CN109041166A - A kind of method and system that the spatial relation of wireless netted network node is formed and updated - Google Patents
A kind of method and system that the spatial relation of wireless netted network node is formed and updated Download PDFInfo
- Publication number
- CN109041166A CN109041166A CN201710436112.5A CN201710436112A CN109041166A CN 109041166 A CN109041166 A CN 109041166A CN 201710436112 A CN201710436112 A CN 201710436112A CN 109041166 A CN109041166 A CN 109041166A
- Authority
- CN
- China
- Prior art keywords
- node
- distance measurement
- wireless mesh
- mesh network
- time
- 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.)
- Granted
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/24—Connectivity information management, e.g. connectivity discovery or connectivity update
- H04W40/248—Connectivity information update
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W56/00—Synchronisation arrangements
- H04W56/0055—Synchronisation arrangements determining timing error of reception due to propagation delay
- H04W56/0065—Synchronisation arrangements determining timing error of reception due to propagation delay using measurement of signal travel time
- H04W56/009—Closed loop measurements
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
A kind of method that the spatial relation of wireless netted network node is formed and updated, is included the steps that for constructing wireless mesh network；The wireless mesh network includes at least two nodes；For between each node in the wireless mesh network the step of ranging；For the step of broadcasting the distance between each node in wireless mesh network data；For the step of being formed according to the distance between node each in wireless mesh network data or updating space length topo graph.
Description
Technical field
The present invention relates to wireless communication and ranging technology fields, and in particular to a kind of spatial position of wireless netted network node
The method and system that relationship is formed and updated.
Background technique
Wireless mesh technology is mostly the spatial network relationship formed by way of ad hoc network, in the mesh network,
Only wireless reachable, the guarantee of no signal intensity, is not related to the update of physical location, or the mode updated between equipment
It is fairly simple.It is usually to fix positional relationship or using based on GNSS in existing Wireless mesh technology, between equipment
The positioning of (Global Navigation Satellite System Global Navigation Satellite System).Under fixed positional relationship, net
The relative position of shape net equipment is relatively more fixed, does not need the positional relationship between dynamic more new equipment, the maintenance of this mesh network
It is fairly simple.Under the positional relationship based on GNSS, each equipment is known that the positional relationship of oneself, can be with by mesh network
Other equipment are broadcast to, the positional relationship of whole system can be relatively more clear.GNSS can be GPS, Beidou, Galileo or Ge Luona
The global positioning systems such as this.Existing wireless netted network node location technology all haves the defects that certain, is mainly manifested in following
Four aspect:
1. poor anti jamming capability
It is based particularly on the network of GNSS, due to using satellite broadcasting temporal information, signal strength is extremely low, such as GPS
Signal strength be mostly -140dBm hereinafter, being highly susceptible to interfere.In case of interferers, the equipment in wireless mesh network
It is unable to get the exact position of oneself, the cyberrelationship of spatial position is difficult to obtain effective guarantee.
2. sensing capability is insufficient
The sensing capability of spatial network relationship is insufficient, is mainly shown as two aspects:
A. precision is inadequate, and the network based on GPS or Beidou, in the support at no difference station, civil systems are determined
Position precision be up to 3 meters even it is worse；In this case, position only has reference significance, and Practical significance is unobvious；
Even if B. there is difference station, the rate of refreshing is lower, is unable to effective guarantee and provides the sky of high-speed moving object in time
Between distance webs network relationship.
3. by reference mode
In existing system, the spatial relation for needing to assist to complete mesh devices by reference mode is calculated,
And kinematic system is most without reference mode.
4. non-fully peer-to-peer
In existing system, there are non-fully reciprocity mesh devices.For example, needing to support by server to protect
Hinder the maintenance of mesh network systems positional relationship.
Summary of the invention
Aiming at the problem that existing wireless mesh network spatial relation is difficult to accurately determine and refresh low efficiency, the application is mentioned
The method and system for being formed and being updated for a kind of spatial relation of wireless netted network node.
