CN103476117B - Node positioning method and device in a kind of radio sensing network based on RF-assisted - Google Patents

Node positioning method and device in a kind of radio sensing network based on RF-assisted Download PDF

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CN103476117B
CN103476117B CN201310439326.XA CN201310439326A CN103476117B CN 103476117 B CN103476117 B CN 103476117B CN 201310439326 A CN201310439326 A CN 201310439326A CN 103476117 B CN103476117 B CN 103476117B
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node
anchor node
anchor
unknown
radio
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CN103476117A (en
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毛剑琳
罗平
向凤红
迟子铖
付丽霞
郭宁
段绍米
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Kunming University of Science and Technology
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Abstract

The present invention relates to node positioning method and device in a kind of radio sensing network based on RF-assisted, belong to the crossing domain of embedded development and radio communication. First the present invention adopts with the wireless sensing node of 433MHz radio-frequency module and realizes the time synchronized between anchor node; Is unknown node passed through based on IEEE after deadline is synchronous? 802.15.4 the 2.4GHz module of agreement is by the anchor node that is transferred to of range information; Finally complete location by the equation group that solves the difference time of advent. The present invention only need realize the time synchronized between anchor node, does not need to realize the synchronous of time between all nodes in network, makes thus the power consumption of whole network reduce, and has extended the service life of whole network, has reduced the complexity of programming; When there being the fashionable system works that can not affect that adds of unknown joint disappearance and new unknown node in network, improve thus robustness and the extensibility of network.

Description

Node positioning method and device in a kind of radio sensing network based on RF-assisted
Technical field
The present invention relates to node positioning method and device in a kind of radio sensing network based on RF-assisted, belong to embeddingThe crossing domain of formula exploitation and radio communication.
Background technology
The research of radio sensing network (WirelessSensorNetwork, WSN) is started in late 1990sPhase, forms by being deployed in cheap microsensor nodes a large amount of in monitored area, form by communication oneThe network system of the self-organizing of individual multi-hop, it is perceived right to its objective is in perception collaboratively, acquisition and processing network's coverage areaThe information of elephant. Because the huge applications of sensor network is worth, it has caused military service, the industry of world many countriesThe very big concern of boundary and academia. wireless sensor network is finished the work by the mutual cooperation between node. Therefore can answerFor many fields, as: before arriving region of war, army sheds a large amount of sensor senses enemy's actions to it, and return data letterBreath. Therefore sensor network system can be widely used in national defence, military affairs, safety, environmental monitoring, traffic administration, medical treatmentMany fields such as health.
Time synchronization technique is as the important method of a class in wireless sensor network positioning. Sensor network wherein timeBetween synchronous protocol (Time-synchronizationProtocolForSensorNetworks, TPSN) algorithm be a kind ofSimilar network time protocol (NetworkTimeProtocol, NTP), its objective is sensor whole network interior nodes is providedTime synchronized. While using TPSN algorithm, in whole network, need to comprise an anchor node and communicate by letter acquisition time as whole with extraneousThe clock source of individual network system, each node has an ID simultaneously, then by unknown node classification (anchor node is 0 grade), everyIndividual node carries out time synchronized with the node of upper level, finally completes and root node time synchronized, node at the same level betweenTime synchronized adopts RBS algorithm (sender-recipient synchronization mechanism). While carrying out with the node of upper level by each nodeBetween synchronously need to consume more multipotency; In addition, TPSN algorithm adds fashionable at new node, and need to initialize level and find the stage,Reduce the robustness of algorithm.
Summary of the invention
Technical problem to be solved by this invention be overcome in existing location technology, need to realize between all nodes synchronousNot enough and add the fashionable impact on algorithm robustness at new node, a kind of radio sensing network based on RF-assisted is providedMiddle node positioning method and device.
