CN104837112B - For searching and rescuing the wireless sensing network system and method for trapped person - Google Patents
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/0205—Simultaneously evaluating both cardiovascular conditions and different types of body conditions, e.g. heart and respiratory condition
- A61B5/02055—Simultaneously evaluating both cardiovascular condition and temperature
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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Abstract
The invention discloses a kind of for searching and rescuing the wireless sensing network system and method for trapped person, is made of four sign data acquisition sensor node, the wireless localization apparatus based on RSSI value, Sink node and terminal presentation facility parts.Sign data acquires and is sent to Sink node by multi-hop routing after sensor node is handled the sign data of acquisition, data are sent to system terminal by other base support networks again by Sink node, wireless location system calculates the relative position of node to be positioned according to the position of its reference location node at the same time, and the coordinate information of relative position is transmitted to Sink node by wireless coordinator.The absolute position of this relative coordinate combination reference location node is calculated the absolute position of mobile node and is transmitted to the mobile terminal of rescue personnel by Sink node, and rescue personnel can be buried the specific location of life with the determination of accurate quick.
Description
Technical field
It is specifically a kind of oppressive for searching and rescuing the invention belongs to the crossing domain of embedded system and wireless communication technique
The wireless sensing network system and method for member.
Background technique
Wireless sensor network is a kind of completely new information acquisition platform, and with rapid deployment, deployment is convenient, survivability is strong
The features such as, it combines computing technique, the communication technology and sensor technology, can be assisted by all kinds of integrated microsensors
The information for making ground real-time monitoring, perception and the various environmental informations of acquisition or monitored target, passes through aggregation node for data information
(Sink), to be finally presented on user terminal from the wireless transmission method for organizing multi-hop.Therefore, a kind of such network technology is very
It is suitable for the earthquake relief works scene such as earthquake or collapsing.
However, often having the following problems to need to solve at the scene of earthquake relief work：
Whom how to learn rapidly, and there are also vital signs：Under normal circumstances in more shake areas, resident needs to carry and can wear
It wears or portable sign data acquisition sensor, these micro sensing equipment that can detect sign information may be embedded into
In mobile phone, wrist-watch even clothes shoes and hats and other items；Once surrounding erects rapidly the wireless sensor network temporarily set up, this
A little sign informations just can be sent out by the wireless channel of multihop routing；Rescue personnel passes through wireless sense network location technology energy
The position for having the disaster affected people of sign information is enough got still, effective rescue strategies of " first bringing back to life people " are carried out.
Communication path shielding or node failure：Once the radio network configuration for earthquake relief work is completed, according at that time
Radio frequency environment and available section point set, the wireless communications path between equipment is just determined.These paths may be collapsed
The failure of the shielding of the metal equipments such as object or even some subtle changes or node itself of equipment itself will also result in communication lines
The shielding of diameter, the rescue work that such network environment is equally unfavorable for " rescuing people as put out a fire " are carried out, it is therefore desirable to establish one
The scalable radio sensor network of energy effective operation in the case where often there is communication path shielding or node failure scene.This is just
It is required that node and its gateway that the Sensor Network temporarily built has anti-interference good, and healthy and strong routing mechanism, going out
Failure node can be bypassed in the case where existing node failure, reselect routing.
Summary of the invention
Present invention aim to address current disaster such as earthquake or landslide are difficult to the rescue for burying life
Problem, propose a kind of for searching and rescuing the wireless sensing network system and implementation method of trapped person.
The wireless sensing network system that the present invention is used to search and rescue trapped person includes sign data acquisition sensor node, base
In wireless localization apparatus, the Sink of RSSI (Received Signal Strength Index, received signal strength indicator) value
Node and terminal presentation facility, wherein the wireless localization apparatus based on RSSI value includes wireless location coordinator, measuring node, ginseng
Examine positioning node and node to be positioned；
Sign data acquires sensor node and the sign data of acquisition is sent to Sink node by multihop routing, simultaneously
Wireless localization apparatus based on RSSI value calculates position of the personnel to be positioned with respect to reference location node, by the seat of relative position
Mark information is transmitted to Sink node, Sink node calculate the absolute position of personnel to be positioned and be transmitted to rescue personnel terminal it is aobvious
Show equipment.
