CN102014147A - Positioning system in Internet of things as well as deploying method and device thereof - Google Patents

Positioning system in Internet of things as well as deploying method and device thereof Download PDF

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CN102014147A
CN102014147A CN2010102286895A CN201010228689A CN102014147A CN 102014147 A CN102014147 A CN 102014147A CN 2010102286895 A CN2010102286895 A CN 2010102286895A CN 201010228689 A CN201010228689 A CN 201010228689A CN 102014147 A CN102014147 A CN 102014147A
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electronic
determining
landmark
coverage
edge
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CN102014147B (en
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殷丽华
方滨兴
贾焰
陈娟
韩伟红
李爱平
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Beijing Hetian Huizhi Information Technology Co Ltd
Beijing Computer Network And Information Security Research Center Of Harbin Institute Of Technology
National University of Defense Technology
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Beijing Hetian Huizhi Information Technology Co Ltd
Beijing Computer Network And Information Security Research Center Of Harbin Institute Of Technology
National University of Defense Technology
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Abstract

The invention discloses a positioning system in Internet of things as well as a deploying method and device thereof. The method comprises the following steps of: determining the coverage of an electronic landmark; determining the deploying density of the electronic landmark according to the coverage of the electronic landmark; and deploying the electronic landmark according to the deploying density of the electronic landmark. The invention also discloses a device comprising a coverage determining module, a deploying density determining module and a deploying module, wherein the coverage determining module is used for determining the coverage of the electronic landmark; the deploying density determining module is used for determining the deploying density of the electronic landmark according to the coverage of the electronic landmark; and the deploying module is used for deploying the electronic landmark according to the deploying density of the electronic landmark. The invention also discloses a positioning system comprising a wireless gateway, a landmark management server and an electronic landmark node deployed according to the above method. A thing positioning system within the global range is constructed aiming at the characteristics of huge amount, wide circulation area and frequent position alteration of things in the Internet of things, thereby the things within the global range can be positioned with high precision and low cost.

Description

Positioning system in Internet of things and deployment method and device thereof
Technical Field
The invention relates to the technical field of Internet of things, in particular to a positioning system in the Internet of things and a deployment method and device thereof.
Background
The internet of things is a network which connects any article with the internet by means of existing wired and wireless communication protocols through information sensing equipment such as radio frequency identification, infrared sensors, global positioning systems, laser scanners and the like, and performs information exchange and communication so as to realize intelligent identification, positioning, tracking, monitoring and management. At present, the internet of things has been widely applied in the fields of intelligent transportation, environmental monitoring, logistics tracking, positioning and the like, however, all of the applications do not leave the support of geographical location information of articles, so how to position articles and acquire geographical location information of articles has become an important direction for research of the internet of things.
There have been some studies related to the positioning of articles in the prior art, however, these studies have focused on the positioning algorithms of articles. In addition, the positioning of the articles is only limited in the industry and is not large-scale, and the sharing and the use of a large amount of article information can be realized only if the application of the Internet of things is large-scale.
In the process of implementing the invention, the inventor finds that the prior art has at least the following problems:
aiming at the characteristics of huge quantity of articles, wide circulation field, frequent position change and the like in the Internet of things, an article positioning system in the global range needs to be constructed to realize high-precision and low-cost positioning of the articles in the global range.
Disclosure of Invention
In order to construct a global-range item positioning system and realize high-precision and low-cost positioning of global-range items, an embodiment of the invention provides a deployment method of a positioning system in an internet of things, wherein the method comprises the following steps:
determining the coverage of the electronic landmark;
determining the deployment density of the electronic landmarks according to the coverage of the electronic landmarks;
and deploying the electronic landmark according to the deployment density of the electronic landmark.
The embodiment of the invention also provides a deployment device of the positioning system in the internet of things, which comprises:
the coverage determining module is used for determining the coverage of the electronic landmark;
the deployment density determining module is used for determining the deployment density of the electronic landmarks according to the coverage of the electronic landmarks;
and the deployment module is used for deploying the electronic landmark according to the deployment density of the electronic landmark.
The embodiment of the invention also provides a positioning system in the internet of things, which is characterized by comprising the following components: the system comprises a wireless gateway, a landmark management server and an electronic landmark node deployed according to the method.
The technical scheme provided by the embodiment of the invention has the following beneficial effects: by determining the coverage of the electronic landmarks; the deployment density of the electronic landmarks is determined according to the coverage of the electronic landmarks, and finally the deployment of a positioning system in the Internet of things is realized, so that the high-precision and low-cost positioning of articles in the global range is realized.
