CN107249167A

CN107249167A - Indoor comprehensive locating platform and localization method

Info

Publication number: CN107249167A
Application number: CN201710227950.1A
Authority: CN
Inventors: 沈磊
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-04-10
Filing date: 2017-04-10
Publication date: 2017-10-13

Abstract

The present invention relates to a kind of indoor comprehensive locating platform and localization method, indoor comprehensive locating platform includes：System software layer, equipment Access Layer, service layer, service integration layer, business software layer and presentation layer；Each layer subsystem performs the processing of each subsystem data by the service layer；Networks of Fiber Communications system and signal acquiring system based on RFID pass through the equipment Access Layer, realize the importing to different sub-systems data, and each subsystem and the indoor comprehensive locating platform data interaction；Indoor comprehensive locating platform uses honeycomb structure networking, and each equipment is by multiple directions and gateway communication, and each equipment also has relay wireless signals function.

Description

Indoor comprehensive locating platform and localization method

Technical field

The present invention relates to positioning field, in particular to a kind of indoor comprehensive locating platform and method.

Background technology

In the prior art, for large area monitoring scene, the monitoring position to personnel and accurately motion are reached Track is monitored, and generally requires to lay substantial amounts of positioning node in the environment, is positioned so as to be realized by multiple angles, and if same When to reach to the positioning on the upper-lower positions such as building body, i.e., two-dimensional localization is combined with three-dimensional localization, then needs to lay more Positioning node, considerably increases the holistic cost of system.

In addition, in the prior art, carrying out more accurate indoor positioning by RFID technique to reach, often combining The signal characteristic in other wireless transmission sources, or tag signal strength detection as auxiliary, such as by prestoring difference Signal intensity on reference position, after real-time tag signal strength is received, is compared with the signal intensity that has stored, So as to carry out the determination of relative position scope, but this technology needs to store substantial amounts of position signalling strength information, in face of During the application environment of large area, such as geographic coverage and during many building, the data storage amount of its reference position strength information Greatly, operability is not strong.And for example its use in any certain site, be all fully achieved at least three transmitters covering when, it is right Label position is positioned, and according to triangle polyester fibre algorithm, obtains the accurate location of label, still, this antenna and base station Laying mode, same area is larger, need not carry out the region of multiple emission source coverings, can cause the waste of device resource. Therefore, how large area scene application in Reasonable Arrangement RFID device, realize to different accuracy requirement positioning and track with Track, becomes an important need in substantive markets.

The content of the invention

It is an object of the invention to provide a kind of indoor comprehensive locating platform and method, exist in the prior art to overcome At least one technical problem.

To achieve these goals, the invention provides one kind, the indoor comprehensive locating platform includes：System software Layer, equipment Access Layer, service layer, service integration layer, business software layer and presentation layer；Each layer subsystem passes through the service Layer performs the processing of each subsystem data；Networks of Fiber Communications system and signal acquiring system based on RFID pass through the equipment Access Layer, realizes that the importing to different sub-systems data, and the data of each subsystem and the indoor comprehensive locating platform are handed over Mutually；Indoor comprehensive locating platform uses honeycomb structure networking, and each equipment is by multiple directions and gateway communication, and each equipment is also With relay wireless signals function.

To reach above-mentioned purpose, present invention also offers a kind of indoor and outdoor synthesized positioning method, it is characterised in that the positioning Method relies on above-mentioned locating platform, and the localization method comprises the following steps：

If p is read write line J to label k to be positioned geometric distance, the rectangular space coordinate positioned at the same coordinate system can be used It is expressed as：

Due to the presence of error, measured value d, not fully equal to calculated value P, the conversion relation between them is such as Under：

D '=d+ σ d (1.2)

Consider equation (1.1), the basic model of pseudorange positioning can be obtained：

According to the approximate coordinate (X of label to be positioned_k ⁰,Y_k ⁰,Z_k ⁰) formula (1.3) is carried out to linearize：

Make, lkj=- (rkj0-r') j=1, the form of 2,3,4 formula (3.4) matrixes of being write as is:

When the read write line number of observation simultaneously is equal to 4, the unique solution of unknown parameter can be obtained：

X=A^-1L

When the read write line number of observation simultaneously is more than 4, it can be solved using least square method：

X=(A^TA)^-1A^TL

[X_k=X_k ⁰+σX_k,Y_k=Y_k ⁰+σY_k,Z_k=Z_k ⁰+σZ_k]

Precision is：

D=σ²Q=m²(A^TA)^-1

Preferably, rough location estimation is carried out using the algorithm of two-dimensional space, then by related accurate three-dimensional location estimation As a result as the starting point of iterative calculation.

Preferably, above-mentioned localization method also includes ray trace step, specifically includes the identification in ray footpath and corresponding electromagnetism The assessment of field vector contribution：All continuously receive and dispatch the path set penetrated between position to the identification traversal in ray footpath, and wherein path is use up Head must be located at the inside of wall or diffraction section, and must have minimum length；The maximum number of path epimere is a dependence ring The adjustable input value in border；When by a not transparent wall, path goes out of use；Located in advance by the geometry of environmental data Reason, deletes some impossible paths, acceleration search process；Then according to every ray receiving point electric field vector estimation pair The contribution of total intensity.Every ray is to the contribution of total intensity dependent on polarization properties and the radiation mode of transmitting.When finding one Behind path, electromagnetic field is propagated just to be assessed as the plane wave by the multiple phenomenon such as reflection, transmission, diffraction.

Preferably, the composition in complex vector domain can be calculated by the classical geometric optics of reflection, transmission.

Preferably, it is general in transmission of wireless signals because the enchancement factors such as multipath, barrier, diffraction are present in actual environment All over the model that uses for：

PL (d)=PL (d₀)+10nlg(d/d₀)+X₀ (1.4)

In formula, PL (d) is the path loss after apart from d；PL(d₀) for path loss after unit distance；d₀ For unit distance, usually 1m；X₀The random number and Gaussian distributed that are 0 for average, its standard deviation scope is 4~10；N is The signal attenuation factor, scope is 2~4.

The signal intensity that receiving terminal is received is：

P_R(d)=P_T+G_T-PL(d) (1.5)

In formula, P_R(d) it is received signal strength indicator i.e. RSSI；P_TFor the power of transmission signal；G_TIncrease for transmitting antenna Benefit.Based on the principle, IEEE802.15.4 standards give the signal attenuation model after simplifying：

But in view of factors such as environment, cost, positioning accuracy requests, so ranging model can be further in actual measurement It is reduced to：

RSSI=-10nlgd-A (1.7)

In formula, n is the signal attenuation factor, and scope is generally 2~4；D is the distance between positioning node and reference mode； A is that the distance between positioning node and reference mode d measures RSSI value when being 1m, and formula (1.7) is exactly the classical mould of RSSI rangings Type, has obtained RSSI and d functional relation, therefore the RSSI value that known receiver is received can be just calculated between emitter Distance, A and n are that empirical value is relevant with the environment of specifically used hardware node and radio transmission, therefore in different realities Different its ranging model of A with n parameters is also different in the environment of border.

Preferably, the congruity theory of diffraction is used for around hitting, and edge and chock are represented with the discontinuity of plane, generates Number of rays be every ray allow by emission maximum diffraction number function, for field source r, send IV ray, pass through Cross IV secondary reflection, diffraction or transmission, it is assumed that wireless propagation environment is formed by six face walls closure, and think that wall is preferable reflection Face, i.e. r=-1, the length and width of the rectangular body region and high respectively L_a, L_b,_Lc, the coordinate of j-th read write line is X^j, Y^j, Z^j, treat The geometric coordinate for positioning label is X_k, Y_k, Z_k；If Eo is distance signal transmitter d.The electric field at place, then for d>d.Area Domain, the signal of direct line-of-sight propagation and the Signal averaging by six reflecting surface effects, be in signal receiving end respective electric field：

The indoor comprehensive locating platform and localization method of the present invention has the advantages that：

(1) low-power consumption:Due to transmission rate it is low, transmission power is only 1mW, and employs park mode, low in energy consumption, Therefore indoor comprehensive locating platform equipment very power saving.It is estimated that equipment only can just maintain to be up to 6 by two No. 5 batteries of section The moon, this was that other wireless devices are too far behind to catch up to the use time of 2 years or so.

(2) cost is low：The initial cost of indoor comprehensive locating platform module is at 6 dollars or so, and estimation will soon be dropped to 1.5-2.5 dollars, and indoor comprehensive locating platform agreement exempts from patent fee.Low cost for be also one it is crucial because Element.

(3) time delay is short:Communication delay and the time delay activated from resting state are all very short, typically search for equipment delay 30ms, the time delay of dormancy activation is 15ms, and the time delay of vehicular equipment channel access is 15ms.Therefore indoor comprehensive locating platform skill Art is applied to apply the harsh controlled in wireless (such as Industry Control occasion) of delay requirement.

(4) network capacity is big：The indoor comprehensive locating platform network of one hub-and-spoke configuration can at most accommodate 254

There can be most 100 indoor comprehensive locating platforms in individual slave unit and a main equipment, a region simultaneously Network, and network composition is flexible.

(5) it is reliable:Collision avoidance strategy is taken, while for when needing the communication service of fixed-bandwidth to have reserved special Gap, avoids the competition and conflict for sending data.MAC layer employs fully validated data-transmission mode, the number each sent The confirmation of recipient is all had to wait for according to bag.As gone wrong and can be retransmitted in transmitting procedure.

