CN108495264A - A kind of method of the narrowbands LoRa internet-of-things terminal node locating - Google Patents
A kind of method of the narrowbands LoRa internet-of-things terminal node locating Download PDFInfo
- Publication number
- CN108495264A CN108495264A CN201810317542.XA CN201810317542A CN108495264A CN 108495264 A CN108495264 A CN 108495264A CN 201810317542 A CN201810317542 A CN 201810317542A CN 108495264 A CN108495264 A CN 108495264A
- Authority
- CN
- China
- Prior art keywords
- lora
- node
- nodes
- anchor
- terminal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W56/00—Synchronisation arrangements
- H04W56/001—Synchronization between nodes
Abstract
A kind of method of the narrowbands LoRa internet-of-things terminal node locating, includes the following steps：（1）Deployment is no less than 3 LoRa anchor nodes, is mounted on different positions, the reference mode as positioning；（2）Time synchronization is carried out by satellite navigation system between each LoRa anchor nodes；（3）LoRa terminal nodes are in the place in the no less than communication range of 3 LoRa anchor nodes；（4）LoRa terminal nodes broadcast a location data packet to LoRa anchor nodes, and LoRa anchor nodes record receives the receiving time stamp of the location data packet and node ID to be positioned；（5）Each LoRa anchor nodes for receiving location data packet send a new data packet to gateway, and the data that each LoRa anchor nodes are sent are forwarded a packet to background server and carry out positioning calculation by gateway, finally obtain the position of the terminal node of certain ID number.Technical scheme of the present invention detection efficiency is high, at low cost, easy to implement.
Description
Technical field
The present invention relates to LoRa communication network fields, and in particular to a kind of side of the narrowbands LoRa internet-of-things terminal node locating
Method.
Background technology
LoRa is a kind of important narrowband technology of Internet of things, with increasingly mature, the LoRa of LoRa communication network ecological chains
Communication network is widely used in daily life.But it in certain specific application scenarios, needs to obtain
The geographical location information for getting terminal node is just significant, and LoRa communication networks itself are without the energy of offer location aware
Power.
Currently, relevant major part solution is additionally to increase ancillary equipment on the terminal node of LoRa communication networks
It is positioned, and the characteristics of LoRa communication networks itself is low power loss communication network, and additionally increasing ancillary equipment will be substantially
Degree ground increases power consumption, so the scheme for additionally increasing ancillary equipment on terminal node is not particularly suited for relying on battery powered LoRa
Communication network terminal node locating.
Invention content
In view of the deficiencies of the prior art, how efficiently at low cost problem solved by the invention is precise positioning LoRa
End node locations.
In order to solve the above technical problems, the technical solution adopted by the present invention is that a kind of narrowbands LoRa internet-of-things terminal node is fixed
The method of position is based on LoRa terminal node own signal systems, the letter using LoRa terminal nodes between no less than 3 anchor nodes
Breath exchanges and coordinates to carry out LoRa terminal node positioning, includes the following steps：
(1) deployment is no less than 3 LoRa anchor nodes, configures GNSS locating modules, is mounted on different positions, as
The reference mode of LoRa terminal nodes positioning；
(2) time synchronization is carried out by satellite navigation system between each LoRa anchor nodes；
(3) LoRa terminal nodes are in the place in the no less than communication range of 3 LoRa anchor nodes；
(4) LoRa terminal nodes broadcast a location data packet to LoRa anchor nodes, and it is fixed that LoRa anchor nodes record receives this
The receiving time stamp of position data packet and node ID to be positioned；
(5) each LoRa anchor nodes for receiving location data packet send a new data packet to gateway, and gateway will be each
The data that LoRa anchor nodes are sent forward a packet to background server and carry out positioning calculation, finally obtain the terminal node of certain ID number
Position.
In step (2), time synchronization is carried out by satellite navigation system between each LoRa anchor nodes, further includes passing through
Satellite navigation system carries out precise positioning to each LoRa anchor nodes, measures the geographic position data of anchor node, and stores to backstage
Server, the algorithm process for after provide related data.