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FIG. 1 is a flowchart of a method provided in embodiment 1 of the present invention;
FIG. 2 is a flowchart of a method provided in embodiment 2 of the present invention;
FIG. 3 is a flowchart of a method provided in embodiment 3 of the present invention;
fig. 4 is a flowchart of a method for determining coverage of an electronic landmark according to a weight in embodiment 4 of the present invention;
FIG. 5 is a schematic view of the structure of an apparatus provided in embodiment 5 of the present invention;
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Example 1
As shown in fig. 1, the present invention provides a deployment method of a positioning system in the internet of things, which includes the following steps:
s101: determining the coverage of the electronic landmark;
s102: determining the deployment density of the electronic landmarks according to the coverage of the electronic landmarks;
s103: and deploying the electronic landmarks according to the deployment density of the electronic landmarks.
The method provided by the embodiment comprises the steps of determining the coverage of the electronic landmark; and determining the deployment density of the electronic landmarks according to the coverage of the electronic landmarks, and finally realizing the deployment of a positioning system in the Internet of things, thereby realizing the high-precision and low-cost positioning of articles in the global range.
The invention provides a deployment device of a positioning system in the Internet of things, which comprises:
the coverage determining module is used for determining the coverage of the electronic landmark;
the deployment density determining module is used for determining the deployment density of the electronic landmarks according to the coverage of the electronic landmarks;
and the deployment module is used for deploying the electronic landmark according to the deployment density of the electronic landmark.
The invention provides a positioning system in the Internet of things, which comprises: the system comprises a wireless gateway, a landmark management server and an electronic landmark node deployed according to the method. The landmark management server is an indoor landmark management server, and the electronic landmark node is an indoor electronic landmark node; or the landmark management server is an outdoor landmark management server, and the electronic landmark node is an outdoor electronic landmark node.
Example 2
As shown in fig. 2, taking an indoor positioning system in the internet of things as an example, the positioning system in the indoor internet of things is composed of indoor electronic landmark nodes, wireless gateways and indoor landmark management servers deployed indoors by different organizations and individuals. The indoor electronic landmark is an intelligent terminal which stores landmark information, namely information of the geographical position of the electronic landmark and has wireless communication capacity. The indoor electronic landmark nodes send landmark information to areas within the communication range of the indoor electronic landmark nodes at intervals, and the articles can calculate the positions of the articles according to the landmark information from different landmarks. The indoor electronic landmarks are deployed indoors at a certain density to realize multiple landmark information coverage of indoor areas, namely, landmark information sent by a plurality of electronic landmarks can be received at any position in the indoor. After receiving the landmark information from different indoor electronic landmarks, the article may perform its own position location by using an existing location algorithm, such as TOA (Time of arrival algorithm) and TDOA (Time Difference of arrival algorithm), and preferably, the article receives at least three landmark information from different indoor electronic landmarks. The indoor electronic landmark communicates with the indoor landmark management server through the wireless gateway. Preferably, the indoor electronic landmark can form an ad hoc (multi-hop mobile wireless network) network with other wireless terminals such as a mobile phone and a reader, and when the distance between the electronic landmark and the wireless gateway is longer, the electronic landmark can be connected with the wireless gateway through the mobile phone and the reader in the ad hoc network, so that the connection effect of the indoor electronic landmark and the wireless gateway is improved. The indoor landmark management server receives information from the indoor electronic landmarks, finds and reports failed electronic landmark nodes in time, and maintains normal operation of the indoor electronic landmark system.
The deployment method of the positioning system in the indoor Internet of things specifically comprises the following steps:
s201: determining the coverage of the electronic landmark;
in particular, for any position P in the room0，P0H is the coverage of the electronic landmark. Wherein, the communication radius of the landmark is R0. If the indoor arbitrary position P is0Abstract as a point, then point P0As a center of circle, R0The circle with the radius should be at least provided with h electronic landmarks, and the coverage degree h of the electronic landmarks is preferably greater than or equal to 3.
S202: according to
Figure BSA00000194008600041
Determining a deployment density of the electronic landmarks;
wherein R is0Is the communication radius of the electronic landmark, h is the coverage of the electronic landmark, n0Is the deployment density of the electronic landmarks. Specifically, if the electronic landmarks are uniformly deployed, the deployment density of the electronic landmarks is n0Per square meter, then
Figure BSA00000194008600042
Namely, it is
Figure BSA00000194008600043
Therefore, the disposition density of the electronic landmarks of the indoor electronic landmark system meeting the h-fold coverage is rounded up to be at leastOne per square meter.
S203: and deploying the electronic landmarks according to the deployment density of the electronic landmarks.
Specifically, the deployment density of electronic landmarks is adjusted according to the commodity circulation of different areas in the positioning system. Because the landmark signals are covered in a circular shape with the electronic landmarks as the circle centers, and the farther the real objects are from the electronic landmarks, the weaker the signals are, for the areas with larger real object circulation quantity, more electronic landmarks need to be deployed to enhance the signal intensity of the landmarks in order to ensure that the real objects can receive stronger landmark signals. In addition, for an area with a large circulation number of real objects, more accurate object position information is needed to more accurately locate the real objects in a large number of real objects, and multiple coverage of landmark signals is needed. Therefore, the h value can be measured to different values according to the circulation number of the real object, for example, in a common family, the preferable h is 3, so that the requirement of positioning the real object can be met, and for a factory or a market with a large circulation number of the real object, the h can have a larger value, so that the requirement of positioning a large number of articles can be met.
