CN103428275A - Indoor object activity routine tracking method based on WSN - Google Patents
Indoor object activity routine tracking method based on WSN Download PDFInfo
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Abstract
The invention provides an indoor object activity routine tracking method based on WSN. The indoor object activity routine tracking method includes: distributing gateway nodes and beacon nodes indoor, and distributing moving nodes in moving objects to enable the moving objects to move along with the moving nodes; enabling the moving nodes to receive known beacon node information and update the information to a gateway through a Zigbee network, enabling the gateway to control an upper computer to calculate the positions of the moving objects through a moving self-adaption positioning algorithm based on TODA positioning so as to finish initial positioning; achieving matching rectification of the initial positioning and storing the corrected positioning coordinates into a space database; converting the positioning coordinate information into corresponding position information on a vector map through a vector map visual module and displaying the positioning information. The indoor object activity routine tracking method can improve node positioning accuracy and save consumption of positioning energy by ensuring positioning errors, prolongs service life of the whole wireless sensing network and meanwhile can provide indoor moving historical track replaying.
Description
Technical field
The present invention relates to the location technology application of indoor GIS, in particular to a kind of indoor moving goal activity route tracking method based on WSN.
Background technology
GIS-Geographic Information System relies on the data management function of its science, powerful spatial analysis capacity and outstanding data visualization expression effect, in the society economic development, plays a part very important.Its main focus is to study epigeosphere all kinds of entities and the phenomenon in geographical space in whole or in part, and this mainstream technology that has reflected current GIS is based on relatively large space scale mostly, Geographic Variable along with the time, void relation exists significant change.Yet universal along with the wisdom concept, people for the requirement of locus, optimum analysis, intelligent management will by outdoor extend to indoor.According to investigations, population in the world accounts for 90% left and right in indoor average time, and as the American, in the outdoor time only approximately 13%, this also reflects the necessity of indoor GIS research from the side.Especially under the background of urbanization process aggravation, the interior space more sophisticated that becomes, people have had larger navigation, analysis, emergent demand to the interior space, therefore more and more study round expansion such as indoor geospatial database, interior space analytical model and indoor positioning technology.
The system that GIS is comprised of multiple technologies, comprising data acquisition technology, modern communication technology, Computer Network Project technology, software engineering technology, virtual reality and emulation technology, information security technology, the cyberspace information transmission technology etc.Indoor GIS is similar for requirement and the GIS of hardware and software, therefore the technology related to also contains foregoing, but the otherness due to indoor GIS and GIS geographic factor, both have relatively big difference on location technology, in GIS, use the GPS localization method full-fledged, and the space orientation of indoor GIS is also in the exploratory stage.
In recent years, location technology for indoor GIS all becomes study hotspot at home and abroad, and wherein major technique has: wireless local area network technology (WLAN), Bluetooth technology (Bluetooth), infrared technique (Infrared Technology), super-broadband tech (UWB), ZigBee technology etc.
Wireless local area network technology can centralized work and coverage larger, only needs to add a small amount of equipment and just can drop into location on existing basis, but, in the situation that signal moves, its effect is not good enough.
Bluetooth technology is comparatively effective in short-range, and easily is integrated in the small type mobile devices such as mobile phone, but its equipment cost is high, and when signal is interfered, less stable.
Infrared technique is mainly by the tag recognition determinand on object, but infrared ray is subject to stopping of the barriers such as body of wall, and its effect is more undesirable.
Super-broadband tech, because temporal resolution is higher, can disturb by anti-multipath, and transmission speed is fast, and penetration power is stronger, has certain development prospect, but the cost of this technology is too high, makes at present and can't popularize.
ZigBee is a kind of emerging short distance, the low rate radio network technique under the WSN application scenarios, and it,, between radio-frequency (RF) identification and bluetooth, can be used for indoor positioning.It has the radio standard of oneself, and between thousands of small transducers, coordinating communication is located with realization mutually.These transducers only need energy seldom, by radio wave, data are passed to another transducer from a transducer in the mode of relay, so their communication efficiency is very high.The most significant technical characterstic of ZigBee is its low-power consumption and low cost.
