CN101110735A - Industrial production workshop security positioning system and method based on wireless sensor network - Google Patents
Industrial production workshop security positioning system and method based on wireless sensor network Download PDFInfo
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- CN101110735A CN101110735A CNA2007101207396A CN200710120739A CN101110735A CN 101110735 A CN101110735 A CN 101110735A CN A2007101207396 A CNA2007101207396 A CN A2007101207396A CN 200710120739 A CN200710120739 A CN 200710120739A CN 101110735 A CN101110735 A CN 101110735A
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Abstract
An industrial manufacture workshop security and positioning system and method based on the wireless sensor network, which relates to the industrial manufacture security and positioning technology field. The present invention is comprised of a mobile node (1), a signal marking node (2) arranged in the manufacture workshop, and a sink node (3) arranged in the monitoring room; a 2.4 G wireless communication method connection is adopted between nodes, and the mobile node transmits the positioning request command, receives the reply signal of the signal marking node within the wireless transmission distance, and acquires the position information through the positioning method of the minimum loop segment area center based on the intensity of the received signal, to judge whether to alarm according to the information, and to transmit the information to the sink node; the monitoring host computer is communicated with the sink node through a serial port, the real-time position of the mobile node is displayed, and the relevant information is stored. The present invention has the advantages that only the capability of the communication between the mobile node and the adjacent signal marking nodes can realize positioning, the extra hardware facilities are not required to be added in the system and the node, and the system cost and power consumption are reduced.
Description
Technical field
The present invention relates to industrial production security protection field of locating technology, a kind of industrial production workshop security positioning system and method based on wireless sensor network especially is provided.
Background technology
In the industrial production workshop, based on safety in production and the secret consideration of technical matters, the whole production workshop can be divided into different functional areas usually, as: place of safety (district of passing unimpeded), key protection district (sex-limited district) and hazardous area (forbidden district) etc.For the personnel that enter workshop, need carry out the security protection location and can not enter the functional area of lack of competence permission to guarantee it.Traditional mode adopts more installs the mode that closed-circuit control adds warning sign, but this mode cost is higher relatively, needs to consume great amount of manpower and material resources, and can only carry out passive monitoring.
Other has the mode that adopts the electronic recognition card.The personnel that enter workshop carry the electronic recognition card with unique number, and inquiry unit emission request signal receives the answer signal of electronic recognition card, thereby realizes personnel positioning.Mainly there are two problems in this navigation system, and one is that positioning accuracy is low, generally tens meters magnitude, can not satisfy application demand fully.In addition, industrial production workshop surface area is bigger usually, and electronic recognition cartoon letters distance is shorter, can not realize multi-hop communication, generally is not suitable for the application scenario that the location is laid in the industrial production workshop.
Wireless sensor network technology flourish makes it obtain in data acquisition, target monitoring and fields such as tracking, environmental protection using widely.The node self poisoning is one of emphasis of wireless sensor network research, the present invention utilizes embedded technology, wireless communication technology and network technology etc. that a kind of self-organizing radio sensor network system that can realize accurate security protection location in the industrial production workshop is provided, overcome some defectives of security protection location, former industrial production workshop, can be widely used in industrial safety production management, work attendance, visit, emergency processing etc.
Finding the publicity patent of utilizing wireless sensor network to realize the aspect, location at present has two pieces, and they are different with application scenario of the present invention, and have adopted the localization method different with the present invention:
The disclosed patent of 2005-11-09: CN1694569, exercise question: " a kind of downhole positioning system, device and method ", inventor: Cui Li based on wireless sensor network; Miao Yong; Zhao Ze; Fei the Jing sky; Cui Hongliang; Liu Wei.This invention relates to the mine safety monitoring field.Its system comprises: the mobile node that is built in the band location in the mine lamp; Connect wired and gateway wireless network; The system management center.Its localization method is the location positioning method that cable gateway and mobile node combine, and with the position of gateway and the relative position addition of mobile node, obtains the absolute position of mobile node.
