CN103024669A - Mesh network node positioning method - Google Patents
Mesh network node positioning method Download PDFInfo
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- CN103024669A CN103024669A CN2012105072613A CN201210507261A CN103024669A CN 103024669 A CN103024669 A CN 103024669A CN 2012105072613 A CN2012105072613 A CN 2012105072613A CN 201210507261 A CN201210507261 A CN 201210507261A CN 103024669 A CN103024669 A CN 103024669A
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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 discloses a mesh network node positioning method which comprises (1) predicting a trajectory according to a historical trajectory; (2) controlling a transmitting power of a reference node to enable that a power value of a mobile node is the largest; and (3) performing dormancy processing on an unrelated reference node to achieve node energy control. According to the disadvantages of the existing Zigbee node positioning effect of CC2431 that the energy consumption is high, the precision is low; when arranging wireless sensor network reference nodes on a large scale, the overall energy consumption of the system is increased, the energy intensity of signals is enhanced, and the positioning effect of the system is essentially improved, but the positioning accuracy is not effectively improved; the mesh network node positioning method is aimed at providing a Zigbee positioning algorithm which is high in precision, saves the energy and reduces the consumption.
Description
Technical field
The present invention relates to a kind of mesh network node localization method, be applicable to medical treatment, mining, the personnel positioning under the environment such as prison can satisfy the farmland simultaneously well, logistics, storage waits the requirement of the goods and materials monitoring of environment.
Background technology
In recent years indoor article and personnel's location-aware computing, location-based service (LBS) becomes study hotspot, people in the how to confirm indoor environment or the position of article are based on the key problem of location-based service, so indoor locating system is the basis of realizing the position-based service.Zigbee is the wireless connect technology of a kind of low cost, low-power consumption, low rate, the at present realization of Zigbee navigation system mainly is to have adopted the CC2430 chip of Chipcon company and with the CC2431 chip of engine of positioning, realized the wireless location in the short-range.
But, the locating effect of CC2431 is not fully up to expectations at present, mainly due to its high energy consumption, the shortcoming of low precision, and when large scale deployment wireless sensor network reference node, the entire system energy consumption improves, the signal energy intensity enhancing, although promoted the locating effect of system, positioning accuracy does not have Effective Raise.At present for the improvement of location algorithm usually based on the distance-finding method of RSSI, with reference to the booster action of LQI value to it, the mode that adopts the two to combine is found range, external also have the Bounding-inbox location algorithm that adopts based on finding range.These methods in actual applications error are larger, and energy consumption is higher, and do not consider the characteristic of personnel in the application circumstances or goods and materials.
In fact, people always get used to via the route of being familiar with on and off duty, go to school, and shopping or work there are some researches show that by the driving path to discovery nearly 60% behind the driving observation of part driver more than at least 40 days be repetition.In like manner, in medical treatment, mining, the monitored personnel under the confined specific environment such as prison have specific mobile custom characteristic too.This specific character is exactly the basic premise of this path prediction algorithm.
Summary of the invention
For at present the Positioning System based on the Zigbee of CC2431 is not high, the problem that energy consumption is large the invention provides a kind of high accuracy, the energy-saving and cost-reducing mesh network node localization method based on Zigbee.
For achieving the above object, the present invention adopts following technical scheme:
A kind of mesh network node localization method may further comprise the steps:
1) according to the movement locus of historical track prediction mobile node;
2) transmitting power of control reference node makes specific reference node maximum to the transmission power level of mobile node;
3) irrelevant reference node is carried out dormancy and process, realize the node Energy Saving Control.
The movement locus of described step 1) is to adopt the prediction of moving window exponent-weighted average method;
Described moving window exponent-weighted average method is to calculate its mode by iterative manner:
P
n(x)＝α×P
n-1(x)+(1-α)P(x)；
P
n(y)＝α×P
n-1(y)+(1-α)P(y)；
Wherein: P
n(x) expression n x coordinate predicted value constantly; A is weights; P
N-1(x, α) expression n-1 x coordinate predicted value constantly; The x coordinate of P (x) expression current time;
P
n(y, α) expression n y coordinate predicted value constantly; P
N-1(y, α) expression n-1 x coordinate predicted value constantly; P
n(y) the y coordinate of expression current time.
