CN101464510A - Multi-point accurate positioning and tracing method for wireless sensor network - Google Patents
Multi-point accurate positioning and tracing method for wireless sensor network Download PDFInfo
- Publication number
- CN101464510A CN101464510A CNA2009100953209A CN200910095320A CN101464510A CN 101464510 A CN101464510 A CN 101464510A CN A2009100953209 A CNA2009100953209 A CN A2009100953209A CN 200910095320 A CN200910095320 A CN 200910095320A CN 101464510 A CN101464510 A CN 101464510A
- Authority
- CN
- China
- Prior art keywords
- node
- positioning
- wireless sensor
- sensor network
- fixing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a multi-nodal accurate positioning and tracking method of a wireless sensor network. Positioning fixed nodes in the wireless sensor network are distributed at the peak of a regular quadrangle; each node in the sensor network is used for data acquisition and transmission; the positioning fixed nodes not only are related to a data route, but also are used for receiving positioning signals transmitted by a positioned node or a tracked node; and the positioning fixed nodes are used for calculating the distance between each fixed node and the positioned node through carrying out energy statistic to the signals, transmitting the distance to the gateway node of the wireless sensor network, and transmitting the distance to a PC machine through the gateway node. After collecting the positioning signals of all the positioning fixed nodes, the PC machine is used for calculating the position of the positioned node or a mobile node by using the multi-nodal positioning method and tracing out the movement track of the mobile tracking node through software. The invention reduces the wireless positioning cost and improves the positioning accuracy and the traceability. The invention plays an active driving role in the accurate positioning of the wireless sensor network and the tracking technology development.
Description
Technical field
The present invention relates to a kind of wireless sensor network multi-nodal accurate positioning and tracking.
Background technology
Wireless location and tracking technique not only militarily have great application value, also have wide application space in agricultural, commercial production information automation and control field.Be massive wireless sensor Data Detection, location, tracking, investigation to target, and the application that combines with GIS in a core technology, traditional location and tracking technique generally adopt GP S signal receiver or GPS and GPS base station to constitute the method that follow the tracks of the difference location, the gps signal receiver is installed in each location receives positioning signal with following the tracks of on the node, thereby cause the location to follow the tracks of cost height, defectives such as the local positioning precision is low, poor reliability.
Summary of the invention
In order to overcome location cost height in the wireless sensor network, the defective that precision is low.The purpose of this invention is to provide a kind of wireless sensor network multi-nodal accurate positioning and tracking.Can locate more exactly and follow the tracks of the location node that moves.
A kind of wireless sensor network multi-nodal accurate positioning and tracking, it comprises:
1) wireless sensor network positioning and fixing node is loaded with the gps signal receiving trap, and be positioned node or mobile node have wireless transmit and receiving function;
2) the positioning and fixing node places the peripheral summit of polygon of a rule at grade;
3) the positioning and fixing node is in when receiving each road signal route, also receive be positioned node and mobile node positioning signal, the positioning signal energy meter that receives according to the positioning and fixing node is calculated the positioning and fixing node and the distance between node or mobile node of being positioned, calculate the position of the node that is positioned by the multipoint positioning method, when the mobile node stationary nodes that is positioned in moving process calculates the position location point by the multipoint positioning method, retouch into movement locus by a plurality of location points, follow the tracks of by movement locus;
4) gateway node of radio sensing network links to each other with PC by USB interface;
Each node of 5 wireless sensor networks utilizes solar cell or storage battery power supply;
6) be positioned or the tracked node that moves when transmitting emissive power remain stable and consistent.
Described multipoint positioning method is four regular tetragonal positioning and fixing nodes that surround sealing, write down gps coordinate, constitute a coordinate system by these 4, receive distance value r1, r2, r3, the r4 of same be positioned node or mobile node with each positioning and fixing node after, with each positioning and fixing node location be the center of circle, with each positioning and fixing node and be positioned node or mobile node measured be that radius is drawn circle apart from r1, r2, r3, r4.By the match of computing machine host computer, note this coordinate figure in coordinate system when four circles intersect at a point, the positional information and the movement locus that are about to node by software match means clearly write down and preserve.
Described wireless sensor network positioning and fixing node, the node that is positioned, mobile node all are to be the wireless sensor node module of core with the CC2431 single-chip microcomputer, and the positioning and fixing node can be stablized the wireless sensor node of receiving gps signal again.
The gateway node of described radio sensing network is communicated by letter with PC by the USB interface that comprises any serial ports commentaries on classics USB interface and any agreement.