Technical scheme of the present invention is: node positioning method in a kind of radio sensing network based on RF-assisted, firstAdopt and realize the time synchronized between anchor node with the wireless sensing node of 433MHz radio-frequency module; After deadline is synchronous,Unknown node by the 2.4GHz module based on IEEE802.15.4 agreement by the anchor node that is transferred to of range information; Finally logicalCross and solve the time of advent poor equation group and complete location; The concrete steps of described localization method are as follows:
A, according to coordinate (xi,yi) dispose at least three anchor nodes in whole network, i=1,2 ... m, m represents anchor nodeNumber;
B, first anchor node record moment t by a time synchronizing signal of 433MHz radio-frequency module transmitting1；
C, in the time that second anchor node receives signal, send a 433MHz radiofrequency signal;
D, in the time that first anchor node receives the radiofrequency signal that second anchor node send, record moment t2, according to public affairsFormulaCalculate time offset θ, first anchor node is penetrated by 433MHz againFrequency module sends and comprisesAnd t3The signal of time information: when other anchor node except first anchor node in network receivesTo comprising θ and t3When the signal of time information, adjust the moment T=S of self1,i／(3×108m/s)+θ+t3, complete and firstTime synchronized between anchor node; Wherein S1,2Represent the distance between first anchor node and second anchor node, S1,iRepresentativeDistance between first anchor node and i anchor node, i=1,2 ... m, m represents the number of anchor node;
E, when having completed after time synchronized, first anchor node is by the 2.4GHz radio frequency based on IEEE802.15.4 standardModule sends an initial signal;
F, when each unknown node in network is receiving after initial signal, utilize time-sharing multiplex by 2.4GHz radio-frequency moduleMode transmission comprise self ID information to m anchor node;
G, a m anchor node divides by the each unknown node ID of the memory stores in processor module and each unknown node jBe clipped to the moment T that reaches each anchor node ij,i; Wherein j=1,2 ... n, n represents the number of unknown node; I=1,2 ... m, m representsThe number of anchor node;
Each unknown node ID that H, other m-1 anchor node except first anchor node are preserved self and eachUnknown node arrives respectively the moment T of each anchor nodej,iSend to first anchor node;
I, first anchor node according to each unknown node ID and each unknown node arrive respectively each anchor node timeCarve Tj,iObtain formula (1), and from formula (1), choose two prescription journeys and ask for the coordinate of each unknown node:
（1）
In formula: (Xj,Yj) represent the coordinate of j unknown node; (x1,y1) represent the coordinate of first anchor node; (xi,yi) represent the coordinate of i anchor node; J=1,2 ... n, n represents the number of unknown node; I=2 ... m, m represents anchor nodeNumber.
The number of described anchor node be three and more than, the wherein unknown node communication in three anchor nodes at least simultaneouslyIn scope.
The network building by m anchor node, and in the communication range of each unknown node while in m anchor node,Can arrive respectively according to each unknown node ID and each unknown node so the due in T of each anchor nodej,iObtain m-1 equation, thus two equations wherein chosen and calculate the coordinate of each unknown node; Wherein j=1,2 ... n, n represents notKnow the number of node; I=1,2 ... m, m represents the number of anchor node.
Described positioner is made up of anchor node 1 and unknown node 2; Described anchor node 1 comprise power module I 11,2.4GHz radio-frequency module I 12, processor module I 13,433MHz radio-frequency module 14, wherein processor module I 13 is by SPI interfaceBe connected with 2.4GHz radio-frequency module I 12, be connected with 433MHz radio-frequency module 14 by general purpose I/O interface simulation SPI interface function;Described unknown node 2 comprises power module II 21,2.4GHz radio-frequency module II 22, processor module II 23, wherein processor diePiece II 23 is connected with 2.4GHz radio-frequency module II 22 by SPI interface.
Power module in described anchor node 1 and unknown node 2 uses 2 joint 1.5v dry cells and uses voltage stabilizing chip to formMu balanced circuit be modules power supply.
The invention has the beneficial effects as follows:
1, the present invention only need realize the time synchronized between anchor node, do not need to realize in network between all nodes timeBetween synchronous, make thus the power consumption of whole network reduce, extended the service life of whole network, reduced programmingComplexity.
2, the present invention is when there being the fashionable system works that can not affect that adds of unknown joint disappearance and new unknown node, thus in networkRobustness and the extensibility of network are improved.
Brief description of the drawings
Fig. 1 is that the structure of anchor node described in the present invention connects block diagram;
Fig. 2 is that the structure of unknown node described in the present invention connects block diagram;
Fig. 3 is wireless sensor network node distribution block diagram in the present invention;
Fig. 4 is the circuit diagram of power module in the present invention;
Fig. 5 is the circuit diagram that in the present invention, processor module is connected with modules;
In figure, each label is: 1 is that anchor node, 11 is that power module I, 12 is that 2.4GHz radio-frequency module I, 13 is processor diePiece I, 14 is that 433MHz radio-frequency module, 2 is for unknown node, 21 is for power module II, 22 is for 2.4GHz radio-frequency module II, 23 is for locatingReason device module II.
