CN103428275B - Indoor moving goal activity route tracking method based on WSN - Google Patents

Indoor moving goal activity route tracking method based on WSN Download PDF

Info

Publication number
CN103428275B
CN103428275B CN201310323405.4A CN201310323405A CN103428275B CN 103428275 B CN103428275 B CN 103428275B CN 201310323405 A CN201310323405 A CN 201310323405A CN 103428275 B CN103428275 B CN 103428275B
Authority
CN
China
Prior art keywords
node
algorithm
location
mobile
indoor
Prior art date
Application number
CN201310323405.4A
Other languages
Chinese (zh)
Other versions
CN103428275A (en
Inventor
陈国庆
薛超
Original Assignee
苏州两江科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 苏州两江科技有限公司 filed Critical 苏州两江科技有限公司
Priority to CN201310323405.4A priority Critical patent/CN103428275B/en
Publication of CN103428275A publication Critical patent/CN103428275A/en
Application granted granted Critical
Publication of CN103428275B publication Critical patent/CN103428275B/en

Links

Classifications

    • Y02D70/10

Abstract

The present invention provides a kind of indoor course of action method for tracing based on WSN, comprises the following steps: at indoor layout gateway node, beaconing nodes, arranges that mobile node makes mobile node move with mobile object synchronization in mobile target;Mobile node will receive the information of known beaconing nodes, uploads to gateway by ZigBee-network, then is calculated this positions of mobile nodes by gateway payment host computer by the moveable self-adaption location algorithm positioned based on TDOA, completes Primary Location;Realize the matching and correlation of Primary Location and the elements of a fix after correction are stored in spatial database;And by map vector visualization model, elements of a fix information be converted to positional information corresponding on map vector and show.The method of the present invention can improve the precision of node locating, also can save the consumption of locating energy in the case of ensureing position error, extend the life span of whole wireless sense network, the method simultaneously providing the playback of indoor action historical track.

Description

Indoor moving goal activity route tracking method based on WSN

Technical field

The present invention relates to the location technology application of indoor GIS, in particular to a kind of based on WSN Indoor moving goal activity route tracking method.

Background technology

GIS-Geographic Information System is by the data management function of its science, powerful spatial analysis capacity and outstanding Data visualization expression effect, plays very important effect in society economic development.It mainly closes Note point is to study all kinds of entities in epigeosphere geographical space in whole or in part and phenomenon, which reflects mesh The mainstream technology of front GIS be mostly based on relatively large space scale, i.e. Geographic Variable along with time, empty close System also exists significant change.Popularizing however as wisdom concept, people are for locus, optimal sorting Analysis, the requirement of intelligent management will be extended to indoor by outdoor.According to investigations, population in the world is in the average of indoor Time accounts for about 90%, and if American is in the outdoor time the most about 13%, this also reflects indoor GIS from side The necessity of research.Especially under the background of urbanization process aggravation, the interior space becomes more sophisticated, people The interior space has been had bigger navigation, analyze, emergent demand, therefore increasing research round Indoor geospatial database, the interior space are analyzed model and indoor positioning technologies etc. and are launched.

The system that GIS is made up of multiple technologies, including 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 with GIS for the requirement of hardware and software, because of This technology related to is also covered by foregoing, but due to the diversity of indoor GIS Yu GIS geographic factor, Both have relatively big difference in location technology, use GPS localization method to have developed into ripe in GIS, and room The space orientation of interior GIS is but also in the exploratory stage.

In recent years, the location technology for indoor GIS the most all became study hotspot, mainly Technology 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 relatively big, only need to add on the basis of existing Add a small amount of equipment and just can put into location, but in the case of signal moves, its less effective.

Bluetooth technology is more effective in short-range, and can be easily 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 easily by barriers such as bodies of wall Stop, its effect is less desirable.

Super-broadband tech is higher due to temporal resolution, it is possible to anti-multipath jamming, and transmission speed is fast, wears Power is relatively strong thoroughly, has certain development prospect, but the cost of this technology is too high so that cannot popularize at present.

ZigBee is a kind of emerging short distance under WSN application scenarios, low rate radio network technique, It can be used for indoor positioning between RF identification and bluetooth.It has the radio standard of oneself, Between thousands of small sensors, mutually coordinated communication is to realize location.These sensors have only to little Data are passed to another sensor, institute from a sensor by radio wave in the way of relay by energy Communication efficiency with them is the highest.The most significant technical characterstic of ZigBee is its low-power consumption and low cost.