The present invention compares with background technology, has following characteristics:
(1) powerful, can realize the relative positioning of multipoint wireless communication modes.Positioning and fixing node number is many more, and bearing accuracy is high more.And can position and follow the tracks of mobile node, on PC, retouch out the mobile node movement locus exactly.
(2) simple in structure, economical, small and exquisite flexible, whole wireless sensor network positioning system need only be installed the gps signal receiver on stationary nodes, do not load any miscellaneous equipment on other node of wireless sensor network.
(3) easy to use, after location node arranged, cloth led to whole wireless sensor network, utilizes PC to send various command system is controlled.
(4) have good economic benefit, traditional wireless sensor network is very difficult to the node locating and the tracking of moving, the cost height.Utilize the wireless sensor network multipoint positioning tracking of wireless energy transfer both can reduce application cost, can conveniently locate and follow the tracks of again, can extensively promote better economic benefit.
Description of drawings
Fig. 1 is precisely location and tracking systematic schematic diagram of wireless sensor network multiple spot.
Fig. 2 is for the multipoint wireless location and follow the tracks of, retouch moving track schematic diagram.
Embodiment
1) wireless sensor network positioning and fixing node is loaded with the gps signal receiving trap, and be positioned node or mobile node have wireless transmit and receiving function;
2) the positioning and fixing node places the peripheral summit of polygon of a rule at grade;
3) the positioning and fixing node is in when receiving each road signal route, also receive be positioned node and mobile node positioning signal, the positioning signal energy meter that receives according to the positioning and fixing node is calculated the positioning and fixing node and the distance between node or mobile node of being positioned, calculate the position of the node that is positioned by the multipoint positioning method, when the mobile node stationary nodes that is positioned in moving process calculates the position location point by the multipoint positioning method, retouch into movement locus by a plurality of location points, follow the tracks of by movement locus;
4) gateway node of radio sensing network links to each other with PC by USB interface;
5) each node of wireless sensor network utilizes solar cell or storage battery power supply;
6) be positioned or the tracked node that moves when transmitting emissive power remain stable and consistent.
In Fig. 1, the pentagram node is represented the positioning and fixing node, and their distribution is in the place, regular quadrilateral summit on the band piece placement-face, and a plurality of continuous quadrilaterals constitute a location tracing area.Circle representative be the node that is positioned, the node of sun symbol is a mobile node.After wireless sensor network cloth is logical, the positioning and fixing node not only participates in the wireless sensor network data route, also receive the positioning signal that sends by be positioned node or tracking node, the positioning and fixing node is by carrying out energy statistics and calculate stationary nodes and the distance between node or mobile node of being positioned to the positioning signal that receives, distance signal is sent to gateway node, gateway node links to each other with PC by USB interface, by USB interface position signalling is passed to PC.PC is collected the distance value that each positioning and fixing node calculates, and calculates the coordinate figure of the position location point of be positioned node or mobile node by the multipoint positioning method.Realize multipoint positioning by PC software, and connect the movement locus that fits to mobile node, realize tracking mobile node according to the anchor point of mobile node.
In Fig. 2, in a regional area, four tetragonal stationary nodes that can surround sealing are write down its coordinate (GPS locator value), describe the coordinate system that constitutes by 4.Whole wireless sensor network can be divided into a plurality of regular quadrilateral zone.Receive distance value r1, r2, r3, the r4 of same location node with each point of fixity after, being the center of circle with four positioning and fixing node O1, O2, O3, O4 respectively, is that radius is justified with each positioning and fixing node with distance R 1, R2, R3, the R4 of node or mobile node of being positioned.By the match of computing machine host computer, note this coordinate figure in coordinate system when four circles intersect at a point or probably intersect at a point, logical limit software match means promptly can clearly write down the positional information and the movement locus of node and preserve.
Described wireless sensor network positioning and fixing node, the node that is positioned, mobile node all are to be the wireless sensor node module of core with the CC2431 single-chip microcomputer, and the positioning and fixing node can be stablized the wireless sensor node of receiving gps signal again.
The gateway node of said radio sensing network is communicated by letter with PC by the USB interface that comprises any serial ports commentaries on classics USB interface and any agreement.
Described radio sensing network node power supply comprises any model, the solar cell of brand and accumulator, or rechargeable battery.
The described node transmit signal power that is positioned comprises any power that can make each effective positioning and fixing node can receive signal.
