internet of Things central control unit receives the sensing inspection by target device to be positioned by multilevel subnetwork
The detection information that module obtains is surveyed, and exports and the detection information is monitored, the result of early warning processing；The sensing detection
Module is monitored target device to be positioned itself and/or its periphery acquisition, and by the detection information of acquisition included in described
It is sent in the data packet of target device to be positioned；
Alternatively, the Internet of Things central control unit receives its target device to be positioned summarized from subnets at different levels
Location information, and the real-time locating guide information or safe escape routing information generated, are supplied to by subnets at different levels and treated
Position target device.
Alignment system described in the utility model utilizes the data transmission of equipment in a wide range of big quantity Wi-Fi Internet of Things
With the redundant resource of calculating, by equipment Timing Synchronization in subnet, realize target to be positioned and subnet with reference to believing between child node
The information gathering of number reaching time-difference (TDOA) then carries out positioning letter in subnet in each Wi-Fi Internet of Things subnet host node
The preliminary treatment of breath, then coarse positioning information uploads step by step by treated；Per primary subnet host node according to the coarse positioning collected
Information further refines the more more accurate location informations of processing, until the centrally-located processing system of entire Wi-Fi Internet of Things
System, focuses on and safeguards location information and other target informations to be positioned collected of all targets to be positioned etc., and by
Centrally-located processing system provides more monitoring, tracking and navigation Service.
Description of the drawings
Fig. 1 is the system schematic of Wi-Fi internet of things equipment networks.
Fig. 2 is two dimensional surface position fixing process exemplary plot of the sub- master node to target device to be positioned.
Specific embodiment
Below in conjunction with attached drawing, specific embodiment of the present utility model is illustrated.
Fig. 1 is a kind of example system of Wi-Fi internet of things equipment networks.The physical region that the Wi-Fi Internet of Things is covered
Including three floors, floor 1 arrives floor 3.Each floor is provided with one and Internet of Things central control unit direct communication
Primary subnet host node (main AP) P1 to P3.In each floor, every other controlled Wi-Fi internet of things equipment Sn is with simple
Tree topology realizes interconnection, and passes through primary subnet host node P1 to P3, and the Internet of Things center control being connected in the system is single
Member is controlled by Internet of Things central control unit, realizes basic Wi-Fi Internet of Things control function (such as lighting apparatus switch, environment
Detection information acquisition etc.).
Network in this example uses tree topology (but this is not the limitation of the topological structure used the utility model).One
The connection downwards of grade subnet host node is distributed in several primary subnet child nodes of certain space scope, the son section in the primary subnet
Point is controlled by primary subnet host node；Some in primary subnet child node can be used as secondary subnet host node simultaneously, one
In the wider space of grade subnet covering spatial edge, connect and control several secondary subnet child nodes, form secondary subnet；Together
Reason, with the increase of spatial coverage, subnet depth can be continuously increased.Numerous Wi-Fi internet of things equipment roots of whole system
According to the space length with primary subnet host node, the subnet of several different stage depth is divided into.If higher level's subnet can be with
Dry subordinate subnet.Be special scene shown in Fig. 1, i.e. each higher level's subnet only one subordinate's subnet of band.
It is below the general basic function description of Wi-Fi Internet of Things interior joints, specific function has depending on applicable cases
It changes：
In the Wi-Fi Internet of Things, each Wi-Fi Internet of Things subnet, no matter its network depth, all there are one the main sections of subnet
Point.In addition to primary subnet host node, current subnet host node is both the host node and upper level subnet of this grade of subnet
One child node.The control command or data that it is responsible for upper level subnet routeing are transferred to numerous sub- sections in this subnet
Point, and the data message that numerous child nodes are generated routes to upper level subnet host node.
Each subnet can also choose the child node of some position suitables as subnet backup host node, in case current son
During master node failure, take over it and complete the information bidirectional routing function of subnet host node.Sheet as subnet backup host node
Grade subnet child node, it is necessary to be the child node of upper level subnet, can be connected with upper level subnet host node.
In the Wi-Fi Internet of Things, each node can be a controlled plant, when receiving the letter that is routed to the child node
When having in breath with itself relevant control instruction, control instruction is completed, and by agreement feedback-related information.