ZigBee technology has several advantages that 1. power savings, two joint No.5 cells can realize up to 6 The use time of the moon to 2 years;2. reliable, have employed collision-avoidance mechanism, simultaneously for need fixed-bandwidth Dedicated time slot has been reserved in communication service, it is to avoid competition when sending data and conflict, has between node module Having the function of automatic dynamic networking, information passes in whole ZigBee-network by the way of route automatically Defeated, thus the reliability of guarantee information transmission;3. time delay is short, for delay sensitive should be used as optimize, Communication delay and from resting state activate time delay the shortest;4. network capacity is big, can support up to 65000 Individual node;5. safety, ZigBee provides data integrity inspection and authentication functions, and AES uses logical Use AES-128.

Summary of the invention

Present invention aim at providing a kind of indoor course of action tracing system based on WSN and method, can Improve the precision of node locating, also can save the consumption of locating energy in the case of ensureing position error, prolong The life span of long whole wireless sense network, the method simultaneously providing the playback of indoor action historical track.

For reaching above-mentioned purpose, the present invention proposes a kind of indoor course of action method for tracing based on WSN, including Following steps:

At indoor layout gateway node, beaconing nodes, in mobile target, arrange that mobile node makes mobile node Move, wherein with mobile object synchronization: gateway node is used for networking and the local area network communication of ZigBee-network, Beaconing nodes for coordinate known to labelling and provides reference for mobile node location accordingly, and position is fixed and sits Mark known;

Mobile node will receive the information of known beaconing nodes, uploads to gateway by ZigBee-network, then Paid host computer by gateway and calculate this mobile node position by the moveable self-adaption location algorithm positioned based on TDOA Put, complete Primary Location;

Utilize map match correcting algorithm based on indoor multi-path topology and azimuth information to combine to have built The indoor map spatial database become, realizes the matching and correlation of Primary Location and is stored in by the elements of a fix after correction In spatial database;And

Read the indoor geography information in spatial database, by map vector visualization model by the elements of a fix Information is converted to positional information corresponding on map vector and shows.

Further, aforementioned TDOA algorithm obtains organizing TDOA according to the time of arrival (toa) of beaconing nodes two-by-two more Time difference, convert thereof into the difference of the distance of two beacons, with set up about node location coordinate to be measured Hyperbolic Equation group, uses Chan algorithm, method of least square (LS) and weighted least-squares method (WLS) Solve Hyperbolic Equation group and obtain unknown node coordinate, then to Chan algorithm, method of least square with weight a young waiter in a wineshop or an inn The positioning result of multiplication algorithm uses weighted mass center algorithm to position.

Further, in aforementioned Primary Location step, first by all beaconing nodes and mobile node according to level Structure carries out classification, and the most each node carries out time synchronized, final all joints with a node of upper level Point all with root node time synchronized, then use TDOA algorithm perform Primary Location, utilize signal wave arrive two The time difference of base station carries out positioning action, and moveable self-adaption location algorithm comprises the following steps:

1) motion model utilizing mobile node obtains an estimated value;

2) beaconing nodes receives signal wave, calculates time difference;

3) if at least three beaconing nodes in the range of node communication to be measured, then by Chan algorithm, minimum Two multiplication algorithms, weighted least square algorithm are calculated estimated value respectively, are then weighted centroid algorithm also Result is stored in Target Coordinate Data storehouse;

4) if only two beaconing nodes, the then time obtained by motion model equation and two beaconing nodes Eikonal equation solves, and chooses the solution nearer with estimating position and result is stored in Target Coordinate Data storehouse;

5) if only one of which beaconing nodes or do not have beaconing nodes to position, by motion model predicted position It is stored in Target Coordinate Data storehouse as present node position and by result;And

6), after any one completes in abovementioned steps 3,4 and 5, the motion model of mobile node is updated, including Present node speed, movement direction angle, arrives to obtain error according to calculating, adjusts and perform location.

Further, the region around initial alignment point is defined as positioning screening area, aforementioned map matching and correlation In step, comprise the following steps:

1) communicate with ZigBee-network foundation, accept the Primary Location information of mobile node;

2) judge that Primary Location result data is the most abnormal, if mobile node is because beaconing nodes number is inadequate Self poisoning cannot be completed and cause data exception, then judge whether current track route determines, linearly insert Value obtains current location information;

3) if positioning result data are normal, then judge whether current track route determines, if it is determined that skip to Following 4th step, otherwise skips to following 5th step;Current mobile target is walked on some section, utilizes The seriality of walking, and in the range of the certain distance of current location, there is no other section nodes yet, it is possible to Directly positioning result is matched on the section of current walking, and there is no need to consider to match positioning result On and the section of close proximity consistent with current road segment direction of travel;

