CN103068040B

CN103068040B - A kind of wireless sensing net node location, air navigation aid and relevant apparatus, system

Info

Publication number: CN103068040B
Application number: CN201210583663.1A
Authority: CN
Inventors: 张效义; 涂启辉; 张大龙; 栾红志; 于宏毅; 尹洁欣
Original assignee: PLA Information Engineering University
Current assignee: PLA Information Engineering University
Priority date: 2012-12-28
Filing date: 2012-12-28
Publication date: 2016-03-02
Anticipated expiration: 2032-12-28
Also published as: CN103068040A

Abstract

The invention discloses a kind of wireless sensing net node location, air navigation aid and relevant apparatus, system to realize the object of the positioning precision of raising navigation system, comprising: by the beacon signal of receiving target node, determine the position of anchor node; The region that the polygon formed the position of described anchor node surrounds is as the prime area at this destination node place; Read the induced signal of described anchor node, change when the induced signal of wherein said anchor node is specifically in the induction range that the destination node carrying induction source appears at anchor node; According to the change of the induced signal of described anchor node, judge the position of the anchor node that induction occurs; By there is the position of the anchor node responded in the prime area at this destination node place, be defined as the accurate location of this destination node; And perform navigation instruction according to the accurate location of this destination node further, the air navigation aid making the present invention realize has higher precision.

Description

Wireless sensor network node positioning and navigation method and related device and system

Technical Field

The invention relates to the field of wireless positioning, in particular to a method for realizing positioning and navigation of a wireless sensor network node, a related device and a related system.

Background

One of the key technologies of the navigation system for the blind is the positioning technology. The positioning technology applied to the blind navigation system at present comprises a GPS/A-GPS positioning technology, an infrared positioning technology, a Bluetooth positioning technology, a radio frequency identification positioning technology, a positioning technology based on WI-FI and a positioning technology based on a ZigBee network. The non-distance centroid algorithm positioning technology based on the ZigBee network is easy to realize, low in hardware cost and suitable for being applied to a blind navigation system. The algorithm is a positioning algorithm based on network connectivity only proposed by nirupamamabulusu et al of university of southern california. The core idea of the algorithm is as follows: the method comprises the steps that an anchor node broadcasts a beacon signal to a target node close to the anchor node at intervals, the signal contains self ID and position information, the position of the adjacent anchor node is determined according to the ID contained in the beacon signal received by the target node, and then the position of the target node is determined by calculating a polygon formed by the positions of the adjacent anchor nodes. However, as long as any position in the polygon can be positioned as the position of the target node, the positioning accuracy of the algorithm is not high, and the requirement of the blind navigation system for high-accuracy positioning cannot be met.

An anchor node: a sensor, defined as a node with known position information, can provide reference for positioning of a target node by broadcasting a beacon signal to an adjacent target node, and the position information of an anchor node can be acquired in advance by installing a GPS device or manually configuring the anchor node.

The target node: a sensor, defined as a node with unknown position information, can broadcast a beacon signal, wherein the beacon signal comprises an ID for identifying the target node and a received beacon signal of an anchor node with a known position, and the position of the adjacent anchor node is determined through the ID contained in the beacon signal of the anchor node, so that the position of the target node is determined.

Disclosure of Invention

In view of the above, the main objective of the present invention is to provide a method for positioning and navigating a wireless sensor network node, and related apparatus and system, so as to achieve the purpose of improving the positioning accuracy of a navigation system.

The invention provides a method for positioning a wireless sensor network node, which comprises the following steps:

determining the position of an anchor node by receiving a beacon signal of a target node;

taking a region surrounded by a polygon formed by the positions of the anchor nodes as an initial region where the target node is located;

reading the induction signal of the anchor node, wherein the induction signal of the anchor node changes when a target node carrying an induction source appears in the induction range of the anchor node;

judging the position of the induced anchor node according to the change of the induction signal of the anchor node;

and determining the position of the anchor node in which the sensing occurs in the initial region of the target node as the exact position of the target node.

Optionally, the method further comprises: determining an ID of a target node by receiving a beacon signal of the target node;

the position of the anchor node is specifically determined as the position of the anchor node corresponding to the target node identified by the ID;

the area surrounded by the polygon formed by the positions of the anchor nodes is used as the initial area where the target node is located, specifically, the area surrounded by the polygon formed by the positions of the anchor nodes corresponding to the target node identified by the ID is used as the initial area where the target node identified by the ID is located;

the determining of the position of the anchor node where the sensing occurs in the initial region where the target node is located is specifically the determining of the position of the anchor node where the sensing occurs in the initial region where the target node identified by the ID is located, as the determining of the position of the target node identified by the ID.

The invention also provides a device for positioning the wireless sensor network node, which comprises:

an initial region calculation unit: the method comprises the steps that the position of an anchor node is determined by receiving a beacon signal of a target node, and a region surrounded by a polygon formed by the positions of the anchor node is used as an initial region where the target node is located;

an exact position calculation unit: the sensing signal of the anchor node is used for reading the sensing signal of the anchor node, wherein the sensing signal of the anchor node changes when a target node carrying a sensing source appears in the sensing range of the anchor node, the position of the sensed anchor node is judged according to the change of the sensing signal of the anchor node, and the position of the sensed anchor node in the initial area of the target node is determined as the exact position of the target node.

The invention also provides a navigation method based on the wireless sensor network node positioning, which comprises the following steps:

obtaining the exact position of the target node by applying the method for positioning the wireless sensor network node;

and executing the navigation instruction according to the exact position of the target node.