(6) safety：Indoor comprehensive locating platform provides the packet integrity checking based on CRC (CRC) Function, supports authentication and certification, employs AES-128 AES, and each application can flexibly determine its security attribute.

Brief description of the drawings

Fig. 1 is the three-point fix algorithm schematic diagram according to one embodiment of the invention；

Fig. 2 is to set up network primitive process schematic according to one embodiment of the invention；

Fig. 3 is to find network according to the terminal device and routing device of one embodiment of the invention and add network signal Figure；

Fig. 4 is the addition network primitive process schematic according to one embodiment of the invention；

Fig. 5 is the auxiliarily magnetic inertia navigation model schematic diagram according to one embodiment of the invention；

Fig. 6 is the acceleration inertial navigation coordinate diagram according to one embodiment of the invention.

Embodiment

In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with accompanying drawing, the present invention is entered One step is described in detail.It should be appreciated that instantiation described herein is not used to limit this hair only to explain the present invention It is bright.

In an embodiment of the invention, indoor comprehensive locating platform is provided with six levels, is respectively：System software Layer, equipment Access Layer, service layer, service integration layer, business software layer and presentation layer；Above-mentioned each subsystem passes through the service layer Perform the processing of a subsystem data；Networks of Fiber Communications system and signal acquiring system based on RFID are connect by the equipment Enter the data interaction of layer, importing of the realization to different sub-systems data, and each subsystem and the indoor comprehensive locating platform. With AES encryption (advanced ciphering system), secondly, indoor comprehensive locating platform uses honeycomb structure networking, and each equipment can not only Pass through multiple directions and gateway communication, the stability of Logistics networks；Each equipment also has relay wireless signals function, Ke Yijie Power transmission communication information passes to wireless distances beyond 1000 meters.The basis of indoor comprehensive locating platform is IEEE 802.15.4. But IEEE only handles low level MAC layer and PHY, therefore indoor comprehensive locating platform extension IEEE.

Each IP connections of indoor comprehensive locating platform, 3000 data above abilities of processing per second；Per data 18 Byte；The 100 card reader connections of every server, 300,000 data per second；Platform stable performance continuous service three months, during which without Sudden strain of a muscle is moved back, the unstability such as no interruption；Socket is long connection status, remains connection, interrupts, and platform is reconnected； Track following service is provided；Video interlink service is provided；Real time position displaying service is provided；There is provided data integration ability there is provided Multipoint positioning method；Provide the user wireless data transmission function.Inertial navigation service, i.e. the position root from a known point are provided Go out the position of its subsequent point according to the carrier course angle and speed calculation that continuously measure thus can continuously measure the current of movable body Position.

For example, each IP connections, 3000 data above abilities of processing per second, that is, be responsible for distribution, heterogeneous data source In data such as relation data, flat data file be drawn into behind interim intermediate layer cleaned, changed, it is integrated, finally plus It is downloaded in data warehouse or Data Mart, the basis as on-line analytical processing, data mining.

Preferably, the database module also includes data cleansing module, for that will be stored in database module Data carry out abnormal data cleaning, mainly include：According to different types of data, abnormal data cleaning rule is called, data are entered Row cleaning, suppressing exception data；The abnormal data cleaning rule comprises at least change threshold rule.

Preferably, the change threshold rule is specially：Data are carried out with the sampling of interval time T, the company of data is obtained Continue N number of sampled value A₁,A₂,…,A_N, the data being sampled are same type data, if the packet is a containing data element₁, a₂,…,a_k, each data element between two neighboring sampled value and the sampled value of initial and end two in N number of sampled value is calculated respectively Root mean square, i.e.,

And store the root-mean-square value sequential after calculating, the root mean square between the sampled value of initial and end two comes end, its Middle i, j represent i-th and j-th of sampled data respectively；

Calculate the difference B' and average between adjacent each root mean square BAnd calculate eachWhenMore than pre- If threshold value when, delete sampled value common in adjacent two root mean square B.

Compared with prior art, technical solution of the present invention well can carry out different types of large scale system effectively whole Close, and the mass data transfers between different system are ensured by fiber optic network, and according to different system types, differently Point carry out system is interspersed and links, such as in warehouse monitoring, video, alarm, environmental monitoring is merged, realized well Effective monitoring and early warning to place in scope, can be well adapted for a wide range of site management, the demand of monitoring.

By from lower security network/domain (simply referred to as " outer net ") to exemplified by high safety network/domain (simply referred to as " Intranet "), In the mode of data acquisition, common C/S frameworks, fixed port is typically all opened at Server ends, then by Client ends Active push data, to reach the purpose of data acquisition.

To ensure security, data exchange system typically obtains data using active mode, i.e., with the identity at Client ends Data actively are obtained to corresponding server, open fixed port thus are avoided that, security is guaranteed.

It is a kind of typically by two class modes to ensure the confidentiality of data exchange between data exchange system UAS and TAS It is simply internal to use because proprietary protocol is not announced externally, its safety using proprietary protocol transmission data between UAS and TAS Performance is guaranteed.

For example, the 100 card reader connections of every server, 300,000 data per second.

During stability cardinal principle is the closed-loop pole number Z=P-2N in s RHPs, formula, P is that s RHPs are opened Circumpolar is counted, and N is that open loop Nyquist curves surround the number of turns of (- 1, j0) point counterclockwise, and has N=N+-N-

Wherein N+ is：Just passing through it is with half positive traversing times and.

Wherein N- is：It is negative pass through it is with half negative traversing times and.

For example, platform uses Socket connections, Socket is long connection status, remains connection, interrupts, platform Reconnect.

To ensure intranet security, fine-grained safety inspection to be carried out to the data transmitted to Intranet, data are common are Land checking and killing virus, fine-grained information filtering, Safe Format inspection etc., it is ensured that the security of application data transmission.

This ensure that data type, data format as defined in only transmitting, and ensure the security of the data of transmission.If Internal series-connection safety isolation network gate, will peel off all communications protocol so that attack, wooden horse etc. lose the space of existence, safety Property is greatly improved.

For example, the track following obtains the RFID information from the signal acquiring system based on RFID, Yi Jisuo The video information of video interlink subsystem is stated, and the RFID information and/or the video information are handled, tracking is obtained Trace information, and judged according to the pursuit path information, and when judging to meet preparatory condition, to the indoor comprehensive Locating platform sends alarm signal, and to the position in alarm track on the visualization interface of the indoor comprehensive locating platform Rower is clicked through to show.When the RFID information data meet preparatory condition, and/or the data sent from the sensor device When meeting preparatory condition, warning message is sent to the control command centre, and in visualization circle of the control command centre Alarm region is indicated on face.Specially：1. position data of the label in a period T is obtained, and by the position Data are according to sequence of event；2. one slope span is set, and by random fashion, one is chosen in the span The slope of determination is used as initial value；3. the initial value is based on, using the first position data in T as starting point, adjacent two are calculated Put the conic section of data point.4. total conic section in time T is set, is designated as：Y=A_i,1x²+A_i,2x+A_i,3, wherein A_i,1, A_i,2,A_i,3The respectively coefficient of curve, i is natural number；

According to the initial value, and the position data, the slope of each location data points is determined, is specially：

Wherein b, c are coefficient, x_i,y_iHorizontal stroke, the ordinate of respectively i-th position data, x_i+1,y_i+1Respectively i+1 Horizontal stroke, the ordinate of individual position data, K_i+1、K_iThe slope of point respectively at i+1 and i-th of position data；

For position data described in i-th, its corresponding points is respectively for the coefficient of the conic section of starting point：

Wherein 0<d<1, A_i2=K_i, A_i3=y_i；

For example, the application terminal with baseband chip, can receive and resolve positioning signal, will by mobile communications network The positional information of oneself is uploaded to comprehensive service platform.

For example, the video interlink subsystem includes the video monitoring equipment being arranged in the range of platform monitoring, and lead to The control command centre is crossed, the monitoring information from other subsystems is obtained, and receiving the abnormal letter of specific location During breath, the video data of the specific location is transferred in real time, and is shown, to show the real-time mirror of the specific location Picture, realizes video interlink.

For example, in the software layer, comprising database module, the database module receives the number from each subsystem According to, and data are carried out with integrated, the renewal of foundation data, data are cleaned and stored；Coordinate with the database module Data scheduling module is provided with, for being allocated to the data stored in database module.

For example, described carry out integrated mainly including to data：The data from each subsystem are received, and data are turned Change, data format is unified, and the data after conversion are imported into message queue；Major key, and change mark are set up for data Remember key, set up table data store；The change mark key is used to represent that its corresponding data element changes, and change Data Position；Data are extracted in timing from message queue, the data distribution in message queue are entered into storage table, and deposited in major key Enter corresponding data type, data storage is then entered into database module；By the data scheduling module, according to platform courses Data in database module are allocated, and send by the data allotment request of command centre and each subsystem.

For example, the storage table is divided into different storage table corresponding from the data type of the major key, to store correspondence Data type；The data scheduling module is allocated according to the data and asked, and generates data acquisition table, the data acquisition table Including at least needing the type of allocation data, data time limit to require, destination；The data scheduling module is according to the data acquisition Table, by the storage table, allocates corresponding data.

For example, the platform carries out tag location, including two-point locating and multipoint positioning, the multipoint positioning is to pass through three Individual or more than three positioning nodes carry out tag location.