4) grid-positional information, grid-road section information are obtained, it is determined that whether target enters in determinating area, Wherein: grid-positional information includes that the span of horizontal stroke, vertical coordinate, grid-road section information include passing through grid regions Section, need the direct projection correction of determinating area without entrance, otherwise judge to connect section whether as A plurality of, if not then using this section as coupling section projection correction;If connection section is a plurality of, ginseng Examine the current goal anchor point distance projector distance of candidate road section, target run trace and the direction of candidate road section Angle, candidate road section and previous three factors of geometric topo-relationship mating section, select most preferably mate road Duan Zuowei mates section projection correction, and correction result is stored in spatial database;

5) obtain grid-positional information, grid-road section information, wherein: grid-positional information include horizontal stroke, The span of vertical coordinate, grid-road section information includes the section passing through grid regions, with reference to current goal anchor point with The projector distance of candidate road section, target run trace and the angle in the direction of candidate road section, candidate road section are with front Three factors of geometric topo-relationship in one coupling section, select optimal coupling section as coupling projection school, section Just, correction result is stored in spatial database.

Further, aforesaid space data base preserves mobile node location information within a period of time, goes through During history trace playback, the historical track stored point is combined indoor geography information be converted to vow in spatial database Quantity map also shows.

From the above technical solution of the present invention shows that, the beneficial effects of the present invention is: relative to prior art In location technology, can improve the precision of node locating, also can reduce in the case of ensureing position error Location frequency, saves the consumption of locating energy, extends the life span of whole wireless sense network, simultaneously can Goal activity trace playback more accurately is provided.

Accompanying drawing explanation

Fig. 1 is that TDOA positions 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 based on indoor multi-path topology and the map match correcting algorithm schematic flow sheet of azimuth information.

Fig. 5 is three kinds of situation schematic diagrams of the vertical point algorithm that point arrives straight line under Point matching mechanism.

Fig. 6 is that indoor moving goal activity route tracking method realizes principle Organization Chart.

Fig. 7 is ZigBee-network locating module Organization Chart.

Fig. 8 is indoor positioning data real-time display module Organization Charts.

Fig. 9 be indoor moving goal activity route tracking method realize schematic flow sheet.

Detailed description of the invention

In order to know more about the technology contents of the present invention, especially exemplified by specific embodiment and coordinate institute's accompanying drawings to be described as follows.

As shown in figures 1-8, according to the preferred embodiment of the present invention, indoor course of action based on WSN is followed the trail of Method, comprises the following steps: at indoor layout gateway node, beaconing nodes, arrange mobile in mobile target Node makes mobile node move, wherein with mobile object synchronization: gateway node is for the networking of ZigBee-network And local area network communication, beaconing nodes for coordinate known to labelling and provides reference for mobile node location accordingly, Position is fixed and coordinate is known;Mobile node will receive the information of known beaconing nodes, by ZigBee net Network uploads to gateway, then is paid host computer by moveable self-adaption location algorithm based on TDOA location by gateway Calculate this positions of mobile nodes, complete Primary Location;Utilize based on indoor multi-path topology and azimuth information Map match correcting algorithm combine the indoor map spatial database that built, realize Primary Location The elements of a fix after correction are also stored in spatial database by matching and correlation;And the room in reading spatial database Interior geography information, is converted on map vector corresponding by map vector visualization model by elements of a fix information Positional information and show.

In the present embodiment, use the method that TDOA location technology combines with motion model, i.e. mobile node certainly Adapt to location algorithm, improve Primary Location precision.In the simple GIS foundation in indoor, set up space coordinates, Arrange three category nodes required in alignment system based on ZigBee-network: gateway node, reference mode are (i.e. Beaconing nodes) and mobile node.

Positioning network topology figure with reference to the TDOA shown in Fig. 1, wherein gateway node is that all nodal informations converge Place, be also the control centre of all reference modes and mobile node, be mainly used in networking and local Netcom Believing, the information collecting reference mode and mobile node passes to computer, and this category node is powered by main power source;Ginseng Examine node for coordinate known to labelling and as mobile node location provide reference, its position is fixing , coordinate is known, and this category node is powered by main power source;Mobile node is then movable, and it is arranged on shifting In moving-target, can be the most mobile in the region that reference mode surrounds, this category node uses battery to power, and saves Unnecessary external equipment, uploads to location information gateway by ZigBee-network, then is paid by gateway Position machine moves node self-adapting location algorithm and determines this positions of mobile nodes, carries out Primary Location.