Optionally, the executing of the navigation instruction according to the exact position of the target node is specifically any one or a combination of the following:

inquiring audio and/or video data corresponding to the exact position of the target node, and playing the audio and/or video data;

or,

inquiring the path information of the destination position according to the exact position of the target node, and returning the path information;

or,

and calculating the distance from the destination position according to the exact position of the target node, and returning the calculation result.

Optionally, the method further comprises:

receiving induction data of an ultrasonic sensor, wherein the ultrasonic sensor and a target node are arranged in the same user terminal, analyzing the induction data, and returning obstacle alarm information if an induced obstacle is judged;

receiving induction data of a triaxial acceleration sensor, wherein the triaxial acceleration sensor and a target node are arranged in the same user terminal, analyzing the induction data, and returning tumble alarm information if three axial data fluctuations of the induction data exceed a threshold value;

receiving input data by using an input device, wherein the input device and the target node are arranged in the same user terminal;

and outputting output data by utilizing output equipment, wherein the output equipment and the target node are arranged in the same user terminal.

Alternatively, the executing of the navigation instruction according to the exact position of the target node may be specifically executed when input data is received with an input device.

Optionally, before obtaining the exact location of the target node by using the method for positioning a wireless sensor network node as described above, the method further includes receiving, at the server, a beacon signal from the target node, where the beacon signal of the target node includes a beacon signal content of an anchor node received by the target node, and the target node is specifically located in the user terminal;

the method for positioning the wireless sensor network node is used for obtaining the exact position of the target node, and particularly the method for positioning the wireless sensor network node is used for obtaining the exact position of the target node at the server side;

and executing the navigation instruction according to the exact position of the target node, specifically executing the navigation instruction at the server end according to the exact position of the target node.

Optionally, the executing of the navigation instruction at the server end according to the exact position of the target node is specifically any one or a combination of the following:

inquiring audio and/or video data corresponding to the exact position of the target node at the server;

the audio and/or video data is sent to the user terminal by the server through the network so that the user terminal plays the audio and/or video data;

or,

inquiring the path information of the exact position of the target node to the destination position at the server end, and returning the path information of the destination position to the user terminal through the network by the server end;

or,

and calculating the distance from the destination position according to the exact position of the target node, and returning the calculation result to the user terminal from the server through the network.

Optionally, the method further comprises:

and receiving the sensing data of the ultrasonic sensor at the server side, arranging the ultrasonic sensor and the target node in the same user terminal, analyzing the sensing data at the server side, and if the sensing of the obstacle is judged, sending obstacle alarm information to the user terminal from the server side through a network.

Receiving sensing data of a triaxial acceleration sensor at a server side, wherein the triaxial acceleration sensor and a target node are arranged in the same user terminal, analyzing the sensing data at the server side, and returning tumbling alarm information to a terminal preset at the server side if three axial data fluctuations of the sensing data exceed a threshold value;

receiving input data received by input equipment of a user terminal at a server terminal through a network;

the output data is sent to the user terminal for output through the network at the server end;

displaying the target node relevant state, the anchor node relevant state and/or the navigation instruction execution state by adopting a human-computer interaction interface at the server side;

acquiring input data at a server by adopting a human-computer interaction interface;

and receiving the login of a remote client to the man-machine interaction interface by establishing communication at the server side by adopting a TCP/IP protocol. .

Optionally, the input data is specifically video data of a wireless video device received at the server end through a network, and the wireless video device and the target node are located at the same user terminal.

Optionally, any one or a combination of the following is also included:

receiving the sensing data of the temperature sensor at the server end, judging whether the sensing data of the temperature sensor exceeds a preset threshold value at the server end, and if so, sending alarm information to the user terminal from the server end through a network;

receiving alarm information sent by any terminal at a server end through a network, and sending the alarm information to the user terminal by the server end through the network;

and recording a special mark on the anchor node at the construction position at the server, and sending alarm information to the user terminal from the server through the network when the distance between the exact position of the target node and the position of the anchor node recorded with the special mark is less than a preset range.

The invention also provides a navigation device based on wireless sensor network node positioning, which comprises:

a positioning unit: the method for positioning the wireless sensor network node is used for obtaining the exact position of the target node;

a navigation unit: for executing navigation instructions based on the exact location of the target node.

Optionally, the positioning unit: the method is particularly used for receiving a beacon signal from a target node at a server end, and obtaining the exact position of the target node by applying the method for positioning the wireless sensor network node, wherein the target node is particularly arranged at a user terminal;

the navigation unit: the method is particularly used for executing the navigation instruction at the server end according to the exact position of the target node.

Optionally, the apparatus further comprises:

an ultrasonic detection unit: the system comprises a server side, a target node and an ultrasonic sensor, wherein the server side is used for receiving sensing data of the ultrasonic sensor, and the ultrasonic sensor and the target node are arranged in the same user terminal;

an acceleration detection unit: the system comprises a server side, a target node, a three-axis acceleration sensor, a terminal and a trip alarm message, wherein the server side is used for receiving induction data of the three-axis acceleration sensor, the three-axis acceleration sensor and the target node are arranged in the same user terminal, the server side analyzes the induction data, and if three axial data fluctuation values of the induction data exceed a threshold value, the trip alarm message is returned to the terminal preset by the server side;

an input unit: the system comprises a server terminal, a user terminal and a network, wherein the server terminal is used for receiving input data received by input equipment of the user terminal through the network;

an output unit: the data processing system is used for sending output data to a user terminal for output through a network at a server side;