For example, the two-point locating is specially：On map, two-point locating region is divided into some sub-regions, institute State subregion area equation；The identification point of all subregion is used as using the center point coordinate of each sub-regions respectively；Record each sub-district The air line distance of field mark point two positioning nodes nearest apart from the subregion, and calculate the ratio of two air line distance； The set location of the calculation basis positioning node of the ratio, is sequentially calculated in a fixed order；By the ratio, and The two positioning node sequence numbers calculated are participated in, the ID of corresponding subregion is recorded as jointly；When label enters identification region, adopt Collect the sequence number and signal intensity of signal most strong two positioning nodes, according to the permanent order, calculate two positioning node The ratio of signal intensity；Sequence number according to two positioning node searches corresponding subregion group；By the ratio of the signal intensity Value and the ratio of subregion group are compared, and it is target subregion to choose the minimum subregion of difference, and will be described The central point of target subregion as label current location.

For example, in terms of reliability, indoor comprehensive locating platform has many aspects to be ensured.Physical layer is using spread spectrum skill Art, interference can be resisted to a certain extent, and MAC application layers (APS parts) have response functions of retransmission.MAC layers of CSMA mechanism Node is sent preceding first monitor channel, can play a part of avoiding interference.When indoor comprehensive locating platform network is by the external world Interference, it is impossible to which during normal work, whole network can be dynamically switched on another working channel.

For example, time delay uses Stochastic accessing MAC layer due to indoor comprehensive locating platform indoor comprehensive locating platform, and do not prop up Time-multiplexed channel access mode is held, therefore some real-time business can not be supported well.

For example, energy consumption characteristics are a technical advantages of indoor comprehensive locating platform.Usual indoor comprehensive locating platform section The carried application data rate of point is all than relatively low.In when needing communications status, node enters Low-power-consumptiodormancy dormancy state, now Energy consumption may only have the one thousandth under normal operating conditions.Because generally, dormancy time accounts for the big of total run time Part, the time of normal work is less than 1 percent sometimes, therefore reaches very high energy-saving effect.

Networking and routability --- Internet characteristic, the large-scale networking capability of indoor comprehensive locating platform --- each net 65000 nodes of network.Bottom uses DS technology, such as uses non-beacon pattern, network can be extended, because be not required to synchronization and Node adds network can accomplish within 1 second that bluetooth is usually required 3 seconds with the process for rejoining network.In terms of route, room Interior comprehensive locating platform supports the route of the high mesh network of reliability, therefore can arrange scope very wide network, support multicast and Multipoint positioning mobility.

Indoor and outdoor locating platform is a kind of Internet of Things wireless data terminal, and wireless data transmission is provided the user using network Function.Using high performance technical grade scheme there is provided SMT and DIP interfaces, TTL interface equipments can be directly connected to, realize that data are saturating Bright transfer function；Low power dissipation design, lowest power consumption is less than 1mA；6 road I/O are provided, achievable digital quantity input and output, pulse are defeated Go out；Wherein there are 3 road I/O to realize the functions such as analog acquisition, step-by-step counting.

For example, indoor comprehensive locating platform is primarily due to any two section of whole private network using specific address in net Connection between point, better than the physical link end to end needed for traditional private network, is that framework is provided in common network service provider (logical network on asynchronous transfer mode ＞, Frame Relay (frame relay) is used for the network platform, such as Internet, ATM User data is transmitted in logical links.It covers encapsulation, encryption and the authentication link across shared network or public network Dedicated network extension.Address is 16 or 64, and address is limited, and internet host can not be accessed.

Preferably, the indoor two-point locating algorithm, based on the distance-finding method of the pad value between label and node, it is The signal attenuation value of known node, according to the distance between the propagation time calculate node of signal.Node receives multiple adjacent After nodal information, the position of label is determined using two-point locating method, the movable observing of row label is entered using inertial navigation.

Preferably, the indoor and outdoor three-point fix algorithm, the traditional three-point fix algorithm of optimization, the location algorithm of use is base In the algorithm (i.e. LANDMARC algorithms) of received signal strength, and using three-point fix algorithm behind LANDMARC algorithms, Make it more accurate.

Assuming that three the round center of circle A, B, C are corresponding three AP positions in Fig. 1.Its corresponding coordinate is respectively (x₁, y₁),(x₂,y₂),(x₃,y₃).Three round intersection point D are mobile terminal locations to be positioned, and coordinate is (x, y).Correspondence measurement The distance of point and each WAP is d₁, d₂, d₃.It can be seen from geometrical relationship:

The last formula of formula (1.1) is subtracted into preceding two formula, can be obtained：

The position coordinates of terminal is obtained by formula (1.2)：

Preferably, the indoor and outdoor matrix location algorithm, except three-point fix algorithm, according to actual conditions and site environment Difference, reasonable selection indoor and outdoor matrix location algorithm realizes personnel positioning.Indoor and outdoor matrix location algorithm automatic identification composition three The positioning node at angle (3 points), makes its label be constantly in 3 positions, label position is accurately positioned so as to reach.

It is an automatic process to set up network, and positioning node carries out energy in the range of the network channel that application is specified and swept Retouch, by being monitored on each channel, obtain each channel energy level.Positioning node can select an interference and conflict most Few channel sets up network.Determine after working channel, equipment can further set remaining network parameter, including PAN marks, The network address, extension PAN marks etc..

As shown in Figure 2, Figure 4 shows, application layer triggers Internet by NLME-NETWORK-FORMATION.request and carried out Network sets up process.Primitive includes scanning channel, sweep time, beacon rank, superframe rank, the parameter such as battery life extension flag. The detailed process that network is set up：Call MAC layer MLME-SCAN primitive successively to carry out energy scan and active scan, choosing NLME-SET primitive is called successively to be configured to parameter after the parameters such as channel, PAN marks, finally by MLME-START primitive Start positioning node.

As shown in figure 3, new node adds the network existed around Network Priority search, network is found, process and net is set up Network directly invokes the active scan of MAC layer, that is, sends MAC layer beacon request order, then monitored and whether receive beacon.

A kind of beacon frame, special frame, is sent by positioning node, carries the related information of network, for noticing network letter Breath, so that other equipment adds the situation of network or awareness network.MAC payload parts include the superframe specification of 2 bytes, GTS Domain, buffer address domain, and beacon specification.

For example, superframe structure regulation positioning node and surrounding devices call duration time.Superframe structure includes：Beacon rank (BO), Superframe rank (SO), the end time in contention access period, reserved place sends whether beacon equipment is PAN positioning nodes, positioning section Whether point allows other equipment to be associated.The setting of SO or BO parameters has a great impact for the characteristic of network, and BO is bigger, Beacon period is bigger, and the time that new equipment needs monitoring longer could obtain beacon, therefore it is longer to add the time of network.

For example, situation in experiment：Using non-beacon mode, MAC layer supports the channel access mode without superframe structure, letter Mark not periodically sends and taken the mode sent on demand, that is, ability beacon on when receiving beacon request.Now BO=15, SO value is nonsensical.

For example, entrained payload includes protocol-identifier in beacon, protocol stack subset, protocol version, data acquisition unit receives Mark, equipment depth (0x0 is denoted as the positioning node of tree root), end-equipment receives mark, extension PAN marks, during beacon Between offset, network more new logo.Protocol stack subset is also known as feature set (feature set), specifies each to protocol stack optional The selection of selecting property and parameter area.Protocol stack is directed to diversified application, and excessively complicated unavoidably, option is various, and characteristic Collection can reduce the scope of option generally directed to a few class applications, and definition is more suitable for the function and parameter model of these applications Enclose.Data acquisition unit accepted flag indicates whether that receiving data acquisition unit equipment adds network.

For example, after new node receives beacon, determining which network added, it is then determined that whether with the body of data acquisition unit Part adds, it is determined that being added by which node, afterwards, MAC layer association request command is sent, if the associated response succeeded Order, then node sets the network address of oneself according to the address carried among order.If new node is with endpoint node Identity is added, then the adition process of new node is completed with regard to this；But if if new node is added with data acquisition unit identity, newly Node also needs to initiate Internet NLME-START-ROUTER primitive, and mac layer MLME-START primitive identifies PAN, Logic channel, beacon rank and superframe rank are arranged to the corresponding parameter identical value of father node.

For example, application layer asks MAC layer to carry out network sweep, ginseng by NLME-NTEWORK-DISCOVERY.request Number includes scanning channel and sweep time.MAC layer is completed after scan channel by MLME-SCAN primitive, and Internet passes through again NLME-NTEWORK-DISCOVERY.confirm primitive tells application layer result.

Application layer asks Internet addition network to start by NLME-JOIN.request, and primitive includes extension PAN marks Know, addition network mode, scanning channel, sweep time, ability information, the parameter such as safety sign.Complete add network development process it Afterwards, the Internet of father node notifies the result of application level of child nodes addition by NLME-JOIN.indication, and primitive includes The network address of child node, extended address, ability information adds network mode, the parameter such as safety sign.And the network of child node Layer notifies the result that application layer is added by NLME-JOIN.confirm, and primitive includes state, the network address of distribution, extension PAN is identified, the parameter such as working channel.

For example, the Floor layer Technology of indoor comprehensive locating platform is based on IEEE 802.15.4, i.e. its physical layer and media interviews Key-course has directly used IEEE 802.15.4 definition.The physical layer and media for being responsible to define indoor comprehensive locating platform are situated between Matter access layer.IEEE802.15.4 specifications be a kind of economic, efficient, low data rate (<250kbps), be operated in 2.4GHz and 868/915MHz wireless technology, for personal area network and peer-to-peer network.It is indoor comprehensive locating platform application layer and net The basis of network layers agreement.It is mutually coordinated between thousands of small sensors to realize communication according to 802.15.4 standards.These Sensor needs seldom energy, and data are passed into another from a network node by radio wave in the way of relay and saved Point, communication efficiency is high.

