CN104280726B - A kind of one-dimensional wireless speed-measuring method and device based on ZigBee - Google Patents
A kind of one-dimensional wireless speed-measuring method and device based on ZigBee Download PDFInfo
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- CN104280726B CN104280726B CN201410469981.4A CN201410469981A CN104280726B CN 104280726 B CN104280726 B CN 104280726B CN 201410469981 A CN201410469981 A CN 201410469981A CN 104280726 B CN104280726 B CN 104280726B
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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
Abstract
The invention discloses a kind of one-dimensional wireless speed-measuring method and device based on ZigBee, using known node as measuring node, with measuring node be located along the same line motion speed unknown object as node to be measured, being respectively mounted on two nodes can launch and receive the speed measuring device comprising ZigBee chips of signal, and send signal twice from one of node to another node, the interval time between signal is preset interval time twice, then the time of signal twice is respectively received using node, preset interval time and known signaling rate calculate the speed of node relative measurement node to be measured.The speed-measuring method is by by the speed measuring device of simple structure, in measuring node and node to be measured, transmitted between measuring node and node to be measured using signal, by the transmitting-receiving interval time of tracer signal, the speed of node to be measured is obtained by carrying out simple calculations using MCU, mobile speed measurement cost is substantially reduced.
Description
Technical field
The present invention relates to a kind of one-dimensional wireless speed-measuring method and device based on ZigBee.
Background technology
At present, various wireless locations and speed-measuring method, such as RFID technique, video are realized using different know-whies
Test the speed, radar velocity measurement, infrared testing the speed are tested the speed with ultrasonic wave.
Fixation and recognition measuring principle based on RFID technique is that RF tag and wirelessly is disposed on measurement and testee
Read write line, by radiofrequency signal automatic identification destination object and obtains related data, can carry out multiple target and recognize simultaneously.
Video frequency speed-measuring principle is to carry out multiple to same object to be continuously shot, and then the successive image frame for photographing is carried out
Analysis, by the detection in video image to object head or afterbody, using image information according to certain ratio, estimates figure
The mapping relations of distance in distance and real world coordinates system as in, or displacement is changed in image space by vehicle characteristics point
It is the distance in real world coordinate system, then extrapolates the actual range of object movement to obtain the movement velocity of object.
Radar velocity measurement principle is then the electromagnetic wave irradiation object under test sent by instrumentation radar, receives determinand reflection
Radar return characteristic carrys out object analysis translational speed.
Wireless location speed-measuring method based on ZigBee technology mainly includes：
1. indoor object is positioned using TOA (arrival time) principle, and location information is passed through into ZigBee-network
It is shared with other application；
2. the localization method for being combined using RSSI (received signal strength indicator) and trilateration passes through ZigBee functions
Module is positioned and tested the speed to object；
3. vehicle location and velocity information are obtained using GPS technology, energy between vehicle is made by ZigBee wireless communication technologys
Enough communicate with one another, in the greasy weather for human pilot provides the information such as spacing and road conditions.
The localization method combined using RSSI (receive signal intensity indicate) and trilateration, received signal strength can be with
The increase of distance and weaken, computing formula is：RSSI=- (10nlgd+A), in formula：N is signal propagation constant；D is to be measured
The distance between node and a certain known node；Signal intensity when A is apart from known node 1m, belongs to empirical value, can pass through
Many experiments determine.
RSSI principles mainly use the transmission signal intensity that known node is previously set, and node to be measured is according to receiving
Signal intensity calculates signal propagation losses, and loss is converted into communication distance using theoretical or experience, recycles three sides
Mensuration calculates the position coordinates of unknown node.Trilateration is to choose some points, and they are linked to be into some triangles, is passed through
Cross each length of side of observation triangle, coordinate further according to control point, play the length of side and grid azimuth of initial line, by triangle and
Grid azimuth calculates the length of side and grid azimuth that can obtain each side of triangle.
