CN106199512A - Destination node in motion is carried out the methods, devices and systems of wireless location - Google Patents
Destination node in motion is carried out the methods, devices and systems of wireless location Download PDFInfo
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- CN106199512A CN106199512A CN201610474706.0A CN201610474706A CN106199512A CN 106199512 A CN106199512 A CN 106199512A CN 201610474706 A CN201610474706 A CN 201610474706A CN 106199512 A CN106199512 A CN 106199512A
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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
Abstract
The invention discloses a kind of methods, devices and systems that destination node in motion is carried out wireless location, belong to wireless positioning field.Including step 101: send the first polling signal to the first receiving node and the second receiving node, described first polling signal includes the first receiving node mark；Step 102: receive the first of described first receiving node transmission and reply message；Step 103: send the first confirmation message to described first receiving node；Step 104: send the second polling signal to the first receiving node and the second receiving node, described second polling signal includes the second receiving node mark；Step 105: receive the second of described second receiving node transmission and reply message；Step 106: send the second confirmation message to described second receiving node；Step 107: send t1, t5, t6, t8, t12 and t13 to host computer.The present invention can eliminate error when destination node is found range one by one with multiple receiving nodes, accurately measures the position of destination node.
Description
Technical field
The present invention relates to wireless positioning field, particularly relate to a kind of side that destination node in motion is carried out wireless location
Method, device and system.
Background technology
Wireless location technology mainly by destination node (Tag) to the distance of receiving node (Anchor) or angle to mesh
Mark node is found range, and then calculating location information.Wireless location technology can be divided into based on signal receiving strength (RSSI) determines
Position technology, reach the location technology of angle (AOA) based on signal and based on signal transmission time (TOF, Time of Flight)
Location technology and location technology based on signal transmission time poor (TDOA).Wherein based on signal transmission time with based on letter
The location technology of number transmission time difference is current most widely used ranging technology.
By destination node do two dimensional surface motion as a example by, the core concept of TOF location technology be measure destination node with
Distance between three receiving nodes, uses trilateration algorithm, thus obtains the position of destination node.Positioning principle is as follows:
Position (the x of known three receiving nodes1,y1),(x2,y2),(x3,y3)；
Known target node (x0,y0) to distance d of three receiving nodes1,d2,d3；
As it is shown in figure 1, with (x1,y1),(x2,y2),(x3,y3) it is the center of circle, with d1,d2,d3Three circles are made for radius, according to
Pythagorean theorem, the intersection point drawn is the position of destination node, and computing formula is as follows:
(x1-x0)2+(y1-y0)2=d1 2
(x2-x0)2+(y2-y0)2=d2 2
(x3-x0)2+(y3-y0)2=d3 2
In TOF positions, Tag finds range with three Anchor one by one, obtains d1,d2,d3, trilateration algorithm can be used
Realize position calculation.
If Tag does one-dimensional linear motion, the most only need two Anchor that Tag can position (two Anchor pair
Tag positions, and has 2 solutions, owing to Tag does one-dimensional linear motion, can cast out one substantially not at one-dimensional straight path
On a solution).
Above method is all built upon on the basis of Tag position is not changed in, if Tag high-speed motion, then Tag is one by one
When finding range with multiple Anchor, its position has occurred that change.For example, if Tag moves with 300 kilometers of speed per hours, greatly
It is approximately the speed motion of 83.3 meter per seconds.If Tag Yu Anchor be ranging Interval 100ms one by one, when a Tag and Anchor surveys
Away from complete, when finding range with another Anchor again, the position of Tag has changed and for 8.33 meters；It is to say, highly move at Tag
In the case of Dong, the d of measurement1, d2, d3With actual distance d '1, d '2, d '3There is error, so pass through Trilateration methods
(the x calculated0,y0) it being equipped with deviation with actual bit, positioning precision is undesirable.
Summary of the invention
The present invention provides a kind of methods, devices and systems that destination node in motion carries out wireless location, it is possible to disappear
Except error when destination node and multiple receiving nodes are found range one by one, accurately measure the position of destination node.