For example, indoor comprehensive locating platform is a kind of highly reliable wireless data sending network, similar to CDMA and GSM networks. Indoor comprehensive locating platform digital transmission module is similar to mobile network base station.Communication distance is from the 75m of standard to hundreds of meter, several public affairs In, and support infinite expanding.

Preferably, indoor comprehensive locating platform is one by can a nothing constituting of more to 65000 wireless data transmission modules Line number passes the network platform, in the range of whole network, can be in communication with each other between each network digital transmission module, each network section Distance between point can be from the 75m infinite expandings of standard.

For example, dynamic routing refers to that the path of data transmission in network is not set in advance, but before transmission data, By being scanned for network all paths available at that time, their position relationship and distance is analyzed, it is then selected In a paths carry out data transmission.In our network management software, the selection in path uses " gradient method ", i.e., First a nearest passage of selection path is transmitted, and is such as passed obstructed, is reused an other path slightly a little further and passed It is defeated, by that analogy, untill data are sent to destination.At actual industrial scene, predetermined transmission path all may be used at any time It can change, either because a variety of causes path has been interrupted or excessively busy can not be transmitted in time.Dynamic routing knot Close fully connected topology, it is possible to this problem is solved very well, so as to ensure the transmitting of data.

Preferably, the present invention provides indoor comprehensive locating platform construction criteria technical approach, mainly：Using AES encryption (advanced ciphering system), 12 times of precision equivalent to bank card encryption technology；Secondly, indoor comprehensive locating platform uses honeybee Nest architecture networking, each equipment can not only pass through multiple directions and gateway communication, the stability of Logistics networks；Each equipment also has There is wireless signal relay function, wireless distances can be passed to beyond 1000 meters with force transfer communication information.In addition, its network holds The theoretical node of amount is 65300, and indoor comprehensive locating platform possesses the ability of two-way communication, can not only send a command to equipment, Equipment can also feed back execution state and related data simultaneously.In addition, indoor comprehensive locating platform employs extremely low power dissipation Design, full battery is powered, and battery can be used more than 2 years.

Indoor comprehensive locating platform storehouse is set up in IEEE 802.15.4 standard bases, defines agreement MAC and PHY layer.Indoor comprehensive locating platform equipment should include IEEE802.15.4 (the standards define RF radio frequencies and with Communication between neighbouring device) PHY and MAC layer, and indoor comprehensive locating platform stack layer：Internet (NWK), application layer Layer is provided with security service.

The each indoor comprehensive locating platform equipment of stack layer is relevant with a specific template, it may be possible to common template or private There is template.These template definitions application environment of equipment, device type and the cluster for communication between devices.Common template can To ensure interoperability of the equipment of different suppliers in same application field.Equipment be by template definition, and with apply The form of object (Application Objects) is realized.Each application is connected to indoor comprehensive by an end points to be determined The remaining part of bit platform storehouse, specific template is all addressable component in device.

For example, the essence of communication be exactly end points to end points connection (for example, the equipment of a belt switch component and one, band Or the remote equipment of multiple lamp components is communicated, it is therefore an objective to which these lamps are lighted).Communication between end points is by being referred to as What the data structure of cluster was realized.These clusters are the containers that whole attributes needed for information are shared between application, it is special should It is defined in a template with the middle cluster used.Example：Each interface can receive and (be used to input) or send and (be used to export) cluster lattice The data of formula.One has two special end points, i.e. end points 0 and end points 255.End points 0 is used for whole indoor comprehensive locating platform The configuration and management of equipment.Application program can be communicated by other layers of end points 0 and indoor comprehensive locating platform storehouse, so that Realize the initialization and configuration to these layers.The object for being attached to end points 0 is referred to as indoor comprehensive locating platform device object (ZD0).End points 255 is used to move to the multipoint positioning of all end points.End points 241 to 254 is to retain end points.

The service that all end points are all provided using application support sublayer (APS).APS is provided by Internet and security service Layer connects with end points, and provides service for data transmission, safety and binding, therefore, it is possible to be adapted to different but compatible equipment, than Such as switch with lamp.

APS uses the service that Internet (NWK) is provided.NWK is responsible for the communication of device-to-device, and is responsible for equipment in network The included activity of initialization, message route and Network finding.Application layer can pass through indoor comprehensive locating platform device object (ZD0) network layer parameter is configured and accessed.

MAC layer：802.15.4MAC layer IEEE 802.15.4 standards are fixed for low rate wireless personal area network (LR-WPAN) Start two layers of justice osi model.PHY layer defines the feature that less radio-frequency should possess, and it supports two kinds of different radio frequencies Signal, respectively positioned at 2450MHz wave bands and 868/915MHz wave bands.2450MHz waveband radio frequencies can provide 250kbps data The speed channel different with 16.In 868/915MHz wave bands, 868MHz supports the channel that 1 data rate is 20kbps, 915MHz supports the channel that 10 data rates are 40kbps.

MAC layer is responsible for the single-hop data communication between neighbouring device.It is responsible for setting up synchronous with network, supports association and goes Association and MAC layer safety：It can provide the reliable link between two equipment.

(1) on Service Access Point

The different layers of indoor comprehensive locating platform storehouse are communicated with 802.15.4MAC by Service Access Point (SAP). SAP is the interface between the service that a certain certain layer is provided and upper strata.Most of layers of indoor comprehensive locating platform storehouse have two Individual interface：Data entity interface and management entity interface.The target of data entity interface is the conventional number needed for being provided to upper strata According to service.The target of management entity interface is that the mechanism for accessing internal layer parameter, configuration and management data is provided to upper strata.

(2) access point security

Security mechanism provides layer by security service and provided.It is worth noting that, the overall security of system is in template level Definition, it means that template, which should be defined, should realize what type of safety in a certain particular network.

Each layer (MAC, network or application layer) can be protected, and in order to reduce memory requirement, they can share safety Key.SSP is initialized and configured by ZD0, it is desirable to realize Advanced Encryption Standard (AES).Indoor comprehensive positioning is flat Platform specification defines the purposes of trust center.Trust center is that a kind of of distribution safety key in a network makes us setting for trust It is standby.

(3) heap stack capability

The institute according to as defined in indoor comprehensive locating platform storehouse is functional and supports, we are easy to speculate that indoor comprehensive is determined Bit platform storehouse, which is realized, needs to use a large amount of memory resources in equipment.

As shown in figure 5, the present invention provides the mode of auxiliarily magnetic inertia navigation, so-called geomagnetic matching is exactly advance rule The earth's magnetic field characteristic quantity of some points in latter end region is depicted as, with reference to figure (or reference map), being stored in carrier meter on the flight path pulled In calculation machine, when carrier leap these it is regional when, measured in real time by geomagnetic matching measuring instrument and leap these earth's magnetic field features Amount, to constitute in figure in real time and the computer on carrier with carrying out relevant matches with reference to figure, calculates the real-time coordinates of carrier Position, the similar terrain-matching system of navigation information geomagnetic matchings is resolved for navigational computer, but geomagnetic matching can have multiple features The basic skills for measuring matchings is mean absolute difference method.Geomagnetic matching technology mainly uses the pattern match of figure and obtained before this Positioning precision is matched to height, it is necessary first to geomagnetic chart is digitized, can so be drawn by the magnetic declination and magnetic dip angle of earth magnetism Rough longitude and latitude, then carries out calculating Approach by inchmeal, until absolute difference using Geomagnetic Field Model to earth terrestrial space magnetic field Minimum, the position drawn is more accurate matching position location.

Preferably, the present invention provides the mode of indoor comprehensive locating platform acceleration inertial navigation,

Laid using accelerometer at the non-barycenter of carrier come the angular movement of sensitive carrier, so that by the specific force of accelerometer The inertial navigation technique of the specific force and angular speed at carrier barycenter is resolved in output.

Preferably, the present invention provides the mode of indoor comprehensive locating platform gravity gyroscope inertial navigation, inertial navigation system Subordination is in a kind of reckoning navigation mode i.e. from the position of a known point according to the carrier course angle and speed calculation continuously measured Go out the position of its subsequent point.Thus it can continuously measure the current location of movable body.Gyroscope in inertial navigation system is used for shape Make the measurement axle stabilization of accelerometer in the coordinate system into a navigational coordinate system and provide course and attitude angle；Accelerometer Pass through for measuring the acceleration of movable body and speed is obtained to the once integration of time, speed passes through the once integration to the time again It can obtain distance.Inertial navigation system has following major advantage.(1) because it is not dependent on any external information also not Do not influenceed to the self-contained system of outside emittance therefore good concealment and by outside electromagnetic interference；(2) can all-weather it is complete Ball, the complete aerial earth surface or even under water of temporally working in；(3) position, speed, course and attitude angle data, institute can be provided The navigation information continuity of generation is good and noise is low；(4) data updating rate height, short-term accuracy and stability are good.

According to mounting means of the INS on label, gimbaled inertial navigation system (inertial navigation can be divided into Combination installed in inertial platform stage body on) and strap-down inertial navigation system (INS is directly installed on label On).