According to the embodiment, the deployment density of the electronic landmarks is set according to the traffic of indoor articles, and the multiple electronic landmark information coverage of indoor areas is realized. Therefore, the position information of the indoor article can be calculated with high accuracy.
Example 3
As shown in fig. 3, taking an outdoor positioning system in the internet of things as an example, the outdoor positioning system in the internet of things is composed of an outdoor electronic landmark node and a public landmark management server. The outdoor electronic landmark is an intelligent terminal which stores landmark information, namely information of the geographical position of the electronic landmark and has wireless communication capability. The outdoor electronic landmark node sends landmark information to an area within a communication radius at intervals, and the article can calculate the position of the article according to received landmark information from different landmarks. In cities, the circulation area of outdoor goods is mainly roads, so that outdoor electronic landmarks are arranged on two sides of the roads of the cities at a certain density to realize multiple landmark information coverage of any position in the roads, namely, landmark information from a plurality of electronic landmarks can be received at any position in the roads. After the article receives the landmark information from different outdoor electronic landmarks, the article can carry out self-position positioning through the existing positioning algorithm such as TOA and TDOA, wherein the number of the landmark information received by the article from the different outdoor electronic landmarks is at least three. The outdoor electronic landmark communicates with the public landmark management server through the wireless gateway. Preferably, the outdoor electronic landmark can form an ad hoc network with other wireless terminals such as a mobile phone and a reader, and when the distance between the electronic landmark and the wireless gateway is long, the outdoor electronic landmark can be connected with the wireless gateway through the mobile phone and the reader in the ad hoc network, so that the connection effect of the outdoor electronic landmark and the wireless gateway is improved. At intervals, the outdoor electronic landmarks report their operating status to a common landmark management server. And the public landmark management server receives the information from the outdoor electronic landmarks, finds and reports failed electronic landmark nodes in time, and maintains the normal operation of the outdoor electronic landmark system.
If the road in the positioning system is abstracted as an edge, the start point, the end point and the turning point of the road are abstracted as vertexes, and an undirected graph G (V, E) is composed of the edge and the vertexes, where V represents a set of vertexes in the graph, E represents a set of edges in the graph, and N is the number of vertexes in the graph, as shown in fig. 2, the deployment method of the outdoor positioning system in the internet of things specifically includes:
s301: determining the weight of a road in a positioning system, and determining the coverage of the electronic landmark according to the weight;
the determining of the weight of the road in the positioning system specifically includes: according to
Figure BSA00000194008600051
Determining the weight of a road in a positioning system, eijDenotes the length of the edge between vertices i and j, wijIs of length eijThe weight of the edge of (a) is,
Figure BSA00000194008600053
is an edge eijThe center of gravity of the steel plate is as follows,
Figure BSA00000194008600054
is an edge eijThe proximity of the center of gravity of (a),
Figure BSA00000194008600055
is an edge eijThe mesomeric center of the (C) carbon fiber,
Figure BSA00000194008600056
is an edge eijThe center of aggregation of (a) is,
Figure BSA00000194008600057
is an edge eijThe center of the straight line of (a),
Figure BSA00000194008600058
is an edge eijIs centralized.
Edge eijDegree of centrality of
Figure BSA00000194008600059
Is defined as
Figure BSA000001940086000510
For representing an edge eijNumber of adjacent sides actually present, i.e. eijSum of the number of edges connected by two vertices and eijPossibly with a ratio of the number of adjacent edges. The more centricity a side is, the more sides in the figure can be directly connected to the side, and therefore the side is more central in the whole figure. For example, edge eijThe two vertices of (a) are i and j,
Figure BSA000001940086000511
indicates the number of edges to which vertex i is connected,
Figure BSA000001940086000512
representing the number of edges to which vertex j is connected,
Figure BSA000001940086000513
(eik+ejk) Represents an edge eijThe sum of the number of edges actually connected by the two vertices. Whereas in the ideal case, the edge eijAt most 2(N-2) edges may be connected, i.e., vertex i may be connected to (N-2) edges and vertex j may also be connected to (N-2) edges, because either vertex i or j may be connected to N-2 vertices in the graph excluding i and j. This formula is to disregard the edge eijBecause of
Figure BSA00000194008600061
Without considering edge eij2(N-2) also does not consider edge eijAll edges do not consider their own edges when calculating the centrality of the degree, and are fair to all edges.