For solving above-mentioned technical problem, the present invention provides technical scheme as follows:
On the one hand, the present invention provides a kind of method that destination node in motion is carried out wireless location, including:
Step 101: send the first polling signal, described first polling signal to the first receiving node and the second receiving node
Include the first receiving node mark；
Step 102: receive the first of described first receiving node transmission and reply message；
Step 103: send the first confirmation message to described first receiving node；
Step 104: send the second polling signal, described second polling signal to the first receiving node and the second receiving node
Include the second receiving node mark；
Step 105: receive the second of described second receiving node transmission and reply message；
Step 106: send the second confirmation message to described second receiving node；
Step 107: send t1, t5, t6, t8, t12 and t13 to host computer, so that described host computer calculates the position in t8 moment
Put (x0,y0), wherein:
(x2-x0)2+(y2-y0)2=d2 2
d′1=d1+ d, d=c ((t8 t1) (t10 t3)), (x1,y1) it is the position of the first receiving node, (x2,y2) it is
The position of the second receiving node, d1=c ((t7-t4) (t6-t5))/2, d2=c ((t14-t11) (t13-t12))/2；
T1 is the moment sending described first polling signal, and t5 is to receive described first moment replied message, and t6 is for sending out
Sending for the described first moment confirming message, t8 is the moment sending described second polling signal, and t12 replys for receiving described second
In the moment of message, t13 is to send for the described second moment confirming message；
T3, t4, t7 and t10 are that described first receiving node sends to described host computer, and t3 is described first reception joint
Point receives the moment of described first polling signal, and t4 is that described first receiving node sends described first moment replied message,
T7 is that described first receiving node received for the described first moment confirming message, and described t10 is that described first receiving node receives
The moment of described second polling signal；
T11 and t14 is that described second receiving node sends to described host computer, and t11 is that described second receiving node is sent out
Sending described second moment replied message, t14 is that described second receiving node received for the described second moment confirming message.
On the other hand, the present invention provides a kind of destination node, including:
First poll signal transmitting module, for sending the first poll letter to the first receiving node and the second receiving node
Number, described first polling signal includes the first receiving node mark；
First replies message receiver module, and first sent for receiving described first receiving node replies message；
First confirms message transmission module, for sending the first confirmation message to described first receiving node；
Second polling signal sending module, for sending the second poll letter to the first receiving node and the second receiving node
Number, described second polling signal includes the second receiving node mark；
Second replies message receiver module, and second sent for receiving described second receiving node replies message；
Second confirms message transmission module, for sending the second confirmation message to described second receiving node；
First communication module, for sending t1, t5, t6, t8, t12 and t13 to host computer, so that described host computer calculates
Position (the x in t8 moment0,y0), wherein:
(x2-x0)2+(y2-y0)2=d2 2
d′1=d1+ d, d=c ((t8 t1) (t10 t3)), (x1,y1) it is the position of the first receiving node, (x2,y2) it is
The position of the second receiving node, d1=c ((t7-t4) (t6-t5))/2, d2=c ((t14-t11) (t13-t12))/2；
T1 is the moment sending described first polling signal, and t5 is to receive described first moment replied message, and t6 is for sending out
Sending for the described first moment confirming message, t8 is the moment sending described second polling signal, and t12 replys for receiving described second
In the moment of message, t13 is to send for the described second moment confirming message；
T3, t4, t7 and t10 are that described first receiving node sends to described host computer, and t3 is described first reception joint
Point receives the moment of described first polling signal, and t4 is that described first receiving node sends described first moment replied message,
T7 is that described first receiving node received for the described first moment confirming message, and described t10 is that described first receiving node receives
The moment of described second polling signal；
T11 and t14 is that described second receiving node sends to described host computer, and t11 is that described second receiving node is sent out
Sending described second moment replied message, t14 is that described second receiving node received for the described second moment confirming message.