The disclosed patent of 2007-06-27: CN1988550, exercise question: " the distributed implementation method of a kind of radio sensor network no-anchor point location ", inventor: Cui Xunxue; Zhao Zhan.This invention relates to self poisoning technical field in wireless sensor network, obtains neighbor information in the sensing range separately, repeatedly exchange estimated coordinates each other by the mutual measuring distance numerical value of each network node.At first estimate the approximate location of node, utilize particle spring Optimization Model then, in the estimated coordinate position of node self difference iterative computation oneself.Invention is applicable to the self-organizing radio sensor network that mutual distance measurement function is provided between the node.
Summary of the invention
The object of the present invention is to provide a kind of industrial production workshop security positioning system and method based on wireless sensor network, design a kind of wireless sensor network node of portable support running fix, design the running fix scheme that a kind of mobile node matches with beaconing nodes, realize entering the accurate location of industrial production plant personnel.Enter the personnel in industrial production workshop, wear the mobile node that conforms to its identity and authority, mobile node utilizes the position of the real-time acquisition of location algorithm oneself in workshop by means of the beaconing nodes of arranging in advance, and automatically sends this positional information in the Control Room sink node.When the personnel that wear mobile node (district or forbidden district restrict driving) when permitting the functional area that enters near its lack of competence, mobile node can send warning message to the personnel of wearing and remind.
Industrial production workshop security positioning system based on wireless sensor network of the present invention comprises: portable mobile node 1, be arranged in workshop beaconing nodes 2, be arranged in the sink node 3 of Control Room.Security protection localization method in industrial production workshop is: based on the minimum ring section regional center localization method of received signal intensity.Promptly determine the minimum ring section zone at mobile node place, get the localization method of the centre coordinate in this ring section zone as the estimated position of this mobile node according to the position of received signal intensity and beaconing nodes.
Industrial production workshop security positioning system based on wireless sensor network of the present invention is made up of the mobile node 1 of portable band positioning function, the sink node 3 that is arranged in the beaconing nodes 2 of workshop and is arranged in Control Room.Mobile node, beaconing nodes and sink node all adopt the communication of 2.4G to be connected, and the sink node links to each other with the monitoring host computer of Control Room by the RS-232 serial ports.During the location, mobile node sends the Location Request instruction, be received in the answer signal of beaconing nodes in its wireless range, by obtain the positional information of oneself based on the minimum ring section regional center localization method of received signal intensity, judge whether and report to the police according to this information, and information is sent to the sink node.Monitoring host computer and Sink node communicate by serial ports, show the position of mobile node in real time, and relevant information is carried out in storage.
Portable mobile node is made up of microprocessor unit, memory cell, radio frequency communications unit, localization function module and warning function module, can realize radio communication, data processing and comprise the location and the various application programs of reporting to the police.Node is an embedded system, has characteristics such as compact conformation, volume be little, can be positioned over safety cap.For adapting to the environment of plant, all nodes have all carried out the PROCESS FOR TREATMENT of protection against the tide, anticorrosion and mildew-resistant, guarantee the reliability of work.Mobile node adopts the FHP103450AR type lithium battery power supply of 1.65Ah, has prolonged the operating time of node.
Localization method of the present invention is based on the minimum ring section regional center localization method of received signal intensity, is made up of portable mobile node 1, the sink node 3 that is arranged in the beaconing nodes 2 of workshop and is arranged in Control Room.During the location, mobile node sends Location Request, sends answer signal after the beaconing nodes in its wireless range receives Location Request.After mobile node receives answer signal, at first according to " 3 σ " rule of the logarithm normal distribution model of received signal intensity and radio signal propagation fading channel and normal distribution (that is: for normal distribution X～N (μ, σ
2), although the span of normal variate is (∞ ,+∞), it is 99.74% that its value drops on (μ-3 σ, μ+3 σ) interior probability, almost is sure thing) set up between energy range and and the range interval between corresponding relation.After mobile node obtains a plurality of range zone distance information relevant with beaconing nodes, determine a minimum ring section zone that surrounds this mobile node, get the estimated position of the centre coordinate in this ring section zone as mobile node.Mobile node judges whether and report to the police, and information is sent to the sink node after obtaining the positional information of oneself, shows the position of mobile node on monitoring host computer in real time.
