CN102547980B - Positioning smooth stabilization mechanism based on generation tree - Google Patents
Positioning smooth stabilization mechanism based on generation tree Download PDFInfo
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- CN102547980B CN102547980B CN201210017836.3A CN201210017836A CN102547980B CN 102547980 B CN102547980 B CN 102547980B CN 201210017836 A CN201210017836 A CN 201210017836A CN 102547980 B CN102547980 B CN 102547980B
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Abstract
The invention discloses a positioning smooth stabilization mechanism base on a generation tree. In the process of the positioning, a system calculates the position location and the display location of each mobile node; in an application environment, all possible position locations form a connected graph; the system calculates the position locations of mobile nodes according to the signal receiving intensity of the mobile nodes, the display position of the mobile nodes at a moment serves as a root, a generation tree is generated for the connected graph by adopting a scope preferential search method, further a closest public ancestor node of new K+1 position locations is determined, the position location of the ancestor node is taken as the current display location, and further the smooth display of a locating path is achieved. According to the invention, the final display position is determined by comparing the latest several times of positioning results, adverse effect to the positioning result caused by unstable signal receiving intensity can be effectively eliminated, so that the positioning precision is improved, and jumping phenomenon in the positioning process is greatly reduced.
Description
Technical field
The present invention relates to a kind of node positioning method of wireless network, be specifically related to a kind ofly for the node-locus under the indoor environment based on spanning tree of wireless network, smoothly stablize processing method.
Background technology
In wireless WIFI network, conventionally the WIFI access point (Access Point, AP focus) that comprises some, because these AP focuses are immovable, therefore conventionally these AP focuses are considered as to the anchor node (that is, stationary nodes) of known self physical location information.In order to realize the location to personnel, require each personnel to carry a label, so this class label to be positioned can be referred to as mobile tag.In order to reduce system cost, mobile tag only has the ability that the cycle sends beacon explore frame, and does not have the function that receives data.When AP focus is received the explore frame of mobile tag, can calculate corresponding received signal strength indicator (Received Signal Strength Indicator, RSSI) information, and a plurality of RSSI information of receiving are assembled into a packet by wireless multi-hop route or cable network, are sent to the webserver, by the webserver, calculate the current real time position of each mobile object.
In order to calculate the particular location of mobile tag, document [BAHL P, PADMANABHAN V. " RADAR:An in-building RF-based user location and tracking system ", Infocom, 2000] proposed to choose in advance some information gathering points in the inside, overlay area, collected subsequently the corresponding RSSI value of the mobile tag explore frame that each AP receives when these collection points, and with (x, y, RSSI
1, RSSI
2..., RSSI
n) mode records, x wherein, y is the transverse and longitudinal coordinate position of this sampled point, RSSI
i(1≤i≤n) be mobile tag while being positioned at this sampled point with respect to AP
irSSI value.So, RADAR just obtains a locating area RSSI value distribution map.In position fixing process, if mobile tag with respect to the RSSI value of each AP node be (RSSI '
1, RSSI '
2..., RSSI '
n), RADAR searches for pre-recorded RSSI distribution map and chooses and meet the position of current information most as the coordinate of this mobile tag on backstage, in RSSI distribution map have a value of a calculating formula (1).
The coordinate of the point in these values in that corresponding RSSI distribution map of minimum is last positioning result.
Yet in actual environment, external environment condition is larger on the impact of RSSI value, be that RSSI can be along with the variation of time and external environment condition be (as weather conditions, having a long way to go of fine day and cloudy day) there is variation by a relatively large margin, thereby cause RSSI value extremely unstable, so the positioning result often making the mistake.Because the result of location algorithm has uncertainty, iff according to the localization method of RADAR system, in the situation that being left intact, show final positioning result, can cause the continuous chattering of mobile tag track.In addition, general level and smooth mechanism, requirement is when being positioned at several times certain position continuously, just be positioned at this position, and in the actual location applied environment based on RSSI, the probability that is positioned at several times continuously same position is lower, thereby causes the not mobility of mobile node and location to postpone the shortcomings such as larger, greatly reduces the performance of navigation system.
