CN103592624B - A kind of distance-finding method based on received signal strength - Google Patents

A kind of distance-finding method based on received signal strength Download PDF

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CN103592624B
CN103592624B CN201310593986.3A CN201310593986A CN103592624B CN 103592624 B CN103592624 B CN 103592624B CN 201310593986 A CN201310593986 A CN 201310593986A CN 103592624 B CN103592624 B CN 103592624B
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sequence
node
survey frequency
rss
distance
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CN103592624A (en
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张骋
齐望东
刘鹏
贺建民
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PLA University of Science and Technology
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PLA University of Science and Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements

Abstract

The present invention discloses a kind of distance-finding method based on received signal strength and system, and it comprises the steps: the carrier frequency used successively when choosing communication node emission measurement signal at equal intervals on Measurement bandwidth, obtains survey frequency sequence; Transmitting node is according to survey frequency sequence transmission measuring-signal; Blind node and reference mode complete RSS and measure in each survey frequency, obtain the RSS sequence of answering with survey frequency sequence pair; By the RSS value that the blind node of the square weighting of survey frequency and the corresponding survey frequency of reference mode record, obtain F 2wRSS sequence; According to the F of blind node and reference mode 2wRSS sequence, service range algorithm for estimating determines the distance of blind node to transmitting node.Adopt method of the present invention, the distance of the massive wireless sensor interior joint of surface deployment can be measured quickly and accurately.