According in a first aspect, the spatial relation for providing a kind of wireless netted network node in a kind of embodiment is formed and more
New method is included the steps that for constructing wireless mesh network；The wireless mesh network includes at least two nodes；For described
In wireless mesh network between each node the step of ranging；For to the distance between each node in wireless mesh network data into
The step of row broadcast；It is opened up for being formed according to the distance between node each in wireless mesh network data or updating space length
The step of Piao's figure.
Further, method further includes time synchronization step.
Further, the mode of ranging includes at least one of following mode: node D1 between each node in wireless mesh network
Distance measurement request is sent to node D2；Obtain the distance measurement request sending time T1 that node D1 sends distance measurement request；Node D2 is obtained to connect
Receive the distance measurement request receiving time T2 of distance measurement request；Node D2 sends distance measurement feedback to node D1；It obtains node D2 and sends ranging
The distance measurement feedback sending time T3 of feedback；Obtain the distance measurement feedback receiving time T4 that node D1 receives distance measurement feedback；According to ranging
Request transmission time T1, distance measurement request receiving time T2, distance measurement feedback sending time T3, distance measurement feedback receiving time T4 and the light velocity
The distance between calculate node D1 and node D2；Or, node D1 sends distance measurement request to node D2；It obtains node D1 and sends ranging
The distance measurement request sending time T1 of request；Obtain the distance measurement request receiving time T2 that node D2 receives distance measurement request；Node D2 to
Node D1 sends distance measurement feedback；Obtain the distance measurement feedback sending time T3 that node D2 sends distance measurement feedback；Node D1 is obtained to receive
The distance measurement feedback receiving time T4 of distance measurement feedback；Node D1 sends secondary feedback to node D2；It obtains node D1 and sends secondary counter
The secondary feedback sending time T5 of feedback；Obtain the secondary feedback receiving time T6 that node D2 receives secondary feedback；It is asked according to ranging
Ask sending time T1, distance measurement request receiving time T2, distance measurement feedback sending time T3, distance measurement feedback receiving time T4, secondary counter
Present sending time T5, secondary feedback receiving time T6 and the distance between light velocity calculate node D1 and node D2.
Further, time synchronization step includes, and node D1 in time point Time1 initiates time broadcast and to described wireless
Other nodes in mesh network initiate ranging；According to its in time point Time1 and the wireless mesh network in addition to node D1
The distance between his each node and node D1, calculate the synchronization time of each node.
Further, other nodes of node D1 in a period TD into the wireless mesh network initiate at least one wheel
Ranging；Node D1 broadcasts its time point Time1 when initiating every wheel ranging simultaneously.
Further, period TD is 1s.
Further, method further includes logical according to the selection routing of the distance between node each in wireless mesh network data
The step of believing link.
According to second aspect, a kind of spatial relation for wireless netted network node is provided in a kind of embodiment and is formed
And the system updated, including the node at least two wireless mesh networks；The composition of each node in the wireless mesh network and
Structure is identical；Each node in the wireless mesh network includes control unit, wireless mesh network communication unit and wireless distance finding
Unit；Control unit is for receiving the distance between each node data in the wireless mesh network, according to the wireless mesh network
In the distance between each node data form or update space length topo graph；Wireless mesh network communication unit is for wirelessly communicating
Networking；Wireless distance finding unit exports the wireless mesh network for realizing the ranging between each node in the wireless mesh network
In the distance between each node data.
Further, control unit is also used to according to the distance between node each in wireless mesh network data, selection
Route communication link.Wireless mesh network communication unit is also used to carry out link according to the selected routing communication link of control unit
Maintenance and update.
Further, wireless distance finding unit is also used to time synchronization.