Edge eijAdjacent centrality of
Figure BSA00000194008600062
Is defined as
Figure BSA00000194008600063
Representing the total number of edges and the edge e of the networkijThe sum of the shortest distances to other edges in the network. Wherein, the shortest distance between two sides is defined as the least number of sides from one side to the other side, if two sides are adjacent, the shortest distance between the two sides is 2,
Figure BSA00000194008600064
represents an edge eijAnd edge epqThe shortest distance of (c). The greater the proximity centrality of an edge, the smaller the shortest distance of the edge from other edges, i.e. the more convenient it is to reach the edge from any position in the network, and therefore the edge is more central in the whole networkA position of the center, wherein the shortest distance of the two sides is defined as the minimum number of sides to be passed from one side to the other side, and if the two sides are adjacent, the shortest distance of the two sides is 2,
Figure BSA00000194008600065
represents an edge eijAnd edge epqThe shortest distance of the first and second electrodes,represents an edge eijThe sum of the shortest distances to all other edges in the network.
Edge eijMesomeric centrality of
Figure BSA00000194008600067
Is defined asRepresents an edge eijProbability of occurring on the shortest path between all nodes. Wherein n ispqRepresenting the number of shortest paths between vertices p and q, mpq(eij) Representing the passing edge e in the shortest path between vertices p and qijThe shortest path number of (2). The larger the betweenness centrality of the edge is, the larger the physical traffic load is because the edge exists in the shortest path in many cases, the edge is located at the more central position, and n ispqRepresenting the shortest path number between vertices p and q. For example, there are four vertices 1, 2, 3, 4 in the network, there may be multiple shortest paths from 1 to 4, such as from 1 directly to 4, or from 2 directly to 4. m ispq(eij) Representing the passing edge e in the shortest path between vertices p and qijE.g. there are multiple shortest paths between p and q, but there may be some passing edge eijSome do not pass through edge eij。mpq(eij)/npqRepresenting the passing edge e in the shortest path between p and qijThe probability of (c).
Figure BSA00000194008600069
Any one in the networkFor the shortest path between the vertices passing edge eijThe sum of the probabilities of (c). However, there are N (N-1)/2 pairs of vertices in the network, and thus
Figure BSA000001940086000610
Dividing by N (N-1)/2 represents the average shortest path per pair of vertices in the network passing through edge eijThe probability of (c).
Edge eijCenter of aggregation of
Figure BSA000001940086000611
Is defined as
Figure BSA000001940086000612
Representing the ratio of the number of edges that actually exist between all the neighbors of vertices i and j to the maximum number of edges that may be present. Wherein k isijIndicates the total number of neighbor nodes, EN, that vertex i and vertex j haveijIndicating the number of edges that exist between the adjacent nodes of vertices i and j. The larger the clustering centrality of the edge is, the lower the probability that all the adjacent nodes representing the vertexes i and j are connected with each other is, so that more adjacent edges are required to be directly connected to the edge to ensure the connectivity of the urban road network, and the edge is positioned at a more central position; if there is an edge between a vertex s and a vertex i, s is a neighboring node of i. k is a radical ofijDenotes the total number of neighbor nodes, k, that vertex i and vertex j haveijInterconnection of adjacent nodes, having at most kij(kij-1)/2 sides, ENijIndicating the number of edges that actually exist between the neighboring nodes of vertices i and j.
Figure BSA00000194008600071
Representing the number EN of edges actually existing between all the adjacent nodes of the vertexes i and jijAnd the maximum number of possible edges kij(kij-1)/2.
Edge eijLinear centrality of
Figure BSA00000194008600072
Is defined as
Figure BSA00000194008600073
Representing the ratio of the euclidean distance of vertices i and j to other vertices in the network to the length of the shortest path of vertices i and j to other vertices in the network. Wherein,representing the Euclidean distance between vertexes i and k along a straight line, the Euclidean distance representing the straight line distance between two vertexes, likAnd the shortest path length of the vertexes i and k is shown, when the path is straight, the path length is the Euclidean distance between the two vertexes, and when the path is curved, the path length is calculated. The straight line centrality of an edge indicates how far the shortest paths from two vertices to other vertices on the edge deviate from a straight line. The greater the straight line centrality of an edge, the faster and more convenient it is to reach the edge, and therefore the more important the geographical location of the edge. In particular, the method comprises the following steps of,
Figure BSA00000194008600075
the Euclidean distance of the vertex i to reach other N-1 vertexes in the network and the length of the shortest path of the vertex i to reach other N-1 vertexes in the network are represented, and the Euclidean distance and the length are summed.
Figure BSA00000194008600076
The Euclidean distance of the well-shown vertex j to reach other N-1 vertices in the network is compared with the length of the shortest path of the vertex j to reach other N-1 vertices in the network, and the Euclidean distance and the length are summed. The division by 2(N-1) is due to the averaging of the two sums, since
Figure BSA00000194008600077
Is the addition of N-1 ratios,
Figure BSA00000194008600078
also, the average value is obtained by adding N-1 ratios and dividing by N-1.