Gimbaled inertial navigation system：

It is different according to the coordinate system of foundation, two kinds of working methods of spatial stability and local level are divided into again.Spatial stability is put down The stage body relative inertness spatial stability of desk-top inertial navigation system, to set up inertial coodinate system.Earth rotation, acceleration of gravity It is compensated for Deng influence by computer.This system is used on the powered phase of carrier rocket and some spacecrafts.Local level The characteristics of gimbaled inertial navigation system is that the datum plane that two input axis of accelerometer on stage body are constituted can be all the time The horizontal plane (constituting shura loop to ensure using accelerometer and gyroscope) of tracking tags point, therefore accelerometer is not Influenceed by acceleration of gravity.This system is used for label (such as aircraft, cruise missile moved at the uniform velocity along earth surface work Deng).In gimbaled inertial navigation system, framework can isolate the angular oscillation of label, and instrumentation condition is preferable.Platform can be directly Navigational coordinate system is set up, amount of calculation is small, be easy to compensate for and correct the output of instrument, but it is complicated, and size is big.

According to the difference of gyroscope used, it is divided into speed type strap-down inertial navigation system and position type Strapdown Inertial Units is led Boat system.The former uses rate gyroscope, exports instantaneous mean angular velocity vector signal；The latter's free gyroscope, output angle position Shifting signal.Strap-down inertial navigation system eliminates platform, so simple in construction, small volume, easy to maintenance, but gyroscope and plus Speedometer is directly installed on label, and condition of work is not good, can reduce the precision of instrument.This system accelerometer output be The component of acceleration of body axis system is, it is necessary to be converted into the component of acceleration of navigational coordinate system through computer, and amount of calculation is larger.

In order to obtain the position data of label, the output of each Measurement channel of inertial navigation system must be integrated.Gyroscope Drift angle error will be made proportionally to increase with the time, and the constant error of accelerometer will cause with the time square into The site error of direct ratio.This is a kind of error of diverging (constantly increasing with the time), can be by constituting shura loop, gyrocompass The method of 3 negative feedback loops in loop and Foucault loop is to correct this error to obtain accurate position data.

Shura loop, gyrocompass loop and Foucault loop all have the characteristic vibrated undamped period.So inertia is led Boat system is often combined with the navigation system such as radio, Doppler and astronomy, is constituted high-precision integrated navigation system, had been made system both There is damping again can round-off error.

The precision of the navigation accuracy of inertial navigation system and earth parameter is closely related.High-precision inertial navigation system palpus The parameter of the figure of the earth and gravity is provided with reference ellipsoid.Due to factors such as CRUST DENSITY is uneven, topography variations, the earth is each It is often variant between the calculated value that the parameter actual value and reference ellipsoid of point are tried to achieve, and this species diversity also carries randomness, This phenomenon is referred to as gravity anomaly.The gravity gradiometer developed can carry out measurement in real time to gravitational field, and there is provided earth ginseng Number, solves the problems, such as gravity anomaly.

Preferably, the present invention provides indoor outside fix static detection algorithmic approach, and zero velocity correction algorithm needs detection to set The state that standby speed is zero, and the velocity amplitude that this state lower sensor acceleration information integration is obtained is used as extended pattern Kalman The measured value of wave filter velocity error, to estimating speed error, therefore it is accurate judge equipment it is static be that guarantee system is well transported Capable important foundation.In n ts, the modulus value different directions of acceleration and angular speed change, and are chosen near the tn moment for the moment Between window tnm~tn+m, during which the variance of acceleration modulus value be fixed value.

Preferably, the present invention provides indoor outside fix inertia indoor positioning algorithms mode, from MEMS sensor gathered data Mainly include following five step to positional information is obtained：1. initial alignment, it is determined that positioning starting point, and by gravity in equipment The projection of coordinate system determines the initial roll angle of equipment and the angle of pitch, while determining initial yaw angle using magnetoresistive transducer；2. expand Exhibition type Kalman filter update starts, by by filter status vector in respective items respectively with accelerometer and gyroscope The acceleration of output is added with angular velocity vector, and acceleration is compensated with angular speed；3. use the gyroscope three after compensation Axis angular rate computing device attitude angle, reuses attitude angle and calculates corresponding spin matrix, the matrix is used as extended pattern karr The input quantity of graceful wave filter participates in filter update；4. spin matrix is multiplied with the vector acceleration after compensation, by acceleration Slave unit coordinate system is transformed into geographic coordinate system；5. the acceleration after pair conversion coordinate system is integrated, geographic coordinate system is obtained Under speed, then the displacement obtained under geographic coordinate system is integrated to the speed, is the positional information of relative initial point；When When static detection algorithm detects inactive state, the measurement process (i.e. zero velocity makeover process) of Kalman filter is triggered, will The velocity error optimal estimation of wave filter output is added with the speed obtained by integration, obtains revised speed；Reuse speed The optimal estimation of error calculates the evaluated error of displacement, and is added with the displacement obtained by revised rate integrating, is corrected Displacement afterwards.

Preferably, the present invention provides indoor comprehensive location platform arrangement mode, mainly：Indoor comprehensive locating platform specification is determined The justice equipment of three types, it is every kind of have the functional requirement of oneself：Indoor comprehensive locating platform positioning node is to start and match somebody with somebody Put a kind of equipment of network.Positioning node can keep the binding form of indirect addressing, association be supported, while letter can also be designed Appoint center and perform other activities.One indoor comprehensive locating platform network only allows have an indoor comprehensive locating platform positioning Node.

Indoor comprehensive locating platform data acquisition unit is a kind of equipment for supporting association, can forward the message to other set It is standby.Grid or tree network can have multiple indoor comprehensive locating platform data acquisition units.Indoor comprehensive locating platform Star network Network does not support data acquisition unit.

Indoor comprehensive locating platform terminal device can perform its correlation function, and use indoor comprehensive locating platform net Network reaches other equipment for needing to communicate with.Its memory span requirement is minimum.

But it is significant to note that, the certain architectures of network can dramatically influence the resource needed for equipment.NWK The network topology of support has star-like, tree-shaped and grid type.In this several network topology, requirement of the Star Network to resource is most It is low.

Indoor comprehensive locating platform is for a series of communication protocols of low data rate, short-distance radio network communication definitions Standard.

(1) functional characteristics of positioning node

>Select a channel and PAN ID, building network

>Route and label is allowed to add this network

>Data in network are route

>Often electricity it must power, it is impossible to enter sleep pattern

>It can be the label retention data of sleep, be obtained after being waken up to it

(2) functional characteristics of data acquisition unit

>Before data transmit-receive is carried out, it is necessary to be firstly added an indoor comprehensive locating platform network

>Itself is added after network, it is allowed to which route and label are added

>Add after network, the data in network can be route

>Often electricity it must power, it is impossible to enter sleep pattern

>It can be the label retention data of sleep, be obtained after being waken up to it.

(3) functional characteristics of label

>Other equipment can not be allowed to add

>Its father node transceiving data must be passed through, it is impossible to which the data in network are route

>It can be battery powered, into sleep pattern

Positioning node is after selection channel and PAN ID building networks, and its function will be equivalent to a data acquisition unit.It is fixed Position node or data acquisition unit allow other equipment to add network, and are its route data.

Label is added after network by positioning node or some data acquisition unit, is become as its " child node "；It is corresponding Data acquisition unit or positioning node become " father node ".Because label can enter sleep pattern, its father node just has justice It is engaged in retaining the data that other nodes are sent for it, until it is waken up, and this data is taken away.

Preferably, present invention offer indoor positioning platform is related to protocol mode, mainly：Indoor comprehensive locating platform standard is adopted Its PHY layer and mac-layer protocol are used as with IEEE 802.15.4 standards.Therefore, it then follows the equipment of indoor comprehensive locating platform is also same Sample follows IEEE 802.15.4 standards.Information is collected using radio communication in family and factory or set control is performed and appointed The concept of business is not strange for people.Make a general survey of the standard of several short-distance radio network communications, including the nothings of IEEE 802.11 Line LAN (Wireless Local Area Network WLAN) and each standards of bluetooth (Bluetooth) have its The advantage of domain specific application, and mainly it is then inexpensive, low data rate, the wireless network application and development of super low-power consumption 's.By simplified communication protocol and reduction data rate, indoor comprehensive locating platform standard helps to reduce application cost.And its His standard such as IEEE 802.11 is compared, and meets the Minimum requirements relative ease with IEEE 802.15.4 standards, this is simultaneously Also reduce indoor comprehensive locating platform application complexity and cost.Dutycycle refers to time when equipment is enlivened and total time Ratio.If for example, the wake-up per minute of an equipment is once, dormancy is continued after work 60ms.So its dutycycle be 0.001 or 0.1%.In the application of many indoor comprehensive locating platforms, in order to ensure that battery can work more than the several years, the dutycycle of equipment is all Below 1%.

Preferably, the present invention provides remote monitoring, control and the sensor network application platform of indoor and outdoor localization criteria, main Will：People are met to supporting low data rate, low-power consumption, safety and reliability, and the standard type wireless network of economical and efficient The demand of network solution, indoor comprehensive locating platform standard is arisen at the historic moment.Core market is consumer electronics product, energy source capsule Reason and efficiency, health care, home automation, telecommunications service, building automatic and industrial automation.It is fixed around indoor comprehensive The peripheral circuit that bit platform chip technology is released, is referred to as " indoor comprehensive locating platform module ", common indoor comprehensive positioning Console module is all the international standard for following IEEE802.15.4, and is operated in 2.4GHZ frequency range, in addition, the mark in Europe Standard is that 868MHZ, North America are 915MHZ.

(1) concept introduction

Indoor comprehensive locating platform is that a kind of 802.15.4 PHYs, support MANET, multiple spot of being based on is relayed, can be real The complicated Networking protocol of existing mesh topology, the characteristics of adding its low-power consumption so that internetwork equipment must Each performs its own functions, has Effect ground cooperates.

