CN104809908A - Method of ZigBee network based vehicle positioning in indoor parking area environment - Google Patents
Method of ZigBee network based vehicle positioning in indoor parking area environment Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/144—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces on portable or mobile units, e.g. personal digital assistant [PDA]
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Abstract
The invention discloses a method of ZigBee network based vehicle positioning in indoor parking area environment. According to the method, a ZigBee wireless sensor network is established in an indoor parking area, the network is divided in a time division and zoning manner to calculate the distance between a to-be-positioned vehicle and a positioning terminal node, distance calculation precision is improved, further vehicle positioning precision is improved, and quick and accurate guide to the vehicles in the indoor parking area environment is realized beneficially.
Description
Technical Field
The invention belongs to the technical field of vehicle positioning, and particularly relates to a ZigBee network-based vehicle positioning method in an indoor parking lot environment.
Background
The intelligent traffic occupies a very important position in an urban road traffic system, and has important significance for reasonably planning, controlling, monitoring and inducing urban traffic and improving the efficiency of an urban traffic network and the living standard of urban residents. The vehicle positioning system is one of important support technologies of intelligent traffic, and the correct positioning of the vehicle as a mobile node can intuitively and effectively observe and control the running state of urban traffic.
In order to automatically guide a vehicle to a pre-planned target parking space in a large indoor parking lot environment, the problem of positioning the vehicle in the driving process of the indoor parking lot needs to be solved. Because the satellite signal received by the navigator is usually weak in the indoor parking lot environment, the efficiency and accuracy of positioning parking are reduced. Therefore, more and more indoor parking lots adopt a wireless communication technology among multiple points to realize indoor parking. Currently, common wireless communication technologies include: bluetooth, WIFI, RFID, zigBee, ultra wide band communication, GPRS, 3G, 4G etc. take into account multiple factors such as cost, consumption, working distance, precision, network capacity comprehensively, should adopt the vehicle positioning scheme based on zigBee wireless sensor network technique generally. The vehicle positioning technology based on the ZigBee wireless sensor network is characterized in that a commercial ZigBee module is connected to a smart phone of a vehicle, the module is communicated with ZigBee positioning terminal nodes around the vehicle to position the vehicle in the moving process of the vehicle, then position information is transmitted to a navigation module on smart phone software, and the navigation module finally realizes path guidance of a target parking space by using the current position information of the vehicle and an electronic map of a parking lot.
According to the positioning technical theory based on the received signal strength indicator RSSI in the ZigBee technology and a Shadowing model in the wireless signal transmission field, the relationship between the strength of the received signal and the distance between the receiving and transmitting nodes is as follows:
wherein d is the distance between the sending end and the receiving end, and the unit is m; d0Is a reference distance in m; pL(d) The unit is dBm for the received signal power of a receiving end; pL(d0) Is a distance d0The received signal power, unit dBm; xdIs a random variable obeying Gaussian distribution, the mean value is zero, and the unit is dBm; n is a path fading index, which indicates how fast the RSSI value decays with increasing distance. When a large number of independent measurements are made, X can be maded0(dBm), in this case:wherein,the unit is dBm for the average power of the received signal; a is the inverse of the received signal power at 1m from the transmitter in dBm. For example: if the average power of the received signal at 1m from the transmitting end is-30 dBm, the value of the parameter a is 30, and after the above equation is modified, the following can be obtained:it can be seen that if the values of parameters a and n are known, they are averaged over a number of measurementsAnd then, the distance between the receiving and transmitting nodes can be calculated, and if more than 3 distance measurement values exist, the coordinates of the nodes to be positioned can be determined according to a triangular centroid positioning algorithm or a maximum likelihood estimation method. The accuracy of a and n is a key factor for determining the ranging and positioning accuracyThe values of the two parameters are not only related to the local environment during wireless signal transmission, but also change with time, thus bringing great difficulty to the measurement of the two parameters. The traditional method is an empirical value method, namely, a large number of experimental measurements are carried out in a positioning occasion before positioning, and the values of a and n are determined by a linear regression method. The specific implementation process comprises the following steps: in an area to be positioned, a fixed transmitting device is installed firstly, then a receiving device is placed at a certain position, the distance between the transmitting device and the receiving device is accurately measured, and a group of RSSI values are collected and averaged; then, moving the receiving device to another position according to the planned moving route in advance, and repeating the process; such a measurement process is repeated until the entire area is "covered" by the movement path of the receiving device. The corresponding coefficient calculation formula is:
where M is the number of points measured, diThe exact distance between the transmitter and the i-th receiving point,taking the mean value of M distance values after logarithm, RSSIiIs an average value of RSSI values obtained in a plurality of measurements made at the i-th reception point,for M RSSIsiAverage of valueAnd (4) average value. As can be seen from the above measurement process, the conventional method is very labor intensive and also fails to reflect the temporal and spatial variations of a and n.
