CN108549050A - A kind of chargeable node positioning method based on the orientation charging time - Google Patents
A kind of chargeable node positioning method based on the orientation charging time 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
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
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Abstract
The invention belongs to mobile communication technology fields, are related to a kind of chargeable node positioning method based on the orientation charging time.Step is：It selects directional aerial and chargeable node antennas to select the gain characteristic of omnidirectional antenna according to charger antenna, chargeable node and charger is put into global rectangular coordinate system, ideal charging model is obtained in conjunction with fries transmission formula and capacitor charging formula；It is modified according to actual environment, obtains environment and adapt to charge model；Use environment, which adapts to charge model, can obtain the relationship of different directions charging time and charging distance, establish accurate positioning equation；The optimization object function for obtaining chargeable node location is combined by geometric method and least square method, to realize the localization method based on the orientation charging time.The present invention does not need additional precision equipment, and positioning accuracy is higher, disclosure satisfy that the requirement that high-accuracy position system is used under user's low cost.
Description
Technical field
The invention belongs to mobile radio telecommunications technical fields, and it is fixed to be related to a kind of chargeable node based on the orientation charging time
Position method.
Background technology
With the fast development and extensive use of wireless sensor network, society to the usage time of sensor network with it is steady
Qualitative demand is also higher and higher.Wireless charging technology causes the extensive concern of people, and researcher begins through wireless energy
It measures transmission mode and provides energy supply to sensor network, this emerging sensor network is referred to as wireless chargeable sensor
Network (Wireless Recharge Sensor Networks, WRSN).Many applications in WRSN, which are typically necessary, to be known
The location information of sensor node itself can just provide a user desired monitoring information and service on this basis.If net
Network is provided solely for node monitoring data without node location information, is skimble-skamble under many application scenarios.In addition,
Charging network planning and efficiency are also determined in the position of wireless chargeable sensor network interior joint.Therefore, the position letter of node
It ceases most important.
It is existing be similar to the high precision positioning equipment such as global positioning system be generally not suitable for being integrated in quantity it is more, it is small,
On sensor network nodes low in energy consumption.Also, the localization method based on existing ranging needs to directly obtain unknown node and anchor
Distance or angle between node, although such methods have higher positioning accuracy, node, which is typically necessary, to be equipped with additionally
Measuring device or accurate signal transmission model.On the contrary, passing through unknown node and anchor node based on non-ranging localization method
Between interconnected relationship or relative position realize positioning, such methods implement more easily, but general positioning accuracy is relatively low.
Therefore, the localization method low, efficient, that error is small of design cost becomes the hot spot studied both at home and abroad.
Invention content
The object of the present invention is to provide a kind of chargeable node positioning methods based on the orientation charging time.The present invention passes through
It builds and selects directional aerial and chargeable node to select the orientation charging scenarios of omnidirectional antenna based on charger, passed in conjunction with fries
Defeated formula and capacitor charging formula obtain ideal charging model.It is modified according to actual environment, obtains environment and adapt to charging mould
Type.Use environment, which adapts to charge model, can obtain the relationship of different directions charging time and charging distance, and it is accurately fixed to establish
Azimuth equation.The optimization object function for obtaining chargeable node location is combined by geometric method and least square method.System passes through
Measure arbitrary direction charger rest on different location be chargeable node be charged to that time needed for certain voltage realizes can
Charge node positions.