In step (5), the positioning calculation uses TDOA location algorithms, and a simple positioning is broadcasted by terminal node
Data packet reaches the reaching time-difference of multiple anchor nodes, to measure range difference, recycles hyperbola to be positioned, calculates
The coordinate position of LoRa terminal nodes to be measured, detailed process are as follows：
If the position coordinates of terminal node PN are (x, y), the position coordinates for participating in each anchor node of positioning are (xi, yi), i
=1,2 ..., n；Terminal node PN between i-th of anchor node at a distance from be：
Using first anchor node as benchmark, then the distance between terminal node PN and each anchor node are represented by：
Rsi=Rs-R1(s=2,3 ..., M) (2)
R can be obtained by formulas 2=(Rs1+R1)2=R2 s1+2×Rs1×R1+R1 2 (3)
It is represented by after substituting into coordinate：
(x-xs)2+(y-ys)2=Rs1 2+2×Rs1×R1+R1 2 (4)
It willAbove formula is substituted into,
And enable ki=xi 2+yi 2,xsi=xs-xi, abbreviation arranges：
2·Rs1·R1+2·xs1·x+2·ys1Y=ks 2-k1 2-Rs1 2 (5)
When M=3, it can obtain：
X and y are solved using above formula, is substituted into R1In, R can be found out1Value, reject and do not meet the negative of physical significance
Number can be obtained the estimation of terminal node PN coordinates as a result, positive value is substituted into (6).
Technical solution detection efficiency using the present invention is high, at low cost, easy to implement, avoids and increases in LoRa terminal nodes
Add additional supplementary module to be positioned, causes a large amount of energy losses and the situation that causes the power source life of node module short, very greatly
Solve the problems, such as LoRa terminal node location difficulties in degree.
Description of the drawings
Fig. 1 is the narrowbands LoRa internet-of-things terminal node positioning system test schematic diagram；
Fig. 2 is the flow chart of the narrowbands LoRa internet-of-things terminal node locating.
Specific implementation mode
The specific implementation mode of the present invention is further described below in conjunction with the accompanying drawings, but is not the limit to the present invention
It is fixed.
Fig. 1 shows the internet-of-things terminal node positioning system test signal of the narrowbands LoRa；
Fig. 2 shows a kind of methods of the narrowbands LoRa internet-of-things terminal node locating, are believed based on LoRa terminal nodes itself
Number system, information exchange using LoRa terminal nodes between no less than 3 anchor nodes and coordinate to carry out LoRa terminal nodes it is fixed
Position, includes the following steps：
(1) deployment is no less than 3 LoRa anchor nodes, configures GNSS locating modules, is mounted on different positions, as
The reference mode of LoRa terminal nodes positioning；
(2) time synchronization is carried out by satellite navigation system between each LoRa anchor nodes；
(3) LoRa terminal nodes are in the place in the no less than communication range of 3 LoRa anchor nodes；
(4) LoRa terminal nodes broadcast a location data packet to LoRa anchor nodes, and it is fixed that LoRa anchor nodes record receives this
The receiving time stamp of position data packet and node ID to be positioned；
(5) each LoRa anchor nodes for receiving location data packet send a new data packet to gateway, and gateway will be each
The data that LoRa anchor nodes are sent forward a packet to background server and carry out positioning calculation, finally obtain the terminal node of certain ID number
Position.
In step (2), time synchronization is carried out by satellite navigation system between each LoRa anchor nodes, further includes passing through
Satellite navigation system carries out precise positioning to each LoRa anchor nodes, measures the geographic position data of anchor node, and stores to backstage
Server, the algorithm process for after provide related data.