The method and dress that the spatial relation for wireless netted network node according to above-described embodiment is formed and updated
It sets, increases physical relationship to existing wireless mesh network.Original wireless mesh network system can not form the position in space
Relationship is set, and by high-precision distance measuring method, it can know the distance between node data, can be known by range data
Spatial position and then formation between node or the space length topo graph for updating wireless mesh network.Method and dress in the application
Set the quick dynamic position refreshing that can be realized node.Can be by the refreshing of quick distance measurement realization position between node
In the case that capacity of uniting is not high (such as 30 nodes), the refreshing frequency higher than 10Hz, safeguards system positional relationship can be formed
Reliability and stability.The split-second precision that method and apparatus in the application realize each node in wireless mesh network is same
Step.In the case where known distance, system can safeguard high-precision time synchronization, and without extraneous device, system can be with
Maintenance is up to the time synchronization of ns rank, the time-division communication and behaviour decision making of safeguards system.The strong antijamming capability of system, is not necessarily to
Keep independent by extraneous device guarantee, between each node, any one node can effectively maintain the position of whole network
Topological structure, it is not easy to by environmental disturbances, also not dependent on the presence of other devices.In addition, method and apparatus in the application
Route selection algorithm it is more outstanding, routing link selection can be carried out based on distance relation, and be no longer limited to signal strength
Equal factors.The reliability of routing algorithm is preferably ensured.
Detailed description of the invention
Fig. 1 is the structural representation of existing wireless mesh network；
Fig. 2 is obtained the space length topo graph of wireless mesh network by the application；
Fig. 3 is embodiment one for the spatial relation formation of wireless netted network node and the process of the method updated
Figure；
The flow chart of Fig. 4 method of ranging between each node in wireless mesh network in embodiment two；
The flow chart of Fig. 5 method of ranging between each node in wireless mesh network in embodiment three.
Specific embodiment
Below by specific embodiment combination attached drawing, invention is further described in detail.Wherein different embodiments
Middle similar component uses associated similar element numbers.In the following embodiments, many datail descriptions be in order to
The application is better understood.However, those skilled in the art can recognize without lifting an eyebrow, part of feature
It is dispensed, or can be substituted by other elements, material, method in varied situations.In some cases, this Shen
Please it is relevant it is some operation there is no in the description show or describe, this is the core in order to avoid the application by mistake
More descriptions are flooded, and to those skilled in the art, these relevant operations, which are described in detail, not to be necessary, they
Relevant operation can be completely understood according to the general technology knowledge of description and this field in specification.
It is formed respectively in addition, feature described in this description, operation or feature can combine in any suitable way
Kind embodiment.Meanwhile each step in method description or movement can also can be aobvious and easy according to those skilled in the art institute
The mode carry out sequence exchange or adjustment seen.Therefore, the various sequences in the description and the appended drawings are intended merely to clearly describe a certain
A embodiment is not meant to be necessary sequence, and wherein some sequentially must comply with unless otherwise indicated.
It is herein component institute serialization number itself, such as " D1 " " T1 " " Time1 " etc., it is described right to be only used for distinguishing
As not having any sequence or art-recognized meanings.
Wireless mesh network is can be selected by carrying out one of ad hoc network formation between equipment with self-healing Intelligent routing
Network also can guarantee the communication of whole network even if wherein there is an equipment damage.Its routing iinformation is generally dependent on signal
Intensity, and link maintenance is carried out according to signal strength.Its simple network diagram is as shown in Figure 1.As shown in Figure 1 is simple
Wireless mesh network is the network maintained by 6 nodes, depends on signal strength to carry out routing operation between node, do not have between node
Space length relationship.The present invention is to increase distance relation in common wireless mesh network, repaint the node position in network
Relationship is set, is no longer into comprising simple networking logical relation, rough schematic is as shown in Figure 2.In embodiments of the present invention,
All nodes have peer-to-peer in systems, and with the continuous variation of the target position of each node, each node is quickly weighed
The position of oneself in new computing system, to keep the stability formed into columns.
Embodiment one:
Embodiment one provides a kind of method that the spatial relation for wireless netted network node is formed and updated, stream
Journey figure referring to FIG. 3, the following steps are included:
Step S100: building wireless mesh network.Wireless mesh network includes at least two nodes.Wireless mesh network does not limit to and makes
With the network of which kind of wireless technology composition, it can be the wlan network based on 802.11, be also possible to based on 802.15.4's
ZigBee-network, the standard being specifically wirelessly transferred do not limit.