Determine between energy range and the range interval according to the logarithm normal distribution model of radio signal propagation channel and " 3 σ " rule of normal distribution, separation between energy range is corresponding one by one with the separation in range interval, on if the signal strength signal intensity of the beaconing nodes that mobile node receives drops between certain energy range, then the decidable mobile node must drop on the range interval apart from the beaconing nodes correspondence, and promptly distance between the two must be less than the distance value of the interval separation correspondence of this range.
Mobile node determines that according to the range of beaconing nodes coordinate and judgement is interval the ring section step regional and minimum ring section zone at mobile node place is as follows:
Step S4: drop on certain range interval apart from beaconing nodes if judged mobile node, distance between the two is less than the distance value α of the interval separation correspondence of this range
kR then uses r
iEuclidean distance between the expression beaconing nodes and the origin of coordinates (0 reference point of industrial production workshop security protection location) is used β
iExpression beaconing nodes and the line of the origin of coordinates and the angle of axis of abscissas forward are the center of circle with the origin of coordinates, with r
i-α
kR is a camber line in radius is drawn, with r
i+ α
kR is that radius is drawn outer camber line, with
Make ray for slope and hand over inside and outside camber line and P respectively
i, Q
i, S
i, T
i, P
iS
iT
iQ
iSurround a ring section region D
PiSiTiQi, mobile node must be positioned at this ring section region D
PiSiTiQiIn.
Step S5: if obtain a plurality of range block informations, then can obtain a plurality of ring sections zone, the common factor in these ring section zones is the minimum ring section zone of being asked, and the center in minimum ring section zone is as the estimated position of mobile node.Try to achieve with the following method in minimum ring section zone: be the center of circle with the origin of coordinates, get the interior camber line of that the longest interior camber line of radius in all ring section zones as minimum ring section zone, get the outer camber line of that the shortest outer camber line of radius in all ring section zones as minimum ring section zone, that upper sideline of getting in all ring section zones with X-axis forward angle minimum is the upper sideline in minimum ring section zone, that lower sideline of getting in all ring section zones with X-axis forward angle maximum is the lower sideline in minimum ring section zone, the ring section zone that four lines surround is minimum ring section zone, and the centre coordinate in minimum ring section zone is the location estimation to mobile node.
Enter the personnel of workshop, because its identity difference, thereby wear mobile node with different default accesses as technical staff, operating personnel or visitor.After personnel enter the workshop, mobile node sends Location Request, receive the answer signal of its neighbours' beaconing nodes, according to response message and the signal strength signal intensity that receives according to industrial production workshop security protection localization method based on wireless sensor network, promptly, obtain the positional information of self based on the minimum ring section regional center localization method of received signal intensity.Judge whether and report to the police according to this positional information and default authority then, and information is sent to the sink node, carry out real time position by monitoring host computer and show and information stores.
The advantage of security protection localization method of the present invention is: mobile node only needs the ability that communicates with neighbours' beaconing nodes, need not directly to measure distance or angle information between beaconing nodes and the mobile node, thereby on system and node, needn't increase extra hardware facility, reduced the cost and the power consumption of system.The present invention can be widely used in the accurate location of staff, visit personnel or the mobile device in each industrial production workshop, realizes industrial safety production management, work attendance, visit or emergency processing etc.
Description of drawings
Fig. 1 is based on the industrial production workshop security positioning system schematic diagram of wireless sensor network.
The be of portable form structural representation of mobile node of Fig. 2.
Fig. 3 carries out energy interval division and range interval division schematic diagram in the industrial production workshop security protection localization method (based on the minimum ring section regional center localization method of received signal intensity), determines between energy range and corresponding range interval according to the logarithm normal distribution model of radio signal propagation channel and " 3 σ " rule of normal distribution.
Fig. 4 is according to the interval schematic diagram of determining ring section zone of the range of beaconing nodes coordinate and judgement in the industrial production workshop security protection localization method (based on the minimum ring section regional center localization method of received signal intensity); It is the ring section zone that single beaconing nodes is determined.
Fig. 5 is according to the interval schematic diagram of determining minimum ring section zone of the range of beaconing nodes coordinate and judgement in the industrial production workshop security protection localization method (based on the minimum ring section regional center localization method of received signal intensity); It is the minimum ring section zone that two beaconing nodes are determined.
Fig. 6 is an exemplary flow chart of industrial production workshop security protection localization method.
