CN104635202A - Positioning and testing system and method for wireless multimedia sensor network - Google Patents

Positioning and testing system and method for wireless multimedia sensor network Download PDF

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Publication number
CN104635202A
CN104635202A CN201510032282.8A CN201510032282A CN104635202A CN 104635202 A CN104635202 A CN 104635202A CN 201510032282 A CN201510032282 A CN 201510032282A CN 104635202 A CN104635202 A CN 104635202A
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tested node
proving installation
angle
node
tested
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CN104635202B (en
Inventor
付勇
刘瑞霞
陈长英
胡一帆
孔祥龙
朱亮
赵雪
王英龙
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Shandong Computer Science Center
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Shandong Computer Science Center
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S5/00Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02Position-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
    • G01S5/04Position of source determined by a plurality of spaced direction-finders
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42Determining position
    • G01S19/45Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/46Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42Determining position
    • G01S19/45Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S5/00Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02Position-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
    • G01S5/0257Hybrid positioning

Abstract

The invention relates to a positioning and testing system for a wireless multimedia sensor network, which comprises a data management server, a plurality of main testing devices and a plurality of terminal testing devices and implements positioning by a plurality of directional antennas on the main testing devices and received signal intensity of tested nodes. The invention also provides a positioning and testing method which comprises the following steps: a, installing the tested nodes; b, arranging the main testing devices; c, establishing a testing network; d, sending data of the tested nodes; e, receiving and transmitting the data; f, carrying out angle positioning on the tested nodes; g, acquiring coordinates of the tested nodes; h, evaluating the positioning method. According to the positioning and testing system and the positioning and testing method which are disclosed by the invention, the coordinates of the nodes can be calculated by included angles between the tested nodes and the directional antennas and the signal intensity and calculation on the coordinates of the nodes also can be implemented by the included angles between the tested nodes and the two main testing devices; by comparing difference of the coordinates obtained by the calculating method and coordinates obtained by a satellite, the advantages and disadvantages of the positioning calculating method are evaluated.

Description

A kind of radio multimedia sensor network positioning testing system and method
Technical field
The present invention relates to a kind of radio multimedia sensor network positioning testing system and method, in particular, particularly relate to a kind of directional antenna and signal intensity of adopting to realize radio multimedia sensor network positioning testing system and the method for tested node locating.
Background technology
Node locating in wireless sense network (WSN) is the basis of the numerous investigation and application of WSN, is also a study hotspot.And the performance how testing and pass judgment on location algorithm and positioning system does not have the reliable means of low cost at present.First we need a high-precision positioning system, although differential position positioning precision is very high, and system complex, with high costs; And ultra broadband (UWB) and 801.15.4a warble, the time-based localization methods such as spread spectrum (CSS) have very high positioning precision, but these methods need independent ranging process, network overhead is larger, be not suitable for radio multimedia sensor network assignment test, also there is the high problem of cost simultaneously; The method of artificial calibration measurements is loaded down with trivial details and consuming time, poor expandability.Test macro also should be able to position displaying and the file of data in addition.But also there is no suitable radio multimedia sensor network test platform and method of testing at present.
Summary of the invention
The present invention, in order to overcome the shortcoming of above-mentioned technical matters, provides a kind of radio multimedia sensor network positioning testing system and method.
Radio multimedia sensor network positioning testing system of the present invention, comprise data management server, multiple main proving installation and multiple terminal test device, tested node in multimedia sensing network is connected through order wire with terminal test device, main proving installation and tested node carry out MANET, main proving installation is for receiving the data of tested node and forwarding it to data management server, data management server, by the data analysis received and computing, realizes the location of tested node and analyzes location algorithm; Its special feature is: described main proving installation is by microcontroller and coupled power module, satnav receiver module, radio receiving transmitting module, memory module, omnidirectional antenna and multiple equally distributed directional antenna, and main proving installation obtains the latitude and longitude coordinates of self by satnav receiver module; Described terminal test device is by microcontroller and coupled power module, satnav receiver module, memory module and the test node interface that is connected with tested node, and terminal test device obtains latitude and longitude coordinates by the satnav receiver module of self; Main proving installation realizes transmission between terminal test device and reception respectively by omnidirectional antenna and multiple directional antenna, and the data of the terminal test device of the data self gathered and reception are sent to data management server by radio receiving transmitting module by main proving installation; Data management server to position tested node according to the data received and evaluates the accuracy of localization method.