Another further aspect, the present invention provides a kind of method that destination node in motion is carried out wireless location, including:
Step 201: the first receiving node and the second receiving node receive the first polling signal that described destination node sends,
Described first polling signal includes the first receiving node mark；
Step 202: the first receiving node sends first to described destination node and replies message；
Step 203: the first receiving node receives the first confirmation message that described destination node sends；
Step 301: the first receiving node and the second receiving node receive the second polling signal that described destination node sends,
Described second polling signal includes the second receiving node mark；
Step 302: the second receiving node sends second to described destination node and replies message；
Step 303: the second receiving node receives the second confirmation message that described destination node sends；
Step 401: the first receiving node sends t3, t4, t7 and t10 to host computer, the second receiving node is sent out to host computer
Send t11 and t14, so that described host computer calculates the position (x of t8 moment destination node0,y0), wherein:
(x2-x0)2+(y2-y0)2=d2 2
d′1=d1+ d, d=c ((t8 t1) (t10 t3)), (x1,y1) it is the position of the first receiving node, (x2,y2) it is
The position of the second receiving node, d1=c ((t7-t4) (t6-t5))/2, d2=c ((t14-t11) (t13-t12))/2；
T3 is the moment that described first receiving node receives described first polling signal, and t4 is that described first receiving node is sent out
Sending described first moment replied message, t7 is that described first receiving node received for the described first moment confirming message, described
T10 is the moment that described first receiving node receives described second polling signal, and t11 is described in described second receiving node sends
In the second moment replied message, t14 is that described second receiving node received for the described second moment confirming message；
T1, t5, t6, t8, t12 and t13 are that described destination node sends to host computer, and t1 is for sending described first poll
In the moment of signal, t5 is to receive described first moment replied message, and t6 is to send for the described first moment confirming message, and t8 is
Sending the moment of described second polling signal, t12 is to receive described second moment replied message, and t13 is for sending described second
Confirm the moment of message.
Another further aspect, the present invention provides a kind of first receiving node, including:
First poll signal receiving module one, for receiving the first polling signal that described destination node sends, described the
One polling signal includes the first receiving node mark；
First replies message sending module, replies message for sending first to described destination node；
First confirms message reception module, and the first confirmation receiving the transmission of described destination node for the first receiving node disappears
Breath；
Second polling signal receiver module, for receiving the second polling signal that described destination node sends, described second
Polling signal includes the second receiving node mark；
Second communication module, for sending t3, t4, t7 and t10 to host computer.
Another further aspect, the present invention provides a kind of second receiving node, including:
First poll signal receiving module two, for receiving the first polling signal that described destination node sends, described the
One polling signal includes the first receiving node mark；
Second replies message sending module, sends second for the second receiving node to described destination node and replies message；
Second confirms message reception module, and the second confirmation receiving the transmission of described destination node for the second receiving node disappears
Breath；
Second polling signal receiver module two, for receiving the second polling signal that described destination node sends, described the
Two polling signals include the second receiving node mark；
3rd communication module, for sending t11 and t14 to host computer.
Another further aspect, the present invention provides a kind of system that destination node in motion carries out wireless location, including above-mentioned
Destination node, the first receiving node and the second receiving node.
The method have the advantages that
In the present invention, by destination node Tag, to specifying receiving node Anchor, (the first receiving node or second receives one by one
Node) send poll message, message carries the Anchor mark needing to carry out finding range, and all receiving node Anchor are in prison
Listening state, the most multiple Anchor can receive Tag and send the poll message of coming, after Anchor Yu Tag only specified is carried out
The ranging step on limit, other Anchor only record the moment receiving poll, as shown in Figure 3.
Assume that Tag in Far Left point position transfixion, then calculates Tag Yu Anchor-A1 (the first receiving node),
The distance of Anchor-A2 (the second receiving node) is respectively d1, d2 '；Actually in ranging process, Tag is by Far Left point position
Putting and be moved to rightmost point position, the distance that actual Tag Yu Anchor-A1 and Anchor-A2 measures is respectively d1, d2.
Owing to Anchor has monitored all poll message, by Fig. 3 Yu Fig. 4 can obtain Far Left point and rightmost point it
Between distance, i.e. Tag is separated by a distance respectively at two Anchor range finding: d=c ((t8 t1) (t10 t3)).