an alarm unit: for use in any one or combination of the following: receiving the sensing data of the temperature sensor at the server end, judging whether the sensing data of the temperature sensor exceeds a preset threshold value at the server end, and if so, sending alarm information to the user terminal from the server end through a network; or, receiving alarm information sent by any terminal at the server end through a network, and sending the alarm information to the user terminal by the server end through the network; or, recording a special mark on the anchor node at the construction position at the server end, and sending alarm information to the user terminal by the server end through the network when the distance between the exact position of the target node and the position of the anchor node recorded with the special mark is smaller than a preset range;

an interface display unit: the system comprises a server end, a target node and an anchor node, wherein the server end is used for displaying a target node related state, an anchor node related state and/or a navigation instruction execution state by adopting a human-computer interaction interface; and/or, acquiring input data at a server end by adopting a human-computer interaction interface;

a remote login unit: the system is used for establishing communication by adopting a TCP/IP protocol at the server end and receiving login of a remote client to the man-machine interaction interface.

The invention also provides a navigation system based on wireless sensor network node positioning, which comprises:

the target node: the navigation device is used for sending a beacon signal to the navigation device based on the wireless sensor network node positioning;

an anchor node: the navigation device is used for sending a beacon signal to the navigation device based on the wireless sensor network node positioning;

a navigation device based on wireless sensor network node positioning: the method for positioning the wireless sensor network node is used for obtaining the exact position of the target node, and executing navigation instructions according to the exact position of the target node.

Optionally, the target node is specifically configured to be placed in a user terminal;

the navigation device based on wireless sensor network node positioning comprises: the method is particularly used for obtaining the exact position of the target node by applying the method for positioning the wireless sensor network node at the server side, and executing the navigation instruction according to the exact position of the target node.

Optionally, the system further comprises:

an ultrasonic sensor: the system is used for sending ultrasonic feedback induction data, and is specifically arranged in the same user terminal with the target node;

three-axis acceleration sensor: the system is used for sending acceleration sensing data and is specifically arranged in the same user terminal with the target node;

an input device: the system is used for inputting input data, and is specifically arranged in the same user terminal with a target node;

an output device: the system is used for outputting output data, and is specifically arranged in the same user terminal with a target node;

a gateway: the server side is used for establishing communication by adopting a TCP/IP protocol;

the navigation device based on wireless sensor network node positioning comprises: the system is also used for receiving the induction data of the ultrasonic sensor at the server end, analyzing the induction data, returning obstacle alarm information if the induction data is judged to be induced to an obstacle, receiving the induction data of the triaxial acceleration sensor at the server end, analyzing the induction data, returning tumble alarm information if the fluctuation of three axial data of the induction data exceeds a threshold value, receiving the input data received by an input device of the user terminal at the server end through a network, outputting the output data to an output device of the user terminal at the server end through the network, and displaying the target node related state, the anchor node related state and/or the navigation instruction execution state by adopting a human-computer interaction interface at the server end; and/or, acquiring input data by adopting a human-computer interaction interface at a server side, establishing communication by adopting a TCP/IP protocol at the server side through a gateway, and receiving login from a remote client to the human-computer interaction interface.

Therefore, the invention has the following beneficial effects:

when the target node is positioned, firstly, the initial region of the target node is preliminarily determined by adopting a non-distance centroid positioning algorithm, and the anchor node which induces the target node in the initial region is determined by reading the change of the induction signal of the anchor node, so that the positioning range of the target node is reduced, and the aim of further accurately positioning the target node is fulfilled;

in addition, the invention combines the wireless sensor network node positioning method and applies the method to the navigation method, so that the navigation method realized by the invention has higher precision.

Drawings

FIG. 1 is a flow chart of a method for positioning a wireless sensor network node according to the present invention;

FIG. 2 is a schematic diagram of a target node and an anchor node in an application environment of the present invention;

FIG. 3 is a block diagram of an apparatus for locating a wireless sensor network node according to the present invention;

FIG. 4 is a flowchart of a navigation method based on wireless sensor network node positioning according to the present invention;

FIG. 5 is a diagram of a UE according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of an input device in one embodiment of the invention;

FIG. 7 is a block diagram of an embodiment of a navigation device based on wireless sensor network node location;

FIG. 8 is a schematic diagram of a navigation device based on wireless sensor network node location according to another embodiment of the present invention;

FIG. 9 is a block diagram of an embodiment of a navigation system based on wireless sensor network node location according to the present invention;

fig. 10 is a block diagram of a navigation system based on wireless sensor network node location according to another embodiment of the present invention.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

Referring to fig. 1, a flowchart of a method for locating a wireless sensor network node according to the present invention is shown, where the method includes:

s101, determining the position of an anchor node by receiving a beacon signal of a target node;

s102, taking a region surrounded by a polygon formed by the positions of the anchor nodes as an initial region where the target node is located;

s103, reading the induction signal of the anchor node, wherein the induction signal of the anchor node changes when a target node carrying an induction source appears in the induction range of the anchor node;

for example, in order to meet the requirement of blind navigation, the positioning accuracy needs to reach the centimeter level, the anchor node may be implemented by using a hall sensor and a peripheral circuit, the hall sensor is a sensor manufactured by using the hall effect of a semiconductor material, and can convert a changing magnetic field signal into a digital voltage to be output, and the sensing distance of the hall sensor is less than 5cm, so that the hall sensor is suitable for being used in blind navigation applications.