Radio multimedia sensor network positioning testing system of the present invention, the microcontroller of described main proving installation and terminal test device is all connected with ambient light sensor, three axis accelerometer, Temperature Humidity Sensor, display module and button.
Radio multimedia sensor network positioning testing system of the present invention, the power module of described main proving installation and terminal test device is by chargeable ferric phosphate lithium cell and solar panel composition, chargeable ferric phosphate lithium cell is connected with microcontroller through power supply switch circuit with the output of solar panel, microcontroller controls power supply switch circuit through ambient light sensor, and microcontroller is through the voltage of the chargeable ferric phosphate lithium cell of voltameter electric circuit inspection.
Radio multimedia sensor network positioning testing system of the present invention, microcontroller, the memory module of described main proving installation and terminal test device adopt main control singlechip, ferroelectric memory respectively.
The location of radio multimedia sensor network positioning testing system of the present invention and method of testing, its special feature is, is realized by following steps:
A). tested node is installed, if the location completed in same plane and test, all main proving installations and terminal test device are positioned at same plane, each tested node is installed on terminal test device by test node interface, each terminal test device has and uniquely indicates ID, is designated as a respectively, b, c ...; B). lay main proving installation, the multiple main proving installation participating in test is arranged in the network environment at tested node place, it is labeled as A respectively, B, C, ..., then the aerial array that the multiple directional antennas on each main proving installation are formed is adjusted to suitable direction, make itself and the antenna arranged towards consistent; C). set up test network, the tested node centered by main proving installation on node, terminal test device is sensing node, sets up test network by the mode of MANET, and each tested node has a unique network SID; D). the data of tested node send, and the Tester Beyond Line at tested node place gathers the latitude and longitude coordinates of self, and are broadcasted successively by the time interval of tested node according to setting; E). the reception of data and forwarding, main proving installation receives the data that tested node sends, and the data retransmission self latitude and longitude coordinates of collection and the tested node of reception sent is to data management server; F). the angle orientation of tested node, after data management server receives the data of main proving installation transmission, realizes the angle orientation to tested node by following steps:
F-1). the determination of directional antenna gain, if on main proving installation in same plane the number of equally distributed directional antenna be n, the gain definitions of a certain directional antenna is: , then count counterclockwise along this directional antenna, the gain of a remaining n-1 directional antenna is followed successively by: ..., ..., ;
F-2). the normalized of signal intensity, if the signal intensity of the same tested node received by n directional antenna is respectively ; Take out the maximal value in n signal intensity, be set to , be normalized to 0dBm according to formula (1):
+ =0dBm (1)
For all signal intensities according to same normalization factor be normalized according to formula (2):
(2)
Wherein, ;
F-3). signal strength threshold detects, and judges whether all normalized signal intensities are less than minimum detection signal strength threshold, if be less than, then it is invalid to look this signal intensity; If be greater than, then this signal intensity participates in the calculating of tested node locating; Perform step f-3); F-4). the sequence of signal intensity, remaining normalized signal intensity is sorted successively according to descending intensity sequence;
F-5). ask the angle of tested node and directional antenna, take out two the strongest signal intensities, if it is respectively , , the angle of tested node and the directional antenna met the demands is obtained according to inequality (3) :
(3)
Wherein , be respectively upper limit error factor and lower limit error factor; for signal intensity is respectively , two directional antennas between angle, it is asked for by formula (4):
, (4)
When only having an angle to meet inequality (3), this angle is the angle between tested node and the directional antenna with strongest signal strength; If there is multiple angle to meet inequality (3), then perform step f-6); F-6). utilize time strong signal intensity to calculate, according to the sequence of signal intensity, choose a rear signal intensity conduct of the signal intensity be drawn , perform step f-5), until obtain an angle met the demands ; All use when all valid signal strengths but still a unique angle cannot have been obtained , then step f-7 is performed); F-7). reduce bound error factor, reduce upper limit error factor with lower limit error factor , re-execute step f-5), until obtain an angle met the demands ; G). obtain the coordinate of tested node, when obtaining angle between tested node and the directional antenna with strongest signal strength, the angle of positioning antenna on the size of the signal intensity received by this positioning antenna or tested antenna and another two proving installations, obtain the relative coordinate of tested node relative to main proving installation, then obtained the latitude and longitude coordinates of tested node by the latitude and longitude coordinates of main proving installation; H). the assessment of localization method, by step g) in the latitude and longitude coordinates of tested node that obtained by localization method, compare with the latitude and longitude coordinates obtained by satnav receiver module, evaluate the accuracy of localization method.