According to obtained in the previous step as a result, it is possible to learn Tag and the second receiving node A2 range finding time, with the first receiving node
The distance of A1 is d1+d, i.e. d1', then according to three limit computational methods, pass through d1 ' and d2 and draw round finding intersection, thus obtain the most accurate
The position (x ', y ') of Tag, i.e. the position (t8 moment) of rightmost point, counter push away it, when available Tag Yu Anchor-A1 finds range
Exact position, i.e. the position of Far Left point (t1 moment).
Use three Anchor then can accurately calculate the position of Tag in two dimensional surface, the present invention describe for one-dimensional
The calculation of plane, but be not limited to one-dimensional plane and calculate.
In sum, the method that the destination node in motion carries out wireless location of the present invention can eliminate destination node
Error when finding range one by one with multiple receiving nodes, accurately measures the position of destination node.
Accompanying drawing explanation
Fig. 1 is positioning principle figure；
Fig. 2 is that the method flow diagram that the destination node in motion carries out wireless location of the present invention (saves for target
Point)；
Fig. 3 is the schematic diagram that the destination node in motion carries out wireless location of the present invention；
Fig. 4 is the schematic diagram of the location in the present invention；
Fig. 5 is the destination node schematic diagram of the present invention；
Fig. 6 is that the method flow diagram that the destination node in motion carries out wireless location of the present invention (receives for first
Node and the second receiving node)；
Fig. 7 is the first receiving node schematic diagram of the present invention；
Fig. 8 is the second receiving node schematic diagram of the present invention；
Fig. 9 is the system schematic that the destination node in motion carries out wireless location of the present invention.
Detailed description of the invention
For making the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
On the one hand, the present invention provides a kind of method that destination node in motion is carried out wireless location, saves for target
On point, as shown in Figures 2 and 3, including:
Step 101: the destination node t1 moment sends the first polling signal to the first receiving node and the second receiving node, the
One polling signal includes the first receiving node mark, and the first receiving node t3 reception arrives, the second receiving node t2 moment
Receive.First receiving node sends first in the t4 moment to destination node and replies message, and the second receiving node does not works.
Step 102: destination node first replies message what t5 reception the first receiving node sent.
Step 103: destination node sends the first confirmation message, the first receiving node t7 in the t6 moment to the first receiving node
Reception arrives.
Step 104: destination node sends the second polling signal in the t8 moment to the first receiving node and the second receiving node,
Second polling signal includes the second receiving node mark, and the first receiving node t10 reception arrives, during the second receiving node t9
Quarter receives, and the second receiving node sends second in the t11 moment to destination node and replies message, and the first receiving node does not works.
Step 105: destination node second replies message what t12 reception the second receiving node sent.
Step 106: destination node sends the second confirmation message, the second receiving node in the t13 moment to the second receiving node
T14 reception arrives.
Step 107: destination node sends t1, t5, t6, t8, t12 and t13 to host computer, so that host computer calculates the t8 moment
Position (x0,y0), wherein:
(x2-x0)2+(y2-y0)2=d2 2
d′1=d1+ d, d=c ((t8 t1) (t10 t3)), (x1,y1) it is the position of the first receiving node, (x2,y2) it is
The position of the second receiving node, d1=c ((t7-t4) (t6-t5))/2, d2=c ((t14-t11) (t13-t12))/2；
T1 is the moment sending the first polling signal, and t5 is to receive for the first moment replied message, and t6 is true for sending first
Recognizing the moment of message, t8 is the moment sending the second polling signal, and t12 is to receive for the second moment replied message, and t13 is for sending
Second moment confirming message；
T3, t4, t7 and t10 are that the first receiving node sends to host computer, and t3 is that the first receiving node receives the first round
Asking the moment of signal, t4 is that the first receiving node sent for the first moment replied message, and t7 is that the first receiving node receives first
Confirming the moment of message, t10 is the moment that the first receiving node receives the second polling signal；
T11 and t14 is that the second receiving node sends to host computer, and t11 is that second receiving node transmission the second reply disappears
In the moment of breath, t14 is the moment that the second receiving node receives the second confirmation message.