With reference to the TDOA location algorithm flow process shown in Fig. 2-3 and moveable self-adaption location algorithm flow process, TDOA calculates Method obtains organizing the time difference of TDOA according to the time of arrival (toa) of beaconing nodes two-by-two more, converts thereof into two The difference of the distance of individual beacon, to set up the Hyperbolic Equation group about node location coordinate to be measured, uses Chan Algorithm, method of least square (LS) and weighted least-squares method (WLS) solve Hyperbolic Equation group and obtain unknown Node coordinate, then the positioning result of Chan algorithm, method of least square and weighted least square algorithm is used add Power centroid algorithm positions.

Moveable self-adaption location algorithm basic step is as it is shown on figure 3, due to mobile node in actual applications Uncertainty, is difficult to the time of synchronizing moving node and beaconing nodes, uses TDOA(time in this algorithm link Difference of arrival, the time of advent is poor) location technology, it is to be received by two different base stations Obtain signal and carry out related operation, obtain signal wave and arrive the time difference of two base stations.So can solve due to The error that between mobile node and beaconing nodes, time irreversibility causes.TDOA location technology have only to base station it Between time synchronized.

During time synchronization implementation, first all beaconing nodes and mobile node are entered according to hierarchical structure Row classification, a node of the most each node and upper level carries out time synchronized, final all nodes all with Root node time synchronized, uses TDOA algorithm to perform Primary Location the most again, utilizes signal wave to arrive two bases The time difference stood carries out positioning action.The basic step realizing clock synchronization is as follows:

First, all beaconing nodes and mobile node are carried out classification, the most each node according to hierarchical structure Carry out time synchronized with a node of upper level, final all nodes all with root node time synchronized.Node Time synchronized between to is synchronization mechanism based on sender recipient.Set each sensor node Having only identification number ID, internodal wireless communication link is two-way, real by two-way message exchange Existing internodal time synchronized.Netinit i.e. performs a clock synchronization operation, every the set time is System performs tranmitting data register synch command in network.

First stage-level discovery phase: after the network design of TDOA location, root node is by broadcast rank Finding that packet starts level discovery phase, rank finds ID and the rank that packet comprises sending node.Root node Neighbor node receive root node send packet after, the rank of oneself is set to packet in rank add 1, It is the 1st grade, sets up the rank of themselves, then broadcast new rank and find packet, wherein comprise Rank is 1.After node receives the broadcast packe of i-stage node, record sends the node of this broadcast packe ID, the rank arranging oneself is (i+1), and broadcast rank is set to the packet of (i+1).This process persistently under Go, until each node in network gives a rank.Node once sets up the rank of oneself, just neglects Slightly any other rank finds, congested to prevent network from producing flooding.

Second stage-synchronous phase: after hierarchical structure is set up, root node is grouped by broadcast time synchronized Start synchronous phase.After 1st grade of node receives this packet, wait one section of random time the most respectively, logical Cross with root node exchange message synchronization to root node.2nd grade of node listens to the exchange message of the 1st grade of node After, retreat and wait one section of random time, and with it at the joint of the 1st rank of level discovery phase record The exchange message of point synchronizes.The purpose waited for a period of time is to ensure that the 2nd grade of node is at the 1st grade of node Time synchronized complete after just initiation message exchange.So, in each node and hierarchical structure hithermost upper one Level node synchronizes, and final all nodes are synchronized to root node.After completing nodal clock synchronization, i.e. TDOA positioning action can be performed.

In the present embodiment, in conjunction with Fig. 3-Fig. 4, it is as follows that mobile node adaptation location algorithm realizes principle:

1) motion mathematical model

Always can find a sufficiently small positioning intervals, make the kinestate of mobile node when this Between be the most slowly varying in section, such that it is able to thinking of approximation moves in twice positioning intervals of front and back Dynamic node is with linear uniform motion.So the estimated value of node location can be obtained.