It will thus be seen that the prior art is susceptible to further improvements and enhancements.
Disclosure of Invention
In order to avoid the defects of the prior art, the invention provides a vehicle positioning method based on a ZigBee network in an indoor parking lot environment.
The technical scheme adopted by the invention is as follows:
a vehicle positioning method based on a ZigBee network in an indoor parking lot environment comprises the following steps:
step 1: the method comprises the steps that a ZigBee wireless sensing network system is arranged in an indoor parking lot and comprises a ZigBee network, a central node, a plurality of router nodes and a larger number of terminal nodes are arranged in the ZigBee network, and the terminal nodes comprise positioning terminal nodes used for positioning vehicles to be positioned; a driver of a vehicle to be positioned holds a smart phone, the smart phone is provided with a ZigBee module, and the vehicle to be positioned sends a positioning request through the smart phone;
step 2: according to the distribution of parking spaces in an indoor parking lot, carrying out region division on the positioning terminal nodes to enable the positioning terminal nodes to be divided into a plurality of non-overlapping regions, numbering each region, wherein each region is triangular or quadrilateral, the positioning terminal nodes are installed on the top points of each triangle or quadrilateral, and in each region, each positioning terminal node is in direct communication with two positioning terminal nodes adjacent to the positioning terminal node;
and step 3: accurately measuring the coordinates of each positioning terminal node in each region, calculating the distance between two adjacent vertexes, and calculating to obtain two positioning terminal nodes surrounding the positioning terminal node in the region according to the following formulaUndetermined constant ai、ni：
Wherein d isi1And di2For the distance between the ith positioning terminal node and the 1 st and 2 nd adjacent positioning terminal nodes in the area,andreceiving average power of signals sent by 1 st and 2 nd adjacent positioning terminal nodes for the ith positioning terminal node in the area;
and 4, step 4: according to the calculated distance value di1And di2And measured valueAndcalculate aiAnd niAnd a of all the positioning terminal nodes in the areaiAnd niTaking the average as the value of a and n in the area to obtain:
wherein,andthe average value of two undetermined constants in the region is obtained, and L is the number of positioning terminal nodes in the region;
when detecting that a vehicle enters or leaves at the entrance or exit of the parking lot, the central node sends a command to each positioning terminal node through the router node, and each positioning terminal node communicates with the adjacent positioning terminal node, and the pair aiAnd niIs updated and recalculated to obtain the undetermined constantAndafter a vehicle to be positioned provides a positioning request, all positioning terminal nodes in a direct communication range respond, and send the average values of a and n of the areas where the positioning terminal nodes are located to the vehicle to be positioned;
and 5: calculating the distance d between a vehicle to be positioned entering a certain area and a positioning terminal node of the selected area by the following formula,
wherein a and n are the average values in step 4,is the received signal average power.
Step 6: after the distances between more than 3 vehicles to be positioned and the positioning terminal nodes are calculated, the coordinates of the vehicles to be positioned are calculated through a triangular centroid positioning algorithm or a maximum likelihood estimation method.
And each positioning terminal node is provided with a power amplification module.