Step S110: ranging between each node in wireless mesh network.
Step S120: the distance between node each in wireless mesh network data are broadcasted.No matter which kind of ranging is used
Mode, typically only one node can obtain distance value only among two nodes of ranging, another node without
Method obtains distance value, can be carried out data transmission by ranging channel, can also carry out data broadcasting by wireless mesh network.This
Sample just can guarantee in network every other node also while obtain this distance value, the update for space length topo graph.
Step S130: space length topology is formed or updated according to the distance between node each in wireless mesh network data
Figure.Meanwhile each node can select routing communication link according to the distance between node each in wireless mesh network data.Routing is logical
The selection of letter link mainly has following two method:
1. shortest path selects, the distance between each node data, shortest path is calculated, shortest path is selected to carry out
Communication；
2. being selected according to link flank speed, due to being influenced by environment, shortest path is not necessarily flank speed.Root
According to distance, signal strength, transmission rate and transmission success rate, the link-quality between egress is calculated, by link-quality by certain
Score value score, score value is lower, and surface link-quality is better；Score value calculating is carried out to all reachable links, score value is most
Low link is first choice link.
Step S140: time synchronization.During wireless mesh network forms ad hoc network, time synchronization is just gradually formed.
A high-precision clock is all safeguarded in each node, and working frequency is higher than 10MHz, and precision can control at 20
PPM.In a specific embodiment, it by way of ranging initiation time point can be broadcasted while the ranging between node, realizes
The time synchronization of each node in wireless mesh network.For example, node D1 in time point Time1 initiates time broadcast and to wireless network
Other nodes in shape net initiate ranging, according to other each sections in time point Time1 and wireless mesh network in addition to node D1
The distance between point and node D1, calculate the synchronization time of each node.It is introduced by taking the time synchronization process of node D2 as an example, node
D1 initiates time broadcast in time point Time1, and after carrying out ranging with node D1, node D2 can obtain precise time.Section
The ranging of point D1 initiates the time as Time1, and the distance between node D2 and node D1 are L12, then sends out for the ranging of node D1
Time Time1 is played, the time of node D2 is Time1+L12/C, and wherein C is the light velocity.And so on, remaining node passes through and node
D1 ranging, can be completed time synchronization.For the high-precision for guaranteeing time synchronization, node D1 needs in a period TD to wireless
Other nodes in mesh network initiate at least one wheel ranging, and node D1 is broadcasted its time simultaneously when initiating every wheel ranging
Point.After tested, as long as per second initiate a wheel ranging from node D1, all nodes can be primary by time synchronization, and whole system can
To be maintained above the exact time synchronization of 1us.
Embodiment two:
Embodiment two provides a kind of method that the spatial relation for wireless netted network node is formed and updated, including
The Overall Steps of method in embodiment one, details are not described herein.Embodiment two gives in step S110 wireless mesh network and respectively saves
Point between ranging a kind of method, flow chart referring to FIG. 4, the following steps are included:
Step S200: node D1 sends distance measurement request to node D2；
Step S210: the distance measurement request sending time T1 that node D1 sends distance measurement request is obtained；
Step S220: the distance measurement request receiving time T2 that node D2 receives distance measurement request is obtained；
Step S230: node D2 sends distance measurement feedback to node D1；
Step S240: the distance measurement feedback sending time T3 that node D2 sends distance measurement feedback is obtained；
Step S250: the distance measurement feedback receiving time T4 that node D1 receives distance measurement feedback is obtained；
Step S260: according to distance measurement request sending time T1, distance measurement request receiving time T2, distance measurement feedback sending time
T3, distance measurement feedback receiving time T4 and the distance between light velocity calculate node D1 and node D2.