ZigBee technology has following advantage: 1. power saving, and two joint No.5 cells can realize reaching the service time of 6 months to 2 years; 2. reliable, adopted collision-avoidance mechanism, simultaneously for to need the communication service of fixed-bandwidth to reserve dedicated time slot, competition and conflict while having avoided sending data, the function that there is the automatic dynamic networking between node module, information mode by automatic route in whole ZigBee-network is transmitted, thus the reliability of guarantee information transmission; 3. time delay is short, for delay sensitive should be used as optimization, communication delay and the time delay activated from resting state are all very short; 4. network capacity is large, can support nearly 65000 nodes; 5. safety, ZigBee provides data integrity inspection and authentication functions, and cryptographic algorithm adopts general AES-128.
Summary of the invention
The object of the invention is to provide a kind of indoor course of action tracing system and method based on WSN; can improve the precision of node locating; also can be in the situation that guarantee the consumption of position error saving locating energy; extend the life span of whole wireless sense network, the method for indoor action historical track playback is provided simultaneously.
For reaching above-mentioned purpose, the present invention proposes a kind of indoor course of action method for tracing based on WSN, comprises the following steps:
At indoor layout gateway node, beaconing nodes, arrange that in moving target mobile node makes mobile node with the moving target synchronizing moving, wherein: gateway node is for networking and the local area network communication of ZigBee-network, beaconing nodes for the known coordinate of mark and accordingly for the mobile node location provide reference, position fix and coordinate known;
Mobile node will receive the information of known beaconing nodes, by ZigBee-network, upload to gateway, then pay host computer by gateway and calculate this positions of mobile nodes by the moveable self-adaption location algorithm based on the TDOA location, complete Primary Location;
The map match correcting algorithm of utilization based on indoor path topology structure and azimuth information, in conjunction with the indoor map space database built, realized the coupling correction of Primary Location and will proofread and correct the rear elements of a fix depositing in spatial database; And
Read the indoor geography information in spatial database, by the map vector visualization model, elements of a fix information is converted to positional information corresponding on map vector and shows.
Further, aforementioned TDOA algorithm obtains the time difference of many group TDOA according to the time of arrival (toa) of beaconing nodes in twos, convert thereof into two beacons the distance poor, to set up the Hyperbolic Equation group about node location coordinate to be measured, adopt Chan algorithm, least square method (LS) and weighted least-squares method (WLS) to solve the Hyperbolic Equation group and obtain the unknown node coordinate, then use the weighted mass center algorithm to position to the positioning result of Chan algorithm, least square method and weighted least square algorithm.
Further, in aforementioned Primary Location step, at first all beaconing nodes and mobile node are carried out to classification according to hierarchical structure, then each node and upper level node carries out time synchronized, final all nodes all with the root node time synchronized, adopt the TDOA algorithm to carry out Primary Location, the time difference of utilizing signal wave to arrive two base stations positions operation again, and the moveable self-adaption location algorithm comprises the following steps:
1) utilize the motion model of mobile node to obtain an estimated value;
2) beaconing nodes receives signal wave, and computing time is poor;
3) if having three beaconing nodes in node communication scope to be measured at least, by Chan algorithm, least-squares algorithm, weighted least square algorithm, calculate respectively estimated value, then be weighted centroid algorithm and result is stored in the Target Coordinate Data storehouse;
4), if only have two beaconing nodes, by motion model equation and two time difference equation solutions that beaconing nodes obtains, choose the solution nearer with estimated position and result is stored in the Target Coordinate Data storehouse;
5) if only have a beaconing nodes or do not have beaconing nodes to locate, the motion model predicted position is stored in the Target Coordinate Data storehouse as the present node position and by result; And
6) after in abovementioned steps 3,4 and 5, any one completes, upgrade the motion model of mobile node, comprise present node speed, movement direction angle, according to calculating to obtain error, adjust and carry out location.
