CN104950287A - Ultrasonic-ZigBee system and method used for indoor positioning - Google Patents
Ultrasonic-ZigBee system and method used for indoor positioning Download PDFInfo
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- CN104950287A CN104950287A CN201510325673.9A CN201510325673A CN104950287A CN 104950287 A CN104950287 A CN 104950287A CN 201510325673 A CN201510325673 A CN 201510325673A CN 104950287 A CN104950287 A CN 104950287A
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- China
- Prior art keywords
- mobile node
- zigbee
- stationary nodes
- ultrasound wave
- computing terminal
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Classifications
-
- 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
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/72—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using ultrasonic, sonic or infrasonic waves
- G01S1/74—Details
- G01S1/75—Transmitters
- G01S1/753—Signal details
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/16—Systems for determining distance or velocity not using reflection or reradiation using difference in transit time between electrical and acoustic signals
-
- 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
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
-
- 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
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/72—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using ultrasonic, sonic or infrasonic waves
- G01S1/74—Details
- G01S1/75—Transmitters
- G01S1/751—Mounting or deployment thereof
-
- 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
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0018—Transmission from mobile station to base station
- G01S5/0036—Transmission from mobile station to base station of measured values, i.e. measurement on mobile and position calculation on base station
-
- 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
- G01S2201/00—Indexing scheme relating to beacons or beacon systems transmitting signals capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters
- G01S2201/01—Indexing scheme relating to beacons or beacon systems transmitting signals capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters adapted for specific applications or environments
- G01S2201/02—Indoor positioning, e.g. in covered car-parks, mining facilities, warehouses
Abstract
The invention discloses an ultrasonic-ZigBee system used for indoor positioning, which comprises fixed nodes, a mobile node and a computing terminal and is characterized in that a plurality of fixed nodes are fixed at the same altitude plane on an indoor wall and the coordinates are known, the mobile node is located on the ground below the fixed nodes and the position is continuously changed; communication is not carried out among the plurality of fixed nodes, the communication between each fixed node and the mobile node is carried out through an ultrasonic wave and ZigBee point-to-point mode, and each fixed node and the mobile node form a transmit and receive group in an ultrasonic probe cluster manner; the computing terminal is communicated with the mobile node through Bluetooth, so as to collect positioning data of the mobile node and calculate the position coordinates of the mobile node; according to the system, dual dielectric radio frequency are adopted for cooperative work, the defects of instability and easiness in being interfered due to the fact that the distance is traditionally measured according to field intensity indoor are discarded, and the positioning data is transmitted by adopting an anti-collision algorithm, so that the positioning accuracy is improved and the excellent practicality and reliability are realized.
Description
Technical field
The present invention relates to a kind of positioning system and method, particularly a kind of system and method for indoor positioning.
Background technology
At present, various location technology emerges in an endless stream.GPS location is applicable to outdoor, and is easily subject to the impact of environment, and when mountain area, high-lager building and air ambient are bad, positioning precision is had a greatly reduced quality; Technology based on the range finding of ZigBee radio-frequency (RF) signal strength RSSI value in indoor use, but also easily can be subject to environmental impact, the occasion (such as all kinds of public domain spreading all over 2.4G frequency band signals) that especially interference source is abundant, and precision does not reach requirement; Infrared orientation is excessively strong, and orientation distance is limited.Existing location technology cannot directly be effective in indoor positioning occasion due to own limitations.
Summary of the invention
The object of the invention is the deficiency overcoming existing location technology precision and practicality aspect, there is provided a kind of and convenient, cheap, reliable operation is installed, in conjunction with the positioning system of ultrasound wave and ZigBee, to adapt to constantly the demand of the public domain indoor positioning application such as surging hospital, home for destitute, kindergarten, waiting halls.