Embodiment
Fig. 1 is based on the industrial production workshop security positioning system schematic diagram of wireless sensor network, and this system is made up of mobile node (1), beaconing nodes (2) and sink node (3), and the communication by 2.4G between the node connects.The Sink node is connected with monitoring host computer in the Control Room by serial ports.Operation monitoring management software on the monitoring host computer can show the positional information of each mobile node in the industrial production workshop in real time, also can send relevant command information to mobile node and beaconing nodes by the sink node.
Fig. 2 mobile node structural representation that is of portable form.This mobile node is included as microprocessor unit, memory cell, radio frequency communications unit, localization function module and warning function module.Node is an embedded system, has characteristics such as compact conformation, volume be little, can be positioned over safety cap.For adapting to the environment of plant, all nodes have all carried out the PROCESS FOR TREATMENT of protection against the tide, anticorrosion and mildew-resistant, guarantee the reliability of work.Mobile node adopts the FHP103450AR type lithium battery power supply of 1.65Ah, has prolonged the operating time of node.
Carry out the schematic diagram of energy interval division and range interval division in Fig. 3 industrial production workshop security protection localization method (based on the minimum ring section regional center localization method of received signal intensity).Determine between energy range and the range interval according to the logarithm normal distribution model of radio signal propagation channel and " 3 σ " rule of normal distribution.The parameter of using in the logarithm normal distribution model is selected according to applied environment, and the division between energy range is with the purpose that is divided in range interval.Y0 is the attenuation curve of the energy of wireless signal in desirable free space with distance, wherein Y0 among the figure:
Y1 is the curve of wireless signal by the decay of logarithm normal distribution model, wherein Y1:
The curve that is used for energy interval division and range interval division that Y2 draws according to normal distribution " 3 σ " rule, wherein Y2:
Separation P between energy range
R, P
R/2, P
R/4, P
R/8, P
R/16With the separation R in range interval, R/2, R/4, R/8, R/16 are corresponding one by one, if the energy of the beaconing nodes that mobile node receives
(α
k=2
(21-k), k={1,2,3,4,5}), then the decidable mobile node must drop on apart from beaconing nodes (0, α
kR] the range interval on, promptly distance between the two must be less than α
kR.
Fig. 4 is the schematic diagram that mobile node is determined the ring section zone at mobile node place in the industrial production workshop security protection localization method (based on the minimum ring section regional center localization method of received signal intensity) according to the range interval of beaconing nodes coordinate and judgement.
Step S4: if judged mobile node drop on apart from beaconing nodes (0, α
kR] the range interval on, promptly distance between the two is less than α
kR then uses r
iEuclidean distance between the expression beaconing nodes and the origin of coordinates is used β
iExpression beaconing nodes and the line of the origin of coordinates and the angle of axis of abscissas forward are the center of circle with the origin of coordinates, with r
i-α
kR is a camber line in radius is drawn, with r
i+ α
kR is that radius is drawn outer camber line, with
Make ray for slope and hand over inside and outside camber line and P respectively
i, Q
i, S
i, T
iP then
iS
iT
iQ
iSurround ' ring section a region D
PiSiTiQi, mobile node must be positioned at ring section region D
PiSiTiQiIn.
Fig. 5 is the schematic diagram that mobile node is determined the minimum ring section zone at mobile node place in the industrial production workshop security protection localization method (based on the minimum ring section regional center localization method of received signal intensity) according to the range interval of beaconing nodes coordinate and judgement.
Step S5: if obtain a plurality of range block informations, then can obtain a plurality of ring sections zone, the common factor in these ring section zones is the minimum ring section zone of being asked, and the center in minimum ring section zone is as the estimated position of mobile node.Try to achieve with the following method in minimum ring section zone: be the center of circle with the origin of coordinates, get the interior camber line of that the longest interior camber line of radius in all ring section zones as minimum ring section zone, get the outer camber line of that the shortest outer camber line of radius in all ring section zones as minimum ring section zone, that upper sideline of getting in all ring section zones with X-axis forward angle minimum is the upper sideline in minimum ring section zone, that lower sideline of getting in all ring section zones with X-axis forward angle maximum is the lower sideline in minimum ring section zone, and the ring section zone that four lines surround is minimum ring section zone.The centre coordinate in minimum ring section zone
Be location estimation to mobile node.