Summary of the invention
The object of the invention is to provide a kind of positioning smooth stabilization mechanism based on spanning tree, and it can effectively reduce the unstable impact on positioning result of RSSI value, improves positioning precision, and can effectively guarantee correctness and the continuity of motion track.
In order to solve these problems of the prior art, technical scheme provided by the invention is:
A kind of positioning smooth stabilization mechanism based on spanning tree, in position fixing process, system is each mobile node equal compute location position and display position, in applied environment, all possible position location forms connected graph, in computational process, system is calculated the position location of mobile node according to the received signal strength of mobile node, and the display position constantly of take on this mobile node is connected graph structure spanning tree as root adopts BFS method, and then the nearest public ancestor node of definite up-to-date K+1 position location, and the position location of this ancestor node is set to current display position, and then realize the flow display of positioning track.
For technique scheme, we have further detailed protocol, as optimization, by smoothing processing is carried out in up-to-date K+1 position location, the display position constantly of take on this mobile node is set up spanning tree by BFS as root, and then the nearest public ancestor node of definite K+1 position location, the position of this public ancestor node is current t display position constantly, and concrete grammar comprises the following steps:
Step 1: under actual location environment, select some fixing points (sampled point) as possible positioning result, and these point between line to represent the movement of mobile node between these positions, thereby prevent that node is through walls;
Step 2: determine the position location of mobile object by any one location algorithm, suppose that mobile object is A in t position location constantly
t, t display position is constantly S
t, in the connected graph forming in all discrete position locations, with S
t-1for root, adopt BFS method on connected graph, to construct a local spanning tree, this spanning tree at least comprises all up-to-date K+1 position locations;
Step 3: find the nearest public ancestor node of this K+1 position location in spanning tree, suppose that this public ancestor node is B, position location B is designated as node t display position constantly the most at last, and S is set
t=B.
Further, the location algorithm described in above-mentioned steps 2 can adopt discrete location algorithm arbitrarily, comprises other not discrete location algorithms based on received signal strength.
Further, described positioning smooth stabilization mechanism is the t based on location algorithm, t-1, and t-2 ..., t-(K-1), the common analysis of public K+1 the position location constantly of t-K and definite final positioning result.
Further, employing BFS method described in above-mentioned steps 2 is set up local spanning tree, described local spanning tree comprises a up-to-date K+1 position location, and its height only need to be enough to comprise a up-to-date K+1 position location can (can be reduced like this interstitial content of search, thereby improve the high efficiency of level and smooth mechanism).
As optimization, described S
t-1to B, be S
t-1to the longest common path of K+1 position location, this mechanism is positioned at securing position farthest by t display position constantly.
With respect to scheme of the prior art, advantage of the present invention is:
1. the positioning smooth stabilization mechanism based on spanning tree provided by the present invention, it determines final display position by more nearest positioning result several times, can effectively reduce received signal strength indicator (RSSI) and be worth self unstable adverse effect to positioning result, and then effectively get rid of and locate individually Problem-Errors, improve positioning precision, greatly reduced chattering common in position fixing process;
2. the present invention is by being positioned at securing position farthest by final display position, guaranteed correctness and the continuity of motion track that mobile node is positioned;
3. phase of the present invention requires to be positioned at several times continuously same place with other and could determine that this position is that the stabiliser of final display position is compared, the present invention can effectively utilize the information of positioning result each time, improve the sensitivity that label moves, and reduced the delay of system.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described:
Fig. 1 is the structural plan of the embodiment of the present invention;
Fig. 2 is the level and smooth demonstration graph of the one-time positioning result of the embodiment of the present invention;
Fig. 3 is the level and smooth demonstration graph of another positioning result of the embodiment of the present invention.
Embodiment
Below in conjunction with specific embodiment, such scheme is described further.Should be understood that these embodiment are not limited to limit the scope of the invention for the present invention is described.The implementation condition adopting in embodiment can be done further adjustment according to the condition of concrete producer, and not marked implementation condition is generally the condition in normal experiment.
Embodiment:
The described positioning smooth stabilization mechanism based on spanning tree of this enforcement, it is in position fixing process, system is each mobile node equal compute location position and display position, in applied environment, all possible position location forms connected graph, in computational process, system is calculated the position location of mobile node according to the received signal strength of mobile node, and the display position constantly of take on this mobile node is connected graph structure spanning tree as root adopts BFS method, and then the nearest public ancestor node of definite up-to-date position location, and the position location of this ancestor node is set to current display position, and then realize the flow display of positioning track.