Technical solution problem of the present invention adopts following technical scheme:
For a ultrasound wave-ZigBee system for indoor positioning, comprise stationary nodes, mobile node and computing terminal; It is characterized in that: described multiple stationary nodes is fixed on indoor wall sustained height plane and coordinate is known, described mobile node is in ground below stationary nodes and position constantly changes; Do not communicate between described multiple stationary nodes, each stationary nodes and described mobile node are to communicate with the point-to-point mode of ZigBee by ultrasound wave; Described computing terminal and mobile node are by bluetooth communication and then the locator data of collecting mobile node and calculate its position coordinates;
Described mobile node is the target to be positioned be in motion, comprise single-chip microcomputer one, multi-channel analog drives interface, multiple ultrasound wave transmitting probe, ZigBee module and bluetooth module, multiple output pins of described single-chip microcomputer one are connected with multiple ultrasound wave transmitting probe respectively by multiple analog-driven interface, ultrasonic signal is launched in order to drive ultrasound wave transmitting probe, described single-chip microcomputer one also connects ZigBee module and bluetooth module, in order to realize ZigBee communication and Bluetooth communication respectively by UART mono-, UART bis-interface;
Described stationary nodes is the auxiliary positioning equipment that coordinate is known and constant, comprise single-chip microcomputer two, multiplex pulse detects interface, multiple ultrasound wave receiving transducer and ZigBee module, the ultrasonic signal received is the Puled input pin that then pulse signal accesses described single-chip microcomputer two by pulse detection interface conversion by described ultrasound wave receiving transducer, and described single-chip microcomputer two connects ZigBee module in order to realize ZigBee communication by UART interface;
Described computing terminal comprises bluetooth module and high speed processor, collects the locator data of mobile node and calculates its position coordinates.
Based on an indoor orientation method for ultrasound wave-ZigBee system, it is characterized in that, comprise the following steps:
(1) computing terminal described in sends Location Request instruction by bluetooth to described mobile node;
(2) described mobile node is by ZigBee to the instruction of entirety described stationary nodes broadcast transmission clock synchronous, and waits for and receives the acknowledge message of described stationary nodes;
(3) described mobile node launches multiplex ultrasonic signal and the instruction of ZigBee positioning starting simultaneously;
(4) stationary nodes described in some, first receives the instruction of ZigBee positioning starting, ultrasonic signal detected subsequently, using the mistiming of twice as locator data record;
(5) be recorded to the different stationary nodes of locator data, after carrying out different time delay, send locator data by ZigBee to mobile node, to prevent radio frequency collision;
(6) mobile node receives multiple locator data by ZigBee, and give described computing terminal by it by Bluetooth transmission, computing terminal draws mobile node coordinate according to intrinsic algorithm;
3, a kind of indoor orientation method based on ultrasound wave-ZigBee system according to claim 2, is characterized in that: described mobile node receives multiple locator data by ZigBee and refers to that mobile node receives more than three or three different locator datas by ZigBee.
The present invention's beneficial effect is against existing technologies:
1, practicality and reliability significantly promote
Mobile node and stationary nodes have employed the design of many ultrasound waves transmitting probe, many ultrasound waves receiving transducer respectively, effectively add the coverage of the ultrasonic signal of individual module; Mobile node and stationary nodes simple for structure, with low cost, can directly and application demand system carry out secondary development and expansion; The computing terminal that native system proposes can be built-in terminal, PC server and even network computing device, and various informative being easy to customizes.
2, two wireless transmission medium is worked in coordination with
This programme adopts ultrasound wave and ZigBee collaborative work, has abandoned in conventional chamber and has calculated the instability of distance and easy disturbed shortcoming according to field intensity, positioning precision is significantly improved.
3, anticollision is transmitted
This programme adopts anti-collision algorithm transmission locator data, data is transmitted and not easily makes mistakes in order.
Accompanying drawing explanation
Fig. 1 is systems solutions figure of the present invention;
Fig. 2 is mobile node structural representation of the present invention;
Fig. 3 is stationary nodes structural representation of the present invention;
Fig. 4 is workflow illustration of the present invention.