Description

A kind of distance-finding method based on received signal strength
Technical field
The invention belongs to radio distance-measuring technical field, particularly a kind of radio distance-measuring method based on received signal strength of the massive wireless sensor interior joint ranging localization for surface deployment.
Background technology
Positional information has become the key foundation information of modern society, plays an important role in national economy, science and techniques of defence and daily life.Location technology is divided into two large classes usually: based on location and the non-ranging location of range finding.Non-ranging location relies on internodal link information to infer node location information, and positioning precision is not high.Positional information is generally determined based on the measurement of certain distance measurements in location based on range finding, and usual positioning precision is higher, therefore more applicablely provides high-precision location-based service.
In the distance-finding method of various support hi-Fix, GPS etc. had high requirements to clock synchronization accuracy based on range finding time of arrival (TOA); Angle of arrival range finding (AOA) then needs multiple bay.Therefore, these measuring methods understand the size, power consumption or the manufacturing cost that significantly increase communication node.Received signal strength (RSS) can directly read by the RSSI register in radio frequency chip in normal course of communications, carries out range finding can not increase energy consumption with RSS, also without the need to changing hardware, is a kind of distance-finding method of simple, low cost.Therefore, the ranging localization of large-scale wireless sensing network interior joint is particularly suitable for based on the range finding of RSS and localization method.
Range measurement system based on RSS comprises three kinds of nodes, and wherein, transmitting node is the launch party of measuring-signal, and position is known, is usually also referred to as anchor node; Reference mode is to anchor node apart from known node, is one of take over party of measuring-signal; Blind node is to the unknown measured node of transmitting node distance, is the primary recipient side of measuring-signal.Traditional RSS distance-finding method (hereinafter referred to as method one), based on the propagation model of radio signal, can be formulated as follows:
P r [ dBm ] = P 0 [ dBm ] - 10 n p log ( d d 0 ) - - - ( 1 )
Wherein, d is the distance of blind node to transmitting node, d 0for reference mode is to the distance of transmitting node; P rfor the RSS of blind node, P 0for the RSS of reference mode; n pfor path attenuation index, the concrete multi-path environment usually laying region to node is relevant.
Method one is divided into two steps: first, choose in laying environment and somely carry out RSS measurement to transmitting node apart from different nodes and obtain some distances and (pass through laser range finder, the means such as GPS record these distance values) and the sample of RSS combined value, carry out parameter fitting by formula (1), obtain n p, this step is commonly referred to training (or study); After having trained, then carry out RSS measurement by blind node, complete distance by formula (1) and resolve.
Method one deposits problem both ways.On the one hand, training need cost plenty of time, manpower and power consumption remove the sample obtaining Distance geometry RSS combined value; On the other hand, each internodal multipath parameter for training is in fact not identical, the path attenuation index that this training method obtains is the description to " overall multi-path environment ", and therefore situation difference that is unavoidable and some node is too large, causes occurring range finding exceptional value (outlier).
Be different from a classic method only selected fixing carrier frequency transmitting narrow band detection signal, a kind of new RSS distance-finding method [Zhang, D., et al.: ' On distinguishing the multiple radio paths in RSS-based ranging ' .Proc.IEEE INFOCOM, 2012, pp.2201-2209] (hereinafter referred to as method two) based on the thought of frequency diversity, on some different carrier frequency, launch narrow band signal successively, the RSS value utilizing different carrier frequency to record resolves testing distance.Method two eliminates fitting parameter n in method one ptraining process, but its distance calculation method is numerical method, therefore needs to arrange initial value row iteration of going forward side by side and solves, therefore there is the ubiquitous problem of the numerical method such as local optimum and high computation complexity.
There is the problem of overhead and the range finding exceptional value of training and bringing in method one, there is the problems such as the intrinsic local optimum of numerical algorithm and high computation complexity in method two, these problems make existing RSS distance-finding method be difficult to be applied to the location of large-scale wireless sensing network interior joint.
Summary of the invention
The object of the present invention is to provide a kind of distance-finding method based on received signal strength, when measuring low-power consumption mini-plant distance, quick and accurate.
The technical solution realizing the object of the invention is: a kind of distance-finding method based on received signal strength, it comprises the steps:
10) allocating and measuring frequency sequence: the carrier frequency used successively when choosing communication node emission measurement signal at equal intervals on Measurement bandwidth, obtains survey frequency sequence;
20) emission measurement signal: transmitting node is according to survey frequency sequence successively emission measurement signal;
30) RSS sequence is obtained: blind node and reference mode complete RSS and measure in each survey frequency, obtain the RSS sequence of answering with survey frequency sequence pair;
40) F is obtained 2wRSS sequence: by the RSS value that the blind node of the square weighting of survey frequency and the corresponding survey frequency of reference mode record, obtain F 2wRSS sequence;
50) euclidean distance between node pair is determined: according to the F of blind node and reference mode 2wRSS sequence, service range algorithm for estimating determines the distance of blind node to transmitting node.
The present invention compared with prior art, its remarkable advantage:
This method, when measuring distance, without the need to passing through training process, and can solve, thus reaches the object of quick and precisely finding range, be beneficial to the quick and precisely location of the massive wireless sensor interior joint of surface deployment in quick-make.