Assume that in the size of this mobile node movement velocity of t (i) moment be vt(i), direction is θt(i), position is (xt(i),yt(i)), the time interval to the moment t (i+1) performing location next time is Δ Tt(i), by above motion mould Type can predict the position (x obtained at t (i+1) moment mobile nodet(i+1),yt(i+1)), i.e.

x t ( i + 1 ) = x t ( i ) + v t ( i ) · Δ T t ( i ) · cos θ t ( i ) y t ( i + 1 ) = y t ( i ) + v t ( i ) · Δ T t ( i ) · sin θ t ( i ) - - - ( 1 )

&theta; t ( i ) = arctan y t ( i ) - y t ( i - 1 ) x t ( i ) - x t ( i - 1 ) , x t ( i ) - x t ( i - 1 ) &GreaterEqual; 0 &pi; + arctan y t ( i ) - y t ( i - 1 ) x t ( i ) - x t ( i - 1 ) , x t ( i ) - x t ( i - 1 ) < 0 - - - ( 2 )

v t ( i ) = ( x t ( i ) - x t ( i - 1 ) ) 2 + ( y t ( i ) - y t ( i - 1 ) ) 2 &Delta;T t ( i - 1 ) - - - ( 3 )

2) with reference to the mobile node adaptation location algorithm flow process shown in Fig. 3, it is as follows that it realizes step substantially:

1) motion model utilizing mobile node obtains an estimated value;

2) beaconing nodes receives signal wave, calculates time difference;

3) if at least three beaconing nodes in the range of node communication to be measured, then by Chan algorithm, minimum Two multiplication algorithms, weighted least square algorithm are calculated estimated value respectively, are then weighted centroid algorithm also Result is stored in Target Coordinate Data storehouse;

4) if only two beaconing nodes, then by motion model equation and two beaconing nodes obtain time Between eikonal equation solve, choose and estimate the nearer solution in position and result is stored in Target Coordinate Data storehouse;

5) if only one of which beaconing nodes or do not have beaconing nodes to position, by motion model prediction bits Put as present node position and result is stored in Target Coordinate Data storehouse;

6), after any one completes in abovementioned steps 3,4 and 5, the motion model of mobile node, bag are updated Include present node speed, movement direction angle, arrive to obtain error according to calculating, adjust and perform location.

In the present embodiment, the algorithm principle of map match correction: utilize based on indoor multi-path topology and side The map match correcting algorithm of position information combines the indoor map spatial database built, and will be the most fixed Target location or movement locus that position obtains mate compared with electronic chart path data, thus find target The path at place, it is achieved the elements of a fix after correction are also stored in spatial database by the matching and correlation of Primary Location In.First pass through map grid to divide and grid primary election, extract grid-positional information, net according to gridding information Lattice-road section information, considers current goal anchor point the distance projector distance of candidate road section, target anchor point Run trace is closed with the previous geometry topology mating section with the angular separation of candidate road section and candidate road section System, selected finally mates section, the elements of a fix being stored in spatial database after determining correction.

In conjunction with this algorithm principle and the indoor map spatial database that built, improve outdoor positioning based on The map-matching algorithm of projection, devises based on indoor multi-path topology and the map match school of azimuth information Normal operation method realize location screening area search for all road sections combination, by these sections respectively with run trace Ask for metric, take the combination of maximum match metric as target present running route, complete map match Correction.

As shown in Figure 4, the region around initial alignment point is defined as positioning screening area, and aforementioned map is mated In aligning step, comprise the following steps:

1) server is communicated with ZigBee-network foundation by RS232 serial port protocol, accepts mobile node Primary Location information;

2) judge that Primary Location result data is the most abnormal, if mobile node is because beaconing nodes number is inadequate Self poisoning cannot be completed and cause data exception, then judge whether current track route determines, linearly insert Value obtains current location information;

3) if positioning result data are normal, then judge whether current track route determines, if it is determined that skip to Following 4th step, otherwise skips to following 5th step.

4) grid-positional information, grid-road section information are obtained, it is determined that whether target enters in determinating area, Wherein: grid-positional information includes that the span of horizontal stroke, vertical coordinate, grid-road section information include passing through grid regions Section, need the direct projection correction of determinating area without entrance, otherwise judge to connect section whether as A plurality of, if not then using this section as coupling section projection correction;If connection section is a plurality of, ginseng Examine the current goal anchor point distance projector distance of candidate road section, target run trace and the direction of candidate road section Angle, candidate road section and previous three factors of geometric topo-relationship mating section, select most preferably mate road Duan Zuowei mates section projection correction, and correction result is stored in spatial database.

5) obtain grid-positional information, grid-road section information, wherein: grid-positional information include horizontal stroke, The span of vertical coordinate, grid-road section information includes the section passing through grid regions, with reference to current goal anchor point with The projector distance of candidate road section, target run trace and the angle in the direction of candidate road section, candidate road section are with front Three factors of geometric topo-relationship in one coupling section, select optimal coupling section as coupling projection school, section Just, correction result is stored in spatial database.