The sign data acquisition sensor includes main control module, sensor module and communication module, the sensing module
It is made of vital sign sensors and its peripheral circuit, the communication module is by long-range radio-frequency transceiving chip and its peripheral circuit
Composition.
The vital sign sensors are at least one of body temperature transducer, blood pressure sensor, pulse transducer.
The method for searching and rescuing trapped person using wireless sensing network system, includes the following steps：
A1, all nodes are monitored in assigned frequency to find neighbor node, during monitoring, to Web broadcast
The location information of this node；It was found that establishing neighboring node list after neighbor node；
A2, sign data acquisition sensor node establish a plurality of transmission path after having established neighbor list and select effective road
By；
A3, Sink node determine that the carrier of which sign data acquisition sensor node still has vital sign, then broadcast
These nodes become node to be positioned, near reference location node it is positioned；
The signal strength of A4, the node to be positioned received according to reference location node, are counted using least square method
It calculates, completes the positioning for treating positioning node；
A5, Sink node obtain the real-time relative position of node to be positioned from wireless location system coordinator, this is opposite
Position is converted to absolute position and is sent to the terminal of rescue personnel by WLAN, Internet or mobile communications network
Show equipment.
A plurality of transmission path is established in A2 and select the detailed process of effective routing for：
A2-1, forwarding model is established；The degree of Congestion of node i is defined asWherein Cache (i)init
With Cache (i)usedRespectively the initial buffering amount of node i and cache size is used, CD (i) is smaller, illustrates node forwarding number
According to ability it is stronger, it is on the contrary then weaker；In addition, the forwarding selective factor B of node is defined asIts
In, E (i)initWith E (i)restThe respectively initial and dump energy of node i, Hop (i) are jump of the node i apart from Sink node
Number；
A2-2, sign data acquisition sensor node successively decrease according to the forwarding selective factor B FD (i) of its neighbor node
Sequence selects the maximum node of FD (i) value to carry out sign data transmission as next-hop node；
A2-3, sign data acquisition sensor node enter the ack signals to be received such as reception pattern after having sent data, if
Its next-hop node is successfully received data, will acquire sensor node to sign data and send ack signal, wherein when waiting
Between be set as TwaitIf in TwaitAck signal is received in time, then it represents that this time forward successfully, next-hop node also execute a2-2 with
The operation of a2-3 is until data execute a2-4 after being transmitted to Sink node；Otherwise, it is shielded or network congestion in communication path
In the case where, sign data acquires sensor node in TwaitAck signal can not be received in time, then in specified next hair
Send time slot Tslot(Tslot> Twait) after, according to the forwarding selective factor B FD (i) of neighbor node selection time, big node carries out data
Transmission, repeats a2-3；
A2-4, after multi-hop transmission, if Sink node receives partial data, a route to be valid；Otherwise, it is being penetrated
Frequency interference, in the case where data packet loading error occurring, Sink node will be unable to receive partial data, at this point, Sink node is to sign
Data sampling sensor node sends a NACK signal, and sign data acquires sensor node after receiving NACK signal,
In specified next sending time slots TslotData are retransmitted according to former route, if repeatedly there is ack signal loss or multiple
NACK signal is received, it is invalid routing that sign data, which acquires sensor node for the routing label,.
A4 to sign data acquisition sensor node localization detailed process be：
A4-1, reference location node at least 3 nodes are not arranged on the same straight line, but in the same plane；Each ginseng
It examines positioning node periphery and places the fixed measuring node in a position, obtain DH (l0) value, indicate that current reference positioning node connects
The signal strength of its periphery measuring node received, l0Indicate the distance between current reference positioning node and the measuring node,
For a fixed value；
A4-2, loss model is established：Node to be positioned, which receives, comes from n (n>=3) signal strength of a reference location node
The relationship being worth between received signal strength DH (l) and transmission range l is as follows
Wherein ZdBGaussian distributed N (0, σdB), σdBIndicate shadow model deviation, α is path-loss factor；
A4-3, l is taken0=1m, obtains
DH (l)=- (10 α 1gl+W)
Wherein, W=- (DH (l0)+ZdB)。
A4-4, the DH (l) for calculating all reference location nodes are calculated using least square method and are finally determined section to be positioned
The coordinate value of point.
The co-ordination of intermodule of the present invention realizes the acquisition, transmission and personnel positions of the sign data to the personnel that rescued
The strong earthquake relief work system based on wireless sensor network of efficient and adaptive ability is realized in positioning.
