CN108012230B - Indoor positioning device and method based on rotating mechanism - Google Patents

Indoor positioning device and method based on rotating mechanism Download PDF

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Publication number
CN108012230B
CN108012230B CN201711063279.8A CN201711063279A CN108012230B CN 108012230 B CN108012230 B CN 108012230B CN 201711063279 A CN201711063279 A CN 201711063279A CN 108012230 B CN108012230 B CN 108012230B
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anchor
delta
angle
node
positioning
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CN108012230A (en
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石欣
王梨
赵莹
秦鹏杰
陆未定
刘昱岑
田力
罗志红
朱琦
廖亮
李文昌
石为人
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Chongqing University
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Chongqing University
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    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W64/00Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/08Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location

Abstract

The invention discloses an indoor positioning device and method based on a rotating mechanism. The steps of using the device mainly comprise: 1) the device is placed and a location calculation plane is determined. 2) And enabling the N directional antennas to send data packets with the information of the radiation projection direction angle of the current anchor node signal to the node to be positioned. 3) After N paths of antennas of the anchor node are conducted once, the anchor node controls the rotating mechanism to rotate by the angle theta through the rotating control signal. 4) And the node 6 to be positioned receives and stores the angle value and the received signal strength value sent by each anchor node. 5) After the anchor node finishes positioning scanning, processing the information received by the node to be positioned to obtain the positioning angle deltai. 6) When obtaining the positioning included angle delta of M anchor nodesiThen, the distance between the projected points of each anchor and the positioning angle delta are utilizediAnd determining the position of the node to be positioned in the positioning calculation plane.

Description

Indoor positioning device and method based on rotating mechanism
Technical Field
The invention relates to the field of wireless communication, in particular to an indoor positioning device and method based on a rotating mechanism.
Background
With the continuous development and application of wireless communication technology, location-based services are increasingly demanded, and location information awareness technology is gaining wide attention. At present, a Global Positioning System (GPS) well solves the related problems of outdoor positioning and is widely applied. However, the GPS positioning signal is difficult to penetrate the building material, so that the positioning accuracy of the GPS in the indoor environment is low, and the requirement of indoor location service cannot be met.
Indoor positioning refers to a process of positioning a node to be positioned by a wireless node with a known position in an indoor environment by using a wireless communication technology. Currently, technologies such as infrared, bluetooth, RFID, and Zigbee are mainly used for indoor positioning. These location techniques are primarily based on received signal strength, time of arrival (TOA), time difference of arrival (TDOA), angle of arrival (AOA), and the like. The positioning method based on the signal strength can directly measure the signal strength to obtain the distance between the nodes, does not need additional equipment, is simple to operate, but has complex indoor environment and larger multipath interference on the received signal strength, thereby seriously restricting the application of the positioning method based on the signal strength. Both the TOA and TDOA methods require external high-precision equipment to ensure the positioning precision, and the application cost is high. The AOA method relies on a smart antenna with an antenna array, the antenna can measure the arrival angle of signals, the method is high in positioning accuracy, and complex antenna arrays are high in cost.
Therefore, it is an urgent problem to reduce the application cost of the indoor positioning technology and ensure the positioning accuracy.
Disclosure of Invention
The present invention is directed to solving the problems of the prior art.
The technical scheme adopted for achieving the purpose of the invention is that the indoor positioning device based on the rotating mechanism is characterized by mainly comprising: the positioning system comprises a wireless communication module, N directional antennas, N switches, a rotating mechanism, a power supply and a node to be positioned.
The wireless communication module generates a wireless communication signal. And the wireless communication module is communicated with the node to be positioned through the N directional antennas.
The wireless communication module generates N-path switch gating control signals. And the wireless communication module controls the on and off of the N-way switch through the N-way switch gating control signal.
The wireless communication module generates a rotation control signal. The wireless communication module controls the rotation mechanism to rotate through the rotation control signal.
The N directional antennas are integrally erected on the rotating mechanism.
Further, N is more than or equal to 1.
The N directional antennas are independent. And the N directional antennas respectively radiate signals to different directions.
The N directional antennas are arranged at any time and only one antenna works.
And the on-off of the N-path switch controls the working state of the N-path directional antenna.
And the N-path switch receives N-path switch gating control signals. And the N-path switch is used for conducting the appointed circuit according to the N-path switch gating control signal.