The localization method combined using RSSI and trilateration by ZigBee functional modules object is carried out positioning and
Test the speed, its main design thought is as follows：
Wireless location velocity-measuring system mainly includes that monitor video front end, ZigBee functional modules and control centre 3 are most of,
System operating diagram is as shown in Figure 1.
The system is taken pictures by monitor video front end to the mobile object for passing through, so as to look for correspondence in control centre
Record information, and the object is positioned and tested the speed by ZigBee functional modules, ZigBee functional modules are calculated and is learnt
Speed data packing transmit to control centre, its speed of service is monitored by control centre.
ZigBee functional modules include 3 kinds of nodes, respectively：Known location (coordinate) node, object under test are unknown (to be sat
Mark) node and coordinator node.The known node plays the role of router in ZigBee wireless networks, it is determined whether permitting
Perhaps node to be measured adds or exits the ZigBee wirelessly to test the speed network, it is known that node is the known coordinate section in wireless velocity-measuring system
Point, is installed in object movement route both sides.Its coordinate is to be set by control centre and be sent to each by telegon
Know node, node to be measured falls within the router in ZigBee-network, be the mobile node in wireless velocity-measuring system.Node to be measured
It is previously installed on testee by staff, system recognizes the translational speed of the equipment or object by the node to be measured,
So as to monitor the whole service process of object.
Coordinator node in the ZigBee-network is the telegon in wireless velocity-measuring system, by RS232 Serial Port Lines
It is connected with control centre, it will receive the configuration data of each known node provided by control centre first, and is sent to corresponding
Node；Secondly, each time dot position information and the packet of correspondence time sent by node to be measured are also received, is carried out
Velocity amplitude of the node to be measured at each time point is calculated, and is wrapped into being sent to control centre；Control centre is connected to coordination
The data that device node is sent, the curve movement of object is drawn to whole service process, and provides average speed value.
It is above-mentioned to there is following deficiency in the prior art：
RFID is higher to operating environment requirements, and its measurement distance is generally in more than ten meters of magnitude, it is necessary in region to be measured
Substantial amounts of RF tag or radio read-write device are disposed, system cost is more expensive；
Video frequency speed-measuring know-why is simple, realizes also uncomplicated, but is only applicable to fixed location and tests the speed and necessary before testing the speed
Video camera is demarcated, is unfavorable for that move mode is used, system cost is high；
Speed-measuring method error based on radar beam is smaller, also may move and uses, but cannot MANET, and monomer cost
It is high；
It is infrared test the speed, the technology such as ultrasonic wave tests the speed, its transmission signal may have injury to human body and environment, and need infrared
Laser or supersonic generator, cost are high, also higher to use environment requirement.
In wireless location speed-measuring method based on ZigBee technology, using TOA principle location technologies, can only be to indoor object
Positioning, it is impossible to outdoor application, and do not possess speed measuring function；The positioning-speed-measuring method combined using RSSI and trilateration is needed
Using video front, system cost is high, and can only fix and use, and preparation process is complicated before test, and cannot mobile speed measurement；Utilize
GPS technology obtains vehicle location and velocity information, is communicated with one another between making vehicle by ZigBee technology, it is strict for, the method
It is not that directly object is positioned and tested the speed using ZigBee technology, and when meeting the bad weathers such as dense fog, GPS device cannot
Satellite-signal is obtained, system cannot be used.
The content of the invention
It is existing its object is to overcome the invention provides a kind of one-dimensional wireless speed-measuring method and device based on ZigBee
Velocity-measuring system needs to be equipped with video-unit in technology, and cost is high and cannot move the problem for testing the speed.
A kind of one-dimensional wireless speed-measuring method based on ZigBee, using the node of known movement velocity as measuring node, with
Measuring node be located along the same line motion speed unknown object as node to be measured, being respectively mounted on two nodes to launch
With the speed measuring device comprising ZigBee chips for receiving signal, and signal twice is sent from one of node to another node,
The interval time between signal is preset interval time twice, is then respectively received time of signal, pre- twice using node
If interval time and known signaling rate calculate the speed of node relative measurement node to be measured.