Further, the zone definitions around initial alignment point is the location screening area, in aforementioned map coupling aligning step, comprises the following steps:
1) set up and communicate by letter with ZigBee-network, accept the Primary Location information of mobile node;
2) judge that whether the Primary Location result data is abnormal, if mobile node because the beaconing nodes number can't complete not self poisoning and cause data exception, judges that whether current track route is determined, carries out linear interpolation and obtains current locating information;
3), if the positioning result data are normal, judge that whether current track route is determined, skips to following the 4th step if definite, otherwise skips to following the 5th step; Current moving target is walked on some highway sections, utilize the continuity of walking, and there is no other highway section nodes in the certain distance scope of current location yet, just can directly positioning result be matched on the highway section of current walking, and there is no need to consider positioning result is matched on the highway section of and close proximity consistent with current highway section direction of travel;
4) obtain grid-positional information, grid-road section information, whether the judgement target enters in determinating area, wherein: grid-positional information comprises the span of horizontal stroke, ordinate, grid-road section information comprises the highway section of passing through grid regions, do not need the direct projection correction of determinating area if enter, otherwise judge whether be communicated with highway section is many, if not using this highway section as coupling highway section projection correction; Be many if be communicated with highway section, three factors of how much topological relations with reference to the current goal anchor point apart from angle, candidate road section and the last coupling highway section of the direction of projector distance, target run trace and the candidate road section of candidate road section, select the optimum Match highway section as coupling highway section projection correction, proofread and correct result and deposit in spatial database;
5) obtain grid-positional information, grid-road section information, wherein: grid-positional information comprises the span of horizontal stroke, ordinate, grid-road section information comprises the highway section of passing through grid regions, three factors of how much topological relations with reference to angle, candidate road section and the last coupling highway section of the direction of projector distance, target run trace and the candidate road section of current goal anchor point and candidate road section, select the optimum Match highway section as coupling highway section projection correction, proofread and correct result and deposit in spatial database.
Further, preserve the locating information of mobile node within a period of time in the aforesaid space database, during the historical track playback, the historical track point of storing in spatial database is converted to map vector and shows in conjunction with indoor geography information.
From the above technical solution of the present invention shows that; beneficial effect of the present invention is: with respect to location technology of the prior art; can improve the precision of node locating; also can be in the situation that guarantee that position error reduces location frequency; save the consumption of locating energy; extend the life span of whole wireless sense network, can provide goal activity trace playback more accurately simultaneously.
The accompanying drawing explanation
Fig. 1 is TDOA fixer network schematic layout pattern.
Fig. 2 is TDOA location algorithm schematic flow sheet.
Fig. 3 is moveable self-adaption location algorithm schematic flow sheet.
Fig. 4 is the map match correcting algorithm schematic flow sheet based on indoor path topology structure and azimuth information.
Fig. 5 arrives three kinds of situation schematic diagrames of the vertical point algorithm of straight line for point under the some matching mechanisms.
Fig. 6 is that indoor moving goal activity route tracking method is realized the principle Organization Chart.
Fig. 7 is ZigBee-network locating module Organization Chart.
Fig. 8 is the real-time display module Organization Charts of indoor positioning data.
The realization flow schematic diagram that Fig. 9 is indoor moving goal activity route tracking method.
Embodiment
In order more to understand technology contents of the present invention, especially exemplified by specific embodiment and coordinate appended graphic being described as follows.
As shown in Fig. 1-8, according to preferred embodiment of the present invention, indoor course of action method for tracing based on WSN, comprise the following steps: at indoor layout gateway node, beaconing nodes, arrange that in moving target mobile node makes mobile node with the moving target synchronizing moving, wherein: gateway node is for networking and the local area network communication of ZigBee-network, the coordinate that beaconing nodes is known for mark and accordingly for the mobile node location provide reference, position fix and coordinate known; Mobile node will receive the information of known beaconing nodes, by ZigBee-network, upload to gateway, then pay host computer by gateway and calculate this positions of mobile nodes by the moveable self-adaption location algorithm based on the TDOA location, complete Primary Location; The map match correcting algorithm of utilization based on indoor path topology structure and azimuth information, in conjunction with the indoor map space database built, realized the coupling correction of Primary Location and will proofread and correct the rear elements of a fix depositing in spatial database; And read the indoor geography information in spatial database, by the map vector visualization model, elements of a fix information is converted to positional information corresponding on map vector and shows.