An exemplary flow chart of Fig. 6 industrial production workshop security protection localization method (based on the minimum ring section regional center localization method of received signal intensity).Enter the personnel of workshop, because its identity difference, thereby wear mobile node with different default accesses as technical staff, operating personnel or visitor.After personnel enter the workshop, mobile node sends Location Request, receive the answer signal of its neighbours' beaconing nodes, according to response message and the signal strength signal intensity that receives according to industrial production workshop security protection localization method based on wireless sensor network, promptly, obtain the positional information of self based on the minimum ring section regional center localization method of received signal intensity.Judge whether and report to the police according to this positional information and default authority then, and information is sent to the sink node, carry out real time position by monitoring host computer and show and information stores.
Step S6-1: mobile node is numbered, and numbering is corresponding one by one with personnel identity and authority, can unique definite personnel identity and authority by numbering.
Step S6-2: mobile node is set up radio communication with beaconing nodes with the sink node and is connected, and sends Location Request.
Step S6-3: mobile node receives the response message of neighbours' beaconing nodes, record beaconing nodes coordinate position and received signal intensity etc.
Step S6-4: determine between energy range and the relation in range interval according to " 3 σ " rule of the logarithm normal distribution model of radio signal propagation channel and normal distribution.
Step S6-5: the information according to a plurality of neighbours' beaconing nodes that receive is determined the minimum ring section zone at mobile node place according to the relation between energy range and range interval, and gets the location estimation of its center as mobile node.
Step S6-6:, judge whether soon or entered the industrial production workshop functional area that self lack of competence enters according to the authority of this mobile node and own estimated position.
Step S6-7: if be about to or entered the industrial production workshop functional area that self lack of competence enters, then mobile node carries out the group alarm of sound, light and vibration according to alarm level.
Step S6-8: mobile node sends to the sink node with self-position information and warning message etc. by radio communication, and the sink node sends to information that monitoring host computer shows and information stores thereupon.
Claims (6)
1. industrial production workshop security positioning system based on wireless sensor network; It is characterized in that, form by portable mobile node (1), the beaconing nodes (2) that is arranged in workshop, the sink node (3) that is arranged in Control Room; Adopt the communication of 2.4G to connect between node, mobile node sends the Location Request instruction, be received in the answer signal of beaconing nodes in its wireless range, by obtain the positional information of oneself based on the minimum ring section regional center localization method of received signal intensity, judge whether and report to the police according to this information, and information is sent to the sink node; Monitoring host computer and Sink node communicate by serial ports, show the position of mobile node in real time, and relevant information is carried out in storage.
2. the industrial production workshop security positioning system based on wireless sensor network as claimed in claim 1, it is characterized in that, portable mobile node is made up of microprocessor unit, memory cell, radio frequency communications unit, localization function module and warning function module, realizes radio communication, data processing and comprises the location and the various application programs of reporting to the police; Node is an embedded system, and all nodes have all carried out the PROCESS FOR TREATMENT of protection against the tide, anticorrosion and mildew-resistant, guarantees the reliability of work; Mobile node adopts the FHP103450AR type lithium battery power supply of 1.65Ah, has prolonged the operating time of node.
3. industrial production workshop security protection localization method based on wireless sensor network, be based on the minimum ring section regional center localization method of received signal intensity, by portable mobile node (1), be arranged in the beaconing nodes (2) of workshop and be arranged in the sink node of Control Room; During the location, mobile node sends Location Request, sends answer signal after the beaconing nodes in its wireless range receives Location Request; After mobile node receives answer signal, at first according to the logarithm normal distribution model of received signal intensity and radio signal propagation fading channel and " 3 σ " rule of normal distribution, set up between energy range and and the range interval between corresponding relation; After mobile node obtains a plurality of range zone distance information relevant with beaconing nodes, determine a minimum ring section zone that surrounds this mobile node, get the estimated position of the centre coordinate in this ring section zone as mobile node; Mobile node judges whether and report to the police, and information is sent to the sink node after obtaining the positional information of oneself, shows the position of mobile node on monitoring host computer in real time; Described " 3 σ " rule is for normal distribution X～N (μ, σ
2), although the span of normal variate be (∞ ,+∞), it is 99.74% that its value drops on (μ-3 σ, μ+3 σ) interior probability.