It is as follows：
Step 1：Directional aerial and chargeable node antennas is selected to select omnidirectional antenna as modeling conditions using charger antenna,
Establish orientation charging scenarios；Choose local rectangular coordinate system XTYTZT, the radiation gain model of charger antenna is established, charging is enabled
The position of device is exactly the position of charger antenna, is local rectangular coordinate system XTYTZTOrigin OT, the radiation spy of charger antenna
Property is in local rectangular coordinate system XTYTZTXTOTYTDirectionality is shown as in plane；Choose local rectangular coordinate system XRYRZR, establish
The radiation gain model of chargeable node antennas, it is exactly the position of chargeable node antennas to enable the position of chargeable node, is office
Portion rectangular coordinate system XRYRZROrigin OR, the radiation characteristic of chargeable node antennas is in local rectangular coordinate system XRYRZR's
XRORYROmni-directional is shown as in plane；Enable X in the local rectangular coordinate system of charger antennaTOTYTPlane and chargeable node day
X in the local rectangular coordinate system of lineRORYRPlane is at the XOY plane of global rectangular coordinate system XYZ；
Step 2：The biography of signal power under ideal conditions is obtained according to the fries transmission formula in electromagnetic transmission theory
Defeated characteristic；Fries transmission formula is
PR=PTGT(θT, φT)GR(θR, φR) L (d),
In formula, PRIt is the reception power of chargeable node antennas, PTIt is the transmission power of charger, GT(θT, φT) it is charging
The gain of device antenna, θTIt is ZTAxis and radiation direction OTThe angle of T compositions, φTIt is XTAxis and radiation direction OTT is in XTOTYTPlane
Projection OTThe angle of T ' compositions, GR(θR, φR) be chargeable node antennas gain, θRIt is ZRAxis and radiation direction ORR is formed
Angle, φTIt is XRAxis and radiation direction ORR is in XRORYRThe projection O of planeRThe angle of R ' compositions, L (d) be channel loss because
Son, L (d)=λ2(4πd)-2, λ is operation wavelength, and d is the distance between charger antenna and chargeable node antennas；It is chargeable
Using super capacitor as energy storage device, average charge horse-power formula is point nodeIn formula, C is super capacitor
Capacity, V is the end voltage in charging process, and Δ t indicates the charging time, that is, capacitance voltage is from no-voltage in charging process
It is charged to the time of end voltage；
Step 3：By in step 2 fries transmission formula and average charge horse-power formula simultaneous obtain ideal charging mould
Type：
In formula, η indicates rectification efficiency, is a constant in range [0,1], Δ taIndicate filling under ideal conditions
The electric time；
Step 4：Since the environmental factors such as application environment mesorelief, weather cause signal transmission power to generate fluctuation, and
Chargeable node is limited by hardware condition makes rectification efficiency reduce with the reduction of received signal strength；Therefore, in ideal charging
On the basis of model, need to be modified the ideal charging model in step 3 according to actual environment, revised formula is
In formula, α indicates that rectification loss, β indicate to correct efficiency, Δ tmIndicate the charging time under fitting condition；It arranges
Formula obtains experience charge model：
Step 5：According to orientation charging scenarios, the radiation of chargeable node antennas and charger antenna in step 1 is increased
Beneficial model substitutes into experience charge model；Then it carries out experiment test and is fitted to obtain empirical parameter α and β, the warp after being fitted
Test charge model；
Step 6：There is certain deficiency by the experience charge model after experimental fit, when chargeable node is applied new
When environment, in order to ensure that the accuracy of the experience charge model after fitting needs fitting empirical parameter again, this will expend many
Time and cost；In order to solve this problem, Environmental Factors are introduced in the experience charge model after being fitted in steps of 5
ε, influence of the reflection working environment to the chargeable node charging time；Environmental Factors ε expression formulas areIn formula, Δ
teIndicate the practical measurement charging time of chargeable node a certain position under application conditions, Δ tmIndicate chargeable node quasi-
The charging time of same position under the conditions of conjunction；Then, it obtains environment and adapts to charge model：
In this way, need to only carry out minor node charging time experiment in a new environment, and by the data measured and it is fitted item
Data under part compare, and obtain meeting actual environment adaptation charge model；The environment adapts to charge model can be compared with subject to
Really indicate the relationship of charging distance and charging time in chargeable node work；
Step 7：Charge model, which is adapted to, according to obtained environment establishes positioning equation；The polarization direction of charger antenna with can
The polarization direction of charge node antenna is identical, to ensure that system has higher efficiency of transmission；Define the rotation angle of charger antenna
φiBy X-axis and the charger antenna angle that normal direction forms on the XOY plane of global rectangular coordinate system, for stating
The direction of charger；Define origin OTAnd OR(the x being located in the XOY plane of global rectangular coordinate systemi, yi) and (x, y),
Wherein i ∈ [1, I], I are the total numbers of charger antenna dwell different location, then the charger antenna of i-th of position with can fill
The distance between electrical nodes antenna diIt is expressed asAccording to charger antenna and global right angle