The location of radio multimedia sensor network positioning testing system of the present invention and method of testing, step f-5) in meet the angle of inequality (3) ask in process, the angle substituted into carries out increasing or decreasing, the upper limit error factor in inequality (3) according to the variable quantity of 1 ° with lower limit error factor initial value be respectively+10dB ,-10dB, step f-7) in bound error factor reduce process in, with all successively decrease according to the size of 1dB.
The invention has the beneficial effects as follows: radio multimedia sensor network positioning testing system of the present invention and method, main proving installation is provided with multiple directional antenna, terminal test device is provided with the test node interface be connected with tested node, by calculating angle and the signal intensity of the directional antenna on tested node and main proving installation, the coordinate of tested node can be calculated, also by calculating the angle of positioning antenna on tested node and two main proving installations, the coordinate of tested node is obtained.Coordinate and the difference of the coordinate obtained by satnav receiver module of the tested node calculated by comparison and location method, evaluate the quality of method for calculating and locating.
This positioning testing system can measure the longitude and latitude of tested wireless sensing net node, height above sea level, acceleration, direction, time location phase parameter simultaneously, in conjunction with the wireless sense network receiver module record wireless signal strength that directional antenna is housed, the positioning system can carried out based on signal intensity is tested, based on the assignment test of inertial navigation, and in conjunction with the comprehensive assignment test of satnav, signal intensity and inertial navigation.This proving installation completes position data collecting while receiving radio data, and method of testing is simple, and can gather the auxiliary parameters such as environmental light intensity, electricity, humiture.This test macro is that proving installation is powered by solar panel and rechargeable battery in addition, and environmentally rational mode of operation switching is carried out in change, can meet the requirement of the long-time outdoor positioning test of test macro.This positioning testing system can be used for research and the test of location algorithm simultaneously.
Accompanying drawing explanation
Fig. 1 is the circuit theory diagrams of main proving installation in positioning testing system of the present invention;
Fig. 2 is the circuit theory diagrams of terminal test device in positioning testing system of the present invention;
Fig. 3 is the laying schematic diagram of radio multimedia sensor network positioning testing system of the present invention;
Fig. 4 is the directivity schematic diagram of typical orientation antenna;
Fig. 5 is the structural drawing that employing 4 directional antennas are evenly placed with 90 degree of intervals;
Fig. 6 utilizes the schematic diagram positioned tested node with the angle of directional antenna and the size of signal intensity;
Fig. 7 utilizes the schematic diagram positioned tested node with the angle of the positioning antenna on three main proving installations.
In figure: 1 terminal test device, 2 main proving installations, 3 data management servers, 4 tested nodes, 5 radio receiving transmitting modules.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
Radio multimedia sensor network positioning testing system of the present invention is made up of data management server, multiple main proving installation and multiple terminal test device, tested Node configuration is on terminal test device, with it, there is identical longitude and latitude and altitude coordinates, main proving installation and tested node form radio multimedia sensor network by the form of MANET, for the data retransmission of the tested node of data that self is gathered and reception to data management server, so that data management server carries out storing, manage and analyzing.