S104, judging the position of the induced anchor node according to the change of the induction signal of the anchor node;

for example, as for the anchor node implemented by using the hall sensor in the above embodiment, when the target node carrying the magnetic component reaches the sensing range of the anchor node, the anchor node can generate a varying voltage, and the variation of the sensing signal in this step may specifically be a variation of a voltage signal.

And S105, determining the position of the anchor node in which the target node is induced in the initial region as the exact position of the target node.

For example, as shown in fig. 2, 20 anchor nodes are deployed in a certain environment, and first, by receiving a beacon signal of the target node 201, it is determined that the positions of the anchor nodes are the positions of the anchor nodes 202 to 206, accordingly, the initial region of the target node 201 is a region within a polygon 207 formed by the anchor nodes 202 to 206, and the sensed positions of the anchor nodes are the anchor nodes 204, 208, and 209, it can be determined that the exact position of the target node 201 is the position of the anchor node 204.

Therefore, by applying the embodiment of the invention, the initial region of the target node is initially determined by adopting the non-distance centroid location algorithm, and the anchor node which senses the target node in the initial region is determined by reading the change of the sensing signal of the anchor node, so that the location range of the target node is reduced, and the exact position of the target node is further accurate.

In another preferred embodiment of the present invention, the ID of the target node may also be determined by receiving a beacon signal of the target node;

In the method of the preferred embodiment, the target node and the initial region where the target node is located are further identified by the ID of the target node, and the exact location of the target node identified by the ID is determined according to the location of the anchor node where sensing occurs in the initial region of the target node identified by the ID, so that multiple target nodes in the same environment can be located.

Referring to fig. 3, a block diagram of an apparatus for locating a wireless sensor network node according to the present invention is shown, where the apparatus includes:

initial region calculating unit 301: the method comprises the steps that the position of an anchor node is determined by receiving a beacon signal of a target node, and a region surrounded by a polygon formed by the positions of the anchor node is used as an initial region where the target node is located;

the exact position calculation unit 302: the sensing signal of the anchor node is used for reading the sensing signal of the anchor node, wherein the sensing signal of the anchor node changes when a target node carrying a sensing source appears in the sensing range of the anchor node, the position of the sensed anchor node is judged according to the change of the sensing signal of the anchor node, and the position of the sensed anchor node in the initial area of the target node is determined as the exact position of the target node.

Referring to fig. 4, a flowchart of a navigation method based on wireless sensor network node positioning is provided in the present invention, as shown in the figure, the method includes:

s401, obtaining the exact position of a target node by applying the method for positioning the wireless sensor network node;

and S402, executing a navigation instruction according to the exact position of the target node.

In the following, the following embodiments are given in detail for the practical need of navigation:

in the first embodiment, if the actual need of navigation is to play audio and/or video data corresponding to the exact position of the target node, or to perform navigation related to the destination position, the step S402 may be implemented by performing a navigation instruction according to the exact position of the target node, and may be implemented by any one or a combination of the following:

or,

inquiring the path information reaching the destination position according to the exact position of the target node, and returning the path information;

The embodiment can be applied to navigation of application scenes such as an exhibition hall, for example, a large number of anchor nodes can be arranged in the exhibition hall in advance, and when a user carries a user terminal device with a built-in target node to move in the exhibition hall, the audio and/or video data corresponding to the user is played to correspondingly introduce the exhibit at the position along with the change of the exact position of the user, so that the purpose of navigation of the exhibition hall is achieved.

For another example, when the invention is specifically implemented to the indoor navigation of the blind, a large number of anchor nodes can be laid in the indoor environment, the target node is arranged in a walking stick carried by the blind, when the blind moves in the indoor environment, the exact position of the blind can be obtained according to the exact position of the target node, the destination position can be obtained by any method such as blind real-time key input or preset, the path information reaching the destination position can be inquired according to the exact position of the blind, a related database or a topological graph formed by the laid anchor node positions, the optimal path can be specifically selected by adopting a Dijkstla algorithm, after the path reaching the destination position is inquired, the path information can be returned to the blind in an audio form in the form of audio data through a sound output device such as an earphone, wherein the path information can be specifically the relative position of each anchor node in the path relative to the target node, therefore, by applying the method of the embodiment, after the exact position of the target node is determined, the navigation instruction can be further executed according to the exact position to provide more accurate navigation information.

(embodiment two) for the need for obstacle detection in the blind navigation application scenario, the method may further comprise:

receiving sensing data of an ultrasonic sensor, wherein the ultrasonic sensor and a target node are arranged in the same user terminal;

and analyzing the sensing data, and returning obstacle alarm information if the sensing data judges that the obstacle is sensed.

For example, the specific implementation that the ultrasonic sensor and the target node are disposed in the same user terminal may be: as shown in fig. 5, the user terminal includes a cane 501 and an ultrasonic sensor 502, the ultrasonic sensor 502 is disposed on the cane 501, and the target node may be the ultrasonic sensor 502 or may be another sensor on the cane 501.

The receiving of the sensing data of the ultrasonic sensor may be specifically uninterrupted loop reception, the analyzing of the sensing data may be correspondingly uninterrupted loop analysis, and the analyzing of the sensing data may be specifically analyzing whether a detection distance of the sensing data is smaller than a minimum distance threshold value, if so, it is determined that a barrier is sensed, barrier alarm information is returned, and the returning of the barrier alarm information may be specifically a control instruction for causing a buzzer to alarm.