The device type of network

Integrate indoors in locating platform network, there are three kinds of different types of equipment, be called respectively：Positioning node, data Collector and label：

(2)PAN ID

PAN full name is Personal Area Networks, i.e. Personal Area Network.Each Personal Area Network have one it is independent No. ID, i.e., referred to as PAN ID.All devices in whole Personal Area Network share same PAN ID.Indoor comprehensive locating platform equipment PAN ID can by program preassign, can also equipment run during, be automatically added in the PAN near one.

(3) address style of indoor comprehensive locating platform equipment

Indoor comprehensive locating platform equipment has two kinds of different addresses：16 short addresses and 64 IEEE addresses.Wherein 64 Bit address is globally unique address, will all keep different in the whole life cycle of equipment, it is by international IEEE tissues point Match somebody with somebody, had been written into when chip dispatches from the factory in chip, and can not change.And short address is to add an indoor comprehensive in equipment to determine Bit platform network Time Division is matched somebody with somebody, and it is only unique in this network, for the Address Recognition in network during data transmit-receive.But due to Short address is sometimes and unstable, because the change of network structure can change, so in some cases must be with IEEE Location as communication destination address, to ensure that data are effectively sent to.

(4) FBee address distribution method

FBee uses newest indoor comprehensive locating platform Pro protocol stack, in the protocol stack of this version：It is first First, in any one PAN, short address 0x0000 is all referring to positioning node.And what the short address of other equipment was randomly generated. After an equipment adds network, it obtains a random address from its father node, is then moved to whole network multipoint positioning Dynamic one " equipment statement " (Device Announce) comprising its short address and IEEE addresses, if another equipment is received To after the movement of this multipoint positioning, discovery is identical with oneself address, and it will send " address conflict " (Address Conflict multipoint positioning mobile message).The equipment for having address conflict will all re-replace address, then repeat above-mentioned mistake Journey, until zero-address conflict in whole network.

(5) the short address change explanation of FBee equipment

In FBee " transparent transmission ", " collection " and " control " several big functions, device address is a vital parameter, Only address sets correct, and communication could be it is anticipated that carry out.It is necessary that the use to address is described in detail herein.

(6) short address of positioning node and data acquisition unit

The short address of positioning node is 0x0000, will not be changed.And FBee data acquisition unit short address, it is at it When first powering on, according to above 2 rule, after its father node is successfully distributed once, it is stored in internal flash, with Switching on and shutting down will all keep constant anyway afterwards.

It is noted that just because of this simple network structure, user can select a positioning node+n The mode of data acquisition unit constitutes the network of nothing " low-power consumption " demand, carries out the application such as " wireless transparent transmission ", simply makes It can ensure that data are sent to correct equipment with short address.

(7) short address of label

The mode of above-mentioned positioning node+data acquisition unit can meet certain applications, but can not embody indoor comprehensive positioning Platform MANET and the advantage of low-power consumption.At this moment the characteristics of label will being played.The use of FBee labels, will be in following sections Describe in detail, the use of its short address changing rule and long address is only introduced herein.

FBee labels can realize " from group " of indoor comprehensive locating platform, " self-healing " function.The power supply of label is opened every time, It will check the connected signal quality of data acquisition unit/positioning node near it automatically, and selection signal is top-quality It route and adds network for its father node.After network is added, it will periodically send request of data (MAC data Requests), if its father node does not ask it to respond, and after retrying several times, still without response, then it is determined as father Node loss, now label will repeat said process, find again and add network.

Note：Due to FBee follow be indoor comprehensive locating platform Pro specification, rejoin after new father node, its Short address will keep constant.But integrate indoors in the agreement of locating platform 2007, due to using the fixing address side of tree-shaped Formula, after father address is changed, node short address can change.

(8) it is addressed using the long address of node

Due to the changeability of short address, in the network for possessing removable node (End Device), it is preferred to use long ground Location is communicated, to ensure that data are sent in correct equipment.FBee modules can realize the long addressing of address of equipment, it is only necessary to one Simple ATDL instructions.

The indoor comprehensive locating platform of the present invention has following characteristics：

Each IP connections, 3000 data above abilities of processing per second；Per 18 bytes of data；Every server 100 Individual card reader connection, 300,000 data per second；Platform stable performance continuous service three months, is during which moved back without sudden strain of a muscle, the shakiness such as no interruption It is qualitative；Socket is long connection status, remains connection, interrupts, and platform is reconnected；Track following service is provided； Real time position displaying service is provided；Video interlink service is provided；There is provided data integration ability, there is provided multipoint positioning method；For with Family provides wireless data transmission function.Inertial navigation service is provided, i.e., from the position of a known point according to the delivery continuously measured Body course angle and speed calculation go out the position of its subsequent point thus can continuously measure the current location of movable body.

In an indoor comprehensive locating platform network, the positioning node of whole network is at least served as in the presence of a FFD, i.e., Indoor comprehensive locating platform positioning node is also referred to as in PAN positioning nodes, indoor comprehensive locating platform.One indoor comprehensive positioning Platform network only one of which PAN positioning nodes.Generally, PAN positioning nodes are a special FFD, and it has more powerful work( Can, be the major control person of whole network, it be responsible for setting up new network, send the node in networked beacons, management network with And the storage network information etc..FFD and RFD can serve as label and add indoor comprehensive locating platform network.In addition, common FFD Positioning node (route) can also be served as in its personal operating space (POS), but it is still controlled by PAN positioning nodes System.In each positioning node can at most connect 255 nodes, an indoor comprehensive locating platform network can at most accommodate 65535 Individual node.

The topological structure of indoor comprehensive locating platform network mainly has three kinds, Star network, netted (mesh) net and hybrid network.

Star network is made up of a PAN positioning node and one or more labels.PAN positioning nodes must be FFD, it is responsible for initiating to set up and management whole network, and other nodes (label) are generally RFD, are distributed in PAN positioning nodes Coverage in, directly communicated with PAN positioning nodes.Star network is generally used for the less occasion of number of nodes.

Mesh nets are usually to be joined together to form by several FFD, are complete peer-to-peer communications, Mei Gejie between them Point can communicate with other nodes in its range for wireless communication.In Mesh nets, typically the FFD for initiating to set up network is saved Point is used as PAN positioning nodes.Mesh nets are a kind of high reliability networks, and with " self- recoverage " ability, it can be the data of transmission Bag provides mulitpath, once a paths break down, then has another or mulitpath is available.

Mesh nets can constitute the hybrid network that Mesh nets are constituted with Star network by FFD extended networks.In hybrid network, mark The positioning node that passes to first in same subnet of information of label collection, then upload to by gateway node the PAN of last layer network Positioning node.Hybrid network is suitable for the larger network of coverage.

In indoor comprehensive locating platform, only PAN positioning nodes can set up a new indoor comprehensive locating platform net Network.When indoor comprehensive locating platform PAN positioning nodes want to set up a new network, channel is scanned first, is found in network Idle channel set up new network.If have found suitable channel, indoor comprehensive locating platform positioning node meeting Selecting PAN identifier for new network, (PAN identifier is that, for identifying whole network, therefore selected PAN identifier must Must be unique in the channel).Once have selected PAN identifier, network is had been set up with regard to explanation, hereafter, if another Indoor comprehensive locating platform positioning node scans the channel, and the positioning node of this network will respond and state its presence. In addition, this indoor comprehensive locating platform positioning node can be also oneself one 16bit network address of selection.Indoor comprehensive is positioned All nodes in platform network have a 64bit IEEE extended address and a 16bit network address, wherein, 16bit The network address be unique in the entire network, that is, the MAC short addresses in 802.15.4.

Indoor comprehensive locating platform positioning node have selected behind the network address, begins to the new node of receiving and adds its net Network.When a node wishes to add the network, it first passes through scan channel to search for the network existed around it, if Have found a network, it will be associated process add network, only possess the node of routing function can allow it is other Node passes through its related network.If wanting to rejoin network after a node in network and network are out of touch, it can Network is rejoined to carry out isolated notification procedure.Each node for possessing data acquisition unit function safeguards a road in network By table and a route discovery table, it can participate in forwarding, route discovery and the route maintenance of packet, and associate other sections Point carrys out extended network.

Indoor comprehensive locating platform product using high performance technical grade indoor comprehensive locating platform scheme there is provided SMT with DIP interfaces, can be directly connected to TTL interface equipments, realize data transparent transmission function；Low power dissipation design, lowest power consumption is less than 1uA；5 road I/O are provided, digital quantity input and output, pulse output can be achieved；Wherein have 3 road I/O can also realize analog acquisition, The functions such as step-by-step counting.

Briefly, indoor comprehensive locating platform is a kind of highly reliable wireless data sending network, similar to CDMA and GSM Network.Digital transmission module is similar to mobile network base station.Communication distance is from the 75m of standard to hundreds of meter, several kilometers, and support nothing Limit extension.

Indoor comprehensive locating platform is one by can a wireless data sending net constituting of more to 65535 wireless data transmission modules Network platform, in the range of whole network, can be in communication with each other, often between each indoor comprehensive locating platform network digital transmission module Distance between individual network node can be from the 75m infinite expandings of standard.

Unlike being netted from the CDMA nets or GSM of mobile communication, indoor comprehensive locating platform network is mainly existing for industry Automated condtrol data transfer and set up, thus, it must have simple, easy to use, reliable operation, low-cost spy Point.And mobile radio communication is mainly set up for voice communication, each base station value is general more than million yuans, and Each indoor comprehensive locating platform " base station " is but less than 1000 yuans.