As shown in Figure 1, give the circuit theory diagrams of main proving installation in positioning testing system of the present invention, it is made up of main control singlechip and coupled power module, satnav receiver module, radio receiving transmitting module, omnidirectional antenna, multiple directional antenna, gyroscope, three axis accelerometer, ferroelectric memory module, Temperature Humidity Sensor, key-press module and display module, main proving installation obtains self longitude and latitude and altitude coordinates by satnav receiver module, by radio receiving transmitting module and data management server to communication.Main proving installation can obtain direction of motion and the acceleration magnitude of self by gyroscope and three axis accelerometer, the data self gathering and receive can be stored by ferroelectric memory module, the temperature and humidity information in surrounding environment can be obtained by Temperature Humidity Sensor, key-press module can control the duty of main proving installation or pattern, and display module is used for display for information about.Main control singlechip also can connect other sensors.
Main proving installation sends data by omnidirectional antenna to tested node, and receives the data of tested node transmission by directional antenna, and positions tested node according to the wireless signal that directional antenna receives.
As shown in Figure 2, give the circuit theory diagrams of terminal test device in positioning testing system of the present invention, it is by main control singlechip and coupled power module, satnav receiver module, test node interface, gyroscope, three axis accelerometer, ferroelectric memory module, Temperature Humidity Sensor, key-press module and display module composition, terminal test device obtains longitude and latitude and the altitude coordinates of self by satnav receiver module, self direction of motion and acceleration is obtained by gyroscope and three axis accelerometer, so that the Navigation and localization of study movement Wireless Multimedia Networks.Terminal test device can obtain the temperature and humidity information in surrounding environment by Temperature Humidity Sensor, can be connected by test node interface with tested node, to form Wireless Multimedia Networks by tested node and main proving installation.Key-press module can control the duty of terminal test device, and display module is used for the job information of display terminal test module.
The power module of main proving installation and terminal test device forms by solar panel, chargeable ferric phosphate lithium cell, power supply switch circuit, voltameter circuit and ambient light sensor, the output of solar panel and chargeable ferric phosphate lithium cell is powered to circuit through power supply switch circuit, main control singlechip is detected by the chargeable ferric phosphate lithium cell of voltameter circuit measuring, main control singlechip detects extraneous light intensity by ambient light sensor, and controls power supply switch circuit.When the light strength ratio in the external world is larger, solar panel powers not only to whole circuit, but also charges to chargeable ferric phosphate lithium cell.When ambient light strength ratio is more weak, only circuit is powered or chargeable ferric phosphate lithium cell is charged, when light intensity weakens again, then not exporting photovoltaic electric energy.
As shown in Figure 3, give the laying schematic diagram of radio multimedia sensor network positioning testing system of the present invention, shown tested node 4 is arranged on terminal test device 1, and terminal test device a, b, c, d are distributed in certain area coverage.Main proving installation 2 is respectively A, B, C, D, and it is distributed in the region at terminal test device 1 place, and data management server 3 adopts PC, it is connected with radio receiving transmitting module 5, to realize the communication with main proving installation 2.Shown main proving installation 2 not only can obtain self longitude and latitude and altitude coordinates, and by the location of the tested node on omnidirectional antenna and multiple directional antenna and terminal test device 1, adopt corresponding method for calculating and locating, also can obtain the latitude and longitude coordinates of tested node.By the coordinate of tested node obtained by computing method, compared with the latitude and longitude coordinates obtained by terminal test device 1, the quality of localization method can be evaluated.