Claims (4)
1. wireless sensor network multi-nodal accurate positioning and tracking is characterized in that it comprises:
1) wireless sensor network positioning and fixing node is loaded with the gps signal receiving trap, and be positioned node or mobile node have wireless transmit and receiving function;
2) the positioning and fixing node places the peripheral summit of polygon of a rule at grade;
3) the positioning and fixing node is in when receiving each road signal route, also receive be positioned node and mobile node positioning signal, the positioning signal energy meter that receives according to the positioning and fixing node is calculated the positioning and fixing node and the distance between node or mobile node of being positioned, calculate the position of the node that is positioned by the multipoint positioning method, when the mobile node stationary nodes that is positioned in moving process calculates the position location point by the multipoint positioning method, retouch into movement locus by a plurality of location points, follow the tracks of by movement locus;
4) gateway node of radio sensing network links to each other with PC by USB interface;
5) each node of wireless sensor network utilizes solar cell or storage battery power supply;
6) be positioned or the tracked node that moves when transmitting emissive power remain stable and consistent.
2. a kind of wireless sensor network multi-nodal accurate positioning according to claim 1 and tracking, it is characterized in that: described multipoint positioning method is four regular tetragonal positioning and fixing nodes that surround sealing, write down gps coordinate, constitute a coordinate system by these 4, receive distance value r1, r2, r3, the r4 of same be positioned node or mobile node with each positioning and fixing node after, with each positioning and fixing node location be the center of circle, with each positioning and fixing node and be positioned node or mobile node measured be that radius is drawn circle apart from r1, r2, r3, r4.By the match of computing machine host computer, note this coordinate figure in coordinate system when four circles intersect at a point, the positional information and the movement locus that are about to node by software match means clearly write down and preserve.
3. a kind of wireless sensor network multi-nodal accurate positioning according to claim 1 and tracking, it is characterized in that: described wireless sensor network positioning and fixing node, the node that is positioned, mobile node all are to be the wireless sensor node module of core with the CC2431 single-chip microcomputer, and the positioning and fixing node can be stablized the wireless sensor node of receiving gps signal again.
4. a kind of wireless sensor network multi-nodal accurate positioning according to claim 1 and tracking is characterized in that: the gateway node of said radio sensing network is communicated by letter with PC by the USB interface that comprises any serial ports commentaries on classics USB interface and any agreement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2009100953209A CN101464510A (en) | 2009-01-08 | 2009-01-08 | Multi-point accurate positioning and tracing method for wireless sensor network |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2009100953209A CN101464510A (en) | 2009-01-08 | 2009-01-08 | Multi-point accurate positioning and tracing method for wireless sensor network |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101464510A true CN101464510A (en) | 2009-06-24 |
Family
ID=40805182
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2009100953209A Pending CN101464510A (en) | 2009-01-08 | 2009-01-08 | Multi-point accurate positioning and tracing method for wireless sensor network |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101464510A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102244915A (en) * | 2011-02-25 | 2011-11-16 | 上海大学 | Method for improving geographical position routing protocol of wireless multimedia sensor network |
| CN102508201A (en) * | 2011-10-26 | 2012-06-20 | 青岛理工大学 | Field positioning method based on wireless positioning device for agricultural machinery |
| CN102547973A (en) * | 2010-12-17 | 2012-07-04 | 上海工程技术大学 | RSSI (received signal strength indicator)-based multi-sensor fusion mobile node tracking method |
| CN102573052A (en) * | 2011-04-13 | 2012-07-11 | 中国人民解放军国防科学技术大学 | Target locating and tracking method and system based on wireless sensor network |
| CN102740454A (en) * | 2011-04-15 | 2012-10-17 | 嘉兴学院 | Wireless sensor network node positioning method based on small number of anchor nodes |
| CN103140865A (en) * | 2010-07-30 | 2013-06-05 | Abb研究有限公司 | A method and a system for localization in industrial wireless sensor network |
| CN104080039A (en) * | 2013-03-26 | 2014-10-01 | 富士通株式会社 | Wireless positioning method and wireless positioning device |
| CN105763629A (en) * | 2016-04-12 | 2016-07-13 | 时建华 | Building pitched roof girder structure health monitoring device |
| CN105766566A (en) * | 2016-03-22 | 2016-07-20 | 江苏科技大学 | Nursery garden micro-irrigation method and system based on wireless positioning technology |