In step (5), the positioning calculation uses TDOA location algorithms, and a simple positioning is broadcasted by terminal node
Data packet reaches the reaching time-difference of multiple anchor nodes, to measure range difference, recycles hyperbola to be positioned, calculates
The coordinate position of LoRa terminal nodes to be measured, detailed process are as follows：
If the position coordinates of terminal node PN are (x, y), the position coordinates for participating in each anchor node of positioning are (xi, yi), i
=1,2 ..., n；Terminal node PN between i-th of anchor node at a distance from be：
Using first anchor node as benchmark, then the distance between terminal node PN and each anchor node are represented by：
Rsi=Rs-R1(s=2,3 ..., M) (2)
R can be obtained by formulas 2=(Rs1+R1)2=R2 s1+2×Rs1×R1+R1 2 (3)
It is represented by after substituting into coordinate：
(x-xs)2+(y-ys)2=Rs1 2+2×Rs1×R1+R1 2 (4)
It willAbove formula is substituted into,
And enable ki=xi 2+yi2,xsi=xs-xi, abbreviation arranges：
2·Rs1·R1+2·xs1·x+2·ys1Y=ks 2-k1 2-Rs1 2 (5)
When M=3, it can obtain：
X and y are solved using above formula, is substituted into R1In, R can be found out1Value, reject and do not meet the negative of physical significance
Number can be obtained the estimation of terminal node PN coordinates as a result, positive value is substituted into (6).
Technical solution detection efficiency using the present invention is high, at low cost, easy to implement, avoids and increases in LoRa terminal nodes
Add additional supplementary module to be positioned, causes a large amount of energy losses and the situation that causes the power source life of node module short, very greatly
Solve the problems, such as LoRa terminal node location difficulties in degree.
Detailed description is made that embodiments of the present invention above in association with attached drawing, but the present invention be not limited to it is described
Embodiment.To those skilled in the art, without departing from the principles and spirit of the present invention, these are implemented
Mode carries out various change, modification, replacement and modification and still falls in protection scope of the present invention.
Claims (3)
1. a kind of method of the narrowbands LoRa internet-of-things terminal node locating, it is characterised in that：Believed based on LoRa terminal nodes itself
Number system, information exchange using LoRa terminal nodes between no less than 3 anchor nodes and coordinate to carry out LoRa terminal nodes it is fixed
Position, includes the following steps：
(1) deployment is no less than 3 LoRa anchor nodes, configures GNSS locating modules, is mounted on different positions, as LoRa ends
The reference mode of end segment point location；
(2) time synchronization is carried out by satellite navigation system between each LoRa anchor nodes；
(3) LoRa terminal nodes are in the place in the no less than communication range of 3 LoRa anchor nodes；
(4) LoRa terminal nodes broadcast a location data packet to LoRa anchor nodes, and LoRa anchor nodes record receives the positioning number
According to the receiving time stamp of packet and node ID to be positioned；
(5) each LoRa anchor nodes of location data packet are received and send a new data packet to gateway, gateway is by each LoRa anchors
The data that node is sent forward a packet to background server and carry out positioning calculation, finally obtain the position of the terminal node of certain ID number.
2. the method for the narrowbands LoRa internet-of-things terminal node locating according to claim 1, it is characterised in that：Step (2)
In, time synchronization is carried out by satellite navigation system between each LoRa anchor nodes, further includes by satellite navigation system pair
Each LoRa anchor nodes carry out precise positioning, the geographic position data of anchor node are measured, and store to background server, after being
Algorithm process provides related data.
