CN102752853A - Low-speed mobile node positioning system in specific application environment - Google Patents

Low-speed mobile node positioning system in specific application environment Download PDF

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Publication number
CN102752853A
CN102752853A CN2012102312742A CN201210231274A CN102752853A CN 102752853 A CN102752853 A CN 102752853A CN 2012102312742 A CN2012102312742 A CN 2012102312742A CN 201210231274 A CN201210231274 A CN 201210231274A CN 102752853 A CN102752853 A CN 102752853A
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beaconing nodes
fading channel
mobile node
navigation system
node
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CN102752853B (en
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唐承佩
殷娇
詹宜巨
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National Sun Yat Sen University
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    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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Abstract

The invention provides a low-speed mobile node positioning system in specific application environment. The system is high in positioning accuracy, low in cost and low in power consumption. The system is implemented by the following steps of: 1, dividing the specific application environment into regular triangular grids with the same size, and establishing a two-dimensional coordinate system; 2, dividing the specific application environment into a plurality of areas according to influence factors of channel attenuation exponents; 3, performing a channel attenuation exponential experiment by taking a vertex of a triangular grid in each area as the center; 4, deploying a beacon node at the vertex of each triangular grid, acquiring the position information of each beacon node in the coordinate system, and respectively storing the position information of each beacon node and a channel attenuation exponent result which is obtained through the experiment in the corresponding area into each beacon node; 5, calculating distance between a low-speed mobile node and each beacon node; and 6, positioning the low-speed mobile node in the specific application environment by using a weighted maximum likelihood estimation algorithm.