The relative position of coordinate origin O and the direction of charger antenna are put down simultaneously on the XOY plane of global rectangular coordinate system
It moves charger antenna and chargeable node antennas makes origin OTIt is overlapped with origin O, then (x, y) is (x by translation transformationt,
yt)；Then φ is rotated clockwisei, then (xt, yt) pass through rotation transformation for (x 't, y 't)；Therefore, relation formula is obtained：
(xt, yt)=(x-xi, y-yi),
xt=di(cosφicosφT-sinφisinφT),
x′t=dicosφT,
yt=di(sinφicosφT+cosφisinφT),
y′t=disinφT；
Therefore, the position of chargeable node is expressed as under transformed coordinate system
φTIt can be expressed as：
Enable θR=pi/2, θT=pi/2 finally obtains the two-dimentional charge model for chargeable node locating；According to geometric method
Positioning principle needs to ensure I >=3, and solves the non-linear overdetermined equation being made of two-dimentional charge model, to obtain can filling
The position coordinates (x, y) of electrical nodes；
Step 8：In view of accurate solution may be not present in positioning equation, solved using least square method non-linear excellent without constraining
Change problem obtains an approximate solution；Geometrical principle based on least square method, chargeable node location to be positioned should make can
Charge node to the equipower line of all chargers square distance and reach minimum；Define the equipower line of i-th of charger
With charger antenna and chargeable node antennas line OTORIntersection point C, then line segment OTThe length of C is defined as
Step 9：When measurement error between when charging is smaller, enable chargeable node antennas to the equipower line of charger
The length of line segment is approximately equal to line segment ORThe length of C；Establish the line segment O with I elementRC error vector
Step 10：Establish the object function of chargeable node location：Optimizing the object function can
Obtain the chargeable node location (x, y) for making the quadratic sum of error vector reach minimum.
The object of the present invention is to propose a kind of chargeable node positioning method based on the orientation charging time.Needle of the present invention
Chargeable node positioning system is completed to charge using orientation charger to chargeable node, using charger in different location and
Is realized to the charging time that chargeable node charges by positioning for direction.Omnidirectional antenna and charger according to chargeable node
The radiation gain characteristic of directional aerial, chargeable node and charger are put into global rectangular coordinate system, are passed in conjunction with fries
The average charge horse-power formula of defeated formula and capacitance obtains ideal charging model；It is modified according to actual environment, obtains environment
Adapt to charge model；Use environment adapts to charge model and obtains the relationship of different directions charging time and charging distance, establishes accurate
True positioning equation；The optimization object function for obtaining node location is combined by geometric method and least square method, to realize
Localization method based on the orientation charging time.The present invention does not need additional precision equipment, and positioning accuracy is higher, disclosure satisfy that use
The requirement of high-accuracy position system is used under the low cost of family.
Description of the drawings：
Fig. 1 is the flow diagram of the present invention
Fig. 2 is the microstrip antenna radiation gain model schematic of charger；
Fig. 3 is the dipole antenna radiation gain model schematic diagram of chargeable node；
Fig. 4 is the relationship of charging time and charging distance；
Fig. 5 is positioning system schematic diagram under three-dimensional global coordinate system；
Fig. 6 is positioning system schematic diagram under two-dimentional global coordinate system；
Fig. 7 is to be based on charging time localization method schematic diagram；
Specific implementation mode：
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
Fig. 1 is the flow diagram of the present invention.
It is selected with orientation with dipole antenna of the chargeable node antennas selection with omnidirectional's characteristic and charger antenna
For the microstrip antenna of characteristic, orientation charging scenarios are established.Choose local rectangular coordinate system XTYTZT, enable the position of charger just
It is the position of charger antenna, is local rectangular coordinate system XTYTZTOrigin OT, the radiation characteristic of charger antenna is local straight
Angular coordinate system XTYTZTXTOTYTDirectionality, polarization direction and Z are shown as in planeTAxis is parallel；Choose local rectangular coordinate system
XRYRZR, it is exactly the position of chargeable node antennas to enable the position of chargeable node, is local rectangular coordinate system XRYRZROrigin
OR, the radiation characteristic of chargeable node antennas is in local rectangular coordinate system XRYRZRXRORYROmni-directional, pole are shown as in plane
Change direction and ZROverlapping of axles.Enable X in the local rectangular coordinate system of charger antennaTOTYTThe office of plane and chargeable node antennas
X in portion's rectangular coordinate systemRORYRPlane is at the XOY plane of global rectangular coordinate system XYZ；
As shown in Fig. 2, chargeable node antennas uses dipole antenna, local rectangular coordinate system X is establishedRYRZR, chargeable
Node antennas is along ZRThe center of axis, antenna is in origin OROn, then the radiation gain model of chargeable node antennas is：
In formula, θRIt is ZRAxis and radiation direction ORThe angle of R compositions, φTIt is XRAxis and radiation direction ORR is in XRORYRPlane
Projection ORThe angle of R ' compositions.