In step S260, it can be sent out first with distance measurement request sending time T1, distance measurement request receiving time T2, distance measurement feedback
It send time T3 and distance measurement feedback receiving time T4 to calculate electromagnetic wave in the time TF of space flight, sees formula 1；Then utilize electromagnetism
Distance L12 of the wave between the time TF and the light velocity C calculate node D1 and node D2 of space flight, is shown in formula 2.
L12=TF × C formula 2
Between this node under distance measuring method, since the delay for not accounting for both sides is different, the result of ranging is by two
The influence of clock crystal precision is bigger in a node.But if the time of ranging remains shorter, for example, completing to survey in 1ms
Away from precision influences limited.
Embodiment three:
Embodiment three provides a kind of method that the spatial relation for wireless netted network node is formed and updated, including
The Overall Steps of method in embodiment one, details are not described herein.Embodiment three gives in step S110 wireless mesh network and respectively saves
Point between ranging another method, flow chart referring to FIG. 5, the following steps are included:
Step S300: node D1 sends distance measurement request to node D2；
Step S310: the distance measurement request sending time T1 that node D1 sends distance measurement request is obtained；
Step S320: the distance measurement request receiving time T2 that node D2 receives distance measurement request is obtained；
Step S330: node D2 sends distance measurement feedback to node D1；
Step S340: the distance measurement feedback sending time T3 that node D2 sends distance measurement feedback is obtained；
Step S350: the distance measurement feedback receiving time T4 that node D1 receives distance measurement feedback is obtained；
Step S360: node D1 sends secondary feedback to node D2；
Step S370: the secondary feedback sending time T5 that node D1 sends secondary feedback is obtained；
Step S380: the secondary feedback receiving time T6 that node D2 receives secondary feedback is obtained；
Step S390: according to distance measurement request sending time T1, distance measurement request receiving time T2, distance measurement feedback sending time
T3, distance measurement feedback receiving time T4, secondary feedback sending time T5, secondary feedback receiving time T6 and light velocity calculate node D1 and
The distance between node D2.
In step S390, it can be sent out first with distance measurement request sending time T1, distance measurement request receiving time T2, distance measurement feedback
Time T3, distance measurement feedback receiving time T4, secondary feedback sending time T5 and secondary feedback receiving time T6 are sent, electromagnetic wave is calculated
In the time TF of space flight, formula 3 is seen；Then utilize electromagnetic wave in the time TF of space flight multiplied by light velocity C, calculate node
The distance between D1 and node D2 L12.
Distance measuring method is increased compared to distance measuring method between the node in embodiment two between node in embodiment three
The step of secondary feedback, is mainly used for error caused by the difference for eliminating both sides clock crystal, to obtain better precision.
Example IV:
Example IV provides a kind of system that the spatial relation for wireless netted network node is formed and updated, this is
System includes the node at least two wireless mesh networks.The Nomenclature Composition and Structure of Complexes of each node in wireless mesh network is identical.Wireless network
Each node in shape net includes control unit, wireless mesh network communication unit and wireless distance finding unit, be can be at one
Single-chip is realized, multi-chip realization is also possible to.
Control unit is for receiving the distance between each node data in wireless mesh network, according to respectively saving in wireless mesh network
The distance between point data form or update space length topo graph.Control unit is also used to according to node each in wireless mesh network
The distance between data, selection routing communication link.
Wireless mesh network communication unit is used for wireless communication network, and wireless mesh network communication unit is also used to single according to control
The selected routing communication link of member carries out link maintenance and updates.
Wireless distance finding unit exports in wireless mesh network for realizing the ranging between each node in the wireless mesh network
The distance between each node data.The high precision clock that wireless distance finding unit can be safeguarded by it, carrys out the height in maintenance system
Precision wireless time is synchronous.The realization of wireless distance finding unit is not limited to certain wireless technology, can be UWB, CSS, ZigBee
Or the wireless distance findings technology such as Wi-Fi.
Below by taking the course of work of a node as an example, the signal flow of each unit in node: wireless distance finding list is introduced
Member calculates ranging data, and range data is passed to control unit；Ranging data is transferred to wireless mesh Netcom by control unit
Believe unit, other nodes for being broadcast in wireless mesh network；Control unit updates the space length topo graph of oneself.