The location of radio multimedia sensor network positioning testing system of the present invention and method of testing, realized by following steps:
A). tested node is installed, if the location completed in same plane and test, all main proving installations and terminal test device are positioned at same plane, each tested node is installed on terminal test device by test node interface, each terminal test device has and uniquely indicates ID, is designated as a respectively, b, c ...;
B). lay main proving installation, the multiple main proving installation participating in test is arranged in the network environment at tested node place, it is labeled as A respectively, B, C, ..., then the aerial array that the multiple directional antennas on each main proving installation are formed is adjusted to suitable direction, make itself and the antenna arranged towards consistent;
C). set up test network, the tested node centered by main proving installation on node, terminal test device is sensing node, sets up test network by the mode of MANET, and each tested node has a unique network SID;
D). the data of tested node send, and the Tester Beyond Line at tested node place gathers the latitude and longitude coordinates of self, and are broadcasted successively by the time interval of tested node according to setting;
In order to obtain the more information of tested node, the data that tested node is sent to main proving installation not only comprise latitude and longitude coordinates, also can comprise altitude coordinates, acceleration, direction, time, the temperature and humidity of surrounding environment, the dump energy information of place terminal test device;
E). the reception of data and forwarding, main proving installation receives the data that tested node sends, and the data retransmission self latitude and longitude coordinates of collection and the tested node of reception sent is to data management server;
Similarly, the data of main proving installation collection not only comprise the latitude and longitude coordinates of self, also can comprise altitude coordinates, acceleration, direction, time, the temperature and humidity of surrounding environment, the dump energy information of place terminal test device, to carry out management and supervision by data management server to it;
F). the angle orientation of tested node, after data management server receives the data of main proving installation transmission, realizes the angle orientation to tested node by following steps:
F-1). the determination of directional antenna gain, if on main proving installation in same plane the number of equally distributed directional antenna be n, the gain definitions of a certain directional antenna is: , then count counterclockwise along this directional antenna, the gain of a remaining n-1 directional antenna is followed successively by: ..., ..., ;
As shown in Figure 4, give the directivity schematic diagram of typical orientation antenna, the gain of different angles can use formula represent, this formula can be obtained by antenna measurement data fitting or table look-up, and also can be derived by theory calculate obtain.When multiple same directional antenna becomes aerial array with fixed angle interval group the gain of each antenna according to antenna towards making correction, available formula represent.
As shown in Figure 5, give the employing structural drawing that 4 directional antennas are evenly placed with 90 degree of intervals, the gain of shown a, b, c, d tetra-antennas is respectively , , , .
F-2). the normalized of signal intensity, if the signal intensity of the same tested node received by n directional antenna is respectively ; Take out the maximal value in n signal intensity, be set to , be normalized to 0dBm according to formula (1):
+ =0dBm (1)
For all signal intensities according to same normalization factor be normalized according to formula (2):
(2)
Wherein, ;
F-3). signal strength threshold detects, and judges whether all normalized signal intensities are less than minimum detection signal strength threshold, if be less than, then it is invalid to look this signal intensity; If be greater than, then this signal intensity participates in the calculating of tested node locating; Perform step f-3);
F-4). the sequence of signal intensity, remaining normalized signal intensity is sorted successively according to descending intensity sequence;
F-5). ask the angle of tested node and directional antenna, take out two the strongest signal intensities, if it is respectively , , the angle of tested node and the directional antenna met the demands is obtained according to inequality (3) :
(3)
Wherein , be respectively upper limit error factor and lower limit error factor; for signal intensity is respectively , two directional antennas between angle, it is asked for by formula (4):
, (4)
When only having an angle to meet inequality (3), this angle is the angle between tested node and the directional antenna with strongest signal strength; If there is multiple angle to meet inequality (3), then perform step f-6);
In this step, what meet the angle of inequality (3) asks in process, and the angle of substitution carries out increasing or decreasing according to the variable quantity of 1 °;
F-6). utilize time strong signal intensity to calculate, according to the sequence of signal intensity, choose a rear signal intensity conduct of the signal intensity be drawn , perform step f-5), until obtain an angle met the demands ; All use when all valid signal strengths but still a unique angle cannot have been obtained , then step f-7 is performed);
F-7). reduce bound error factor, reduce upper limit error factor with lower limit error factor , re-execute step f-5), until obtain an angle met the demands ;
Upper limit error factor in inequality (3) with lower limit error factor initial value be respectively+10dB ,-10dB, bound error factor reduce process in, with all successively decrease according to the size of 1dB.