As shown in figure 3, charger antenna uses microstrip antenna, local rectangular coordinate system X is establishedTYTZT, at charger antenna
In YTOTZTThe center of plane, charger antenna is origin OT, greatest irradiation direction is its normal direction, and charger antenna method
Line direction and XTAxis positive direction overlaps, then the radiation gain model of charger antenna is：
In formula, θTIt is ZTAxis and radiation direction OTThe angle of T compositions, φTIt is XTAxis and radiation direction OTT is in XTOTYTPlane
Projection OTThe angle of T ' compositions.
The transmission characteristic of signal power under ideal conditions is obtained according to the fries transmission formula in electromagnetic transmission theory.
Fries transmission formula is：
PR=PTGT(θT, φT)GR(θR, φR)L(d) (3)
In formula, PRIt is the reception power of chargeable node antennas, PTIt is the transmission power of charger, L (d) is channel loss
The factor, L (d)=λ2(4πd)-2, λ is operation wavelength, and d is the distance between charger antenna and chargeable node antennas.
Super capacitor has many advantages, such as that power density is high, the charging time is short, has extended cycle life, operating temperature range is wide.It can
Using super capacitor as energy storage device, average charge horse-power formula is charge point node：
In formula, C is the capacity of super capacitor, and V is the end voltage in charging process, and Δ t is capacitance electricity in charging process
Pressure is charged to the time of end voltage from no-voltage.
Formula (3) and formula (4) simultaneous, which are obtained ideal charging model, is：
In formula, η indicates rectification efficiency, is a constant in range [0,1], Δ taIndicate filling under ideal conditions
The electric time.
Since the environmental factors such as application environment mesorelief, weather cause signal transmission power to generate fluctuation, and it is chargeable
Node is limited by hardware condition makes rectification efficiency reduce and reduce with received signal strength.Therefore, in the base of ideal charge model
On plinth, need to be modified ideal charging model according to actual environment, revised formula is：
In formula, α indicates that rectification loss, β indicate to correct efficiency, Δ tmIndicate the charging time under fitting condition.It arranges
Formula, the experience charge model of obtaining are：
Revised experience charge model can preferably describe chargeable node charging time and each ginseng in actual environment
Several relationships.
According to orientation charging scenarios, formula (1) and formula (2), which are substituted into experience charge model, is：
Under experience charge model, carry out experiment test and be fitted to obtain empirical parameter α and β.Fitting condition is：Charging
The tranmitting frequency of device is 915MHz, so the wavelength of the electromagnetic wave of charger transmitting is λ=0.328m, the transmission power of charger
PT=2W.Charger antenna is identical with the polarization direction of chargeable node antennas in experiment and greatest irradiation direction is mutually aligned,
The parameter of charger antenna and chargeable node antennas is θT=pi/2, φT=0, θR=pi/2, chargeable node and charger it
Between distance since 0.25m, using 0.25m as step-length, increase to 3m, the voltage for measuring 50mF capacitances is charged to 0.5V's from 0V
Charging time is repeated 5 times in the experiment of each test point and is averaged.The data of charging experiment are fitted, fitting result is such as
Shown in Fig. 4, α=12.910, β=1.633 are obtained.Experience charge model after fitting is：
There is certain deficiency by the experience charge model that experimental fit obtains, when chargeable node is applied in new environment
When, in order to ensure that the accuracy of charge model needs fitting empirical parameter again, this will expend many time and cost.In order to
It solves the problems, such as this, Environmental Factors ε is introduced in experience charge model to reflect that working environment charges to chargeable node
The influence of time.The expression formula of Environmental Factors ε is：
In formula, Δ teIndicate the practical measurement charging time of chargeable node a certain position under application conditions, Δ tmIt indicates
The charging time of chargeable node same position under fitting condition.Then, formula (9) is substituted into formula (10), obtains environment
Adapting to charge model is：
In this way, need to only carry out the charging time experiment of primary chargeable node in a new environment, the data measured with it is quasi-
Data under the conditions of conjunction compare, so that it may obtain meeting actual environment adaptation charge model, which adapts to charge model
It can relatively accurately indicate the relationship of charging distance and charging time in chargeable node works.