One-shot measurement signal is sent at interval of time delt using the ZigBee chips in measuring node, on node to be measured
ZigBee chips receive measurement signal and send the response signal of measurement signal, the speed V of node relative measurement node to be measured：
Wherein, delt1 be measuring node before once send measurement signal to the time interval for receiving response signal, delt2
Measurement letter is once sent once to send measurement signal to the time interval for receiving response signal after measuring node, before measuring node
Number and after once send measurement signal between interval time for delt, c is the light velocity for signaling rate.
One-shot measurement signal is sent at interval of time delt using the ZigBee chips on node to be measured, in measuring node
ZigBee chips receive measurement signal, the speed V of node relative measurement node to be measured：
V=c (1-delt3/delt)
Wherein, delt3 represents measuring node from the previous measurement signal of reception to latter measurement signal of reception
Time interval, node to be measured send previous measurement signal to the interval time sent between latter measurement signal be delt, c
For signaling rate is the light velocity.
A kind of one-dimensional wireless speed measuring device based on ZigBee, for realizing that the one-dimensional wireless based on ZigBee tests the speed
Method, the speed measuring device includes ZigBee chips, MCU, antenna and power supply, and the ZigBee chips, antenna and power supply are and MCU
It is connected.
The speed measuring device is arranged in measuring node and node to be measured.
Beneficial effect
The invention provides a kind of one-dimensional wireless speed-measuring method and device based on ZigBee, using known node as measurement
Node, with measuring node be located along the same line motion speed unknown object as node to be measured, pacify on two nodes
The speed measuring device comprising ZigBee chips of signal can be launched and be received to dress, and send two from one of node to another node
Secondary signal, the interval time between signal is preset interval time twice, is then respectively received signal twice using node
Time, preset interval time and known signaling rate calculate the speed of node relative measurement node to be measured.This tests the speed
Method by by the speed measuring device of simple structure, in measuring node and node to be measured, using signal in measuring node and
Transmitted between node to be measured, by the transmitting-receiving interval time of tracer signal, obtain to be measured by carrying out simple calculations using MCU
The motion in one dimension speed of node relative measurement node, substantially reduces mobile speed measurement cost.Whole speed measuring device simple structure, cost
It is cheap, greatly reduce the cost that tests the speed, it is easy to promote.
Brief description of the drawings
Fig. 1 is the structural representation of wireless location velocity-measuring system of the prior art；
Fig. 2 is the speed measuring device hardware architecture diagram used in the present invention；
Fig. 3 is the model schematic that tests the speed of embodiment one；
Fig. 4 is the model schematic that tests the speed of embodiment two.
Specific embodiment
Below in conjunction with drawings and Examples, the present invention is described further.
A kind of one-dimensional wireless speed-measuring method based on ZigBee, using known node as measuring node, with measuring node position
In same linear motion speed unknown object as node to be measured, being respectively mounted on two nodes can launch and receive signal
The speed measuring device comprising ZigBee chips, and send signal twice from one of node to another node, twice signal it
Between interval time be preset interval time, be then respectively received the time of signal, preset interval time twice using node
The speed of node relative measurement node to be measured is calculated with known signaling rate.
As shown in Fig. 2 a kind of one-dimensional wireless speed measuring device based on ZigBee, for realizing described based on ZigBee one
Tie up wireless speed-measuring method, the speed measuring device include ZigBee chips, MCU, antenna and power supply, the ZigBee chips, antenna and
Power supply is connected with MCU.
The speed measuring device is arranged in measuring node and node to be measured.
Embodiment one
One-shot measurement signal, node vehicle section to be measured are sent using the ZigBee chips interval time delt in measuring node
ZigBee chips on point receive measurement signal and send the response signal of measurement signal, the speed of node relative measurement node to be measured
Degree V：
Wherein, delt1 is that measuring node sends measurement signal and receive the time interval of response signal, delt2 for the first time
Measurement signal is sent for the second time for measuring node and the time interval of response signal is received, and c is the light velocity for signaling rate.