In the present embodiment, the method that adopts the TDOA location technology to combine with motion model, the mobile node adaptation location algorithm, improve the Primary Location precision.On indoor simple and easy GIS basis, set up space coordinates, arrange three required category nodes in the navigation system based on ZigBee-network: gateway node, reference node (being beaconing nodes) and mobile node.
With reference to the TDOA fixer network layout shown in figure 1, wherein gateway node is the place that all nodal informations converge, it is also the control centre of all reference nodes and mobile node, be mainly used in networking and local area network communication, the information of reference node and mobile node of collecting is passed to computer, and this category node is powered by main power source; The coordinate that reference node is known for mark also provides reference as the mobile node location, and its position is fixed, and coordinate is known, and this category node is powered by main power source; Mobile node is movable, it is arranged in moving target, can moves arbitrarily in the zone of reference node encirclement, this category node adopts powered battery, save unnecessary external equipment, by ZigBee-network, locating information is uploaded to gateway, carry out the mobile node adaptation location algorithm by gateway payment host computer again and determine this positions of mobile nodes, carry out Primary Location.
With reference to the TDOA location algorithm flow process shown in figure 2-3 and moveable self-adaption location algorithm flow process, the TDOA algorithm obtains the time difference of many group TDOA according to the time of arrival (toa) of beaconing nodes in twos, convert thereof into two beacons the distance poor, to set up the Hyperbolic Equation group about node location coordinate to be measured, adopt the Chan algorithm, least square method (LS) and weighted least-squares method (WLS) solve the Hyperbolic Equation group and obtain the unknown node coordinate, again to the Chan algorithm, the positioning result of least square method and weighted least square algorithm is used the weighted mass center algorithm to position.
Moveable self-adaption location algorithm basic step as shown in Figure 3, due to the uncertainty of mobile node in actual applications, be difficult to the time of synchronizing moving node and beaconing nodes, adopt TDOA(time difference of arrival in this algorithm link, the time of advent is poor) location technology, it is to receive to such an extent that signal carries out related operation by two different base stations, obtains the time difference that signal wave arrives two base stations.Can solve like this error because between mobile node and beaconing nodes, the asynchronism(-nization) step causes.The TDOA location technology only needs the time synchronized between base station to get final product.
In the time synchronized implementation procedure, at first all beaconing nodes and mobile node are carried out to classification according to hierarchical structure, then each node and upper level node carries out time synchronized, final all nodes all with the root node time synchronized, and then adopting the TDOA algorithm to carry out Primary Location, the time difference of utilizing signal wave to arrive two base stations positions operation.The basic step that realizes clock synchronous is as follows:
At first, all beaconing nodes and mobile node are carried out to classification according to hierarchical structure, then each node and upper level node carries out time synchronized, final all nodes all with the root node time synchronized.Node between time synchronized be based on sender-recipient's synchronization mechanism.Setting each sensor node has only identification number ID, and internodal wireless communication link is two-way, by two-way message, realizes internodal time synchronized.Netinit carries out a clock synchronous operation, every the set time system, carries out a tranmitting data register synch command in network.
The first stage-the level discovery stage: after the TDOA fixer network is disposed, root node finds that by the broadcast rank dividing into groups to start level finds the stage, and rank is found ID and the rank that grouping comprises sending node.After the neighbor node of root node is received the grouping of root node transmission, the rank that the rank of oneself is set in grouping adds 1, is the 1st grade, sets up their rank, then broadcasts new rank and finds grouping, and the rank wherein comprised is 1.After node is received the broadcast packe of i level node, record sends the node ID of this broadcast packe, and the rank that oneself is set is (i+1), and the broadcast rank is set to the grouping of (i+1).This process continues, until each node in network is given a rank.Once node is set up the rank of oneself, just ignore any other rank and find, congested to prevent that network from producing inundation.
