CN104635202B - 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 PDFInfo
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- CN104635202B CN104635202B CN201510032282.8A CN201510032282A CN104635202B CN 104635202 B CN104635202 B CN 104635202B CN 201510032282 A CN201510032282 A CN 201510032282A CN 104635202 B CN104635202 B CN 104635202B
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Classifications
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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
- 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
- G01S5/04—Position of source determined by a plurality of spaced direction-finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; 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
- G01C21/16—Navigation; 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
- G01C21/165—Navigation; 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
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining 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
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining 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
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining 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
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining 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
-
- 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
- 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
- G01S5/0257—Hybrid 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
Technical field
The present invention relates to a kind of radio multimedia sensor network positioning testing system and method, in particular, more particularly to
A kind of employing beam antenna and signal intensity are realizing the radio multimedia sensor network positioning testing system of tested node locating
And method.
Background technology
Node locating in wireless sense network (WSN) is the numerous researchs of WSN and the basis applied, and a research is hot
Point.And the performance of location algorithm and alignment system how is tested and passes judgment on currently without inexpensive reliable means.First we
Need a high-precision alignment system, although differential position positioning precision is very high, but system complex, it is with high costs；
And ultra broadband (UWB) and 801.15.4a warble the time-based localization methods such as spread spectrum (CSS) with very high positioning accurate
Degree, but these methods need single ranging process, and network overhead is larger, is not suitable for radio multimedia sensor network positioning and surveys
Examination, while there is also the problem of high cost；The artificial method for demarcating measurement is loaded down with trivial details and time-consuming, poor expandability.System is tested in addition
System should be able to also carry out displaying and the archive of location data.But it is flat to there is presently no suitable radio multimedia sensor network test
Platform and method of testing.
The content of the invention
The present invention is in order to overcome the shortcoming of above-mentioned technical problem, there is provided a kind of radio multimedia sensor network assignment test system
System and method.
The radio multimedia sensor network positioning testing system of the present invention, including data management server, multiple main test dresses
Put and multiple terminal test devices, the tested node in multimedia sensing network is connected with terminal test device Jing order wires,
Main test device carries out MANET with tested node, and main test device is used for receiving the data of tested node and being forwarded
To data management server, data management server realizes tested node by being analyzed and computing to the data for receiving
Positioning and location algorithm is analyzed；Which is particular in that：The main test device by microcontroller and with its phase
The power module of connection, satellite fix receiver module, radio receiving transmitting module, memory module, omnidirectional antenna and multiple it is uniformly distributed
Beam antenna, main test device obtains the latitude and longitude coordinates of itself by satellite fix receiver module；The terminal test dress
Put by microcontroller and coupled power module, satellite fix receiver module, memory module and with tested node
The test node interface being connected, terminal test device obtain latitude and longitude coordinates by the satellite fix receiver module of itself；It is main
Test device passes through omnidirectional antenna and multiple beam antennas realize sending and receiving and terminal test device between, main survey respectively
Trial assembly is put the data is activation of the data for itself gathering and the terminal test device for receiving by radio receiving transmitting module to data pipe
Reason server；Data management server is positioned to tested node and is evaluated the accurate of localization method according to the data for receiving
Property.
The radio multimedia sensor network positioning testing system of the present invention, the main test device and terminal test device it is micro-
Controller is respectively connected with ambient light sensor, three axis accelerometer, Temperature Humidity Sensor, display module and button.
The electricity of the radio multimedia sensor network positioning testing system of the present invention, the main test device and terminal test device
Source module is by chargeable ferric phosphate lithium cell and solar panel composition, chargeable ferric phosphate lithium cell and solaode
The output Jing power supply switch circuits of plate are connected with microcontroller, and microcontroller Jing ambient light sensors enter to power supply switch circuit
Row control, the voltage of the chargeable ferric phosphate lithium cell of microcontroller Jing coulant meter electric circuit inspection.
The radio multimedia sensor network positioning testing system of the present invention, the main test device and terminal test device it is micro-
Controller, memory module respectively adopt main control singlechip, ferroelectric memory.