The rotation mechanism receives a rotation control signal. The rotating mechanism rotates by an angle designated by the rotating control signal.
The rotating mechanism drives the N directional antennas to rotate.
The power supply supplies power to the wireless communication module, the rotating mechanism and the N-way switch.
And the node to be positioned receives the wireless communication signal.
Further, the node to be positioned is located indoors.
A method of using a rotary mechanism based indoor positioning apparatus, comprising essentially the steps of:
1) m positions are set indoors. And placing the indoor positioning device based on the rotating mechanism at the set M positions.
Further, M is more than or equal to 2.
2) And setting a plane P above the ground, which is parallel to the ground and is H meters away from the ground as a positioning calculation plane.
An indoor positioning device based on the rotating mechanism is set as an anchor node, and a projection point obtained by vertically projecting the anchor node to the plane P is set as an anchor projection point.
And vertically projecting the M anchor nodes in the space to a plane P, obtaining M anchor projection points on the plane P, and setting the anchor projection point 1 of one anchor node 1 as a coordinate origin. And setting the anchor projection point of any anchor node 2 except the anchor node 1 on the plane P as the anchor projection point 2, wherein the connecting line of the anchor node 1 and the anchor node 2 is not vertical to the plane P. A straight line passing through both the anchor projected point 1 and the anchor projected point 2 is defined as a horizontal axis x of the coordinate system. A straight line passing through the origin of coordinates and perpendicular to the horizontal axis x in the P plane is defined as a vertical axis y of the coordinate system.
And setting a projection point of the node to be positioned vertically projected to the plane P as a projection point to be positioned.
Setting a connecting line between the projection point to be positioned and each anchor projection point to be Li。LiThe included angle between the X axis and the X axis is a positioning angle deltai
i is an arbitrary anchor proxel. i is less than or equal to M.
And carrying out vertical projection on a straight line which passes through the anchor node and has the same radiation signal direction with the anchor node to a plane P to obtain a projection straight line, and setting an included angle between the projection straight line and a transverse axis x of a coordinate system as a signal radiation projection direction angle.
3) And the wireless communication module of each anchor node sends N paths of switch gating control signals. And the N-path switch gating control signals control the N-path switches to sequentially conduct the N-path directional antennas.
4) And immediately sending a data packet with the information of the signal radiation projection direction angle of the current anchor node to the node to be positioned after the N directional antennas are conducted.
5) After N paths of antennas of the anchor node are conducted once, the anchor node controls the rotating mechanism to rotate by an angle theta (theta is more than 0 and less than or equal to 360/N) through a rotating control signal.
6) And the node to be positioned receives the data packet sent by each anchor node. And the node to be positioned stores the angle value and the received signal strength value in the data packet.
7) Repeating the steps 3 to 6, and when the product of the accumulated sum of the rotation angles of the rotating mechanism (4) of the anchor node and N reaches or exceeds the positioning scanning angleThen, the anchor node completes one positioning scanning;
8) and after the anchor node finishes one positioning scanning, clearing the rotation angle of the rotation mechanism (4), and finding out the data packet A corresponding to the maximum received signal strength value according to the received signal strength value stored in the node to be positioned. And taking out the angle value in the data packet A. Averaging all the angles to obtain the positioning angle deltai
9) When obtaining the positioning included angle delta of M anchor nodesiThen, according to the positioning included angle delta1And Δ2And measuring to obtain the distance L between the anchor projection point 1 and the anchor projection point 2. Obtaining the distance L between the anchor projection point 1 and the projection point to be positioned by using the formula (1)1. Formula (1) is represented as follows:
wherein L is the distance between the anchor projection point 1 and the anchor projection point 2. Delta1And the included angle is the corresponding positioning included angle of the anchor projection point 1. Delta2And the included angle is the corresponding positioning included angle of the anchor projection point 2. sin delta1To position the included angle delta1The sine value of (c). sin delta2To position the included angle delta2The sine value of (c).
The coordinates (x, y) of the projection point to be positioned in the positioning calculation plane P can be obtained according to the formula (1). The abscissa is shown in formula (2). The ordinate is shown in formula (3).
Wherein L is the distance between the anchor projection point 1 and the anchor projection point 2. sin delta2To position the included angle delta2The sine value of (c). cos Delta1To position the included angle delta1Cosine value of (d). sin (Delta)12) To position the included angle delta1Plus a positioning included angle delta2The latter sine value.