Embodiment
As shown in Figure 1, a kind of ultrasound wave-ZigBee system for indoor positioning, comprises stationary nodes 2, mobile node 1 and computing terminal 3; It is characterized in that: described multiple stationary nodes 2 is fixed on indoor wall sustained height plane and coordinate is known, described mobile node 1 is in ground below stationary nodes 2 and position constantly changes; Do not communicate between described multiple stationary nodes 2, each stationary nodes 2 and described mobile node 1 are to communicate with the point-to-point mode of ZigBee signal 5 by ultrasonic signal 4; Described computing terminal 3 comprises bluetooth module and high speed processor module, carries out bluetooth communication and then collect the locator data of mobile node 1 and calculate its position coordinates by bluetooth module and mobile node 1;
As shown in Figure 2, described mobile node is the target to be positioned be in motion, comprise single-chip microcomputer one, multi-channel analog drives interface, multiple ultrasound wave transmitting probe, ZigBee module and bluetooth module, multiple output pins of described single-chip microcomputer one are connected with multiple ultrasound wave transmitting probe respectively by multiple analog-driven interface, ultrasonic signal is launched in order to drive ultrasound wave transmitting probe, described single-chip microcomputer one also connects ZigBee module and bluetooth module, in order to realize ZigBee communication and Bluetooth communication respectively by UART mono-, UART bis-interface; Multiple ultrasound wave transmitting probe is concentrated and is arranged in spherical, to guarantee with 360 ° of scopes to spatial emission ultrasonic signal.
As shown in Figure 3, described stationary nodes is the auxiliary positioning equipment that coordinate is known and constant, comprise single-chip microcomputer two, multiplex pulse detects interface, multiple ultrasound wave receiving transducer and ZigBee module, the ultrasonic signal received is the Puled input pin that then pulse signal accesses described single-chip microcomputer two by pulse detection interface conversion by described ultrasound wave receiving transducer, and described single-chip microcomputer two connects ZigBee module in order to realize ZigBee communication by UART interface; Multiple ultrasound wave receiving transducer is distributed in stationary nodes peripheral space scope, to receive the ultrasonic signal of different directions as far as possible.
Based on an indoor orientation method for ultrasound wave-ZigBee system, it is characterized in that, comprise the following steps:
(1) computing terminal described in sends Location Request instruction by bluetooth to described mobile node;
(2) described mobile node is by ZigBee to the instruction of entirety described stationary nodes broadcast transmission clock synchronous, and waits for and receives the acknowledge message of described stationary nodes;
(3) described mobile node launches multiplex ultrasonic signal and the instruction of ZigBee positioning starting simultaneously;
(4) stationary nodes described in some, first receives the instruction of ZigBee positioning starting, ultrasonic signal detected subsequently, using the mistiming of twice as locator data record;
(5) be recorded to the different stationary nodes of locator data, after carrying out different time delay, send locator data by ZigBee to mobile node, to prevent radio frequency collision;
(6) mobile node receives multiple locator data by ZigBee, and give described computing terminal by it by Bluetooth transmission, computing terminal draws mobile node coordinate according to intrinsic algorithm;
With a computing terminal, a mobile node, the positioning system of three stationary nodes compositions is that example sets forth system work process, as shown in Figure 4,
(1) T
0moment computing terminal sends Location Request instruction with Blue-tooth communication method to mobile node.
(2) mobile node receive after at T
1moment by ZigBee to the instruction of stationary nodes broadcast transmission clock synchronous, after stationary nodes 1,2,3 carries out clock synchronous separately, respectively at T
21, T
22, T
23respectively to mobile node passback acknowledge message.