Second stage-synchronous phase: after hierarchical structure is set up, root node starts synchronous phase by synchronous grouping of airtime.After the 1st grade of node received this grouping, wait for respectively separately one section random time, by with root node, exchanging messages and be synchronized to root node.After the 2nd grade of node listens to exchanging messages of the 1st grade of node, retreat and wait for one section random time, and synchronizeed the 1st exchanging messages of other node of level of level discovery stage record with it.The purpose waited for a period of time is to guarantee the just initiation message exchange after the 1st grade of node time synchronously completes of the 2nd grade of node.Like this, each node is synchronizeed with hithermost even higher level of node in hierarchical structure, and final all nodes all are synchronized to root node.Complete nodal clock synchronous after, can carry out the TDOA positioning action.
In the present embodiment, in conjunction with Fig. 3-Fig. 4, the mobile node adaptation location algorithm realizes that principle is as follows:
1) motion mathematical model
Always can find enough little interval positioning time, the motion state that makes mobile node is relatively slowly to change within this time period, thus thinking of can being similar in interval positioning time, twice of front and back mobile node with linear uniform motion.So can obtain the estimated value of node location.
Suppose that the size in t (i) this mobile node movement velocity of the moment is v
T (i), direction is θ
T (i), position is (x
T (i), y
T (i)), to the time interval of the moment t (i+1) of execution location is Δ T next time
T (i), by above motion model, can predict the position (x obtained at t (i+1) moment mobile node
T (i+1), y
T (i+1)),
2) with reference to the mobile node adaptation location algorithm flow process shown in figure 3, its basic performing step is as follows:
1) utilize the motion model of mobile node to obtain an estimated value;
2) beaconing nodes receives signal wave, and computing time is poor;
3) if having three beaconing nodes in node communication scope to be measured at least, by Chan algorithm, least-squares algorithm, weighted least square algorithm, calculate respectively estimated value, then be weighted centroid algorithm and result is stored in the Target Coordinate Data storehouse;
4), if only have two beaconing nodes, by motion model equation and two time difference equation solutions that beaconing nodes obtains, choose the solution nearer with estimated position and result is stored in the Target Coordinate Data storehouse;
5) if only have a beaconing nodes or do not have beaconing nodes to locate, the motion model predicted position is stored in the Target Coordinate Data storehouse as the present node position and by result;
6) after in abovementioned steps 3,4 and 5, any one completes, upgrade the motion model of mobile node, comprise present node speed, movement direction angle, according to calculating to obtain error, adjust and carry out location.
In the present embodiment, the algorithm principle that map match is proofreaied and correct: the indoor map space database that utilizes the map match correcting algorithm combination based on indoor path topology structure and azimuth information to build, the target location that Primary Location is obtained or the movement locus coupling of comparing with the electronic chart path data, thereby find the path at target place, realize that the coupling of Primary Location is proofreaied and correct and the elements of a fix after proofreading and correct are deposited in spatial database.At first by the map grid, divide and grid primary election, extract grid-positional information, grid-road section information according to gridding information, consider how much topological relations of current goal anchor point apart from angular separation and candidate road section and the last coupling highway section of projector distance, target localization point run trace and the candidate road section of candidate road section, select final coupling highway section, determine and proofread and correct the rear elements of a fix and deposit in spatial database.
In conjunction with this algorithm principle and the indoor map space database built, improved the map-matching algorithm of outdoor positioning based on projection, the map match correcting algorithm designed based on indoor path topology structure and azimuth information is realized searching for all road section combinations at the location screening area, metric is asked for to run trace respectively in these highway sections, get the combination of maximum matching degree value as target current driving route, complete map match and proofread and correct.