Wherein L is the distance between the anchor projection point 1 and the anchor projection point 2. sin delta2To position the included angle delta2The sine value of (c). sin delta1To position the included angle delta1The sine value of (c). sin (Delta)12) To position the included angle delta1Plus a positioning included angle delta2The latter sine value.
Anchor proxel positioning information other than anchor proxel 1 and anchor proxel 2 is obtained. And correcting a positioning result through the obtained positioning information.
The technical effect of the present invention is undoubted. After all anchor nodes finish positioning scanning, by analyzing the signal intensity value received by the node to be positioned, the connecting line L of the anchor projection point and the projection point to be positioned can be obtainediAnd determining the position of the node to be positioned in the positioning calculation plane by utilizing the known distance information between the positioning included angle and the anchor projection point.
The method measures the positioning included angle by utilizing the characteristic that the directional antenna signal transmission has strong directivity, greatly avoids the influence of factors such as multipath interference, walls and the like in wireless signal transmission on the final positioning result, and ensures higher positioning precision of the positioning system. Meanwhile, the positioning device is simple in structure, low in cost of each functional part, convenient to use and capable of reducing application cost of the positioning function.
Drawings
FIG. 1 is a block diagram of an apparatus.
Fig. 2 is a schematic diagram of a positioning method.
In the figure: the positioning system comprises a wireless communication module, N directional antennas, N switches, a rotating mechanism, a power supply and a node to be positioned.
Detailed Description
The present invention is further illustrated by the following examples, but it should not be construed that the scope of the above-described subject matter is limited to the following examples. Various substitutions and alterations can be made without departing from the technical idea of the invention and the scope of the invention is covered by the present invention according to the common technical knowledge and the conventional means in the field.
Example 1:
referring to fig. 1, an indoor positioning device based on a rotating mechanism is characterized by mainly comprising: the positioning system comprises a wireless communication module 1, N directional antennas 2, N switches 3, a rotating mechanism 4, a power supply 5 and a node to be positioned 6.
The wireless communication module 1 generates a wireless communication signal. The wireless communication module 1 communicates with the node 6 to be positioned through the N directional antennas 2.
The wireless communication module 1 generates N-path switch gating control signals. The wireless communication module 1 controls the on and off of the N-way switch 3 through the N-way switch gating control signal.
The wireless communication module 1 generates a rotation control signal. The wireless communication module 1 controls the rotation mechanism 4 to rotate through the rotation control signal.
Further, the wireless communication module 1 has the advantages of low cost, short construction engineering period, good adaptability, good expansibility and the like.
The wireless communication module 1 supports the functions of transparent data transmission and domain name resolution, and can support configuration software of each family and a user to develop a software system by himself.
The N directional antennas 2 are integrally erected on the rotating mechanism 4.
Further, N is more than or equal to 1. The N directional antenna 2 is an antenna that is particularly strong in transmitting and receiving electromagnetic waves in one or more specific directions, and is null or extremely small in transmitting and receiving electromagnetic waves in other directions. The purpose of adopting the N-path directional antenna 2 is to increase the effective utilization rate of radiation power, increase confidentiality, enhance signal strength and increase anti-interference capability.
In addition, the N-way directional antenna 2 may improve indoor coverage of certain buildings within the coverage area of the microcell.
The N directional antennas 2 are independent of each other. The N directional antennas 2 respectively radiate signals to different directions.
The N directional antennas 2 are provided at any time and only one antenna works.
Preferably, only one antenna of the N directional antennas 2 works at any time, so that mutual interference of multiple directional antennas can be avoided, the node 6 to be positioned can conveniently receive and store corresponding data packets, data crossing is avoided, and the accuracy of positioning the node 6 to be positioned can be improved.
And the on-off of the N-path switch 3 controls the working state of the N-path directional antenna 2.
And the N-path switch 3 receives N-path switch gating control signals. And the N-way switch 3 conducts the appointed circuit according to the N-way switch gating control signal.
Further, the N-way switch 3 is also called a multiplexer or a data selector. In the process of multi-path data transmission, the N-path switch 3 is a circuit capable of selecting any one path according to requirements.
The rotation mechanism 4 receives a rotation control signal. The rotating mechanism 4 rotates by an angle designated by the rotation control signal.
The rotating mechanism 4 drives the N directional antennas 2 to rotate.