The terminal nodes in the step 1 further comprise monitoring terminal nodes for monitoring the parking space state, and no communication exists between the positioning terminal nodes and the monitoring terminal nodes and between two adjacent monitoring terminal nodes; the router nodes are arranged in the center positions of the surrounding rings of the monitoring terminal nodes and used for relay communication.
In the step 2, the central node communicates with the adjacent router node, and the central node is installed at an entrance, an exit or a central position of the parking lot.
Due to the adoption of the technical scheme, the invention has the beneficial effects that:
the invention provides a time-sharing and zone-dividing vehicle positioning algorithm in an indoor parking lot environment, which is beneficial to quickly and accurately guiding a vehicle to a planned target parking space in advance and has the remarkable advantages of high positioning speed, high precision, good real-time performance and the like.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
FIG. 2 is a schematic diagram of region division according to the present invention.
Fig. 3 is a schematic diagram of the maximum positioning error over time without regard to the temporal and spatial variations of a and n.
Fig. 4 is a schematic diagram of the maximum positioning error over time, without considering a and n over time, and only a and n over space.
Fig. 5 is a schematic diagram of the maximum positioning error over time, taking into account both a and n as a function of time and a and n as a function of space.
Detailed Description
The present invention will be described in further detail with reference to the following drawings and specific examples, but the present invention is not limited to these examples.
As shown in fig. 1 and 2, a vehicle positioning method based on a ZigBee network in an indoor parking lot environment includes the following steps:
step 1: the ZigBee wireless sensing network system comprises a ZigBee network, wherein a central node, a plurality of router nodes and a larger number of terminal nodes are arranged in the ZigBee network, the central node is communicated with the router nodes adjacent to the central node, the central node is arranged at an inlet or an outlet or a central position of the parking lot, and the terminal nodes comprise positioning terminal nodes for positioning a vehicle to be positioned; in order to reduce the layout quantity of the positioning terminal nodes, each positioning terminal node is provided with a power amplification module, so that the direct communication range of the positioning terminal nodes is expanded; the terminal nodes also comprise monitoring terminal nodes for monitoring the parking space state, and no communication exists between the positioning terminal node and the monitoring terminal nodes and between two adjacent monitoring terminal nodes; the router nodes are arranged in the center positions of the surrounding rings of the monitoring terminal nodes and are used for relay communication; a driver of a vehicle to be positioned holds a smart phone, the smart phone is provided with a ZigBee module, and the vehicle to be positioned sends a positioning request through the smart phone;
step 2: according to the distribution of parking spaces in an indoor parking lot, the positioning terminal nodes are divided into A, B, C, D … … and other non-overlapping areas, each area is triangular or quadrilateral, the positioning terminal nodes are installed on the top points of each triangle or quadrilateral, and in each area, each positioning terminal node is in direct communication with two positioning terminal nodes adjacent to the positioning terminal node;
and step 3: accurately measuring the coordinates of each positioning terminal node of each region, calculating the distance between two adjacent vertexes, and calculating two undetermined constants a of the surrounding environment of one positioning terminal node in the region according to the following formulai、ni：
Wherein d isi1And di2For the distance between the ith positioning terminal node and the 1 st and 2 nd adjacent positioning terminal nodes in the area,andreceiving average power of signals sent by 1 st and 2 nd adjacent positioning terminal nodes for the ith positioning terminal node in the area;
and 4, step 4: according to the calculated distance value di1And di2And measured valueAndcalculate aiAnd niThe positioning terminal nodes of each area calculate own aiAnd niThen, the average value of the areas a and n is calculated by the central node and then is transmitted to each positioning terminal node, and each positioning terminal node stores the average value of the areas a and n (usually a plurality of areas) to which the positioning terminal node belongs in a self-contained data storage device, so as to obtain:
wherein,andthe average value of two undetermined constants in the region is obtained, and L is the number of positioning terminal nodes in the region;
after a vehicle to be positioned provides a positioning request, all positioning terminal nodes in a direct communication range respond, and send the average values of a and n of the areas where the positioning terminal nodes are located to the vehicle to be positioned;
and 5: calculating the distance d between a vehicle to be positioned entering a certain area and a positioning terminal node of the selected area by the following formula,
wherein a and n are the average values in step 4,is the received signal average power.
