CN102215565A - Wireless sensor network (WSN)-technology-based indoor three-dimensional accurate positioning method - Google Patents
Wireless sensor network (WSN)-technology-based indoor three-dimensional accurate positioning method Download PDFInfo
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Abstract
The invention discloses a wireless sensor network (WSN)-technology-based indoor three-dimensional accurate positioning method. WSN indoor three-dimensional accurate positioning is realized by the following steps of: 1) deploying sensor network nodes with known locations in a given area; 2) planning the sensor network nodes with the known locations in a three-dimensional relative coordinate system; 3) establishing a three-dimensional Hash table indicating correspondence between signal intensity and coordinate values in advance, and generating a table lookup KEY value; 4) generating a simple three-dimensional route map for the map of a given area according to possible routes; 5) synchronizing the time of each node by using a wireless sensor network time synchronization algorithm; 6) determining the three-dimensional locations of mobile nodes by continuously exchanging information between the continuously mobile sensor nodes and deployed fixed sensor network anchor nodes; and 7) receiving anchor node signals for many times, and looking up the three-dimensional Hash table to obtain the coordinate values for data fusion. Three-dimensional positioning results are continuously corrected on the three-dimensional route map by continuous circular testing to obtain accurate location coordinates.
Description
Technical field
The present invention relates to the accurate positioning method of wireless sense network.
Background technology
Global position system GPS (global position system) be use at present the most ripe the most extensive location, air navigation aid.Time service via satellite and range finding position user node, have advantages such as positioning accuracy height, real-time is good, antijamming capability is strong, but GPS location, navigation only are adapted to unscreened outdoor environment, the high volume of the common energy consumption of user node is big, cost needs fixing infrastructure etc. also than higher.
Wireless sensor network WSN(wireless sensor network) do not need the fixed network support, have rapid deployment, characteristics such as survivability is strong.Can form the coordinate of cover the whole network node by mutual range finding and the information exchange between the internal nodes of network, can form economically viable targeting scheme.
Be deployed in three-dimensional wireless sensor network and have abundanter positional information than the wireless sensor network in the two-dimensional space.Obtain the three dimensional local information of mobile node by the three-dimensional localization algorithm.Therefore, in zone and building and in the navigation of using such as tunnel, adopt computer graphics to be the method that basic virtual reality (VR) technology combines with wireless sense network (WSN) three-dimensional localization techniques, can solve the three-positional fix of definite sensing node under the situation that does not have outside plant (as base station and satellite) and the navigation problem of mobile node.
When wireless signal was propagated in atmospheric environment, because multiple factor affecting, signal strength signal intensity can decay along with the increase of its propagation distance.This shows, exists certain functional relation between change in signal strength and propagation distance, and generally sensing node all can be easy to dispose the module of measuring received signal intensity.Therefore the researcher is used for sensor node location: RSSI with the RSSI technology and is meant distance by strong and weak measured signal point of the signal that receives and acceptance point, and then position a kind of location technology of calculating according to corresponding data, this technology, the algorithm that just adopt as the engine of positioning of the ZigBee network C C2431 chip of wireless sensing.
In recent years, the document that has occurred a lot of inhibition and elimination non line of sight error in the world, location algorithm under a lot of nlos environments has been proposed, mainly can be summarized as three classes: the first kind is the sighting distance restructing algorithm, promptly, judge whether to be line-of-sight transmission, if not line-of-sight transmission according to some feature of measurement parameter, utilize certain rule, the measured value under the reconstruct view distance environment.Second class is the non line of sight weighting, promptly measured value is carried out non line of sight and differentiate, be weighted to received signal then, the weighting rule is that line-of-sight signal is added big weights, the non line of sight signal is added little weights, thereby reduce of the influence of non line of sight error positioning accuracy.The 3rd class is to adjudicate to received signal, selects the line-of-sight propagation signal, adopts line-of-sight signal to position.
AT﹠amp in 1992; T Laboratories Cambridge develops indoor locating system Active Badge so far, and researchers are devoted to the research in this field always.
