CN102186245A - Method for accurately positioning mobile terminal of transformer station wireless sensor network - Google Patents

Method for accurately positioning mobile terminal of transformer station wireless sensor network Download PDF

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Publication number
CN102186245A
CN102186245A CN2011101575178A CN201110157517A CN102186245A CN 102186245 A CN102186245 A CN 102186245A CN 2011101575178 A CN2011101575178 A CN 2011101575178A CN 201110157517 A CN201110157517 A CN 201110157517A CN 102186245 A CN102186245 A CN 102186245A
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stationary nodes
portable terminal
wireless sensor
sensor network
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詹毅
闫斌
周小佳
张龙飞
庄瑞玺
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CHENGDU SIHAN TECHNOLOGY Co Ltd
University of Electronic Science and Technology of China
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CHENGDU SIHAN TECHNOLOGY Co Ltd
University of Electronic Science and Technology of China
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Abstract

The invention discloses a method for accurately positioning a mobile terminal of a transformer station wireless sensor network. The method comprises the following steps of: (1) initializing a node number set NodeID, a node number counter Index and fixed nodes number PacketNumber participating in mobile node position calculation; (2) after the fixed nodes receive a received signal strength indicator (RSSI) signal sent by the mobile terminal, calculating the distance between the fixed nodes and the mobile terminal according to the RSSI signal strength and sending the distance to a front-end processor; (3) judging which fixed node sends the RSSI registration, and storing the serial number of the fixed nodes in the node number set NodeID by the front-end processor; and (4) if the Index is equal to the self-defined PacketNumber, transferring to a data processing program and calculating the current coordinate of the mobile terminal. By the invention, the data processing workload is greatly reduced; the calculation is accurate; and the system is stable in operation.