Detailed description of the invention
Embodiment 1: as Figure 1-5, node positioning method and dress in a kind of radio sensing network based on RF-assistedNode-classification in putting: formed by anchor node 1 and unknown node 2; Described anchor node 1 comprises power module I 11,2.4GHz radio frequencyModule I 12, processor module I 13,433MHz radio-frequency module 14; Described unknown node 2 comprises that power module II 21,2.4GHz penetrateFrequency module II 22, processor module II 23.
1, power module design: power module uses 2 joint 1.5v dry cells to provide power supply for above-mentioned all modules. For electricitySource is used the shortcoming of spread of voltage occurring, has designed and has used mu balanced circuit that REG1117 chip forms to carry for modulesFor the energy.
2, processor module design: the processor of anchor node need to connect the radio frequency mould of 2.4GHz radio-frequency module and 433MHzPiece, processor uses the ATMEGAL128L chip of 16, and ATMEGAL128L chip uses SPI interface and 2.4GHz radio-frequency moduleConnect, use general purpose I/O interface simulation SPI interface function to be connected with 433MHz radio-frequency module; Unknown node processor makes equallyUse ATMEGAL128L chip, 2.4GHz radio-frequency module is connected with ATMEGAL128L chip by SPI interface.
Wherein, the processor module in described unknown node 2 is provided with jtag interface, sensor interface, in described anchor node 1Processor module on the basis of unknown node 2, be also provided with the data for read anchor node 1 processor by host computerSerial port module; Wherein sensor interface uses the single pin of 1.25mm by the I/O Interface Expanding of the PA0～PA3 of processor chipsOut, serial port module is made up of serial port chip and peripheral circuit that (jtag interface uses 2.54mm double-row needle by ATMEGAL128 coreThe jtag interface of the IEEE1149.1 consensus standard of sheet support is expanded out, to complete nonvolatile memory, fuse bitProgramme, and debugging emulation; Sensor interface uses the single pin of 1.25mm by the PA0～PA3's of ATMEGAL128 chipI/O Interface Expanding out so that with gather the sensor of different physical messages and be connected; Serial port chip in serial port module isMAX3232 chip).
3,2.4GHz radio-frequency module design: 2.4GHz radio-frequency module is by cc2420 chip, and peripheral circuit and reversed F-typed plate carry skyLine composition, mainly completes the transfer of data between node. When transmission: processor module is believed the ID of this node by SPI interfaceBreath data are written in the register of cc2420, and cc2420 delivers to id information data in the transmit buffer of 128Bit, according toIEEE802.15.4 standard, will send to DA converter after id information data spread spectrum by the frequency expansion sequence of the chips of 32, soAfter after the mixing of LPF and up-conversion by id information Data Modulation to 2.4GHz, after amplifying by peripheral circuit throughReversed F-typed plate carries antenna and sends. When reception: in the time that inverse-F antenna receives radiofrequency signal, through low-noise amplifier and I/QAfter down-converted, by this mixed frequency signal after filtering, amplification, AD conversion, automatic gain control, digital demodulation and despreading,Recover eventually the correct data bag of transmission, this correct data bag is put in the FIFO buffer of cc2420 chip, by inspectionTest, resolve this packet, judge whether to meet the frame format of IEEE802.15.4 standard, if met, successfully receive, noAbandon this packet, receive next time.
4,433MHz radio-frequency module design: 433MHz radio-frequency module is made up of RF12 chip and antenna, and its function has beenTime synchronized between anchor node, the integrated all radio-frequency enabled of RF12 chip internal, when therefore transmission: first processor passes through I/The parameter of the good RF12 of O interface configuration, then the time information data that needs are sent write RF12 transmitting register by I/O interfaceIn, RF12 will send by antenna after time information modulation automatically. When reception: in the time that RF12 successfully receives information, logicalCross the mode of interrupting, notification processor reads received data by I/O interface.