(3) subsequently mobile node at T
3moment is broadcast transmission multiplex ultrasonic signal and the instruction of ZigBee positioning starting simultaneously, and because ZigBee radiofrequency signal is with light velocity propagation, the instruction of ZigBee positioning starting can arrive each stationary nodes immediately, and stationary nodes 1,2,3 is simultaneously at T
3moment starts timer internal, respectively at T
41, T
42, T
43moment stops timing, mistiming T when ultrasonic signal being detected
41-T
3, T
42-T
3, T
43-T
3store separately as locator data; Stationary nodes 1,2,3 carries out different time delay separately, obtains moment point T
51, T
52, T
53, wherein T
51=T
41+ K* (T
41-T
3)+B
1, T
52=T
42+ K* (T
42-T
3)+B
2, T
53=T
43+ K* (T
43-T
3)+B
3, K be greater than 1 constant, B
1, B
2, B
3for the random integers between [1,20] mS.Stationary nodes is respectively at moment point T
51, T
52, T
53locator data is sent to mobile node, to prevent radio frequency collision by ZigBee.
(4) mobile node is at moment T
6by three locator datas by Bluetooth transmission to computing terminal, computing terminal calculates mobile node coordinate according to least square method or other intrinsic algorithms.
Claims (3)
1., for a ultrasound wave-ZigBee system for indoor positioning, comprise stationary nodes, mobile node and computing terminal; It is characterized in that: described multiple stationary nodes is fixed on indoor wall sustained height plane and coordinate is known, described mobile node is in ground below stationary nodes and position constantly changes; Do not communicate between described multiple stationary nodes, each stationary nodes and described mobile node are to communicate with the point-to-point mode of ZigBee by ultrasound wave; Described computing terminal and mobile node are by bluetooth communication and then the locator data of collecting mobile node and calculate its position coordinates;
Described mobile node is the target to be positioned be in motion, comprise single-chip microcomputer one, multi-channel analog drives interface, multiple ultrasound wave transmitting probe, ZigBee module and bluetooth module, multiple output pins of described single-chip microcomputer one are connected with multiple ultrasound wave transmitting probe respectively by multiple analog-driven interface, ultrasonic signal is launched in order to drive ultrasound wave transmitting probe, described single-chip microcomputer one also connects ZigBee module and bluetooth module, in order to realize ZigBee communication and Bluetooth communication respectively by UART mono-, UART bis-interface;
Described stationary nodes is the auxiliary positioning equipment that coordinate is known and constant, comprise single-chip microcomputer two, multiplex pulse detects interface, multiple ultrasound wave receiving transducer and ZigBee module, the ultrasonic signal received is the Puled input pin that then pulse signal accesses described single-chip microcomputer two by pulse detection interface conversion by described ultrasound wave receiving transducer, and described single-chip microcomputer two connects ZigBee module in order to realize ZigBee communication by UART interface;
Described computing terminal comprises bluetooth module and high speed processor, collects the locator data of mobile node and calculates its position coordinates.
2. based on an indoor orientation method for ultrasound wave-ZigBee system, it is characterized in that, comprise the following steps:
(1) computing terminal described in sends Location Request instruction by bluetooth to described mobile node;
(2) described mobile node is by ZigBee to the instruction of entirety described stationary nodes broadcast transmission clock synchronous, and waits for and receives the acknowledge message of described stationary nodes;
(3) described mobile node launches multiplex ultrasonic signal and the instruction of ZigBee positioning starting simultaneously;
(4) stationary nodes described in some, first receives the instruction of ZigBee positioning starting, ultrasonic signal detected subsequently, using the mistiming of twice as locator data record;
(5) be recorded to the different stationary nodes of locator data, after carrying out different time delay, send locator data by ZigBee to mobile node, to prevent radio frequency collision;
(6) mobile node receives multiple locator data by ZigBee, and give described computing terminal by it by Bluetooth transmission, computing terminal draws mobile node coordinate according to intrinsic algorithm.
3. a kind of indoor orientation method based on ultrasound wave-ZigBee system according to claim 2, is characterized in that: described mobile node receives multiple locator data by ZigBee and refers to that mobile node receives more than three or three different locator datas by ZigBee.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106646443A (en) * | 2017-01-23 | 2017-05-10 | 河海大学 | Ultrasonic ranging system and method based on ZigBee communications |
| CN111142095A (en) * | 2020-01-16 | 2020-05-12 | 三星电子（中国）研发中心 | Indoor positioning system, method and device |
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Application publication date: 20150930 |
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