The algorithm of map match correction is in accordance with following rule:

1) discussion of complex situations;

A) the coupling section of crossing determines the reference factor of method

I. at node, set up one judge region, become according to the change of the most a series of matched positions and angle Gesture determines;

Ii. the angle in the direction of target travel track and candidate road section.

2) realization of map-matching algorithm needs a point multiple situation process respectively:

A) path search processes and (calculates matching degree, when matching degree is more than threshold value, then as coupling knot Really).

B) turn round process (need to strengthen near indoor cross point, section, process) when turning.

C) stopping or low speed (movement of detection moving target position, prevent data wander from causing error hiding);

D) positioning signal reception is bad.

In the present embodiment, the theoretical basis of algorithm for design is as follows:

A) screening area

Region around initial alignment point is screening area, and the size of screening area is not fixing.

B) connection in section with intersect

If one certain end points in section is on another section, then the two section is to connect, if two There is a common point in bar section, and this common point is not their end points of any one, then the two Intersect during section.

C) to the distance in section

Point to the distance definition in section is: such as fruit dot being projected on section to place, section straight line, be then vertical Line length;It it is otherwise its beeline to two end points.Put the distance definition in section on point to section The beeline of all straightways.

D) Point matching

The concrete mechanism of Point matching is: finds the running section of current goal, then arrives the vertical point of straight line with point Algorithm is calculated the match point being positioned on this section.

If, P0 is original anchor point, and the route of target travel is Pi-Pj, and Pi, Pj are the end in section Point, in the case of not considering section width, does vertical line from P0 to section, then Pf is intersection point, and d is former Initial point is to the distance between match point.

With reference to shown in Fig. 5, in the case of three kinds:

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 does the segmentation of any amount arbitrary proportion, cut-point all falls on another curve, Then two lines is strictly mated.Curve Matching technology, it is simply that calculate a certain quantity relatively uniform on a curve Cut-point to the meansigma methods of the distance on a reference curve as it to the average distance of reference curve, by two The inverse of curve average distance is as the metric of coupling quality.

With reference to the indoor positioning data real-time display module framework shown in Fig. 8, read the room in spatial database Interior geography information, is converted on map vector corresponding by map vector visualization model by elements of a fix information Positional information and show.The location information reading mobile node from spatial database is sent to display module Time, the elements of a fix are converted to positional information corresponding on map vector and show.Through location after a while And correction, spatial database saves the location information of certain node a period of time, during historical track playback, The historical track stored in data base point combines indoor geography information be converted to map vector and show.

In the present embodiment, locating and displaying uses Eagle-eye Map technology, can help quickly location when browsing map And navigation.Hawkeye map denotation is the view picture map after reducing, and utilizes Eagle-eye Map, can be in front view The region browsed is quickly switched into another region, it is also possible to be apparent from current main window display Part, the position in view picture map.Having a rectangle frame in hawkeye map, the region outlined is view picture ground The region that figure shows in main window.By dragging this rectangle frame, place it in appointing in hawkeye map Meaning position, the map area after amplifying in master view window meeting simultaneous display rectangular area;Work as master view window When the map area of middle display changes, the rectangle frame meeting synchronization control size and location in hawkeye map, It is achieved thereby that the location of Eagle-eye Map and navigation feature.

Principle Organization Chart and Fig. 9 institute is realized with reference to the indoor moving goal activity route tracking method shown in Fig. 6 The indoor moving goal activity route tracking method shown realize flow process, whole system framework is as follows:

(1) sensor network module

Sensor network module is made up of three submodules: in data acquisition, ZigBee-network, engine of positioning Between part.

1) data acquisition

The position data of target is moved, by ZigBee-network to engine of positioning middleware by sensor acquisition.

2) ZigBee-network

It is responsible for the data of collection are uploaded to engine of positioning middleware.

3) engine of positioning middleware

It is responsible for the location data that will gather, the centroid algorithm improved by weighting, calculates the logical coordinates of object, Knot map-matching algorithm, corrects the logical coordinates oriented, and hands over the coordinate after this rectification to upper strata process.

(2) Data access module

Data access module is by two sub-module compositions:

1) data base

The storage data such as the elements of a fix, geography information.

2) data, services

There is provided the access of data base, as to the increasing of data base, deleted, change, the operation such as look into.

(3) geography information module

The rectification Coordinate Conversion being responsible for calculating engine of positioning middleware becomes geographical position, and on map The physical location of display object.

(4) extension system service Interface Sublayer

Extension system service Interface Sublayer is responsible for different data-interfaces is integrated encapsulation, realizes unified application FPDP.

(5) service logic controls sublayer

Service logic controls sublayer and is responsible for the data of parsing module, and the data after resolving send to respective mode Block processes.