(embodiment three) aiming at the alarm requirement of the blind navigation application scene on the emergencies such as falling and the like, the method can also comprise the following steps:

receiving sensing data of a three-axis acceleration sensor, wherein the three-axis acceleration sensor and a target node are arranged in the same user terminal;

and analyzing the induction data, and returning fall alarm information if the three axial data fluctuations of the induction data exceed a threshold value.

For example, the specific implementation that the three-axis acceleration sensor and the target node are disposed in the same user terminal may be: as shown in fig. 5, the user terminal includes a walking stick 501 and a three-axis acceleration sensor 503, the three-axis acceleration sensor 503 is disposed on the walking stick 501, and the target node may be the three-axis acceleration sensor 503 or may be another sensor on the walking stick 501.

(embodiment four) in view of the above need for information interaction in each of the navigation application scenarios, the method may further comprise:

For example, the input device and the target node are disposed in the same user terminal, as shown in fig. 5, the user terminal includes a walking stick 501, a handheld input device 504 and an acceleration sensor 503, and the target node may be the three-axis acceleration sensor 503, or may be other sensors on the walking stick 501.

The input device may specifically include a handheld input device as shown in fig. 6, which includes a key panel 601, a current sensor 602, and a power supply 603, and when different keys of the key panel 601 of the input device are pressed, different current values are generated by the peripheral circuit correspondingly, so that the input data may specifically correspond to the current values generated by the peripheral circuit one to one, for example: when the key 3 is pressed, the input data can be a destination position code, when the key 2 is pressed, the input data can be an emergency call for help, and the like, and the corresponding relation between different current values and the input data can be preset according to actual needs.

For example, in the above embodiment, querying a path to the destination location according to the exact location of the target node may specifically be queried when obtaining the input data containing the destination location, where the destination location may specifically be embodied in a destination location code.

For another example, the input device may specifically be an audio input device, and the input data may correspond to audio data input by the audio input device.

In combination with the practical requirement of blind navigation, the output device can be specifically an audio output device such as a wireless earphone, and wireless channels used by different user terminals are mutually independent.

It should be noted that the foregoing embodiments may be implemented only in the user terminal, and may also be implemented by the server terminal in cooperation with the user terminal through the network, so as to achieve the purposes of remote control and navigation, and have good expansion and interactivity, specifically, the following detailed description is provided for the method in which the server terminal cooperates with the user terminal through the network:

before step S401, a server receives a beacon signal from a target node, where the beacon signal of the target node includes a beacon signal content of an anchor node received by the target node, and the target node is specifically placed in a user terminal;

in step S401, specifically, the above method for positioning a wireless sensor network node is applied at a server to obtain an exact position of a target node;

in step 402, a navigation instruction is executed at the server according to the exact position of the target node.

Corresponding to the above (first embodiment): the specific implementation of step S402 may be any one or a combination of the following:

inquiring audio and/or video data corresponding to the exact position of the target node at the server end, and sending the audio and/or video data to the user terminal from the server end through a network to enable the user terminal to play the audio and/or video data;

or,

Corresponding to the above (example two): the method may further comprise:

receiving sensing data of an ultrasonic sensor at a server side, wherein the ultrasonic sensor and a target node are arranged in the same user terminal;

and analyzing the induction data at the server side, and if the induction data is judged to induce the obstacle, sending obstacle alarm information to the user terminal from the server side through the network.

Corresponding to the above (example three): the method may further comprise:

receiving sensing data of a triaxial acceleration sensor at a server side, wherein the triaxial acceleration sensor and a target node are arranged in the same user terminal;

and analyzing the induction data at the server side, and if the fluctuation of the three axial data of the induction data exceeds a threshold value, returning the tumbling alarm information to a preset terminal of the server side.

For example, the fall alarm information may specifically be audio data of a fall alarm, the terminal preset at the server may be an audio device at the server, and the returning of the fall alarm information to the terminal preset at the server specifically is returning the audio data of the fall alarm to the audio device preset at the server and playing the audio data;

or,

the falling alarm information can be specifically a control instruction for controlling the alarm lamp to flicker, the terminal preset at the server end can be the alarm lamp connected with the server end, and the returning of the falling alarm information to the terminal preset at the server end is specifically the returning of the control instruction for controlling the alarm lamp to flicker to the alarm lamp connected at the server end;

or,

the falling alarm information can be specifically alarm words, the terminal preset by the server end can be a display terminal of the server end, and the falling alarm information is returned to the terminal preset by the server end and is specifically displayed on a human-computer interaction interface of the display terminal of the server end through the alarm words.

Corresponding to the above (example four):

further comprising:

and sending the output data to the user terminal for output through the network at the server side.

For example, the input data may be destination location information, and accordingly, the querying of the path to the destination location at the server end according to the location of the destination node may be specifically performed at the server end when the server end receives the input data including the destination location information, and the input data may also be a number of an emergency call for help, and accordingly, the server end may also dial the emergency call for help according to the destination number included in the input data.

For another example, the input data may specifically be video data of a wireless video device received at a server end through a network, where the wireless video device and a target node are located at the same user terminal, for example, a wireless video camera 505 shown in fig. 5, where the server and the wireless video device may be directly connected through a WI-FI wireless network or may be connected through a router, and after receiving the video data at the server end, the video data may be played in real time, or the video data may be stored in a storage space corresponding to the user terminal at the server end, and when receiving a play instruction, the video data is played.

For example, the output data may be input data received by the input device at the server side, for example, a voice input device is provided at the server side, and the administrator inputs voice data through the voice input device, and the voice data is transmitted from the server side to the corresponding user terminal through the network.