Description

Low speed mobile node navigation system under the specific application environment
Technical field
The invention belongs to wireless sensor network node positioning field, be specifically related to the low speed mobile node localization method in a kind of specific environment based on RSSI (Received Signal Strength Indication receives the signal strength signal intensity indication).
Background technology
The location of mobile node is the hot issue of wireless sensor network location technology, is the research direction of a main flow based on the location algorithm of range finding (Range-Based), and the RSSI ranging technology is simple, has obtained widely using.Along with moving of node, the fading channel index of node environment of living in is also changing, and must obtain the residing fading channel index of node in real time, the range finding that ability is correct, and then obtain the high-precision location result.The main challenge that the mobile node orientation problem of finding range based on RSSI faces is the fading channel index that how to obtain mobile node environment of living in real time.
Prior art is after navigation system is put up, by certain frequency verification fading channel exponential quantity again, to adapt to the environmental change that node motion causes.This method has increased the location power consumption of beaconing nodes, has reduced useful life, increased the cost of system, and positioning accuracy is subject to the frequency of verification fading channel index.
At present, the application scenarios of most of wireless sensor networks all is known specific environment, as: parking lot, museum, hospital, fishpond, orchard etc.The disturbing factor of these environment changes very little, relatively stable, ignores the environment minor variations and can not cause too much influence to positioning accuracy to the influence of fading channel index.To such applied environment; The present invention proposes the low speed mobile node localization method under a kind of specific environment; The core concept of this method is, before navigation system is set up, through the method for experiment; The fading channel index of the whole environment of applications of disposable demarcation, and deposit in the beaconing nodes of relevant position.
Summary of the invention
The present invention provides the low speed mobile node navigation system under the specific application environment that a kind of positioning accuracy is high, cost is low, low in energy consumption, feasibility is good.
For solving the problems of the technologies described above, the technical scheme that the present invention taked is: the navigation system of the low speed mobile node under a kind of specific application environment is provided, may further comprise the steps:
Step 1 is divided into the grid of being made up of equal-sized equilateral triangle with specific application environment, and sets up two-dimensional coordinate system;
Step 2 according to the factor that influences the fading channel index, is divided into several zones with specific application environment;
Step 3, the summit of in each zone, respectively getting a triangular mesh are that fading channel exponential experiment is done at the center, and the experimental result in each zone is shared by all beaconing nodes in this zone;
Step 4; Beaconing nodes of deploy on the summit of each triangular mesh; Obtain the positional information of each beaconing nodes under the coordinate system, and the fading channel index result that experiment in the positional information of each beaconing nodes and the corresponding region is recorded deposits each beaconing nodes respectively in;
Step 5, the low speed mobile node sends positioning request signal, and receives near the signal of its beaconing nodes, calculates the distance between low speed mobile node and each beaconing nodes;
Step 6 adopts weighting maximum likelihood algorithm for estimating that the low speed mobile node of using in the environment is positioned.
Further, the length of side of the equilateral triangle in the said step 1 is no more than the maximum communication radius
Figure 2012102312742100002DEST_PATH_IMAGE001
of beaconing nodes.
Further, the length of side of the equilateral triangle in the said step 1 equals the maximum communication radius
Figure 624200DEST_PATH_IMAGE001
of beaconing nodes.
Further, the factor that influences the fading channel index in the said step 2 comprises barrier, interference source, building, plant, flow of the people.
Further, the fading channel index result that records of said fading channel exponential experiment is three sections RSSI scopes and the corresponding fading channel index of each section RSSI scope.
Further, the positional information and interior three sections RSSI scopes of being stored of this beaconing nodes and the corresponding fading channel index information of each section RSSI scope that comprise this beaconing nodes in the said step 5 in the signal of beaconing nodes.
Further, beaconing nodes is got and immediate 3 beaconing nodes of low speed positions of mobile nodes near in the said step 5.
Further; Calculate the distance of low speed mobile node and each beaconing nodes in the said step 5; Utilize formula
Figure 145311DEST_PATH_IMAGE002
to calculate; Wherein:
Figure 2012102312742100002DEST_PATH_IMAGE003
is the received power of locating at a distance of
Figure 332710DEST_PATH_IMAGE004
with transmitting terminal; Size equals the RSSI value that from the wireless sensor network node communication data packets, directly reads; Unit is dBm;
Figure 2012102312742100002DEST_PATH_IMAGE005
is the received power of locating at a distance of
Figure 193350DEST_PATH_IMAGE006
with transmitting terminal, 1 meter of
Figure 503108DEST_PATH_IMAGE006
value; The fading channel index that
Figure 2012102312742100002DEST_PATH_IMAGE007
records for experiment.
Further, said coordinate origin is included in specific application environment in the coordinate system first quartile outside specific application environment.
Further, the transmitting node, the receiving node that are used for fading channel exponential experiment in the transmitting node of said navigation system, receiving node and the step 3 have identical wireless receiving and transmitting power scope.
Especially, in the step 3, the concrete steps of fading channel exponential experiment are:
