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 PDF

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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
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China
Prior art keywords
node
positioning
wireless sensor
sensor network
fixing
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Pending
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CNA2009100953209A
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Chinese (zh)
Inventor
何勇
聂鹏程
邓洪峰
张伟
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Zhejiang University ZJU
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Zhejiang University ZJU
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Priority to CNA2009100953209A priority Critical patent/CN101464510A/en
Publication of CN101464510A publication Critical patent/CN101464510A/en
Pending legal-status Critical Current

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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

A kind of wireless sensor network multi-nodal accurate positioning and tracking
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.
CNA2009100953209A 2009-01-08 2009-01-08 Multi-point accurate positioning and tracing method for wireless sensor network Pending CN101464510A (en)

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Application Number Priority Date Filing Date Title
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Cited By (11)

* Cited by examiner, † Cited by third party
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

Cited By (15)

* Cited by examiner, † Cited by third party
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
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
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
CN102244915A (en) * 2011-02-25 2011-11-16 上海大学 Method for improving geographical position routing protocol of wireless multimedia 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
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
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

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Open date: 20090624