Step 6: after the distances between more than 3 vehicles to be positioned and the positioning terminal nodes are calculated, the coordinates of the vehicles to be positioned are calculated through a triangular centroid positioning algorithm or a maximum likelihood estimation method; in different time periods, along with factors such as the entrance and exit of vehicles in the parking lot and the like, two undetermined constants in all areas change along with time, obviously, if the undetermined constants are updated more frequently, the positioning accuracy of the vehicles can be ensured, but the power consumption of vertexes forming each area is obviously increased. For this purpose, only when it is detected that a vehicle enters or leaves at the entrance or exit of the parking lot, a command is issued from the central node to each of the positioning terminal nodes, which communicates with the adjacent positioning terminal node, through the router node, for aiAnd niIs updated according to the recalculated undetermined constantAndthe distance d between the vehicle to be positioned and the positioning terminal node can be calculated, and then the coordinate of the vehicle to be positioned is calculated.
It should be noted that, after the broadcast information of the positioning request of the ZigBee module connected to the smart phone on the vehicle to be positioned is sent out, the router node does not forward the information, and only the positioning terminal node in the range capable of directly communicating with the node to be positioned receives the information and makes a response; when a vehicle to be positioned is positioned, the positioning terminal node sends the accurate coordinates of the positioning terminal node and the average value of a and n in the area to the ZigBee module of the smart phone, and position calculation software is installed in the smart phone to calculate the real-time position of the vehicle to be positioned. Then, the smart phone guides the vehicle to the target parking space step by step according to the internal map of the built-in parking lot and the calculated vehicle position.
In order to verify that the designed algorithm can improve the positioning accuracy, some parameters are set on the basis of fig. 2, and a computer simulation program is written by using Matlab language. The specific parameters used are shown in table 1:
table 1 parameters used by Matlab simulation program
In addition to the parameters listed in table 1, a signal-to-noise ratio of 30 was set; in each area, the number of measurement times is 100 for calculating the distance value between a certain positioning terminal node and a node to be positioned.
FIG. 3 shows the time-dependent variation of the maximum positioning error of 11 regions A to K in FIG. 3 in 0 to 100 hours, regardless of the time-dependent and spatial variations of a and n (i.e., the average values of the 3 rd column and the 4 th column in Table 1 are used for a and n of each region in the calculation of the distance using the formula in step 5). It can be seen from the figure that the error values are large, and the maximum error has reached 35 m.
FIG. 4 shows the time-dependent variation of the maximum positioning error of 11 regions A to K in FIG. 3 in 0 to 100 hours, considering only the spatial variation of a and n, but not the time-dependent variation of a and n (i.e., the values of column 3 and column 4 in the row corresponding to the region in Table 1 are taken for a and n of each region in the calculation of the distance using the formula in step 5). The error is reduced compared to fig. 4, but the maximum error still reaches nearly 30 m.
Fig. 5 shows the time variation of the maximum positioning error of 11 regions a to K in fig. 3 in 0 to 100 hours, both when a and n vary with space and when they vary with time (i.e., a and n for each region are measured at the current time a and n in the calculation of the distance using the formula in step 5). As can be seen from the figure, the error is obviously reduced, the error is basically controlled within 2m, and a very ideal positioning effect is achieved.
Therefore, the positioning method provided by the invention obviously improves the vehicle positioning precision in the indoor parking lot environment, and is beneficial to quickly and accurately guiding the vehicle to the planned target parking space.
