CN102752853B - Low-speed mobile node positioning system in specific application environment - Google Patents
Low-speed mobile node positioning system in specific application environment Download PDFInfo
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- CN102752853B CN102752853B CN201210231274.2A CN201210231274A CN102752853B CN 102752853 B CN102752853 B CN 102752853B CN 201210231274 A CN201210231274 A CN 201210231274A CN 102752853 B CN102752853 B CN 102752853B
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- fading channel
- beaconing nodes
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- mobile node
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention provides a low-speed mobile node positioning method 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
Technical field
The invention belongs to the wireless sensor network node positioning field based on RSSI (Received Signal Strength Indication, received signal strength indicator), be specifically related to the low speed mobile node positioning method in a kind of specific environment.
Background technology
The location of mobile node is the hot issue of wireless sensor network location technology, and the location algorithm based on range finding (Range-Based) is the research direction of a main flow, and RSSI ranging technology is simple, is widely used.Along with the movement of node, the fading channel index of node environment of living in is also changing, the necessary residing fading channel index of Real-time Obtaining node, and range finding that could be correct, and then obtain high-precision positioning result.The main challenge that mobile node orientation problem based on RSSI range finding faces is the fading channel index of Real-time Obtaining mobile node environment of living in how.
Prior art is after navigation system is put up, by certain frequency again verification fading channel exponential quantity, the environmental change causing to adapt to node motion.This method, has increased the location power consumption of beaconing nodes, has reduced useful life, increased the cost of system, and positioning precision is limited to the frequency of verification fading channel index.
At present, the application scenarios of most of wireless sensor networks is all known specific environment, as: parking lot, museum, hospital, fishpond, orchard etc.The disturbing factor of these environment changes very little, relatively stable, ignores environment minor variations and can not cause too much influence to positioning precision to the impact of fading channel index.For such applied environment, the present invention proposes the low speed mobile node positioning method under a kind of specific environment, the core concept of the method is, before navigation system is set up, method by experiment, the fading channel index of the environment of the whole application of disposable demarcation, and deposit in the beaconing nodes of relevant position.
Summary of the invention
The invention provides the low speed mobile node navigation system under the specific application environment that a kind of positioning precision is high, cost is low, low in energy consumption, feasibility is good.
For solving the problems of the technologies described above, the technical solution used in the present invention is: the mobile node positioning method of the low speed under a kind of specific application environment is provided, comprises the following steps:
Step 1, is divided into specific application environment the grid being comprised of equal-sized equilateral triangle, and sets up two-dimensional coordinate system;
Step 2, according to the factor that affects fading channel index, is divided into several regions by specific application environment;
Step 3, does fading channel exponential experiment centered by respectively getting the summit of a triangular mesh in each region, and the experimental result in each region is shared by all beaconing nodes in this region;
Step 4, at beaconing nodes of the summit of each triangular mesh deploy, obtain the positional information of each beaconing nodes under coordinate system, and the fading channel index result that experiment in the positional information of each beaconing nodes and corresponding region is recorded deposits respectively each beaconing nodes in;
Step 5, 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 estimation algorithm to position the low speed mobile node in applied environment.
Further, the length of side of the equilateral triangle in described step 1 is no more than the maximum communication radius of beaconing nodes
.
Further, the length of side of the equilateral triangle in described step 1 equals the maximum communication radius of beaconing nodes
.
Further, the factor that affects fading channel index in described step 2 comprises barrier, interference source, building, plant, flow of the people.
Further, the fading channel index result that described fading channel exponential experiment records is three sections of RSSI scopes and each section of fading channel index that RSSI scope is corresponding.
Further, three sections of RSSI scopes and each section of fading channel index information that RSSI scope is corresponding in the positional information that comprises this beaconing nodes in the signal of beaconing nodes in described step 5 and this beaconing nodes, stored.
Further, near in described step 5, beaconing nodes is got and immediate 3 beaconing nodes of low speed positions of mobile nodes.
Further, calculating the distance of low speed mobile node and each beaconing nodes in described step 5, is to utilize formula
calculate, wherein:
for with transmitting terminal apart
the received power at place, size equals the RSSI value directly reading from wireless sensor network node communication data packets, and unit is dBm,
be with transmitting terminal apart
the received power at place,
1 meter of value;
for testing the fading channel index recording.