Each indoor comprehensive locating platform network node not only itself can be used as monitored object, such as its biography connected Sensor directly carries out data acquisition and monitoring, can also be transmitted through the data information come by the other network node of transfer automatically.Except this it Outside, each indoor comprehensive locating platform network node (FFD) can also be in the range of the covering of oneself signal, and multiple does not undertake Isolated child node (RFiD) wireless connection of network information transfer task.

When two card reader read label, platform of the present invention can judge the pad value of two equipment, when certain point device declines Depreciation is big, and personnel are given tacit consent to the big equipment movement of pad value；

For the existing data sender's formula of FBee modules, we introduce the two-point locating of indoor comprehensive locating platform Mobile and multipoint positioning moves two ways.Below two-point locating Move Mode, data are sent to a mesh by a source device Marking device；And multipoint positioning Move Mode, data are, by a source device, to send to many or all equipment.

(1) two-point locating move mode

Under two-point locating move mode, data are sent by source device, after what transfer, are sent to purpose Address.Two-point locating Mobile Transmission is can be carried out between all devices for adding indoor comprehensive locating platform network, 16 can be used Position short address or 64 bit length addresses are addressed.Specific routing relation is safeguarded by positioning node/data acquisition unit, looked into Ask.The related content of routing table will be introduced in the chapters and sections of follow-up FBee API patterns.

(2) multipoint positioning move mode

Multipoint positioning move mode is to send information to all of whole indoor comprehensive locating platform network by an equipment Equipment, its target short address uses 0xFFFF.In addition, 0xFFFD and 0xFFFC can also be used as multipoint positioning movable address.Its area It is not as follows：

0xFFFF:Multipoint positioning mobile data is sent to all devices, including sleeping nodes

0xFFFD:Multipoint positioning mobile data is sent to all devices slept

0xFFFC:Multipoint positioning mobile data is sent to all positioning nodes and data acquisition unit

Mention " multipoint positioning movement ", may many people will be considered that the multipoint positioning movement of indoor comprehensive locating platform just as Typhon in village a, people tells, and all people are endways ear once, just completes task.It is not so in fact , the multipoint positioning movement of indoor comprehensive locating platform is more like " biography secret words ", and one, which passes ten, ten, passes hundred, little by little " spreading " Go out.Many Card Reader nodes are put in a room lining, signal all standing is carried out, many nodes are read after label, are given tacit consent to Two node maximum attenuation values are selected, when mobile, which method, apparatus pad value is big, will be moved to which side；Lift individual simplest Example：

In one network, there are tri- equipment of ABC, A is B neighbours；B is C neighbours；But A and C are not neighbours. A--------->B-------->C

When A will send out multipoint positioning movement to whole network, due to distance relation, A can not be transmitted directly to C, that A multipoint positioning movements first are to its neighbours' (there was only B in this example), and multipoint positioning movement (has B to its neighbours in this example again A and C), A now receives B multipoint positioning mobile data, is learnt after the multipoint positioning mobile data contrast sent with oneself：From Oneself moves information multipoint positioning to B, and B has successfully relayed this multipoint positioning mobile data, and now A completes to appoint Business, and do not continue to receive multipoint positioning movement.

Similarly, C is received after B multipoint positioning movement, then multipoint positioning movement is to its neighbours' (there was only B in this example), B After the multipoint positioning movement for receiving C, learn that C also have received the multipoint positioning mobile message of oneself, and successfully relay.

By that analogy, any one data multipoint positioning movement can spread outward step by step by this way, finally Each node has successfully received information, and ensures that information will not be propagated between network without end.

Communication context is successfully extended to whole network by this multipoint positioning move mode, but because this information is in net Continually forwarded between network, cause network burden to increase suddenly, so suggestion should not too use multipoint positioning move mode, and every time The data of multipoint positioning movement are as few as possible, and the time interval of transmission is tried not too short！

The traditional three-point fix algorithm of optimization, the location algorithm of use be the algorithm based on received signal strength (i.e. LANDMARC algorithms), and three-point fix algorithm is utilized behind LANDMARC algorithms, three known points are set, three points Signal attenuation value knows its position compared to some point, and to do circle to unknown point distance for radius, three circles are compared to certain Point, certain point is exactly the position where personnel；

The indoor and outdoor matrix location algorithm, according to actual conditions and the difference of site environment, may be selected to use indoor and outdoor Matrix location algorithm realizes personnel positioning.The positioning node of algorithm automatic identification composition triangle (3 points), makes its label always In 3 positions, label position is accurately positioned so as to reach.

In actual system building, label can use the form such as RFID wrist band, RFID card, RFID epaulets.

Positioning node is mainly used in the zone locations such as indoor room, corridor, stair, elevator, can be to room or interior great Qu The RFID tag in domain is monitored in real time, scans the pad value to label according to each positioning node, and utilize multipoint positioning Calculation, can determine whether the real time position that label is in.Positioning node is read after label information, can be passed by 485 or network Defeated mode is transferred to data acquisition unit, realizes communication.

Preferably, the positioning node is read after label information, is believed the label by 485 or network transmission mode Breath is transferred to the data acquisition unit.

It is indoor in same layer in a specific embodiment, using multipoint positioning, at least one is set in single room Individual positioning node；Because the structure in room is more complicated, the method for using multipoint positioning, so can away from From the function that positioning is realized in shorter room.Multipoint positioning form is used such as in room, in single room, one is respectively set The space in single room can be completely covered in individual positioning node, the positioning node, so, in many room environments, any A little on, it is possible to cover multiple positioning nodes, for example, by three-point fix, four point positioning, RSSI positioning etc. localization method, i.e., It can realize and label is accurately positioned.

In a specific embodiment, in stair, using two-dimensional location method, one is set between every two floor Individual positioning node；Personnel positioning in building at stair also occupies very big proportion in the locating system of whole system.

Every 4 to 6 positioning nodes are equipped with a data acquisition unit.Certainly, the collocation of the positioning node and data acquisition unit Ratio, can carry out appropriate adjustment according to positioning precision, site area, instrument data process performance etc..

In a specific embodiment, the control platform also includes position computation module, trajectory computation module；Institute The data that position computation module is transmitted based on the data acquisition unit are stated, tag location is carried out；The trajectory computation module is based on The positioning, obtains the track of the label.

In a specific embodiment, the control platform also includes alarm module, visualization model；The alarm Module is based on the positioning and the trace information, when meeting default decision condition, sends alarm signal；The visualization mould Alert locations, based on the alarm signal, are indicated by block in map.

In a specific embodiment, the decision condition includes：Whether prescribed limit is at the appointed time, And/or whether continuous path exceeds the threshold range of desired guiding trajectory.

In a specific embodiment, in the larger environment of label densities, can with the management of combination tag information, Tag reader conflict is avoided in the following way.

In a specific embodiment, the carry out tag location, including two-point locating and multipoint positioning, it is described many Point location is to carry out tag location by three or more than three positioning nodes.Certainly, specific localization method, it would however also be possible to employ Existing prior art is substituted in this area, such as conventional three-point fix mode, RSSI positioning methods etc..

In another specific embodiment, we can use specific two-point locating method, and according to label Discrete location, the method for determining tag motion track.For example：

On map, two-point locating region is divided into some sub-regions, the subregion area equation；Subregion Shape can be set according to setting custom, place situation, calculating convenience demand etc., can be set as polygon, circle etc., And in the longitudinal space such as corridor, can longitudinally be divided, i.e. the two-dimensional surface of the division is longitudinal.And in three-dimensional space Between in should, then could be arranged to solid subspace, such as spheroid, polyhedron.

The identification point of all subregion is used as using the center point coordinate of each sub-regions respectively；

The air line distance of all subregion mark point two positioning nodes nearest apart from the subregion is recorded, and calculates two institutes State the ratio of air line distance；The set location of the calculation basis positioning node of the ratio, is sequentially counted in a fixed order Calculate；The permanent order be floor sequence from high in the end or, the sequence of ground from south to north etc., as long as by positioning node energy It is enough to be ranked up according to certain logical order, and it is easy to position to determine.

The two positioning node sequence numbers that the ratio and participation are calculated, are recorded as the ID of corresponding subregion jointly；

When label enters identification region, the sequence number and signal intensity of collection signal most strong two positioning nodes, according to According to the permanent order, the ratio of the two positioning nodes signal intensity is calculated；

Sequence number according to two positioning node searches corresponding subregion group；

The ratio of the signal intensity and the ratio of subregion group are compared, the minimum son of difference is chosen Region is target subregion, and regard the central point of the target subregion as the current location of label.

In a specific embodiment, the track for obtaining the label is specially：

(1) position data of the label in a period T is obtained, and by the position data according to sequence of event；

(2) a slope span is set, and by random fashion, the oblique of a determination is chosen in the span Rate is used as initial value；

(3) initial value is based on, using the first position data in T as starting point, the two of adjacent two positions data point are calculated Secondary curve.

In a specific embodiment, in (three), it is specially：

Total conic section in setting time T, is designated as：

Y=A_i,1x²+A_i,2x+A_i,3

Wherein A_i,1,A_i,2,A_i,3The respectively coefficient of curve, i is natural number；

Wherein b, c are coefficient, x_i,y_iHorizontal stroke, the ordinate of respectively i-th position data, x_i+1,y_i+1The respectively horizontal stroke of i+1 position data, ordinate, K_i+1、K_iRespectively point at i+1 and i-th of position data Slope；

Wherein 0<d<1, A_i2=K_i, A_i3=y_i；

Each section of conic section is successive in order, constitute tag motion trajectory path.

