CN102014489B - Environment adaptive RSSI local positioning system and method - Google Patents

Environment adaptive RSSI local positioning system and method Download PDF

Info

Publication number
CN102014489B
CN102014489B CN201010598328XA CN201010598328A CN102014489B CN 102014489 B CN102014489 B CN 102014489B CN 201010598328X A CN201010598328X A CN 201010598328XA CN 201010598328 A CN201010598328 A CN 201010598328A CN 102014489 B CN102014489 B CN 102014489B
Authority
CN
China
Prior art keywords
node
rssi
mobile node
reference
nodes
Prior art date
Application number
CN201010598328XA
Other languages
Chinese (zh)
Other versions
CN102014489A (en
Inventor
魏斌
虞致国
黄召军
陈子逢
万书芹
Original Assignee
中国电子科技集团公司第五十八研究所
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 中国电子科技集团公司第五十八研究所 filed Critical 中国电子科技集团公司第五十八研究所
Priority to CN201010598328XA priority Critical patent/CN102014489B/en
Publication of CN102014489A publication Critical patent/CN102014489A/en
Application granted granted Critical
Publication of CN102014489B publication Critical patent/CN102014489B/en

Links

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

The RSSI local positioning system and the method for environment self-adaption

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; Receive the signal strength 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 the additional hardware support.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 transmit 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 through computed in software.

RSSI location technology cost is low, and positioning accuracy can satisfy most application, and it does not need the additional hardware support, 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, there is great help the position how to find personnel to belong to fast and accurately for salvaging.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 confirm personnel's position through certain algorithm.

Summary of the invention

The present invention has mainly overcome the deficiency of prior art on positioning accuracy, particularly for along with the time changes environment greatly, a kind of RSSI local positioning system and method for environment self-adaption is provided, and adopts the fissipation factor that obtains in real time to come computed range.

According to technical scheme provided by the invention; The RSSI local positioning system of said 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 transmit 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 said environment self-adaption is: adopt the regional corresponding fissipation factor of real-time update to calculate the distance of mobile node to reference node; That is, 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, adopts the maximum reference node of three signal strength signal intensities; According to the relation of signal strength signal intensity and distance, draw the position of mobile node.

Said signal strength signal intensity is meant the intensity of RF signal strength or underwater signal.

Said fissipation factor is regularly after the measure signal intensity of the center of per four adjacent reference nodes, to calculate to obtain, and leaves in the software database then.

In position fixing process; Want earlier to receive that according to three the maximum reference node of mobile node signal strength signal intensity judges the zone under the mobile node; Corresponding fissipation factor calculates the distance of mobile node to these three reference nodes respectively in this zone to utilize these three reference nodes then, utilizes trilateration to confirm the position of mobile node at last.

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 accomplish.

2. raising precision: can subdue the error that monitored area environment heterogeneity is brought with characteristics such as timely changes, leave various factorss such as shielding in the form of fissipation factor in the database of range finding and bring in constant renewal in the precision that effectively improves the location and follow the tracks of.

3. applied widely: the present invention does not receive 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 sketch map.

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 sketch map of navigation system to environmental factor.

Embodiment

Below in conjunction with accompanying drawing and embodiment the present invention is described further.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 come computed range; Be meant in the application system of RSSI (receiving the signal strength signal intensity indication); 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.Said fissipation factor is regularly after the measure signal intensity of the center of per four adjacent reference nodes, to calculate to obtain, and leaves in the software database then.In position fixing process, adopt the maximum reference node of 3 signal strength signal intensities, 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 confirmed a zone, test out the fissipation factor of corresponding reference node in each regional center, have data in the corresponding database then; 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 confirm mobile node is in which zone according to 3; Confirm that then the parameter with which zone calculates the distance of each reference node, utilizes trilateration to calculate the position of mobile node at last.

Signal strength signal intensity according to the invention can be the intensity of 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 confirm 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 transmit 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 is every to send signal at a distance from 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 following

formula one

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 receives signal strength signal intensity, P SendThe expression strength of transmitted signals.Every at a distance from 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 other 3 fissipation factors that regional reference node is corresponding 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, confirms the zone at mobile node place then.Confirm after the zone, calculate the distance of mobile node to these three reference nodes with this corresponding regional fissipation factor of these three reference nodes.At last, utilize trilateration to draw the position of mobile node.

Utilize in the position fixing process of wireless signal strength; At first to receive that the maximum reference node of mobile node signal strength signal intensity judges the zone under the mobile node according to three; Corresponding fissipation factor calculates the distance of mobile node to these three reference nodes respectively in this zone to utilize these three reference nodes then, utilizes trilateration to confirm the position of mobile node at last.Referring to Fig. 4,2 mobile nodes are wherein arranged, in the position fixing process of mobile node 1.At first,, confirm to use these 3 reference nodes to locate, utilize the fissipation factor in A district because the mobile node signal strength signal intensity that reference node 1,2,4 is received is maximum.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 can reduce because goods blocks the error on the distance calculation of bringing.Therefore, use the fissipation factor of heterogenize can overcome the location difficult point under the changeable environment, improve the precision of navigation system.