The positioning and method of testing of the radio multimedia sensor network positioning testing system of the present invention, which is particular in that,
Realized by following steps：
A). tested node is installed, if the positioning in same plane and test will be completed, all main test devices and terminal
Each tested node is installed on terminal test device in being generally aligned in the same plane by test device by test node interface,
Each terminal test device has unique sign ID, is designated as a, b, c respectively ...；B). main test device is laid, test will be participated in
Multiple main test device be arranged in the network environment that tested node is located, which is respectively labeled as A, B, C ..., and then will
The aerial array that multiple beam antennas in each main test device are formed is adjusted to suitable direction so as to the antenna for arranging
Towards unanimously；C). test network is set up, the tested node centered on main test device on node, terminal test device is
Sensing node, sets up test network by way of MANET, and each tested node has a unique network SID；d).
The data is activation of tested node, the Tester Beyond Line that tested node is located gather the latitude and longitude coordinates of itself, and pass through
Tested node is broadcasted at set time intervals successively；E). the reception and forwarding of data, main test device receive quilt
The data that test node sends, and the data forwarding that itself latitude and longitude coordinates of collection are sent with the tested node for receiving is extremely
Data management server；F). the angle positioning of tested node, data management server receive the number that main test device sends
According to rear, realize that the angle to tested node is positioned by following steps：
F-1). the determination of beam antenna gain, if equally distributed beam antenna in the same plane in main test device
Number is n, and the gain of a certain beam antenna is defined as：, then counted along the beam antenna counterclockwise, it is remaining
The gain of n-1 beam antenna be followed successively by：、...、
、...、；
F-2). the normalized of signal intensity, if the signal of the same tested node received by n beam antenna
Intensity is respectively；The maximum in n signal intensity is taken out, is set to, according to formula（1）It is normalized to
0dBm：
+=0dBm （1）
For all of signal intensity is according to same normalization factorAccording to formula（2）It is normalized place
Reason：
（2）
Wherein,；
F-3). signal strength threshold detection, judge whether all normalized signal intensitys are strong less than minimum detection signal
Degree threshold value, if it is less, it is invalid to regard the signal intensity；If it is greater, then the signal intensity participates in tested node locating
Calculate；Execution step f-3)；F-4). the sequence of signal intensity, by remaining normalized signal intensity according to descending
Intensity sequence is ranked up successively；
F-5). the angle of tested node and beam antenna is sought, two most strong signal intensitys is taken out, if which is respectively、, according to inequality（3）Obtain the angle for meeting the tested node and beam antenna for requiring：
（3）
Wherein、Respectively upper limit error factor and lower limit error factor；It is respectively for signal intensity、's
Angle between two beam antennas, which passes through formula（4）Asked for：
,（4）
When only one of which angle meets inequality（3）When, the angle is tested node and has strongest signal strength
Beam antenna between angle；If multiple angles meet inequality（3）, then execution step f-6)；F-6). it is strong using time
Signal intensity is calculated, and according to the sequence of signal intensity, chooses the latter signal intensity conduct of the signal intensity being drawn
, execution step f-5), until obtaining one meets the angle for requiring；When all of valid signal strengths use but still
A unique angle cannot be obtained, then execution step f-7)；F-7). reduce bound error factor, reduce upper limit error
The factorWith lower limit error factor, re-execute step f-5), until obtaining one meets the angle for requiring；G). obtain
The coordinate of tested node, the angle between the tested node of acquisition and the beam antenna with strongest signal strength
Under, by positioning day in the size or tested antenna and another two test device of the positioning antenna received signal intensity
The angle of line, obtains relative coordinates of the tested node relative to main test device, then by the longitude and latitude of main test device
Coordinate obtains the latitude and longitude coordinates of tested node；H). the assessment of localization method, by what is obtained by localization method in step g)
The latitude and longitude coordinates of tested node, are compared with the latitude and longitude coordinates obtained by satellite fix receiver module, are evaluated
The accuracy of localization method.