Described step 2) control of the transmitting power of reference node and mobile node comprises reverse open Loop Power control and forward power control.
The mode of the node Energy Saving Control of described step 3) is: according to the real time position of mobile node, the RSSI value of M the reference node that receives in this position according to mobile node is used threshold value RSSI
ThSelect a specific N node as reference node, wherein M 〉=N; Open this N node and improve transmission power level, remaining reference node all sends the resting state instruction, in conjunction with the prediction of reference node to movement locus.
The present invention at first uses moving window averaging model predicted motion track according to historical track, then control the transmitting power of reference node, make its performance number at mobile node maximum, at last irrelevant reference node is carried out dormancy and process, to reach the using energy source maximization.The present invention has improved the positioning accuracy of the navigation system of CC2431Zigbee, and has reduced its energy consumption.
Description of drawings
Fig. 1 is mobile node location schematic diagram;
Fig. 2 is transmitting power control schematic diagram.
Specific embodiment
1) track of prediction mobile node.
Adopt moving window exponent-weighted average method to come positions of mobile nodes is carried out prediction processing.Moving window exponent-weighted average method is calculated by the mode of iteration, constantly the predicted value P of n
n(x
n, y
n) only with upper one constantly predicted value P
N-1(x
N-1, y
N-1) relevant with current time position P (x, y), computing formula is as follows:
P
n(x，α)=α×P
n-1(x)+(1-α)P
n(x)
P
n(y，α)=α×P
n-1(y)+(1-α)P
n(y)
Wherein: P
n(x) expression n x coordinate predicted value constantly; α is weights; P
N-1(x, α) expression n-1 x coordinate predicted value constantly; The x coordinate of P (x) expression current time;
P
n(y, α) expression n y coordinate predicted value constantly; P
N-1(y, α) expression n-1 x coordinate predicted value constantly; P
n(y) the y coordinate of expression current time.
Use the method, just can pass through historical position predicted value P
N-1(x
N-1, y
N-1) and current location value P (x, y), calculate next position prediction value P constantly
n(x
n, y
n).The mode of this iteration is compared with the historical data averaging method, has reduced storage demand.Except needs storage P
N-1(x
N-1, y
N-1), P
n(x
n, y
n), ω and α do not need extra storage of variables outward.Wherein w represents that time window is the time of what P (x, y) sampled datas, and α is weights.Simultaneously, the stability of the method predicted value is relevant with parameter ω and α, by changing the parameter value of ω and α, just can make the variation of predicted value more stable.
2) transmitting power of reference node and mobile node control.The power control type of Zigbee navigation system comprises:
Reverse open Loop Power control, mobile node changes according to received power, adjusts transmitting power.
Forward power control, according to the mobile node measurement report, the reference node adjustment is to the transmitting power of mobile node.
21) reverse open Loop Power control
The open Loop Power control of mobile node refers to that mobile node regulates the process of mobile node transmitting power according to the reference node signal strength signal intensity that receives.Its objective is that the signal power that makes all reference nodes send to mobile node is maximum, in order to avoid because " near-far interference " affects spread spectrum Zigbee system to the reception of CSMA/CA signal, cause positioning accuracy to reduce.Simultaneously, oppositely open Loop Power control can guarantee that mobile node keeps system with the transmitting power of minimum and normally move, and improves the mobile node flying power, reduces system energy consumption.
In the IEEE802.15.4 system, as long as the start of CC2431 node, open loop is just worked.Mobile node is judged path loss according to forward link signal intensity, and in the power change procedure, mobile node is not known the signal strength signal intensity (RSSI) of the actual reception of reference node, can only estimate the forward link loss by the signal that receives.Mobile node is adjusted transmitting power by the to received signal measurement of intensity.The signal that receives is stronger, and the transmitting power of mobile node is less.
