CN108267714A - Utilize the car networking near roads sensing node localization method and device of RFID - Google Patents
Utilize the car networking near roads sensing node localization method and device of RFID Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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Abstract
The present invention provides a kind of car networking near roads sensing node localization method and device using RFID, belongs to car networking field.The RFID sensing nodes installed including vehicle active RFID label tag and along near roads.Vehicle active RFID label tag is equipped with vehicle locating unit, control unit, radio frequency unit, antenna element, power supply unit, according to time interval active transmission data frame in vehicle travel process.The data frame that RFID sensing nodes parse and storage receives, judge whether vehicle has sailed out of sensing range, if vehicle does not sail out of sensing range, the new data frame to be received such as then, otherwise the distance of transmitting position and sensing node is calculated, and the position coordinates of sensing node are calculated, judge that sensing node is located at the left side or right side of vehicle heading.The present invention can simply, accurately obtain the position coordinates of sensing node and the position relation of sensing node and vehicle heading.
Description
Technical field
The invention belongs to car networking fields, and in particular to a kind of that car networking near roads sensing node is positioned using RFID
Method and apparatus.
Background technology
Car networking is the huge Internet being made of information such as vehicle location, speed and routes, it focuses on ring
The acquisition of border information and vehicle vehicle, the interaction of bus or train route information.
Wherein environmental information acquisition and interaction generally use two ways：It is saved in vehicle travel process by vehicle-mounted perceive
Point directly acquires environmental information and reads sensing node data in traveling roadside deployment sensing node, vehicle traveling
Carry out environment information acquisition.
For the second way, in traveling roadside deployment sensing node, due to cost factor, most of sensing nodes
Without locating modules such as similar GPS, vehicle interact shortage location information with environment, can not accurate positioning acquisition information
Position, it is difficult to for accurate feedback control decision.
Furthermore for the second way, in traveling roadside deployment sensing node, due to volumetric constraint, most of senses
Know node and finite energy, if obtaining location information using such as multihop routing positioning communication mode, sensing node needs frequency
Numerous transmitting location information causes sensing node service life to reduce.
Third, for the second way, in traveling roadside deployment sensing node, part sensing node is in mobile shape
State, position are not fixed, it would be desirable to be able to voluntarily determine the method with more new location information.
Therefore, it is necessary to consider that effective method makes sensing node effectively obtain the location information of itself in car networking.
Position Research in car networking at present, it is more to discuss that carrying out vehicle itself by vehicle carried pick device is accurately positioned
The problem of, and it is less for the research of the positioning device and method of the sensing node of near roads in car networking, and since vehicle joins
Itself characteristic of movement and the These characteristics of sensing node are netted, the ad hoc network localization method in fixed structure does not apply to simultaneously.
In sensing node Position Research, the method using oriented antenna is studied in part, in the horizontal direction according to certain
Angular range radiation signal is positioned, but this kind of method needs to install additional oriented antenna additional, and cost is higher；Also method
Discuss that formulating special mobile route ensures that the elements of a fix are unique, but in car networking, the movement line of vehicle can not possibly be into
Row is preset, therefore the practicability limitation of this kind of method is larger；The method that also research uses omnidirectional antenna, i.e., in level side
Upward 360 ° of homogeneous radiations carry out ad hoc network positioning, are generally all used for the node of fixed position, to the effect of mobile node positioning
It is not good enough.
Therefore, it is positioned in view of the shortcomings of the prior art, being suitable for car networking near roads sensing node it is necessary to provide one kind
Method and apparatus, with it is simple, accurately obtain near roads sensing node position coordinates in car networking..
Invention content
The technical issues of being positioned for above-mentioned car networking sensing node, the present invention provide a kind of attached suitable for car networking road
The method and apparatus of nearly sensing node positioning, with it is simple, accurately obtain near roads sensing node position coordinates in car networking.
The technical solution is as follows.
On the one hand, a kind of car networking near roads sensing node localization method using RFID, the method packet are provided
It includes：
The vehicle-mounted RFID active electronic labels being installed on Chinese herbaceous peony windshield：In vehicle travel process, according to it is certain when
Between be spaced active transmission data frame information.