As shown in Figure 4, the zone definitions around initial alignment point is the location screening area, in aforementioned map coupling aligning step, comprises the following steps:
1) server is set up and is communicated by letter with ZigBee-network by the RS232 serial port protocol, accepts the Primary Location information of mobile node;
2) judge that whether the Primary Location result data is abnormal, if mobile node because the beaconing nodes number can't complete not self poisoning and cause data exception, judges that whether current track route is determined, carries out linear interpolation and obtains current locating information;
3), if the positioning result data are normal, judge that whether current track route is determined, skips to following the 4th step if definite, otherwise skips to following the 5th step.
4) obtain grid-positional information, grid-road section information, whether the judgement target enters in determinating area, wherein: grid-positional information comprises the span of horizontal stroke, ordinate, grid-road section information comprises the highway section of passing through grid regions, do not need the direct projection correction of determinating area if enter, otherwise judge whether be communicated with highway section is many, if not using this highway section as coupling highway section projection correction; Be many if be communicated with highway section, three factors of how much topological relations with reference to the current goal anchor point apart from angle, candidate road section and the last coupling highway section of the direction of projector distance, target run trace and the candidate road section of candidate road section, select the optimum Match highway section as coupling highway section projection correction, proofread and correct result and deposit in spatial database.
5) obtain grid-positional information, grid-road section information, wherein: grid-positional information comprises the span of horizontal stroke, ordinate, grid-road section information comprises the highway section of passing through grid regions, three factors of how much topological relations with reference to angle, candidate road section and the last coupling highway section of the direction of projector distance, target run trace and the candidate road section of current goal anchor point and candidate road section, select the optimum Match highway section as coupling highway section projection correction, proofread and correct result and deposit in spatial database.
The algorithm that map match is proofreaied and correct is in accordance with following rule:
1) discussion of complex situations;
A) reference factor of method is determined in the coupling highway section of crossing
I. set up a judging area at Nodes, determine according to the variation tendency of a series of matched positions in front and angle;
Ii. the angle of the direction of target driving trace and candidate road section.
2) in the realization of map-matching algorithm, need a minute multiple situation to process respectively:
A) (calculating matching degree, when matching degree is greater than threshold value, as matching result) processed in the road search.
B) near the processing (need to strengthen crosspoint, indoor highway section, the processing while turning) of turning round.
C) stop or low speed (detect the movement of moving target position, prevent that the data drift from causing the mistake coupling);
D) framing signal receives bad.
In the present embodiment, the theoretical foundation of algorithm for design is as follows:
A) screening area
Zone around initial alignment point is screening area, and the size of screening area is not fixed.
B) connection in highway section with intersect
If one certain end points in highway section is on another highway section, these two highway sections connect, if there is a common point in two highway sections, and this common point is not their end points of any one, intersect during this two highway sections.
C) arrive the distance in highway section
Point to the distance definition in highway section is: as fruit dot, to being projected on highway section of place, highway section straight line, be length of perpendicular; Otherwise be its beeline to two end points.Put the distance definition in highway section for putting the beeline of all straightways on highway section.
D) coupling
The concrete mechanism of some coupling is: find the running section of current goal, then with a vertical point algorithm to straight line, calculate the match point be positioned on this highway section.
If P0 is original anchor point, the route of target travel is Pi-Pj, and the end points that Pi, Pj are highway section, in the situation that do not consider the highway section width, is done vertical line from P0 to highway section, and Pf is intersection point so, and d is that original point is to the distance between match point.
Shown in figure 5, in three kinds of situations:
I. intersection point is on the reverse extending line of PiPj, and Pi is as final match point.
Ii. intersection point is on PiPj, and Pf is as final match point.
Iii. intersection point is on the extended line of PiPj, and Pj is as final match point.
E) Curve Matching
If a curve is done to cutting apart of any amount arbitrary proportion, cut-point all drops on another curve, and two lines strictly mate.The Curve Matching technology, calculate exactly relatively uniform a certain quantity cut-point on a curve to the mean value of the distance on a reference curve as it average distance to reference curve, the metric good and bad as coupling using the inverse of two curve average distances.