In the present invention, by destination node Tag, to specifying receiving node Anchor, (the first receiving node or second receives one by one
Node) send poll message, message carries the Anchor mark needing to carry out finding range, and all receiving node Anchor are in prison
Listening state, the most multiple Anchor can receive Tag and send the poll message of coming, after Anchor Yu Tag only specified is carried out
The ranging step on limit, other Anchor only record the moment receiving poll, as shown in Figure 3.
Assume that Tag in Far Left point position transfixion, then calculates Tag Yu Anchor-A1 (the first receiving node),
The distance of Anchor-A2 (the second receiving node) is respectively d1, d2 '；Actually in ranging process, Tag is by Far Left point position
Putting and be moved to rightmost point position, the distance that actual Tag Yu Anchor-A1 and Anchor-A2 measures is respectively d1, d2.
Owing to Anchor has monitored all poll message, by Fig. 3 Yu Fig. 4 can obtain Far Left point and rightmost point it
Between distance, i.e. Tag is separated by a distance respectively at two Anchor range finding: d=c ((t8 t1) (t10 t3)).
According to obtained in the previous step as a result, it is possible to learn Tag and the second receiving node A2 range finding time, with the first receiving node
The distance of A1 is d1+d, i.e. d1', then according to three limit computational methods, pass through d1 ' and d2 and draw round finding intersection, thus obtain the most accurate
The position (x ', y ') of Tag, i.e. the position (t8 moment) of rightmost point, counter push away it, when available Tag Yu Anchor-A1 finds range
Exact position, i.e. the position of Far Left point (t1 moment).
Use three Anchor then can accurately calculate the position of Tag in two dimensional surface, the present invention describe for one-dimensional
The calculation of plane, but be not limited to one-dimensional plane and calculate.
In sum, the method that the destination node in motion carries out wireless location of the present invention can eliminate destination node
Error when finding range one by one with multiple receiving nodes, accurately measures the position of destination node.
Further, it is also possible to recording the position in t1 moment, now step 107 is further:
T1, t5, t6, t8, t12 and t13 is sent, so that described host computer calculates the position (x' in t1 moment to host computer0,
y'0), wherein:
d'2=d2+d
On the other hand, the present invention provides a kind of destination node 5, as it is shown in figure 5, include:
First poll signal transmitting module 51, for sending the first poll letter to the first receiving node and the second receiving node
Number, the first polling signal includes the first receiving node mark；
First replies message receiver module 52, and first sent for receiving the first receiving node replies message；
First confirms message transmission module 53, for sending the first confirmation message to the first receiving node；
Second polling signal sending module 54, for sending the second poll letter to the first receiving node and the second receiving node
Number, the second polling signal includes the second receiving node mark；
Second replies message receiver module 55, and second sent for receiving the second receiving node replies message；
Second confirms message transmission module 56, for sending the second confirmation message to the second receiving node；
First communication module 57, for sending t1, t5, t6, t8, t12 and t13 to host computer, works as so that host computer calculates
Front position (x0,y0), wherein:
(x2-x0)2+(y2-y0)2=d2 2
d′1=d1+ d, d=c ((t8 t1) (t10 t3)), (x1,y1) it is the position of the first receiving node, (x2,y2) it is
The position of the second receiving node, d1=c ((t7-t4) (t6-t5))/2, d2=c ((t14-t11) (t13-t12))/2；
T1 is the moment sending the first polling signal, and t5 is to receive for the first moment replied message, and t6 is true for sending first
Recognizing the moment of message, t8 is the moment sending the second polling signal, and t12 is to receive for the second moment replied message, and t13 is for sending
Second moment confirming message；
T3, t4, t7 and t10 are that the first receiving node sends to host computer, and t3 is that the first receiving node receives the first round
Asking the moment of signal, t4 is that the first receiving node sent for the first moment replied message, and t7 is that the first receiving node receives first
Confirming the moment of message, t10 is the moment that the first receiving node receives the second polling signal；
T11 and t14 is that the second receiving node sends to host computer, and t11 is that second receiving node transmission the second reply disappears
In the moment of breath, t14 is the moment that the second receiving node receives the second confirmation message.