The positioning and method of testing of the radio multimedia sensor network positioning testing system of the present invention, step f-5) middle satisfaction is not
Equation（3）The asking for of angle during, the angle of substitution carries out increasing or decreasing, inequality according to 1 ° of variable quantity（3）In
Upper limit error factorWith lower limit error factorInitial value be respectively+10dB, -10dB, step f-7) in bound miss
During the difference factor reduces,WithSuccessively decreased according to the size of 1dB.
The invention has the beneficial effects as follows：The radio multimedia sensor network positioning testing system of the present invention and method, main test
Multiple beam antennas are provided with device, be provided with the test node being connected with tested node and connect on terminal test device
Mouthful, by calculating the angle and signal intensity of the beam antenna in tested node and main test device, can calculate tested
The coordinate of examination node, also can obtain quilt by calculating the angle for positioning antenna in tested node and two main test devices
The coordinate of test node.The coordinate of the tested node calculated by comparison and location method with pass through satellite fix receiver module
The difference of the coordinate of acquisition, evaluates the quality of method for calculating and locating.
The positioning testing system can measure the longitude and latitude of tested wireless sensing net node, height above sea level, acceleration, side simultaneously
To, time location phase parameter, with reference to the record wireless signal strength of the wireless sense network receiver module equipped with beam antenna, can carry out
Based on signal intensity alignment system test, based on the assignment test of inertial navigation, and combine satellite fix, signal intensity and
The comprehensive assignment test of inertial navigation.The test device completes position data collecting, test side while receiving radio data
Method is simple, and can gather the auxiliary parameters such as environmental light intensity, electricity, humiture.The test system passes through solar panel in addition
Power for test device with rechargeable battery, and rational mode of operation switching is carried out according to environmental change, test system can be met
The requirement of system long-time outdoor positioning test.The positioning testing system can be used for the research and test of location algorithm simultaneously.
Description of the drawings
Fig. 1 is the circuit theory diagrams of main test device in positioning testing system of the invention；
Fig. 2 is the circuit theory diagrams of terminal test device in positioning testing system of the invention；
Fig. 3 is the laying schematic diagram of the radio multimedia sensor network positioning testing system of the present invention；
Directivity schematic diagrams of the Fig. 4 for typical orientation antenna；
Fig. 5 is to adopt 4 beam antennas to be spaced the uniform structure chart placed with 90 degree；
Fig. 6 is the principle positioned to tested node using the size with the angle of beam antenna and signal intensity
Figure；
Fig. 7 is the principle for utilizing the angle with the positioning antenna in three main test devices to position tested node
Figure.
In figure：1 terminal test device, 2 main test devices, 3 data management servers, 4 tested nodes, 5 wireless receiving and dispatchings
Module.
Specific embodiment
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
The present invention radio multimedia sensor network positioning testing system by data management server, multiple main test devices with
And multiple terminal test devices composition, tested node is arranged on terminal test device, with its have identical longitude and latitude and
Altitude coordinates, main test device and tested node form radio multimedia sensor network by the form of MANET, for will be from
Body collection data and receive tested node data forwarding to data management server, so that data management server enters
Row storage, management and analysis.
As shown in figure 1, giving the circuit theory diagrams of main test device in positioning testing system of the invention, which is by master control
Single-chip microcomputer and coupled power module, satellite fix receiver module, radio receiving transmitting module, omnidirectional antenna, Duo Geding
Constitute to antenna, gyroscope, three axis accelerometer, ferroelectric memory module, Temperature Humidity Sensor, key-press module and display module,
Main test device obtains longitude and latitude and the altitude coordinates of itself by satellite fix receiver module, by radio receiving transmitting module and number
According to management server to communication.Main test device passes through gyroscope and three axis accelerometer can obtain the direction of motion of itself and add
Velocity magnitude, can store itself collection and the data for receiving by ferroelectric memory module, can obtain week by Temperature Humidity Sensor
Temperature and humidity information in collarette border, key-press module can be controlled to the working condition of main test device or pattern, shown
Module is used for showing for information about.Main control singlechip can also connect other sensors.