The power control process of mobile node in access procedure realizes by RSSI.An Initial Trans of mobile node can not be too large in the access procedure, can disturb other nodes in the wireless sensor network; Transmitting power can not be too little simultaneously, and reference node can not receive.Therefore, the mobile node transmitting power is a process that slowly increases.
Before the mobile node access, send first a low-intensity request access signal, if reference node is not replied, then increase transmitting power take PWR_STEP as step-length.When mobile node receives the reference node signal strength signal intensity when too high, have two kinds may, the one, transmission path loss is little, the 2nd, reference node is in large load condition.When reference node is in large load condition, if mobile node reduces RSSI by reducing transmitting power, may receive by referenced node.Then adjust also imperfection of mobile node transmitting power by access probe merely, in Zigbee and IEEE802.15.4 system, also will consider a open loop power control correction factor=min (max (7-ECIO, 0), 7).This moment, the initial access power computing formula was as follows:
Pt.initial=-Pr-73+NOM_P?WR+INTIT_P?WR
Pt.initial unit is dbm; Wherein: the Pr Mean Input Power; The INIT_PWR initial gain value; The skew of NOM_PWR rated power; PWR_STEP increased power amount;
Mobile node transmitting power computing formula is as follows under the open loop power control effect after the access:
The Pt=Pt.initial+ access probe increases power summation+open loop power control and corrects the factor;
After mobile node and reference node connected, mobile node still can be estimated the fading characteristic of forward channel according to the variation of received signal level, adjusts the transmitting power of oneself.
22) forward power control
The purpose of power control is exactly the maximum that RSSI that mobile node is received allows near specific environment, to reach the highest positioning accuracy.
The signal gain adjustment of forward link comprises two aspects: at first, the network based path prediction to mobile node of reference node improves corresponding reference node transmitting power; Secondly, mobile node is selected the higher several reference nodes of RSSI, improves gain to its transmission power control commands.In forward link, only introduce the transmitted power that a power control PWR_CTL at a slow speed just can control each reference node.
The forward power control of CC2431 is based on reference node to the prediction of mobile route.Difference P in case predict the outcome between coordinate and reference node
AbDiminish, reference node just increases until maximum is shown below according to the cycle that predicts the outcome take increased power amount PWR_STEP as step-length.
Pr＝PWR_CTL*P
ab+PWR_STEP*PWR_CTL
In case mobile node receives the signal of a plurality of reference nodes, then compare the RSSI value, select N higher node of power to its transmission power control commands.
3) node energy control.The Reducing Consumption Measure of Zigbee fixer network node mainly comprises several aspects:
The sensor node general work is in four kinds of patterns: transmission, reception, free time and dormancy.Sending power consumption, reception power consumption and idle power consumption are in the same order of magnitude, and dormancy power consumption is than other patterns 1～2 order of magnitude low in energy consumption; Park mode switches to other patterns needs more energy consumption and start-up time; The factors such as the sending power consumption of communication module and transmission range and modulation strategy are closely related.Therefore, in order to save communication energy consumption, should make as far as possible communication module be in resting state, reduce as far as possible the switching of node communication pattern, with due regard to the multi-hop route replaces the single-hop route.
According to the real time position of mobile node, the RSSI value of M the reference node that receives in this position according to mobile node is used threshold value RSSI
ThSelect a specific N node as the reference node, remaining reference node all sends the resting state instruction.In conjunction with the prediction of reference node to movement locus, open this N node and improve transmission power level simultaneously.
Described a kind of mesh network node localization method, key step is as follows:
Step 1: reference node is all opened, and outwards transmits with default transmit power; Mobile node joins in the Zigbee network, communicates by letter with reference node, obtains first initial coordinate P
1
Step 2: if mobile node is static, then control P
1Near N reference node is with maximum power transmission, simultaneously according to the RSSI that sets
ThCorresponding other reference nodes of closing of threshold value, thus positioning accuracy improved, revise coordinate P1, namely get up-to-date coordinate P
2
If mobile node motion, then according to the predicted value of rolling average gliding model, control corresponding reference node transmitting power, use stepping to increase the factor, correct simultaneously and predict the outcome, make near its N reference node with maximum power transmission, simultaneously according to corresponding other reference nodes of closing of RSSI threshold value of setting.