Preferably, the data frame data that vehicle-mounted RFID active electronic labels are sent includes vehicle location, transmission power.
The RFID sensing nodes installed along near roads, which receive the data frame that vehicle-mounted RFID active electronic labels are sent, to be believed
It ceases, when according to the sequencing that data frame reaches, the data frame information received is stored in list is recorded, and storing reception signal
The signal reception power of acquisition.
Further, data frame information of the RFID sensing nodes in record list is to sentencing vehicle running state
It is disconnected, judge whether vehicle has sailed out of the sensing range of sensing node, if vehicle node does not sail out of sensing range, perceive section
The new data frame informations to be received such as point.
Further, if sensing node judges vehicle and sailed out of sensing range, sensing node according to it is certain when
Between interval from record list in take out three record.
Further, sensing node extracts this three represented data frame informations of record respectively, is carried according to from data frame
The signal reception power and signal transmission power taken, the difference acquisition energy for calculating signal reception power and signal transmission power decline
Depreciation calculates the distance of signal transmitting position and sensing node according to pad value, so as to obtain different in vehicle traveling three
Position Lj（j=1, 2,3）With the range information D of sensing nodei（i=1,2,3）.
Further, the sensing node self vehicle position information represented according to three records of extraction（xj,yj）（j=
1, 2,3）And corresponding three range information Di（i=1,2,3）, calculate the position coordinates of sensing node；Sensing node calculates
Vehicle driving trace direction judges that sensing node is located at the left side or right side of vehicle heading.
Preferably, sensing node passes through formula（1）Calculate received data frame signal transmitting position and sensing node it
Between distance：
（1）
Wherein, d be received data frame signal transmitting position and sensing node distance, d0It is reference distance, Pd0It is ginseng
Examine distance d0Path loss power, η be radio signal propagation path loss index, PLossFor energy attenuation amount, PLoss=P-
PR, P are that the data frame signal that sensing node obtains when signal is received receives power, and PR is the transmitting obtained from data frame
Power.
Preferably, sensing node is according to the represented self vehicle position information of three of extraction records（xj,yj）（j=1,
2,3）And corresponding three range information Di（i=1,2,3）, calculate the position coordinates of sensing node and travelled with vehicle
The relationship in direction, specifically includes：.
Step 51：First data frame reads data and is denoted as F1, vehicle position information L1（x1,y1）, corresponding distance be
D1, second data frame read data and be denoted as F2, vehicle position information L2（x2,y2）, corresponding distance be D2, third data
Frame reads data and is denoted as F3, vehicle position information L3（x3,y3）, corresponding distance be D3.Compare L1、 L2 、L3If wherein appoint
Both meanings are identical, then return to mistake；Otherwise, i.e. L1≠L2≠L3, then step 52 is performed.
Step 52：According to vehicle position information L1（x1,y1）, corresponding distance D1, vehicle position information L2（x2,y2）, it is right
The distance D answered2, vehicle position information L3（x3,y3）, corresponding distance D3, simultaneous below equation group（2）：
（2）
The position P of the unique solution solved to equation group perceptually node（xp,yp）.
Step 53：According to vehicle position information L1（x1,y1）、L3（x3,y3）, then vehicle heading is arrived by (x1, y1)
The direction of (x3, y3).Tie point L1 and L3 obtain straight line L1 L3, it is assumed that linear equation is：Ax+By+C=0 calculates：
A=y3-y1
B=x1-x3
C=x3*y1-x1*y3
D=A*xp+B*yp+C
If D<0, then sensing node position P is in the left side of vehicle heading；If D>0, then sensing node position P is on the right side of straight line
Side；If D=0, sensing node position P is on vehicle heading.
On the other hand, a kind of car networking near roads sensing node positioning device using RFID, described device are provided
Including：It is set to the RFID sensing nodes of near roads and the vehicle-mounted RFID active electronic labels being set on vehicle.
The RFID sensing nodes of near roads are set to for completing three functions：First, reception and the vehicle-mounted RFID of storage have
The data frame information that source electronic tag is sent；Second is that according to the self vehicle position information of reception and the range information of calculating,
Calculate the position coordinates of sensing node；Third, calculating vehicle driving trace direction, judge that sensing node is located at vehicle heading
Left side or right side.