Description

The pinpoint method of transformer station's wireless sensor network portable terminal
Technical field
The present invention relates to the pinpoint method of a kind of transformer station's wireless sensor network portable terminal.
Background technology
Transformer station belongs to high-risk working region, if manage not in placely, does not note slightly just may having an accident.Under the current call that people-oriented, every work of transformer station all has been placed on personal safety first.Yet, except the restriction of regulations systems such as operational procedure, security treaty, the safety guarantee means that also do not have the practicable active of a cover to report to the police, thereby, if operating personnel's operate miss, error in judgement, or inertia, randomness, tour be strayed at interval etc., all may directly or indirectly cause the generation of accident, when personal safety is on the hazard economic interests also incurred loss.
Domestic most transformer stations all do not have monitoring and the warning system at the staff now, though camera has been equipped by the transformer station that has, have played certain supervisory role,, there be " dead angle " in some monitoring in camera; There is time-delay in the transmission of video information, can not realize real-time monitoring; Each camera can only be monitored the staff's situation in the scope of appointed area, can not form a continuous monitoring mode; It connects up and installation procedure complexity simultaneously, and cost is higher, only is adapted at small-sized transformer station.On the whole, traditional substation safety management system is prone to the monitoring blind area, can not realize timely warning.
The used localization method of traditional distribution network failure navigation system generally is the coordinate position that comes the COMPREHENSIVE CALCULATING portable terminal by the collected mobile terminal MS SI data of all stationary nodes, because the indication of RSSI signal strength signal intensity is a random value that alters a great deal with the variation of external condition, greatly reduce the stability of fault detection system, this conventional method workload is very big, calculating accurately and easily causes makeing mistakes inadequately, and operating efficiency obviously can not satisfy present requirement to the distribution network system security performance.
Summary of the invention
The objective of the invention is to solve the deficiency of existing transformer station wireless sensor network mobile terminal locating method, a kind of novel pinpoint method of transformer station's wireless sensor network portable terminal is provided, overcome traditional localization method data processing work amount big, calculate inaccuracy and often cause transformer station's operating system to be made mistakes and shortcoming such as collapse.
The objective of the invention is to be achieved through the following technical solutions: the pinpoint method of transformer station's wireless sensor network portable terminal, comprise the wireless sensor network that some portable terminals and stationary nodes are formed, and the substation safety job management system of forming by wireless sensor network, front end processor and background monitoring main frame, mobile terminal positioning method may further comprise the steps in the wireless sensor network:
(1) the stationary nodes number PacketNumber of initialization node array NodeID, node counter Index and the calculating of participation positions of mobile nodes;
(2) after arbitrarily stationary nodes receives the received signal intensity indication RSSI signal that portable terminal sends, calculate the distance of this stationary nodes and portable terminal according to the power of RSSI signal, and to front end processor register this stationary nodes state and with the distance of portable terminal;
(3) front end processor judges the RSSI registration by which stationary nodes is sent, and this stationary nodes numbering is deposited among the node array NodeID;
(4) node counter Index adds 1;
(5) when Index equals self-defining PacketNumber, change data processor over to, calculate the current coordinate of portable terminal, otherwise front end processor continues to receive stationary nodes RSSI registration;
(6) front end processor reports to monitoring host computer with the current coordinate position of portable terminal, and monitoring host computer judges whether the current coordinate position of portable terminal is in the deathtrap of dividing in advance, if be in the deathtrap, then reports to the police;
Wherein, described data processor may further comprise the steps:
(1) data among the NodeID is carried out data qualification, judge that promptly PacketNumber registration respectively from which stationary nodes, count the number NodeNumber of stationary nodes;
(2), adopt diverse ways to calculate the coordinate of portable terminal according to the difference of NodeNumber:
When NodeNumber=1, calculate the current coordinate of portable terminal and be positioned at certain stationary nodes place;
When NodeNumber=2, calculate the center that the current coordinate of portable terminal is positioned at certain two stationary nodes;
Work as NodeNumber=3, the coordinate of three stationary nodes is respectively (x
Figure 353634DEST_PATH_IMAGE001
, y ), (x
Figure 2011101575178100002DEST_PATH_IMAGE002
, y
Figure 519353DEST_PATH_IMAGE002
), (x
Figure 2011101575178100002DEST_PATH_IMAGE003
, y
Figure 914562DEST_PATH_IMAGE003
), the distance of portable terminal and three stationary nodes is respectively ,
Figure 197776DEST_PATH_IMAGE005
,
Figure 2011101575178100002DEST_PATH_IMAGE006
, then have
Figure 20239DEST_PATH_IMAGE007
=
Figure 2011101575178100002DEST_PATH_IMAGE008
Figure 506846DEST_PATH_IMAGE009
；
When NodeNumber=n, the coordinate of n stationary nodes is respectively (x
Figure 705746DEST_PATH_IMAGE001
, y ), (x
Figure 367989DEST_PATH_IMAGE002
, y
Figure 591160DEST_PATH_IMAGE002
) ..., (x
Figure 2011101575178100002DEST_PATH_IMAGE010
, y
Figure 328171DEST_PATH_IMAGE010
), the distance of a portable terminal and n stationary nodes is respectively d
Figure 851557DEST_PATH_IMAGE001
, d , d
Figure 991868DEST_PATH_IMAGE003
..., d
Figure 266992DEST_PATH_IMAGE010
, then have
Figure 910463DEST_PATH_IMAGE011
If its linear equation is AX=b, wherein:
A=
Figure 2011101575178100002DEST_PATH_IMAGE012
b=
Figure 714471DEST_PATH_IMAGE013
Then the coordinate of this portable terminal is:
Figure 2011101575178100002DEST_PATH_IMAGE014
=
Figure 443392DEST_PATH_IMAGE015
。
The invention has the beneficial effects as follows: under the different situation of the reference stationary nodes number of being got, take different portable terminal coordinate algorithms, make wireless sensor network mobile terminal locating method of the present invention significantly reduce the workload of data processing, but also have calculate and the location accurately and advantage such as system is stable.
Description of drawings
Fig. 1 is a localization method flow chart of the present invention
Fig. 2 is a data processor flow chart of the present invention
Fig. 3 is a substation safety job management system block diagram of the present invention.
Embodiment
Further describe technical scheme of the present invention below in conjunction with accompanying drawing: as shown in figures 1 and 3, the pinpoint method of transformer station's wireless sensor network portable terminal, comprise the wireless sensor network that some portable terminals and stationary nodes are formed, and the substation safety job management system of forming by wireless sensor network, front end processor and background monitoring main frame, it is characterized in that: mobile terminal positioning method may further comprise the steps in the wireless sensor network:
(1) the stationary nodes number PacketNumber of initialization node array NodeID, node counter Index and the calculating of participation positions of mobile nodes;
(2) after arbitrarily stationary nodes receives the received signal intensity indication RSSI signal that portable terminal sends, calculate the distance of this stationary nodes and portable terminal according to the power of RSSI signal, and to front end processor register this stationary nodes state and with the distance of portable terminal;
(3) front end processor judges the RSSI registration by which stationary nodes is sent, and this stationary nodes numbering is deposited among the node array NodeID;
(4) node counter Index adds 1;
(5) when Index equals self-defining PacketNumber, change data processor over to, calculate the current coordinate of portable terminal, otherwise front end processor continues to receive stationary nodes RSSI registration;
(6) front end processor reports to monitoring host computer with the current coordinate position of portable terminal, and monitoring host computer judges whether the current coordinate position of portable terminal is in the deathtrap of dividing in advance, if be in the deathtrap, then reports to the police;
Wherein, as shown in Figure 2, described data processor may further comprise the steps:
(1) data among the NodeID is carried out data qualification, judge that promptly PacketNumber registration respectively from which stationary nodes, count the number NodeNumber of stationary nodes;
(2), adopt diverse ways to calculate the coordinate of portable terminal according to the difference of NodeNumber:
When NodeNumber=1, calculate the current coordinate of portable terminal and be positioned at certain stationary nodes place;
When NodeNumber=2, calculate the center that the current coordinate of portable terminal is positioned at certain two stationary nodes;
Work as NodeNumber=3, the coordinate of three stationary nodes is respectively (x
Figure 240316DEST_PATH_IMAGE001
, y ), (x , y
Figure 460579DEST_PATH_IMAGE002
), (x
Figure 811925DEST_PATH_IMAGE003
, y
Figure 164409DEST_PATH_IMAGE003
), the distance of portable terminal and three stationary nodes is respectively
Figure 106958DEST_PATH_IMAGE004
,
Figure 544892DEST_PATH_IMAGE005
,
Figure 434351DEST_PATH_IMAGE006
, then have
Figure 906920DEST_PATH_IMAGE007
=
Figure 20370DEST_PATH_IMAGE008
Figure 945601DEST_PATH_IMAGE009
；
When NodeNumber=n, the coordinate of n stationary nodes is respectively (x
Figure 169909DEST_PATH_IMAGE001
, y ), (x , y
Figure 397125DEST_PATH_IMAGE002
) ..., (x
Figure 641768DEST_PATH_IMAGE010
, y
Figure 823350DEST_PATH_IMAGE010
), the distance of a portable terminal and n stationary nodes is respectively d
Figure 13023DEST_PATH_IMAGE001
, d
Figure 912846DEST_PATH_IMAGE002
, d
Figure 478957DEST_PATH_IMAGE003
..., d
Figure 249467DEST_PATH_IMAGE010
, then have
Figure 610041DEST_PATH_IMAGE011
If its linear equation is AX=b, wherein:
A=
Figure 997160DEST_PATH_IMAGE012
b=
Figure 366961DEST_PATH_IMAGE013
Then the coordinate of this portable terminal is:
Figure 726398DEST_PATH_IMAGE014
=
Figure 523453DEST_PATH_IMAGE015
。
Usually under the actual items situation, have only two stationary nodes to participate in the calculating of portable terminal coordinate position at most, promptly adopt preceding two kinds of algorithms to calculate.
Because what RSSI represented is the received signal intensity of stationary nodes with respect to portable terminal, belongs to the energy value category, its energy value is inevitable less when stationary nodes is far away with respect to distance of mobile terminal, otherwise bigger.By comparing the size of RSSI, at first can be far and near with respect to the distance between the stationary nodes from intuitively weighing out portable terminal, but because the energy value instability is subjected to ectocine bigger, so the RSSI value that collects can not reflect the current location of portable terminal very accurately.Therefore algorithm is determined the residing scope of portable terminal by a comparatively rough RSSI comparative approach in design.Such as, when the distance of mobile terminal stationary nodes was more than 10 meters, the RSSI that stationary nodes receives was in some scopes; When the scope of distance of mobile terminal stationary nodes 0-5 rice, RSSI is in the another one scope again, be that algorithm is in design by setting certain threshold value, come the distance of rough measurement distance of mobile terminal stationary nodes, thereby judge that portable terminal is in a certain regional extent of stationary nodes, by the mutual comparison of several different stationary nodes, thereby judge the approximate location of portable terminal.
The transmitting boundary of portable terminal is assumed to be about 10 meters, the stationary nodes that then is in 10 meters scopes can receive the energy signal that it emits, other stationary nodes than distant location then do not receive the energy that it sends, when three stationary nodes receive energy signal, by calculating the leg-of-mutton barycenter that three stationary nodes are formed, then calculate the approximate location of portable terminal.