Edge eijInformation centrality of
Figure BSA00000194008600079
Is defined as
Figure BSA000001940086000710
Indicating a deleted edge eijThen, the center of the straight line changes on all sides in the figure. Wherein,
Figure BSA000001940086000711
g' represents deleted edge eijIn the latter figure, if the edge e is deletedijThen, if the vertices p and q are not reachable, then define
Figure BSA000001940086000712
The larger the information centrality of an edge is, the more the edge is deleted, the more pairs of unreachable vertices are caused or the more the shortest path length between vertices is increased, and the incomplete connection of the road network or the longer the delay is, so that the edge is important in the entire road network.
Figure BSA000001940086000713
Denotes the Euclidean distance between vertices p and q, lpqRepresenting the shortest path length of vertices p and q,
Figure BSA000001940086000714
the length of the shortest path between any two vertexes in the network is calculated according to the Euclidean distance between the two vertexes. Since N (N-1)/2 is summed for a total of N (N-1)/2, dividing by N (N-1)/2 yields the average of the ratio of the euclidean distance between any two vertices to the length of the shortest path between those two vertices. E [ G ]]-E[G’]Representing deleted edges e in a networkijThen, the change of the average value of the ratio of the Euclidean distance between any two vertexes to the length of the shortest path between the two vertexes is reduced by E [ G ]]Indicating the rate of change, i.e. at E [ G ]]How much is reduced.
As shown in fig. 4, determining the coverage of the electronic landmark according to the weight specifically includes the following steps:
s3011: determining coverage H (e) of the side with the largest weight in a positioning systemmax)；
In particular, emaxThe side with the greatest weight, emaxCoverage of H (e)max) Presetting H (e)max) To 3, the deployment density of the electronic landmarks is calculated according to the method of S302, and is set at the edge emaxCorresponding RoadmaxDeploying electronic landmark nodes to realize H (e) of the edgemax) Re-covering;
s3012: roadmaxDeploying the Material object and testing H (e)max) Whether the re-covered landmark system can meet the requirement of locating the real object. If yes, executing S3015, otherwise executing S3013;
S3013：H(emax)←H(emax) +1, i.e. at preset H (e)max) Adding one to the value, deploying electronic landmark nodes on the road according to the method of S302, and realizing H (e) of the roadmax) Re-covering;
s3014: test H (e)max)←H(emax) When +1, whether the landmark system can meet the requirement of real object positioning is judged, and if yes, S3015 is executed; if not, S3013 is executed, and repeated tests are carried out until the optimal coverage H (e) of the road with the maximum weight is determinedmax)；
S3015: for any edge, if eijNot equal to 0, then calculate the edge eijCoverage of H (e)ij)＝(H(emax)wij)/wmax. Wherein, wmaxFor RoadmaxThe weight of the corresponding edge, i.e. the maximum weight in the road, H (e)max) Coverage of the road with the greatest weight, wijIs the weight of the road with i as the starting point j as the end point or j as the starting point i as the end point, H (e)ij) The coverage of the electronic landmark is the road with the starting point i as the end point j or the starting point j as the end point i. Specifically, the density of the deployed electronic landmarks is determined according to the edge weight, that is, the greater the edge weight, the greater the deployment density, the smaller the edge weight, the smaller the deployment density, and the same increase in the density of the deployed electronic landmarks as the edge weight.
S302: determining electronic landmarksRadius of communication R1And the width L of the road according to
Figure BSA00000194008600081
Determining a deployment density of electronic landmarks, wherein (R)1L/2), n is the disposition density of the electronic landmarks;
for example, if the intersection points of the circle O and the two sides of the road are C1、C2、C3、C4Then | C1C2Between and | C3C4Deploy at least H (e) between |ij) An electronic landmark node. Wherein, | C1C2I indicates on one side of the road, C1And C2Length of road section between, | C3C4I denotes on the other side of the road, C3And C4The length of the road segment in between. Let P1To C1And C2The distance of the road is r, then P1To C3And C4The distance of the road is L-r, therefore,
Figure BSA00000194008600082
therefore, the temperature of the molten metal is controlled,
Figure BSA00000194008600084
since r is equal to or greater than 0 and equal to or less than L, | C when r is equal to 0 can be calculated by derivation1C2|+|C3C4Taking the minimum value of
Figure BSA00000194008600085
Therefore, the temperature of the molten metal is controlled,
Figure BSA00000194008600087
that is, the density of the electronic landmarks deployed on the two sides of the road is rounded up to
Figure BSA00000194008600088
S303: and according to the deployment density of the electronic landmarks, the electronic landmarks are deployed.
According to the electronic landmark deployment method provided by the embodiment, the centrality of the road in the city is calculated according to the structure of the road network in the city, and the electronic landmarks are deployed at different densities for roads with different centrality, so that the positioning requirements of articles on different roads can be met. Therefore, the multi-coverage outdoor electronic landmark deployment method can enable the article to calculate the self-position information with higher precision.