Hardware system automatically switches power consumption mode according to monitoring needs reduces power consumption with this to greatest extent.When interference source compared with
Transmission power is increased by enhanced antenna when more；It is logical between heterogeneous networks after the greatly convenient calamity of the design of multi-internet integration
Letter.
Detailed description of the invention
Fig. 1 is present system structure chart；
Fig. 2 is sensor module circuit diagram；
Fig. 3 is communication module circuitry figure；
Fig. 4 is master control module circuit diagram.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The structure of system is as shown in Figure 1, mainly by sign data acquisition sensor node, based on the wireless location of RSSI value
Equipment, multi-internet integration Sink node composition, wherein the wireless localization apparatus based on RSSI value include wireless location coordinator, it is undetermined
Position node and several reference location nodes.Sign data acquires sensor and sends the sign data of acquisition by multihop routing
To Sink node, while wireless localization apparatus calculates position of the personnel to be positioned with respect to reference location node, by relative position
Coordinate information be transmitted to Sink node, Sink node calculate the absolute position of personnel to be positioned and by mobile radio communication,
Internet etc. is transmitted to the terminal presentation facility of rescue personnel.
Sensor module uses the medical energy converter HK-2000B+ pulse transducer of China Tech electronics research and development.The circuit integration
Circuits, the outputs such as signal amplification, signal processing, amplitude adjustment, baseline adjustment can be directly connected to A/D conversion circuit.Specifically such as
Shown in Fig. 2.
The long-range radio-frequency transceiving chip CC2430 based on ZigBee communication agreement that communication module uses TI company to release.
In view of the capable and experienced immunity of specific environment, it should suitably increase external antenna module to increase transmission power.It is specific as shown in Figure 3.
Main control module uses the low power consumption control device ATMEGA8L-8AU of AVR company, and the operating voltage of the chip is 2.7V
~5.5V is able to achieve read-write and synchronizes, and provides five kinds of low-power consumption modes, can reduce energy consumption to greatest extent.Specifically such as Fig. 4 institute
Show.
It is using the step of above system search and rescue trapped person：
A1, all nodes are monitored in assigned frequency to find neighbor node, during monitoring, to Web broadcast
The location information of this node；It was found that establishing neighboring node list after neighbor node；
A2, trapped person's sign data acquisition sensor node neighbor list include reference location node A, B, C and
D, as shown in Figure 1,
A2-1, forwarding model is established, the relevant parameter of this four reference location nodes is as shown in table 1,
The relevant parameter of table 1 reference location node A, B, C and D
| Node serial number | Cache(i)init | Cache(i)used | CD(i) | E(i)init | E(i)rest | Hop(i) | FD(i) |
| A | 4096kb | 1024kb | 0.25 | 1J | 0.5J | 2 | 3/16 |
| B | 4096kb | 2048kb | 0.5 | 1J | 0.25J | 1 | 1/8 |
| C | 4096kb | 1024kb | 0.25 | 1J | 0.6J | 1 | 9/20 |
| D | 4096kb | 3072kb | 0.75 | 1J | 0.25J | 2 | 1/32 |
A2-2, sign data acquisition sensor node successively decrease according to the forwarding selective factor B FD (i) of its neighbor node
Sequence selects the maximum node of FD (i) value to carry out sign data transmission as next-hop node, should select node C at this time；
It is waiting that a2-3, sign data acquisition sensor node enter reception pattern etc. after having sent data to node C
The ack signal of node C is received, however occurs communication path shielding at this time, sign data acquires sensor node in TwaitTime
It is interior to receive ack signal, it have to be in specified next sending time slots Tslot(Tslot> Twait) after, according to neighbor node
Forwarding selective factor B FD (i) selects time big node to carry out data transmission, and that select at this time is node A；Node A is successfully received
Data, it is in TwaitAck signal is had sent to sign data acquisition sensor node in time, is this time forwarded successfully, node A
It executes the corresponding operating of a2-2 and a2-3 and successfully passes node B and sign data is transmitted to Sink node；
A2-4, after being transmitted by double bounce, Sink node has received partial data, and the routing " A-B-Sink " is effective；Its
Afterwards, the discovery of sign data acquisition sensor node cannot repeatedly receive the ack signal of node C, which is marked
It is denoted as invalid routing.
