CN102014489A - Environment adaptive RSSI local positioning system and method - Google Patents
Environment adaptive RSSI local positioning system and method Download PDFInfo
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- CN102014489A CN102014489A CN201010598328XA CN201010598328A CN102014489A CN 102014489 A CN102014489 A CN 102014489A CN 201010598328X A CN201010598328X A CN 201010598328XA CN 201010598328 A CN201010598328 A CN 201010598328A CN 102014489 A CN102014489 A CN 102014489A
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Abstract
The invention provides an environment adaptive received signal strength indicator (RSSI) local positioning system and an environment adaptive RSSI local positioning method. The system and the method implement positioning based on signal energy strength, wherein the signals can be radio-frequency signals or underwater acoustic signals. The method comprises the following positioning steps of: in the positioning process, measuring reference node path loss factors of each corresponding area in real time by using reference nodes, and updating a database of the loss factors according to the set frequency; when the signal of a movable node is received, determining the area of the movable node by using three nodes with strongest signals; calculating the distance from the movable node to the three reference nodes by using the loss factors of the reference nodes of the corresponding area; and calculating the position of the movable node by using a trilateration method. The positioning technology has the advantage of overcoming the defect of low precision of the conventional RSSI positioning technology due to environmental change in a variable environment, for example, a warehouse where goods are frequently delivered.
Description
Technical field
The present invention relates to a kind of method, especially a kind of RSSI local positioning system and method for environment self-adaption based on signal energy intensity location.
Background technology
The local positioning technology can be divided three classes according to principle: time-based location technology, based on signal strength signal intensity (RSSI, received signal intensity indication) location technology, based on the location technology of signal angle (AOA), time-based location technology can be divided into the time of advent (TOA) and the time of advent poor (TDOA).TOA needs between the reference node precise time synchronous; TDOA is subject to the too short ultrashort wave transmission range and the intervisibility of environment; AOA needs extra hardware supports.The hardware of RSSI navigation system is formed as shown in Figure 1, comprising: (1) 2 or above reference node, each node all has the function of wireless receiving and transmission, and the position of these nodes all is fixing and known.(2) mobile node to be positioned, its host-host protocol is identical with reference node, but only has the wireless transmission function.(3) gateway/base-station nodes are used to receive the RSSI information of the mobile node that reference node receives, the position that draws mobile node by computed in software.
RSSI location technology cost is low, and positioning accuracy can satisfy most application, and it does not need extra hardware supports, utilizes the most basic the transmitting and receiving of reference node and mobile node just can realize the location.But owing to the receiver of each node and the performance inconsistency of antenna, multiple influence such as environmental factor makes that the precision of RSSI navigation system is limited in the prior art.
The local positioning technology is monitored for industrial safety, and for example problem such as safety of coal mines is significant, and its application is not limited to this certainly, is used on the industrial flow-line, can improve the efficient of streamline.With work safety under the coal mine is example, in case have an accident, how to find the position at personnel place fast and accurately, for salvaging great help is arranged.Utilize wireless sensor network technology, can in monitoring of environmental, arrange the reference node of plurality of fixed position in advance, and the signal that sends of the node that utilizes these nodes to come the reception staff to carry, and then determine personnel's position by certain algorithm.
Summary of the invention
The present invention has mainly overcome the deficiency of prior art on positioning accuracy, particularly for the environment that changes along with the time greatly, provides a kind of RSSI local positioning system and method for environment self-adaption, adopts the fissipation factor that obtains in real time to calculate distance.
According to technical scheme provided by the invention, the RSSI local positioning system of described environment self-adaption comprises and is no less than 4 reference nodes, each reference node has wireless receiving and emission function, can pass through protocol communication each other, the reception antenna of reference node is an isotropism, and the position of reference node is known; One or more mobile nodes to be measured have the wireless transmission function, and tranmitting frequency, communication protocol and reference node are consistent, and the transmitting antenna of mobile node is an isotropism; Also comprise at least one base station, be used to collect the RSSI information of the mobile node that each reference node sends over, calculate the distance of mobile node with the fissipation factor of measuring early stage that leaves in the database then, thereby calculate positions of mobile nodes to each reference node.
