CN105517149A - Positioning method and system based on RSSI (Received Signal Strength Indicator) and Zigbee technology - Google Patents
Positioning method and system based on RSSI (Received Signal Strength Indicator) and Zigbee technology Download PDFInfo
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- CN105517149A CN105517149A CN201510890765.1A CN201510890765A CN105517149A CN 105517149 A CN105517149 A CN 105517149A CN 201510890765 A CN201510890765 A CN 201510890765A CN 105517149 A CN105517149 A CN 105517149A
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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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- 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
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
Abstract
The invention discloses a positioning method and a positioning system based on an RSSI (Received Signal Strength Indicator) and Zigbee technology. The method comprises that a positioning device sends a Zigbee network access application signal; a positioning reference device receives the access application signal, and returns an admittance signal; the positioning device acknowledges the admittance signal, and transmits a distance measuring signal; the positioning reference device receives the distance measuring signal, and returns a positioning signal; and the positioning device calculates position coordinates. The system comprises a positioning starting module enabling a positioning device to send a Zigbee network access application signal, a positioning reference module for receiving the access application and returning an admittance signal, a positioning transmitting module for acknowledging the admittance signal and transmitting a distance measuring signal, a positioning reference processing module for receiving the distance measuring signal and returning a positioning signal, and a positioning processing module for receiving the positioning signal and calculating position coordinates. The method and the system significantly improve the positioning precision by using the Zigbee technology as a communication means, calculating the distance based on an RSSI value and adopting a reasonable optimization method and a reasonable correction measure.
Description
Technical field
The present invention relates to a kind of localization method based on RSSI and ZigBee technology and system, belong to location survey field.
Background technology
Along with some such as conference and exhibition centers, the development in outdoor activity place, personnel, when large-scale occasion is moved, according to the situation of personnel, can provide necessary guide and service.Such as when visitor goes sight-seeing sight spot, by positioning visitor, provide the information service at corresponding sight spot to visitor.For another example in exhibition, the position of exhibitioner can be known by hand-held positioning equipment, to provide the relevant information of the exhibition booth corresponding to its position, can exhibitioner's reference be supplied, also can provide more vividly, more comprehensively, more three-dimensional information.In addition, by foundation based on the interactive system of locating and user's intercommunion platform, equipment user can also be made can to carry out interaction with corresponding information point, or using the user of this equipment to exchange with other simultaneously.Such a technological service, can be described as information supply and interactive system, namely by obtaining the positional information of user, provides corresponding information service, to improve Consumer's Experience and information service quality.In existing location technology, the navigation systems such as such as gps system, the problems such as there is free users precision lower, paying customer's cost is higher, multilayer place altitude location defect.
ZigBee technology as a kind of emerging short-distance wireless communication technology, due to superiority such as its low cost, low-power consumption, low-complexities.The agreement of Zigbee is simple, and all less than bluetooth, UWB, Wifi to the requirement of hardware, transmission rate is moderate, is just in time applicable to the little position application of data volume.The high and low cost of positioning precision of Zigbee, low-power consumption, structure are simple, easy care, possess ad hoc capability, are specially adapted to the wireless location system of multinode.And at present, by improving the method for Zigbee positioning precision mainly by increasing location node and optimizing node layout.
Increase location node and will certainly increase hardware cost, algorithm complex and maintenance cost.Optimize the restriction that node layout then can be subject to specific environment condition, Cost optimization is high, and degree of optimization is limited.
Summary of the invention
The present invention uses the method for three location, limit, in a two-dimensional coordinate system, needs the distance using three reference points uniquely could determine the coordinate of a point.In practical operation, due to Zigbee signal disturbing, the factors such as the error of Receiver And Transmitter, can have an impact to positioning precision.In order to overcome the problems referred to above, on the basis of the method that the present invention locates on use three limit, optimizing algorithm, putting forward high-precision target to reach.
For prior art Problems existing, propose technical scheme of the present invention.
One aspect of the present invention provides a kind of localization method based on RSSI and ZigBee technology, comprises the following steps: positioner sends Zigbee network and links application signal, and Zigbee network is linked application signal and comprised positioner ID and networking instruction; The Zigbee network of position reference device receiving positioner links application signal, and returns Zigbee network access signal; Positioner confirms Zigbee network access signal, and launches the distance measuring signal being used for measuring distance; After position reference device receives distance measuring signal, tracer signal intensity level (RSSI value) restoring to normal position signal; Positioner receives framing signal and starts the position coordinates that locating module calculates oneself.
Preferably, the communication process of signal uses ZigBee technology.
Preferably, Zigbee network comprises: position reference device group, be made up of several position reference device, wherein, position reference device is for providing self location coordinate information and the signal strength values (RSSI value) of distance measuring signal launched of measurement and positioning device; Location correcting device group, is made up of several location correcting device, wherein, location correcting device for launching distance measuring signal, receive framing signal that position reference device returns and start the position coordinates that locating module calculates oneself.
Preferably, framing signal comprises the location coordinate information of signal strength values (RSSI value) that position reference measurement device arrives and position reference device.
Preferably, locating module is before the distance calculating oneself and position reference device, also comprise loading parameters file, Parameter File comprises the information of the position coordinates of position reference device and location correcting device, the distance relation table of signal strength values (RSSI value) and position reference device and position algorithm.
Preferably, described position algorithm: set the position coordinates of positioner as (x0, y0); The position coordinates of three position reference devices is (x1, y1), (x2, y2), (x3, y3); The positioner obtained by the distance relation table of described signal strength values (RSSI value) and position reference device to the distance d1 of three position reference devices, d2, d3; The position relationship of position reference device and positioner is:
(x1-x0)
2+(y1-y0)
2＝d1
2；
(x2-x0)
2+(y2-y0)
2＝d2
2；
(x3-x0)
2+(y3-y0)
2＝d3
2。
Preferably, the position coordinates of locating module calculating oneself comprises the following steps:
A, from the signal strength values received (RSSI value), choose maximum three of numerical value, record the position coordinates of the position reference device representated by it;
B, according to the distance relation table of Parameter File and position algorithm, obtain the initial position co-ordinates of positioner;
C, position the initial position co-ordinates error correction of device, obtain position coordinates.
Preferably, step B also comprises the optimization of signal strength values (RSSI value): by repeated sampling within 5 seconds, averages, calculate the position coordinates (X4, Y4) of mean value to the signal strength values (RSSI value) of sampling; By repeated sampling within 5 seconds, position calculation is carried out to the signal strength values (RSSI value) of sampling, according to the mean value (X5, Y5) of calculating location coordinate after the point that normal distribution principle rejecting error is larger; Ask the mean value of above two steps, namely initial position co-ordinates is X=(X5+X4)/2, Y=(Y4+Y5)/2.
Preferably, step C realizes by the following method: according to the initial position co-ordinates drawn, chooses the location correcting device closed on a position, makes it launch distance measuring signal, and the framing signal that around receiving, position reference device returns; Location correcting device resolves the framing signal returned, and calculates position coordinates by locating module; The actual coordinate of the position coordinates calculated by locating module and location correcting device compares, and obtains the position coordinates margin of error; Initial position co-ordinates is added with the position coordinates margin of error, obtains position coordinates, i.e. the position coordinates of corrected positioner.
Another aspect of the present invention, provides a kind of navigation system based on RSSI and ZigBee technology, it is characterized in that, comprising:
Positioning starting module, is configured to make positioner send Zigbee network and links application signal, and Zigbee network is linked application signal and comprised positioner ID and networking instruction;
Position reference module, is configured to make the Zigbee network of position reference device receiving positioner link application signal, and returns Zigbee network access signal;
Localizing emission module, is configured to make positioner confirm Zigbee network access signal, and launches the distance measuring signal being used for measuring distance;
Position reference processing module, is configured to make after position reference device receives distance measuring signal, tracer signal intensity level (RSSI value) restoring to normal position signal;
Localization process module, is configured to make positioner receive framing signal and starts the position coordinates that locating module calculates oneself.Beneficial effect of the present invention is: use low cost, low-power consumption, low-complexity ZigBee technology as means of communication, distance is calculated based on signal strength values (RSSI value), adopt rational optimization method and correction measure, significantly improve the precision of location.
Accompanying drawing explanation
Figure 1 shows that Zigbee network according to a first embodiment of the present invention;
Figure 2 shows that the optimization of signal strength values (RSSI value) according to a second embodiment of the present invention;
Figure 3 shows that the position coordinates error correcting method of positioner according to a second embodiment of the present invention;
Figure 4 shows that the Zigbee position fixing process of a kind of information supply according to a third embodiment of the present invention and interactive system.
Embodiment
RSSI (ReceivedSignalStrengthIndication) is under the strong prerequisite that transmits of known transmitting node, propagation distance and signal strength signal intensity is utilized to be inversely proportional to, i.e. character one to one, by learning the intensity of Received signal strength, model is utilized to calculate the distance of transmitting node and receiving node.In this example, transmitting node is information winner, namely visitor or exhibitioner or tourist, and receiving node is exactly position reference device.
According to the first embodiment of the present invention, for a kind of based on the localization method of RSSI and ZigBee technology, comprise the following steps: positioner sends Zigbee network and links application signal, Zigbee network is linked application signal and is comprised positioner ID and networking instruction; The Zigbee network of position reference device receiving positioner links application signal, and returns Zigbee network access signal; Positioner confirms Zigbee network access signal, and launches the distance measuring signal being used for measuring distance; After position reference device receives the distance measuring signal for measuring distance, tracer signal intensity level (RSSI value) restoring to normal position signal; Positioner receives framing signal and starts the position coordinates that locating module calculates oneself.
Wherein the communication process of transmission of signal between device, realizes based on ZigBee technology.
As shown in Figure 1, described Zigbee network comprises:
Position reference device group, be made up of several position reference device, be dispersed in the region needing location, wherein, position reference device is for providing self location coordinate information and the signal strength values (RSSI value) of the distance measuring signal for measuring distance launched of measurement and positioning device;
Location correcting device group, be made up of several location correcting device, be dispersed in the region needing location, wherein, location correcting device for launch for measuring distance distance measuring signal, receive framing signal that position reference device returns and start the position coordinates that locating module calculates oneself.Wherein, framing signal comprises the location coordinate information of signal strength values (RSSI value) and the position reference device measured, location coordinate information is the positional information determined by actual measurement after having disposed position reference device and location correcting device, and the positional information of actual measurement plays the effect of coordinate basis.
Locating module is before the distance calculating oneself and position reference device, also comprise loading parameters file, Parameter File comprises the information of the position coordinates of position reference device and location correcting device, the distance relation table of signal strength values (RSSI value) and position reference device and position algorithm.
Wherein distance relation table is namely centered by position reference device, under different distance condition, a relation table of the size of RSSI signal, for Zigbee network set up time, the result of field survey.
Position algorithm wherein: i.e. three limit localization methods, set the position coordinates of positioner as (x0, y0); The position coordinates of three reference units is (x1, y1), (x2, y2), (x3, y3); The position coordinates (x0, y0) of the positioner obtained by the distance relation table of described signal strength values (RSSI value) and position reference device to the distance d1 of three reference units, d2, d3;
The position relationship of reference unit and positioner is:
(x1-x0)
2+(y1-y0)
2＝d1
2；
(x2-x0)
2+(y2-y0)
2＝d2
2；
(x3-x0)
2+(y3-y0)
2＝d3
2。
The position coordinates that locating module calculates oneself comprises the following steps:
A, from the signal strength values received (RSSI value), choose maximum three of numerical value, record the position coordinates of the position reference device representated by it; Some position reference devices can be there is around locating module, they are after receiving the signal that positioner sends, meeting tracer signal intensity level (RSSI value), and restoring to normal position signal, after positioner receives framing signal, only need extract three maximum signals of wherein numerical value, just can carry out the computing of three location, limit.
B, according to the distance relation table of Parameter File and position algorithm, obtain the initial position co-ordinates of positioner; Initial position co-ordinates is calculated by above-mentioned three limit localization methods.
The initial position co-ordinates error correction of C, positioner, obtains position coordinates, due to ability and the impact such as positioner, position reference device precision of ZigBee technology, needs to improve certainty of measurement by revising again.
According to a second embodiment of the present invention, as shown in Figure 2, described in obtain the initial position co-ordinates of positioner, also comprise the optimization of signal strength values (RSSI value):
Positioner is sampled by resetting process within 5 seconds, averages, calculate the position coordinates (X4, Y4) of mean value to the signal strength values (RSSI value) of sampling; Positioner is sampled by resetting process within 5 seconds, position calculation is carried out to the signal strength values (RSSI value) of sampling, according to the mean value (X5, Y5) of calculating location coordinate after the point that normal distribution principle rejecting error is larger; Ask the mean value of above two steps, namely initial position co-ordinates is X=(X5+X4)/2, Y=(Y4+Y5)/2.By the method for averaging of sampling, improve precision.
As shown in Figure 3, the position coordinates error correction of described positioner realizes by the following method:
According to the initial position co-ordinates drawn, positioner or position reference device choose according to Parameter File the location correcting device that positioner is closed in a position, make it launch distance measuring signal, and the framing signal that around receiving, position reference device returns; Location correcting device resolves the framing signal returned, and in order to improve precision, the framing signal of three the position reference devices being used for three location, limit before being extracted, being calculated the position coordinates of location correcting device by locating module; Position coordinates and the actual field survey coordinate out of the location correcting device calculated by locating module compare, and obtain the position coordinates margin of error; Initial position co-ordinates is added with the position coordinates margin of error, obtains position coordinates, i.e. the position coordinates of corrected positioner.
According to the third embodiment of the invention, the Zigbee position fixing process of a kind of information supply and interactive system as shown in Figure 4, comprising:
1, early-stage preparations and networking.First, need according to scene the position reference device disposing good certain density and distribution mode, and corresponding environmental parameter as in the every platform position reference device of the write such as position coordinates, region, area code of device.After the user of handheld positioning device enters into certain region, positioner is understood automatically and position reference device carries out networking, Zigbee network linked by positioner, when linking net, the routing node (normally from the position reference device that positioner is nearest) that positioner selects signal best.
2, signal sends and returns.After positioner is linked into Zigbee network, the signal for measuring distance of some strength will be sent, after the position reference device adjacent with positioner receives measuring-signal, will tracer signal intensity level (RSSI value), then test signal intensity level and the position coordinates of oneself are sent to positioner in the lump.
3, environmental parameter obtains.Positioner simultaneously also can to the Zigbee routing node acquisition request of oneself for calculating the environmental parameter of RSSI distance, these environmental parameters are tested specific environment in advance, and the data calculated, then far-end server is passed through, by program, environmental parameter is write corresponding position reference device to get on, for positioner and Differential positioning device (namely revising the device of location) inquiry.
4, signal strength signal intensity is converted to distance.According to RSSI value, position reference setting position coordinate, environmental parameter, positioner calculates the distance between oneself and each effective location reference unit by the RSSI engine of positioning starting oneself, next, determines coordinate.Positioner according to trilateration positioning mode, calculate oneself effective location reference unit form coordinate reference system in coordinate.Then the coordinate calculated is sent to nearest position reference device (the position reference device that RSSI return value is maximum) by positioner.
5, last, determine region residing for positioner.This position reference device is region residing for positioner coordinate determination positioner, then the ID in region residing for positioner is sent to server by Zigbee network, server will wirelessly, and (Zigbee, Wifi or GPRS network) provides corresponding service to positioner.
According to four embodiments of the present invention, for a kind of based on the navigation system of RSSI and ZigBee technology, comprising:
Positioning starting module, is configured to make positioner send Zigbee network and links application signal, and Zigbee network is linked application signal and comprised positioner ID and networking instruction;
Position reference module, is configured to make the Zigbee network of position reference device receiving positioner link application, returns Zigbee network access signal;
Localizing emission module, is configured to make positioner confirm Zigbee network access signal, and launches the distance measuring signal being used for measuring distance;
Position reference processing module, is configured to make after position reference device receives the signal of measuring distance, tracer signal intensity level (RSSI value) restoring to normal position signal;
Localization process module, is configured to make positioner receive framing signal and starts the position coordinates that locating module calculates oneself.
From the above embodiments can find out technical scheme of the present invention relative to prior art concrete advantage: the average positioning precision prioritization scheme that on average combines with the coordinate figure after rejecting extremum and Differential positioning device correction two methods by RSSI value, optimum position algorithm, fundamentally improves the precision and stability of navigation system.The workload of exploitation is little, and the side effect brought during optimization is little, and applicability is wide, and effective, hardware cost is low.In addition, by reasonable distribution task, optimize the processing procedure of location, alleviate the workload of server end, effectively increase the heap(ed) capacity of navigation system and improve its stability.
The present invention optimizes the positioning precision of navigation system, stability and acceptable positioner quantity of same time from algorithm optimization and policy optimization two aspect.Hardware cost of the present invention is 0, easily transplants, the scope that is applicable to large, sweeping Zigbee information supply and interactive system.In addition, the method for Differential positioning device correction not only can be applied in the scene using ZigBee technology location, can also be applicable in the navigation system by other location technologies, applied widely.
More specifically: 1, positioner is when determining self coordinate, by to the average of former data (RSSI) and the mode of the coordinate figure that directly (not processing former data) calculates being carried out to Outlier rejeetion process combination, take into account the process of former data error and deal with data error preferably; 2, introduce Differential positioning device, can optimize preferably for concrete environmental error and short-term errors, effect of optimization is good; 3, the task matching in optimum position process, improves the stability of a system and increases power system capacity.
The above, just preferred embodiment of the present invention, the present invention is not limited to above-mentioned execution mode, as long as it reaches technique effect of the present invention with identical means, all should belong to protection scope of the present invention.In protection scope of the present invention, its technical scheme and/or execution mode can have various different modifications and variations.
Claims (10)
1., based on a localization method for RSSI and ZigBee technology, comprising:
Positioner sends Zigbee network and links application signal, and Zigbee network is linked application signal and comprised positioner ID and networking instruction;
The Zigbee network of position reference device receiving positioner links application signal, and returns Zigbee network access signal;
Positioner confirms Zigbee network access signal, and launches the distance measuring signal being used for measuring distance;
After position reference device receives distance measuring signal, tracer signal intensity level (RSSI value) restoring to normal position signal;
Positioner receives framing signal and starts the position coordinates that locating module calculates oneself.
2. a kind of localization method based on RSSI and ZigBee technology according to claim 1, is characterized in that, the communication process of described signal uses ZigBee technology.
3. a kind of localization method based on RSSI and ZigBee technology according to claim 1, it is characterized in that, described Zigbee network comprises:
Position reference device group, is made up of several position reference device, and wherein, position reference device is for providing self location coordinate information and the signal strength values (RSSI value) of distance measuring signal launched of measurement and positioning device;
Location correcting device group, is made up of several location correcting device, wherein, location correcting device for launching distance measuring signal, receive framing signal that position reference device returns and start the position coordinates that locating module calculates oneself.
4. a kind of localization method based on RSSI and ZigBee technology according to claim 1, it is characterized in that, described framing signal comprises the location coordinate information of signal strength values (RSSI value) that position reference measurement device arrives and position reference device.
5. a kind of localization method based on RSSI and ZigBee technology according to claim 1, it is characterized in that, described locating module is before the distance calculating oneself and position reference device, also comprise loading parameters file, Parameter File comprises the information of the position coordinates of position reference device and location correcting device, the distance relation table of signal strength values (RSSI value) and position reference device and position algorithm.
6. a kind of localization method based on RSSI and ZigBee technology according to claim 5, is characterized in that, described position algorithm:
Set the position coordinates of positioner as (x0, y0);
The position coordinates of three position reference devices is (x1, y1), (x2, y2), (x3, y3);
The positioner obtained by the distance relation table of described signal strength values (RSSI value) and position reference device to the distance d1 of three position reference devices, d2, d3;
The position relationship of position reference device and positioner is:
(x1-x0)
2+(y1-y0)
2＝d1
2；
(x2-x0)
2+(y2-y0)
2＝d2
2；
(x3-x0)
2+(y3-y0)
2＝d3
2。
7. a kind of localization method based on RSSI and ZigBee technology according to claim 1, it is characterized in that, the position coordinates that described locating module calculates oneself comprises the following steps:
A, from the signal strength values received (RSSI value), choose maximum three of numerical value, record the position coordinates of the position reference device representated by it;
B, according to the distance relation table of Parameter File and position algorithm, obtain the initial position co-ordinates of positioner;
C, position the initial position co-ordinates error correction of device, obtain position coordinates.
8. a kind of localization method based on RSSI and ZigBee technology according to claim 7, it is characterized in that, described step B also comprises the optimization of signal strength values (RSSI value):
By repeated sampling within 5 seconds, the signal strength values (RSSI value) of sampling is averaged, calculates the position coordinates (X4, Y4) of mean value;
By repeated sampling within 5 seconds, position calculation is carried out to the signal strength values (RSSI value) of sampling, according to the mean value (X5, Y5) of calculating location coordinate after the point that normal distribution principle rejecting error is larger;
Ask the mean value of above two steps, namely initial position co-ordinates is X=(X5+X4)/2, Y=(Y4+Y5)/2.
9. a kind of localization method based on RSSI and ZigBee technology according to claim 7, it is characterized in that, described step C realizes by the following method:
According to the initial position co-ordinates drawn, choose the location correcting device closed on a position, make it launch distance measuring signal, and the framing signal that around receiving, position reference device returns;
Location correcting device resolves the framing signal returned, and calculates position coordinates by locating module;
The actual coordinate of the position coordinates calculated by locating module and location correcting device compares, and obtains the position coordinates margin of error;
Initial position co-ordinates is added with the position coordinates margin of error, obtains position coordinates, i.e. the position coordinates of corrected positioner.
10., based on a navigation system for RSSI and ZigBee technology, it is characterized in that, comprising:
Positioning starting module, is configured to make positioner send Zigbee network and links application signal, and Zigbee network is linked application signal and comprised positioner ID and networking instruction;
Position reference module, is configured to make the Zigbee network of position reference device receiving positioner link application signal, and returns Zigbee network access signal;
Localizing emission module, is configured to make positioner confirm Zigbee network access signal, and launches the distance measuring signal being used for measuring distance;
Position reference processing module, is configured to make after position reference device receives distance measuring signal, tracer signal intensity level (RSSI value) restoring to normal position signal;
Localization process module, is configured to make positioner receive framing signal and starts the position coordinates that locating module calculates oneself.
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| CN107831467B (en) * | 2017-10-10 | 2020-09-11 | 深圳数位传媒科技有限公司 | Node positioning method, server, system and computer readable storage medium |
| CN109387227A (en) * | 2018-12-19 | 2019-02-26 | 成佳颖 | A kind of anchor point rotation multiple spot verification method |
| CN114567901A (en) * | 2022-03-03 | 2022-05-31 | 浙江瑞瀛物联科技有限公司 | Zigbee equipment rapid product test system and test method |
| CN114567901B (en) * | 2022-03-03 | 2023-09-08 | 浙江瑞瀛物联科技有限公司 | Rapid product testing system and testing method for Zigbee equipment |
| WO2024072094A1 (en) * | 2022-09-29 | 2024-04-04 | 엘지전자 주식회사 | Method and device for transmitting and receiving wireless signal in wireless communication system |
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