With reference to the ZigBee-network locating module Organization Chart shown in Fig. 7, the position data of collection is carried out correspondence System process, then by interface, data transmission is uploaded to corresponding module processes.

In sum, the present invention, relative to location technology of the prior art, can improve the essence of node locating Degree, also can reduce location frequency in the case of ensureing position error, 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 is disclosed above with preferred embodiment, so it is not limited to the present invention.The present invention Art has usually intellectual, without departing from the spirit and scope of the present invention, each when making The change planted and retouching.Therefore, protection scope of the present invention is when being as the criterion depending on those as defined in claim.

Claims (3)

1. an indoor course of action method for tracing based on WSN, it is characterised in that comprise the following steps:
At indoor layout gateway node, beaconing nodes, in mobile target, arrange that mobile node makes mobile node with mobile target Synchronizing moving, wherein: gateway node is used for networking and the local area network communication of ZigBee-network, beaconing nodes is for known to labelling Coordinate also provides reference for mobile node location accordingly, and position is fixed and coordinate is known;
Mobile node will receive the information of known beaconing nodes, uploads to gateway by ZigBee-network, then is paid by gateway Host computer calculates this positions of mobile nodes by the moveable self-adaption location algorithm positioned based on TDOA, completes Primary Location;
Map match correcting algorithm based on indoor multi-path topology and azimuth information is utilized to combine the indoor built Map space data base, realizes the matching and correlation of Primary Location and is stored in spatial database by the elements of a fix after correction;And
Read the indoor geography information in spatial database, by map vector visualization model, elements of a fix information is converted to Positional information corresponding on map vector also shows.
Method the most according to claim 1, it is characterised in that aforementioned TDOA algorithm arrives according to the signal of beaconing nodes two-by-two The time of reaching obtains organizing the time difference of TDOA more, converts thereof into the difference of the distance of two beacons, to set up about node to be measured The Hyperbolic Equation group of position coordinates, uses Chan algorithm, method of least square LS and weighted least-squares method WLS to solve hyperbolic Line equation group obtains unknown node coordinate, then makes the positioning result of Chan algorithm, method of least square and weighted least square algorithm Position with weighted mass center algorithm.
Method the most according to claim 2, it is characterised in that in aforementioned Primary Location step, first all beacons are saved Point and mobile node carry out classification according to hierarchical structure, and the most each node carries out time synchronized with a node of upper level, Final all nodes all with root node time synchronized, then use TDOA algorithm perform Primary Location, utilize signal wave arrive two The time difference of base station carries out positioning action, and moveable self-adaption location algorithm comprises the following steps:
1) motion model utilizing mobile node obtains an estimated value;
2) beaconing nodes receives signal wave, calculates time difference;
3) if at least three beaconing nodes in the range of node communication to be measured, then by Chan algorithm, least-squares algorithm, weighting Least-squares algorithm is calculated estimated value respectively, is then weighted centroid algorithm and result is stored in Target Coordinate Data storehouse In;
4) if only two beaconing nodes, then the time difference equation obtained by motion model equation and two beaconing nodes is asked Solve, choose the solution nearer with estimating position and result is stored in Target Coordinate Data storehouse;
5) if only one of which beaconing nodes or do not have beaconing nodes to position, using motion model predicted position as working as prosthomere Result is also stored in Target Coordinate Data storehouse by some position;
6), after any one completes in abovementioned steps 3,4 and 5, the motion model of mobile node is updated, including present node speed, Movement direction angle, arrives to obtain error according to calculating, adjusts and performs location.
CN201310323405.4A 2013-07-30 2013-07-30 Indoor moving goal activity route tracking method based on WSN CN103428275B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201310323405.4A CN103428275B (en) 2013-07-30 2013-07-30 Indoor moving goal activity route tracking method based on WSN

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201310323405.4A CN103428275B (en) 2013-07-30 2013-07-30 Indoor moving goal activity route tracking method based on WSN

Publications (2)

Publication Number Publication Date
CN103428275A CN103428275A (en) 2013-12-04
CN103428275B true CN103428275B (en) 2016-08-24

Family

ID=49652439

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201310323405.4A CN103428275B (en) 2013-07-30 2013-07-30 Indoor moving goal activity route tracking method based on WSN

Country Status (1)

