CN105472567A - Indoor people location method and indoor people location system - Google Patents
Indoor people location method and indoor people location system Download PDFInfo
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- CN105472567A CN105472567A CN201610009347.1A CN201610009347A CN105472567A CN 105472567 A CN105472567 A CN 105472567A CN 201610009347 A CN201610009347 A CN 201610009347A CN 105472567 A CN105472567 A CN 105472567A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention provides an indoor people location system. The system comprises an intelligent reader and a ZigBee routing gateway, wherein the intelligent reader is used for reading data information of an electronic tag of an indoor people and forwarding the read data information to the ZigBee routing gateway; and the ZigBee routing gateway is used for receiving the data information forwarded by the intelligent reader, forwarding the data information to a terminal device through a ZigBee network, and thereby enabling the terminal device to locate the indoor people according to the data information. Thus, the location system of a fusion technique provided by the invention has relatively high location accuracy, and is low-cost, low-power consumption, simple to network, convenient to lay out and very suitable for location of indoor people.
Description
Technical field
Indoor occupant field of locating technology of the present invention, especially, relates to a kind of indoor occupant localization method and system.
Background technology
Existing indoor positioning technologies mainly contains based on: infrared location, ultrasonic wave location, Bluetooth technology location etc.
Infrared technology: have employed discrete infrared technique to realize indoor positioning, straight line sighting distance and transmission range this two large major defect shorter make the poor effect of its indoor positioning, and be only suitable for short distance propagation, and easily disturbed by the light in fluorescent lamp or room, accurate location there is limitation;
Ultrasonic technology: the reflective telemetry of main employing, by the position of triangle polyester fibre scheduling algorithm determination object, namely launch ultrasonic wave and also receive the echo produced by measured object, the time difference according to echo and transmitted wave calculates testing distance, ultrasonic wave location poor anti jamming capability, orientation range is less;
The positioning precision of the equipment Network Based such as ultra broadband or bluetooth is not enough, although the conventional satellite navigation systems such as GPRS can be only limitted to outdoor by hi-Fix.
Summary of the invention
In order to solve the problems of the technologies described above, the present invention proposes a kind of indoor occupant navigation system, described system comprises: intelligent reader, for reading the data message of the electronic tag of indoor occupant, and the data message read is transmitted to ZigBee routing gateway; ZigBee routing gateway, for receiving the data message that intelligent reader forwards, and is transmitted to locating terminal by ZigBee-network described data message, so that locating terminal positions described indoor occupant according to described data message.
Further, described intelligent reader comprises: sensor assembly, for the data message of reading electronic labels; Forward radio-frequency module, the data message for being read by sensor assembly is transmitted to ZigBee routing gateway.
Further, before the data message of described sensor assembly reading electronic labels, described intelligent reader also comprises: the first scan module, for scanning electronic tag in a broadcast manner; First confirms module, and the read-write protection agreement for the read-write protection agreement with electronic tag that confirm intelligent reader is consistent; First connects module, for setting up the communication connection between intelligent reader and electronic tag.
Further, described first confirms that module comprises: send submodule, for sending the request of read-write protection protocol-identifier to electronic tag; Receive submodule, for receiving the read-write protection protocol-identifier of electronic tag; Judge submodule, whether the read-write protection protocol-identifier for the read-write protection protocol-identifier with intelligent reader that judge the electronic tag received is identical; Confirm submodule, for when the read-write protection protocol-identifier of electronic tag is identical with the read-write protection protocol-identifier of intelligent reader, then confirm that the read-write protection agreement of intelligent reader is consistent with the read-write protection agreement of electronic tag.
Further, ZigBee routing gateway also for setting up ZigBee-network, specifically comprises: the first receiver module, for the beacon message that receiving router node sends; First sending module, for receive beacon message that router node sends when the first receiver module after, sends the MAC Address of ZigBee routing gateway to router node; Second receiver module, for the request message adding ZigBee-network that receiving router node sends; Second sending module, for receive when the second receiver module that router node sends add the request message of ZigBee-network after, send to router node and add the response message of ZigBee-network; 3rd receiver module, for the request message of the ZigBee-network short address that receiving router node sends; First distribution module, for receive when the 3rd receiver module router node send ZigBee-network short address request message after, be router node distribute ZigBee-network short address; 3rd sending module, for sending to router node by the ZigBee-network short address of the first module assigns; Second sets up communication module, for establishing a communications link with router node, makes router node add ZigBee-network.
Further, before setting up ZigBee-network, ZigBee routing gateway also for initialization ZigBee-network, specifically comprises: the second scan module, for scanning channel energy; First selects module, for selecting the channel of energy the best as ZigBee-network working channel, and selects network identifier; Configuration module, for configuring ZigBee-network parameter; Broadcast module, for broadcast beacon requirement, to notify that router node adds ZigBee-network.
Further, after ZigBee routing gateway sets up ZigBee-network, ZigBee routing gateway, also for networking, specifically comprises: second selects module, for selecting described router node as router father node; Second confirms module, for confirming that router father node is available; Module is set, for arranging network identifier for described router father node; 4th receiver module, for the networking request that receiving router child node sends; 4th sending module, for sending the response message of access ZigBee-network to router child node; Third communication link block, for setting up the communication connection between described router father node and described router child node, makes router child node access ZigBee-network.
Further, after described router child node access ZigBee-network, described ZigBee routing gateway also comprises: the 5th receiver module, for receiving the networking request that application node sends; 3rd confirms module, for confirming that described router child node has available address; Second distribution module, gives described application node for distribution network number; 5th sending module, sends to described application node the instruction that successfully networks; 4th communication connection module, for setting up the communication connection between described router child node and described application node, makes application node add ZigBee-network.
The invention allows for a kind of indoor occupant localization method, described method comprises: intelligent reader reads the data message of the electronic tag of indoor occupant, and the data message read is transmitted to ZigBee routing gateway; ZigBee routing gateway receives the data message that intelligent reader forwards, and by ZigBee-network, described data message is transmitted to locating terminal, so that locating terminal positions described indoor occupant according to described data message.
Further, read the electronic tag of indoor occupant at intelligent reader before, described method also comprises: scan electronic tag in a broadcast manner; And when confirming that the read-write protection agreement of electronic tag is consistent with the read-write protection agreement of self, set up the communication connection between electronic tag.
Further, the read-write protection agreement of described confirmation electronic tag is consistent with the read-write protection agreement of self, specifically comprises: the request sending read-write protection protocol-identifier to electronic tag; Receive the read-write protection protocol-identifier of electronic tag simultaneously, and judge that whether the read-write protection protocol-identifier of the electronic tag received is identical with the read-write protection protocol-identifier of self; When the read-write protection protocol-identifier of electronic tag is identical with the read-write protection protocol-identifier of self, then confirm that the read-write protection agreement of electronic tag is consistent with the read-write protection agreement of self.
Further, ZigBee routing gateway also for setting up ZigBee-network, specifically comprises: after the beacon message that receiving router node sends, send the MAC Address of ZigBee routing gateway to router node; Receive that router node sends add the request message of ZigBee-network after, send to router node and add the response message of ZigBee-network; After receiving the request message of the ZigBee-network short address that router node sends, for router node distributes ZigBee-network short address; The ZigBee-network short address of distribution is sent to router node, establishes a communications link with router node, make router node add ZigBee-network.
Further, before the beacon message that ZigBee routing gateway receiving router node sends, ZigBee routing gateway also for initialization ZigBee-network, specifically comprises:
After scanning channel energy, select the channel of energy the best as ZigBee-network working channel; Select network identifier; Configuration ZigBee-network parameter; Broadcast beacon requirement, to notify that router node adds ZigBee-network.
Further, after described ZigBee routing gateway sets up ZigBee-network, also for networking, comprising: select described router node as router father node, confirm that router father node is available, for described router father node arranges network identifier; The networking request that receiving router child node sends, sends the response message of access ZigBee-network to router child node; Set up the communication connection between described router father node and described router child node, make router child node access ZigBee-network.
Further, after described router child node access ZigBee-network, described ZigBee routing gateway is used for networking, also comprises: receive the networking request that application node sends, confirm that described router child node has available address; After distribution network number gives described application node, send to described application node the instruction that successfully networks; Set up the communication connection between described router child node and described application node, make application node add ZigBee-network.
The present invention plants indoor occupant navigation system system and comprises: intelligent reader, for reading the data message of the electronic tag of indoor occupant, and the data message read is transmitted to ZigBee routing gateway; ZigBee routing gateway, for receiving the data message that intelligent reader forwards, and is transmitted to terminal equipment by ZigBee-network described data message, so that terminal equipment positions described indoor occupant according to described data message.So, the navigation system setting accuracy of integration technology of the present invention is higher, and cost is low, low in energy consumption, networking simple, it is convenient to lay, and is applicable to very much the location of indoor occupant.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present application, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the application, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings, wherein:
Fig. 1 is the structural representation of a kind of embodiment of indoor occupant navigation system provided by the invention;
Fig. 2 is the structural representation of a kind of embodiment of intelligent reader in indoor occupant navigation system provided by the invention;
Fig. 3 is the structural representation that first in intelligent reader provided by the invention confirms a kind of embodiment of module;
Fig. 4 is the structural representation of a kind of embodiment of ZigBee routing gateway in indoor occupant navigation system provided by the invention;
Fig. 5 is the structural representation of a kind of embodiment of ZigBee routing gateway in indoor occupant navigation system provided by the invention;
Fig. 6 is the structural representation of a kind of embodiment of ZigBee routing gateway in indoor occupant navigation system provided by the invention;
Fig. 7 is the structural representation of a kind of embodiment of ZigBee routing gateway in indoor occupant navigation system provided by the invention;
Fig. 8 is the schematic flow sheet of a kind of embodiment of indoor occupant localization method provided by the invention;
Fig. 9 is the schematic flow sheet that in indoor occupant localization method provided by the invention, intelligent reader reads a kind of embodiment of the method before the electronic tag of indoor occupant;
Figure 10 is the schematic flow sheet of a kind of embodiment confirming the conforming method of electronic tag in indoor occupant localization method provided by the invention;
Figure 11 is the schematic flow sheet that in indoor occupant localization method provided by the invention, ZigBee routing gateway sets up a kind of embodiment of the method for ZigBee-network;
Figure 12 is the schematic flow sheet of a kind of embodiment of the method for ZigBee routing gateway initialization ZigBee-network provided by the invention;
Figure 13 is the schematic flow sheet of a kind of embodiment of ZigBee routing gateway network-building method provided by the invention;
Figure 14 is the schematic flow sheet of a kind of embodiment of ZigBee routing gateway network-building method provided by the invention;
Figure 15 is the schematic flow sheet of a kind of embodiment of the method for the data message of intelligent reader reading electronic labels provided by the invention;
Figure 16 is the schematic flow sheet of a kind of embodiment of ZigBee routing gateway network-building method provided by the invention;
Figure 17 is the schematic flow sheet of a kind of embodiment of navigation system method of testing provided by the invention.
Embodiment
ZigBee (being the low-power consumption LAN protocol based on IEEE802.15.4 standard) technology: the two-way wireless communication technology being a kind of new life, be convenient to maintenance and the capacity extension of network, but also there is the advantage that layout is easy and network self-healing ability is strong, ZigBee technology is better than other wireless technology within a wireless communication network, it is good at controlled in wireless, certainly multihop network can be set up, realize the radio communications such as point-to-point, point-to-multipoint, the data communication between the equipment that this technology is mainly used in closely, transmission rate request is not high.Therefore, ZigBee communication technology is widely used in and builds wireless network aspect flexibly.
According to the advantage of ZigBee technology, the present invention considers the ZigBee and the RFID technique novel large indoor occupant navigation system that design a kind of many net fusions.In conjunction with the communicate feature of ZigBee technology with RFID, on the basis that hardware product realizes, by the transplanting of Zigbee protocol stack, set up the tree-shaped cordless communication network from group, multi-hop, long distance of a standard, transmit in the network that target information can be formed at ZigBee, the identity information of label is carried by target under location algorithm reading indoor environment, RTU (remote terminal unit) by Ethernet remote monitoring indoor occupant, the navigation system of the large-scale indoor occupant of novel integrated-type that forming property is strong.
The technical problem solved to make the application, technical scheme and beneficial effect are clearly understood, below in conjunction with drawings and Examples, are further elaborated to the application.Should be appreciated that specific embodiment described herein only in order to explain the application, and be not used in restriction the application.
Fig. 1 is the structural representation of a kind of embodiment of indoor occupant navigation system provided by the invention, and navigation system 100 comprises: electronic tag 101, intelligent reader 102, ZigBee routing gateway 103 and locating terminal 104,
Intelligent reader 102 reads the data message of the electronic tag 101 of indoor occupant, and the data message read is transmitted to ZigBee routing gateway 103;
ZigBee routing gateway 103 receives the data message that intelligent reader 102 forwards, and by ZigBee-network, described data message is transmitted to locating terminal 104, so that locating terminal 104 positions described indoor occupant according to described data message.
Wherein, after electronic tag 101 powers on, periodically carry out emission of radio frequency signals according to preset rules, when in the zone of action entering intelligent reader 102, intelligent reader 102 obtains the radiofrequency signal that electronic tag 101 emits, and namely completes the identification to electronic tag 101.
Navigation system 100 also can comprise router node (not shown), for receiving the data message of the electronic tag 101 that intelligent reader 102 forwards, and the data message of electronic tag 101 is transmitted to ZigBee routing gateway 103.
Wherein, as shown in Figure 2, intelligent reader 102 comprises the structural representation of intelligent reader 102: first scan module 201, first confirm module 202, first connect module 203, sensor assembly 204 and forward radio-frequency module 205,
First scan module 201 is for scanning electronic tag 101 in a broadcast manner;
Particularly, the call signal of intelligent reader 102 periodic broadcast self, to notify the electronic tag 101 that surrounding may exist.
First confirms that module 202 is consistent for the read-write protection agreement of the read-write protection agreement with electronic tag 101 that confirm intelligent reader 102;
First connects module 203 for setting up the communication connection between intelligent reader 102 and electronic tag 101;
Sensor assembly 204 is for the data message of reading electronic labels 101;
Forward radio-frequency module 205 and be transmitted to ZigBee routing gateway 103 for the data message read by sensor assembly 204.
Intelligent reader 102 can comprise and starts module (not shown), for connecting module 203 for after setting up the communication connection between intelligent reader 102 and electronic tag 101 first, starts anticollision mechanism.
Wherein, first confirms the structural representation of module 202 as shown in Figure 3, and first confirms that module 202 comprises: send submodule 301, receive submodule 302, judge submodule 303 and confirm submodule 304,
Send submodule 301, for sending the request of read-write protection protocol-identifier to electronic tag 101;
Receive submodule 302, for receiving the read-write protection protocol-identifier of electronic tag 101;
Judge submodule 303, whether the read-write protection protocol-identifier for the read-write protection protocol-identifier with intelligent reader 102 that judge the electronic tag 101 received is identical;
Confirm submodule 304, for when the read-write protection protocol-identifier of electronic tag 101 is identical with the read-write protection protocol-identifier of intelligent reader 102, then confirm that the read-write protection agreement of intelligent reader 102 is consistent with the read-write protection agreement of electronic tag 101.
Wherein, the structural representation of ZigBee routing gateway 103 as shown in Figure 4, ZigBee routing gateway 103 comprises: the first receiver module 401, first sending module 402, second receiver module 403, second sending module 404, the 3rd receiver module 405, first distribution module 406, the 3rd sending module 407 and second set up communication module 408
First receives mould 401, for the beacon message that receiving router node sends;
Particularly, beacon message, represents that the signal indicating router node position in preset range marks.
First sending module 402, for receive beacon message that router node sends when the first receiver module 401 after, sends the MAC Address of ZigBee routing gateway 103 to router node;
Particularly, after router node receives the MAC Address of ZigBee routing gateway 103 transmission, send the solicited message adding ZigBee-network to ZigBee routing gateway.
Second receiver module 403, for the request message adding ZigBee-network that receiving router node sends;
Second sending module 404, for receive when the second receiver module 403 that router node sends add the request message of ZigBee-network after, send to router node and add the response message of ZigBee-network;
Particularly, router node sends the solicited message of ZigBee-network short address after receiving the response message of ZigBee-network transmission to ZigBee routing gateway 103.
3rd receiver module 405, for the request message of the ZigBee-network short address that receiving router node sends;
First distribution module 406, for receive when the 3rd receiver module 405 router node send ZigBee-network short address request message after, be router node distribute ZigBee-network short address;
3rd sending module 407, sends to router node for the ZigBee-network short address the first distribution module 406 distributed;
Second sets up communication module 408, for establishing a communications link with router node, makes router node add ZigBee-network.
The structural representation of ZigBee routing gateway 103 also as shown in Figure 5, before setting up ZigBee-network, ZigBee routing gateway 103 is also for initialization ZigBee-network, ZigBee routing gateway 103 comprises: the second scan module 409, first selects module 410, matching module 411 and broadcast module 412
Second scan module 409, for scanning channel energy;
Particularly, after ZigBee routing gateway powers on, scanning channel energy is to avoid occupied channel.
First selects module 410, for selecting the channel of energy the best as ZigBee-network working channel, and selects network identifier;
Particularly, network identifier (PersonalAreaNetworkID, PANID), the i.e. ID of network are for one or more application network, for distinguishing different ZigBee-networks.
Configuration module 411, for configuring ZigBee-network parameter;
Particularly, ZigBee-network parameter comprises node maximum number and has routing function node maximum number etc., node maximum number, the maximum number of router node and router child node; There is routing function node, router node or the accessible maximum number with routing function node of ZigBee routing gateway.
Broadcast module 412, for broadcast beacon requirement, to notify that router node adds ZigBee-network.
Particularly, ZigBee routing gateway periodic broadcast beacon request (BeaconRequest), to notify that the router node that may exist adds network around.Wherein, ZigBee routing gateway remains on state of activation always.
The structural representation of ZigBee routing gateway 103 also as shown in Figure 6, after ZigBee routing gateway 103 sets up ZigBee-network, ZigBee routing gateway 03 is also for networking, specifically comprise: second selects module 413, second to confirm module 414, arrange module 415, the 4th receiver module 416, the 4th sending module 417 and third communication link block 418
Second selects module 413, for selecting described router node as router father node;
Second confirms module 414, for confirming that router father node is available;
Module 415 is set, for arranging network identifier for described router father node;
4th receiver module 416, for the networking request that receiving router child node sends;
4th sending module 417, for sending the response message of access ZigBee-network to router child node;
Third communication link block 418, for setting up the communication connection between described router father node and described router child node, makes router child node access ZigBee-network.
The structural representation of ZigBee routing gateway 103 also as shown in Figure 7, after router child node access ZigBee-network, institute ZigBee routing gateway 103 also comprises: the 5th receiver module 419, the 3rd confirms module 420, second distribution module 421, the 5th sending module 422 and the 4th communication connection module 423
5th receiver module 419, for receiving the networking request that application node sends;
Particularly, application node can be next node or the wireless terminal of router child node.
3rd confirms module 420, for confirming that described router child node has available address;
Second distribution module 421, gives described application node for distribution network number;
5th sending module 422, sends to described application node the instruction that successfully networks;
4th communication connection module 423, for setting up the communication connection between described router child node and described application node, makes application node add ZigBee-network.
Fig. 8 is the schematic flow sheet of a kind of embodiment of indoor occupant localization method provided by the invention, and idiographic flow is as follows:
Step 801, intelligent reader reads the data message of the electronic tag of indoor occupant, and the data message read is transmitted to ZigBee routing gateway;
Step 802, ZigBee routing gateway receives the data message that intelligent reader forwards, and by ZigBee-network, described data message is transmitted to locating terminal, so that locating terminal positions described indoor occupant according to described data message.
Wherein, after electronic tag 101 powers on, periodically carry out emission of radio frequency signals according to preset rules, when in the zone of action entering intelligent reader 102, intelligent reader 102 obtains the radiofrequency signal that electronic tag 101 emits, and namely completes the identification to electronic tag 101.
Navigation system also can comprise router node (not shown), for receiving the data message of the electronic tag that intelligent reader forwards, and the data message of electronic tag is transmitted to ZigBee routing gateway.
Fig. 9 is the schematic flow sheet that in indoor occupant localization method provided by the invention, intelligent reader reads a kind of embodiment of the method before the electronic tag of indoor occupant, and idiographic flow is as follows:
Step 901, scans electronic tag in a broadcast manner;
Particularly, the call signal of intelligent reader periodic broadcast self, to notify the electronic tag that surrounding may exist.
Step 902, and when confirming that the read-write protection agreement of electronic tag is consistent with the read-write protection agreement of self, set up the communication connection between electronic tag.
Particularly, this flow process also can comprise: after setting up the communication connection between electronic tag, starts anticollision mechanism.
Figure 10 is the schematic flow sheet of a kind of embodiment confirming the conforming method of electronic tag in indoor occupant localization method provided by the invention, and concrete steps are as follows:
Step 1001, sends the request of read-write protection protocol-identifier to electronic tag;
Step 1002, receives the read-write protection protocol-identifier of electronic tag simultaneously, and judges that whether the read-write protection protocol-identifier of the electronic tag received is identical with the read-write protection protocol-identifier of self;
Step 1003, when the read-write protection protocol-identifier of electronic tag is identical with the read-write protection protocol-identifier of self, then confirms that the read-write protection agreement of electronic tag is consistent with the read-write protection agreement of self.
Figure 11 is the schematic flow sheet that in indoor occupant localization method provided by the invention, ZigBee routing gateway sets up a kind of embodiment of the method for ZigBee-network, and concrete steps are as follows:
Step 1101, after the beacon message that receiving router node sends, sends the MAC Address of ZigBee routing gateway to router node;
Particularly, beacon message, represents that the signal indicating router node position in preset range marks;
After router node receives the MAC Address of ZigBee routing gateway transmission, send the solicited message adding ZigBee-network to ZigBee routing gateway.
Step 1102, receive that router node sends add the request message of ZigBee-network after, send to router node and add the response message of ZigBee-network;
Particularly, after router node receives the response message of ZigBee-network transmission, send the solicited message of ZigBee-network short address to ZigBee routing gateway.
Step 1103, after receiving the request message of the ZigBee-network short address that router node sends, for router node distributes ZigBee-network short address;
Step 1104, sends to router node by the ZigBee-network short address of distribution, establishes a communications link with router node, make router node add ZigBee-network.
Figure 12 is the schematic flow sheet of a kind of embodiment of the method for ZigBee routing gateway initialization ZigBee-network provided by the invention, and concrete steps are as follows:
Step 1201, after scanning channel energy, selects the channel of energy the best as ZigBee-network working channel;
Particularly, after ZigBee routing gateway powers on, scanning channel energy is to avoid occupied channel.
Step 1202, selects network identifier;
Step 1203, configuration ZigBee-network parameter;
Particularly, ZigBee-network parameter comprises node maximum number and has routing function node maximum number etc., node maximum number, the maximum number of router node and router child node; There is routing function node, router node or the accessible maximum number with routing function node of ZigBee routing gateway.
Step 1204, broadcast letter notice router node beacon request, to notify that router node adds ZigBee-network.
Figure 13 is the schematic flow sheet of a kind of embodiment of ZigBee routing gateway network-building method provided by the invention, and idiographic flow is as follows:
Step 1301, selects described router node as router father node, confirms that router father node is available, for described router father node arranges network identifier;
1302, the networking request that step receiving router child node sends, sends the response message of access ZigBee-network to router child node;
Step 1303, sets up the communication connection between described router father node and described router child node, makes router child node access ZigBee-network.
Figure 14 is the schematic flow sheet of a kind of embodiment of ZigBee routing gateway network-building method provided by the invention, and idiographic flow is as follows:
Step 1401, receives the networking request that application node sends, confirms that described router child node has available address;
Step 1402, after distribution network number gives described application node, sends to described application node the instruction that successfully networks;
Step 1403, sets up the communication connection between described router child node and described application node, makes application node add ZigBee-network.
Illustrate below, specifically as shown in figure 15, the schematic flow sheet of a kind of embodiment of the method for the data message of intelligent reader reading electronic labels provided by the invention, idiographic flow is as follows:
Step 1501, intelligent reader initialization;
Step 1502, protocol stack initialization;
Does step 1503, confirm that application networks successfully? if successfully enter step 1504, otherwise, enter step 1502;
Particularly, confirmation is whether intelligent reader networks successfully.
Step 1504, enters park mode;
Does step 1505, judge to activate intelligent reader? if enter step 1506, otherwise enter step 1504;
Step 1506, sends FRID label information;
Particularly, RFID (RadioFrequencyIdentification) label, has REID, is commonly called as electronic tag.
Does step 1507, confirm to wait until label A CK responds? if so, enter step 1508, otherwise enter step 1506;
Particularly, after intelligent reader launches call signal, wait for the response ACK message of electronic tag.
Step 1508, the link of foundation and label;
Step 1509, starts anti-collision mechanism;
Step 1510, carries out read-write operation;
Particularly, the data message of intelligent reader reading electronic labels transmission.
Does step 1511, confirm to return ACK correct? if enter step 1512, otherwise, enter step 1508;
Particularly, intelligent reader, setting up in the connection procedure with electronic tag, can confirm that whether connection response ACK is correct.
Step 1512, is communicated with CC2530 by spi bus;
Particularly, CC2530 is real SOC (system on a chip) (SoC) solution of ZigBee-network application; SPI (SerialPeripheralInterface, Serial Peripheral Interface (SPI)) bus.
Does step 1513, stop reading? if so, process ends; If not, step 1510 is entered.
Figure 16 is the schematic flow sheet of a kind of embodiment of ZigBee routing gateway network-building method provided by the invention, and concrete steps are as follows:
Step 1601, initializtion protocol stack;
Particularly, for network selects 16 PAN-ID initialization networks.
Step 1602, scan channel;
Particularly, by scanning channel energy, be confirmed whether available free available channel.
Step 1603, has been confirmed whether available channel, if so, then enters step 1605, otherwise enters step 1604;
Step 1604, networking failure;
Step 1605, selects optimum channel as network working channel;
Particularly, optimum channel is the channel of energy the best.
Step 1606, for network selects unique PANID;
Step 1607, configuration network relevant parameter;
Particularly, ZigBee-network parameter comprises node maximum number and has routing function node maximum number etc., node maximum number, the maximum number of router node and router child node; There is routing function node, router node or the accessible maximum number with routing function node of ZigBee routing gateway.
Step 1608, allows assembly tree network pattern to enter listening state, and enters step 1619;
Step 1609, scan channel is to monitor beacon frame;
Step 1610, selects suitable network father node;
Step 1611, the PANID and the channel that arrange self are the response of father node;
Step 1612, sends the request of networking;
Does step 1613, receive networking response instruction? if so, step 1614 is entered, otherwise, enter step 1617;
Step 1614, successfully networks;
Step 1615, does routing node network? if so, step 1616 is entered, otherwise, enter step 1607;
Step 1616, allows new equipment to network, enters step 1619;
Here, new equipment refers to: the next node of router child node, wireless terminal or ZigBee routing gateway.
Has step 1617, judged whether enabled node? if so, step 1610 is returned, otherwise, enter step 1618;
Step 1618, enters delayed sleep, and enters step 1609;
Does step 1619, acknowledge receipt of networking and requests? if so, step 1620 is entered, otherwise, enter step 1625 or 1624;
Particularly, the networking request receiving new equipment is confirmed whether.
Does is step 1620, confirmed whether available address? if had, enter step 1621;
Step 1621, to application node configuration network number;
Step 1622, sends the instruction that successfully networks;
Step 1623, without networking short address, networks unsuccessfully;
Step 1624, router node data acquisition or forward successfully;
Step 1625, by spi bus and control chip exchange message.
Particularly, the flow process of above-mentioned establishment ZigBee-network is also by following overview of steps:
Step 1, ZigBee routing gateway periodic broadcast BeaconRequest wraps the router node that may exist around notice and adds network.
Step 2, after network is set up, router node detects the channel energy of periphery, and scan channel energy when being greater than threshold value, router node sends BeaconRequest bag periodically, waits for the answer signal of gateway node.
Step 3, ZigBee routing gateway sends the superframe comprising oneself MAC Address, in this, as the foundation of point-to-point communication after receiving the BeaconRequest bag of router node;
Step 4, router node receives superframe, the MAC Address of ZigBee routing gateway is preserved, and address adds network to ZigBee routing gateway transmission networking request according to this.After router node receives the MAC layer acknowledgement frame of ZigBee routing gateway again, send the short address request of distribution 16 networks to ZigBee routing gateway;
Step 5, this network short address, after receiving short address request, through distributing only network short address for it, is then sent to router node by ZigBee routing gateway;
Step 6, after router node receives short address, communicate with ZigBee routing gateway, router node successfully adds network.
Step 6, wherein, step 1 ~ step 6 is the basic process that router node adds in the network of ZigBee routing gateway establishment, and other application node adds the flow process of router node as router child node again, roughly as the 2nd step ~ step 6.
Wherein, in whole networking: father's degree of depth is 0 son's degree of depth is 1, recursion configures, and MAX_CHILDREN determines the maximum number of router node and router child node, and MAX_ROUTER determines router node or the accessible maximum number with routing function node of ZigBee routing gateway.
Carry out the location of electronic tag in the navigation system of ZigBee-network: once the electronic tag of the unknown enters test zone, send information with intelligent reader, also add network with intelligent reader one piece simultaneously.Intelligent reader can exchange the relevant numerical value of distance at set intervals to router node, and each router node is after obtaining the distance between intelligent reader node, the numerical value that distance is relevant can be sent to ZigBee routing gateway by router node, the numerical value that all distances are relevant is sent to host computer (locating terminal) by ZigBee routing gateway again, completes the function such as data processing and display estimation by host computer.
Figure 17 is the schematic flow sheet of a kind of embodiment of navigation system method of testing provided by the invention.
To the test of indoor occupant position system function aspect, the analysis etc. of experimental result.This test macro is by PC, RS-232 Serial Port Line, ISP downloading wire, 16 position reference labels, 5 labels to be positioned, 4 intelligent reader nodes, 1 ZigBee routing node, a few part composition such as 1 ZigBee gateway node.Experimental facilities is arranged in the good indoor environment of location condition, and positioning equipment is all maintained at the same horizontal plane, and does not have barrier obstruction can proper communication.Actual measurement examination ground is the underground parking in No. 2 building, mansion, practice base, and positioning equipment is the geometric layout of rule.
When indoor locating system normally runs, drawn the coordinate of label to be positioned by location algorithm.Every ten minutes statistics, one group of locator data, after each statistics, convert the position of label to be positioned.In data acquisition: the coordinate demarcating 8 groups of label physical locations to be positioned, treat positioning label simultaneously and carry out position coordinates test, according to label actual coordinate (x0 to be positioned, y0) and experiment location coordinate (x, y), determine corresponding position error by formula, obtain according to formula the inequality often organizing 10 tests to organize label to be positioned average localization error as each, quantize by data the performance showing navigation system.
By finding analysis of experimental data, the main cause that system position error produces is from location algorithm aspect, but test also shows relevant with the locating area that reference label at label to be positioned builds.If when label to be positioned is in the central area of square net, Algorithm Error is less, locating effect is best, and when departing from the geometric center of locating area, the position error that algorithm produces is larger.
It should be noted that: even if improve positioning precision by the distribution reducing reference label, error still can not disappear.
Should be appreciated that the functional module of the navigation system 100 that the present embodiment provides can be the functional module of software module or software and hardware combining, it can be performed by processor and realize function as above.Further, navigation system 100 can also have other functional modules to realize location, specifically can consult the corresponding description of above embodiment of the method.
In addition, person of ordinary skill in the field is understood that all or part of step realizing said method embodiment can have been come by the hardware that program command is relevant, aforesaid program can be stored in computer read/write memory medium, and performed by the processor of communication inside, aforesaid program processor when being performed can perform all or part of step comprising said method embodiment.Wherein, described processor can be implemented as one or more processor chips, or can be a part for one or more application-specific integrated circuit (ASIC) (ApplicationSpecificIjtegratedCircuit, ASIC); And aforesaid storage medium can include but not limited to the storage medium with Types Below: flash memory (FlashIeiory), memory (Read-OjlyIeiory, ROI), random access memory (RajdoiAccessIeiory, RAI), portable hard drive, magnetic disc or CD etc. various can be program code stored medium.
Last it is noted that above embodiment is only in order to illustrate the technical scheme of the application, be not intended to limit; Although with reference to previous embodiment to present application has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of each embodiment technical scheme of the application.
Claims (15)
1. an indoor occupant navigation system, is characterized in that, described system comprises:
Intelligent reader, for reading the data message of the electronic tag of indoor occupant, and is transmitted to ZigBee routing gateway the data message read;
ZigBee routing gateway, for receiving the data message that intelligent reader forwards, and is transmitted to locating terminal by ZigBee-network described data message, so that locating terminal positions described indoor occupant according to described data message.
2. indoor occupant navigation system as claimed in claim 1, it is characterized in that, described intelligent reader comprises:
Sensor assembly, for the data message of reading electronic labels;
Forward radio-frequency module, the data message for being read by sensor assembly is transmitted to ZigBee routing gateway.
3. indoor occupant navigation system as claimed in claim 2, it is characterized in that, before the data message of described sensor assembly reading electronic labels, described intelligent reader also comprises:
First scan module, for scanning electronic tag in a broadcast manner;
First confirms module, and the read-write protection agreement for the read-write protection agreement with electronic tag that confirm intelligent reader is consistent;
First connects module, for setting up the communication connection between intelligent reader and electronic tag.
4. indoor occupant navigation system as claimed in claim 3, is characterized in that, described first confirms that module comprises:
Send submodule, for sending the request of read-write protection protocol-identifier to electronic tag;
Receive submodule, for receiving the read-write protection protocol-identifier of electronic tag;
Judge submodule, whether the read-write protection protocol-identifier for the read-write protection protocol-identifier with intelligent reader that judge the electronic tag received is identical;
Confirm submodule, for when the read-write protection protocol-identifier of electronic tag is identical with the read-write protection protocol-identifier of intelligent reader, then confirm that the read-write protection agreement of intelligent reader is consistent with the read-write protection agreement of electronic tag.
5. indoor occupant navigation system as claimed in claim 1, it is characterized in that, ZigBee routing gateway also for setting up ZigBee-network, specifically comprises:
First receiver module, for the beacon message that receiving router node sends;
First sending module, for receive beacon message that router node sends when the first receiver module after, sends the MAC Address of ZigBee routing gateway to router node;
Second receiver module, for the request message adding ZigBee-network that receiving router node sends;
Second sending module, for receive when the second receiver module that router node sends add the request message of ZigBee-network after, send to router node and add the response message of ZigBee-network;
3rd receiver module, for the request message of the ZigBee-network short address that receiving router node sends;
First distribution module, for receive when the 3rd receiver module router node send ZigBee-network short address request message after, be router node distribute ZigBee-network short address;
3rd sending module, for sending to router node by the ZigBee-network short address of the first module assigns;
Second sets up communication module, for establishing a communications link with router node, makes router node add ZigBee-network.
6. indoor occupant navigation system as claimed in claim 5, it is characterized in that, before setting up ZigBee-network, ZigBee routing gateway also for initialization ZigBee-network, specifically comprises:
Second scan module, for scanning channel energy;
First selects module, for selecting the channel of energy the best as ZigBee-network working channel, and selects network identifier;
Configuration module, for configuring ZigBee-network parameter;
Broadcast module, for broadcast beacon requirement, to notify that router node adds ZigBee-network.
7. indoor occupant navigation system as claimed in claim 5, it is characterized in that, after ZigBee routing gateway sets up ZigBee-network, ZigBee routing gateway, also for networking, specifically comprises:
Second selects module, for selecting described router node as router father node;
Second confirms module, for confirming that router father node is available;
Module is set, for arranging network identifier for described router father node;
4th receiver module, for the networking request that receiving router child node sends;
4th sending module, for sending the response message of access ZigBee-network to router child node;
Third communication link block, for setting up the communication connection between described router father node and described router child node, makes router child node access ZigBee-network.
8. indoor occupant navigation system as claimed in claim 7, is characterized in that,
After described router child node access ZigBee-network, described ZigBee routing gateway also comprises:
5th receiver module, for receiving the networking request that application node sends;
3rd confirms module, for confirming that described router child node has available address;
Second distribution module, gives described application node for distribution network number;
5th sending module, sends to described application node the instruction that successfully networks;
4th communication connection module, for setting up the communication connection between described router child node and described application node, makes application node add ZigBee-network.
9. an indoor occupant localization method, is characterized in that, described method comprises:
Intelligent reader reads the data message of the electronic tag of indoor occupant, and the data message read is transmitted to ZigBee routing gateway;
ZigBee routing gateway receives the data message that intelligent reader forwards, and by ZigBee-network, described data message is transmitted to locating terminal, so that locating terminal positions described indoor occupant according to described data message.
10. indoor occupant localization method as claimed in claim 9, is characterized in that, read the electronic tag of indoor occupant at intelligent reader before, described method also comprises:
Scan electronic tag in a broadcast manner;
And when confirming that the read-write protection agreement of electronic tag is consistent with the read-write protection agreement of self, set up the communication connection between electronic tag.
11. indoor occupant localization methods as claimed in claim 10, is characterized in that, the read-write protection agreement of described confirmation electronic tag is consistent with the read-write protection agreement of self, specifically comprises:
The request of read-write protection protocol-identifier is sent to electronic tag;
Receive the read-write protection protocol-identifier of electronic tag simultaneously, and judge that whether the read-write protection protocol-identifier of the electronic tag received is identical with the read-write protection protocol-identifier of self;
When the read-write protection protocol-identifier of electronic tag is identical with the read-write protection protocol-identifier of self, then confirm that the read-write protection agreement of electronic tag is consistent with the read-write protection agreement of self.
12. indoor occupant localization methods as claimed in claim 9, it is characterized in that, ZigBee routing gateway also for setting up ZigBee-network, specifically comprises:
After the beacon message that receiving router node sends, send the MAC Address of ZigBee routing gateway to router node;
Receive that router node sends add the request message of ZigBee-network after, send to router node and add the response message of ZigBee-network;
After receiving the request message of the ZigBee-network short address that router node sends, for router node distributes ZigBee-network short address;
The ZigBee-network short address of distribution is sent to router node, establishes a communications link with router node, make router node add ZigBee-network.
13. indoor occupant localization methods as claimed in claim 12, is characterized in that, before the beacon message that ZigBee routing gateway receiving router node sends, ZigBee routing gateway also for initialization ZigBee-network, specifically comprises:
After scanning channel energy, select the channel of energy the best as ZigBee-network working channel;
Select network identifier;
Configuration ZigBee-network parameter;
Broadcast beacon requirement, to notify that router node adds ZigBee-network.
14. indoor occupant localization methods as claimed in claim 12, is characterized in that, after described ZigBee routing gateway sets up ZigBee-network, also for networking, comprising:
Select described router node as router father node, confirm that router father node is available, for described router father node arranges network identifier;
The networking request that receiving router child node sends, sends the response message of access ZigBee-network to router child node;
Set up the communication connection between described router father node and described router child node, make router child node access ZigBee-network.
15. indoor occupant localization methods as claimed in claim 14, is characterized in that, after described router child node access ZigBee-network, described ZigBee routing gateway is used for networking, also comprises:
Receive the networking request that application node sends, confirm that described router child node has available address;
After distribution network number gives described application node, send to described application node the instruction that successfully networks;
Set up the communication connection between described router child node and described application node, make application node add ZigBee-network.
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| CN106597371A (en) * | 2016-12-22 | 2017-04-26 | 上海市共进通信技术有限公司 | Indoor personnel positioning monitoring system and method |
| CN110149275A (en) * | 2019-05-21 | 2019-08-20 | 雅量商业智能技术(广州)有限公司 | A kind of system and method improving electronic tag data transmission speed |
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| CN103068037A (en) * | 2012-12-13 | 2013-04-24 | 上海京颐信息科技有限公司 | Indoor positioning system and method based on ZigBee |
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Application publication date: 20160406 |