Further, described coordinate origin, outside specific application environment, is included in specific application environment in coordinate system first quartile.
Further, in the transmitting node of described navigation system, receiving node and step 3, transmitting node, the receiving node for fading channel exponential experiment has identical wireless receiving and transmitting power scope.
Especially, in step 3, the concrete steps of fading channel exponential experiment are:
(1) several receiving nodes (can get 6 in this experiment) are evenly arranged in and take transmitting node as center of circle measuring distance
(0<
<
) be on the circumference of radius;
(2) measuring distance scope is divided into 0-10%
, 10%
-50%
, 50%
-
three sections, each section of testing radius change step is respectively: 1%
, 4%
, 10%
, at 0-
scope in by corresponding step-size change measuring distance, test, gather experimental data.The RSSI value that gathers transmitting node and 1 meter of of receiving node distance, note is done
, for next step calculating.
(3) utilize formula
calculate fading channel index, wherein:
for with transmitting terminal apart
the received power at place, size equals the RSSI value directly reading from wireless sensor network node communication data packets, and unit is dBm,
be with transmitting terminal apart
the received power at place,
1 meter of value;
for the fading channel index that experiment records, it is the environmental parameter that this experiment will be obtained.
(4) " the RSSI-each group being collected
" all fading channel exponential quantities of obtaining of experiment value
according to testing radius scope, be divided into 0-10%
, 10%
-50%
, 50%
-
three sections, the final fading channel index of each section equals the mean value of the fading channel exponential quantity that in this section, all experiments record.3 fading channel exponential quantities in each representative region are recorded with the form of form together with three sections of RSSI scopes of correspondence, for navigation system.
Especially, step 5 can be specially: when low speed mobile node need to be located, launch a positioning request signal, have at least 3 from the nearest beaconing nodes of low speed mobile node, can receive this framing signal, and make response, launch a framing signal with self-position information and fading channel index information.Low speed mobile node by the sequence of RSSI value size, is got the framing signal receiving 3 maximum beaconing nodes of RSSI value and is located for low speed mobile node.The position of remembering respectively these 3 beaconing nodes is: (
,
), (
,
), (
,
), the RSSI receiving is worth size to be designated as respectively: RSSI1, and RSSI2, RSSI3, mobile node is determined the fading channel index of 3 beaconing nodes by the size of judgement RSSI value
,
,
.According to low speed mobile node, receive RSSI value and the corresponding fading channel exponential quantity from 3 beaconing nodes, utilize formula
calculate respectively 3 beaconing nodes to the distance of low speed mobile node, be designated as respectively
,
,
.
Especially, step 6, adopts weighting maximum likelihood estimation algorithm to position the low speed mobile node in applied environment, and concrete steps are: utilize 3 beaconing nodes that low speed mobile node receives positional information (
,
), (
,
), (
,
), and the distance of these 3 beaconing nodes and low speed mobile node
,
,
, with (
,
) represent the coordinate of mobile node.Can list following geometrical relationship formula:
With the first row and the second row, deduct the third line, can obtain:
Note
,
,
, get weight matrix
, the residing positional information of low speed mobile node is:
.
Compared with prior art, beneficial effect is:
1. reliability is high.This method is being used for reference the thought of the hexagon equivalent communication scope of mobile cellular grid, creationary proposition is by equilateral triangle grid division methods, effectively guaranteed that 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, the present invention is divided into several typical environment by region to be measured by environmental quality, and the fading channel index recording with experiment is more realistic 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, compares with the method for the general deploy beaconing nodes of foursquare summit again, and efficiency is higher, has effectively reduced the quantity of beaconing nodes, makes navigation system cost.
3. low-power consumption, lifetime of system are long.The navigation system that this method proposes just deposits the fading channel exponential distribution situation of whole applied environment in corresponding beaconing nodes at the beginning of building.No matter where low speed mobile node moves to applied environment, can read by the beaconing nodes closing on the fading channel index of current environment, thereby make correct range finding and location.With general in position fixing process the fading channel index of dynamic calibration current environment compare, method simple possible, does not cut and can cause unnecessary power consumption, has extended the life-span of whole system.