Example 4
As shown in fig. 5, the present embodiment provides a deployment apparatus of a positioning system in an internet of things, the deployment apparatus including:
a coverage determination module 401, configured to determine a coverage of the electronic landmark;
when the commodity circulation of each area in the system is balanced, the coverage degree of the electronic landmark is preferably greater than or equal to 3;
when the article throughput of each zone in the system is unbalanced, the coverage determination module 401 further includes:
the weight determining unit 4011 is configured to determine a weight of a road in the positioning system;
specifically, the weight determination unit 4011 is specifically configured to: according to
Figure BSA00000194008600091
Determining the weight value of the road in the positioning system, wherein the road in the positioning system is abstracted into edges, the starting point, the end point and the turning point of the road are abstracted into vertexes, an undirected graph is formed by the edges and the vertexes, N is the number of the vertexes in the graph, eijDenotes the length of the edge between vertices i and j, wijIs of length eijThe weight of the edge of (a) is,
Figure BSA00000194008600092
Figure BSA00000194008600093
is an edge eijThe center of gravity of the steel plate is as follows,is an edge eijThe proximity of the center of gravity of (a),
Figure BSA00000194008600095
is an edge eijThe mesomeric center of the (C) carbon fiber,is an edge eijThe center of aggregation of (a) is,
Figure BSA00000194008600097
is an edge eijThe center of the straight line of (a),
Figure BSA00000194008600098
is an edge eijIs centralized.
The weight determining unit 4011 specifically includes:
a degree centrality subunit 40111 for
Figure BSA00000194008600099
Determining edge eijCentricity of degree of;
a proximity central subunit 40112 for
Figure BSA000001940086000910
Determining edge eij(ii) proximity centrality of;
an betweenness central subunit 40113 for generating a central partial code based on
Figure BSA000001940086000911
Determining edge eijThe mesomeric centrality of;
concentration of lightA cardiac subunit 40114 forDetermining edge eijThe centrality of aggregation of;
a linear central subunit 40115 for
Figure BSA000001940086000913
Edge eijThe straight-line centrality of (a), wherein,
Figure BSA000001940086000914
denotes the straight-line distance between vertices i and k, likRepresenting the shortest path length of vertices i and k;
an information centric sub-unit 40116 for
Figure BSA00000194008600101
Determining edge eijThe message centrality of (1), wherein,
Figure BSA00000194008600102
g' represents deleted edge eijThe subsequent undirected graph is formed,
Figure BSA00000194008600103
denotes the straight-line distance between vertices p and q, lpqRepresenting the shortest path length between vertices p and q.
And the coverage determining unit 4012 is configured to determine the coverage of the electronic landmark according to the weight.
Specifically, the coverage determining unit specifically includes:
a maximum road coverage determining subunit 40121 configured to determine the coverage of the road with the largest weight in the positioning system, H (e)max)；
Coverage of electronic landmarks determines subunit 40122 for use according to H (e)ij)＝(H(emax)wij)/wmaxDetermining electronic landmarksCoverage degree; wherein, wmaxIs the maximum weight, H (e)max) Coverage of the road with the greatest weight, wijIs the weight of the road with i as the starting point j as the end point or j as the starting point i as the end point, H (e)ij) The coverage of the electronic landmark is the road with the starting point i as the end point j or the starting point j as the end point i.
A deployment density determination module 402, configured to determine a deployment density of the electronic landmarks according to the coverage of the electronic landmarks;
wherein, when the commodity traffic of each area in the system is balanced, the deployment density determining module 402 is specifically configured to: according to
Figure BSA00000194008600104
Determining a deployment density of the electronic landmarks; wherein R is0Is the communication radius of the electronic landmark, h is the coverage of the electronic landmark, n0Is the deployment density of the electronic landmarks.
When the commodity circulation volume of each area in the system is balanced, the deploying density determining module 402 specifically includes:
a parameter determination unit 4021 for determining a communication radius R of the electronic landmark1And the width L of the road.
An electronic landmark deployment density determining unit 4022 for determining a deployment density based on
Figure BSA00000194008600105
Determining a deployment density of electronic landmarks, wherein (R)1> L/2), n is the deployment density of the electronic landmarks.
And the deployment module 403 is configured to deploy the electronic landmarks according to the deployment density of the electronic landmarks.
The deployment device provided by the embodiment determines the deployment density of the electronic landmarks according to the coverage of the electronic landmarks by determining the coverage of the electronic landmarks; finally, the deployment of a positioning system in the Internet of things is realized, and further, the high-precision and low-cost positioning of articles in the global range is realized.
The deployment device provided by the embodiment deploys the electronic landmarks according to the traffic of the articles in the system, meets the requirements of the system on different traffic areas and positioning the articles, realizes multiple coverage of the system by the electronic landmarks, and can enable the articles to calculate the position information of the articles with higher precision.
The system provided by this embodiment and the method embodiment belong to the same concept, and the specific implementation process thereof is described in the method embodiment and will not be described herein again.