Main test device sends data by omnidirectional antenna to tested node, and receives tested section by beam antenna
Put the data for sending, and the wireless signal received according to beam antenna to position tested node.
As shown in Fig. 2 giving the circuit theory diagrams of terminal test device in the positioning testing system of the present invention, which is by leading
Control single-chip microcomputer and coupled power module, satellite fix receiver module, test node interface, gyroscope, three axles add
Velometer, ferroelectric memory module, Temperature Humidity Sensor, key-press module and display module composition, terminal test device is by defending
Star position receiver module obtains longitude and latitude and the altitude coordinates of itself, obtains the fortune of itself by gyroscope and three axis accelerometer
Dynamic direction and acceleration, so as to navigation and the positioning of study movement Wireless Multimedia Networks.Terminal test device passes through humiture
Sensor can obtain the temperature and humidity information in surrounding, can be connected with tested node by test node interface,
Wireless Multimedia Networks are constituted will pass through tested node with main test device.The controllable terminal test device of key-press module
Working condition, display module are used for the job information of display terminal test module.
The power module of main test device and terminal test device is by solar panel, chargeable LiFePO4 electricity
Pond, power supply switch circuit, coulant meter circuit and ambient light sensor composition, solar panel and chargeable ferric phosphate lithium cell
Output Jing power supply switch circuits circuit is powered, main control singlechip pass through the chargeable LiFePO4 of coulant meter circuit measuring
Battery is detected that main control singlechip detects extraneous light intensity by ambient light sensor, and power supply switch circuit is carried out
Control.When extraneous light strength ratio is larger, solar panel is not only powered to whole circuit, but also to chargeable phosphoric acid
Lithium iron battery charges.When extraneous light strength ratio is weaker, only circuit is powered or chargeable ferric phosphate lithium cell is charged, work as light
When intensity weakens again, then photovoltaic electric energy is not exported.
As shown in figure 3, the laying schematic diagram of the radio multimedia sensor network positioning testing system of the present invention is given, it is shown
Tested node 4 be arranged on terminal test device 1, terminal test device a, b, c, d are distributed in certain area coverage.It is main
Test device 2 is respectively A, B, C, D, and which is distributed in the region at the place of terminal test device 1, and data management server 3 is adopted
PC, is connected with radio receiving transmitting module 5 thereon, to realize to the communication with main test device 2.Shown main test device 2 is not
Longitude and latitude and the altitude coordinates of itself can be only obtained, and passes through omnidirectional antenna and multiple beam antennas and terminal test device 1
On tested node positioning, using corresponding method for calculating and locating, can also obtain the latitude and longitude coordinates of tested node.Will
The coordinate of the tested node obtained by computational methods, compared with the latitude and longitude coordinates obtained by terminal test device 1,
The quality of localization method is can be evaluated.
The positioning and method of testing of the radio multimedia sensor network positioning testing system of the present invention, by following steps come real
It is existing：
A). tested node is installed, if the positioning in same plane and test will be completed, all main test devices and terminal
Each tested node is installed on terminal test device in being generally aligned in the same plane by test device by test node interface,
Each terminal test device has unique sign ID, is designated as a, b, c respectively ...；
B). main test device is laid, the multiple main test device for participating in test is arranged in into the net that tested node is located
In network environment, which is respectively labeled as A, B, C ..., and then the antenna that forms the multiple beam antennas in each main test device
Array is adjusted to suitable direction so as to consistent with the antenna direction for arranging；
C). test network is set up, the tested node centered on main test device on node, terminal test device is biography
Sense node, sets up test network by way of MANET, and each tested node has a unique network SID；
D). the data is activation of tested node, the Tester Beyond Line that tested node is located gather the longitude and latitude of itself
Coordinate, and broadcasted successively by tested node at set time intervals；
In order to obtain the more information of tested node, tested node is sent to the data of main test device not only to be included
Latitude and longitude coordinates, may also include altitude coordinates, acceleration, direction, time, the temperature and humidity of surrounding, the survey of place terminal
The dump energy information that trial assembly is put；