Country Link
CN (1) CN103428275B (en)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104750716B (en) * 2013-12-27 2018-12-28 中国移动通信集团公司 A kind of friends in social networking sites recommended method and device
CN103926611B (en) * 2014-05-07 2016-08-17 中科院成都信息技术股份有限公司 A kind of indoor positioning data optimization methods in real time
CN105607035A (en) * 2014-10-30 2016-05-25 周海贤 Indoor positioning system based on wireless communication technology
CN104677354B (en) * 2014-12-22 2017-05-10 浙江大学 Static target locating method combining mobile node speed information and target azimuth information
CN104618688B (en) * 2015-01-19 2017-09-29 荣科科技股份有限公司 A kind of visual control means of defence
CN105959914B (en) * 2016-04-25 2018-12-25 浙江农林大学 Sensor Network time synchronization and positioning combination treatment method based on time difference measurements
CN105953788B (en) * 2016-04-28 2020-02-04 上海慧流云计算科技有限公司 Target object positioning method and system
CN106131794A (en) * 2016-08-29 2016-11-16 北斗羲和科技发展(北京)有限公司 The method and device of indoor positioning
CN107869990B (en) * 2017-09-20 2020-08-28 百度在线网络技术(北京)有限公司 Method and device for acquiring indoor position data, computer equipment and readable medium
CN107911786A (en) * 2017-10-24 2018-04-13 星际空间(天津)科技发展有限公司 A kind of mixing indoor orientation method based on road network correction
CN109068402A (en) * 2018-09-25 2018-12-21 上海亿临信息科技有限公司 Wireless ad hoc network construction method and wireless ad hoc network data transmission method
CN109531568A (en) * 2018-11-29 2019-03-29 浙江树人学院 A kind of joint of mechanical arm control method
CN110913338A (en) * 2019-12-17 2020-03-24 深圳奇迹智慧网络有限公司 Positioning track correction method and device, computer equipment and storage medium

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1530635A (en) * 2003-03-14 2004-09-22 三星电子株式会社 Apparatus and method for detecting movable object position in navigation system
CN102307386A (en) * 2011-08-31 2012-01-04 公安部第三研究所 Indoor positioning monitoring system and method based on Zigbee wireless network

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1530635A (en) * 2003-03-14 2004-09-22 三星电子株式会社 Apparatus and method for detecting movable object position in navigation system
CN102307386A (en) * 2011-08-31 2012-01-04 公安部第三研究所 Indoor positioning monitoring system and method based on Zigbee wireless network

Also Published As

Publication number Publication date
CN103428275A (en) 2013-12-04

Similar Documents

Publication Publication Date Title
Han et al. A survey on mobile anchor node assisted localization in wireless sensor networks
CN104837118B (en) A kind of indoor fusion positioning system and method based on WiFi and BLUETOOTH
Mesmoudi et al. Wireless sensor networks localization algorithms: a comprehensive survey
CN103149576B (en) Map matching method of floating car data
Halder et al. A survey on mobility-assisted localization techniques in wireless sensor networks
CN102359784B (en) Autonomous navigation and obstacle avoidance system and method of indoor mobile robot
CN105526934B (en) Indoor and outdoor integrated high-precision positioning navigation system and positioning method thereof
US9234958B2 (en) Method, apparatus, and computer program product for distributed indoor three-dimensional radiomap
CN103199923B (en) A kind of underground moving target light fingerprint location tracking based on visible light communication
Zhang et al. Fine-grained localization for multiple transceiver-free objects by using RF-based technologies
Franceschini et al. A review of localization algorithms for distributed wireless sensor networks in manufacturing
CN101547048B (en) Indoor positioning method based on wireless sensor network
CN102136192B (en) Method for identifying trip mode based on mobile phone signal data
CN103313194B (en) Based on indoor locating system personnel movement track acquisition device and the method for beacon location technology
CN102427603B (en) Positioning method of WLAN (Wireless Local Area Network) indoor mobile user based on positioning error estimation
US20050049821A1 (en) Location estimation in partially synchronized networks
CN101493518B (en) Wireless sensor network node positioning method and device
Halder et al. A survey on mobile anchor assisted localization techniques in wireless sensor networks
Chen et al. A localization method for the Internet of Things
CN204681599U (en) A kind of indoor fusion navigation system based on WiFi and bluetooth
KR20100089806A (en) System and method of deciding the realtime location of mobile station using a rfid and method of setting up wireless repeater therefor
CN104754515B (en) Mixed positioning assists map modification method and system
CN102802260B (en) WLAN indoor positioning method based on matrix correlation
CN103402258A (en) Wi-Fi (Wireless Fidelity)-based indoor positioning system and method
CN104270814B (en) A kind of localization method mixed based on TDOA and ToF and system

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20160824

Termination date: 20170730