The system provided by the embodiment determines the coverage of the electronic landmark; the deployment density of the electronic landmarks is determined according to the coverage of the electronic landmarks, and finally the deployment of a positioning system in the Internet of things is realized, so that the high-precision and low-cost positioning of articles in the global range is realized.
All or part of the technical solutions provided by the above embodiments may be implemented by software programming, and the software program is stored in a readable storage medium, for example: hard disk, optical disk or floppy disk in a computer.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (20)

1. A deployment method of a positioning system in the Internet of things is characterized by comprising the following steps:
determining the coverage of the electronic landmark;
determining the deployment density of the electronic landmarks according to the coverage of the electronic landmarks;
and deploying the electronic landmark according to the deployment density of the electronic landmark.
2. The method according to claim 1, wherein the determining the deployment density of the electronic landmarks based on the electronic landmark coverage specifically comprises:
according to
Figure FSA00000194008500011
Determining a deployment density of the electronic landmarks;
wherein R is0Is the communication radius of the electronic landmark, h is the coverage of the electronic landmark, n0Is the deployment density of the electronic landmarks.
3. The method of claim 1 or 2, wherein the coverage of the electronic landmark is 3 or greater.
4. The method according to claim 1 or 2, characterized in that the method further comprises:
adjusting a deployment density of the electronic landmarks according to item traffic of different areas in the positioning system.
5. The method according to claim 1, wherein the determining the coverage of the electronic landmark specifically comprises:
determining the weight of a road in a positioning system;
and determining the coverage of the electronic landmark according to the weight.
6. The method according to claim 5, wherein the determining the weight of the road in the positioning system specifically comprises:
according to
Figure FSA00000194008500012
Determining the weight value of the road in the positioning system, wherein the road in the positioning system is abstracted into edges, the starting point, the end point and the turning point of the road are abstracted into vertexes, an undirected graph is formed by the edges and the vertexes, N is the number of the vertexes in the graph, eijRepresenting an edge between vertices i and jLength of (d), wijIs of length eijThe weight of the edge of (a), σpqFor individual centralities of all roads in the systemThe proximity of the center of gravity of (a),
Figure FSA00000194008500022
is an edge eijThe mesomeric center of the (C) carbon fiber,
Figure FSA00000194008500023
is an edge eijThe center of aggregation of (a) is,
Figure FSA00000194008500024
is an edge eijThe center of the straight line of (a),
Figure FSA00000194008500025
is an edge eijIs centralized.
7. The method of claim 6, wherein the step of applying the coating comprises applying a coating to the substrate
Figure FSA00000194008500026
Is an edge eijThe center of gravity of the steel plate is as follows,is an edge eijThe proximity of the center of gravity of (a),
Figure FSA00000194008500028
is an edge eijThe mesomeric center of the (C) carbon fiber,is an edge eijThe center of aggregation of (a) is,
Figure FSA000001940085000210
is an edge eijThe center of the straight line of (a),
Figure FSA000001940085000211
is an edge eijThe information centrality of (1) is specifically:
Figure FSA000001940085000212
heart nature, mpq(eij) Representing the passing edge e in the shortest path between vertices p and qijThe shortest path number of (2);
according to
Figure FSA000001940085000213
Determining edge eijCenter of aggregation of (EN)ijRepresenting the number of edges existing between adjacent nodes of the vertexes i and j;
according to
Figure FSA000001940085000214
Determining edge eijThe straight-line centrality of (a), wherein,denotes the straight-line distance between vertices i and k, likRepresenting the shortest path length of vertices i and k;
according toDetermining edge eijThe message centrality of (1), wherein,
Figure FSA000001940085000217
g' represents the mean value of the ratio of the Euclidean distance between any two vertexes to the length of the shortest path between the two vertexesijBack undirected graph, E [ G']Indicating a deleted edge eijThe mean value of the ratio of the Euclidean distance between any two vertexes in the backward undirected graph to the length of the shortest path between the two vertexes,denotes the straight-line distance between vertices p and q, lpqRepresenting the shortest path length between vertices p and q.
8. The method of claim 5, wherein determining the coverage of the electronic landmark according to the weight comprises:
determining the coverage of the road with the maximum weight in the positioning system, H (e)max)；
According to H (e)ij)＝(H(emax)wij)/wmaxDetermining a coverage of the electronic landmark;
wherein, wmaxIs the maximum weight, H (e)max) Coverage of the road with the greatest weight, wijIs the weight of the road with i as the starting point j as the end point or j as the starting point i as the end point, H (e)ij) The coverage of the electronic landmark is the road with the i as a starting point and j as an end point or the j as a starting point and i as an end point.
9. The method of claim 8, wherein determining the deployment density of the electronic landmarks based on their coverage comprises:
determining a communication radius R of the electronic landmark1And a width L of the road;
according to
Figure FSA00000194008500031
Determining a deployment density of the electronic landmarks, wherein (R)1> L/2), n is the disposition density of the electronic landmarks.