A3, as shown in Figure 1, it is assumed that the carrier of sign data in figure acquisition sensor node still has vital sign, then
It need to be positioned in real time, the signal strength that the algorithm of use is received based on reference location node from node to be positioned
(RSSI value) is solved using least square method after being calculated by distance, is finally completed the positioning for treating positioning node,
Any 3 in a3-1,4 reference location nodes A, B, C and D are not arranged on the same straight line, and in same plane
On；After measuring node successively calculates A, B, C and D, the DH (l of 4 reference location nodes0) value is as shown in table 2,
The relevant parameter of table 2 reference location node A, B, C and D
A3-2, loss model is established：Using shadow model as reference, node to be positioned will be received from 4 with reference to fixed
The RSSI value of position node；For current a certain reference location node, received signal strength DH (l) and transmission range l (current reference
The distance between positioning node and node to be positioned) between relationship such as formula (1) shown in：
DH (l) is the DH (l according to current reference positioning node0) value calculating acquisition, ZdBGaussian distributed N (0, σdB),
Wherein σdBReferred to as shadow model deviation can be obtained by actual measurement；α is path-loss factor, usually according to actual deployment
Environment is test；
A3-3, in order to quickly position and save trapped person, take l0=1m, formula (1) can be exchanged into：
DH (l)=- (10 α 1gl+W) (2)
W=- (DH (l0)+ZdB),
According to formula (2) can calculate between node and current reference positioning node A, B, C and D to be positioned it is respective away from
From specific calculated result is shown in Table the l in 2iColumn；
A3-4, according to table 2, the coordinate value of node to be positioned is calculated and finally determined using least square method；According in table 2
The a series of parameter value measured, the distance l of calculating a reference location node of i-th (i=A, B, C, D) to node to be positionedi,
In (xi,yi,zi) be respectively i-th of reference location node position coordinates.Assuming that the position coordinates of node to be positioned be (x, y,
Z), then calculation formula is as follows：
Above-mentioned equation group is changed, the form of QX=S is obtained, is wherein constant in Q and s-matrix
The coordinate estimated value for obtaining node to be positioned by least square method is
The coordinate positionSink node will be transferred to by wireless location system coordinator；
A3, Sink node obtain the real-time relative position of node to be positioned from wireless location system coordinator, this is opposite
Position is converted to absolute position and is sent to the terminal of rescue personnel by WLAN, Internet or mobile communications network
Show equipment.
The technical means disclosed in the embodiments of the present invention is not limited only to technological means disclosed in above embodiment, further includes
Technical solution consisting of any combination of the above technical features.
Claims (3)
1. a kind of method for searching and rescuing trapped person using wireless sensing network system, the wireless sensing network system includes sign
Data sampling sensor node, the wireless localization apparatus based on RSSI value, Sink node and terminal presentation facility, wherein being based on
The wireless localization apparatus of RSSI value includes wireless location coordinator, measuring node, reference location node and node to be positioned；Sign
The sign data of acquisition is sent to Sink node by multihop routing by data sampling sensor node, while based on RSSI value
Wireless localization apparatus calculates position of the personnel to be positioned with respect to reference location node, and the coordinate information of relative position is transmitted to
Sink node, Sink node calculate the absolute position of personnel to be positioned and are transmitted to the terminal presentation facility of rescue personnel；It is described
It includes main control module, sensor module and communication module that sign data, which acquires sensor, and the sensor module is by vital sign
Sensor and its peripheral circuit composition, the communication module are made of long-range radio-frequency transceiving chip and its peripheral circuit, special
Sign is,
A1, all nodes are monitored in assigned frequency to find neighbor node, during monitoring, to Web broadcast this section
The location information of point；It was found that establishing neighboring node list after neighbor node；
A2, sign data acquisition sensor node establish a plurality of transmission path after having established neighbor list and select effective routing；
A3, Sink node determine that the carrier of which sign data acquisition sensor node still has vital sign, then broadcast these
Node become node to be positioned, near reference location node it is positioned；
The signal strength of A4, the node to be positioned received according to reference location node, are calculated using least square method, complete