(1) with several receiving node; (can get 6 in this experiment) is evenly arranged in the transmitting node is center of circle measuring distance <img file=" 511515DEST_PATH_IMAGE004.GIF " he=" 20 " img-content=" drawing " img-format=" jpg " inline=" no " orientation=" portrait " wi=" 16 " />; (0 < <img file=" 502605DEST_PATH_IMAGE004.GIF " he=" 20 " img-content=" drawing " img-format=" jpg " inline=" no " orientation=" portrait " wi=" 16 " /> < <img file=" 342385DEST_PATH_IMAGE008.GIF " he=" 18 " img-content=" drawing " img-format=" jpg " inline=" no " orientation=" portrait " wi=" 18 " />) is on the circumference of radius;
(2) with the measuring distance scope be divided into 0-10% , 10%
Figure 2012102312742100002DEST_PATH_IMAGE009
-50%
Figure 755684DEST_PATH_IMAGE008
, 50%
Figure 612782DEST_PATH_IMAGE009
- three sections; Each section test change in radius step-length is respectively: 1% , 4%
Figure 879312DEST_PATH_IMAGE008
, 10%
Figure 274521DEST_PATH_IMAGE008
; In the scope of 0- , experimentize, gather experimental data by corresponding step-size change measuring distance.The RSSI value at collection emitting node and 1 meter of receiving node distance; Note is done , is used for next step calculating.
(3) utilize formula
Figure 53755DEST_PATH_IMAGE002
calculating channel damped expoential; Wherein:
Figure 190339DEST_PATH_IMAGE003
is the received power of locating at a distance of
Figure 593638DEST_PATH_IMAGE004
with transmitting terminal; Size equals the RSSI value that from the wireless sensor network node communication data packets, directly reads; Unit is dBm;
Figure 787335DEST_PATH_IMAGE005
is the received power of locating at a distance of
Figure 541664DEST_PATH_IMAGE006
with transmitting terminal, 1 meter of
Figure 216359DEST_PATH_IMAGE006
value;
Figure 739744DEST_PATH_IMAGE007
is the environmental parameter that this experiment will be obtained for the fading channel index that experiment records.
(4) all fading channel exponential quantities that " RSSI-
Figure 107272DEST_PATH_IMAGE004
" experiment value that each group is collected is obtained according to the test radius be divided into 0-10%
Figure 561704DEST_PATH_IMAGE008
, 10% -50% , 50%
Figure 144629DEST_PATH_IMAGE008
-
Figure 223443DEST_PATH_IMAGE008
three sections, the final fading channel index of each section equals the mean value of the fading channel exponential quantity that all experiments record in this section.3 fading channel exponential quantities in each representative region are noted with the form of form together with three sections RSSI scopes of correspondence, supplied navigation system to use.
Especially; Step 5 can be specially: when the low speed mobile node need be located; Launch a positioning request signal; Have at least 3 can receive this framing signal from the nearest beaconing nodes of low speed mobile node, and make response, launch a framing signal that has self-position information and fading channel index information.The low speed mobile node by the ordering of RSSI value size, is got the framing signal that receives 3 maximum beaconing nodes of RSSI value and is used for low speed mobile node location.The position of remembering these 3 beaconing nodes respectively is: (
Figure 659104DEST_PATH_IMAGE010
;
Figure 2012102312742100002DEST_PATH_IMAGE011
); (
Figure 102855DEST_PATH_IMAGE012
;
Figure 2012102312742100002DEST_PATH_IMAGE013
); (
Figure 259685DEST_PATH_IMAGE014
;
Figure 2012102312742100002DEST_PATH_IMAGE015
); The RSSI that receives is worth size to be designated as respectively: RSSI1; RSSI2; RSSI3; Mobile node is confirmed the fading channel index
Figure 79874DEST_PATH_IMAGE016
of 3 beaconing nodes through the size of judging the RSSI value;
Figure 2012102312742100002DEST_PATH_IMAGE017
,
Figure 370041DEST_PATH_IMAGE018
.Receive RSSI value and corresponding fading channel exponential quantity according to the low speed mobile node from 3 beaconing nodes; Utilize formula
Figure 250272DEST_PATH_IMAGE002
to calculate the distance of 3 beaconing nodes respectively to the low speed mobile node; Be designated as
Figure 2012102312742100002DEST_PATH_IMAGE019
respectively; , .
Especially; Step 6; Adopt weighting maximum likelihood algorithm for estimating that the low speed mobile node of using in the environment is positioned; Concrete steps are: the positional information (
Figure 984190DEST_PATH_IMAGE010
of utilizing 3 beaconing nodes that the low speed mobile node receives;
Figure 456759DEST_PATH_IMAGE011
); (
Figure 242313DEST_PATH_IMAGE012
;
Figure 167543DEST_PATH_IMAGE013
); (
Figure 329535DEST_PATH_IMAGE014
;
Figure 656611DEST_PATH_IMAGE015
); And the distance of these 3 beaconing nodes and low speed mobile node
Figure 875715DEST_PATH_IMAGE022
;
Figure 2012102312742100002DEST_PATH_IMAGE023
;
Figure 225925DEST_PATH_IMAGE024
; Coordinate with ( ,
Figure 926028DEST_PATH_IMAGE026
) expression mobile node.Can list following geometrical relationship formula:
Deduct the third line with first row and second row, can obtain:
Figure 45293DEST_PATH_IMAGE028
Note
Figure 2012102312742100002DEST_PATH_IMAGE029
;
Figure 438228DEST_PATH_IMAGE030
;
Figure 2012102312742100002DEST_PATH_IMAGE031
; The heavy matrix
Figure 275734DEST_PATH_IMAGE032
of weighting, the residing positional information of low speed mobile node is:
Figure 2012102312742100002DEST_PATH_IMAGE033
.
Compared with prior art, beneficial effect is:
1. reliability is high.This method is in the thought of the hexagon equivalent communication scope of having used for reference the mobile cellular grid; Creationary proposition is by the equilateral triangle grid division methods; Guaranteed that effectively in specific application environment mobile node can receive the framing signal of at least 3 beaconing nodes; Compare with the localization method of random distribution beacon, reliability is high.And the size of fading channel index depends on node applied environment of living in, and the present invention is divided into several typical environment with zone to be measured by environmental quality, and the fading channel index that records with experiment more meets reality than empirical value, and reliability is high.
2. cost is low.The method at the summit of equilateral triangle grid deploy beaconing nodes that this method proposes is compared with the method for general foursquare again summit deploy beaconing nodes, and efficient is higher, has effectively reduced the quantity of beaconing nodes, and the navigation system cost is reduced.