In order to realize indoor positioning function, this Wi-Fi Internet of things system needs to increase following measure：
Certain amount, the fixed subnet node in position are selected in each subnet, is accurately obtained these selected references
Physical distance and spatial positional information between node.Selected reference subnet node centainly includes host node and the institute of the subnet
There is subnet backup host node.All reference modes in the selected subnet form subnet locating and monitoring node set.Subnet
The relative position information of interior locating and monitoring node can be stored in child node local, can also be only stored in subnet host node and subnet
Backup host node.
Realize that the clock in subnet between subnet locating and monitoring node is synchronous：Subnet host node periodic broadcasting local clock is believed
It ceases to other subnet locating and monitoring nodes of place subnet, if the information of subnet locating and monitoring node is only stored in the main section of subnet
Point also needs to add in the clock of each subnet locating and monitoring node in the broadcast packet apart from adjustment information, each subnet to be facilitated to determine
Position monitoring knot adjustment synchronised clock deviation.Subnet locating and monitoring node monitors the master node clock synchronizing information, and according to certainly
Known physical distance between body and current sub network host node adjusts the deviation of the newest clock information received, so that same subnet
In all locating and monitoring node possess the clock of a synchronization.
The MAC Address of target device to be positioned is entered into Internet of Things central control unit, and passes through subnets at different levels, broadcast
It is sent to all locating and monitoring nodes in Wi-Fi Internet of Things.Locating and monitoring node is in one target device to be positioned of local maintenance
Mac address table, and pass through subnet host node and regularly update the list.
In order to reduce the power consumption of target device to be positioned and physical size, target device to be positioned only has SoftAP moulds
Formula, without wireless connection is established and maintained with other Wi-Fi equipments.It is left for 100ms that normal AP sends the cycle of Beacon bags
It is right.Since natural person's translational speed is not high, sending the cycle of positioning Beacon bags can lengthen.Therefore can be treated according in system
The quantity of target device is positioned, in systems, the cycle that Beacon bags are sent under SoftAP patterns is suitably adjusted into length, to reduce sky
The collision and congestion of Beacon bags are positioned in mouthful.In Wi-Fi agreements, MAC layer is supported to increase the Beacon bag cycles, increasing step-length is
100ms integral multiples.The Beacon bag cycles can meet the indoor track and localization demand to natural person's movement.
Target device to be positioned in normal operation, according to the Beacon cycles of configuration, is sent comprising equipment MAC
The Beacon bags of address.In the bag, other monitoring collection information of the equipment, such as letter according to application protocol, can also be loaded
Body temperature, heartbeat, blood pressure information of easy medical monitoring equipment etc..
The locating and monitoring node of some subnet in the Wi-Fi Internet of Things, if receiving a Beacon bag, record
Under receive local subnet synchronised clock value corresponding to the bag.If the transmission MAC Address in bag is in the locating and monitoring node
In local target device mac address table to be positioned, then the locating and monitoring node is by the MAC Address received, Beacon bags
The detection information that receiving time, Beacon bag received signal strength RSSI values and other Beacon bags are sent, it is right to be sent to its
The subnet host node answered.
Subnet host node is receiving some target device to be positioned of enough subnet locating and monitoring node transmissions
After MAC Address and Beacon bags receive clock information, it is possible to according to these information, it is relatively multiple to calculate target device to be positioned
The distance between locating and monitoring node difference, and further determine that its position in subnet physical range.
Positioning of the subnet host node to target device to be positioned is to receive same Beacon based on each locating and monitoring node
The signal arrival time difference (TDOA) of bag, because the relative position between each locating and monitoring node is accurately known, using simple
Geometric algorithm can be obtained by the location information of accurate target device to be positioned.
Fig. 2 is two dimensional surface position fixing process exemplary plot of the sub- master node to target device to be positioned.In the subnet
There are 5 locating and monitoring nodes, S1 to S5 is distributed in a two dimensional surface.Wherein S1 is subnet host node.According to locating and monitoring section
Relative tertiary location between point, it is two-dimensional coordinate origin that can choose arbitrary point in space, and obtains corresponding locating and monitoring section
Point coordinates value (x1, y1) arrives (x5, y5).Red vent is set to target device T location to be positioned in figure, unknown coordinates point for (x,
y)。
Target device T to be positioned sends a Beacon bag, and S1 to S5 receives the Beacon bags and records local reception
Synchronised clock value, is denoted as t1 to t5 in subnet during the bag.Then, S2 to S5 oneself will receive target device T's to be positioned
Information and clock information t2 to t5 are sent to subnet host node S1, so far, in S1 have all-ones subnet locating and monitoring node to treat
Position all information that the Beacon bags of target device T receive.