3. the method for the narrowbands LoRa internet-of-things terminal node locating according to claim 1 or 2, it is characterised in that：Step
(5) in, the positioning calculation uses TDOA location algorithms, and it is more to broadcast a simple location data packet arrival by terminal node
The reaching time-difference of a anchor node recycles hyperbola to be positioned, calculates LoRa terminals to be measured to measure range difference
The coordinate position of node, detailed process are as follows：
If the position coordinates of terminal node PN are (x, y), the position coordinates for participating in each anchor node of positioning are (xi, yi), i=1,
2 ..., n；Terminal node PN between i-th of anchor node at a distance from be：
Using first anchor node as benchmark, then the distance between terminal node PN and each anchor node are represented by：
Rsi=Rs-R1(s=2,3 ..., M) (2)
R can be obtained by formulas 2=(Rs1+R1)2=R2 s1+2×Rs1×R1+R1 2 (3)
It is represented by after substituting into coordinate：
(x-xs)2+(y-ys)2=Rs1 2+2×Rs1×R1+R1 2 (4)
It willAbove formula is substituted into,
And enable ki=xi 2+yi 2,xsi=xs-xi, abbreviation arranges：
2·Rs1·R1+2·xs1·x+2·ys1Y=ks 2-k1 2-Rs1 2 (5)
When M=3, it can obtain：
X and y are solved using above formula, is substituted into R1In, R can be found out1Value, reject and do not meet the negative knot of physical significance
Fruit substitutes into positive value in (6) and can be obtained the estimation of terminal node PN coordinates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810317542.XA CN108495264A (en) | 2018-04-10 | 2018-04-10 | A kind of method of the narrowbands LoRa internet-of-things terminal node locating |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810317542.XA CN108495264A (en) | 2018-04-10 | 2018-04-10 | A kind of method of the narrowbands LoRa internet-of-things terminal node locating |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108495264A true CN108495264A (en) | 2018-09-04 |
Family
ID=63315628
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810317542.XA Pending CN108495264A (en) | 2018-04-10 | 2018-04-10 | A kind of method of the narrowbands LoRa internet-of-things terminal node locating |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108495264A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109257701A (en) * | 2018-12-05 | 2019-01-22 | 深圳大学 | A kind of wide area networking of things network node locating method and its system based on SX1280 |
| CN110361765A (en) * | 2019-08-22 | 2019-10-22 | 江西渥泰环保科技有限公司 | GNSS and narrowband Internet of Things autonomous positioning and data fusion method |
| CN111505682A (en) * | 2020-04-29 | 2020-08-07 | 吉林大学 | Indoor satellite positioning system and positioning method based on ultra wide band |
| CN111538060A (en) * | 2020-05-14 | 2020-08-14 | 上海海洋大学 | Lora network-based relative positioning method |
| CN111918307A (en) * | 2020-07-31 | 2020-11-10 | 重庆邮电大学 | Multilayer gateway data transmission system and method based on LoRa positioning |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110081917A1 (en) * | 2009-10-05 | 2011-04-07 | Motorola, Inc. | Autonomous muting indication to enable improved time difference of arrival measurements |
| CN103257337A (en) * | 2012-02-15 | 2013-08-21 | 北京乐富科技有限责任公司 | Method of cluster positioning for after-calamity search and rescue |
| CN104185274A (en) * | 2014-09-11 | 2014-12-03 | 周俊杰 | High-precision WLAN positioning scheme based on precision clock synchronization and time difference of arrival (TDOA) principle |
| CN104270814A (en) * | 2014-09-30 | 2015-01-07 | 南京沃旭通讯科技有限公司 | Locating method and system based on mixed TDOA and ToF |
| CN105105755A (en) * | 2015-06-25 | 2015-12-02 | 厦门市简极科技有限公司 | Intelligent ball field system and data acquisition method thereof |
| CN105682221A (en) * | 2016-02-17 | 2016-06-15 | 郑州联睿电子科技有限公司 | Passive positioning system based on ultra wide band (UWB) and positioning method |
| CN106199511A (en) * | 2016-06-23 | 2016-12-07 | 郑州联睿电子科技有限公司 | VR location tracking system based on ultra broadband location and location tracking method thereof |
| CN107765217A (en) * | 2017-09-14 | 2018-03-06 | 清华大学 | UWB indoor locating systems based on high precision clock simultaneous techniques |
-
2018
- 2018-04-10 CN CN201810317542.XA patent/CN108495264A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110081917A1 (en) * | 2009-10-05 | 2011-04-07 | Motorola, Inc. | Autonomous muting indication to enable improved time difference of arrival measurements |
| CN103257337A (en) * | 2012-02-15 | 2013-08-21 | 北京乐富科技有限责任公司 | Method of cluster positioning for after-calamity search and rescue |