In addition, in order to improve the interactivity of navigation, a human-computer interaction interface may be used at the server to display the target node related state, the anchor node related state, and/or the navigation instruction execution state, and a human-computer interaction interface may be used at the server to obtain input data, specifically, for example, as shown in fig. 6, the exact position of the target node, the position of the anchor node, the navigation instruction content, and the result of the navigation instruction execution may all be displayed on the human-computer interaction interface, and in combination with the above embodiments, the working state, the video data, the alarm information, and the like of each sensor may also be displayed and queried on the interaction interface, and input data, such as the navigation instruction content, the audio data output to the user terminal, and the like, may also be obtained on the human-computer interaction interface.

In order to facilitate the real-time monitoring and manual assistance of a server-side administrator or blind family to the navigation, the invention also comprises the following steps: the method comprises the steps of establishing communication by adopting a TCP/IP protocol at a server side, receiving login from a remote client side to a human-computer interaction interface, and specifically: and judging whether the user name and the password of the remote client are correct or not, and accepting the login connection of the remote client under the condition that the user name and the password are correct.

In addition to the above embodiments, the server, in cooperation with the navigation of the user terminal through the network, may further implement functions such as real-time alarm, and specifically, for example, any one or a combination of the following may be included:

the first embodiment of the real-time alarm may be: receiving the sensing data of the temperature sensor at the server end, judging whether the sensing data of the temperature sensor exceeds a preset threshold value at the server end, and if so, sending alarm information to the user terminal from the server end through a network;

or,

the second embodiment of the real-time alarm may be: receiving alarm information sent by any terminal at a server end, and sending the alarm information to the user terminal through a network by the server end, specifically, for example, receiving the alarm information sent by a terminal where a fire alarm system is located at the server terminal, and sending the alarm information to the user terminal through the network;

or,

the third embodiment of the real-time alarm may be: and recording a special mark on the anchor node at the construction position at the server, and sending alarm information to the user terminal from the server through the network when the distance between the exact position of the target node and the position of the anchor node recorded with the special mark is less than a preset range.

The alarm information and the occurrence position thereof in the above embodiments may also be recorded in a server-side database, so that the alarm information and the occurrence position thereof serve as historical data to provide experience help for subsequent navigation, for example: the system comprises a server side database, a manager, a user terminal and a server side database, wherein the server side database records fall alarm information and the position where the fall alarm information occurs in the server side database, when the number of times of recording of the certain position fall alarm information exceeds a threshold value, the manager returns information that the position should be subjected to environment improvement and the like, or returns the position easy-fall alarm information to the user terminal to remind the user of paying attention to safety, and in addition, a path for escaping can be returned to the user terminal, specifically, for example:

corresponding to the first embodiment of real-time alarm, the relationship between the unique identifier of the temperature sensor and the position information thereof can be recorded at the server side in advance, and when the received sensing data of the temperature sensor exceeds a threshold value, the position information corresponding to the unique identifier of the temperature sensor is extracted as an alarm position;

corresponding to the second embodiment of real-time alarm, while receiving the alarm information sent by the terminal, the server can receive the position information sent by the terminal as the alarm position;

corresponding to the third specific implementation embodiment of the real-time alarm, taking the position of the anchor node marked with the special mark as an alarm position;

in combination with the three specific implementation embodiments of real-time alarm, the method further includes: according to a related database or a topological graph formed by the positions of the arranged anchor nodes, the path information which does not pass through the alarm position in the path information of the target node from the exact position to the destination position is inquired, and preferably, the path information which is farthest away from the alarm position in the path information of the target node from the exact position to the destination position can be inquired.

It should be noted that, for practical reasons, data transmission between the server and the user terminal in the foregoing embodiments may specifically adopt wireless network data transmission, for example, a wireless network adopting a ZigBee protocol.

Referring to fig. 7, a composition diagram of a navigation device based on wireless sensor network node positioning according to an embodiment of the present invention is shown:

the device includes:

a positioning unit 701: the method for positioning the wireless sensor network node is used for obtaining the exact position of the target node;

the navigation unit 702: for executing navigation instructions based on the exact location of the target node.

The apparatus may further include: the ultrasonic detection unit 703: the system comprises an ultrasonic sensor, a target node and a user terminal, and is used for receiving induction data of the ultrasonic sensor, analyzing the induction data by arranging the ultrasonic sensor and the target node in the same user terminal, and returning obstacle alarm information if judging that an obstacle is induced.

The apparatus may further include: acceleration detection unit 704: the system is used for receiving the sensing data of the triaxial acceleration sensor, the triaxial acceleration sensor and the target node are arranged in the same user terminal, the sensing data are analyzed, and if the fluctuation of three axial data of the sensing data exceeds a threshold value, the tumble alarm information is returned.

The apparatus may further include:

the input unit 705: the system comprises a target node and a user terminal, wherein the target node is used for receiving input data by utilizing an input device;

the output device 706: and the output device is used for outputting output data by utilizing an output device, and the output device and the target node are arranged in the same user terminal.

As shown in fig. 7, the apparatus may be implemented only in the user terminal, and in another preferred embodiment of the apparatus of the present invention, the apparatus may be implemented in cooperation with the user terminal at the server side, see fig. 8, which is a block diagram of another embodiment of a navigation apparatus based on wireless sensor network node location provided by the present invention, as shown in the following figures:

the positioning unit 801: the method is particularly used for receiving a beacon signal from a target node at a server end, and obtaining the exact position of the target node by applying the method for positioning the wireless sensor network node, wherein the target node is particularly arranged at a user terminal;

the navigation unit 802: the method is particularly used for executing the navigation instruction at the server end according to the exact position of the target node.