Charge model, which is adapted to, according to obtained environment establishes positioning equation.By Fig. 2 and charger antenna shown in Fig. 3 and can
Charge node antenna is put into the XOY plane of global rectangular coordinate system XYZ, and it is fixed under global rectangular coordinate system as shown in Figure 5 to establish
Position system, the wherein polarization direction of charger antenna and chargeable node antennas are parallel with the positive direction of Z axis.As shown in figure 5, fixed
The rotationangleφ of adopted charger antennaiFor the angle of X-axis and charger antenna normal direction, for stating the direction of charger.
Define the position O of chargeable nodeR(x, y) in the XOY plane of global rectangular coordinate system XYZ, the position O of chargerTPosition
(x in the XOY plane of global rectangular coordinate system XYZi, yi), wherein subscript i ∈ [1, I], I are that charger stops different location
Total number, then the distance between the charger of i-th of position and chargeable node diIt is expressed as：
Positioning system under two-dimentional global rectangular coordinate system XOY is as shown in fig. 6, according to charger antenna and the global right angle of two dimension
The relative position of the origin O of coordinate system XOY and the direction of charger, while translating charger and chargeable node and make OTWith two
The origin O for tieing up global rectangular coordinate system XOY is overlapped, then (x, y) is (x by translation transformationt, yt)；Then φ is rotated clockwisei,
Then (xt, yt) pass through rotation transformation for (x 't, y 't).Therefore, obtaining relation formula is：
(xt, yt)=(x-xi, y-yi) (13)
xt=di(cosφicosφT-sinφisinφT) (14)
yt=di(sinφicosφT+cosφisinφT) (15)
x′t=dicosφT, y 't=disinφT (16)
Therefore, by formula (14), formula (15) and formula (16), the position of chargeable node indicates under transformed coordinate system
For
By formula (13) and formula (17), φTIt can be expressed as：
Verified, no matter what kind of the relative position of charger and chargeable node is, formula (18) is always set up.
According to formula (11), formula (12) and formula (18), θ is enabledR=pi/2, θT=pi/2 is finally obtained for chargeable section
The charge model of point location is：
In formula, Δ te_iIt is that charger rests on i-th of position practical charging time measured.According to Geometrical localization original
Reason needs to ensure I >=3, and solves the non-linear overdetermined equation being made of charge model, to obtain the position coordinates of node
(x, y).
As shown in fig. 7, dotted ellipse indicate according to the charging time be calculated different directions charging distance formed etc.
Power line.Because it is not concentric circles that charger, which uses directional aerial, equipower line,.It is missed since the charging time exists to measure
Difference, dotted line are possible to not intersect at a point, then the physical location of chargeable node is located at the close quarters of all equipower lines,
Localization region namely shown in fig. 7.Accordingly, it is considered to which accurate solution may be not present to positioning equation, minimum two can be used
Multiplication is solved without constrained nonlinear systems problem, obtains an approximate solution.Geometrical principle based on least square method, it is to be positioned
Chargeable node location should make chargeable node to the square distance of the equipower line of all chargers and reach minimum.Definition
The equipower line and charger of i-th charger and chargeable node line OTORIntersection point C, then line segment OTThe length of C
Expression formula be：
When measurement error between when charging is smaller, enable chargeable node to the line segment O of equipower lineRThe length of B is approximate
Equal to line segment ORThe length of C.Establish the line segment O with I elementRC error vectorFormula
For：
Finally, the object function for establishing chargeable node location is
Substitute into the correlation for resting on the charger of arbitrary direction on different location as the charging of chargeable node, including charger
Position and orientation, transmission power and charging time etc., optimizing the object function can obtain that the quadratic sum of error vector is made to reach
To minimum chargeable node locating position (x, y).