Use above specific case is illustrated the present invention, is merely used to help understand the present invention, not to limit
The system present invention.For those skilled in the art, according to the thought of the present invention, can also make several simple
It deduces, deform or replaces.
Claims (10)
1. the method that a kind of spatial relation of wireless netted network node is formed and updated, characterized by comprising:
For the step of constructing wireless mesh network；The wireless mesh network includes at least two nodes；
For between each node in the wireless mesh network the step of ranging；
For the step of broadcasting the distance between each node in wireless mesh network data；
For the step of space length topo graph to be formed or updated according to the distance between node each in wireless mesh network data
Suddenly.
2. the method as described in claim 1, which is characterized in that further include time synchronization step.
3. the method as described in claim 1, which is characterized in that the mode of ranging is extremely between each node in the wireless mesh network
Less include one of following mode:
Node D1 sends distance measurement request to node D2；
Obtain the distance measurement request sending time T1 that node D1 sends distance measurement request；
Obtain the distance measurement request receiving time T2 that node D2 receives distance measurement request；
Node D2 sends distance measurement feedback to node D1；
Obtain the distance measurement feedback sending time T3 that node D2 sends distance measurement feedback；
Obtain the distance measurement feedback receiving time T4 that node D1 receives distance measurement feedback；
It is received according to distance measurement request sending time T1, distance measurement request receiving time T2, distance measurement feedback sending time T3, distance measurement feedback
Time T4 and the distance between light velocity calculate node D1 and node D2；
Or,
Node D1 sends distance measurement request to node D2；
Obtain the distance measurement request sending time T1 that node D1 sends distance measurement request；
Obtain the distance measurement request receiving time T2 that node D2 receives distance measurement request；
Node D2 sends distance measurement feedback to node D1；
Obtain the distance measurement feedback sending time T3 that node D2 sends distance measurement feedback；
Obtain the distance measurement feedback receiving time T4 that node D1 receives distance measurement feedback；
Node D1 sends secondary feedback to node D2；
Obtain the secondary feedback sending time T5 that node D1 sends secondary feedback；
Obtain the secondary feedback receiving time T6 that node D2 receives secondary feedback；
It is received according to distance measurement request sending time T1, distance measurement request receiving time T2, distance measurement feedback sending time T3, distance measurement feedback
Time T4, it is secondary feedback sending time T5, it is secondary feedback receiving time T6 and light velocity calculate node D1 and node D2 between away from
From.
4. method according to claim 2, which is characterized in that the time synchronization step includes that node D1 is at time point
Time1 initiates time broadcast and other nodes into the wireless mesh network initiate ranging；According to time point Time1 and described
The distance between other each nodes and node D1 in wireless mesh network in addition to node D1, calculate the synchronization time of each node.
5. method as claimed in claim 4, which is characterized in that the node D1 is in a period TD to the wireless mesh
Other nodes in net initiate at least one wheel ranging；Node D1 broadcasts its time point Time1 when initiating every wheel ranging simultaneously.
6. method as claimed in claim 5, which is characterized in that the period TD is 1s.
7. the method as described in claim 1, which is characterized in that further include according between node each in the wireless mesh network
The step of range data selection routing communication link.
8. a kind of system that the spatial relation for wireless netted network node is formed and updated, characterized by comprising:
Node at least two wireless mesh networks；The Nomenclature Composition and Structure of Complexes of each node in the wireless mesh network is identical；
Each node in the wireless mesh network includes control unit, wireless mesh network communication unit and wireless distance finding unit；
Described control unit is for receiving the distance between each node data in the wireless mesh network, according to the wireless mesh
The distance between each node data form or update space length topo graph in net；
The wireless mesh network communication unit is used for wireless communication network；
The wireless distance finding unit exports the wireless mesh for realizing the ranging between each node in the wireless mesh network
The distance between each node data in net.