The power supply 5 supplies power to the wireless communication module 1, the rotating mechanism 4 and the N-way switch 3.
The node to be positioned 6 receives the wireless communication signal.
Further, the node 6 to be positioned is located indoors.
Example 2:
a method for indoor positioning based on a rotating mechanism by using the device of any one of claims 1 to 3, which is characterized by mainly comprising the following steps:
1) m positions are set indoors. And placing the indoor positioning device based on the rotating mechanism at the set M positions.
Further, M is more than or equal to 2.
Preferably, the value of M may be determined according to the indoor area size, the space utilization rate, the wall material, and the like. When M positions are selected, the M positions are uniformly distributed in the whole room as far as possible, so that more comprehensive positioning information is obtained, and the accuracy of positioning the node 6 to be positioned is improved.
2) And setting a plane P above the ground, which is parallel to the ground and is H meters away from the ground as a positioning calculation plane.
An indoor positioning device based on the rotating mechanism is set as an anchor node, and a projection point obtained by vertically projecting the anchor node to the plane P is set as an anchor projection point.
Further, the anchor node refers to a node whose location is known.
And vertically projecting the M anchor nodes in the space to a plane P, obtaining M anchor projection points on the plane P, and setting the anchor projection point 1 of one anchor node 1 as a coordinate origin. And setting the anchor projection point of any anchor node 2 except the anchor node 1 on the plane P as the anchor projection point 2, wherein the connecting line of the anchor node 1 and the anchor node 2 is not vertical to the plane P. A straight line passing through both the anchor projected point 1 and the anchor projected point 2 is defined as a horizontal axis x of the coordinate system. A straight line passing through the origin of coordinates and perpendicular to the horizontal axis x in the P plane is defined as a vertical axis y of the coordinate system.
Preferably, when the origin of coordinates is selected, the origin of coordinates can be selected according to the spatial distribution of the M devices.
And setting a projection point of the node to be positioned vertically projected to the plane P as a projection point to be positioned.
Setting the projection point to be positioned and each pointThe connecting line of one anchor projection point is Li。LiThe included angle between the X axis and the X axis is a positioning angle deltai
i is an arbitrary anchor proxel. i is less than or equal to M.
And carrying out vertical projection on a straight line which passes through the anchor node and has the same radiation signal direction with the anchor node to a plane P to obtain a projection straight line, and setting an included angle between the projection straight line and a transverse axis x of a coordinate system as a signal radiation projection direction angle.
3) After the power supply is switched on, the wireless communication module 1 of each anchor node sends N-path switch gating control signals. And the N-path switch gating control signals control the N-path switches 3 to sequentially conduct the N-path directional antenna 2.
4) And immediately sending a data packet with the information of the signal radiation projection direction angle of the current anchor node to the node to be positioned after the N directional antennas are conducted.
Further, the data packet mainly includes information of a radiation projection direction angle of a current anchor node signal and a signal strength value when the node to be positioned receives the information.
5) After N paths of antennas of the anchor node are conducted once, the anchor node controls the rotating mechanism 4 to rotate by an angle theta (theta is more than 0 and less than or equal to 360/N) through a rotating control signal.
6) And the node 6 to be positioned receives the data packet sent by each anchor node. The node 6 to be positioned stores the angle value and the received signal strength value in the data packet.
7) Repeating the steps 3 to 6, and when the product of the accumulated sum of the rotation angles of the rotating mechanism (4) of the anchor node and N reaches or exceeds the positioning scanning angleThen, the anchor node completes one positioning scanning;
8) and when the anchor node finishes one positioning scanning, clearing the rotation angle of the rotation mechanism (4), and finding out the data packet A corresponding to the maximum received signal strength value according to the received signal strength value stored in the node to be positioned. And taking out the angle value in the data packet A. Averaging all angles to obtainTo the positioning angle deltai
9) When obtaining the positioning included angle delta of M anchor nodesiThen, according to the positioning included angle delta1And Δ2And measuring to obtain the distance L between the anchor projection point 1 and the anchor projection point 2. Obtaining the distance L between the anchor projection point 1 and the projection point to be positioned by using the formula (1)1. Formula (1) is represented as follows:
wherein L is the distance between the anchor projection point 1 and the anchor projection point 2. Delta1And the included angle is the corresponding positioning included angle of the anchor projection point 1. Delta2And the included angle is the corresponding positioning included angle of the anchor projection point 2. sin delta1To position the included angle delta1The sine value of (c). sin delta2To position the included angle delta2The sine value of (c).