2004, the long and Sun Yining in the Mazu of China Science ﹠ Technology University studied at the wireless sensor network node orientation problem, has proposed a kind of new node locating algorithm, and this algorithm is without any need for extra hardware supports, and the inter-node communication expense is few.Its calculating to the every hop distance of node helps solving the failure problems of node, improves the detection performance of node.
There is following problem in prior art:
1, the positioning accuracy of prior art is generally 3-5 meters scopes, can not satisfy application requirements.
2, for the low energy consumption requirement in the sensor network, be not well solved.Because a large amount of double countings all will be carried out in each location, cause amount of calculation bigger, lose time and resource.
Summary of the invention
The present invention seeks to: for low cost method, solve localization method such as GPS insoluble indoor or regional orientation problem.Can be applied in the shopping guide of megastore, heavy construction group (seeking specific office space) and special topic zone, tourist attractions navigation etc.Other are located as tunnel, and fields such as military affairs, medical treatment, amusement, manufacturing industry, education, space flight, communication, calamity forecast all have a good application prospect.
Technical scheme of the present invention is: the indoor three-dimensional accurate positioning method based on the WSN technology is characterized in that
Realize the three-dimensional accurately orientation problem of WSN by the following method:
1) (or interior of building, inside, tunnel) disposes the sensing net node of known location according to certain rule in the specific region;
2) sensing net node of known location is planned in a three-dimensional relative coordinate system;
3) set up the three-dimensional Hash table of signal strength signal intensity and coordinate figure correspondence in advance, generate and table look-up with the KEY value;
4) specific region (or interior of building, inside, tunnel) map is generated simple and easy three-dimensional route map according to possible track route;
5) employing wireless sensing net time synchronized algorithm makes the time synchronized of each node;
6), determine the three-dimensional position of mobile node by continuous exchange message between sensing net node that constantly moves and the fixedly sensing net anchor node of having disposed;
7) repeatedly accept the anchor node signal and look into three-dimensional Hash table after obtain the laggard line data of coordinate figure and merge;
8) the sensing net anchor node by known location is in the error that calculates result of calculation of the three-dimensional position of the position of three-dimensional relative coordinate system and mobile node;
9) for measured three-dimensional position result, by known node repeatedly methods such as scaled correction, data fusion and path recurrence improve positioning accuracy.
10) according to simple and easy three-dimensional route map positioning result is adapted on the route in the three-dimensional route map;
11) record mobile node coordinate figure.
Measure by continuous circulation, and constantly the three-dimensional localization result is adapted on the three-dimensional route map, promptly can draw more accurate position coordinates, thereby reach pinpoint result.
The present invention also is by the distance of the strong and weak measured signal point of the signal that receives with acceptance point, and then positions a kind of location technology of calculating according to corresponding data.The inventive method has avoided a large amount of repeatability to calculate, and has reduced the energy consumption of wireless senser location, has improved positioning accuracy simultaneously.
The inventive method has adopted three-dimensional Hash table and data fusion method, path recurrence and map correction based on RSSI to reduce error, to improve positioning accuracy and to verify by the three-dimensional accurately targeting scheme of research wireless senser.Because the route of wireless senser indoor positioning is fixed, be limited in scope, generate simple and easy three-dimensional map in advance so adopt, can improve positioning accuracy to a great extent.
The invention has the beneficial effects as follows: owing to avoided double counting many times, and, significantly reduced amount of calculation by setting up the inquiry of three-dimensional hash table in advance, promptly saved energy resource consumption.Repeatedly measuring laggard line data fusion of many group three-dimensional coordinates and the correction of three-dimensional map route, improved whole precision simultaneously, the three-dimensional localization precision is reached about one meter.
Description of drawings
Fig. 1 is a schematic flow sheet of the present invention.
Embodiment
Enumerate some embodiment and explain concrete technical scheme and the ask for something of implementing the invention.On the basis of technical scheme, summary of the invention is described in further detail, proposes the technical scheme that some may exist as far as possible, exist such as pen has technology such as pen, writing brush.Can describe operation principle in addition, how use operation etc.,, please be described with reference to the accompanying drawings as drawings attached.As the indoor wireless sensing net node that is provided with of all departments, section in the office building group of administrative center of government; Hand-held terminal with wireless sensing net node walks among the office building group of administrative center of government (certain building), uses following manner, the location that can realize the place three-dimensional position.