As shown in Figure 1, in our building flat bed first as shown in Figure 1, place 12 AP equipment, in in the corridor in Wu building and room, selected 13 sampled points (representing with circle in figure) to gather RSSI signal subsequently, the line in figure represents that positioning label only can move on the track of these lines compositions.Through after a while, the sampling of (the present embodiment is 30 minutes) is prepared, and we have calculated at these 13 sampled points, and each sampled point is with respect to the mean value of the RSSI signal strength signal intensity of each AP node.
When actual location, all mobile tags all outwards send beacon frame with certain cycle (actual be made as 1 second), and because mobile tag is all only given out a contract for a project function and do not possessed receiving and separates packet function, so cost price is very cheap.AP node in network is received after the beacon frame from label, can calculate corresponding RSSI value, and adds the timestamp of an AP this locality to this RSSI value, subsequently this RSSI value is stored in to this locality.In addition, AP node also sends packet with certain cycle to the webserver, the RSSI information that this packet comprises all labels of receiving in this cycle and corresponding timestamp thereof.
When the webserver, receive after the packet from AP, can unpack this information, and we think that time of receipt of give out a contract for a project time and the webserver of AP is identical, we ignore the transmitting time of packet.Therefore, when decoded data packets, we can be modified to the local zone time of the webserver the timestamp of each AP, thereby realizes relatively synchronous between each AP.
When mobile tag is positioned, at current t constantly, we compare real-time RSSI value difference (the t-1 moment and t receive constantly) and the RSSI value of 15 sample point of this mobile tag of receiving, the position location that the sampled point of determining minimum Euclidean distance is mobile tag.
Subsequently, level and smooth mechanism is determined final positioning result by k common k+1 the positioning result of positioning result before the position location in the t moment and current time carried out to smooth trajectory analyzing and processing.If current, be to locate for the first time, directly exporting this positioning result is final demonstration result; Otherwise if oriented number of times is less than k+1 (comprising this time current), the demonstration result that maintains this mobile tag is constant; If oriented number of times is greater than k+1, (comprising this time current) is inferior, carries out smoothing processing.It is 4 that k is set in real system.
One-time positioning smoothing process in reality is as follows, and current mobile tag display position is at sampled point 2 places, and the t constantly and above position location of 4 times is as shown in the table:
| Constantly | t | t-1 | t-2 | t-3 | t-4 |
| Position location | Sampled point 6 | Sampled point 5 | Sampled point 9 | Sampled point 6 | Sampled point 5 |
In Fig. 1, set up the local spanning tree of a BFS.As shown in Figure 2: these 5 positioning results are sampled point 5 in the recently total public ancestor node of this figure, so t display position is constantly arranged on sampled point 5 places.On the other hand, sampled point 2 is respectively to the path of these 5 positioning results, 2-5-6,2-5,2-5-9,2-5-6,2-5, therefore five times total public track is sampled point 2-5, therefore sampled point 2-5 is output as the motion track of label, and sampled point 5 is final t demonstration constantly.
Another in reality time positioning smooth process is as follows, and current mobile tag display position is at sampled point 2 places, and the t constantly and above position location of 4 times is as shown in the table:
| Constantly | t | t-1 | t-2 | t-3 | t-4 |
| Position location | Sampled point 1 | Sampled point 2 | Sampled point 3 | Sampled point 1 | Sampled point 5 |
In Fig. 1, set up the local spanning tree of a BFS.As shown in Figure 3: these 5 positioning results are sampled point 2 in the recently total public ancestor node of this figure, so t display position is constantly arranged on sampled point 2 places, this mobile tag does not move.On the other hand, sampled point 2 is respectively to the path of these 5 positioning results, 2-1, and 2-5,2,2-3,2-1,2-5 is therefore five total public tracks be empty, therefore this label does not move, and sampled point 2 is the demonstration in the final t moment.
Subsequently, mobile tag moves the movement locus with after smoothing processing on display interface.