The apparatus may further include: the ultrasonic detection unit 803: the system comprises a server side, a target node and an ultrasonic sensor, wherein the server side is used for receiving sensing data of the ultrasonic sensor, and the ultrasonic sensor and the target node are arranged in the same user terminal;

the apparatus may further include: acceleration detection unit 804: the system comprises a server side, a three-axis acceleration sensor, a target node, a server side and a user terminal, wherein the server side is used for receiving sensing data of the three-axis acceleration sensor, the three-axis acceleration sensor and the target node are arranged in the same user terminal, the sensing data are analyzed at the server side, and if three axial data fluctuation values of the sensing data exceed a threshold value, falling alarm information is returned to a preset terminal of the server side.

The apparatus may further include:

the input unit 805: the system comprises a server terminal, a user terminal and a network, wherein the server terminal is used for receiving input data received by input equipment of the user terminal through the network;

the output unit 806: the output data is sent to the user terminal for output through the network at the server side.

The apparatus may further include:

the input unit 805: the method is particularly used for receiving video data of wireless video equipment of a user terminal at a server end through a network, wherein the wireless video equipment and a target node are arranged at the same user terminal.

The apparatus may further include:

the alarm unit 807: for use in any one or combination of the following: receiving the sensing data of the temperature sensor at the server end, judging whether the sensing data of the temperature sensor exceeds a preset threshold value at the server end, and if so, sending alarm information to the user terminal from the server end through a network; or, receiving alarm information sent by any terminal at the server end through a network, and sending the alarm information to the user terminal by the server end through the network; or, recording a special mark on the anchor node at the construction position at the server, and sending alarm information to the user terminal by the server through the network when the distance between the exact position of the target node and the position of the anchor node recorded with the special mark is smaller than a preset range.

The apparatus may further include:

an interface display unit 808: the system comprises a server end, a target node and an anchor node, wherein the server end is used for displaying a target node related state, an anchor node related state and/or a navigation instruction execution state by adopting a human-computer interaction interface; and/or, acquiring input data at the server by adopting a human-computer interaction interface.

The apparatus may further include:

the remote login unit 809: the system is used for establishing communication by adopting a TCP/IP protocol at the server end and receiving login of a remote client to the man-machine interaction interface.

Referring to fig. 9, a block diagram of an embodiment of a navigation system based on wireless sensor network node location according to the present invention is further provided, and as shown in the figure, the system includes:

the target node 901: the navigation device is used for sending a beacon signal to the navigation device based on the wireless sensor network node positioning;

the anchor node 902: the navigation device is used for sending a beacon signal to the navigation device based on the wireless sensor network node positioning;

a navigation device 903 based on wireless sensor network node positioning: the method for positioning the wireless sensor network node is used for obtaining the exact position of the target node, and executing navigation instructions according to the exact position of the target node.

The system may further comprise: the ultrasonic sensor 904: the system is used for sending ultrasonic feedback induction data and is specifically arranged in the same user terminal with the target node 901;

the navigation device 903 based on wireless sensor network node positioning: and also for receiving the sensing data of the ultrasonic sensor 904, analyzing the sensing data, and returning obstacle alarm information if it is determined that an obstacle is sensed.

The system may further comprise: three-axis acceleration sensor 905: the node is used for sending acceleration sensing data, and is specifically arranged in the same user terminal with the target node 901;

the navigation device 903 based on wireless sensor network node positioning: and the system is also used for receiving the induction data of the triaxial acceleration sensor 905, analyzing the induction data, and returning fall alarm information if the fluctuation of the three axial data of the induction data exceeds a threshold value.

The system may further comprise: input device 906: the node is used for inputting input data, and is specifically arranged in the same user terminal as the target node 901; output device 907: for outputting output data, specifically to be placed in the same user terminal as the target node 901.

The navigation device 903 based on wireless sensor network node positioning: and for receiving input data using the input device 906 and for outputting output data using the output device 907.

As shown in fig. 9, the system can be implemented only in the user terminal, and in another preferred embodiment of the system of the present invention, the system can be implemented in cooperation with the user terminal at the server side, see fig. 10, which is a block diagram of another embodiment of the navigation system based on wireless sensor network node location provided by the present invention, and as shown in the figure, the system includes:

the target node 1001: the navigation device is used for sending a beacon signal to the navigation device based on the positioning of the wireless sensor network node, and is particularly arranged at a user terminal;

the anchor node 1002: the navigation device is used for sending a beacon signal to the navigation device based on the wireless sensor network node positioning;

a navigation device 1003 based on wireless sensor network node positioning: the method for positioning the wireless sensor network node is applied to the server side to obtain the exact position of the target node, and the navigation instruction is executed according to the exact position of the target node.

The system may further comprise: the ultrasonic sensor 1004: the system is used for sending ultrasonic feedback induction data and is specifically arranged in the same user terminal with the target node 1001;

the navigation device 1003 based on wireless sensor network node positioning: and the system is also used for receiving the sensing data of the ultrasonic sensor 1004 at the server end, analyzing the sensing data, and returning obstacle alarm information if the sensing data is judged to sense an obstacle.

The system may further comprise: three-axis acceleration sensor 1005: the node is used for sending acceleration sensing data and is specifically arranged in the same user terminal with the target node 1001;

the navigation device 1003 based on wireless sensor network node positioning: and the system is also used for receiving the sensing data of the three-axis acceleration sensor 1005, analyzing the sensing data, and returning fall alarm information if the fluctuation of the three axial data of the sensing data exceeds a threshold value.