4. localization method as claimed in claim 3, it is characterized in that, carry out energy interval division and range interval division according to the logarithm normal distribution model of radio signal propagation channel and " 3 σ " rule of normal distribution, separation between energy range is corresponding one by one with the separation in range interval, if on the energy of the beaconing nodes that mobile node receives dropped between certain energy range, then the decidable mobile node must drop on the range interval of the beaconing nodes correspondence of adjusting the distance.
5. localization method as claimed in claim 3 is characterized in that, mobile node is as follows according to the step in the minimum ring section zone at the interval definite mobile node place of range of beaconing nodes coordinate and judgement:
Step 1: drop on certain range interval apart from beaconing nodes if judged mobile node, distance between the two is less than the distance value α of the interval separation correspondence of this range
kR then uses r
iEuclidean distance between the expression beaconing nodes and the origin of coordinates is used β
iExpression beaconing nodes and the line of the origin of coordinates and the angle of axis of abscissas forward are the center of circle with the origin of coordinates, with r
i-α
kR is a camber line in radius is drawn, with r
i+ α
kR is that radius is drawn outer camber line, with
Make ray for slope and hand over inside and outside camber line and P respectively
i, Q
i, S
i, T
i, P
iS
iT
iQ
iSurround a ring section region D
PiSiTiQi, mobile node must be positioned at this ring section region D
PiSiTiQiIn;
Step 2: if obtain a plurality of range block informations, then can obtain a plurality of ring sections zone, the common factor in these ring section zones is the minimum ring section zone of being asked, and the center in minimum ring section zone is as the estimated position of mobile node; Try to achieve with the following method in minimum ring section zone: be the center of circle with the origin of coordinates, get the interior camber line of that the longest interior camber line of radius in all ring section zones as minimum ring section zone, get the outer camber line of that the shortest outer camber line of radius in all ring section zones as minimum ring section zone, that upper sideline of getting in all ring section zones with X-axis forward angle minimum is the upper sideline in minimum ring section zone, that lower sideline of getting in all ring section zones with X-axis forward angle maximum is the lower sideline in minimum ring section zone, the ring section zone that four lines surround is minimum ring section zone, and the centre coordinate in minimum ring section zone is the location estimation to mobile node.
6. localization method as claimed in claim 3 is characterized in that, the personnel that enter workshop are because its identity difference, thereby wears the mobile node with different default accesses; After personnel enter the workshop, mobile node sends Location Request, receive the answer signal of its neighbours' beaconing nodes, determine the minimum ring section zone at mobile node place according to response message and the signal strength signal intensity that receives, with minimum ring section regional center coordinate as the mobile node estimated position; Judge whether and report to the police according to positional information and default authority after the locating information of mobile node acquisition self, and information is sent to the sink node, carry out real time position by monitoring host computer and show and information stores.Its step is as follows:
Step S6-1: mobile node is numbered, and numbering is corresponding one by one with personnel identity and authority, can unique definite personnel identity and authority by numbering;
Step S6-2: mobile node is set up radio communication with beaconing nodes with the sink node and is connected, and sends Location Request;
Step S6-3: mobile node receives the response message of neighbours' beaconing nodes, record beaconing nodes coordinate position and received signal intensity;
Step S6-4: determine between energy range and the relation in range interval according to " 3 σ " rule of the logarithm normal distribution model of radio signal propagation channel and normal distribution;
Step S6-5: the information according to a plurality of neighbours' beaconing nodes that receive is determined the minimum ring section zone at mobile node place according to the relation between energy range and range interval, and gets the location estimation of its center as mobile node;
Step S6-6:, judge whether soon or entered the industrial production workshop functional area that self lack of competence enters according to the authority of this mobile node and own estimated position;
Step S6-7: if be about to or entered the industrial production workshop functional area that self lack of competence enters, then mobile node carries out the group alarm of sound, light and vibration according to alarm level;
Step S6-8: mobile node sends to the sink node with self-position information and warning message etc. by radio communication, and the sink node sends to information that monitoring host computer shows and information stores thereupon.
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