The coordinates (x, y) of the projection point to be positioned in the positioning calculation plane P can be obtained according to the formula (1). The abscissa is shown in formula (2). The ordinate is shown in formula (3).
Wherein L is the distance between the anchor projection point 1 and the anchor projection point 2. sin delta2To position the included angle delta2The sine value of (c). cos Delta1To position the included angle delta1Cosine value of (d). sin (Delta)12) To position the included angle delta1Plus a positioning included angle delta2The latter sine value.
Wherein L is the distance between the anchor projection point 1 and the anchor projection point 2. sin delta2To position the included angle delta2The sine value of (c). sin delta1To position the included angle delta1The sine value of (c). sin (Delta)12) To position the included angle delta1Plus positioningAngle of inclination delta2The latter sine value.
Anchor proxel positioning information other than anchor proxel 1 and anchor proxel 2 is obtained. And correcting a positioning result through the obtained positioning information.

Claims (2)

1. The utility model provides an indoor positioner based on rotary mechanism which characterized in that: the positioning system mainly comprises a wireless communication module (1), N directional antennas (2), N switches (3), a rotating mechanism (4), a power supply (5) and a node to be positioned (6);
the wireless communication module (1) generates a wireless communication signal; the wireless communication module (1) is communicated with the node to be positioned (6) through the N directional antennas (2);
the wireless communication module (1) generates N paths of switch gating control signals; the wireless communication module (1) controls the on and off of the N-way switch (3) through the N-way switch gating control signals; n is more than or equal to 1;
the wireless communication module (1) generates a rotation control signal; the wireless communication module (1) controls the rotation mechanism (4) to rotate through the rotation control signal;
the N directional antennas (2) are integrally erected on the rotating mechanism (4);
the N directional antennas (2) are mutually independent; the N directional antennas (2) respectively radiate signals to different directions;
the N directional antennas (2) are arranged at any time and only one antenna works;
the on-off of the N-way switch (3) controls the working state of the N-way directional antenna (2);
the N-path switch (3) receives N-path switch gating control signals; the N-way switch (3) is used for conducting a specified circuit according to the N-way switch gating control signal;
the rotating mechanism (4) receives a rotation control signal; the rotating mechanism (4) rotates by an angle specified by the rotating control signal;
the rotating mechanism (4) drives the N directional antennas (2) to rotate;
the rotating mechanism (4) can rotate by an angle specified by the rotating control signal;
after each path of antenna of the anchor node is conducted once, the anchor node controls the rotating mechanism (4) to rotate by an angle theta through a rotating control signal; the indoor positioning device based on the rotating mechanism is an anchor node;
the power supply (5) supplies power to the wireless communication module (1), the rotating mechanism (4) and the N-way switch (3);
the node (6) to be positioned receives the wireless communication signal;
the node (6) to be positioned is positioned indoors;
the abscissa x and the ordinate y of the node (6) to be positioned in the positioning plane P are respectively as follows:
in the formula, L is the distance between the anchor projection point 1 and the anchor projection point 2; delta1A positioning included angle corresponding to the anchor projection point 1; delta2A positioning included angle corresponding to the anchor projection point 2; sin delta1To position the included angle delta1The sine value of (d); sin delta2To position the included angle delta2The sine value of (d); a projection point obtained by vertically projecting the anchor node to the positioning plane P is set as an anchor projection point;
obtaining coordinates (x, y) of the node (6) to be positioned in the positioning plane P according to the formula (1); the abscissa is shown in formula (2); the ordinate is shown in formula (3);
in the formula, L is the distance between the anchor projection point 1 and the anchor projection point 2; sin delta2To position the included angle delta2The sine value of (d); cos Delta1To position the included angle delta1Cosine value of (d); sin (Delta)12) To position the included angle delta1Plus a positioning included angle delta2The latter sine value;
in the formula, L is the distance between the anchor projection point 1 and the anchor projection point 2; sin delta2To position the included angle delta2The sine value of (d); sin delta1To position the included angle delta1The sine value of (d); sin (Delta)12) To position the included angle delta1Plus a positioning included angle delta2The latter sine value.