Claims (2)

1. 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; That is, 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; Said fissipation factor is regularly after the measure signal intensity of the center of per four adjacent reference nodes, to calculate to obtain, and leaves in the software database then; In position fixing process; Want earlier to receive that according to three the maximum reference node of mobile node signal strength signal intensity judges the zone under the mobile node; Corresponding fissipation factor calculates the distance of mobile node to these three reference nodes respectively in this zone to utilize these three reference nodes then, utilizes trilateration to confirm the position of mobile node at last.
2. the RSSI local locating method of environment self-adaption according to claim 1 is characterized in that said signal strength signal intensity is meant the intensity of RF signal strength or underwater signal.
CN201010598328XA 2010-12-21 2010-12-21 Environment adaptive RSSI local positioning system and method CN102014489B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201010598328XA CN102014489B (en) 2010-12-21 2010-12-21 Environment adaptive RSSI local positioning system and method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201010598328XA CN102014489B (en) 2010-12-21 2010-12-21 Environment adaptive RSSI local positioning system and method

Publications (2)

Publication Number Publication Date
CN102014489A CN102014489A (en) 2011-04-13
CN102014489B true CN102014489B (en) 2012-12-12

Family

ID=43844442

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201010598328XA CN102014489B (en) 2010-12-21 2010-12-21 Environment adaptive RSSI local positioning system and method

Country Status (1)

Country Link
CN (1) CN102014489B (en)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102540140B (en) * 2012-02-16 2013-07-03 中国电子科技集团公司第五十八研究所 Weighting trilateration method in local positioning system
CN102724755B (en) * 2012-06-20 2014-06-25 太原理工大学 Method for accurately locating personnel in coal mine
CN103945529B (en) * 2014-04-15 2018-02-02 南京邮电大学 wireless sensor network locating method based on RSS
CN104023391A (en) * 2014-05-14 2014-09-03 浙江工业大学 Positioning method based on RSSI dynamic path loss
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
CN104316902A (en) * 2014-07-15 2015-01-28 浙江利尔达物联网技术有限公司 Underground positioning method
CN104820382A (en) * 2015-03-25 2015-08-05 南华大学 Mine safety monitoring system based on wireless sensor network
CN105376855B (en) * 2015-09-09 2018-10-26 华南师范大学 The indoor orientation method and system of adaptive judgement barrier based on wireless technology
KR20170032147A (en) * 2015-09-14 2017-03-22 삼성전자주식회사 A terminal for measuring a position and method thereof
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
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
CN106774304B (en) * 2016-11-21 2019-11-26 河源职业技术学院 A kind of AGV trolley path planning method and system based on directional aerial
CN107071730B (en) * 2017-04-07 2020-04-24 陈君华 Indoor radio frequency positioning environment parameter real-time automatic learning method and system applied by same
CN108307309A (en) * 2018-01-31 2018-07-20 重庆邮电大学 A kind of location of mobile users computational methods based on neighbor base station RSRP information

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101394676A (en) * 2008-10-29 2009-03-25 西安大唐电信有限公司 Method for realizing precise geometrical positioning in wireless network
CN102036372A (en) * 2010-11-16 2011-04-27 中国电子科技集团公司第五十八研究所 Signal strength-based positioning method for non-uniform loss factors

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101394676A (en) * 2008-10-29 2009-03-25 西安大唐电信有限公司 Method for realizing precise geometrical positioning in wireless network
CN102036372A (en) * 2010-11-16 2011-04-27 中国电子科技集团公司第五十八研究所 Signal strength-based positioning method for non-uniform loss factors

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
沙超等.一种基于链路质量差值的无线传感器网络定位方法.《南京邮电大学学报(自然科学版)》.2010,第30卷(第3期), *

Also Published As

Publication number Publication date
CN102014489A (en) 2011-04-13

Similar Documents

Publication Publication Date Title
US9521512B2 (en) Determining a designated wireless device lacks a fixed geographic location and using the determination to improve location estimates
Lee et al. RFID-based real-time locating system for construction safety management
CN103402258B (en) Wi-Fi (Wireless Fidelity)-based indoor positioning system and method
CN102213755B (en) Ultra wide band location method and system in coal mine well
CN102778685B (en) Co-positioned
US8509810B2 (en) Method and apparatus for geo-locating mobile station
KR101108749B1 (en) A method and system for locating a mobile radio receiver in a radio system with multiple transmitters
CN101986758B (en) Method for positioning wireless sensor network
Xiong A selective model to suppress NLOS signals in angle-of-arrival (AOA) location estimation
CN100486389C (en) Position mensuration method
Silva et al. Experimental study of UWB-based high precision localization for industrial applications
USRE47013E1 (en) Method for measuring location of radio frequency identification reader by using beacon
CN101253793B (en) Method of finding physical location of mobile telephone at given time
CN101646201B (en) Method, device and system for determining terminal position
EP2427004B1 (en) Calculation of quality of estimation of WLAN access point characteristics for use in a WLAN positioning system
CN101049041B (en) Locating a wireless device based on information about base stations belonging to a plurality of networks
EP2210122B1 (en) System for determining position over a network
EP0843179B1 (en) Method and system for data reduction of times of arrival of radar signals
CN103592622B (en) A kind of signal framing system and localization method thereof
EP1769261B1 (en) Device and method for determining the current position of a mobile device
CN101089654B (en) RFID radio positioning method based on phase difference ranging
Vossiek et al. Wireless local positioning
CN102803985B (en) Location electromagnetic signal source
CA2599406C (en) System and method for asset location in wireless networks
KR100469416B1 (en) Location tracing apparatus and method for mobile terminal

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
GR01 Patent grant
C14 Grant of patent or utility model