3. low-power consumption, lifetime of system are long.At the beginning of building, the navigation system that this method proposes just deposits the fading channel exponential distribution situation of whole applied environment in corresponding beaconing nodes.No matter where the low speed mobile node moves to applied environment, can both read the fading channel index of current environment through the beaconing nodes that closes on, thereby make correct range finding and location.With general in position fixing process the fading channel index of dynamic calibration current environment compare, the method simple possible is not cut and can be caused unnecessary power consumption, has prolonged the life-span of whole system.
Description of drawings
Fig. 1 is a low speed mobile node localization method implementation step block diagram in the specific environment;
Fig. 2 is a specific application environment triangular grids method sketch map, and wherein 201 is equilateral triangle, and 202 is regular hexagon;
Low speed mobile node navigation system example schematic under Fig. 3 specific environment.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is done to specify further, suppose that the certain applications environment is made up of a building, sports ground and way and greenbelt, as shown in Figure 3.
As shown in Figure 1, practical implementation of the present invention is divided into six steps.
Step 1 is divided into the grid that is spliced by equal-sized equilateral triangle (seeing 201) one by one with specific application environment, also is simultaneously the grid that constitutes of regular hexagon (seeing 202) one by one.The grid division methods is as shown in Figure 2; Can find; Each positive triangle all is that three summits with this equilateral triangle are three orthohexagonal coincidences zones at center, and getting the equilateral triangle length of side is the maximum communication radius
Figure 779528DEST_PATH_IMAGE034
of beaconing nodes in the wireless sensor network positioning system.If on the summit of each equilateral triangle, all place a beaconing nodes, can guarantee that the low speed mobile node moves all can to receive three beaconing nodes signals at least in whole zone to be measured.And set up coordinate system, the design sketch that specific environment is carried out after the grid division is as shown in Figure 3.
Step 2 according to the difference of specific application environment signal disturbing factor, can be divided into three zones with this applied environment: a district: interior of building; Two districts: football field; Three districts: road and greenbelt, as shown in Figure 3.
Step 3, in a district, two districts, three districts are inner, the summit of selecting an equilateral triangle shown in 201 respectively is the center of fading channel exponential experiment, places transmitting node, carries out the fading channel index and obtains experiment.The communication range that should guarantee the transmitting node that place the experimental center when selecting the experimental center is completely contained in the same zone.It is identical to test the used beaconing nodes of used transmitting node and navigation system, all selects the CC2430 transceiver module of TI company for use.The by specification record; To test radius be divided into 0-10%
Figure 815617DEST_PATH_IMAGE008
, 10%
Figure 379454DEST_PATH_IMAGE008
-50% , 50%
Figure 870795DEST_PATH_IMAGE008
-
Figure 955864DEST_PATH_IMAGE008
three sections experimentize; Write down the corresponding RSSI scope of each section test radius; And the fading channel index that records of each section, experimental result is inserted in the table one.
Table one fading channel index obtains experimental result
Figure 752919DEST_PATH_IMAGE036
Step 4 is placed a CC2430 transceiver module as beaconing nodes at the place, summit of each triangular mesh of applied environment, measures the positional information of each beaconing nodes under this coordinate system, representes with two-dimensional coordinate.Deposit the positional information of each beaconing nodes in corresponding beaconing nodes.The three sections RSSI scopes that one district, two districts, three districts of record in the table one are recorded and the fading channel index of correspondence deposit in respectively in all beaconing nodes in a district, two districts, three districts.
Step 5, as shown in Figure 3, suppose that some low speed mobile nodes when location requirement, are positioned at the position of Fig. 3 mobile node just.At this moment; The low speed mobile node will send a positioning request signal; All will receive this positioning request signal apart from the beaconing nodes in the low speed mobile node communication range, and respond, launch a framing signal that has self-position information and current environment fading channel index information.From the framing signal of receiving, read each RSSI of signals value, select three maximum signals of RSSI value as framing signal.From framing signal, read the positional information of three beaconing nodes; Note is made ( respectively;
Figure 472930DEST_PATH_IMAGE011
); (
Figure 421294DEST_PATH_IMAGE012
;
Figure 389250DEST_PATH_IMAGE013
); (
Figure 485382DEST_PATH_IMAGE014
;
Figure 869090DEST_PATH_IMAGE015
), read the three sections RSSI value ranges and the corresponding fading channel index that store in three beaconing nodes.Judge this three residing scopes of RSSI value; And read corresponding fading channel index; Note is made
Figure 999857DEST_PATH_IMAGE016
respectively;
Figure 76398DEST_PATH_IMAGE017
,
Figure 659826DEST_PATH_IMAGE018
.According to three RSSI values and corresponding fading channel index; Calculate the distance of mobile node and three beaconing nodes respectively; Note is made
Figure 847225DEST_PATH_IMAGE022
;
Figure 832498DEST_PATH_IMAGE023
,
Figure 142257DEST_PATH_IMAGE024
.
Step 6 adopts weighting maximum likelihood algorithm for estimating that the low speed mobile node of using in the environment is positioned.The coordinate of note mobile node is (
Figure 2012102312742100002DEST_PATH_IMAGE037
,
Figure 150664DEST_PATH_IMAGE038
).Note:
Figure 2012102312742100002DEST_PATH_IMAGE039
;
Figure 141754DEST_PATH_IMAGE040
;
Figure 2012102312742100002DEST_PATH_IMAGE041
;
Figure 916287DEST_PATH_IMAGE042
, the residing positional information of mobile node is:
Figure 2012102312742100002DEST_PATH_IMAGE043
.
The above is merely an instance of the present invention; Be not so limit claim of the present invention; Every equivalent structure or flow process conversion that utilizes specification of the present invention and accompanying drawing content to be done; Or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present invention.