10. A deployment device of a positioning system in the Internet of things, the deployment device comprising:
the coverage determining module is used for determining the coverage of the electronic landmark;
the deployment density determining module is used for determining the deployment density of the electronic landmarks according to the coverage of the electronic landmarks;
and the deployment module is used for deploying the electronic landmark according to the deployment density of the electronic landmark.
11. The apparatus of claim 10, wherein the deployment density determination module is specifically configured to:
according to
Figure FSA00000194008500032
Determining a deployment density of the electronic landmarks;
wherein R is0Is the communication radius of the electronic landmark, h is the coverage of the electronic landmark, n0Is the deployment density of the electronic landmarks.
12. The apparatus according to claim 10 or 11, wherein the coverage of the electronic landmark is equal to or greater than 3.
13. The apparatus of claim 10 or 11, further comprising:
an adjustment module for adjusting the deployment density of the electronic landmarks according to the commodity circulation volume of different areas in the positioning system.
14. The apparatus according to claim 10, wherein the coverage determination module specifically comprises:
the weight determining unit is used for determining the weight of the road in the positioning system;
and the coverage determining unit is used for determining the coverage of the electronic landmark according to the weight.
15. The apparatus according to claim 14, wherein the weight determining unit is specifically configured to:
according to
Figure FSA00000194008500041
Determining the weight value of the road in the positioning system, wherein the road in the positioning system is abstracted into edges, the starting point, the end point and the turning point of the road are abstracted into vertexes, an undirected graph is formed by the edges and the vertexes, N is the number of the vertexes in the graph, eijDenotes the length of the edge between vertices i and j, wijIs of length eijThe weight of the edge of (a), σpqFor individual centralities of all roads in the system
Figure FSA00000194008500042
eijThe proximity of the center of gravity of (a),
Figure FSA00000194008500043
is an edge eijThe mesomeric center of the (C) carbon fiber,
Figure FSA00000194008500044
is an edge eijThe center of aggregation of (a) is,is an edge eijThe center of the straight line of (a),
Figure FSA00000194008500046
is an edge eijIs centralized.
16. The apparatus according to claim 15, wherein the weight determining unit specifically includes:
a centroidal subunit of
Figure FSA00000194008500047
Determining the edge eijCentricity of degree of;
Figure FSA00000194008500048
centrality, mpq(eij) Representing the passing edge e in the shortest path between vertices p and qijThe shortest path number of (2);
aggregate central subunits based onDetermining edge eijCenter of aggregation of (EN)ijRepresenting the number of edges existing between adjacent nodes of the vertexes i and j;
a linear central subunit of
Figure FSA000001940085000410
Determining edge eijThe straight-line centrality of (a), wherein,
Figure FSA000001940085000411
denotes the straight-line distance between vertices i and k, likRepresenting the shortest path length of vertices i and k;
an information centric subunit for
Figure FSA000001940085000412
Determining edge eijThe message centrality of (1), wherein,
Figure FSA000001940085000413
g' represents the mean value of the ratio of the Euclidean distance between any two vertexes to the length of the shortest path between the two vertexesijBack undirected graph, E [ G']Indicating a deleted edge eijThe mean value of the ratio of the Euclidean distance between any two vertexes in the backward undirected graph to the length of the shortest path between the two vertexes,
Figure FSA000001940085000414
denotes the straight-line distance between vertices p and q, lpqRepresenting the shortest path length between vertices p and q.
17. The method according to claim 14, wherein the coverage determination unit comprises in particular:
a maximum road coverage determining subunit for determining the coverage of the road with the maximum weight in the positioning system, H (e)max)；
A coverage determination subunit of the electronic landmark for determining a coverage according to H (e)ij)＝(H(emax)wij)/wmaxDetermining a coverage of the electronic landmark;
wherein, wmaxIs the maximum weight, H (e)max) Coverage of the road with the greatest weight, wijIs the weight of the road with i as the starting point j as the end point or j as the starting point i as the end point, H (e)ij) The coverage of the electronic landmark is the road with the i as a starting point and j as an end point or the j as a starting point and i as an end point.
18. The apparatus according to claim 17, wherein the deployment density determining module specifically comprises:
a parameter determination unit for determining a communication radius R of the electronic landmark1And a width L of the road;
a deployment density determination unit for determining a deployment density of the electronic landmarks based on
Figure FSA00000194008500051
Determining a deployment density of the electronic landmarks, wherein (R)1> L/2), n is the disposition density of the electronic landmarks.
19. A positioning system in the internet of things, the system comprising: a wireless gateway, a landmark management server, and an electronic landmark node deployed according to the method of claim 1.
20. The system of claim 19, wherein the landmark management server is an indoor landmark management server, and the electronic landmark nodes are indoor electronic landmark nodes; or the landmark management server is an outdoor landmark management server, and the electronic landmark node is an outdoor electronic landmark node.
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