With reference to the real-time display module framework of the indoor positioning data shown in figure 8, read the indoor geography information in spatial database, by the map vector visualization model, elements of a fix information is converted to positional information corresponding on map vector and shows.When the locating information that reads mobile node from spatial database sends to display module, the elements of a fix are converted to positional information corresponding on map vector and show.Through location and correction after a while, preserved the locating information of certain node a period of time in spatial database, during the historical track playback, the historical track point of storing in database is converted to map vector and shows in conjunction with indoor geography information.
In the present embodiment, locating and displaying adopts the Eagle-eye Map technology, can when browsing map, help location and navigation fast.What the hawkeye map showed is the view picture map after dwindling, and utilizes Eagle-eye Map, can be switched to fast another zone to the zone of browsing in front view, also can clearly know the part shown in current main window, the position in the view picture map.A rectangle frame is arranged in the hawkeye map, and the zone that frame goes out is the zone that the view picture map shows in main window.By dragging this rectangle frame, place it in the optional position in the hawkeye map, the map area after amplifying in master view window meeting simultaneous display rectangular area; When the map area shown in master view window changes, the rectangle frame in the hawkeye map is together with the whole size of step and position, thereby realized location and the navigation feature of Eagle-eye Map.
Realize the realization flow of the indoor moving goal activity route tracking method shown in principle Organization Chart and Fig. 9 with reference to the indoor moving goal activity route tracking method shown in figure 6, the whole system framework is as follows:
(1) sensor network module
The sensor network module is comprised of three submodules: data acquisition, ZigBee-network, engine of positioning middleware.
1) data acquisition
Gather the position data of moving target by transducer, by ZigBee-network to the engine of positioning middleware.
2) ZigBee-network
The data upload of being responsible for gathering is to the engine of positioning middleware.
3) engine of positioning middleware
Be responsible for the locator data that will gather, the centroid algorithm of improve by weighting, calculate the logical coordinates of object, and the knot map-matching algorithm, correct the logical coordinates of orienting, and the coordinate friendship after this is corrected is processed to upper strata.
(2) Data access module
Data access module is by two sub-module compositions:
1) database
The data such as store location coordinate, geography information.
2) data, services
Provide the access of database, as the operations such as increasing, delete, change, look into to database.
(3) geography information module
The rectification Coordinate Conversion of being responsible for the engine of positioning middleware is calculated becomes geographical position, and shows the physical location of object on map.
(4) expanding system service interface sublayer
Expanding system service interface sublayer is responsible for different data-interfaces is integrated to encapsulation, realizes unified application data port.
(5) service logic is controlled sublayer
Service logic is controlled the data that parsing module is responsible in sublayer, and the data after resolving are sent to the corresponding module processing.
With reference to the ZigBee-network locating module Organization Chart shown in figure 7, the position data of collection is carried out to corresponding system and process, then by interface, transfer of data is uploaded to corresponding module and is processed.
In sum; the present invention is with respect to location technology of the prior art; can improve the precision of node locating; also can be in the situation that guarantee that position error reduces location frequency; save the consumption of locating energy; extend the life span of whole wireless sense network, can provide goal activity trace playback more accurately simultaneously.
Although the present invention discloses as above with preferred embodiment, so it is not in order to limit the present invention.The persond having ordinary knowledge in the technical field of the present invention, without departing from the spirit and scope of the present invention, when being used for a variety of modifications and variations.Therefore, protection scope of the present invention is as the criterion when looking claims person of defining.
Claims (5)
1. the indoor course of action method for tracing based on WSN, is characterized in that, comprises the following steps:
At indoor layout gateway node, beaconing nodes, arrange that in moving target mobile node makes mobile node with the moving target synchronizing moving, wherein: gateway node is for networking and the local area network communication of ZigBee-network, beaconing nodes for the known coordinate of mark and accordingly for the mobile node location provide reference, position fix and coordinate known;
Mobile node will receive the information of known beaconing nodes, by ZigBee-network, upload to gateway, then pay host computer by gateway and calculate this positions of mobile nodes by the moveable self-adaption location algorithm based on the TDOA location, complete Primary Location;
The map match correcting algorithm of utilization based on indoor path topology structure and azimuth information, in conjunction with the indoor map space database built, realized the coupling correction of Primary Location and will proofread and correct the rear elements of a fix depositing in spatial database; And
Read the indoor geography information in spatial database, by the map vector visualization model, elements of a fix information is converted to positional information corresponding on map vector and shows.