Assuming that positioning system positions chargeable node using 3 orientation charger devices, and system relevant parameter is：
λ=0.328m, PT=2W, C=50mF, V=0.5V.By experiment test, work as θT=pi/2, φT=0, θR=pi/2, d=1m
When, the node charging time is 45.07s, then the Environmental Factors under this application environment are：ε=0.9444.
Chargeable node is randomly dispersed in the region of an area 5m × 5m, and the origin O of two-dimensional Cartesian coordinate system XOY is in area
Domain center, 3 chargers rest on different positions and charge to chargeable node respectively.The position coordinates of charger antenna
Respectively：(0m, 2m), (1m, -2m), (- 1m, -2m), 3 charger antenna rotation angles are respectively：- 90 °, 117 °, 64 °, 3
Charger to actual coordinate be (- 1m, 0m) chargeable node charging time be respectively 282.07s, 351.45s,
232.77s.Then use the above method that can obtain chargeable node locating coordinate as (- 0.9613,0.0074), position error is
0.0394m。
When specific implementation, the embodiment of the present invention to realize the type of omnidirectional antenna and directional aerial selected by identity function and
Physical form is not limited.
It will be appreciated by those skilled in the art that attached drawing is the schematic diagram of a preferred embodiments, the embodiments of the present invention
Serial number is for illustration only, can not represent the quality of embodiment.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, it is other it is any without departing from the spirit and principles of the present invention made by changes, modifications, substitutions, combinations, simplifications,
Equivalent substitute mode is should be, is included within the scope of the present invention.
Claims (1)
1. a kind of chargeable node positioning method based on the orientation charging time, is as follows：
Step 1：It selects directional aerial and chargeable node antennas to select omnidirectional antenna as modeling conditions using charger antenna, establishes
Orient charging scenarios；Choose local rectangular coordinate system XTYTZT, the radiation gain model of charger antenna is established, charger is enabled
Position is exactly the position of charger antenna, is local rectangular coordinate system XTYTZTOrigin OT, the radiation characteristic of charger antenna exists
Local rectangular coordinate system XTYTZTXTOTYTDirectionality is shown as in plane；Choose local rectangular coordinate system XRYRZR, foundation can fill
The radiation gain model of electrical nodes antenna, it is exactly the position of chargeable node antennas to enable the position of chargeable node, straight for part
Angular coordinate system XRYRZROrigin OR, the radiation characteristic of chargeable node antennas is in local rectangular coordinate system XRYRZRXRORYRIt is flat
Omni-directional is shown as on face；Enable X in the local rectangular coordinate system of charger antennaTOTYTThe office of plane and chargeable node antennas
X in portion's rectangular coordinate systemRORYRPlane is at the XOY plane of global rectangular coordinate system XYZ；
Step 2：The transmission that signal power under ideal conditions is obtained according to the fries transmission formula in electromagnetic transmission theory is special
Property；Fries transmission formula is
PR=PTGT(θT, φT)GR(θR, φR) L (d),
In formula, PRIt is the reception power of chargeable node antennas, PTIt is the transmission power of charger, GT(θT, φT) it is charger day
The gain of line, θTIt is ZTAxis and radiation direction OTThe angle of T compositions, φTIt is XTAxis and radiation direction OTT is in XTOTYTThe throwing of plane
Shadow OTThe angle of T ' compositions, GR(θR, φR) be chargeable node antennas gain, θRIt is ZRAxis and radiation direction ORThe folder of R compositions
Angle, φTIt is XRAxis and radiation direction ORR is in XRORYRThe projection O of planeRThe angle of R ' compositions, L (d) are the channel loss factor, L
(d)=λ2(4πd)-2, λ is operation wavelength, and d is the distance between charger antenna and chargeable node antennas；Chargeable point section
Using super capacitor as energy storage device, average charge horse-power formula is pointIn formula, C is the appearance of super capacitor
Amount, V are the end voltage in charging process, and Δ t indicates the charging time, that is, capacitance voltage charges from no-voltage in charging process
To the time of end voltage；
Step 3：By in step 2 fries transmission formula and average charge horse-power formula simultaneous obtain ideal charging model：
In formula, η indicates rectification efficiency, is a constant in range [0,1], Δ taWhen indicating charging under ideal conditions
Between；
Step 4：Since the environmental factors such as application environment mesorelief, weather cause signal transmission power to generate fluctuation, and can fill
Electrical nodes are limited by hardware condition makes rectification efficiency reduce with the reduction of received signal strength；Therefore, in ideal charge model