The RSSI local locating method of described environment self-adaption is: adopt the regional corresponding fissipation factor of real-time update to calculate the distance of mobile node to reference node, promptly, in the RSSI local positioning system, each reference node all adopts the value of real-time measurement in the fissipation factor of zones of different, the database of lossy factor parameter in the monitoring software, database upgrades according to the frequency that can set, in position fixing process, adopt the reference node of three signal strength signal intensity maximums, according to the relation of signal strength signal intensity and distance, draw the position of mobile node.
Described signal strength signal intensity is meant the intensity of radio-frequency (RF) signal strength or underwater signal.
Described fissipation factor is regularly to calculate to obtain after the measure signal intensity of the center of per four adjacent reference nodes, leaves in the software database then.
In position fixing process, want earlier to judge zone under the mobile node according to three reference nodes of receiving mobile node signal strength signal intensity maximum, utilize these three reference nodes to calculate the distance of mobile node respectively then, utilize trilateration to determine the position of mobile node at last to these three reference nodes in the fissipation factor of this zone correspondence.
Advantage of the present invention is:
1. it is convenient to realize: the method that the present invention proposes adopts the transmitting-receiving of reference node and mobile node just can directly finish.
2. raising precision: can subdue the error that monitored area environment heterogeneity is brought with characteristics such as timely changes, various factorss such as shielding be left in the database of range finding with the form of fissipation factor and bring in constant renewal in, effectively the precision that improves the location and follow the tracks of.
3. applied widely: the present invention is not subjected to the influence of land and underwater environment, can be in industrial environment, commercial environment, military field extensive use.
Description of drawings
Fig. 1 is that navigation system is formed schematic diagram.
Fig. 2 is the real-time fissipation factor instrumentation plan of navigation system.
Fig. 3 is the navigation system algorithm flow chart.
Fig. 4 is a navigation system work example.
Fig. 5 is the corrective action schematic diagram of navigation system to environmental factor.
Embodiment
The invention will be further described below in conjunction with drawings and Examples.The present invention adopts the regional corresponding fissipation factor of real-time update to calculate the distance of mobile node to reference node in the RSSI navigation system, makes environmental factor can be embodied in the real-time fissipation factor calculating, improves positioning accuracy.The fissipation factor that described employing obtains is in real time calculated distance, be meant in RSSI(received signal intensity indication) application system in, each reference node all adopts the value of real-time measurement in the fissipation factor of zones of different, the database of lossy factor parameter in the monitoring software, database upgrades according to the frequency that can set.Described fissipation factor is regularly to calculate to obtain after the measure signal intensity of the center of per four adjacent reference nodes, leaves in the software database then.In position fixing process, adopt the reference node of 3 signal strength signal intensity maximums, according to the relation of signal strength signal intensity and distance, draw the position of mobile node.
In concrete system's process of construction, per four adjacent reference nodes are determined a zone, test out the fissipation factor of corresponding reference node in each regional center, then data are existed in the corresponding database, the corresponding 4 groups of fissipation factor databases in each zone, like this, be equivalent to environmental factor, the inconsistency of node transceiver performance is all considered in the fissipation factor the inside.In location process, at first receive the strongest reference node of signal and determine mobile node is in which zone according to 3, determine to calculate the distance of each reference node then, utilize trilateration to calculate the position of mobile node at last with the parameter in which zone.