The vehicle-mounted RFID active electronic labels being set on vehicle are used to complete function：In vehicle travel process, actively
The RFID sensing nodes that transmission data frame information is extremely installed along near roads.
Wherein, vehicle-mounted RFID active electronic labels include：.
Vehicle locating unit：For obtaining the position of vehicle itself, and vehicle position information is sent to control unit.
Control unit：For receiving the vehicle position information of vehicle locating unit output, the transmitting work(of radio frequency unit is controlled
The data frame and control time interval transmission data frame information that rate, construction and generation are sent.
Radio frequency unit：For data frame data to be converted to radiofrequency signal as radiofrequency signal, which is transmitted
To antenna element.
Antenna element：It is installed at vehicle front screen, with 360◦Omnidirectional's mode is perceived to the RFID nearby installed along road
Node emits data frame radiofrequency signal.
The vehicle locating unit is unidirectionally connect with control unit, described control unit and the two-way company of the radio frequency unit
It connects, the radio frequency unit is bi-directionally connected with antenna element, and described control unit is unidirectionally connect with the power supply unit.
Compared with prior art, the device have the advantages that being：.
Positioning of 1, by the use of ripe RFID technique as near roads sensing node, it is simple in structure, it is of low cost, and
Vehicle-mounted RFID electronic label is flexible for installation, and the specific installation site on vehicle body is not strict with, is suitably mounted to vehicle
On.
The vehicle-mounted RFID electronic label of 2, is installed on vehicle, and is active equipment, without considering energy consumption problem；And electronics mark
It signs and issues that the data frame sent is shorter, reduces sensing node to the parsing time of data frame and energy, effectively increase sensing node
Service life.
3, location processing methods are easily achieved, and are suitble to the quick positioning of sensing node.
Therefore, the car networking near roads sensing node localization method and device of the invention using RFID can simply,
It accurately obtains and perceives node location coordinate.
Description of the drawings
Fig. 1 is a kind of whole knot of car networking near roads sensing node localization method and device using RFID of the invention
Composition.
Fig. 2 is the vehicle-mounted RFID active electronic labels each unit connection diagram of the present invention.
Fig. 3 is the vehicle-mounted RFID active electronic labels scheme of installation of the present invention.
Fig. 4 handles data frame flow chart for sensing node of the present invention.
Fig. 5 is sensing node localization method flow chart of the present invention.
Fig. 6 judges sensing node and vehicle heading relationship coordinate schematic diagram for the present invention.
Specific embodiment
The embodiment of the present invention is described in further detail below in conjunction with attached drawing, but the embodiment should not be construed as to this
The limitation of invention.
The present invention provides a kind of car networking near roads sensing node localization method and device using RFID.
A kind of whole knot of car networking near roads sensing node localization method and device using RFID as shown in Figure 1
Composition is made of the vehicle-mounted RFID active electronic labels being installed on vehicle and the RFID sensing nodes installed along near roads.
Wherein：Vehicle-mounted RFID active electronic labels are in vehicle travel process, according to intervals actively by data
Frame information is sent to the RFID sensing nodes installed along near roads；RFID sensing nodes are handled and are obtained to data frame information
To the position coordinates of itself.
Vehicle-mounted RFID active electronic labels each unit connection diagram as shown in Figure 2, including vehicle locating unit
（200）, control unit（201）, radio frequency unit（202）, antenna element（203）, power supply unit（204）.
Wherein：Vehicle locating unit（200）With control unit（201）Unidirectional connection, control unit（201）With radio frequency unit
（202）It is bi-directionally connected, radio frequency unit（202）With antenna element（203）It is bi-directionally connected, control unit（201）With power supply unit
（204）Unidirectional connection.
Further, vehicle locating unit（200）, for obtaining the position of vehicle itself, and vehicle position information is sent out
It send to control unit（201）.
Further, control unit（201）, for receiving vehicle locating unit（200）The vehicle position information of output, control
Radio frequency unit processed（202）Transmission power, construction and generation send data frame and control time interval transmission data frame letter
Breath.