S1 has obtained (t1, t2, t3, t4, t5), can be to the coordinate position of target device T to be positioned using TDOA information
(x, y) is estimated.The distance between target device T to be positioned and subnet locating and monitoring node S1 to S5 is denoted as：d1T,d2T,
d3T,d4T,d5T.Electromagnetic wave signal in air is propagated with light velocity c.
Distances S1 and S2 it is equidistant not good enough, can be represented with one in hyperbola：
d1T-d2T=(t1-t2) c
As shown in curve C12 in figure, wherein,
Similarly, the equidistant curve almost formed of other subnet locating and monitoring node point-to-point transmissions can be obtained, in figure
C14 and C15.All available equidistant not good enough curves, two-by-two may (or as above all equatioies be formed there are one intersection point
Equation group two-by-two can there are one (x, y) solution), be target device T to be positioned possible position.
Due to timing error, the influences such as non line of sight/Multipath Transmission, different intersections of complex curve derived above can't be same
It is a, but a certain range can be distributed in.The different sub-network locating and monitoring nodal information that subnet host node obtains is more, acquires
The Xie Yueduo of target device possible position to be positioned more facilitates subnet host node to exclude to deviate too far unreliable of substantial scope
Point improves the positioning accuracy of target device to be positioned.
Two-dimensional localization information is determined, it is necessary to which at least three subnet locating and monitoring node synchronization location informations, are formed at least
Two equidistant not good enough curves, find intersection.Determining for three-dimensional localization information, then need at least four subnet locating and monitoring nodes
Synchronous location information, forms equidistant not good enough curved surface between any two, the intersection points of three equidistant not good enough curved surfaces (or three ternary sides
The solution of journey), be target device to be positioned possibility three-dimensional localization coordinate points.
Subnet host node uploads obtained location information step by step.Upper level subnet host node knows the space structure of bigger
Information, such as more detailed space isolation information.Therefore, upper level subnet host node can utilize different sub-network to same
The location information of target device to be positioned, is further processed.For example the location information of each subnet and each subnet can be combined
RSSI information, more accurately determine target to be positioned across floor information or wall isolation information etc..
Location information is handled according to concrete application and the concrete condition of monitoring space, is dispersed in each subnet host node,
The data volume for needing to transmit in network can be greatly reduced, reduces the major part that the needs of Internet of Things central control unit carry out
Primary location information processing load.
The locating and monitoring information of subnet host nodes at different levels, is finally collected to Internet of Things central control unit.Internet of Things center
Control unit is responsible for safeguarding entire Wi-Fi Internet of Things covering physics model outside basic Wi-Fi Internet of Things control maintenance work
Positioning information update, tracking and other service (such as target natural person health status of all target devices to be positioned in enclosing
Monitoring).
In each subnet, when initially being laid except Wi-Fi Internet of Things, relative distance information and space bit have been accurately obtained
Outside the locating and monitoring node of confidence breath, new locating and monitoring node can also be independently added in subsequent use.These are new
The position of the locating and monitoring node of addition can be fixed, or semifixed (not timing variation) is supervised with existing positioning
Control the distance between node information, it may not be necessary to manual measurement, but based on the above-mentioned location algorithm to target device to be positioned,
By SoftAP patterns, by the locating and monitoring node that newly adds in by the Beacon bags comprising its own information, it is sent in subnet
Existing locating and monitoring node；The repeatedly relative position of measurement newly added node and known node, by averagely, gradually approaching,
Improve the positioning accuracy of the node.When the location algorithm of the host node of the subnet, determine the location information of the node fixed
After within the scope of the permission position error of position monitoring node, the node can also be used as it is autonomous add in locating and monitoring node, participate in pair
The locating and monitoring of target device to be positioned.
In initial lay, it is only necessary to the spatial positional information of the locating and monitoring node of manual measurement minimum number, it is follow-up fixed
Position monitoring node by way of independently adding in and independently measuring, can increase equipment redundancy, coverage and the positioning accurate of system
Degree can so greatly save manpower needed for laying locating and monitoring node, make the laying more convenient and quicker of positioning network.