Above-mentioned example is only explanation technical conceive of the present invention and feature, and its object is to allow person skilled in the art can understand content of the present invention and implement according to this, can not limit the scope of the invention with this.All equivalent transformations that Spirit Essence is done according to the present invention or modification, within all should being encompassed in protection scope of the present invention.
Claims (5)
1. positioning smooth antihunt means based on spanning tree, it is characterized in that, in position fixing process, system is each mobile node equal compute location position and display position, in applied environment, all position locations form connected graph, system is calculated the position location of mobile node according to the received signal strength of mobile node, and the display position constantly of take on this mobile node is connected graph structure spanning tree as root adopts BFS method, and then the nearest public ancestor node of definite up-to-date K+1 position location, and the position location of this ancestor node is set to current display position, and then realize the flow display of positioning track,
By smoothing processing is carried out in a up-to-date K+1 position location, the root that is shown as with a moment on mobile node is set up spanning tree, and then the nearest public ancestor node of definite K+1 position location, the position of this public ancestor node is set to current t display position constantly, and concrete grammar comprises the following steps:
Step 1: under actual location environment, select some fixing points as positioning result, and these point between line to represent the movement of mobile node between these positions, thereby prevent that node is through walls;
Step 2: determine the position location of mobile object by any one location algorithm, mobile object is A in t position location constantly
t, t display position is constantly S
t, in the connected graph forming in all discrete position locations, with S
t-1for root, adopt BFS method on connected graph, to construct a local spanning tree, this spanning tree at least comprises all up-to-date K+1 position locations;
Step 3: find the nearest public ancestor node of this K+1 position location in spanning tree, this nearest public ancestor node is B, position location B is designated as node t display position constantly the most at last, and S is set
t=B.
2. the positioning smooth antihunt means based on spanning tree according to claim 1, is characterized in that, the location algorithm described in step 2 adopts discrete location algorithm arbitrarily, comprise other not discrete location algorithms based on received signal strength.
3. positioning smooth antihunt means based on spanning tree according to claim 1 and 2, it is characterized in that, described positioning smooth antihunt means are the t based on location algorithm, t-1, t-2,, t-(K-1), t-K is total to the common analysis of K+1 position location constantly and determines final positioning result.
4. the positioning smooth antihunt means based on spanning tree according to claim 1, is characterized in that, the employing BFS method described in step 2 is set up local spanning tree, and described local spanning tree comprises a up-to-date K+1 position location.
5. the positioning smooth antihunt means based on spanning tree according to claim 1, is characterized in that described S
t-1to B, be S
t-1to the longest common path of K+1 position location, the method is positioned at securing position farthest by t display position constantly.
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Citations (5)
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|---|---|---|---|---|
| US7123925B2 (en) * | 2002-06-18 | 2006-10-17 | British Telecommunications Public Limited Company | Method and apparatus for locating devices |
| CN101378593A (en) * | 2008-05-06 | 2009-03-04 | 中国科学技术大学苏州研究院 | Method for stably locating wireless sensing network node base on RSSI |
| WO2009155036A2 (en) * | 2008-05-28 | 2009-12-23 | Nivis, Llc | Methods and systems for location estimation |
| CN101818653A (en) * | 2009-12-31 | 2010-09-01 | 深圳市翌日科技有限公司 | Received signal strength based real-time location method for people under mine |
| CN101820579A (en) * | 2009-02-27 | 2010-09-01 | 杭州辰林信息技术有限公司 | Node positioning method and system |
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2012
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7123925B2 (en) * | 2002-06-18 | 2006-10-17 | British Telecommunications Public Limited Company | Method and apparatus for locating devices |
| CN101378593A (en) * | 2008-05-06 | 2009-03-04 | 中国科学技术大学苏州研究院 | Method for stably locating wireless sensing network node base on RSSI |
| WO2009155036A2 (en) * | 2008-05-28 | 2009-12-23 | Nivis, Llc | Methods and systems for location estimation |
| CN101820579A (en) * | 2009-02-27 | 2010-09-01 | 杭州辰林信息技术有限公司 | Node positioning method and system |
| CN101818653A (en) * | 2009-12-31 | 2010-09-01 | 深圳市翌日科技有限公司 | Received signal strength based real-time location method for people under mine |
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