Further, radio frequency unit（202）, will for data frame data to be converted to radiofrequency signal as radiofrequency signal
The radiofrequency signal is sent to antenna element（203）.
Further, antenna element（203）, it is installed at vehicle front screen, with 360◦Omnidirectional's mode is to along near road
The RFID sensing nodes transmitting data frame radiofrequency signal of installation.
Vehicle-mounted RFID active electronic labels scheme of installation as shown in Figure 3, vehicle-mounted RFID active electronic labels are installed on
At front windshield of vehicle.
In the present embodiment, it is contemplated that the present invention is suitable for the characteristics of car networking, needs longer-distance sensing range, because
This uses the UHF of 433MHz（Hyperfrequency）Active electronic label, signal identification distance is 100-150m, since vehicle all carries
The equipment of the high electric energy such as battery, so in order to which more nodes is allowed to obtain broadcast message, vehicle-mounted RFID active electronic labels
Radio frequency unit can emit according to maximum power value.Therefore the sensing node in the range of near roads 100-150m all may be used
Receive the signal of electronic tag.
The data frame data that vehicle-mounted RFID active electronic labels are sent includes vehicle location, transmission power.
Vehicle location is the important information that sensing node is positioned, and sensing node can be according to multiple positions of vehicle transmission
It puts and distance measurement value calculates sensing node coordinate.
Transmission power is the important information of ranging in sensing node positioning, and sensing node can be according to the reception power of itself
And vehicle antenna transmission power calculates the attenuation of power, and the distance between sensing node and vehicle location is then obtained.
In view of the accuracy of positioning, in the present embodiment, according to the vehicle-mounted RFID active electronic labels of following state modulator
Data frame send interval.
| Speed v | Data frame transmission time interval t |
| v≤60km/h | 1 second |
| 60km/h<v≤100km/h | 0.8 second |
| v>100km/h | 0.5 second |
Sensing node of the present invention processing data frame flow chart as shown in Figure 4, RFID sensing nodes are to the data frame of reception
Information is handled, and is specifically comprised the following steps：.
S1：Sensing node receives data frame information, according to the sequencing that data frame reaches, is stored in list is recorded
The data frame information received, and store the signal reception power for receiving and being obtained during signal.
S2：Data frame information of the sensing node in record list judges vehicle to judging vehicle running state
The sensing range of sensing node whether is sailed out of, if not sail out of sensing range, sensing node etc. waiting for vehicle node
Receive new data frame information, and return to step S1；Otherwise, step S3 is performed.
S3：Sensing node takes out three records according to certain time interval from record list.
S4：Sensing node extracts this three represented data frame informations of record respectively, according to the letter extracted from data frame
Number power and signal transmission power being received, the difference for calculating signal reception power and signal transmission power obtains energy attenuation value,
The distance of signal transmitting position and sensing node is calculated according to pad value, so as to obtain three position L different in vehicle travelingj
（j=1, 2,3）With the range information D of sensing nodei（i=1,2,3）.
S5：The sensing node self vehicle position information represented according to three records of extraction（xj,yj）（j=1, 2,
3）And corresponding three range information Di（i=1,2,3）, calculate the position coordinates of sensing node；Sensing node calculates vehicle
Driving trace direction judges that sensing node is located at the left side or right side of vehicle heading.
The judgement of sensing range is left using the method for time-out judgement for vehicle in the present embodiment：Receive data every time
After frame, start timer timing.If receiving new broadcast frame within the time of setting, timer reclocking, if
Timer has been more than that setting time does not receive new broadcast frame yet, then it is assumed that vehicle has sailed out of communication zone.
Sensing node localization method flow chart of the present invention as shown in Figure 5, the step S4 pass through formula（1）Calculating is connect
Data frame signal transmitting the distance between the position and sensing node of receipts：
（1）
Wherein, d be received data frame signal transmitting position and sensing node distance, d0It is reference distance, Pd0It is ginseng
Examine distance d0Path loss power, η be radio signal propagation path loss index, PLossFor energy attenuation amount, PLoss=P-
PR, P are that the data frame signal that sensing node obtains when signal is received receives power, and PR is the transmitting obtained from data frame
Power.