Be different from the measuring-signal that the instant bandwidth of use in UWB and OFDM range finding is higher, the inventive method utilizes narrow band signal to measure on different carrier frequency, therefore while utilizing wider frequency spectrum resource, do not increase the requirement to hardware, general cheap radio station just can use the method to find range.
Accompanying drawing explanation
Fig. 1 is the distance-finding method process flow diagram that the present invention is based on received signal strength.
Fig. 2 be the distance-finding method that the present invention is based on received signal strength performance by bandwidth sum frequency points affect schematic diagram.
Fig. 3 is that the range error of classic method and the inventive method under the scene of playground distributes comparison diagram.
Fig. 4 is that the range error of classic method and the inventive method under the scene of lawn distributes comparison diagram.
Fig. 5 is the positioning result comparison diagram under the scene of playground;
Wherein black circle represents actual position, and square represents the positioning result that classic method obtains, and pentagram represents the positioning result that the inventive method obtains.
Fig. 6 is the positioning result comparison diagram under the scene of lawn;
Wherein black circle represents actual position, and square represents the positioning result that classic method obtains, and pentagram represents the positioning result that the inventive method obtains.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
As shown in Figure 1, the present invention is based on the distance-finding method of received signal strength, comprise the steps:
10) allocating and measuring frequency sequence: be spacedly distributed on Measurement bandwidth communication node emission measurement signal time the carrier frequency that uses successively, obtain survey frequency sequence;
In described allocating and measuring frequency sequence (10) step, survey frequency sequence is expressed as:
f i＝f 0+iΔf,i＝0,1,...,N-1；
Wherein, f 0for initial frequency, N is total survey frequency number, and Δ f is the interval of adjacent carrier frequencies.
20) emission measurement signal: transmitting node is according to survey frequency sequence successively emission measurement signal;
30) RSS sequence is obtained: blind node and reference mode complete RSS and measure in each survey frequency, obtain the RSS sequence of answering with survey frequency sequence pair;
Described acquisition RSS sequence (30) step comprises:
31) blind node and reference mode complete and measure with the RSS of transmitting node in each survey frequency;
32) the RSS sequence that blind node and survey frequency sequence pair are answered is obtained:
P i,i＝0,1,...,N-1，
33) the RSS sequence that reference mode and survey frequency sequence pair are answered is obtained:
P 0,i,i＝0,1,...,N-1。
40) F is obtained 2wRSS sequence: by the RSS value that the blind node of the square weighting of survey frequency and the corresponding survey frequency of reference mode record, obtain F 2wRSS sequence;
Described acquisition F 2wRSS sequence (40) comprising:
41) by the RSS value that the corresponding survey frequency of the blind node of the square weighting of survey frequency records, F is obtained 2wRSS sequence:
s i＝f i 2P i，i＝0,1,...,N-1；
42) by the RSS value that the corresponding survey frequency of the square weighting reference mode of survey frequency records, F is obtained 2wRSS sequence:
s 0,i＝f i 2P 0,i，i＝0,1,...,N-1。
50) euclidean distance between node pair is determined: according to the F of blind node and reference mode 2wRSS sequence, service range algorithm for estimating determines the distance of blind node to transmitting node, namely
d ≈ d 0 Σ i = 0 N - 1 S i , 0 / Σ i = 0 N - 1 S i 4 .
Wherein, d 0for reference mode is to the distance of launching node, d is unknown distance to be estimated
By above-mentioned steps, the distance-finding method that the present invention is based on received signal strength, when not training, completes resolving of distance by closed expression formula, solves the defect that existing method exists.
In MATLAB simulated environment, the inventive method is emulated, to observe its performance by the impact of measuring bandwidth sum survey frequency two systematic parameters.
Simulation process is: arranging reference distance is 10m, wait that estimating distance actual value is 15m, antenna height 0.5m, measurement initial frequency is 400MHz, except ground return footpath, also increase the reflection footpath of a multipath parameter stochastic generation, namely transmitting node is to blind node and reference mode except direct signal, has two multipaths.
Performance-the root-mean-square error (RMSE) being illustrated in figure 2 distance-finding method of the present invention affects schematic diagram by bandwidth sum frequency points.Result shows, increases Measurement bandwidth and increase survey frequency number all to play the effect promoting range performance; For the 60Mhz bandwidth that common wireless sensor node can provide, only need the survey frequency of about 15 effectively can eliminate multipath error.The XSM wireless sensor node using Crossbow company to produce has carried out ranging localization experiment.XSM node has carried this inexpensive communication radio station of CC1000, CC1000 can provide the continuous measurements available bandwidth of 400MHz to 460MHz.We arrange survey frequency sequence is f i=(400+i) MHz, i=0,1 ..., 60.In guarded region, lay some blind nodes and a reference mode, transmitting node has transmitted in the position that 3, guarded region periphery is different range finding, finally utilizes three limit positioning principles to complete location.Between the less playground of periphery reverberation and reverberation more building, two, lawn scene is tested, and and traditional RSS distance-finding method contrast, range finding and locating effect as Fig. 3,4,5, shown in 6.
Fig. 3 is that the range error of classic method and the inventive method under the scene of playground distributes comparison diagram.
Fig. 4 is that the range error of classic method and the inventive method under the scene of lawn distributes comparison diagram.
Fig. 5 is the positioning result comparison diagram under the scene of playground;
Wherein black circle represents actual position, and square represents the positioning result that classic method obtains, and pentagram represents the positioning result that the inventive method obtains.
Fig. 6 is the positioning result comparison diagram under the scene of lawn;
Wherein black circle represents actual position, and square represents the positioning result that classic method obtains, and pentagram represents the positioning result that the inventive method obtains.
Find out from above-mentioned experimental result, the inventive method, compared to traditional RSS distance-finding method, provides more accurately range measurement reliably, improves positioning performance.Wherein, under the scene of playground, 95% degree of confidence range error reduces 38.07%; Under the scene of lawn, 95% degree of confidence range error reduces 60.55%.