Accompanying drawing explanation
Fig. 1 is low speed mobile node positioning method implementation step block diagram in specific environment;
Fig. 2 is specific application environment triangular grids method schematic diagram, 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 the drawings and specific embodiments, the present invention is described in further detail, supposes that specific applied environment is comprised of a building, sports ground and way and greenbelt, as shown in Figure 3.
As shown in Figure 1, specific embodiment of the invention is divided into six steps.
Step 1, is divided into specific application environment by the grid that equal-sized equilateral triangle (seeing 201) is spliced one by one, is also the grid that regular hexagon (seeing 202) forms one by one simultaneously.Meshing Method as shown in Figure 2, can find, each positive triangle is three orthohexagonal overlapping regions centered by three summits of this equilateral triangle, and getting the equilateral triangle length of side is the maximum communication radius of beaconing nodes in wireless sensor network positioning system
.If on the summit of each equilateral triangle, all place a beaconing nodes, can guarantee that low speed mobile node moves and all at least can receive three beaconing nodes signals in whole region to be measured.And set up coordinate system, specific environment is carried out grid and is divided design sketch afterwards as shown in Figure 3.
Step 2, according to the difference of specific application environment signal disturbing factor, can be divided into this applied environment three regions: a district: interior of building; 2nd district: football pitch; 3rd district: road and greenbelt, as shown in Figure 3.
Step 3, Yi district, 2nd district, three inside, districts, the summit of selecting respectively an equilateral triangle as shown in 201 is the center of fading channel exponential experiment, places transmitting node, carries out fading channel index and obtains experiment.The communication range that should guarantee the transmitting node that place experimental center in the time of choice experiment center is completely contained in same region.Test the transmitting node used beaconing nodes used with navigation system identical, all select the CC2430 transceiver module of TI company.By specification is recorded, and testing radius scope is divided into 0-10%
, 10%
-50%
, 50%
-
test for three sections, record each section of RSSI scope that testing radius scope is corresponding, and the fading channel index that records of each section, experimental result is inserted in table one.
Table one fading channel index obtains experimental result
Step 4, places 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, with two-dimensional coordinate, represents.Deposit the positional information of each beaconing nodes in corresponding beaconing nodes.By recording three sections of RSSI scopes that Yi district, 2nd district, 3rd district record and corresponding fading channel index in table one, deposit in respectively in all beaconing nodes in a district, 2nd district, 3rd district.
Step 5, as shown in Figure 3, supposes that some low speed mobile nodes, when having location requirement, are positioned at the position of Fig. 3 mobile node just.Now, low speed mobile node will send a positioning request signal, apart from the beaconing nodes in low speed mobile node communication range, all will receive this positioning request signal, and respond, launch one with the framing signal of self-position information and current environment fading channel index information.From the framing signal of receiving, read the RSSI value of each signal, select three maximum signals of RSSI value as framing signal.From framing signal, read the positional information of three beaconing nodes, be denoted as respectively (
,
), (
,
), (
,
), read the three sections of RSSI value ranges and the corresponding fading channel index that in three beaconing nodes, store.Judge this three residing scopes of RSSI value, and read corresponding fading channel index, be denoted as respectively
,
,
.According to three RSSI values and corresponding fading channel index, calculate respectively the distance of mobile node and three beaconing nodes, be denoted as
,
,
.
Step 6, adopts weighting maximum likelihood estimation algorithm to position the low speed mobile node in applied environment.Note mobile node coordinate be (
,
).Note:
,
,
,
, the residing positional information of mobile node is:
.