Signal strength signal intensity of the present invention can be the intensity of radio-frequency (RF) signal strength or underwater signal.In position fixing process, reference node is measured corresponding each regional reference node path loss factor in real time, according to the database of the frequency of setting with new fissipation factor; When receiving the signal of mobile node, utilize 3 the strongest points of signal to determine the zone at mobile node place; Utilize the fissipation factor of the reference node of corresponding region to calculate the distance of mobile node to 3 reference node; Utilize the method for trilateration to calculate the position of mobile node.Adopt the advantage of this location technology to be, can solve existing RSSI location technology because the not high shortcoming of precision that environmental change causes at changeable environment (warehouse that the goods turnover is for example often arranged).
Referring to Fig. 1.Wherein the circle of black is represented mobile node, and hollow circle is represented reference node, and two-way arrow is represented radio communication.The basic composition of system can be divided into: (1) is no less than 4 reference nodes, and each reference node has wireless receiving and emission function, can pass through certain protocol communication each other, and its reception antenna is an isotropism, and the position of reference node is known.(2) one or more mobile nodes to be measured have the wireless transmission function, and tranmitting frequency, communication protocol and reference node are consistent, and its transmitting antenna is an isotropism.(3) need a base station at least, be used to collect the RSSI information of the mobile node that each reference node sends over, calculate the distance of mobile node with the fissipation factor of measuring early stage that leaves in the database then, calculate positions of mobile nodes to each reference node.
In the system that utilizes the wireless energy location, mobile node sends signal every the set time, and the time interval of transmission also is related to the precision of navigation system, also is related to the power problems of mobile node simultaneously.In the application of reality,, select then to send at interval and transmitted power because the battery powered mode of general employing should be considered the demand to precision and service time.
Referring to Fig. 2.9 hollow circles are wherein arranged, represent 9 reference nodes respectively, they are divided into A, B, C, D to whole locating area, 4 zones.The formula of known transmission of wireless signals loss is as follows
In the measurement of fissipation factor N, at first X representative be 1 meter of reference node and mobile node spacing the time fixed loss, can measure in advance repeatedly, average.P
RecExpression received signal intensity, P
SendThe expression strength of transmitted signals.Every set time witness mark node 1,2,4,5 these 4 signal strength signal intensity P that node is received
1, P
2, P
4, P
5Known d is the distance that each reference node is arrived at the center, can calculate the fissipation factor N of corresponding 4 reference nodes in A district respectively
1a, N
2a, N
4a, N
5aThen, test the fissipation factor of other 3 regional reference node correspondences respectively, N
2b, N
3b, N
5b, N
6b, N
4c, N
5c, N
7c, N
8c, N
5d, N
6d, N
8d, N
9d, according to the database of the frequency renewal fissipation factor of setting.
Referring to Fig. 3.In the workflow of navigation system, guarantee that at first each reference node has all added network, ready after, the mobile node proceed-to-send signal.Reference node is according to receiving that mobile node signal power sorts, and receiving that three the strongest reference points of signal find out, determines the zone at mobile node place then.Determine after the zone, calculate the distance of mobile node to these three reference nodes with this regional fissipation factors of this three reference node correspondences.At last, utilize trilateration to draw the position of mobile node.
Utilize in the position fixing process of wireless signal strength, at first to judge zone under the mobile node according to three reference nodes of receiving mobile node signal strength signal intensity maximum, utilize these three reference nodes to calculate the distance of mobile node respectively then, utilize trilateration to determine the position of mobile node at last to these three reference nodes in the fissipation factor of this zone correspondence.Referring to Fig. 4,2 mobile nodes are wherein arranged, in the position fixing process of mobile node 1.At first, because the mobile node signal strength signal intensity maximum that reference node 1,2,4 is received determines to use these 3 reference nodes to locate, utilize the fissipation factor in A district.Then, the formula above utilizing is at known P
Rec, P
Send, N
1a, N
2a, N
4a, under the situation of X, calculate d respectively
1, d
2, d
4Utilize trilateration to calculate the position of mobile node 1 then.