The positioning of pairs of node to be positioned；
A5, Sink node obtain the real-time relative position of node to be positioned from wireless location system coordinator, by the relative position
It is converted to absolute position and is shown by the terminal that WLAN, Internet or mobile communications network are sent to rescue personnel
Equipment；
A plurality of transmission path is wherein established in A2 and select the detailed process of effective routing for：
A2-1, forwarding model is established；The degree of Congestion of node i is defined asWherein Cache (i)initWith
Cache(i)usedRespectively the initial buffering amount of node i and cache size is used, CD (i) is smaller, illustrates node for data forwarding
Ability it is stronger, it is on the contrary then weaker；In addition, the forwarding selective factor B of node is defined asIts
In, E (i)initWith E (i)restThe respectively initial and dump energy of node i, Hop (i) are jump of the node i apart from Sink node
Number；
A2-2, sign data acquisition sensor node carry out sort descending according to the forwarding selective factor B FD (i) of its neighbor node,
The maximum node of FD (i) value is selected to carry out sign data transmission as next-hop node；
A2-3, sign data acquisition sensor node enter the ack signals to be received such as reception pattern after having sent data, if under it
One hop node is successfully received data, will acquire sensor node to sign data and send ack signal, wherein the waiting time sets
For TwaitIf in TwaitAck signal is received in time, then it represents that this time forward successfully, next-hop node also executes a2-2 and a2-3
Operation until data be transmitted to Sink node after execute a2-4；Otherwise, it is shielded or the feelings of network congestion in communication path
Under condition, sign data acquires sensor node in TwaitAck signal can not be received in time, then in specified next transmission
Gap Tslot(Tslot> Twait) after, according to the forwarding selective factor B FD (i) of neighbor node selection time, big node carries out data biography
It is defeated, repeat a2-3；
A2-4, after multi-hop transmission, if Sink node receives partial data, a route to be valid；Otherwise, dry by radio frequency
It disturbs, in the case where data packet loading error occurring, Sink node will be unable to receive partial data, at this point, Sink node is to sign data
It acquires sensor node and sends a NACK signal, sign data acquires sensor node after receiving NACK signal, referring to
Fixed next sending time slots TslotIt is routed according to original and retransmits data, lost or repeatedly receive if repeatedly there is ack signal
NACK signal, it is invalid routing that sign data, which acquires sensor node for the routing label,.
2. the method described in accordance with the claim 1 for searching and rescuing trapped person using wireless sensing network system, which is characterized in that A4
To sign data acquisition sensor node localization detailed process be：
A4-1, reference location node at least 3 nodes are not arranged on the same straight line, but in the same plane；Each reference is fixed
The fixed measuring node in a position is placed on position node periphery, obtains DH (l0) value, indicate that current reference positioning node receives
Its periphery measuring node signal strength, l0Indicate the distance between current reference positioning node and the measuring node；
A4-2, loss model is established：Node to be positioned, which receives, comes from n (n>=3) signal strength indication of a reference location node, connects
The relationship received between signal strength DH (l) and transmission range l is as follows
Wherein ZdBGaussian distributed N (0, σdB), σdBIndicate shadow model deviation, α is path-loss factor；
A4-3, l is taken0=1m, obtains
DH (l)=- (10 α lgl+W)
Wherein, W=- (DH (l0)+ZdB)；
A4-4, the DH (l) for calculating all reference location nodes are calculated using least square method and are finally determined node to be positioned
Coordinate value.
3. the method according to claim 1 or 2 for searching and rescuing trapped person using wireless sensing network system, feature exist
In the vital sign sensors are at least one of body temperature transducer, blood pressure sensor, pulse transducer.
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| CN107113559B (en) * | 2015-01-16 | 2020-06-26 | 华为技术有限公司 | Position information acquisition method and device |
| CN107484130A (en) * | 2017-09-19 | 2017-12-15 | 北京东土军悦科技有限公司 | A kind of personnel location system and method based on wireless WIFI |
| CN109471391A (en) * | 2018-11-09 | 2019-03-15 | 高波 | A kind of system and its prompting device and operating method for improving Post disaster relief efficiency |
| CN109581287B (en) * | 2019-01-22 | 2024-02-09 | 西南石油大学 | Wi-Fi-based post-earthquake pressure burying personnel positioning method |
| CN112132719B (en) * | 2020-08-11 | 2023-06-09 | 湖南大学 | Personnel search and rescue method, device and system for emergency rescue and storage medium |
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