CN103630876A - RSSI (received signal strength indicator) based ZigBee node positioning method - Google Patents
RSSI (received signal strength indicator) based ZigBee node positioning method Download PDFInfo
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- CN103630876A CN103630876A CN201310648600.4A CN201310648600A CN103630876A CN 103630876 A CN103630876 A CN 103630876A CN 201310648600 A CN201310648600 A CN 201310648600A CN 103630876 A CN103630876 A CN 103630876A
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- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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Abstract
The invention discloses an RSSI (received signal strength indicator) based ZigBee node positioning method. The RSSI based ZigBee node positioning method has no limit on number of anchor nodes and has no specific requirement on the positions of the anchor nodes, and the more the anchor nodes are, the higher the positioning accuracy is.
Description
Technical field
The location, position that the present invention relates to wireless sensor network, relates in particular to a kind of ZigBee node localization method based on RSSI
Background technology
Wireless sensor network (Wireless Sensor Network, WSN) is the more popular problem occurring in recent years.Along with the development of modern science and technology, network side people's life, and become the part that people are indispensable, and by disposing a large amount of sensor nodes, to target area, can change the interactive mode of we and objective world.The appearance of wireless sensor network is the result of MEMS (micro electro mechanical system), radio communication and Digital Electronic Technique fast development, and the appearance of a large amount of cheap microsensor nodes, more accelerated development the extensive application of wireless senser.Sensor network belongs to the system of self-organization, is the system with perception, collection, processing object information ability of a collaborative work.If but do not know sensor node position and the object information that obtains without any meaning, wireless sensor network node must clearly be known route and the management of location, tracking and network that self-position can realize target.Therefore the location that must first realize sensor network self node by relevant algorithm and mechanism.
In view of the above problems, be necessary to provide a kind of ZigBee node localization method based on RSSI, to address the above problem.
Summary of the invention
For the deficiencies in the prior art, the technical matters that the present invention solves is to provide a kind of ZigBee node localization method based on RSSI, should the quantity of anchor node not limited the ZigBee node localization method based on RSSI, the more positioning precisioies of anchor node are higher and the position of anchor node is not had to specific (special) requirements.
In order to solve the problems of the technologies described above, technical scheme of the present invention is achieved in that
A kind of ZigBee node localization method based on RSSI, described ZigBee node comprises the anchor node of some location awares, node to be measured and the gateway node of Location-Unknown, and the described ZigBee node localization method based on RSSI comprises the steps: S1: node to be measured regularly sends localizer beacon signal with specified power to whole ZigBee wireless sensor network; S2: each anchor node receives after described localizer beacon signal, calculates respectively the performance number of each localizer beacon signal, and the performance number calculating and corresponding anchor node network ID are packaged into locator data bag, sends to corresponding node to be measured; S3: described node to be measured sends to gateway node after the locator data bag receiving is integrated; S4: described gateway node is transferred to computing machine by the locator data bag receiving and processes, described computing machine machine calculates the distance between described node to be measured and each anchor node according to the performance number in locator data bag; S5: the position coordinates that the node to be measured that described computing machine machine basis calculates and the distance between each anchor node calculate described node to be measured.
Further, in step S4, described computing machine goes out the distance between node to be measured and each anchor node according to the performance number in locator data bag and by RSSI signal intensity range finding Modeling Calculation, computing formula is RSSI=-(10nlogL+A), wherein, RSSI receives the performance number obtaining after localizer beacon signal for each anchor node, and n is signal propagation constant, signal intensity when A is 1 meter of the node to be measured that sends of distance, L represents the distance between node to be measured and each anchor node.
Further, in step S5, described computing machine is according to the node to be measured and the distance between each anchor node that calculate the position coordinates that obtains node to be measured by Maximum Likelihood Estimation Method.