Claims (1)

1. based on a distance-finding method for received signal strength, it is characterized in that, comprise the steps:
10) allocating and measuring frequency sequence: be spacedly distributed on Measurement bandwidth communication node emission measurement signal time the carrier frequency that uses successively, obtain survey frequency sequence;
20) emission measurement signal: transmitting node is according to survey frequency sequence successively emission measurement signal;
30) RSS sequence is obtained: blind node and reference mode complete RSS and measure in each survey frequency, obtain the RSS sequence of answering with survey frequency sequence pair;
40) F is obtained 2wRSS sequence: by the RSS value that the blind node of the square weighting of survey frequency and the corresponding survey frequency of reference mode record, obtain F 2wRSS sequence;
50) euclidean distance between node pair is determined: according to the F of blind node and reference mode 2wRSS sequence, service range algorithm for estimating determines the distance of blind node to transmitting node;
In described allocating and measuring frequency sequence (10) step, survey frequency sequence is expressed as:
f i＝f 0+iΔf,i＝0,1,...,N-1；
Wherein, f 0for initial frequency, N is total survey frequency number, and Δ f is the interval of adjacent carrier frequencies;
Described acquisition RSS sequence (30) step comprises:
31) blind node and reference mode complete and measure with the RSS of transmitting node in each survey frequency;
32) the RSS sequence that blind node and survey frequency sequence pair are answered is obtained:
P i,i＝0,1,...,N-1，
33) the RSS sequence that reference mode and survey frequency sequence pair are answered is obtained:
P 0,i,i＝0,1,...,N-1；
Described acquisition F 2wRSS sequence (40) comprising:
41) by the RSS value that the corresponding survey frequency of the blind node of the square weighting of survey frequency records, F is obtained 2wRSS sequence:
s i＝f i 2P i，i＝0,1,...,N-1；
42) by the RSS value that the corresponding survey frequency of the square weighting reference mode of survey frequency records, F is obtained 2wRSS sequence:
s 0,i＝f i 2P 0,i，i＝0,1,...,N-1；
Described determine euclidean distance between node pair (50) step be adopt distance estimating algorithm determine the distance of blind node to transmitting node, namely d ≈ d 0 Σ i = 0 N - 1 / Σ i = 0 N - 1 s i 4 ,
Wherein, d 0for reference mode is to the distance of launching node, d is unknown distance to be estimated.
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CN110708702B (en) * 2019-09-03 2022-08-02 中国联合网络通信集团有限公司 Method and device for determining signal propagation model
CN110636516B (en) * 2019-09-03 2022-06-07 中国联合网络通信集团有限公司 Method and device for determining signal propagation model
CN110865359A (en) * 2019-11-06 2020-03-06 天津大学 Underwater acoustic ranging method based on received signal strength
CN111182567B (en) * 2019-12-31 2022-09-02 金陵科技学院 Multi-target evolution model-based wireless sensor network multi-channel ranging optimization method

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TWI596367B (en) * 2016-02-26 2017-08-21 凌通科技股份有限公司 Distance detection method and distance detection device using the same

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