2. method according to claim 1, it is characterized in that, aforementioned TDOA algorithm obtains the time difference of many group TDOA according to the time of arrival (toa) of beaconing nodes in twos, convert thereof into two beacons the distance poor, to set up the Hyperbolic Equation group about node location coordinate to be measured, adopt Chan algorithm, least square method (LS) and weighted least-squares method (WLS) to solve the Hyperbolic Equation group and obtain the unknown node coordinate, then use the weighted mass center algorithm to position to the positioning result of Chan algorithm, least square method and weighted least square algorithm.
3. method according to claim 2, it is characterized in that, in aforementioned Primary Location step, at first all beaconing nodes and mobile node are carried out to classification according to hierarchical structure, then each node and upper level node carries out time synchronized, final all nodes all with the root node time synchronized, then adopt the TDOA algorithm to carry out Primary Location, the time difference of utilizing signal wave to arrive two base stations positions operation, and the moveable self-adaption location algorithm comprises the following steps:
1) utilize the motion model of mobile node to obtain an estimated value;
2) beaconing nodes receives signal wave, and computing time is poor;
3) if having three beaconing nodes in node communication scope to be measured at least, by Chan algorithm, least-squares algorithm, weighted least square algorithm, calculate respectively estimated value, then be weighted centroid algorithm and result is stored in the Target Coordinate Data storehouse;
4), if only have two beaconing nodes, by motion model equation and two time difference equation solutions that beaconing nodes obtains, choose the solution nearer with estimated position and result is stored in the Target Coordinate Data storehouse;
5) if only have a beaconing nodes or do not have beaconing nodes to locate, the motion model predicted position is stored in the Target Coordinate Data storehouse as the present node position and by result; And
6) after in abovementioned steps 3,4 and 5, any one completes, upgrade the motion model of mobile node, comprise present node speed, movement direction angle, according to calculating to obtain error, adjust and carry out location.
4. method according to claim 3, is characterized in that, the zone definitions around initial alignment point is the location screening area, and aforementioned map coupling aligning step comprises the following steps:
1) set up and communicate by letter with ZigBee-network, accept the Primary Location information of mobile node;
2) judge that whether the Primary Location result data is abnormal, if mobile node because the beaconing nodes number can't complete not self poisoning and cause data exception, judges that whether current track route is determined, carries out linear interpolation and obtains current locating information;
3), if the positioning result data are normal, judge that whether current track route is determined, skips to following the 4th step if definite, otherwise skips to following the 5th step;
4) obtain grid-positional information, grid-road section information, whether the judgement target enters in determinating area, wherein: grid-positional information comprises the span of horizontal stroke, ordinate, grid-road section information comprises the highway section of passing through grid regions, do not need the direct projection correction of determinating area if enter, otherwise judge whether be communicated with highway section is many, if not using this highway section as coupling highway section projection correction; Be many if be communicated with highway section, three factors of how much topological relations with reference to the current goal anchor point apart from angle, candidate road section and the last coupling highway section of the direction of projector distance, target run trace and the candidate road section of candidate road section, select the optimum Match highway section as coupling highway section projection correction, proofread and correct result and deposit in spatial database;
5) obtain grid-positional information, grid-road section information, wherein: grid-positional information comprises the span of horizontal stroke, ordinate, grid-road section information comprises the highway section of passing through grid regions, three factors of how much topological relations with reference to angle, candidate road section and the last coupling highway section of the direction of projector distance, target run trace and the candidate road section of current goal anchor point and candidate road section, select the optimum Match highway section as coupling highway section projection correction, proofread and correct result and deposit in spatial database.
5. method according to claim 4; it is characterized in that; preserve the locating information of mobile node within a period of time in the aforesaid space database, during the historical track playback, the historical track point of storing in spatial database is converted to map vector and shows in conjunction with indoor geography information.
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