Step 3: on this basis, judge with the method continuous circulation of step 2 that until mobile node shifts out the reference node network coverage, control each reference node and enter resting state this moment.
Claims (4)
1. mesh network node localization method is characterized in that may further comprise the steps:
1) according to the movement locus of historical track prediction mobile node;
2) transmitting power of control reference node makes specific reference node maximum to the transmission power level of mobile node;
3) irrelevant reference node is carried out dormancy and process, realize the node Energy Saving Control.
2. mesh network node localization method according to claim 1, the movement locus that it is characterized in that described step 1) are to adopt the prediction of moving window exponent-weighted average method;
Described moving window exponent-weighted average method is to calculate its mode by iterative manner:
P
n(x)＝α×P
n-1(x)+(1-α)P(x)；
P
n(y)＝α×P
n-1(y)+(1-α)P(y)；
Wherein: P
n(x) expression n x coordinate predicted value constantly; A is weights; P
N-1(x, α) expression n-1 x coordinate predicted value constantly; The x coordinate of P (x) expression current time;
P
n(y, α) expression n y coordinate predicted value constantly; P
N-1(y, α) expression n-1 x coordinate predicted value constantly; P
n(y) the y coordinate of expression current time.
3. mesh network node localization method according to claim 1 is characterized in that described step 2) the transmitting power control of reference node and mobile node comprises reverse open Loop Power control and forward power control.
4. mesh network node localization method according to claim 1 is characterized in that the mode of the node Energy Saving Control of described step 3) is:
According to the real time position of mobile node, the RSSI value of M the reference node that receives in this position according to mobile node is used threshold value RSSI
ThSelect a specific N node as reference node, wherein M 〉=N; Open this N node and improve transmission power level, remaining reference node all sends the resting state instruction, in conjunction with the prediction of reference node to movement locus.
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Cited By (5)
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| CN103687006A (en) * | 2013-12-31 | 2014-03-26 | 京信通信系统（中国）有限公司 | Wireless locating method and system |
| CN108332749A (en) * | 2017-12-28 | 2018-07-27 | 广州泽祺信息科技有限公司 | A kind of interior dynamic tracing localization method |
| CN108990012A (en) * | 2018-08-06 | 2018-12-11 | 佛山市苔藓云链科技有限公司 | A method of an at least node for operation cordless communication network |
| CN110007274A (en) * | 2019-03-26 | 2019-07-12 | 深圳先进技术研究院 | A kind of indoor orientation method, system and electronic equipment |
| CN110234154A (en) * | 2019-06-17 | 2019-09-13 | 广东工业大学 | A kind of outdoor team's communication system for supporting ad hoc network |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103687006A (en) * | 2013-12-31 | 2014-03-26 | 京信通信系统（中国）有限公司 | Wireless locating method and system |
| CN108332749A (en) * | 2017-12-28 | 2018-07-27 | 广州泽祺信息科技有限公司 | A kind of interior dynamic tracing localization method |
| CN108332749B (en) * | 2017-12-28 | 2021-11-16 | 杨艳华 | Indoor dynamic tracking and positioning method |
| CN108990012A (en) * | 2018-08-06 | 2018-12-11 | 佛山市苔藓云链科技有限公司 | A method of an at least node for operation cordless communication network |
| CN110007274A (en) * | 2019-03-26 | 2019-07-12 | 深圳先进技术研究院 | A kind of indoor orientation method, system and electronic equipment |
| CN110234154A (en) * | 2019-06-17 | 2019-09-13 | 广东工业大学 | A kind of outdoor team's communication system for supporting ad hoc network |
| CN110234154B (en) * | 2019-06-17 | 2021-11-30 | 广东工业大学 | Outdoor team communication system supporting ad hoc network |
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