Sensing node localization method flow chart of the present invention as shown in Figure 5, the step S5 record institute to three of extraction
The self vehicle position information of expression（xj,yj）（j=1, 2,3）And corresponding three range information Di（i=1,2,3）, calculate
The position coordinates of sensing node and the relationship with vehicle heading, specifically include：.
Step 51：First data frame reads data and is denoted as F1, vehicle position information L1（x1,y1）, corresponding distance be
D1, second data frame read data and be denoted as F2, vehicle position information L2（x2,y2）, corresponding distance be D2, third data
Frame reads data and is denoted as F3, vehicle position information L3（x3,y3）, corresponding distance be D3.Compare L1、 L2 、L3If wherein appoint
Both meanings are identical, then return to mistake；Otherwise, i.e. L1≠L2≠L3, then step 52 is performed.
Step 52：According to vehicle position information L1（x1,y1）, corresponding distance D1, vehicle position information L2（x2,y2）, it is right
The distance D answered2, vehicle position information L3（x3,y3）, corresponding distance D3, simultaneous below equation group（2）：
（2）
The position P of the unique solution solved to equation group perceptually node（xp,yp）.
Step 53：According to vehicle position information L1（x1,y1）、L3（x3,y3）, then vehicle heading is arrived by (x1, y1)
The direction of (x3, y3).Tie point L1 and L3 obtain straight line L1 L3, it is assumed that linear equation is：Ax+By+C=0 calculates：
A=y3-y1
B=x1-x3
C=x3*y1-x1*y3
D=A*xp+B*yp+C
If D<0, then sensing node position P is in the left side of vehicle heading；If D>0, then sensing node position P is on the right side of straight line
Side；If D=0, sensing node position P is on vehicle heading（As shown in Figure 6）.
Above-described embodiment provide the car networking near roads sensing node localization method and device using RFID only more than
The division progress of each function module is stated for example, in practical application, it can be as needed by above-mentioned function distribution by different
Module is completed, i.e., internal structure is divided into different function modules, to complete above-mentioned all or part of function.
The above embodiments are merely a preferred embodiment of the present invention, it is impossible to the interest field of the present invention is limited with this, because
This, the equivalent variations made according to scope of the present invention patent are still within the scope of the present invention.
Claims (9)
1. a kind of car networking near roads sensing node localization method and device using RFID, it is characterised in that：By being installed on
Vehicle-mounted RFID active electronic labels on vehicle and the RFID sensing nodes composition along near roads installation.
2. vehicle-mounted RFID active electronic labels actively send out data frame information according to intervals in vehicle travel process
It send to the RFID sensing nodes installed along near roads；RFID sensing nodes handle data frame information and obtain itself
Position coordinates.
3. the car networking near roads sensing node localization method and device according to claim 1 using RFID, special
Sign is：The vehicle-mounted RFID active electronic labels include vehicle locating unit（200）, control unit（201）, radio frequency unit
（202）, antenna element（203）, power supply unit（204）；The vehicle locating unit（200）With control unit（201）Unidirectionally connect
It connects, described control unit（201）With the radio frequency unit（202）It is bi-directionally connected, the radio frequency unit（202）With antenna element
（203）It is bi-directionally connected, described control unit（201）With the power supply unit（204）Unidirectional connection.
4. vehicle locating unit（200）, for obtaining the position of vehicle itself, and vehicle position information is sent to control unit
（201）；Control unit（201）, for receiving vehicle locating unit（200）The vehicle position information of output controls radio frequency unit
（202）Transmission power, construction and generation send data frame and control time interval transmission data frame information；Radio frequency list
Member（202）, for data frame data to be converted to radiofrequency signal as radiofrequency signal, which is sent to antenna element
（203）；Antenna element（203）, it is installed at vehicle front screen, with 360◦Omnidirectional's mode is felt to the RFID nearby installed along road
Know that node emits data frame radiofrequency signal.
5. the car networking near roads sensing node localization method and device according to claim 2 using RFID, special
Sign is：The data frame data that the vehicle-mounted RFID active electronic labels are sent includes vehicle location, transmission power.