, used as measuring node, node B is used as node to be measured for node A；
Node A is static or moves, because the measurement time cycle once is very short (generally within 1s), therefore in the cycle
It is interior, even if node A also can be considered uniform motion in motion state, the one-dimensional coordinate system with A points as origin can be set up；Node B has
There is the movement velocity of counterpart node A, similarly also can be considered uniform motion.The foundation theoretical model that tests the speed is as shown in Figure 3.
1. node A sends two signals to be spaced delt, and during first signal of hair, B is in B0 points, it is assumed that signal from MCU to
Antenna at intervals of t1, then through time t2, the antenna of node B receives first signal of A transmissions at B1；
The MCU of 2.B once receives measurement signal and sends response signal at once, because hardware configuration is identical, therefore passes through
2*t1 times, the antenna of B sends response signal, and now, B has moved to B2 points；
3. through time t3, first response signal is back at A point antennas, then through time t1, reaches A point MCU, now B
Have moved to B3 points.So first signal time (measurable at A points MCU) back and forth is：
Delt1=t1+t2+2*t1+t3+t1=t2+t3+4*t1 (1)
When 4.A points send second signal, in B4 points, when A receives second response signal, B is in B7 points for B.Can similarly obtain,
Second signal time back and forth is：
Delt2=t5+t6+4*t1 (2)
5.B moves to B4 points from B0 points, and correspondence time interval is delt, it is assumed that B is V with respect to A speed, then
AB0=AB4+V*delt (3)
And AB0=AB1+V* (t1+t2) (4)
AB4=AB5+V* (t1+t5) (5)
And have AB1=c*t2 (6)
AB5=c*t5 (7)
Wherein c is the light velocity.
Formula (4)~(7) are substituted into formula (3), arrangement can be obtained：
T2-t5=V*delt/ (c+V) (8)
Again by AB0=AB2+V* (t1+t2+2*t1) (9)
AB4=AB6+V* (t1+t5+2*t1) (10)
And have AB2=c*t3 (11)
AB6=c*t6 (12)
Formula (9)~(12) are substituted into formula (3), and convolution (8), arrangement can be obtained：
T3-t6=V*delt/ (c+V) (13)
(1)-(2) are obtained again：
Delt1-delt2=(t2-t5)+(t3-t6) (14)
Formula (8), formula (13) are substituted into formula (14), arrangement can be obtained：
V=c* (delt1-delt2)/(2*delt-(delt1-delt2)) (15)
Here it is the final expression formula of the speed V of node B counterpart nodes A, wherein delt is preset value, delt1 and delt2
Measurable at A points MCU, c is the light velocity.If V represents that B points just tend to A for positive, V is that negative indication B points are just moved away from A points.
Embodiment two
One-shot measurement signal is sent using the ZigBee chips interval time delt on node to be measured, in measuring node
ZigBee chips receive measurement signal, the speed V of node relative measurement node to be measured：
V=c (1-delt3delt)
Wherein, delt3 represents measuring node from first measurement signal of reception to second measurement signal of reception
Time interval, c is the light velocity for signaling rate.
, used as measuring node, node B is used as node to be measured for node A；
Node A is static or moves, because the measurement time cycle once is very short (typically smaller than 1 second), therefore in the cycle
It is interior, even if node A is in motion state, uniform motion is also can be considered, therefore the one-dimensional coordinate system with A points as origin can be set up；Section
Point B has the movement velocity of counterpart node A, similarly also can be considered uniform motion.The foundation theoretical model that tests the speed is as shown in Figure 4.