Claims (1)

1. the pinpoint method of transformer station's wireless sensor network portable terminal, comprise the wireless sensor network that some portable terminals and stationary nodes are formed, and the substation safety job management system of forming by wireless sensor network, front end processor and background monitoring main frame, it is characterized in that: mobile terminal positioning method may further comprise the steps in the wireless sensor network:
(1) the stationary nodes number PacketNumber of initialization node array NodeID, node counter Index and the calculating of participation positions of mobile nodes;
(2) after arbitrarily stationary nodes receives the received signal intensity indication RSSI signal that portable terminal sends, calculate the distance of this stationary nodes and portable terminal according to the power of RSSI signal, and to front end processor register this stationary nodes state and with the distance of portable terminal;
(3) front end processor judges the RSSI registration by which stationary nodes is sent, and this stationary nodes numbering is deposited among the node array NodeID;
(4) node counter Index adds 1;
(5) when Index equals self-defining PacketNumber, change data processor over to, calculate the current coordinate of portable terminal, otherwise front end processor continues to receive stationary nodes RSSI registration;
(6) front end processor reports to monitoring host computer with the current coordinate position of portable terminal, and monitoring host computer judges whether the current coordinate position of portable terminal is in the deathtrap of dividing in advance, if be in the deathtrap, then reports to the police;
Wherein, described data processor may further comprise the steps:
(1) data among the NodeID is carried out data qualification, judge that promptly PacketNumber registration respectively from which stationary nodes, count the number NodeNumber of stationary nodes;
(2), adopt diverse ways to calculate the coordinate of portable terminal according to the difference of NodeNumber:
When NodeNumber=1, calculate the current coordinate of portable terminal and be positioned at certain stationary nodes place;
When NodeNumber=2, calculate the center that the current coordinate of portable terminal is positioned at certain two stationary nodes;
Work as NodeNumber=3, the coordinate of three stationary nodes is respectively (x , y
Figure 455456DEST_PATH_IMAGE001
), (x
Figure 372596DEST_PATH_IMAGE002
, y
Figure 621175DEST_PATH_IMAGE002
), (x
Figure 16384DEST_PATH_IMAGE004
, y
Figure 830757DEST_PATH_IMAGE004
), the distance of portable terminal and three stationary nodes is respectively
Figure 2011101575178100001DEST_PATH_IMAGE005
,
Figure 371328DEST_PATH_IMAGE006
,
Figure 2011101575178100001DEST_PATH_IMAGE007
, then have
Figure 638362DEST_PATH_IMAGE008
=
Figure 2011101575178100001DEST_PATH_IMAGE009
Figure 306103DEST_PATH_IMAGE010
；
When NodeNumber=n, the coordinate of n stationary nodes is respectively (x
Figure 974982DEST_PATH_IMAGE001
, y
Figure 968346DEST_PATH_IMAGE001
), (x
Figure 191517DEST_PATH_IMAGE002
, y
Figure 928529DEST_PATH_IMAGE002
) ..., (x
Figure 2011101575178100001DEST_PATH_IMAGE011
, y
Figure 451914DEST_PATH_IMAGE011
), the distance of a portable terminal and n stationary nodes is respectively d
Figure 350600DEST_PATH_IMAGE001
, d
Figure 592225DEST_PATH_IMAGE002
, d
Figure 867349DEST_PATH_IMAGE004
..., d
Figure 510820DEST_PATH_IMAGE011
, then have
Figure 62630DEST_PATH_IMAGE012
If its linear equation is AX=b, wherein:
A=
Figure 2011101575178100001DEST_PATH_IMAGE013
b=
Figure 791552DEST_PATH_IMAGE014
Then the coordinate of this portable terminal is:
Figure 2011101575178100001DEST_PATH_IMAGE015
=
Figure 339208DEST_PATH_IMAGE016
。
CN2011101575178A 2011-06-13 2011-06-13 Method for accurately positioning mobile terminal of transformer station wireless sensor network Pending CN102186245A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102883434A (en) * 2012-10-31 2013-01-16 河南省电力公司电力科学研究院 System for positioning and navigating mobile terminal in transformer substation
CN103825944A (en) * 2014-02-25 2014-05-28 黄河科技学院 Transformer substation safety management system based on Internet of things
CN104113910A (en) * 2013-04-21 2014-10-22 国际商业机器公司 Positioning System In A Wireless Communication Network
CN104507082A (en) * 2014-12-16 2015-04-08 南京邮电大学 Wireless sensor network positioning security method based on Hash bidirectional authentication
CN107087258A (en) * 2017-04-17 2017-08-22 电子科技大学 A kind of localization method for wireless sensor network