6. the car networking near roads sensing node localization method and device according to claim 2 using RFID, special
Sign is：In vehicle travel process, vehicle-mounted RFID active electronic labels are believed according to certain time interval active transmission data frame
Breath.
7. the car networking near roads sensing node localization method and device using RFID according to claims 1 to 3,
It is characterized in that：RFID sensing nodes handle the data frame information of reception, specifically comprise the following steps：
S1：Sensing node receives data frame information, according to the sequencing that data frame reaches, stores what is received in list is recorded
Data frame information, and store the signal reception power for receiving and being obtained during signal；
S2：Data frame information of the sensing node in record list judges that vehicle is to judging vehicle running state
The no sensing range for having sailed out of sensing node, if not sail out of sensing range, sensing node etc. to be received new for vehicle node
Data frame information, and return to step S1；Otherwise, step S3 is performed；
S3：Sensing node takes out three records according to certain time interval from record list；
S4：Sensing node extracts this three represented data frame informations of record respectively, is connect according to the signal extracted from data frame
Power and signal transmission power is received, the difference for calculating signal reception power and signal transmission power obtains energy attenuation value, foundation
Pad value calculates the distance of signal transmitting position and sensing node, so as to obtain three position L different in vehicle travelingj（j=
1, 2,3）With the range information D of sensing nodei（i=1,2,3）；
S5：The sensing node self vehicle position information represented according to three records of extraction（xj,yj）（j=1, 2,3）, with
And corresponding three range information Di（i=1,2,3）, calculate the position coordinates of sensing node；Sensing node calculates vehicle traveling rail
Mark direction judges that sensing node is located at the left side or right side of vehicle heading.
8. the car networking near roads sensing node localization method and device according to claim 5 using RFID, special
Sign is：The step S4 passes through formula（1）Calculate between received data frame signal transmitting position and sensing node away from
From：
（1）
Wherein, d be received data frame signal transmitting position and sensing node distance, d0It is reference distance, Pd0It is ginseng
Examine distance d0Path loss power, η be radio signal propagation path loss index, PLossFor energy attenuation amount, PLoss=P-
PR, P are that the data frame signal that sensing node obtains when signal is received receives power, and PR is the transmitting obtained from data frame
Power.
9. the car networking near roads sensing node localization method and device according to claim 5 using RFID, special
Sign is：The represented self vehicle position information of three records of the step S5 to extraction（xj,yj）（j=1, 2,3）, with
And corresponding three range information Di（i=1,2,3）, calculate the position coordinates of sensing node and the pass with vehicle heading
System, specifically includes：
Step 51：First data frame reads data and is denoted as F1, vehicle position information L1（x1,y1）, corresponding distance be D1, the
Two data frames read data and are denoted as F2, vehicle position information L2（x2,y2）, corresponding distance be D2, the reading of third data frame
Data are denoted as F3, vehicle position information L3（x3,y3）, corresponding distance be D3；Compare L1、 L2 、L3It is if wherein both arbitrary
It is identical, then return to mistake；Otherwise, i.e. L1≠L2≠L3, then step 52 is performed；
Step 52：According to vehicle position information L1（x1,y1）, corresponding distance D1, vehicle position information L2（x2,y2）, it is corresponding
Distance D2, vehicle position information L3（x3,y3）, corresponding distance D3, simultaneous below equation group（2）：
（2）
The position P of the unique solution solved to equation group perceptually node（xp,yp）；
Step 53：According to vehicle position information L1（x1,y1）、L3（x3,y3）, then vehicle heading be by (x1, y1) to (x3,
Y3 direction)；Tie point L1 and L3 obtain straight line L1 L3, it is assumed that linear equation is：Ax+By+C=0 calculates：
A=y3-y1,
B=x1-x3,
C=x3*y1-x1*y3,
D=A*xp+B*yp+C,
Then：If D<0, then sensing node position P is in the left side of vehicle heading；If D>0, then sensing node position P is in straight line
Right side；If D=0, sensing node position P is on vehicle heading.
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| CN201611251781.7A Pending CN108267714A (en) | 2016-12-30 | 2016-12-30 | Utilize the car networking near roads sensing node localization method and device of RFID |
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