| CN108844543A (en) * | 2018-06-08 | 2018-11-20 | 南通大学 | Indoor AGV navigation control method based on UWB positioning and dead reckoning |
| CN110764053A (en) * | 2019-10-22 | 2020-02-07 | 浙江大学 | Multi-target passive positioning method based on underwater sensor network |
-
2009
- 2009-01-08 CN CNA2009100953209A patent/CN101464510A/en active Pending
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103140865A (en) * | 2010-07-30 | 2013-06-05 | Abb研究有限公司 | A method and a system for localization in industrial wireless sensor network |
| CN102547973A (en) * | 2010-12-17 | 2012-07-04 | 上海工程技术大学 | RSSI (received signal strength indicator)-based multi-sensor fusion mobile node tracking method |
| CN102547973B (en) * | 2010-12-17 | 2014-12-10 | 上海工程技术大学 | RSSI (received signal strength indicator)-based multi-sensor fusion mobile node tracking method |
| CN102244915A (en) * | 2011-02-25 | 2011-11-16 | 上海大学 | Method for improving geographical position routing protocol of wireless multimedia sensor network |
| CN102573052B (en) * | 2011-04-13 | 2015-08-26 | 中国人民解放军国防科学技术大学 | A kind of target locating method and system based on wireless sensor network |
| CN102573052A (en) * | 2011-04-13 | 2012-07-11 | 中国人民解放军国防科学技术大学 | Target locating and tracking method and system based on wireless sensor network |
| CN102740454A (en) * | 2011-04-15 | 2012-10-17 | 嘉兴学院 | Wireless sensor network node positioning method based on small number of anchor nodes |
| CN102508201A (en) * | 2011-10-26 | 2012-06-20 | 青岛理工大学 | Field positioning method based on wireless positioning device for agricultural machinery |
| CN104080039A (en) * | 2013-03-26 | 2014-10-01 | 富士通株式会社 | Wireless positioning method and wireless positioning device |
| CN104080039B (en) * | 2013-03-26 | 2017-12-05 | 富士通株式会社 | Wireless location method and device |
| CN105766566A (en) * | 2016-03-22 | 2016-07-20 | 江苏科技大学 | Nursery garden micro-irrigation method and system based on wireless positioning technology |
| CN105763629A (en) * | 2016-04-12 | 2016-07-13 | 时建华 | Building pitched roof girder structure health monitoring device |
| CN105763629B (en) * | 2016-04-12 | 2019-01-18 | 江苏华泰建设工程有限公司 | A kind of building sloping roof beam monitoring structural health conditions device |
| CN108844543A (en) * | 2018-06-08 | 2018-11-20 | 南通大学 | Indoor AGV navigation control method based on UWB positioning and dead reckoning |
| CN110764053A (en) * | 2019-10-22 | 2020-02-07 | 浙江大学 | Multi-target passive positioning method based on underwater sensor network |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101464510A (en) | Multi-point accurate positioning and tracing method for wireless sensor network | |
| Chen et al. | Mobility-assisted node localization based on TOA measurements without time synchronization in wireless sensor networks | |
| CN103024663B (en) | A kind of Mine Personnel Positioning System | |
| CN105242240A (en) | Positioned, and indoor positioning method, apparatus and system thereof | |
| CN103630922A (en) | Monitoring communication system based on indoor RFID (radio frequency identification) and outdoor GPS (global positioning system) positioning | |
| CN102256351B (en) | Indoor accurate positioning method based on wireless sensor network technique | |
| CN103777174A (en) | Indoor positioning system based on active multifunctional RFID tags | |
| CN102868751B (en) | Based on the down-hole object localization method of distance restraint | |
| CN102998654A (en) | Method and device of label phase information and based on passive wireless radio frequency recognition | |
| CN102393896A (en) | Simple and accurate radio frequency positioning system and method | |
| CN101435865A (en) | Non-distance measuring wireless sensor network node positioning method | |
| CN103889055A (en) | Wireless sensor network node positioning method based on mobile anchor nodes and device | |
| CN205015914U (en) | Thing networking assets management system based on accurate positioning | |
| CN104125537A (en) | CC2530-based multi-mode co-location system and method | |
| CN103037506A (en) | Locating methods, locating system and relevant equipment | |
| CN102740454A (en) | Wireless sensor network node positioning method based on small number of anchor nodes | |
| CN104135750A (en) | Multiple mobile beacon set moving path planning method based on network density clustering of wireless sensor network | |
| CN103313390B (en) | A kind of WSN localization method based on double-movement beacon | |
| CN102158957A (en) | Positioning method for wireless sensor network in three-dimensional space through twice region segmentation and iteration | |
| CN103018711B (en) | Underground personnel positioning method based field intensity and step-mounting distance measurement | |
| CN205003276U (en) | Locator and indoor positioning system thereof | |
| CN111479233A (en) | Mine unmanned vehicle detection and position feedback system based on UWB technology | |
| CN114268900A (en) | Indoor positioning method and system | |
| CN202931556U (en) | Underground personnel locating system | |
| CN206311095U (en) | A kind of total powerstation tele-control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20090624 |