G). obtain the coordinate of tested node, when obtaining angle between tested node and the directional antenna with strongest signal strength, the angle of positioning antenna on the size of the signal intensity received by this positioning antenna or tested antenna and another two proving installations, obtain the relative coordinate of tested node relative to main proving installation, then obtained the latitude and longitude coordinates of tested node by the latitude and longitude coordinates of main proving installation;
As shown in Figure 6, give the schematic diagram utilizing and with the angle of directional antenna and the size of signal intensity, tested node is positioned, after defining the angle between tested node and the maximum directional antenna of received signal strength, determine the distance between the main proving installation of tested nodal distance by signal intensity size again, the coordinate of tested node can be obtained.
As shown in Figure 7, give the schematic diagram utilizing and with the angle of the positioning antenna on three main proving installations, tested node is positioned, under normal circumstances, after the angle having known the directional antenna on tested node and two main proving installations, because the latitude and longitude coordinates of two main proving installations is known, the coordinate of tested node can be obtained; If but on the line of tested node just between two main proving installations, then also need, according to the angle of directional antenna on tested node and the 3rd main proving installation, its position coordinates to be determined.
H). the assessment of localization method, by step g) in the latitude and longitude coordinates of tested node that obtained by localization method, compare with the latitude and longitude coordinates obtained by satnav receiver module, evaluate the accuracy of localization method.

Claims (6)

1. a radio multimedia sensor network positioning testing system, comprise data management server, multiple main proving installation and multiple terminal test device, tested node in multimedia sensing network is connected through order wire with terminal test device, main proving installation and tested node carry out MANET, main proving installation is for receiving the data of tested node and forwarding it to data management server, data management server, by the data analysis received and computing, realizes the location of tested node and analyzes location algorithm; It is characterized in that: described main proving installation is by microcontroller and coupled power module, satnav receiver module, radio receiving transmitting module, memory module, omnidirectional antenna and multiple equally distributed directional antenna, and main proving installation obtains the latitude and longitude coordinates of self by satnav receiver module; Described terminal test device is by microcontroller and coupled power module, satnav receiver module, memory module and the test node interface that is connected with tested node, and terminal test device obtains latitude and longitude coordinates by the satnav receiver module of self; Main proving installation realizes transmission between terminal test device and reception respectively by omnidirectional antenna and multiple directional antenna, and the data of the terminal test device of the data self gathered and reception are sent to data management server by radio receiving transmitting module by main proving installation; Data management server to position tested node according to the data received and evaluates the accuracy of localization method.
2. radio multimedia sensor network positioning testing system according to claim 1 and method, is characterized in that: the microcontroller of described main proving installation and terminal test device is all connected with ambient light sensor, gyroscope, three axis accelerometer, Temperature Humidity Sensor, display module and button.
3. radio multimedia sensor network positioning testing system according to claim 2 and method, it is characterized in that: the power module of described main proving installation and terminal test device is by chargeable ferric phosphate lithium cell and solar panel composition, chargeable ferric phosphate lithium cell is connected with microcontroller through power supply switch circuit with the output of solar panel, microcontroller controls power supply switch circuit through ambient light sensor, and microcontroller is through the voltage of the chargeable ferric phosphate lithium cell of voltameter electric circuit inspection.
4. radio multimedia sensor network positioning testing system according to claim 1 and 2 and method, is characterized in that: microcontroller, the memory module of described main proving installation and terminal test device adopt main control singlechip, ferroelectric memory respectively.