E). the reception and forwarding of data, main test device receive the data that tested node sends, and by collection itself
The data forwarding that latitude and longitude coordinates are sent with the tested node for receiving is to data management server；
Similarly, the data of main test device collection not only include the latitude and longitude coordinates of itself, may also include altitude coordinates,
Acceleration, direction, time, the temperature and humidity of surrounding, the dump energy information of place terminal test device, with by number
Which is managed according to management server and is monitored；
F). the angle positioning of tested node, after data management server receives the data that main test device sends, lead to
Cross following steps and realize that the angle to tested node is positioned：
F-1). the determination of beam antenna gain, if in main test device in the same plane equally distributed beam antenna
Number is n, and the gain of a certain beam antenna is defined as：, then counted along the beam antenna counterclockwise, remaining n-
The gain of 1 beam antenna is followed successively by：、...、、...、；
As shown in figure 4, giving the directivity schematic diagram of typical orientation antenna, the gain of different angles can use formulaTo represent, the formula can be fitted or be tabled look-up by antenna measurement data and obtained, and also can be derived by Theoretical Calculation
Arrive.When multiple same beam antennas are spaced composition aerial array with fixed angle, the gain of each antenna is done according to antenna direction
Go out amendment, formula can be usedTo represent.
As shown in figure 5, give adopt 4 beam antennas with the uniform structure chart placed in 90 degree of intervals, shown a, b,
The gain of tetra- antennas of c, d is respectively、、、。
F-2). the normalized of signal intensity, if the signal of the same tested node received by n beam antenna
Intensity is respectively；The maximum in n signal intensity is taken out, is set to, according to formula（1）It is normalized to
0dBm：
+=0dBm （1）
For all of signal intensity is according to same normalization factorAccording to formula（2）It is normalized place
Reason：
（2）
Wherein,；
F-3). signal strength threshold detection, judge whether all normalized signal intensitys are strong less than minimum detection signal
Degree threshold value, if it is less, it is invalid to regard the signal intensity；If it is greater, then the signal intensity participates in tested node locating
Calculate；Execution step f-3)；
F-4). the sequence of signal intensity, by remaining normalized signal intensity according to descending intensity sequence according to
It is secondary to be ranked up；
F-5). the angle of tested node and beam antenna is sought, two most strong signal intensitys is taken out, if which is respectively、, according to inequality（3）Obtain the angle for meeting the tested node and beam antenna for requiring：
（3）
Wherein、Respectively upper limit error factor and lower limit error factor；It is respectively for signal intensity、's
Angle between two beam antennas, which passes through formula（4）Asked for：
,（4）
When only one of which angle meets inequality（3）When, the angle is tested node and has strongest signal strength
Beam antenna between angle；If multiple angles meet inequality（3）, then execution step f-6)；
In the step, inequality is met（3）The asking for of angle during, the angle of substitution is carried out according to 1 ° of variable quantity
Increasing or decreasing；
F-6). calculated using secondary strong signal intensity, according to the sequence of signal intensity, chosen the signal intensity being drawn
Latter signal intensity conduct, execution step f-5), until obtaining one meets the angle for requiring；When all of effective letter
Number intensity using but still a unique angle cannot be obtained, then execution step f-7)；
F-7). reduce bound error factor, reduce upper limit error factorWith lower limit error factor, re-execute
Step f-5), until obtaining one meets the angle for requiring；
Inequality（3）In upper limit error factorWith lower limit error factorInitial value be respectively+10dB ,-
10dB, during bound error factor reduces,WithSuccessively decreased according to the size of 1dB.
G). the coordinate of tested node is obtained, and tested node is being obtained with the beam antenna with strongest signal strength
Between in the case of angle, surveyed with another two by the size or tested antenna of the positioning antenna received signal intensity
The angle of positioning antenna is put in trial assembly, obtains relative coordinates of the tested node relative to main test device, then by main survey
The latitude and longitude coordinates that trial assembly is put obtain the latitude and longitude coordinates of tested node；
As shown in fig. 6, giving entered to tested node using the size with the angle of beam antenna and signal intensity
The schematic diagram of row positioning, after the angle between the maximum beam antenna of tested node and received signal strength is defined,
The distance between main test device of tested nodal distance is determined by signal intensity size again, you can obtain tested node
Coordinate.