On the basis of, it needs to be modified the ideal charging model in step 3 according to actual environment, revised formula is
In formula, α indicates that rectification loss, β indicate to correct efficiency, Δ tmIndicate the charging time under fitting condition；Formula is arranged,
Obtain experience charge model：
Step 5：According to orientation charging scenarios, by the radiation gain mould of chargeable node antennas and charger antenna in step 1
Type substitutes into experience charge model；Then it carries out experiment test and is fitted to obtain empirical parameter α and β, the experience after being fitted is filled
Electric model；
Step 6：There is certain deficiency by the experience charge model after experimental fit, when chargeable node is applied in new environment
When, in order to ensure that the accuracy of the experience charge model after fitting needs fitting empirical parameter again, when this will expend many
Between and cost；In order to solve this problem, Environmental Factors ε is introduced in the experience charge model after being fitted in steps of 5, instead
Reflect influence of the working environment to the chargeable node charging time；Environmental Factors ε expression formulas areIn formula, Δ teTable
Show the practical measurement charging time of chargeable node a certain position under application conditions, Δ tmIndicate chargeable node in fitting item
The charging time of same position under part；Then, it obtains environment and adapts to charge model：
In this way, minor node charging time experiment need to be only carried out in a new environment, and will be under the data and fitting condition that measure
Data compare, obtain meeting actual environment and adapt to charge model；The environment adapts to charge model can be relatively accurately
Indicate the relationship of charging distance and charging time in chargeable node work；
Step 7：Charge model, which is adapted to, according to obtained environment establishes positioning equation；The polarization direction of charger antenna with it is chargeable
The polarization direction of node antennas is identical, to ensure that system has higher efficiency of transmission；Define the rotationangleφ of charger antennaiFor
X-axis and the charger antenna angle that normal direction is formed on the XOY plane of global rectangular coordinate system, for stating charger
Direction；Define origin OTAnd OR(the x being located in the XOY plane of global rectangular coordinate systemi, yi) and (x, y), wherein under
Mark i ∈ [1, I], I is the total number of charger antenna dwell different location, then the charger antenna of i-th of position with it is chargeable
The distance between node antennas diIt is expressed asAccording to charger antenna and global right angle
The relative position of coordinate origin O and the direction of charger antenna are put down simultaneously on the XOY plane of global rectangular coordinate system
It moves charger antenna and chargeable node antennas makes origin OTIt is overlapped with origin O, then (x, y) is (x by translation transformationt,
yt)；Then φ is rotated clockwisei, then (xt, yt) pass through rotation transformation for (x 't, y 't)；Therefore, relation formula is obtained：
(xt, yt)=(x-xi, y-yi),
xt=di(cosφicosφT-sinφisinφT),
x′t=dicosφT,
yt=di(sinφicosφT+cosφisinφT),
y′t=disinφT；
Therefore, the position of chargeable node is expressed as under transformed coordinate system
φTIt can be expressed as：
Enable θR=pi/2, θT=pi/2 finally obtains the two-dimentional charge model for chargeable node locating；According to Geometrical localization
Principle needs to ensure I >=3, and solves the non-linear overdetermined equation being made of two-dimentional charge model, to obtain chargeable section
The position coordinates (x, y) of point；
Step 8：In view of accurate solution may be not present in positioning equation, be solved using least square method and asked without constrained nonlinear systems
Topic, obtains an approximate solution；Geometrical principle based on least square method, chargeable node location to be positioned should make chargeable
Node to the equipower line of all chargers square distance and reach minimum；It defines the equipower line of i-th of charger and fills
Electric antenna and chargeable node antennas line OTORIntersection point C, then line segment OTThe length of C is defined as
Step 9：When measurement error between when charging is smaller, enable chargeable node antennas to the line segment of the equipower line of charger
Length be approximately equal to line segment ORThe length of C；Establish the line segment O with I elementRC error vector
Step 10：Establish the object function of chargeable node location：Optimizing the object function can obtain
The quadratic sum of error vector is set to reach minimum chargeable node location (x, y).
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