Since the number of devices in Wi-Fi internet of things equipment networks is big, layout density is high, thus the redundancy of system compared with
Height, the robustness of the alignment system based on the Wi-Fi internet of things equipment networks are also very high.Meanwhile signal acquisition is enriched, positioning is calculated
Method input information content is big, with reference to RSSI information, can exclude the influence of non line of sight location information, strong from error correcting capability, positioning is accurate
Really, algorithm flexible design degree higher is simpler.
Synchronous based on subnet clock, using the location algorithm of signal reception time poor (TDOA), positioning accuracy depends on
For synchronous baseband clocks.Wi-Fi signal bandwidth is bigger, and baseband clock frequency is higher, and positioning accuracy is higher.Due in subnet
Locating and monitoring number of devices is larger, and simple location algorithm ensures that preferable positioning accuracy.Positioning based on the present invention
System, can the better simply positioning accuracy reached in the large-scale interior space within one meter.For Indoor Natural, people determines
Position navigation application, the precision are enough.It should be noted that although being illustrated in text by taking indoor positioning as an example, if room
In the Wi-Fi internet of things equipment networks of external environment, locating and monitoring node possesses corresponding function and lays condition (e.g., distance/position
It is accurate to understand, the receiving time of target device information to be positioned is recorded, sends locating desired data to subnet host node etc., but not
It is limited to this), then the alignment system of the utility model can be equally applicable in outdoor environment.
The application mode of the utility model can be mainly divided into two kinds：
1) unidirectional location information tether management, if hospital is to the positioning of the orientation management, home for destitute of patient to old man, support
Youngster institute, special care mechanism, integrated mill workshop are to positioning of the physical location of worker etc..
In the application mode, minimum of destination apparatus to be positioned, which needs one, can support the Wi-Fi of SoftAP patterns to send out
Module is penetrated, can accomplish most simple times that most gently will not increase the dress burden for being positioned natural person, also be not required to be positioned natural person
What interactive operation.
In special applications, it can be integrated in destination apparatus to be positioned and load other function modules, in being applied such as medical care
The acquisition of health data monitoring module the information such as body temperature, heartbeat, blood pressure, can be returned to together with location information in Internet of Things
Entreat control unit.Internet of Things central control unit can monitor patient, the body shape of old man in real time according to health monitoring information
Condition makes early warning in real time, provides location information, implements relief in time, saves a large amount of nurse manpowers, and is added significantly to system
Reaction speed improves nurse and rescue efficiency.
2) unidirectional location information tether management, and the navigation information that Internet of Things central control unit is handled returns to this
Ground equipment, such as the indoor low-power consumption in large-scale exhibition center hold/wearable navigation guide to visitors equipment.
In the application mode, target device to be positioned needs to support two kinds of Wi-Fi modes simultaneously, while uses two
MAC Address：SoftAP patterns position Beacon bags for sending；STA mode, for being connected to neighbouring Wi-Fi access points,
To obtain real-time locating guide information or in an emergency situation from server/Internet of Things central control unit, obtained from server
Best safety evacuation routing information that must be pushed, etc..
Location information is safeguarded in the centralized management of Internet of Things central control unit, is conducive in case of emergency (such as fire),
It is quick to calculate optimal evacuation, rescue method and path, it monitors safe escape situation in real time, facilitates and carry out most effective rescue and peace
Full evacuation resource arrangement.
Although the content of the utility model is discussed in detail by above preferred embodiment, but it should be appreciated that on
The description stated is not considered as the limitation to the utility model.After those skilled in the art have read the above, for
A variety of modifications and substitutions of the utility model all will be apparent.Therefore, the scope of protection of the utility model should be by appended
Claim limit.
Claims (10)
1. a kind of alignment system based on Wi-Fi internet of things equipment networks, which is characterized in that
Multiple locating and monitoring nodes, the son of the subnet are included in the node of any one subnet of Wi-Fi internet of things equipment networks
Master node is one of locating and monitoring node, is connected with other locating and monitoring node signals；The locating and monitoring node
Respective spatial positional information and mutual physical distance are knowable；
Other all locating and monitorings in all locating and monitoring nodes or the subnet in the subnet in addition to subnet host node
Node, it is each leisure information transmit-receive in the range of be connected with same target device signal to be positioned to the target device institute to be positioned
The data packet of transmission is received, and the identification information of the data packet reception clock information of record and target device to be positioned is carried
Supply subnet host node；
The subnet host node receives the information that multiple locating and monitoring nodes each provide, and is received using multiple locating and monitoring nodes
The signal arrival time difference of the data packet of same target device to be positioned calculates the relatively multiple positioning prisons of target device to be positioned
The range difference of node is controlled, and determines position of the target device to be positioned in subnet physical range.