The foregoing is only an example of the present invention; not thereby limit the scope of the claims of the present invention; every equivalent structure or flow process conversion that utilizes specification of the present invention and accompanying drawing content to do; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (9)
1. the low speed mobile node positioning method under specific application environment, is characterized in that, comprises the following steps:
Step 1, is divided into specific application environment the grid being comprised of equal-sized equilateral triangle, and sets up two-dimensional coordinate system;
Step 2, according to the factor that affects fading channel index, is divided into several regions by specific application environment;
Step 3, does fading channel exponential experiment centered by respectively getting the summit of a triangular mesh in each region, and the experimental result in each region is shared by all beaconing nodes in this region;
Step 4, at beaconing nodes of the summit of each triangular mesh deploy, obtain the positional information of each beaconing nodes under coordinate system, and the fading channel index result that experiment in the positional information of each beaconing nodes and corresponding region is recorded deposits respectively each beaconing nodes in;
Step 5, 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 estimation algorithm to position the low speed mobile node in applied environment;
The fading channel index result that described fading channel exponential experiment records is three sections of RSSI scopes and each section of fading channel index that RSSI scope is corresponding;
In step 3, the concrete steps of fading channel exponential experiment are:
(1) several receiving nodes are evenly arranged in and take transmitting node as center of circle measuring distance
on circumference for radius, 0<
<
;
(2) measuring distance scope is divided into 0-10%
, 10%
-50%
, 50%
-
three sections, each section of testing radius change step is respectively: 1%
, 4%
, 10%
, at 0-
scope in by corresponding step-size change measuring distance, test, gather experimental data, gather transmitting node and the RSSI value of receiving node apart from 1 meter of, note is done
, for next step calculating;
(3) utilize formula
calculate fading channel index, wherein:
for with transmitting terminal apart
the received power at place, size equals the RSSI value directly reading from wireless sensor network node communication data packets, and unit is dBm,
be with transmitting terminal apart
the received power at place,
1 meter of value;
for the fading channel index that experiment records, it is the environmental parameter that this experiment will be obtained;
(4) " the RSSI-each group being collected
" all fading channel exponential quantities of obtaining of experiment value
according to testing radius scope, be divided into 0-10%
, 10%
-50%
, 50%
-
three sections, the final fading channel index of each section equals the mean value of the fading channel exponential quantity that in this section, all experiments record; 3 fading channel exponential quantities in each representative region are recorded with the form of form together with three sections of RSSI scopes of correspondence, for navigation system;
Step 6, adopts weighting maximum likelihood estimation algorithm to position the low speed mobile node in applied environment; Note mobile node coordinate be (
,
), note:
,
,
,
, the residing positional information of mobile node is:
.
2. localization method according to claim 1, is characterized in that, the length of side of the equilateral triangle in described step 1 is no more than the maximum communication radius of beaconing nodes
.
3. localization method according to claim 2, is characterized in that, the maximum communication radius that the length of side of the equilateral triangle in described step 1 is beaconing nodes
.
4. localization method according to claim 1, is characterized in that, the factor that affects fading channel index in described step 2 comprises barrier, interference source, building, plant, flow of the people.
5. localization method according to claim 1, it is characterized in that three sections of RSSI scopes and each section of fading channel index information that RSSI scope is corresponding in the positional information that comprises this beaconing nodes in the signal of beaconing nodes in described step 5 and this beaconing nodes, stored.
6. localization method according to claim 1, is characterized in that, in described step 5, near beaconing nodes is got and immediate 3 beaconing nodes of low speed positions of mobile nodes.
7. localization method according to claim 1, is characterized in that, calculates the distance of low speed mobile node and each beaconing nodes in described step 5, is to utilize formula
calculate, wherein:
for with transmitting terminal apart
the received power at place, size equals the RSSI value directly reading from wireless sensor network node communication data packets, and unit is dBm,
be with transmitting terminal apart
the received power at place,
1 meter of value;
for testing the fading channel index recording.
8. localization method according to claim 1, is characterized in that, described coordinate origin, outside specific application environment, is included in specific application environment in coordinate system first quartile.
9. according to the localization method described in claim 1-8 any one, it is characterized in that, transmitting node, receiving node for fading channel exponential experiment in the transmitting node of described navigation system, receiving node and step 3 have identical wireless receiving and transmitting power scope.
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| CN103440473B (en) * | 2013-08-09 | 2017-07-07 | 京信通信系统（中国）有限公司 | Fingerprint positioning method and server |
| CN104717664B (en) * | 2013-12-13 | 2019-08-23 | 方正国际软件(北京)有限公司 | The cloth arranging method of required hotspot device in a kind of wifi indoor positioning |
| 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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