Further, in step S2, described in each, anchor node receives described localizer beacon signal and obtains respectively after the performance number of each localizer beacon signal, first utilizes gaussian filtering model to carry out filtering; Then the performance number in described span is averaged, obtain final performance number, and final performance number and corresponding anchor node network ID are packaged into locator data bag, send to corresponding node to be measured.
Further, be at least provided with three described anchor nodes arbitrarily in locating area, in step S3, described node to be measured carries out the performance number in the locator data bag receiving to send to gateway node after threshold values processing again.
The invention has the beneficial effects as follows: compared to prior art, the present invention is based on the ZigBe node positioning method of RSSI to the not restriction of the quantity of anchor node, the more positioning precisioies of anchor node are higher and the position of anchor node is not had to specific (special) requirements.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet that the present invention is based on the ZigBee node localization method of RSSI.
Fig. 2 is the network node structure schematic diagram that the present invention is based on the ZigBee node localization method of RSSI.
Embodiment
In order to make the object, technical solutions and advantages of the present invention clearer, below in conjunction with the drawings and specific embodiments, describe the present invention.
Refer to shown in Fig. 1, the invention provides a kind of ZigBee node localization method based on RSSI.In the present embodiment, the structure of ZigBee wireless sensor network as shown in Figure 2, mainly comprise some anchor nodes (Pl, P2, P3, P4, P5), node to be measured (A, B, C, D) and gateway node (P), wherein, anchor node (Pl, P2, P3, P4, P5) is the node of location aware, be responsible for the transmission of locator data bag, transmission, route, and each anchor node obtains network ID after initialization, and serial number; Node to be measured (A, B, C, D) is the node of position coordinates the unknown, is responsible for the work such as sensing data collection, transmission, transmission, route; Gateway node (P) is mainly accepted sensing data and the locator data that node to be measured (A, B, C, D) transmits, and be connected with computing machine (PC) by Ethernet, be responsible for receiving the data that in network, each node transmits, then pass to computing machine, then processed by computing machine.
In the present embodiment, by RSSI signal intensity range finding modeling, realize measuring distance, adopt the location algorithm of maximum likelihood estimation algorithm to obtain the position coordinates of node to be measured simultaneously, thereby can effectively avoid the error of signal drift and emission band.RSSI signal intensity range finding model and implementation thereof are as follows: receiving wireless signal strength RSSI is the function of through-put power and transmission range (distance between sending node and receiving node).The meeting of RSSI value is along with the increase of distance is successively decreased by formula (1-1): RSSI=-(l0nlog10L+A) (1-1)
Wherein, the value of A and n is different, can be very large to the error effect of measuring, and in order to improve as far as possible the precision based on RSSI signal intensity range finding model range finding location, the value of parameter A and n must be according to the different automatic measurement & calculations of environment.The value of A should be consistent in all directions in theory, but due to each tropism of transmitting node and receiving node antenna, makes its value might not be identical, therefore need to take multiple measurements and average.Because n is relevant with signal communication environments, its value is constantly to change.At locating area, by measuring one group of n value, then adopt Mean Filtering Algorithm to calculate actual n value.When system is moved, the value of A and n needs real-time testing, and according to the variation real-time update of environment, to reduce systematic error.
Refer to Fig. 1 and in conjunction with shown in Fig. 2, the ZigBee node localization method that the present invention is based on RSSI comprises the steps:
S1: node to be measured regularly sends localizer beacon signal with specified power to whole ZigBee wireless sensor network;
S2: each anchor node receives after localizer beacon signal, calculates respectively the performance number of each localizer beacon signal, and the performance number calculating and corresponding anchor node network ID are packaged into locator data bag, sends to corresponding node to be measured;
S3: node to be measured sends to gateway node after the locator data bag receiving is integrated;
S4: gateway node is transferred to computing machine by the locator data bag receiving and processes, described computing machine goes out the distance between node to be measured and anchor node according to the performance number in locator data bag and by RSSI signal intensity range finding Modeling Calculation.