As shown in fig. 7, give utilizing the angle with the positioning antenna in three main test devices to enter tested node
The schematic diagram of row positioning, it is generally the case that in the folder of the beam antenna known on tested node and two main test devices
Behind angle, as the latitude and longitude coordinates of two main test devices understand, you can obtain the coordinate of tested node；But if tested
Node is located exactly on the line between two main test devices, then also need according to tested node and the 3rd main test device
The angle of upper beam antenna, its position coordinates is determined.
H). the assessment of localization method, by the latitude and longitude coordinates of the tested node obtained by localization method in step g),
It is compared with the latitude and longitude coordinates obtained by satellite fix receiver module, evaluates the accuracy of localization method.
Claims (5)
1. a kind of positioning of radio multimedia sensor network positioning testing system and method for testing, radio multimedia sensor network positioning are surveyed
Test system includes data management server, multiple main test devices and multiple terminal test devices, in multimedia sensing network
Tested node is connected with terminal test device Jing order wires, and main test device carries out MANET, main test with tested node
Device is used for receiving the data of tested node and forwarding it to data management server, and data management server is by docking
The data of receipts are analyzed and computing, realize the positioning of tested node and localization method is analyzed；The main test dress
Put by microcontroller and coupled power module, satellite fix receiver module, radio receiving transmitting module, memory module,
Omnidirectional antenna and multiple equally distributed beam antenna compositions, main test device obtain itself by satellite fix receiver module
Latitude and longitude coordinates；The terminal test device receives mould by microcontroller and coupled power module, satellite fix
Block, memory module and the test node interface composition being connected with tested node, satellite of the terminal test device by itself
Position receiver module obtains latitude and longitude coordinates；Main test device passes through omnidirectional antenna and multiple beam antennas are realized and terminal respectively
Sending and receiving between test device, main test device pass through radio receiving transmitting module by the data for itself gathering and the end for receiving
The data is activation of end test device is to data management server；Data management server is according to the data for receiving to tested node
Positioned and evaluated the accuracy of localization method；
Characterized in that, the positioning and method of testing of described radio multimedia sensor network positioning testing system, by following step
Suddenly realizing：
A). tested node is installed, if the positioning in same plane and test will be completed, all main test devices and terminal test
Each tested node is installed on terminal test device in being generally aligned in the same plane by device by test node interface, each
Terminal test device has unique sign ID, is designated as a, b, c respectively ...；
B). main test device is laid, the multiple main test device for participating in test is arranged in into the network rings that tested node is located
In border, which is respectively labeled as A, B, C ..., and then the aerial array that forms the multiple beam antennas in each main test device
It is adjusted to suitable direction so as to consistent with the antenna direction for arranging；
C). test network is set up, the tested node centered on main test device on node, terminal test device is sensing section
Point, sets up test network by way of MANET, and each tested node has a unique network SID；
D). the data is activation of tested node, the terminal test device that tested node is located gather the latitude and longitude coordinates of itself,
And broadcasted successively by tested node at set time intervals；
E). the reception and forwarding of data, main test device receive the data that tested node sends, and itself longitude and latitude that will be gathered
The data forwarding that degree coordinate is sent with the tested node for receiving is to data management server；
F). the angle of tested node positioning, after data management server receives the data that main test device sends, by with
Lower step realizes that the angle to tested node is positioned：
F-1). the determination of beam antenna gain, if the number of equally distributed beam antenna is n in the same plane in main test device
Individual, the gain of a certain beam antenna is defined as：G1(φ)=Gain (φ), then counted counterclockwise along the beam antenna, and remaining n-1 fixed
It is followed successively by the gain of antenna： φ is the angle of tested node and beam antenna；
F-2). the normalized of signal intensity, if the signal intensity of the same tested node received by n beam antenna