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CN101635880A (en) * 2009-08-13 2010-01-27 武汉理工大学 Three-dimensional accurate positioning method based on wireless sensor network
US7812718B1 (en) * 2005-11-21 2010-10-12 The Hong Kong University Of Science And Technology Distributed position estimation for wireless sensor networks

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US7812718B1 (en) * 2005-11-21 2010-10-12 The Hong Kong University Of Science And Technology Distributed position estimation for wireless sensor networks
CN101635880A (en) * 2009-08-13 2010-01-27 武汉理工大学 Three-dimensional accurate positioning method based on wireless sensor network

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102883434A (en) * 2012-10-31 2013-01-16 河南省电力公司电力科学研究院 System for positioning and navigating mobile terminal in transformer substation
CN102883434B (en) * 2012-10-31 2015-05-06 河南省电力公司电力科学研究院 System for positioning and navigating mobile terminal in transformer substation
CN104113910A (en) * 2013-04-21 2014-10-22 国际商业机器公司 Positioning System In A Wireless Communication Network
CN104113910B (en) * 2013-04-21 2018-04-20 格芯公司 Alignment system in cordless communication network
CN103825944A (en) * 2014-02-25 2014-05-28 黄河科技学院 Transformer substation safety management system based on Internet of things
CN103825944B (en) * 2014-02-25 2017-06-16 黄河科技学院 A kind of substation safety management system based on Internet of Things
CN104507082A (en) * 2014-12-16 2015-04-08 南京邮电大学 Wireless sensor network positioning security method based on Hash bidirectional authentication
CN107087258A (en) * 2017-04-17 2017-08-22 电子科技大学 A kind of localization method for wireless sensor network

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Application publication date: 20110914