2. alignment system as described in claim 1, which is characterized in that
Subnet host node to other locating and monitoring nodes of place subnet, believe by periodic broadcasting local clock information or local clock
The clock of breath and each locating and monitoring node enables the locating and monitoring node for receiving broadcast packet to believe clock apart from adjustment information
The deviation of breath is adjusted, and all locating and monitoring nodes in subnet is made to have synchronous clock.
3. alignment system as described in claim 1, which is characterized in that
Target device to be positioned sends Beacon bags by SoftAP patterns by the setting cycle, wherein being set comprising the target to be positioned
Standby MAC Address；
Alternatively, target device tool to be positioned presses the setting cycle there are two MAC Address by SoftAP patterns and the first MAC Address
It sends the Beacon bags comprising the first MAC Address and is accessed by the Wi-Fi near STA mode and the connection of the second MAC Address
Point, to obtain the information of the Internet of Things central control unit of Wi-Fi internet of things equipment networks transmission.
4. alignment system as described in claim 1, which is characterized in that
Any one locating and monitoring node is locally being set there are one target device mac address table to be positioned, and receives the main section of subnet
The fresh information that point is periodically sent, to be safeguarded to the table；
The locating and monitoring node receives transmitted by target device to be positioned, support in MAC layer adjustment sending cycle
Beacon bags；There is the MAC Address for representing the Beacon bag senders, in target device to be positioned in the Beacon bags
Lookup comparison is carried out in mac address table；
The locating and monitoring node includes the MAC of Beacon bag senders into the information that its corresponding subnet host node provides
Address, the receiving time of Beacon bags, Beacon bag received signal strength RSSI values include Beacon bag senders'
MAC Address, the receiving time of Beacon bags, Beacon bag received signal strengths RSSI value, the inspection of the sensing of target device to be positioned
Survey the detection information that module obtains.
5. alignment system as described in claim 1, which is characterized in that
Any one target device to be positioned has the data to match with target device to be positioned translational speed in subnet
Bag sending cycle,
And/or any one target device to be positioned has what the quantity with all target devices to be positioned in subnet matched
Data packet anticollision sending cycle.
6. alignment system as described in claim 1, which is characterized in that
Subnet host node is equipped with the arithmetic element for calculating the equidistant not good enough curve of each two locating and monitoring node in subnet, will etc.
The intersecting point coordinate or equidistant not good enough two one group of curve corresponding equation group is calculated that range difference point curve intersects two-by-two
Target device to be positioned coordinate, export as the possible position of target device to be positioned；
When alignment system includes at least three locating and monitoring nodes, the possible position of output includes the two dimension of target device to be positioned
Location information；Alternatively, when alignment system includes at least four locating and monitoring nodes, the possible position of output includes target to be positioned
The three-dimensional localization information of equipment.
7. alignment system as described in claim 1, which is characterized in that
In any one subnet, comprising several first locating and monitoring nodes known to mutual distance information and spatial positional information,
Also include several second locating and monitoring nodes；The distance between the second locating and monitoring node and the first locating and monitoring node letter
Breath, is calculated by the subnet host node of place subnet；
Wherein, the second locating and monitoring node be based on SoftAP patterns to multiple first locating and monitoring nodes send comprising this
The location data bag of two locating and monitoring node identification informations；
Each first locating and monitoring node carries the receiving time of location data bag and the second locating and monitoring node identification information it
The subnet host node of subnet where supply；
The subnet host node receives the information that multiple first locating and monitoring nodes each provide, and utilizes multiple first locating and monitorings
Node receives the signal arrival time difference of same location data bag, calculates the second locating and monitoring node and the first locating and monitoring section
The distance between point information.