Indoor comprehensive locating platform is a kind of wireless connection, can be operated in 2.4GHz (Global prevalence), 868MHz (Europe streams OK) and in 3 frequency ranges of 915MHz (U.S. is popular), the biography respectively with highest 250kbit/s, 20kbit/s and 40kbit/s Defeated speed, its transmission range can continue increase in the range of 10-75m.It is indoor as a kind of wireless communication technology Comprehensive locating platform has following features：

Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used To be modified to the technical scheme described in previous embodiment, or equivalent substitution is carried out to which part technical characteristic；And These modifications are replaced, and the essence of appropriate technical solution is departed from the spirit and model of technical scheme of the embodiment of the present invention Enclose.

Claims

1. a kind of indoor comprehensive locating platform, it is characterised in that the indoor comprehensive locating platform includes：System software layer, set Standby Access Layer, service layer, service integration layer, business software layer and presentation layer；Each layer subsystem is held by the service layer The processing of each subsystem data of row；Networks of Fiber Communications system and signal acquiring system based on RFID are accessed by the equipment The data interaction of layer, importing of the realization to different sub-systems data, and each subsystem and the indoor comprehensive locating platform；Room Interior comprehensive locating platform uses honeycomb structure networking, and each equipment is by multiple directions and gateway communication, and each equipment also has Relay wireless signals function.

2. a kind of indoor comprehensive locating platform according to claim 1, it is characterised in that the video interlink subsystem bag Containing the video monitoring equipment being arranged in the range of platform monitoring, and by the control command centre, obtain from other sons The monitoring information of system, and when receiving the abnormal information of specific location, the video of the specific location is transferred in real time Data, and shown, to show the real-time mirror image of the specific location, realize video interlink.

3. a kind of indoor comprehensive locating platform according to claim 1, it is characterised in that in the software layer, include number According to library module, the database module receives the data from each subsystem, and integrated to data progress, according to data more Newly, data are cleaned and stored；Data scheduling module is equipped with the database module, for database mould The data stored in block are allocated.

4. a kind of indoor comprehensive locating platform according to claim 1, it is characterised in that the track following is obtained and come from The RFID information of the signal acquiring system based on RFID, and the video interlink subsystem video information, and to institute State RFID information and/or the video information is handled, obtain pursuit path information, and enter according to the pursuit path information Row judges, and when judging to meet preparatory condition, alarm signal is sent to the indoor comprehensive locating platform, and in the interior The location point in alarm track is indicated on the visualization interface of comprehensive locating platform；Met in the RFID information data During preparatory condition, and/or from the sensor device send data meet preparatory condition when, to the control command centre Warning message is sent, and alarm region is indicated on the visualization interface of the control command centre；

It is described acquisition pursuit path information be specially：1. position data of the label in a period T is obtained, and by the position Data are according to sequence of event；2. one slope span is set, and by random fashion, one is chosen in the span The slope of determination is used as initial value；3. the initial value is based on, using the first position data in T as starting point, adjacent two are calculated Put the conic section of data point.4. total conic section in time T is set, is designated as：Y=A_i,1x²+A_i,2x+A_i,3, wherein A_i,1, A_i,2,A_i,3The respectively coefficient of curve, i is natural number；

Wherein b, c are coefficient, x_i,y_iRespectively i-th the horizontal, vertical of position data sits Mark, x_i+1,y_i+1The respectively horizontal stroke of i+1 position data, ordinate, K_i+1、K_iRespectively at i+1 and i-th of position data The slope of point；

Wherein 0<d<1, A_i2=K_i, A_i3=y_i。

5. a kind of indoor comprehensive locating platform according to claim 4, it is characterised in that the application with baseband chip is eventually End receives and resolved positioning signal, and the positional information of oneself is uploaded into comprehensive service platform by mobile communications network.

6. a kind of indoor comprehensive localization method, it is characterised in that the localization method relies on any one institute in claim 1-5 The locating platform stated, the localization method comprises the following steps：

The traditional three-point fix algorithm of optimization, the location algorithm of use is that (i.e. LANDMARC is calculated the algorithm based on received signal strength Method), and three-point fix algorithm is utilized behind LANDMARC algorithms, make it more accurate；

Assuming that three the round center of circle A, B, C are corresponding three AP positions in Fig. 1, its corresponding coordinate is respectively (x₁,y₁), (x₂,y₂),(x₃,y₃), three round intersection point D are mobile terminal locations to be positioned, and coordinate is (x, y), correspondence measurement point with The distance of each WAP is d₁, d₂, d₃, it can be seen from geometrical relationship:

The position coordinates of terminal is obtained by formula (1.2)：

7. indoor comprehensive localization method according to claim 6, it is characterised in that carried out just using the algorithm of two-dimensional space Walk location estimation, then using related accurate three-dimensional location estimation result as iterative calculation starting point.

8. indoor comprehensive localization method according to claim 6, it is characterised in that in actual environment, due to multipath, obstacle The enchancement factors such as thing, diffraction are present, the model generally used in transmission of wireless signals for：

PL (d)=PL (d₀)+10nlg(d/d₀)+X₀ (1.4)

In formula, PL (d) is the path loss after apart from d；PL(d₀) for path loss after unit distance；d₀For list Position distance, usually 1m；X₀The random number and Gaussian distributed that are 0 for average, its standard deviation scope is 4~10；N is signal Decay factor, scope is 2~4；

The signal intensity that receiving terminal is received is：

P_R(d)=P_T+G_T-PL(d) (1.5)

In formula, P_R(d) it is received signal strength indicator i.e. RSSI；P_TFor the power of transmission signal；G_TFor transmitter antenna gain (dBi), base In the principle, IEEE802.15.4 standards give the signal attenuation model after simplifying：

<mrow> <mi>R</mi> <mi>S</mi> <mi>S</mi> <mi>I</mi> <mo>=</mo> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>P</mi> <mi>T</mi> </msub> <mo>-</mo> <mn>40.2</mn> <mo>-</mo> <mn>10</mn> <mo>&times;</mo> <mn>2</mn> <mo>&times;</mo> <mi>l</mi> <mi>g</mi> <mrow> <mo>(</mo> <mi>d</mi> <mo>)</mo> </mrow> <mo>,</mo> </mrow> </mtd> <mtd> <mrow> <msub> <mi>d</mi> <mn>0</mn> </msub> <mo>=</mo> <mn>1</mn> <mo>,</mo> <mi>d</mi> <mo>&le;</mo> <mn>8</mn> <mi>m</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>P</mi> <mi>T</mi> </msub> <mo>-</mo> <mn>58.5</mn> <mo>-</mo> <mn>10</mn> <mo>&times;</mo> <mn>3.3</mn> <mo>&times;</mo> <mi>l</mi> <mi>g</mi> <mrow> <mo>(</mo> <mi>d</mi> <mo>)</mo> </mrow> <mo>,</mo> </mrow> </mtd> <mtd> <mrow> <msub> <mi>d</mi> <mn>0</mn> </msub> <mo>=</mo> <mn>1</mn> <mo>,</mo> <mi>d</mi> <mo>></mo> <mn>8</mn> <mi>m</mi> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>1.6</mn> <mo>)</mo> </mrow> </mrow>

It is preferred that, ranging model can be further simplified as：

RSSI=-10nlgd-A (1.7)

In formula, n is the signal attenuation factor, and scope is generally 2~4；D is the distance between positioning node and reference mode；A is fixed The distance between position node and reference mode d measure RSSI value when being 1m, and formula (1.7) is exactly the classical model of RSSI rangings, is obtained Arrive RSSI and d functional relation, therefore the RSSI value that receives of known receiver the distance between can be just calculated with emitter, A is that empirical value is relevant with the environment of specifically used hardware node and radio transmission with n, therefore in different actual environments Different its ranging model of middle A with n parameters is also different.

9. indoor comprehensive localization method according to claim 6, it is characterised in that the composition in complex vector domain can by reflection, The classical geometric optics of transmission is calculated.

10. indoor comprehensive localization method according to claim 6, it is characterised in that indoor outside fix inertial navigation is provided Mode, mainly includes following five step from MEMS sensor gathered data to positional information is obtained：

(1) initial alignment, it is determined that positioning starting point, and the initial roll angle of equipment is determined in the projection of device coordinate system by gravity With the angle of pitch, while determining initial yaw angle using magnetoresistive transducer；

(2) extended pattern Kalman filter update start, by by filter status vector in respective items respectively with acceleration Count the acceleration exported with gyroscope to be added with angular velocity vector, acceleration is compensated with angular speed；

(3) using the axis angular rate computing device attitude angle of gyroscope three after compensation, reuse attitude angle and calculate corresponding rotation Torque battle array, the matrix participates in filter update as the input quantity of extended pattern Kalman filter；

(4) spin matrix is multiplied with the vector acceleration after compensation, acceleration slave unit coordinate system is transformed into geographical coordinate System；

(5) acceleration after conversion coordinate system is integrated, obtains the speed under geographic coordinate system, then the speed is accumulated Get the displacement under geographic coordinate system, be the positional information of relative initial point；When static detection algorithm detects static shape During state, the measurement process (i.e. zero velocity makeover process) of Kalman filter is triggered, the velocity error that wave filter is exported is optimal Estimate to be added with the speed obtained by integration, obtain revised speed；The optimal estimation for reusing velocity error calculates displacement Evaluated error, and be added with the displacement obtained by revised rate integrating, the displacement after being corrected.