The destination node of the present invention can eliminate error when destination node is found range one by one with multiple receiving nodes, accurately
Measure the position of destination node.
Further, it is also possible to recording the position in t1 moment, now the first communication module 57 is further used for:
T1, t5, t6, t8, t12 and t13 is sent to host computer, so that the position in described host computer calculating t1 moment (x'0,
y'0), wherein:
d'2=d2+d
On the other hand, the present invention provides a kind of method that destination node in motion is carried out wireless location, for first
Receiving node and the second receiving node, as shown in Figure 6, including:
Step 201: the first polling signal that the first receiving node and the second receiving node reception destination node send, first
Polling signal includes the first receiving node mark；
Step 202: the first receiving node sends first to destination node and replies message；
Step 203: the first receiving node receives the first confirmation message that destination node sends；
Step 301: the second polling signal that the first receiving node and the second receiving node reception destination node send, second
Polling signal includes the second receiving node mark；
Step 302: the second receiving node sends second to destination node and replies message；
Step 303: the second receiving node receives the second confirmation message that destination node sends；
Step 401: the first receiving node sends t3, t4, t7 and t10 to host computer, the second receiving node is sent out to host computer
Send t11 and t14, so that host computer calculates the current location (x of destination node0,y0), wherein:
(x2-x0)2+(y2-y0)2=d2 2
d′1=d1+ d, d=c ((t8 t1) (t10 t3)), (x1,y1) it is the position of the first receiving node, (x2,y2) it is
The position of the second receiving node, d1=c ((t7-t4) (t6-t5))/2, d2=c ((t14-t11) (t13-t12))/2；
T3 is the moment that the first receiving node receives the first polling signal, and t4 is that first receiving node transmission the first reply disappears
In the moment of breath, t7 is the moment that the first receiving node receives the first confirmation message, and t10 is that the first receiving node receives the second poll
In the moment of signal, t11 is that the second receiving node sent for the second moment replied message, and t14 is that the second receiving node receives second
Confirm the moment of message；
T1, t5, t6, t8, t12 and t13 are that destination node sends to host computer, t1 be send the first polling signal time
Carving, t5 is to receive for the first moment replied message, and t6 is the moment sending the first confirmation message, and t8 is for sending the second polling signal
Moment, t12 is to receive for second moment of replying message, and t13 is the moment sending the second confirmation message.
The method that destination node in motion carries out wireless location of the present invention can eliminate destination node and connect with multiple
Receive error when node is found range one by one, accurately measure the position of destination node.
Another further aspect, the present invention provides a kind of first receiving node 7, as it is shown in fig. 7, comprises:
First poll signal receiving module 1, for receiving the first polling signal that destination node sends, the first poll
Signal includes the first receiving node mark；
First replies message sending module 72, replies message for sending first to destination node；
First confirms message reception module 73, and the first confirmation receiving destination node transmission for the first receiving node disappears
Breath；
Second polling signal receiver module 74, for receiving the second polling signal that destination node sends, the second poll letter
Number include the second receiving node mark；
Second communication module 75, for sending t3, t4, t7 and t10 to host computer.
Another further aspect, the present invention provides a kind of second receiving node 8, as shown in Figure 8, including:
First poll signal receiving module 2 81, for receiving the first polling signal that destination node sends, the first poll
Signal includes the first receiving node mark；
Second replies message sending module 82, sends second for the second receiving node to destination node and replies message；
Second confirms message reception module 83, and the second confirmation receiving destination node transmission for the second receiving node disappears
Breath；
Second polling signal receiver module 2 84, for receiving the second polling signal that destination node sends, the second poll
Signal includes the second receiving node mark；
3rd communication module 85, for sending t11 and t14 to host computer.