S5: described computing machine is according to calculating to obtain distance between node to be measured and each anchor node calculate the position coordinates of node to be measured by Maximum Likelihood Estimation Method.
Wherein, in step S2, each anchor node receives after the packets of information with performance number of several times node transmission to be measured, owing to being subject to the external environment factor impacts such as sighting distance and multipath, the performance number that each anchor node obtains can have larger undulatory property, thereby first carry out filtering processing, obtain one more accurately value calculate again.Due in spontaneous phenomenon and social phenomenon, a large amount of stochastic variables are obeyed or are similar to Normal Distribution, and as material property, chemical composition and measuring error etc., so the present embodiment adopts gaussian filtering model to carry out performance number filtering.Each anchor node receives localizer beacon signal and obtains respectively after the performance number of each localizer beacon signal, first utilizes gaussian filtering model to carry out filtering, the scope (empirical value in common engineering is 0.6) that high probability generating region selects probability to be greater than 0.6.Then, the performance number in described span is averaged, obtains final performance number, and final performance number and corresponding anchor node network ID are packaged into locator data bag, send to corresponding to be measured some.In step S3, because node to be measured sends after localizer beacon, can receive final RSSI value that in certain limit, anchor node is beamed back and corresponding anchor node and number.In the present embodiment, the aim of network topology is: any fritter locating area, has three anchor nodes at least, and all keep visual with three anchor nodes.Meeting the resulting RSSI value of visual anchor node is accurately, the nodes of locations coordinate precision that utilizes these RSSI values to record is also the highest, if but also have the visual anchor point of some discontented foots within the scope of this, impact due to barrier, it is little that the RSSI value that these anchor nodes obtain can meet the RSSI value that visual anchor node obtains than those, finally can reduce the positioning precision of node to be measured.The present embodiment adopts a threshold values processing procedure to carry out the RSSI value that sent by the far-reaching anchor node of barrier in those certain limits of filtering.In step S4, computing machine receives the locator data bag that gateway node sends over and obtains after RSSI value wherein, according to above-mentioned formula (1-1), obtains respectively the distance between node to be measured and each anchor node.In step S5, computing machine receives the locator data bag that gateway node sends over and obtains after RSSI value wherein, according to above-mentioned formula (1-1), obtains respectively, after the distance between node to be measured and each anchor node, carrying out the calculating of node coordinate to be measured.In the present embodiment, adopt Maximum Likelihood Estimation Method to calculate the coordinate of node to be measured.
Owing to there being range error, reasonably linear model is: A (xD, yD)+N=b, and wherein N is n-1 dimension stochastic error vector, the position coordinates that obtains node to be measured is: (x
d, y
d)=(A
ta)
-1a
tb.
In sum, the present invention is based on the ZigBee node localization method of RSSI owing to having adopted RSSI signal intensity range finding modeling to realize range finding, and the location algorithm that utilizes maximum likelihood estimate obtains the position coordinates of node to be measured, the error of effectively having avoided signal drift and transmitting to bring.
Compared to prior art, the present invention is based on the ZigBee node localization method of RSSI to the not restriction of the quantity of anchor node, the more positioning precisioies of anchor node are higher and the position of anchor node is not had to specific (special) requirements.
Of particular note, for the person of ordinary skill of the art, that under instruction of the present invention, does changes for equivalence of the present invention, must be included in the scope that the present patent application the scope of the claims advocates.
Claims (5)
1. the ZigBee node localization method based on RSSI, described ZigBee node comprises the anchor node of some location awares, node to be measured and the gateway node of Location-Unknown, it is characterized in that: the described ZigBee node localization method based on RSSI comprises the steps:
S1: node to be measured regularly sends localizer beacon signal with specified power to whole ZigBee wireless sensor network;
S2: each anchor node receives after described localizer beacon signal, calculates respectively the performance number of each localizer beacon signal, and the performance number calculating and corresponding anchor node network ID are packaged into locator data bag, sends to corresponding node to be measured;
S3: described node to be measured sends to gateway node after the locator data bag receiving is integrated;
S4: described gateway node is transferred to computing machine by the locator data bag receiving and processes, described computing machine machine calculates the distance between described node to be measured and each anchor node according to the performance number in locator data bag;
S5: the position coordinates that the node to be measured that described computing machine machine basis calculates and the distance between each anchor node calculate described node to be measured.