| CN104185274A (en) * | 2014-09-11 | 2014-12-03 | 周俊杰 | High-precision WLAN positioning scheme based on precision clock synchronization and time difference of arrival (TDOA) principle |
| CN104270814A (en) * | 2014-09-30 | 2015-01-07 | 南京沃旭通讯科技有限公司 | Locating method and system based on mixed TDOA and ToF |
| CN105105755A (en) * | 2015-06-25 | 2015-12-02 | 厦门市简极科技有限公司 | Intelligent ball field system and data acquisition method thereof |
| CN105682221A (en) * | 2016-02-17 | 2016-06-15 | 郑州联睿电子科技有限公司 | Passive positioning system based on ultra wide band (UWB) and positioning method |
| CN106199511A (en) * | 2016-06-23 | 2016-12-07 | 郑州联睿电子科技有限公司 | VR location tracking system based on ultra broadband location and location tracking method thereof |
| CN107765217A (en) * | 2017-09-14 | 2018-03-06 | 清华大学 | UWB indoor locating systems based on high precision clock simultaneous techniques |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109257701A (en) * | 2018-12-05 | 2019-01-22 | 深圳大学 | A kind of wide area networking of things network node locating method and its system based on SX1280 |
| CN110361765A (en) * | 2019-08-22 | 2019-10-22 | 江西渥泰环保科技有限公司 | GNSS and narrowband Internet of Things autonomous positioning and data fusion method |
| CN111505682A (en) * | 2020-04-29 | 2020-08-07 | 吉林大学 | Indoor satellite positioning system and positioning method based on ultra wide band |
| CN111538060A (en) * | 2020-05-14 | 2020-08-14 | 上海海洋大学 | Lora network-based relative positioning method |
| CN111538060B (en) * | 2020-05-14 | 2023-10-13 | 上海海洋大学 | Relative positioning method based on Lora network |
| CN111918307A (en) * | 2020-07-31 | 2020-11-10 | 重庆邮电大学 | Multilayer gateway data transmission system and method based on LoRa positioning |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108495264A (en) | A kind of method of the narrowbands LoRa internet-of-things terminal node locating | |
| Liu et al. | Asymmetrical round trip based synchronization-free localization in large-scale underwater sensor networks | |
| Xiao et al. | An RSSI based DV-hop algorithm for wireless sensor networks | |
| CN105611568B (en) | A method of LTE terminal position is accurately positioned based on MRO measurement report | |
| WO2018165986A1 (en) | Method for detecting synchronization signal block, and method, apparatus and system for transmitting synchronization signal block | |
| CN103209224A (en) | P2P (peer-to-peer)-based underwater acoustic sensor network system and data transmission method thereof | |
| CN108370551A (en) | Based on reaching time-difference localization method, user equipment and the network equipment | |
| CN103281777A (en) | Differential positioning method based on WiFi (wireless fidelity) | |
| CN103369578A (en) | Group generation and maintenance method in wireless self-organizing network environment | |
| Guadane et al. | Enhanced range-free localization in wireless sensor networks using a new weighted hop-size estimation technique | |
| CN110087306A (en) | A kind of node positioning method for wireless sensor network | |
| CN114353795A (en) | Indoor three-dimensional positioning system and method based on UWB equipment | |
| CN110850364B (en) | UWB positioning method for eliminating antenna delay error | |
| Wang et al. | An improved DV-Distance localization algorithm for wireless sensor networks | |
| CN108880708B (en) | Compressed sensing link quality estimation method based on intertidal zone wireless sensor network | |
| Ding | Application of wireless sensor network in target detection and localization | |
| Lin et al. | A location based clustering algorithm for wireless sensor networks | |
| Zhang et al. | A modified DV-hop localization algorithm based on communication radius dynamic adjustment | |
| Kumar et al. | An improved clustering machanism to improve neworklife for underwater WSN | |
| Nayaka et al. | Data aggregation and routing scheme for smart city public utility services using WSN | |
| Fang et al. | ELOTS: Energy-efficient local optimization time synchronization algorithm for WirelessHART networks | |
| Zhang et al. | Cluster-based time synchronization protocol for wireless sensor networks | |
| Kaur et al. | Analysis on DV-Hop Algorithm and its variants by considering threshold | |
| Lin et al. | A clustering algorithm based geographic location information for wireless sensor networks | |
| Li et al. | Efficient load balance data aggregation methods for WSN based on compressive network coding |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180904 |
|
| RJ01 | Rejection of invention patent application after publication |