Second receiving node of the present invention can eliminate error when destination node is found range one by one, essence with multiple receiving nodes
Really measure the position of destination node.
Another further aspect, the present invention provides a kind of system that destination node in motion carries out wireless location, such as Fig. 9 institute
Show, including above-mentioned destination node the 5, first receiving node 7 and the second receiving node 8.
The system that destination node in motion carries out wireless location of the present invention can eliminate destination node and connect with multiple
Receive error when node is found range one by one, accurately measure the position of destination node.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of without departing from principle of the present invention, it is also possible to make some improvements and modifications, these improvements and modifications are also
Should be regarded as protection scope of the present invention.
Claims (8)
1. the method that the destination node in motion is carried out wireless location, it is characterised in that including:
Step 101: send the first polling signal to the first receiving node and the second receiving node, wraps in described first polling signal
Include the first receiving node mark；
Step 102: receive the first of described first receiving node transmission and reply message；
Step 103: send the first confirmation message to described first receiving node；
Step 104: send the second polling signal to the first receiving node and the second receiving node, wraps in described second polling signal
Include the second receiving node mark；
Step 105: receive the second of described second receiving node transmission and reply message；
Step 106: send the second confirmation message to described second receiving node；
Step 107: send t1, t5, t6, t8, t12 and t13 to host computer, so that described host computer calculates the position in t8 moment
(x0,y0), wherein:
(x1-x0)2+(y2-y0)2=d2 2
d′1=d1+ d, d=c ((t8 t1) (t10 t3)), (x1,y1) it is the position of the first receiving node, (x2,y2) it is second
The position of receiving node, d1=c ((t7-t4) (t6-t5))/2, d2=c ((t14-t11) (t13-t12))/2；
T1 is the moment sending described first polling signal, and t5 is to receive described first moment replied message, and t6 is for sending institute
Stating the moment of the first confirmation message, t8 is the moment sending described second polling signal, and t12 replies message for receiving described second
Moment, t13 be send described second confirm message moment；
T3, t4, t7 and t10 are that described first receiving node sends to described host computer, and t3 is that described first receiving node connects
Receiving the moment of described first polling signal, t4 is that described first receiving node sends described first moment replied message, and t7 is
Described first receiving node received for the described first moment confirming message, and described t10 is described in described first receiving node receives
The moment of the second polling signal；
T11 and t14 is that described second receiving node sends to described host computer, and t11 is that described second receiving node sends institute
Stating for the second moment replied message, t14 is that described second receiving node received for the described second moment confirming message.
The method that destination node in motion is carried out wireless location the most according to claim 1, it is characterised in that described
Step 107 is further:
T1, t5, t6, t8, t12 and t13 is sent, so that described host computer calculates the position (x' in t1 moment to host computer0,y'0),
Wherein:
d'2=d2+d 。
3. a destination node, it is characterised in that including:
First poll signal transmitting module, for sending the first polling signal, institute to the first receiving node and the second receiving node
State the first polling signal and include the first receiving node mark；
First replies message receiver module, and first sent for receiving described first receiving node replies message；
First confirms message transmission module, for sending the first confirmation message to described first receiving node；
Second polling signal sending module, for sending the second polling signal, institute to the first receiving node and the second receiving node
State the second polling signal and include the second receiving node mark；
Second replies message receiver module, and second sent for receiving described second receiving node replies message；
Second confirms message transmission module, for sending the second confirmation message to described second receiving node；
First communication module, for sending t1, t5, t6, t8, t12 and t13 to host computer, during so that described host computer calculates t8
Position (the x carved0,y0), wherein:
(x1-x0)2+(y2-y0)2=d2 2
d′1=d1+ d, d=c ((t8 t1) (t10 t3)), (x1,y1) it is the position of the first receiving node, (x2,y2) it is second
The position of receiving node, d1=c ((t7-t4) (t6-t5))/2, d2=c ((t14-t11) (t13-t12))/2；
T1 is the moment sending described first polling signal, and t5 is to receive described first moment replied message, and t6 is for sending institute
Stating the moment of the first confirmation message, t8 is the moment sending described second polling signal, and t12 replies message for receiving described second
Moment, t13 be send described second confirm message moment；
T3, t4, t7 and t10 are that described first receiving node sends to described host computer, and t3 is that described first receiving node connects
Receiving the moment of described first polling signal, t4 is that described first receiving node sends described first moment replied message, and t7 is
Described first receiving node received for the described first moment confirming message, and described t10 is described in described first receiving node receives
The moment of the second polling signal；
T11 and t14 is that described second receiving node sends to described host computer, and t11 is that described second receiving node sends institute
Stating for the second moment replied message, t14 is that described second receiving node received for the described second moment confirming message.