8. alignment system as described in claim 1, which is characterized in that
Multiple Wi-Fi internet of things equipment that interconnection is realized with tree topology are included in the Wi-Fi internet of things equipment network, according to
Space length between each Wi-Fi internet of things equipment and corresponding primary subnet host node sets the Wi-Fi Internet of Things
Standby network is divided into the subnet of several different stage depth；
In addition to several first order subnet host nodes of Wi-Fi internet of things equipment networks, the subnet master of remaining subnet at different levels
Node is the host node of this grade of subnet and one of child node of higher level's subnet simultaneously, the control that higher level's subnet is route
Order or data is transferred to the child node in this grade of subnet, and the data message that the child node of this grade of subnet is generated routes to
The subnet host node of grade subnet；
Child node at different levels and therefrom selected locating and monitoring node are controlled Wi-Fi internet of things equipment, are received therewith
Respective operations are performed during relevant control command, and pass through the subnet host node feedback data information of place subnet；
Wherein, what the host node with reference to the information and subordinate's subnet that locating and monitoring node in this grade of subnet is provided provided has
Close the location information of same target device to be positioned, the subnet host node of this grade of subnet handle to obtain it is corresponding with this grade, have
The location information of the same target device to be positioned is closed, and provides it to the subnet host node of higher level's subnet.
9. alignment system as claimed in claim 8, which is characterized in that
Several subnet backup host nodes are provided in arbitrary primary subnet；
The subnet backup host node is one of locating and monitoring node of this grade of subnet；Locating and monitoring node in this grade of subnet
Relative position information to be stored in child node local or be stored in the host node and subnet backup host node of this grade of subnet；
The subnet backup host node is also one of child node of higher level's subnet simultaneously, is connected with the host node of higher level's subnet
It connects；The subnet backup host node takes over it and completes the information of subnet host node in the current host node failure of this grade of subnet
Two-way routing work.
10. alignment system as claimed in claim 8 or 9, which is characterized in that
Several primary subnet host nodes of the Wi-Fi internet of things equipment network, can each with the Wi-Fi internet of things equipment
The Internet of Things central control unit direct communication of network；
The Internet of Things central control unit provides the instruction that Wi-Fi internet of things equipment network carries out control maintenance；The Internet of Things
Net central control unit exports all targets to be positioned in its physical extent to the entire Wi-Fi internet of things equipment network coverage and sets
The information that standby location information is summarized, updated, tracked；
Alternatively, the Internet of Things central control unit typing has the MAC Address of target device to be positioned, and sent out by multilevel subnetwork
Give all locating and monitoring nodes in Wi-Fi internet of things equipment networks；
Alternatively, the Internet of Things central control unit receives the sensing detection mould by target device to be positioned by multilevel subnetwork
The detection information that block obtains, and export and the detection information is monitored, the result of early warning processing；The sensing detection module
Acquisition is monitored to target device to be positioned itself and/or its periphery, and by the detection information of acquisition included in described undetermined
It is sent in the data packet of position target device；
Alternatively, the Internet of Things central control unit receives the position of its target device to be positioned summarized from subnets at different levels
Information, and the real-time locating guide information or safe escape routing information generated, are supplied to be positioned by subnets at different levels
Target device.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110855754A (en) * | 2019-10-24 | 2020-02-28 | 中国科学院信息工程研究所 | IoT-based cloud host physical position verification method for weak network connection area |
| CN111457567A (en) * | 2019-01-21 | 2020-07-28 | 广东美的制冷设备有限公司 | Operation control method, home appliance device, system, and computer-readable storage medium |
| WO2021115405A1 (en) * | 2019-12-13 | 2021-06-17 | 华为技术有限公司 | Method and apparatus for detecting position of object |
| CN113392160A (en) * | 2021-06-25 | 2021-09-14 | 济南博观智能科技有限公司 | Personnel information synchronization method, device, equipment and storage medium |
| CN115825656A (en) * | 2023-02-21 | 2023-03-21 | 云南电网能源投资有限责任公司 | Fault monitoring method, device and system for new energy photovoltaic power station power distribution network |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111457567A (en) * | 2019-01-21 | 2020-07-28 | 广东美的制冷设备有限公司 | Operation control method, home appliance device, system, and computer-readable storage medium |
| CN110855754A (en) * | 2019-10-24 | 2020-02-28 | 中国科学院信息工程研究所 | IoT-based cloud host physical position verification method for weak network connection area |
| WO2021115405A1 (en) * | 2019-12-13 | 2021-06-17 | 华为技术有限公司 | Method and apparatus for detecting position of object |
| CN113392160A (en) * | 2021-06-25 | 2021-09-14 | 济南博观智能科技有限公司 | Personnel information synchronization method, device, equipment and storage medium |
| CN115825656A (en) * | 2023-02-21 | 2023-03-21 | 云南电网能源投资有限责任公司 | Fault monitoring method, device and system for new energy photovoltaic power station power distribution network |
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