2. A method of using the rotary mechanism based indoor positioning apparatus of claim 1, consisting essentially of the steps of:
1) setting M positions indoors; placing an indoor positioning device based on a rotating mechanism at set M positions, wherein the connecting line of at least two positions is not vertical to the ground;
m is more than or equal to 2;
2) setting a plane P above the ground, which is parallel to the ground and is H meters away from the ground as a positioning calculation plane;
setting an indoor positioning device based on a rotating mechanism as an anchor node, and setting a projection point obtained by vertically projecting the anchor node to a plane P as an anchor projection point;
carrying out vertical projection on M anchor nodes in the space to a plane P, obtaining M anchor projection points on the plane P, and setting the anchor projection point 1 of one anchor node 1 as a coordinate origin; setting an anchor projection point of any anchor node 2 except the anchor node 1 on a plane P as an anchor projection point 2, wherein a connecting line of the anchor node 1 and the anchor node 2 is not vertical to the plane P; setting a straight line passing through the anchor projection point 1 and the anchor projection point 2 at the same time as a horizontal axis x of a coordinate system; setting a straight line which passes through the origin of coordinates and is perpendicular to the horizontal axis x in the plane P as a vertical axis y of a coordinate system;
setting a projection point of a node to be positioned, which vertically projects to the plane P, as a projection point to be positioned;
setting a connecting line between the projection point to be positioned and each anchor projection point to be Li;LiThe included angle between the X axis and the X axis is a positioning angle deltai
i is any anchor projection point; i is less than or equal to M;
a straight line which passes through the anchor node and has the same radiation signal direction with the anchor node is vertically projected to a plane P to obtain a projection straight line, and an included angle between the projection straight line and a transverse axis x of a coordinate system is set as a signal radiation projection direction angle;
3) the wireless communication module of each anchor node sends N-path switch gating control signals; the N-path switch gating control signals control the N-path switches to sequentially conduct the N-path directional antennas;
4) after the N directional antennas are conducted, immediately sending a data packet with the information of the signal radiation projection direction angle of the current anchor node to the node to be positioned;
5) after N paths of antennas of the anchor node are conducted once, the anchor node controls the rotating mechanism to rotate by an angle theta (theta is more than 0 and less than or equal to 360/N) through a rotating control signal;
6) the node to be positioned receives a data packet sent by each anchor node; the node to be positioned stores the angle value and the received signal strength value in the data packet;
7) repeating the steps 3 to 6, and when the product of the accumulated sum of the rotation angles of the rotating mechanism (4) of the anchor node and N reaches or exceeds the positioning scanning angleThen, the anchor node completes one positioning scanning;
8) after the anchor node finishes one positioning scanning, clearing the rotation angle of the rotation mechanism (4), and finding out a data packet A corresponding to the maximum received signal strength value according to the received signal strength value stored by the node to be positioned; taking out the angle value in the data packet A; averaging all the angles to obtain the positioning angle deltai
9) When M positioning included angles delta are obtainediThen, according to the positioning included angle delta1And Δ2Measuring to obtain a distance L between the anchor projection point 1 and the anchor projection point 2; obtaining the distance L between the anchor projection point 1 and the node (6) to be positioned by using the formula (1)1(ii) a Formula (1) is represented as follows:
in the formula, L is the distance between the anchor projection point 1 and the anchor projection point 2; delta1A positioning included angle corresponding to the anchor projection point 1; delta2A positioning included angle corresponding to the anchor projection point 2; sin delta1To position the included angle delta1The sine value of (d); sin delta2To position the included angle delta2The sine value of (d);
obtaining coordinates (x, y) of the node (6) to be positioned in the positioning plane P according to the formula (1); the abscissa is shown in formula (2); the ordinate is shown in formula (3);
in the formula, L is the distance between the anchor projection point 1 and the anchor projection point 2; sin delta2To position the included angle delta2The sine value of (d); cos Delta1To position the included angle delta1Cosine value of (d); sin (Delta)12) To position the included angle delta1Plus a positioning included angle delta2The latter sine value;
in the formula, L is the distance between the anchor projection point 1 and the anchor projection point 2; sin delta2To position the included angle delta2The sine value of (d); sin delta1To position the included angle delta1The sine value of (d); sin (Delta)12) To position the included angle delta1Plus a positioning included angle delta2The latter sine value;
obtaining anchor projection point positioning information except for the anchor projection point 1 and the anchor projection point 2; and correcting a positioning result through the obtained positioning information.
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