The signal of the mobile node 2 that reference node 3,5,6 is received is the strongest, judges that mobile node 2 is in area B.Then, utilize formula one, at known P
Rec, P
Send, N
3b, N
5b, N
6b, and under the situation of X, calculate d respectively
3, d
5, d
6Utilize trilateration to calculate the position of mobile node 2 then.
Referring to Fig. 5.In 1,2,3,4 area surrounded of reference node, reference node 2,4 is because the goods of moving into recently, in the real-time measurement of fissipation factor, the signal strength signal intensity that reference node 2,4 is received is less, that is to say that the fissipation factor that calculates can be than other 2 big.In the position fixing process of system, reference node 2,4 uses bigger fissipation factor to reduce because goods blocks the error on the distance calculation of bringing.Therefore, the fissipation factor of use heterogenize can overcome the location difficult point under the changeable environment, improves the precision of navigation system.
Claims (5)
1. the RSSI local positioning system of environment self-adaption, it is characterized in that: comprise being no less than 4 reference nodes, each reference node has wireless receiving and emission function, can pass through protocol communication each other, the reception antenna of reference node is an isotropism, and the position of reference node is known; One or more mobile nodes to be measured have the wireless transmission function, and tranmitting frequency, communication protocol and reference node are consistent, and the transmitting antenna of mobile node is an isotropism; Also comprise at least one base station, be used to collect the RSSI information of the mobile node that each reference node sends over, calculate the distance of mobile node with the fissipation factor of measuring early stage that leaves in the database then, thereby calculate positions of mobile nodes to each reference node.
2. the RSSI local locating method of environment self-adaption, it is characterized in that: adopt the regional corresponding fissipation factor of real-time update to calculate the distance of mobile node to reference node, promptly, in the RSSI local positioning system, each reference node all adopts the value of real-time measurement in the fissipation factor of zones of different, the database of lossy factor parameter in the monitoring software, database upgrades according to the frequency that can set, in position fixing process, adopt the reference node of three signal strength signal intensity maximums, according to the relation of signal strength signal intensity and distance, draw the position of mobile node.
3. as the RSSI local locating method of environment self-adaption as described in the claim 2, it is characterized in that described signal strength signal intensity is meant the intensity of radio-frequency (RF) signal strength or underwater signal.
4. as the RSSI local locating method of environment self-adaption as described in the claim 2, it is characterized in that described fissipation factor is regularly to calculate to obtain, and leaves in the software database then after the measure signal intensity of the center of per four adjacent reference nodes.
5. as the RSSI local locating method of environment self-adaption as described in the claim 2, it is characterized in that in position fixing process, want earlier to judge zone under the mobile node according to three reference nodes of receiving mobile node signal strength signal intensity maximum, utilize these three reference nodes to calculate the distance of mobile node respectively then, utilize trilateration to determine the position of mobile node at last to these three reference nodes in the fissipation factor of this zone correspondence.
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| CN102540140A (en) * | 2012-02-16 | 2012-07-04 | 中国电子科技集团公司第五十八研究所 | Weighting trilateration method in local positioning system |
| CN102724755A (en) * | 2012-06-20 | 2012-10-10 | 太原理工大学 | Method for accurately locating personnel in coal mine |
| CN103945529A (en) * | 2014-04-15 | 2014-07-23 | 南京邮电大学 | Method for positioning wireless sensor network based on RSS |
| CN103995251A (en) * | 2014-06-11 | 2014-08-20 | 中国电信股份有限公司南京分公司 | Positioning system and method of indoor mobile device |
| CN104023391A (en) * | 2014-05-14 | 2014-09-03 | 浙江工业大学 | Positioning method based on RSSI dynamic path loss |
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| CN105813193A (en) * | 2016-04-15 | 2016-07-27 | 国网河北省电力公司 | Node positioning method of wireless sensor network of smart power grid |
| CN106612543A (en) * | 2015-10-22 | 2017-05-03 | 北京金坤科创技术有限公司 | An indoor positioning self-adaptive sampling method and apparatus |
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