Respectively R1,R2,...,Rn；The maximum in n signal intensity is taken out, R is set tok, it is normalized to according to formula (1)
0dBm：
Rk+RSSInom=0dBm (1)
For all of signal intensity is according to same normalization factor RSSInomIt is normalized according to formula (2)：
R′i=Ri+RSSInom (2)
Wherein, 1≤i≤n；
F-3). signal strength threshold detection, judge all normalized signal intensitys whether less than minimum detection signal intensity threshold
Value, if it is less, it is invalid to regard the signal intensity；If it is greater, then the signal intensity participates in the calculating of tested node locating；
Execution step f-4)；
F-4). the sequence of signal intensity, remaining normalized signal intensity is entered successively according to descending intensity sequence
Row sequence；
F-5). the angle of tested node and beam antenna is sought, two most strong signal intensitys are taken out, if which is respectively R 'k、R
′j, the included angle for meeting the tested node and beam antenna for requiring is obtained according to inequality (3)：
Wherein M, m are respectively upper limit error factor and lower limit error factor；K, j are the most strong corresponding antenna of two signal intensitys
Numbering, k is that, with the corresponding antenna number of the last the first signal, j is with the corresponding antenna number of the last the second signal；α is signal
Intensity is respectively R 'k、R′jTwo beam antennas between angle, which passes through formula (4) and is asked for：
When only one of which angle meets inequality (3), the angle is tested node with determining with strongest signal strength
To the angle between antenna；If multiple angles meet inequality (3), then execution step f-6)；
F-6). calculated using secondary strong signal intensity, according to the sequence of signal intensity, after choosing the signal intensity being drawn
One signal intensity is used as R 'j, execution step f-5), until obtaining one meets the angle φ for requiring；When all of useful signal
Intensity using but still a unique angle φ cannot be obtained, then execution step f-7)；
F-7). reduce bound error factor, reduce upper limit error factor M and lower limit error factor m, re-execute step f-
5), until obtaining one meets the angle φ for requiring；
G). the coordinate of tested node is obtained, is being obtained between tested node and the beam antenna with strongest signal strength
In the case of angle, by size or tested antenna and the main test of another two of the positioning antenna received signal intensity
The angle of antenna is positioned on device, obtains relative coordinates of the tested node relative to main test device, then by main test
The latitude and longitude coordinates of device obtain the latitude and longitude coordinates of tested node；
H). the assessment of localization method, it is by the latitude and longitude coordinates of the tested node obtained by localization method in step g), and logical
The latitude and longitude coordinates for crossing the acquisition of satellite fix receiver module are compared, and evaluate the accuracy of localization method.
2. the positioning and method of testing of radio multimedia sensor network positioning testing system according to claim 1, its feature
It is：The microcontroller of the main test device and terminal test device is respectively connected with ambient light sensor, gyroscope, three axles and adds
Velometer, Temperature Humidity Sensor, display module and button.
3. the positioning and method of testing of radio multimedia sensor network positioning testing system according to claim 2, its feature
It is：The power module of the main test device and terminal test device is by chargeable ferric phosphate lithium cell and solaode
Plate is constituted, and the output Jing power supply switch circuits of chargeable ferric phosphate lithium cell and solar panel are connected with microcontroller,
Microcontroller Jing ambient light sensors are controlled to power supply switch circuit, the chargeable phosphorus of microcontroller Jing coulant meter electric circuit inspection
The voltage of sour lithium iron battery.
4. the positioning and method of testing of radio multimedia sensor network positioning testing system according to claim 1 and 2, which is special
Levy and be：The microcontroller of the main test device and terminal test device, memory module respectively adopt main control singlechip, ferrum
Electrical storage.
5. the positioning and method of testing of radio multimedia sensor network positioning testing system according to claim 1, its feature
It is：Step f-5) in meet the asking for of angle of inequality (3) during, the angle of substitution is passed according to 1 ° of variable quantity
Increase or successively decrease, the initial value of upper limit error factor M and lower limit error factor m in inequality (3) is respectively+10dB, -10dB,
Step f-7) in bound error factor reduce during, M and m is successively decreased according to the size of 1dB.
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