Previous work:
1. dispose the sensing net node of known location according to certain rule, in in the field survey given chamber wireless senser mobile node receive decide node signal strength values (distributed in three dimensions, even relatively), foundation is based on the three-dimensional localization question blank of RSSI, and this question blank is the signal strength signal intensity three-dimensional hash table corresponding with coordinate figure;
2. the sensing net node of known location is planned in a three-dimensional relative coordinate system;
3. set up the three-dimensional Hash table of signal strength signal intensity and coordinate figure correspondence in advance, generate and table look-up with the KEY value;
4. specific region (or interior of building, inside, tunnel) map is generated simple and easy three-dimensional route map according to possible track route;
5. employing wireless sensing net time synchronized algorithm makes the time synchronized of each node;
6. by continuous exchange message between sensing net node that constantly moves and the fixedly sensing net anchor node of having disposed, determine the three-dimensional position of mobile node;
7. obtaining the laggard line data of coordinate figure after accepting the anchor node signal for many times and looking into three-dimensional Hash table merges, Hash table is the data structure that directly conducts interviews according to key value (Key value), a position visits record in the table by key value is mapped to, to accelerate searching speed.This mapping function is called hash function, and the array of put is called Hash table;
8. the sensing net anchor node by known location is in the error that calculates result of calculation of the three-dimensional position of the position of three-dimensional relative coordinate system and mobile node;
9. for measured three-dimensional position result, by known node repeatedly methods such as scaled correction, data fusion and path recurrence improve positioning accuracy;
10. according to simple and easy three-dimensional route map positioning result is adapted on the route in the three-dimensional route map;
11. record mobile node coordinate figure.Measure by continuous circulation, thereby reach pinpoint result.
Claims (1)
1. based on the indoor three-dimensional accurate positioning method of WSN technology, it is characterized in that
Realize that by the following method the indoor three-dimensional of WSN accurately locatees:
1), disposes the sensing net node of known location in the specific region;
2), the sensing net node of known location is planned in a three-dimensional relative coordinate system;
3) set up the three-dimensional Hash table of signal strength signal intensity and coordinate figure correspondence, in advance, generate and table look-up with the KEY value;
4), the specific region map is generated simple and easy three-dimensional route map according to possible track route;
5), employing wireless sensing net time synchronized algorithm makes the time synchronized of each node;
6), by continuous exchange message between sensing net node that constantly moves and the fixedly sensing net anchor node of having disposed, determine the three-dimensional position of mobile node;
7), repeatedly accept the anchor node signal and look into three-dimensional Hash table after obtain the laggard line data of coordinate figure and merge;
8), the sensing net anchor node by known location is in the error that calculates result of calculation of the three-dimensional position of the position of three-dimensional relative coordinate system and mobile node;
9), for measured three-dimensional position result, by known node repeatedly methods such as scaled correction, data fusion and path recurrence improve positioning accuracy;
10), positioning result is adapted on the route in the three-dimensional route map according to simple and easy three-dimensional route map;
11), record mobile node coordinate figure;
Measure by continuous circulation, and constantly the three-dimensional localization result is adapted on the three-dimensional route map, promptly draw accurate position coordinate.