As shown in Figure 3, if provided the anchor node (BS1, BS2, BS3) and 16 that has 3 known position information in networkThe unknown node of individual unknown message (1,2,3 ... 16) distribution block diagram, the concrete steps of its localization method are:
A, according to coordinate (x1,y1)、(x2,y2)、(x3,y3) dispose three anchor nodes in whole network;
B, first anchor node record moment t by a time synchronizing signal of 433MHz radio-frequency module transmitting1；
C, in the time that second anchor node receives signal, send a 433MHz radiofrequency signal;
D, in the time that first anchor node receives the radiofrequency signal that second anchor node send, record moment t2, according to public affairsFormulaCalculate time offset θ, first anchor node is penetrated by 433MHz againFrequency module sends and comprisesAnd t3The signal of time information:
When receiving, second anchor node comprise θ and t3When the signal of time information, adjust the moment T=S of self1,2／(3×108m/s)+θ+t3, complete the time synchronized between first anchor node;
When receiving, the 3rd anchor node comprise θ and t3When the signal of time information, adjust the moment T=S of self1,3／(3×108m/s)+θ+t3, complete the time synchronized between first anchor node;
Wherein S1,2Represent the distance between first anchor node and second anchor node, S1,3Represent first anchor node andDistance between the 3rd anchor node;
E, when having completed after time synchronized, first anchor node is by the 2.4GHz radio frequency based on IEEE802.15.4 standardModule sends an initial signal;
F, when each unknown node in network is receiving after initial signal, utilize time-sharing multiplex by 2.4GHz radio-frequency moduleMode transmission comprise self ID information give three anchor nodes;
G, three anchor nodes divide by the each unknown node ID of the memory stores in processor module and each unknown node jBe clipped to the moment T that reaches each anchor nodej,i, j=1,2 ... n, the number that n is unknown node; I=1,2 ... m, m represents anchor nodeNumber, value is 3;
Each unknown node ID that H, other two anchor nodes except first anchor node are preserved self and eachUnknown node arrives respectively the moment T of each anchor nodej,iSend to first anchor node;
I, first anchor node according to each unknown node ID and each unknown node arrive respectively each anchor node timeCarve Tj,iObtain two prescription journeys, and ask for the coordinate of each unknown node by two prescription journeys:
In formula: (Xj,Yj) represent the coordinate of j unknown node; (x1,y1) represent the coordinate of first anchor node; (x2,y2) represent the coordinate of second anchor node; (x3,y3) represent the coordinate of the 3rd anchor node; J=1,2 ... n, n represents unknown jointThe number of point.
Embodiment 2: as Figure 1-5, node positioning method in a kind of radio sensing network based on RF-assisted, firstAdopt and realize the time synchronized between anchor node with the wireless sensing node of 433MHz radio-frequency module; After deadline is synchronous,Unknown node by the 2.4GHz module based on IEEE802.15.4 agreement by the anchor node that is transferred to of range information; Finally logicalCross and solve the time of advent poor equation group and complete location;
The concrete steps of described localization method are as follows: A, according to coordinate (xi,yi) dispose at least three anchor nodes at whole netIn network, i=1,2 ... m, m represents the number of anchor node;
B, first anchor node record moment t by a time synchronizing signal of 433MHz radio-frequency module transmitting1；
C, in the time that second anchor node receives signal, send a 433MHz radiofrequency signal;
D, in the time that first anchor node receives the radiofrequency signal that second anchor node send, record moment t2, according to public affairsFormulaCalculate time offset θ, first anchor node is penetrated by 433MHz againFrequency module sends and comprisesAnd t3The signal of time information: when other anchor node except first anchor node in network receivesTo comprising θ and t3When the signal of time information, adjust the moment T=S of self1,i／(3×108m/s)+θ+t3, complete and firstTime synchronized between anchor node; Wherein S1,2Represent the distance between first anchor node and second anchor node, S1,iRepresentativeDistance between first anchor node and i anchor node, i=1,2 ... m, m represents the number of anchor node;
E, when having completed after time synchronized, first anchor node is by the 2.4GHz radio frequency based on IEEE802.15.4 standardModule sends an initial signal;
F, when each unknown node in network is receiving after initial signal, utilize time-sharing multiplex by 2.4GHz radio-frequency moduleMode transmission comprise self ID information to m anchor node;
G, a m anchor node divides by the each unknown node ID of the memory stores in processor module and each unknown node jBe clipped to the moment T that reaches each anchor node ij,i; Wherein j=1,2 ... n, n represents the number of unknown node; I=1,2 ... m, m representsThe number of anchor node;
Each unknown node ID that H, other m-1 anchor node except first anchor node are preserved self and eachUnknown node arrives respectively the moment T of each anchor nodej,iSend to first anchor node;
I, first anchor node according to each unknown node ID and each unknown node arrive respectively each anchor node timeCarve Tj,iObtain formula (1), and from formula (1), choose two prescription journeys and ask for the coordinate of each unknown node:
（1）
In formula: (Xj,Yj) represent the coordinate of j unknown node; (x1,y1) represent the coordinate of first anchor node; (xi,yi) represent the coordinate of i anchor node; J=1,2 ... n, n represents the number of unknown node; I=2 ... m, m represents anchor nodeNumber.