The system may further comprise: the input device 1006: for inputting input data, specifically placed in the same user terminal as the target node 1001; output device 1007: for outputting output data, in particular in the same user terminal as the target node 1001.

The navigation device 1003 based on wireless sensor network node positioning: and is further configured to receive, at the server side, input data received by the input device 1006 of the user terminal via the network, and to output, at the server side, output data to the output device 1007 of the user terminal via the network.

The input devices 1006 of the system may specifically include a wireless video device 1008: the navigation device 1003 is used for sending video data to the navigation device based on the wireless sensor network node positioning through a network, and is specifically arranged in the same user terminal with the target node 1001;

the navigation device 1003 based on wireless sensor network node positioning: specifically for receiving video data of the wireless video device 1008 of the user terminal at the server side over the network.

The system server side can also comprise: display device 1009: the system is used for displaying a human-computer interaction interface;

the navigation device 1003 based on wireless sensor network node positioning: the system is particularly used for displaying the target node related state, the anchor node related state and/or the navigation instruction execution state on the server by adopting a human-computer interaction interface; and/or, acquiring input data at the server by adopting a human-computer interaction interface.

The system may further comprise: the gateway 1010: the server side is used for establishing communication by adopting a TCP/IP protocol;

the navigation device 1003 based on wireless sensor network node positioning: and the gateway 1010 is used for establishing communication at the server end by adopting a TCP/IP protocol and receiving the login of a remote client to the man-machine interaction interface.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims

1. A method for wireless sensor network node location, comprising:

judging the position of the anchor node which is induced in the initial region according to the change of the induction signal of the anchor node;

2. The method of claim 1, further comprising: determining an ID of a target node by receiving a beacon signal of the target node;

3. An apparatus for wireless sensor network node location, comprising:

an exact position calculation unit: the sensing signal of the anchor node is used for reading the sensing signal of the anchor node, wherein the sensing signal of the anchor node changes when a target node carrying a sensing source appears in the sensing range of the anchor node, the position of the anchor node sensing in the initial region is judged according to the change of the sensing signal of the anchor node, and the position of the anchor node sensing in the initial region where the target node is located is determined as the exact position of the target node.

4. A navigation method based on wireless sensor network node positioning is characterized by comprising the following steps:

obtaining the exact position of the target node by applying the method for positioning the wireless sensor network node as claimed in claim 1 or 2;

5. The method according to claim 4, wherein the executing of the navigation instruction according to the exact location of the target node is specifically any one or a combination of the following:

or,

6. The method of claim 4, further comprising:

7. The method of claim 4,

before obtaining the exact location of the target node by applying the method for positioning a wireless sensor network node according to claim 1 or 2, the method further includes receiving a beacon signal from the target node at the server, where the beacon signal of the target node includes the beacon signal content of the anchor node received by the target node, and the target node is specifically located at the user terminal;

the method for obtaining the target node exact position by using the wireless sensor network node positioning according to claim 1 or 2 is specifically to obtain the target node exact position by using the method for obtaining the wireless sensor network node positioning according to claim 1 or 2 at a server side;

the executing the navigation instruction according to the exact position of the target node is specifically that the navigation instruction is executed at the server end according to the exact position of the target node.

8. The method according to claim 7, wherein the executing of the navigation instruction at the server end according to the exact location of the target node is specifically any one or a combination of the following:

or,

9. The method of claim 7, further comprising:

receiving sensing data of an ultrasonic sensor at a server end, wherein the ultrasonic sensor and a target node are arranged in the same user terminal, analyzing the sensing data at the server end, and if sensing obstacles are judged, transmitting obstacle alarm information to the user terminal from the server end through a network;

and receiving the login of a remote client to the man-machine interaction interface by establishing communication at the server side by adopting a TCP/IP protocol.

10. The method according to claim 9, wherein the input data is specifically video data of a wireless video device received at the server side via a network, and the wireless video device is located at the same user terminal as the target node.

11. The method of claim 7, further comprising any one or a combination of:

or,

12. A navigation device based on wireless sensor network node positioning, comprising:

a positioning unit: obtaining the exact position of a target node by applying the method for positioning a wireless sensor network node as claimed in claim 1 or 2;

13. The apparatus of claim 12, wherein the positioning unit: specifically for receiving a beacon signal from a target node at a server, obtaining an exact location of the target node by applying the method for positioning a wireless sensor network node according to claim 1 or 2, wherein the target node is specifically placed in a user terminal;

14. The apparatus of claim 13, further comprising:

15. A navigation system based on wireless sensor network node location, comprising:

the target node: for transmitting beacon signals to a wireless sensor network node location based navigation device according to any of claims 12-14;

an anchor node: for transmitting beacon signals to a wireless sensor network node location based navigation device according to any of claims 12-14;

a navigation device based on wireless sensor network node localization as claimed in any of the claims 12-14: the method for positioning the wireless sensor network node according to claim 1 or 2 is used for obtaining the exact position of the target node, and executing the navigation instruction according to the exact position of the target node.

16. The system of claim 15, wherein the target node: the method comprises the steps of specifically arranging the mobile terminal in a user terminal;

the navigation device based on wireless sensor network node positioning comprises: in particular for applying the method for positioning a wireless sensor network node according to claim 1 or 2 at a server side to obtain the exact position of the target node, and executing a navigation instruction according to the exact position of the target node.

17. The system of claim 16, further comprising: