CN106102078B - A kind of interaction ZigBee node localization method based on RSSI-LQI - Google Patents
A kind of interaction ZigBee node localization method based on RSSI-LQI Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
- H04W16/22—Traffic simulation tools or models
- H04W16/225—Traffic simulation tools or models for indoor or short range network
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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
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
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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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- 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
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
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- H—ELECTRICITY
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Abstract
The invention discloses a kind of interaction ZigBee node localization method based on RSSI-LQI, method includes the following steps: (1) measuring signal intensity and calculate anchor node to node to be measured distance；(2) first time positioning is carried out using Bounding-Box algorithm, and the node of first time positioning is denoted as estimation node；(3) second (three side methods) is carried out to node to be measured using estimation node and two anchor nodes to position, by above step, can reduce error, improve precision.
Description
Technical field
The present invention relates to a kind of interaction ZigBee node localization method based on RSSI-LQI belongs to wireless sensor network neck
Domain.
Background technique
In actual life, the starting point of ZigBee is intended to develop the low-cost wireless network of Yi Bujian a kind of, together
When the characteristics of being able to satisfy low-power consumption.ZigBee technology compensates for low cost, the vacancy of low-power consumption and low-rate wireless communication market,
Its successful key is abundant and easily applies, rather than technology itself.With the announcement of formal Zigbee protocol version,
More attentions and research and development strength will go to the design and implementation of application, the especially application of location technology, following longer
In a period of time, positioning real-time, position error and localization method will increasingly come by people's extensive concern.
Many scholars have studied a large amount of advanced theory, but it is most of specific environment is not analyzed, only exist
The derivation of the theoretical enterprising line number theory of level, the development of ZigBee location technology is also in the stage of fumbling, in conjunction with each side
The advantage and disadvantage of method will fully consider the factor of various aspects it is found that in practical application.With in recent years research and hair
Exhibition, more and more people put into node locating technique, and location technology is combined with computer control, greatly improves environment
Modeling technique and location algorithm real-time and easy implementation, so the present invention has far-reaching value.
With the rapid development of economic technology, the pursuit quality of people is also increased accordingly, " intelligent building " and " intelligent family
Occupy " favor of people has been obtained, the product of more and more " intelligence " printed words is derived, and carries out these products
" dialogue " already becomes the research hotspot of today's society, and wherein ZigBee location technology plays very important effect；Enterprise
Pursuing economy simply may cause serious accident, and rescue is a crucial step, and ZigBee location technology can be well
Determine the specific location of the wounded, relief avoids personnel death in time, so ZigBee location technology has a wide range of applications
Prospect.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of interaction ZigBee node positioning side based on RSSI-LQI
Method, this method are positioned applied to ZigBee, be using a kind of improved ZigBee location algorithm so that meet low-power consumption,
Three important localization criterias of low complex degree and high-precision.
The present invention uses following technical scheme to solve above-mentioned technical problem:
The present invention provides a kind of interaction ZigBe node positioning method based on RSSI-LQI, and the ZigBee node includes
The node to be measured of anchor node known to several positions and Location-Unknown, which is characterized in that the localization method includes the following steps:
Step 1, node timing to be measured sends RSSI and LQI signal to entire ZigBee wireless sensor network；
Step 2, after each anchor node receives RSSI and LQI signal, corresponding RSSI and LQI value is calculated separately out；
Step 3, RSSI the and LQI value according to obtained in step 2, calculate between each anchor node and node to be measured away from
From；
Step 4, using Bounding-Box method, first time positioning carried out to node to be measured using anchor node, and by the
Obtained anchor point is once positioned as estimation node；
Step 5, it according to the RSSI value and LQI value received at estimation node, calculates between estimation node and node to be measured
Distance；
Step 6, according to estimation the distance between node and node to be measured and any two anchor node to node to be measured
Distance carries out second using three side methods and positions, to obtain the coordinate of node to be measured.
As a further optimization solution of the present invention, the distance between each anchor node and node to be measured are calculated in step 3,
Specifically:
Firstly, two the ZigBee nodes I and J in the ZigBee wireless sensor network, measure node I and J phase respectively
Node J receives the RSSI value of node I sending when away from 10m and 15m, and is denoted as RSSI10 and RSSI15 respectively；
Secondly, RSSI is the RSSI value received at anchor node if RSSI15 < RSSI≤RSSI10, then anchor node with to
Surveying the distance between node d is equation RSSI=-0.006d3+0.3304d2- 5.9004d-42.8151 section (10,15] in
Solution；If RSSI > RSSI10, the distance between anchor node and node to be measured d are equation LQI=-0.0312d3+
1.6208d2Solution of-the 27.2422d+187.1886 in section [0,10]；If RSSI≤RSSI15, anchor node and section to be measured
The distance between point d is equation LQI=-0.0312d3+1.6208d2- 27.2422d+187.1886 is in section (15 ,+∞)
Solution.
As a further optimization solution of the present invention, Bounding-Box method is used in step 4, is treated using anchor node
It surveys node and carries out first time positioning, specifically:
Choose three anchor nodes shortest from nodal distance to be measured, using anchor node as the center of circle, anchor node to node to be measured it
Between distance draw and justify as radius, and make the circumscribed square of each circle, then the mass center of the intersection area of three circumscribed squares
Obtained anchor point is as positioned for the first time.
As a further optimization solution of the present invention, estimation the distance between node and node to be measured, tool are calculated in step 5
Body are as follows:
Firstly, two the ZigBee nodes I and J in the ZigBee wireless sensor network, measure node I and J phase respectively
Node J receives the RSSI value of node I sending when away from 10m and 15m, and is denoted as RSSI10 and RSSI15 respectively；
Secondly, then estimating node if RSSI15 < RSSI≤RSSI10, RSSI are the RSSI value for estimating to receive at node
The distance between node to be measured d is equation RSSI=-0.006d3+0.3304d2- 5.9004d-42.8151 section (10,
15] solution in；If RSSI > RSSI10, estimate that the distance between node and node to be measured d are equation LQI=-0.0312d3+
1.6208d2Solution of-the 27.2422d+187.1886 in section [0,10]；If RSSI≤RSSI15, estimate node with it is to be measured
The distance between node d is equation LQI=-0.0312d3+1.6208d2- 27.2422d+187.1886 is in section (15 ,+∞)
Solution.
As a further optimization solution of the present invention, in step 6 according to estimation the distance between node and node to be measured with
And any two anchor node carries out second using three side methods and positions, to obtain node to be measured to the distance of node to be measured
Coordinate, specifically:
Assuming that the coordinate of any two anchor node A and B are respectively (x1,y1)、(x2,y2), the coordinate of estimation node C is (x3,
y3), the distance between node D to A, B and C to be measured are respectively λ1、λ2、λ3, then the coordinate (x, y) of node to be measured by solve with
Lower equation group obtains:
(x1-x)2+(y1-y)2=λ1 2
(x2-x)2+(y2-y)2=λ2 2。
(x3-x)2+(y3-y)2=λ3 2
As a further optimization solution of the present invention, in step 6 estimate node with selection two anchor nodes not same
On straight line.
The invention adopts the above technical scheme compared with prior art, has following technical effect that
(1) invention introduces this environment factor of LQI, using two factors of LQI and RSSI come close to true environment, from
And obtain more accurate distance.
(2) present invention proposes new multinomial model on the basis of ideal model, this model can be preferably fitted really
Environment provides safeguard for positioning stage.
(3) present invention is further reduced error using the secondary positioning of interaction.
(4) present invention improves practicability, the reliability and stability of whole system.
Detailed description of the invention
Fig. 1 is flow chart of the method for the present invention.
Fig. 2 is RSSI ideal model of the invention and multinomial model fitted figure (secondary, three times).
Fig. 3 is LQI ideal model of the invention and multinomial model fitted figure (secondary, three times).
Fig. 4 is Bounding-Box theory of algorithm figure of the invention.
Fig. 5 is three side method theory of algorithm figures of the invention.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing:
The invention proposes a kind of interaction ZigBee localization method based on RSSI-LQI, this method algorithm includes following
Step: (1) measuring signal intensity and calculate anchor node to node to be measured distance；(2) it is carried out using Bounding-Box algorithm
It positions for the first time, and the node of first time positioning is denoted as estimation node；(3) using estimation node and two anchor nodes to be measured
Node carries out second (three side methods) positioning.Method of the invention is more accurate for indoor positioning either short distance positioning,
It is larger in long range positioning field error.
As shown in Figure 1, specific implementation process of the invention the following steps are included:
Step 1: node timing to be measured sends RSSI and LQI signal to entire ZigBee wireless sensor network.
Step 2: after each anchor node receives RSSI and LQI signal, calculating separately out corresponding RSSI and LQI value.
Step 3, RSSI the and LQI value according to obtained in step 2, calculate between each anchor node and node to be measured away from
From.
The analysis of system is carried out in the present invention by the value to RSSI and LQI, and to RSSI-d ideal model and compensation
The analysis of model proposes the model of multinomial RSSI-d and LQI-d a kind of, the model is more using the relationship between RSSI-LQI
It can be bonded true environment, obtain more accurate distance.
Wherein, the principle of the model of multinomial RSSI-d and LQI-d is as follows:
Firstly, the ideal model to RSSI-d is analyzed, shown in model such as formula (1).
Wherein, RSSI (d0) it is distance d0RSSI value when=1m, d are measured distance；N is path attenuation index, with
Ambient enviroment is related.
Formula (1) is write a Chinese character in simplified form into formula (2), is obtained:
RSSI=A-10nlogd (2)
Wherein, A=RSSI (d0)。
Secondly, the compensation model to RSSI-d is analyzed, shown in compensation model such as formula (3).
Wherein, XσFor zero-mean normal Gaussian distribution variables, i.e. Xσ~N (0, σ2)(σ2For variance), it is certain in distance
When, reflection is the situation of change for receiving signal energy, it reflects the specific gravity that environment consumes wireless signal.
Formula (3) is rewritten into formula (4), is obtained:
RSSI=A-10nlogd+Xσ (4)
Shown in the relationship of RSSI-LQI such as formula (5):
RSSI=- (81- (LQI*91)/255) (5)
Formula (6) can be obtained by bringing formula (5) into formula (2):
Formula (6) is rewritten into formula (7):
LQI=A1-n1logd (7)
Wherein,
Formula (7) is compensated to obtain formula (8):
LQI=A1-n1logd+Xσ (8)
Formula (4) are rewritten are as follows:
RSSI=A+Xσ-10nlogd (9)
RSSI=i0+i1logd (10)
Wherein, i0=A+Xσ, i1=-10n.
By reading G ü nther Retscher, Qing Fu.Integration of RFID, GNSS and DR for
Ubiquitous Positioning in Pedestrian Navigation.ION GNSS 20th International
Technical Meeting of Satellite Division.2007, (9): 1155-1164. this article is it is found that RSSI-
The linear relationship of d is better than RSSI-logd, it is possible to be write as:
RSSI=a0+a1d (11)
Polynomial expansion is carried out to formula (11), obtains multinomial RSSI-d model:
RSSI=a0+a1d+a2d2+...+amdm (12)
Wherein, a0,a1,…amIt for the multinomial coefficient of RSSI matched curve, is obtained by experiment, m is polynomial time
Number.
Similarly, available multinomial LQI-d model, process derive as follows:
LQI=A1+Xσ-n1logd (13)
LQI=j0+j1logd (14)
Wherein j0=A1+Xσ, j1=-10n1。
LQI=b0+b1d (15)
LQI=b0+b1d+b2d2+...+bmdm (16)
Wherein, b0,b1,…bmFor the multinomial coefficient of LQI matched curve, obtained by experiment；M is polynomial number.
Wherein, by experiment value, experiment shows that as m=3, matched curve can be most bonded by formula (12) and the m of (16)
The model of true environment, the multinomial RSSI-d and LQI-d that fit is respectively as follows:
RSSI=-0.006d3+0.3304d2-5.9004d-42.8151 (17)
LQI=-0.0312d3+1.6208d2-27.2422d+187.1886 (18)
RSSI matched curve and LQI matched curve shown in Fig. 3 as shown in Figure 2, wherein laboratory
Measuring point is experiment measurement point, and logarithm is logarithmic model, and Quadratic polynomial is secondary more
Item formula, Cubic polynomial are cubic polynomial.
According to formula formula (17) and (18), the calculation method of the distance between anchor node and node to be measured are as follows:
Firstly, firstly, in the ZigBee wireless sensor network two ZigBee nodes I and J, measure node I respectively
Node J receives the RSSI value of node I sending when with J at a distance of 10m and 15m, and is denoted as RSSI10 and RSSI15 respectively；
Secondly, if RSSI15 < RSSI≤RSSI10, RSSI is the RSSI value received at anchor node, and because multinomial
RSSI-d model section (10,15] on have unique monotonicity, so there is unique solution on this section, then anchor node and section to be measured
Point the distance between d be formula (17) section (10,15] in solution；If RSSI > RSSI10, because of multinomial LQI-d model
Have unique monotonicity on section [0,10], so there is unique solution on this section, then between anchor node and node to be measured away from
It is the solution of formula (18) in section [0,10] from d；If RSSI≤RSSI15 because multinomial LQI-d model section (15 ,+
∞] on have unique monotonicity, so there is unique solution on this section, then the distance between anchor node and node to be measured d are formula
(18) solution in section (15 ,+∞).
Step 4, using Bounding-Box method, first time positioning carried out to node to be measured using anchor node, and by the
Obtained anchor point is once positioned as estimation node:
As shown in figure 4, choosing three anchor nodes shortest from nodal distance to be measured, using anchor node as the center of circle, anchor node is arrived
The distance between node to be measured draws circle as radius, and makees the circumscribed square of each circle, then the intersection of three circumscribed squares
The mass center in region is to position obtained anchor point for the first time.
Step 5, according to the RSSI value and LQI value received at estimation node, estimation node is calculated according to the method for step 3
The distance between node to be measured.
Step 6, according to estimation the distance between node and node to be measured and any two anchor node to node to be measured
Distance carries out second using three side methods and positions, to obtain the coordinate of node to be measured.
As shown in figure 5, the algorithmic procedure of three side methods is as follows:
Assuming that the coordinate of any two anchor node A and B are respectively (x1,y1)、(x2,y2), the coordinate of estimation node C is (x3,
y3), the distance between node D to A, B and C to be measured are respectively λ1、λ2、λ3, then the coordinate (x, y) of node to be measured by solve with
Lower equation group obtains:
(x1-x)2+(y1-y)2=λ1 2
(x2-x)2+(y2-y)2=λ2 2。
(x3-x)2+(y3-y)2=λ3 2
The above, the only specific embodiment in the present invention, but scope of protection of the present invention is not limited thereto, appoints
What is familiar with the people of the technology within the technical scope disclosed by the invention, it will be appreciated that expects transforms or replaces, and should all cover
Within scope of the invention, therefore, the scope of protection of the invention shall be subject to the scope of protection specified in the patent claim.
Claims (4)
1. a kind of interaction ZigBee node localization method based on RSSI-LQI, the ZigBee node includes known to several positions
Anchor node and unknown node to be measured, which is characterized in that the localization method includes the following steps:
Step 1, node timing to be measured sends RSSI and LQI signal to entire ZigBee wireless sensor network；
Step 2, after each anchor node receives RSSI and LQI signal, corresponding RSSI and LQI value is calculated separately out；
Step 3, RSSI the and LQI value according to obtained in step 2 calculates the distance between each anchor node and node to be measured, tool
Body are as follows:
Firstly, two the ZigBee nodes I and J in the ZigBee wireless sensor network, measure node I and J at a distance of 10m respectively
The RSSI value of node I sending is received with node J when 15m, and is denoted as RSSI10 and RSSI15 respectively；
Secondly, if RSSI15 < RSSI≤RSSI10, RSSI are the RSSI value received at anchor node, then anchor node and section to be measured
The distance between point d is equation RSSI=-0.006d3+0.3304d2- 5.9004d-42.8151 section (10,15] in solution；
If RSSI > RSSI10, the distance between anchor node and node to be measured d are equation LQI=-0.0312d3+1.6208d2-
27.2422d+187.1886 the solution in section [0,10]；If RSSI≤RSSI15, between anchor node and node to be measured away from
It is equation LQI=-0.0312d from d3+1.6208d2Solution of-the 27.2422d+187.1886 in section (15 ,+∞)；
Step 4, using Bounding-Box method, first time positioning is carried out to node to be measured using anchor node, and will for the first time
Obtained anchor point is positioned as estimation node；
Step 5, according to the RSSI value and LQI value that receive at estimation node, calculate between estimation node and node to be measured away from
From, specifically:
Firstly, two the ZigBee nodes I and J in the ZigBee wireless sensor network, measure node I and J at a distance of 10m respectively
The RSSI value of node I sending is received with node J when 15m, and is denoted as RSSI10 and RSSI15 respectively；
Secondly, if RSSI15 < RSSI≤RSSI10, RSSI are to estimate the RSSI value that receives at node, then estimate node with to
Surveying the distance between node d is equation RSSI=-0.006d3+0.3304d2- 5.9004d-42.8151 section (10,15] in
Solution；If RSSI > RSSI10, estimate that the distance between node and node to be measured d are equation LQI=-0.0312d3+
1.6208d2Solution of-the 27.2422d+187.1886 in section [0,10]；If RSSI≤RSSI15, estimate node with it is to be measured
The distance between node d is equation LQI=-0.0312d3+1.6208d2- 27.2422d+187.1886 is in section (15 ,+∞)
Solution；
Step 6, at a distance from according to estimation the distance between node and node to be measured and any two anchor node to node to be measured,
It carries out second using three side methods to position, to obtain the coordinate of node to be measured.
2. a kind of interaction ZigBee node localization method based on RSSI-LQI according to claim 1, which is characterized in that
Bounding-Box method is used in step 4, and first time positioning is carried out to node to be measured using anchor node, specifically:
Three anchor nodes shortest from nodal distance to be measured are chosen, using anchor node as the center of circle, anchor node is between node to be measured
Distance draws circle as radius, and makees the circumscribed square of each circle, then the mass center of the intersection area of three circumscribed squares is
Obtained anchor point is positioned for the first time.
3. a kind of interaction ZigBee node localization method based on RSSI-LQI according to claim 1, which is characterized in that
In step 6 according to estimation the distance between node and node to be measured and any two anchor node to node to be measured at a distance from, it is sharp
Second is carried out with three side methods to position, so that the coordinate of node to be measured is obtained, specifically:
Assuming that the coordinate of any two anchor node A and B are respectively (x1,y1)、(x2,y2), the coordinate of estimation node C is (x3,y3),
The distance between node D to A, B and C to be measured are respectively λ1、λ2、λ3, then the coordinate (x, y) of node to be measured is by solving with lower section
Journey group obtains:
4. a kind of interaction ZigBee node localization method based on RSSI-LQI according to claim 1, which is characterized in that
Estimate node and two anchor nodes chosen not on the same line in step 6.
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