Claims (10)

1. the low speed mobile node navigation system under the specific application environment is characterized in that, may further comprise the steps:
Step 1 is divided into the grid of being made up of equal-sized equilateral triangle with specific application environment, and sets up two-dimensional coordinate system;
Step 2 according to the factor that influences the fading channel index, is divided into several zones with specific application environment;
Step 3, the summit of in each zone, respectively getting a triangular mesh are that fading channel exponential experiment is done at the center, and the experimental result in each zone is shared by all beaconing nodes in this zone;
Step 4; Beaconing nodes of deploy on the summit of each triangular mesh; Obtain the positional information of each beaconing nodes under the coordinate system, and the fading channel index result that experiment in the positional information of each beaconing nodes and the corresponding region is recorded deposits each beaconing nodes respectively in;
Step 5, the low speed mobile node sends positioning request signal, and receives near the signal of its beaconing nodes, calculates the distance between low speed mobile node and each beaconing nodes;
Step 6 adopts weighting maximum likelihood algorithm for estimating that the low speed mobile node of using in the environment is positioned.
2. navigation system according to claim 1; It is characterized in that the length of side of the equilateral triangle in the said step 1 is no more than the maximum communication radius
Figure 2012102312742100001DEST_PATH_IMAGE002
of beaconing nodes.
3. navigation system according to claim 2; It is characterized in that the length of side of the equilateral triangle in the said step 1 is the maximum communication radius
Figure 11517DEST_PATH_IMAGE002
of beaconing nodes.
4. navigation system according to claim 1 is characterized in that, the factor that influences the fading channel index in the said step 2 comprises barrier, interference source, building, plant, flow of the people.
5. navigation system according to claim 1 is characterized in that, the fading channel index result that said fading channel exponential experiment records is three sections RSSI scopes and the corresponding fading channel index of each section RSSI scope.
6. navigation system according to claim 1; It is characterized in that, comprise positional information and the interior three sections RSSI scopes of being stored of this beaconing nodes and the corresponding fading channel index information of each section RSSI scope of this beaconing nodes in the said step 5 in the signal of beaconing nodes.
7. navigation system according to claim 1 is characterized in that, near beaconing nodes is got and immediate 3 beaconing nodes of low speed positions of mobile nodes in the said step 5.
8. navigation system according to claim 1; It is characterized in that; Calculate the distance of low speed mobile node and each beaconing nodes in the said step 5; Utilize formula
Figure 2012102312742100001DEST_PATH_IMAGE004
to calculate; Wherein:
Figure 2012102312742100001DEST_PATH_IMAGE006
is the received power of locating at a distance of with transmitting terminal; Size equals the RSSI value that from the wireless sensor network node communication data packets, directly reads; Unit is dBm;
Figure 2012102312742100001DEST_PATH_IMAGE010
is the received power of locating at a distance of
Figure 2012102312742100001DEST_PATH_IMAGE012
with transmitting terminal, 1 meter of
Figure 557685DEST_PATH_IMAGE012
value; The fading channel index that
Figure 2012102312742100001DEST_PATH_IMAGE014
records for experiment.
9. navigation system according to claim 1 is characterized in that, said coordinate origin is included in specific application environment in the coordinate system first quartile outside specific application environment.
10. according to each described navigation system of claim 1-9; It is characterized in that the transmitting node, the receiving node that are used for fading channel exponential experiment in the transmitting node of said navigation system, receiving node and the step 3 have identical wireless receiving and transmitting power scope.
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CN104717664A (en) * 2013-12-13 2015-06-17 方正国际软件(北京)有限公司 Deployment method for hot devices needed in wifi indoor location
CN105898685A (en) * 2016-06-02 2016-08-24 山东有人信息技术有限公司 WIFI device positioning methods applicable to small region

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CN103440473A (en) * 2013-08-09 2013-12-11 京信通信系统（中国）有限公司 Fingerprint locating method and server
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CN105898685A (en) * 2016-06-02 2016-08-24 山东有人信息技术有限公司 WIFI device positioning methods applicable to small region

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