The number of described anchor node be three and more than, the wherein unknown node communication in three anchor nodes at least simultaneouslyIn scope.
The network building by m anchor node, and in the communication range of each unknown node while in m anchor node,Can arrive respectively according to each unknown node ID and each unknown node so the due in T of each anchor nodej,iObtain m-1 equation, thus two equations wherein chosen and calculate the coordinate of each unknown node; Wherein j=1,2 ... n, n represents notKnow the number of node; I=1,2 ... m, m represents the number of anchor node.
Described positioner is made up of anchor node 1 and unknown node 2; Described anchor node 1 comprise power module I 11,2.4GHz radio-frequency module I 12, processor module I 13,433MHz radio-frequency module 14, wherein processor module I 13 is by SPI interfaceBe connected with 2.4GHz radio-frequency module I 12, be connected with 433MHz radio-frequency module 14 by general purpose I/O interface simulation SPI interface function;Described unknown node 2 comprises power module II 21,2.4GHz radio-frequency module II 22, processor module II 23, wherein processor diePiece II 23 is connected with 2.4GHz radio-frequency module II 22 by SPI interface.
Power module in described anchor node 1 and unknown node 2 uses 2 joint 1.5v dry cells and uses voltage stabilizing chip to formMu balanced circuit be modules power supply.
2.4GHz radio-frequency module in described anchor node 1 and unknown node 2 by 802.15.4 protocol chip, peripheral circuit,Antenna composition; When transmission, processor module is written to posting of 802.15.4 protocol chip by SPI interface by the id information of selfIn storage, id information is delivered to transmit buffer by 802.15.4 protocol chip, according to IEEE802.15.4 standard, process spread spectrum,After D/A conversion, LPF, modulation, amplification, send by antenna; Process down coversion place in the time that antenna receives radiofrequency signalReason, filtering, amplification, A/D conversion, digital demodulation, the correct data bag that recovers transmission is put into 802.15.4 protocol chipIn FIFO buffer, if packet meets the frame format of IEEE802.15.4 standard, successfully receive, otherwise abandon this numberAccording to bag, receive next time.
Processor module in described unknown node 2 is provided with jtag interface, sensor interface, locating in described anchor node 1Reason device module is also provided with the string of the data for read anchor node 1 processor by host computer on the basis of unknown node 2Mouth module; Wherein sensor interface uses the single pin of 1.25mm by the I/O Interface Expanding of the PA0～PA3 of processor chips out,Serial port module is made up of serial port chip and peripheral circuit.
433MHz radio-frequency module 14 in described anchor node 1 is made up of radio frequency chip and antenna; Processor module when transmissionBy the parameter of the good radio frequency chip of I/O interface configuration, then the time information data that needs are sent write radio frequency by I/O interfaceIn the transmitting register of chip, radio frequency chip will send by antenna after time information modulation automatically; When radio frequency chip becomesWhen merit receives information, by the mode of interrupting, notification processor module reads the data that receive by I/O interface.
By reference to the accompanying drawings the specific embodiment of the present invention is explained in detail above, above-mentioned but the present invention is not limited toEmbodiment, in the ken possessing those of ordinary skill in the art, can also do not depart from aim of the present invention beforePut and make various variations.