Destination node the most according to claim 3, it is characterised in that described first communication module is further used for:
T1, t5, t6, t8, t12 and t13 is sent, so that described host computer calculates the position (x' in t1 moment to host computer0,y'0),
Wherein:
d'2=d2+d 。
5. the method that the destination node in motion is carried out wireless location, it is characterised in that including:
Step 201: the first receiving node and the second receiving node receive the first polling signal that described destination node sends, described
First polling signal includes the first receiving node mark；
Step 202: the first receiving node sends first to described destination node and replies message；
Step 203: the first receiving node receives the first confirmation message that described destination node sends；
Step 301: the first receiving node and the second receiving node receive the second polling signal that described destination node sends, institute
State the second polling signal and include the second receiving node mark；
Step 302: the second receiving node sends second to described destination node and replies message；
Step 303: the second receiving node receives the second confirmation message that described destination node sends；
Step 401: the first receiving node sends t3, t4, t7 and t10 to host computer, the second receiving node sends t11 to host computer
And t14, so that described host computer calculates the position (x of t8 moment destination node0,y0), wherein:
(x2-x0)2+(y2-y0)2=d2 2
d′1=d1+ d, d=c ((t8 t1) (t10 t3)), (x1,y1) it is the position of the first receiving node, (x2,y2) it is second
The position of receiving node, d1=c ((t7-t4) (t6-t5))/2, d2=c ((t14-t11) (t13-t12))/2；
T3 is the moment that described first receiving node receives described first polling signal, and t4 is that described first receiving node sends institute
Stating for the first moment replied message, t7 is that described first receiving node received for the described first moment confirming message, and described t10 is
Described first receiving node receives the moment of described second polling signal, and t11 is that described second receiving node sends described second
In the moment replied message, t14 is that described second receiving node received for the described second moment confirming message；
T1, t5, t6, t8, t12 and t13 are that described destination node sends to host computer, and t1 is for sending described first polling signal
Moment, t5 be receive described first moment replied message, t6 be send described first confirm message moment, t8 for send
In the moment of described second polling signal, t12 is to receive described second moment replied message, and t13 confirms for sending described second
The moment of message.
6. a receiving node, it is characterised in that including:
First poll signal receiving module one, for receiving the first polling signal that described destination node sends, the described first round
Ask signal and include the first receiving node mark；
First replies message sending module, replies message for sending first to described destination node；
First confirms message reception module, receives, for the first receiving node, the first confirmation message that described destination node sends；
Second polling signal receiver module, for receiving the second polling signal that described destination node sends, described second poll
Signal includes the second receiving node mark；
Second communication module, for sending t3, t4, t7 and t10 to host computer.
7. a receiving node, it is characterised in that including:
First poll signal receiving module two, for receiving the first polling signal that described destination node sends, the described first round
Ask signal and include the first receiving node mark；
Second replies message sending module, sends second for the second receiving node to described destination node and replies message；
Second confirms message reception module, receives, for the second receiving node, the second confirmation message that described destination node sends；
Second polling signal receiver module two, for receiving the second polling signal that described destination node sends, described second takes turns
Ask signal and include the second receiving node mark；
3rd communication module, for sending t11 and t14 to host computer.
8. the system that the destination node in motion is carried out wireless location, it is characterised in that include claim 3 or 4 institute
The first receiving node described in the destination node stated, claim 6 and the second receiving node described in claim 7.
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