Parts which are not described in the invention can be realized by adopting or referring to the prior art.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (4)
1. A vehicle positioning method based on a ZigBee network in an indoor parking lot environment is characterized in that: the method comprises the following steps:
step 1: the method comprises the steps that a ZigBee wireless sensing network system is arranged in an indoor parking lot and comprises a ZigBee network, a central node, a plurality of router nodes and a larger number of terminal nodes are arranged in the ZigBee network, and the terminal nodes comprise positioning terminal nodes used for positioning vehicles to be positioned; a driver of a vehicle to be positioned holds a smart phone, the smart phone is provided with a ZigBee module, and the vehicle to be positioned sends a positioning request through the smart phone;
step 2: according to the distribution of parking spaces in an indoor parking lot, carrying out region division on the positioning terminal nodes to enable the positioning terminal nodes to be divided into a plurality of non-overlapping regions, numbering each region, wherein each region is triangular or quadrilateral, the positioning terminal nodes are installed on the top points of each triangle or quadrilateral, and in each region, each positioning terminal node is in direct communication with two positioning terminal nodes adjacent to the positioning terminal node;
and step 3: accurately measuring the coordinates of each positioning terminal node of each region, calculating the distance between two adjacent vertexes, and calculating two undetermined constants a of the surrounding environment of one positioning terminal node in the region according to the following formulai、ni：
Wherein d isi1And di2For the distance between the ith positioning terminal node and the 1 st and 2 nd adjacent positioning terminal nodes in the area,andreceiving average power of signals sent by 1 st and 2 nd adjacent positioning terminal nodes for the ith positioning terminal node in the area;
and 4, step 4: according to the calculated distance value di1And di2And measured valueAndcalculate aiAnd niAnd a of all the positioning terminal nodes in the areaiAnd niTaking the average as the value of a and n in the area to obtain:
wherein,andthe average value of two undetermined constants in the region is obtained, and L is the number of positioning terminal nodes in the region;
when detecting that a vehicle enters or leaves at the entrance or exit of the parking lot, the central node sends a command to each positioning terminal node through the router node, and each positioning terminal node communicates with the adjacent positioning terminal node, and the pair aiAnd niIs updated and recalculated to obtain the undetermined constantAndafter a vehicle to be positioned provides a positioning request, all positioning terminal nodes in a direct communication range respond, and send the average values of a and n of the areas where the positioning terminal nodes are located to the vehicle to be positioned;
and 5: calculating the distance d between a vehicle to be positioned entering a certain area and a positioning terminal node of the selected area by the following formula,
wherein a and n are the average values in step 4,is the received signal average power.
Step 6: after the distances between more than 3 vehicles to be positioned and the positioning terminal nodes are calculated, the coordinates of the vehicles to be positioned are calculated through a triangular centroid positioning algorithm or a maximum likelihood estimation method.
2. The vehicle positioning method based on the ZigBee network in the indoor parking lot environment according to claim 1, wherein: and each positioning terminal node is provided with a power amplification module.
3. The vehicle positioning method based on the ZigBee network in the indoor parking lot environment according to claim 1, wherein: the terminal nodes in the step 1 further comprise monitoring terminal nodes for monitoring the parking space state, and no communication exists between the positioning terminal nodes and the monitoring terminal nodes and between two adjacent monitoring terminal nodes; the router nodes are arranged in the center positions of the surrounding rings of the monitoring terminal nodes and used for relay communication.
4. The vehicle positioning method based on the ZigBee network in the indoor parking lot environment according to claim 1, wherein: in the step 1, the central node communicates with the adjacent router node, and the central node is installed at an entrance, an exit or a central position of the parking lot.
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| CN107274713A (en) * | 2017-07-11 | 2017-10-20 | 东华大学 | A kind of parking induction method based on cluster |
| CN110444043A (en) * | 2019-09-16 | 2019-11-12 | 深圳普智联科机器人技术有限公司 | A kind of parking stall cruising inspection system and its method based on location technology |
| CN111179634A (en) * | 2019-12-04 | 2020-05-19 | 浙江科技学院 | Indoor parking system based on Wi-Fi position fingerprint |
| CN111179634B (en) * | 2019-12-04 | 2021-04-27 | 浙江科技学院 | Indoor parking system based on Wi-Fi position fingerprint |
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| CN111818636B (en) * | 2020-06-03 | 2022-01-28 | 哈尔滨工业大学（威海） | Vehicle-mounted Bluetooth positioning system and positioning method thereof |
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| CN104809908B (en) | 2017-01-25 |
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