Claims (5)

1. a node positioning method in the radio sensing network based on RF-assisted, is characterized in that: first adopt withThe wireless sensing node of 433MHz radio-frequency module is realized the time synchronized between anchor node; After deadline is synchronous, unknown nodeBy the 2.4GHz radio-frequency module based on IEEE802.15.4 standard, range information is transferred to anchor node; Finally by solvingThe time of advent, poor equation group completed location; The concrete steps of described localization method are as follows:
A, according to coordinate (xi,yi) dispose at least three anchor nodes in whole network, i=1,2 ... m, m represents the individual of anchor nodeNumber;
B, first anchor node record moment t by a time synchronizing signal of 433MHz radio-frequency module transmitting1；
C, in the time that second anchor node receives signal, send a 433MHz radiofrequency signal;
D, in the time that first anchor node receives the radiofrequency signal that second anchor node send, record moment t2, according to formulaCalculate time offset θ, first anchor node is again by 433MHz radio frequency mouldPiece sends and comprises θ and t3The signal of time information: when other anchor node except first anchor node in network receives bagContaining θ and t3When the signal of time information, adjust the moment T=S of self1,i/(3×108m/s)+θ+t3, complete and first anchor jointTime synchronized between point; Wherein S1,2Represent the distance between first anchor node and second anchor node, S1,iRepresent firstDistance between individual anchor node and i anchor node, i=1,2 ... m, m represents the number of anchor node;
E, when having completed after time synchronized, first anchor node is by the 2.4GHz radio-frequency module based on IEEE802.15.4 standardSend an initial signal;
F, when each unknown node in network is receiving after initial signal, utilize the side of time-sharing multiplex by 2.4GHz radio-frequency moduleThe information that formula transmission comprises self ID is to m anchor node;
G, a m anchor node is divided and is clipped to by the each unknown node ID of the memory stores in processor module and each unknown node jReach the moment T of each anchor node ij,i; Wherein j=1,2 ... n, n represents the number of unknown node; I=1,2 ... m, m represents anchorThe number of node;
Each unknown node ID and each the unknown that H, other m-1 anchor node except first anchor node are preserved selfNode arrives respectively the moment T of each anchor nodej,iSend to first anchor node;
I, first anchor node arrive respectively the moment T of each anchor node according to each unknown node ID and each unknown nodej,iObtain formula (1), and from formula (1), choose two prescription journeys and ask for the coordinate of each unknown node:
( T j , 1 - T j , i ) × 3 × 10 8 m / s = [ ( X j - x 1 ) 2 + ( Y j - y 1 ) 2 ] 0.5 - [ ( X j - x i ) 2 + ( Y j - y i ) 2 ] 0.5 - - - ( 1 )
In formula: (Xj,Yj) represent the coordinate of j unknown node; (x1,y1) represent the coordinate of first anchor node; (xi,yi) tableShow the coordinate of i anchor node; J=1,2 ... n, n represents the number of unknown node; I=2 ... m, m represents the individual of anchor nodeNumber.
2. node positioning method in the radio sensing network based on RF-assisted according to claim 1, is characterized in that:The number of described anchor node be three and more than, wherein unknown node is at least simultaneously in the communication range in three anchor nodes.
3. node positioning method in the radio sensing network based on RF-assisted according to claim 2, is characterized in that:The network building by m anchor node, and in the communication range of each unknown node while in m anchor node, so canArrive respectively the due in T of each anchor node according to each unknown node ID and each unknown nodej,iObtain m-1 equation,Thereby choose two equations wherein and calculate the coordinate of each unknown node; Wherein j=1,2 ... n, n represents unknown nodeNumber; I=1,2 ... m, m represents the number of anchor node.
A right to use require node positioning method in the radio sensing network based on RF-assisted described in 1 based on penetratingNode locating device in frequently auxiliary radio sensing network, is characterized in that: described positioner is by anchor node (1) and unknown jointPoint (2) composition; Described anchor node (1) comprise power module I (11), 2.4GHz radio-frequency module I (12), processor module I (13),433MHz radio-frequency module (14), wherein processor module I (13) is connected with 2.4GHz radio-frequency module I (12) by SPI interface, logicalCrossing general purpose I/O interface simulation SPI interface function is connected with 433MHz radio-frequency module (14); Described unknown node (2) comprises power supplyModule II (21), 2.4GHz radio-frequency module II (22), processor module II (23), wherein processor module II (23) is passed through SPIInterface is connected with 2.4GHz radio-frequency module II (22).
5. node locating device in the radio sensing network based on RF-assisted according to claim 4, is characterized in that:Power module in described anchor node (1) and unknown node (2) uses 2 joint 1.5v dry cells and uses the steady of voltage stabilizing chip formationVolt circuit is modules power supply.
CN201310439326.XA 2013-09-25 2013-09-25 Node positioning method and device in a kind of radio sensing network based on RF-assisted Expired - Fee Related CN103476117B (en)

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