1. node B sends two signals to be spaced delt, and when the MCU of B sends first signal, B is in B0 points；It is assumed that signal
Time interval from MCU to antenna is t1, first signal from the antenna of B send when, B is in B1 points；Again through time t2, node A
Antenna receive B transmission first signal, now B is at B2；Again through time t1, the MCU of A receives first signal, now B
At B3；
The MCU of 2.A once receives first measurement signal and starts timing；
After first signal is sent, by preset time value delt, its MCU sends second signal to 3.B points, and now B exists
B4 points；B is in B5 points when B point antennas send；Again through time t5, the antenna of node A receives second signal of B transmissions, and now B exists
At B6；Again through time t1, the MCU of A receives second signal, and timing terminates, and timing time length is delt3, and now B is in B7
Place；
4.B moves to B4 points from B0 points, and correspondence time interval is delt, it is assumed that B is V with respect to A speed, then
B0B4=V*delt=(c*t2+V*t1)-(c*t5+V*t1)
=c* (t2-t5) (16)
And delt3=(delt+t1+t5+t1)-(t1+t2+t1)
=delt-(t2-t5) (17)
Simultaneous (16), (17) Shi Ke get
V*delt=c* (delt-delt3)
That is V=c* (1-delt3/delt) (18)
Wherein c is the light velocity.
Here it is the final expression formula of the speed V of egress B counterpart nodes A is derived according to passive speed-measuring method, wherein
Delt is preset value, and delt3 is measurable at A points MCU, and c is the light velocity.If V represents that B points just tend to A for positive, V is negative indication B
Point is just moved away from A points.
Claims (3)
1. a kind of one-dimensional wireless speed-measuring method based on ZigBee, it is characterised in that using known node as measuring node, with survey
Amount node be located along the same line motion speed unknown object as node to be measured, be respectively mounted on two nodes can launch with
The speed measuring device comprising ZigBee chips of signal is received, and signal, two twice are sent from one of node to another node
Interval time between secondary signal is preset interval time, is then respectively received time of signal, default twice using node
Interval time and known signaling rate calculate the speed of node relative measurement node to be measured；
One-shot measurement signal is sent at interval of time delt using the ZigBee chips in measuring node, on node to be measured
ZigBee chips receive measurement signal and send the response signal of measurement signal, the speed V of node relative measurement node to be measured：
Wherein, once to send measurement signal to the time interval for receiving response signal before measuring node, delt2 is survey to delt1
Amount node after once send measurement signal to the time interval for receiving response signal, once sent before measuring node measurement signal with
The interval time between measurement signal is once sent afterwards for delt, and c is the light velocity for signaling rate；
One-shot measurement signal is sent at interval of time delt using the ZigBee chips on node to be measured, in measuring node
ZigBee chips receive measurement signal, the speed V of node relative measurement node to be measured：
V=c (1-delt3/delt)
Wherein, delt3 represents measuring node from the previous measurement signal of reception to the time received latter measurement signal
Interval, node to be measured send previous measurement signal to the interval time sent between latter measurement signal be delt, c for believe
Number transmission speed is the light velocity.
2. a kind of one-dimensional wireless speed measuring device based on ZigBee, it is characterised in that for realizing claim 1 methods described,
The speed measuring device includes ZigBee chips, MCU, antenna and power supply, and the ZigBee chips, antenna and power supply are connected with MCU.
3. the one-dimensional wireless speed measuring device based on ZigBee according to claim 2, it is characterised in that the speed measuring device
In measuring node and node to be measured.
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| CN105006152A (en) * | 2015-06-25 | 2015-10-28 | 苏州木兰电子科技有限公司 | Vehicle speed measuring system based on radio frequency identification and speed measuring method thereof |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101393686A (en) * | 2008-10-13 | 2009-03-25 | 徐菲 | All-weather vehicle driving safety indication and control system device |
| CN103675824A (en) * | 2013-12-12 | 2014-03-26 | 苏州市峰之火数码科技有限公司 | Moving speed meter |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101393686A (en) * | 2008-10-13 | 2009-03-25 | 徐菲 | All-weather vehicle driving safety indication and control system device |
| CN103675824A (en) * | 2013-12-12 | 2014-03-26 | 苏州市峰之火数码科技有限公司 | Moving speed meter |
Non-Patent Citations (1)
| Title |
|---|
| 韩莹 等.基于ZigBee技术的测速方法.《应用科技》.2012,第39卷(第4期),第16-19页. * |
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