2. the ZigBee node localization method based on RSSI as claimed in claim 1, it is characterized in that: in step S4, described computing machine goes out the distance between node to be measured and each anchor node according to the performance number in locator data bag and by RSSI signal intensity range finding Modeling Calculation, computing formula is RSSI=-(10nlogL+A), wherein, RSSI receives the performance number obtaining after localizer beacon signal for each anchor node, n is signal propagation constant, signal intensity when A is 1 meter of the node to be measured that sends of distance, L represents the distance between node to be measured and each anchor node.
3. the ZigBee node localization method based on RSSI as claimed in claim 2, it is characterized in that: in step S5, described computing machine is according to the node to be measured and the distance between each anchor node that calculate the position coordinates that obtains node to be measured by Maximum Likelihood Estimation Method.
4. the ZigBee node localization method based on RSSI as claimed in claim 3, it is characterized in that: in step S2, described in each, anchor node receives described localizer beacon signal and obtains respectively after the performance number of each localizer beacon signal, first utilizes gaussian filtering model to carry out filtering; Then the performance number in described span is averaged, obtain final performance number, and final performance number and corresponding anchor node network ID are packaged into locator data bag, send to corresponding node to be measured.
5. the ZigBee node localization method based on RSSI as claimed in claim 4, it is characterized in that: in locating area, be at least provided with three described anchor nodes arbitrarily, in step S3, described node to be measured carries out the performance number in the locator data bag receiving to send to gateway node after threshold values processing again.
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| WO2016082223A1 (en) * | 2014-11-28 | 2016-06-02 | 华为技术有限公司 | Method and device for obtaining d2dtransmission distance |
| CN105911519A (en) * | 2016-04-08 | 2016-08-31 | 成都理工大学 | Adaptive calibration large-scale indoor RSSI mixed filtering positioning method |
| WO2017140090A1 (en) * | 2016-02-17 | 2017-08-24 | 中兴通讯股份有限公司 | Method for adjusting radio-frequency power, zigbee router, sensor and system |
| CN108226912A (en) * | 2018-01-22 | 2018-06-29 | 深圳大学 | A kind of localization method and alignment system |
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| US10560946B2 (en) | 2014-11-28 | 2020-02-11 | Huawei Technologies Co., Ltd. | D2D transmission distance obtaining method and device |
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| CN105911519A (en) * | 2016-04-08 | 2016-08-31 | 成都理工大学 | Adaptive calibration large-scale indoor RSSI mixed filtering positioning method |
| CN108226857A (en) * | 2016-12-15 | 2018-06-29 | 博通无限（北京）物联科技有限公司 | A kind of pasture cattle and sheep localization method based on LoRa technologies |
| CN108226912A (en) * | 2018-01-22 | 2018-06-29 | 深圳大学 | A kind of localization method and alignment system |
| CN108226912B (en) * | 2018-01-22 | 2021-11-09 | 深圳大学 | Sparse network-based non-contact object perception positioning method and system |
| CN113272673A (en) * | 2018-12-26 | 2021-08-17 | 洛希克斯有限公司 | System and method for determining wireless sensor node location using ranging and triangulation based on radio frequency communications between the node and various RF-enabled devices |
| EP3887846A4 (en) * | 2018-12-26 | 2022-08-10 | Locix, Inc. | Systems and methods for using ranging and triangulation to determine locations of wireless sensor nodes based on radio frequency communications between the nodes and various rf-enabled devices |
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Application publication date: 20140312 |