5., based on location and the method for testing of radio multimedia sensor network positioning testing system according to claim 1, it is characterized in that, realized by following steps:
A). tested node is installed, if the location completed in same plane and test, all main proving installations and terminal test device are positioned at same plane, each tested node is installed on terminal test device by test node interface, each terminal test device has and uniquely indicates ID, is designated as a respectively, b, c ...;
B). lay main proving installation, the multiple main proving installation participating in test is arranged in the network environment at tested node place, it is labeled as A respectively, B, C, ..., then the aerial array that the multiple directional antennas on each main proving installation are formed is adjusted to suitable direction, make itself and the antenna arranged towards consistent;
C). set up test network, the tested node centered by main proving installation on node, terminal test device is sensing node, sets up test network by the mode of MANET, and each tested node has a unique network SID;
D). the data of tested node send, and the Tester Beyond Line at tested node place gathers the latitude and longitude coordinates of self, and are broadcasted successively by the time interval of tested node according to setting;
E). the reception of data and forwarding, main proving installation receives the data that tested node sends, and the data retransmission self latitude and longitude coordinates of collection and the tested node of reception sent is to data management server;
F). the angle orientation of tested node, after data management server receives the data of main proving installation transmission, realizes the angle orientation to tested node by following steps:
F-1). the determination of directional antenna gain, if on main proving installation in same plane the number of equally distributed directional antenna be n, the gain definitions of a certain directional antenna is: , then count counterclockwise along this directional antenna, the gain of a remaining n-1 directional antenna is followed successively by: ..., ..., ;
F-2). the normalized of signal intensity, if the signal intensity of the same tested node received by n directional antenna is respectively ; Take out the maximal value in n signal intensity, be set to , be normalized to 0dBm according to formula (1):
+ =0dBm (1)
For all signal intensities according to same normalization factor be normalized according to formula (2):
(2)
Wherein, ;
F-3). signal strength threshold detects, and judges whether all normalized signal intensities are less than minimum detection signal strength threshold, if be less than, then it is invalid to look this signal intensity; If be greater than, then this signal intensity participates in the calculating of tested node locating; Perform step f-3);
F-4). the sequence of signal intensity, remaining normalized signal intensity is sorted successively according to descending intensity sequence;
F-5). ask the angle of tested node and directional antenna, take out two the strongest signal intensities, if it is respectively , , the angle of tested node and the directional antenna met the demands is obtained according to inequality (3) :
(3)
Wherein , be respectively upper limit error factor and lower limit error factor; for signal intensity is respectively , two directional antennas between angle, it is asked for by formula (4):
, (4)
When only having an angle to meet inequality (3), this angle is the angle between tested node and the directional antenna with strongest signal strength; If there is multiple angle to meet inequality (3), then perform step f-6);
F-6). utilize time strong signal intensity to calculate, according to the sequence of signal intensity, choose a rear signal intensity conduct of the signal intensity be drawn , perform step f-5), until obtain an angle met the demands ; All use when all valid signal strengths but still a unique angle cannot have been obtained , then step f-7 is performed);
F-7). reduce bound error factor, reduce upper limit error factor with lower limit error factor , re-execute step f-5), until obtain an angle met the demands ;
G). obtain the coordinate of tested node, when obtaining angle between tested node and the directional antenna with strongest signal strength, the angle of positioning antenna on the size of the signal intensity received by this positioning antenna or tested antenna and another two main proving installations, obtain the relative coordinate of tested node relative to main proving installation, then obtained the latitude and longitude coordinates of tested node by the latitude and longitude coordinates of main proving installation;
H). the assessment of localization method, by step g) in the latitude and longitude coordinates of tested node that obtained by localization method, compare with the latitude and longitude coordinates obtained by satnav receiver module, evaluate the accuracy of localization method.
6. the location of radio multimedia sensor network positioning testing system according to claim 5 and method of testing, it is characterized in that: step f-5) in meet the angle of inequality (3) ask in process, the angle substituted into carries out increasing or decreasing, the upper limit error factor in inequality (3) according to the variable quantity of 1 ° with lower limit error factor initial value be respectively+10dB ,-10dB, step f-7) in bound error factor reduce process in, with all successively decrease according to the size of 1dB.
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