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102438253A (en) * | 2011-12-31 | 2012-05-02 | 中国人民解放军国防科学技术大学 | Method for arranging nodes in mobile sensor network by utilizing pipelines |
| CN102752855A (en) * | 2012-08-01 | 2012-10-24 | 重庆大学 | Indoor personnel positioning system and method based on path rule and prediction |
| CN103269517A (en) * | 2013-05-07 | 2013-08-28 | 无锡昶达信息技术有限公司 | Positioning system based on CC2530 technology and ZigBee technology and achieving method thereof |
| CN103281677A (en) * | 2013-06-04 | 2013-09-04 | 南京航空航天大学 | System and method for positioning indoor three-dimensional space based on movable anchor nodes |
| WO2013182164A2 (en) * | 2013-03-18 | 2013-12-12 | 中兴通讯股份有限公司 | Locating method and device |
| CN105955267A (en) * | 2016-05-11 | 2016-09-21 | 上海慧流云计算科技有限公司 | Motion control method and motion control system |
| CN106851821A (en) * | 2017-03-16 | 2017-06-13 | 重庆邮电大学 | A kind of indoor 3-D positioning method based on radio communication base station |
| WO2017220031A1 (en) * | 2016-06-24 | 2017-12-28 | 中兴通讯股份有限公司 | Location method and apparatus |
| CN107966148A (en) * | 2017-10-10 | 2018-04-27 | 深圳数位传媒科技有限公司 | Indoor routing information generation method, system, server and readable storage medium storing program for executing |
| CN108363036A (en) * | 2018-02-10 | 2018-08-03 | 沈阳理工大学 | Node distribution formula positioning system and method based on error compensation strategy in WSN |
| CN108847044A (en) * | 2018-06-22 | 2018-11-20 | 安徽尼古拉电子科技有限公司 | A kind of vehicle management system based on Beidou satellite alignment system |
| US10623119B1 (en) | 2019-09-09 | 2020-04-14 | Cisco Technology, Inc. | Dynamic location accuracy deviation system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102438253A (en) * | 2011-12-31 | 2012-05-02 | 中国人民解放军国防科学技术大学 | Method for arranging nodes in mobile sensor network by utilizing pipelines |
| CN102438253B (en) * | 2011-12-31 | 2014-02-12 | 中国人民解放军国防科学技术大学 | Method for arranging nodes in mobile sensor network by utilizing pipelines |
| CN102752855A (en) * | 2012-08-01 | 2012-10-24 | 重庆大学 | Indoor personnel positioning system and method based on path rule and prediction |
| WO2013182164A2 (en) * | 2013-03-18 | 2013-12-12 | 中兴通讯股份有限公司 | Locating method and device |
| WO2013182164A3 (en) * | 2013-03-18 | 2014-02-13 | 中兴通讯股份有限公司 | Locating method and device |
| CN103269517A (en) * | 2013-05-07 | 2013-08-28 | 无锡昶达信息技术有限公司 | Positioning system based on CC2530 technology and ZigBee technology and achieving method thereof |
| CN103281677A (en) * | 2013-06-04 | 2013-09-04 | 南京航空航天大学 | System and method for positioning indoor three-dimensional space based on movable anchor nodes |
| CN103281677B (en) * | 2013-06-04 | 2016-08-10 | 南京航空航天大学 | A kind of localization method of indoor three-dimensional fix system based on mobile anchor node |
| CN105955267A (en) * | 2016-05-11 | 2016-09-21 | 上海慧流云计算科技有限公司 | Motion control method and motion control system |
| WO2017220031A1 (en) * | 2016-06-24 | 2017-12-28 | 中兴通讯股份有限公司 | Location method and apparatus |
| CN106851821A (en) * | 2017-03-16 | 2017-06-13 | 重庆邮电大学 | A kind of indoor 3-D positioning method based on radio communication base station |
| CN106851821B (en) * | 2017-03-16 | 2020-09-18 | 重庆邮电大学 | Indoor three-dimensional positioning method based on wireless communication base station |
| CN107966148A (en) * | 2017-10-10 | 2018-04-27 | 深圳数位传媒科技有限公司 | Indoor routing information generation method, system, server and readable storage medium storing program for executing |
| CN108363036A (en) * | 2018-02-10 | 2018-08-03 | 沈阳理工大学 | Node distribution formula positioning system and method based on error compensation strategy in WSN |
| CN108847044A (en) * | 2018-06-22 | 2018-11-20 | 安徽尼古拉电子科技有限公司 | A kind of vehicle management system based on Beidou satellite alignment system |
| US10623119B1 (en) | 2019-09-09 | 2020-04-14 | Cisco Technology, Inc. | Dynamic location accuracy deviation system |
| US10897320B1 (en) | 2019-09-09 | 2021-01-19 | Cisco Technology, Inc. | Dynamic location accuracy deviation system |
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Application publication date: 20111012 |