9. system as claimed in claim 8, which is characterized in that described control unit is also used to according in the wireless mesh network
The distance between each node data, selection routing communication link；The wireless mesh network communication unit is also used to single according to control
The selected routing communication link of member carries out link maintenance and updates.
10. system as claimed in claim 8, which is characterized in that the wireless distance finding unit is also used to time synchronization.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710436112.5A CN109041166B (en) | 2017-06-12 | 2017-06-12 | Method and system for forming and updating spatial position relationship of wireless mesh network nodes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710436112.5A CN109041166B (en) | 2017-06-12 | 2017-06-12 | Method and system for forming and updating spatial position relationship of wireless mesh network nodes |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109041166A true CN109041166A (en) | 2018-12-18 |
| CN109041166B CN109041166B (en) | 2022-10-11 |
Family
ID=64629007
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710436112.5A Active CN109041166B (en) | 2017-06-12 | 2017-06-12 | Method and system for forming and updating spatial position relationship of wireless mesh network nodes |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109041166B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113923752A (en) * | 2021-08-26 | 2022-01-11 | 珠海格力电器股份有限公司 | Networking ranging method, storage medium and equipment |
| CN114339783A (en) * | 2021-10-21 | 2022-04-12 | 国网山东省电力公司电力科学研究院 | Cable channel wireless ad hoc network device and configuration method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101252538A (en) * | 2008-04-03 | 2008-08-27 | 清华大学 | Method of distributed real time detecting wireless self-grouping network topological structure |
| CN102124792A (en) * | 2008-08-20 | 2011-07-13 | 高通股份有限公司 | Method and apparatus to perform ranging operations for wireless stations |
| CN102714855A (en) * | 2009-11-06 | 2012-10-03 | 罗斯蒙德公司 | Location detection in a wireless network |
| CN105657813A (en) * | 2016-01-04 | 2016-06-08 | 北京航空航天大学 | Time synchronization and distance measurement combined method among anchor-free nodes |
| US20170019828A1 (en) * | 2015-07-13 | 2017-01-19 | Gainspan Corporation | Creation of a wireless mesh network among proximately located wireless devices |
| CN106443647A (en) * | 2016-09-21 | 2017-02-22 | 深圳信息职业技术学院 | Monitoring-based distance measurement method and system |
-
2017
- 2017-06-12 CN CN201710436112.5A patent/CN109041166B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101252538A (en) * | 2008-04-03 | 2008-08-27 | 清华大学 | Method of distributed real time detecting wireless self-grouping network topological structure |
| CN102124792A (en) * | 2008-08-20 | 2011-07-13 | 高通股份有限公司 | Method and apparatus to perform ranging operations for wireless stations |
| CN102714855A (en) * | 2009-11-06 | 2012-10-03 | 罗斯蒙德公司 | Location detection in a wireless network |
| US20170019828A1 (en) * | 2015-07-13 | 2017-01-19 | Gainspan Corporation | Creation of a wireless mesh network among proximately located wireless devices |
| CN105657813A (en) * | 2016-01-04 | 2016-06-08 | 北京航空航天大学 | Time synchronization and distance measurement combined method among anchor-free nodes |
| CN106443647A (en) * | 2016-09-21 | 2017-02-22 | 深圳信息职业技术学院 | Monitoring-based distance measurement method and system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113923752A (en) * | 2021-08-26 | 2022-01-11 | 珠海格力电器股份有限公司 | Networking ranging method, storage medium and equipment |
| CN114339783A (en) * | 2021-10-21 | 2022-04-12 | 国网山东省电力公司电力科学研究院 | Cable channel wireless ad hoc network device and configuration method |
| CN114339783B (en) * | 2021-10-21 | 2023-07-21 | 国网山东省电力公司电力科学研究院 | Cable channel wireless ad hoc network device and configuration method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109041166B (en) | 2022-10-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9772396B2 (en) | Relative orientation angle calculation method and device as well as relative positioning method | |
| Gui et al. | Improvement of range-free localization technology by a novel DV-hop protocol in wireless sensor networks | |
| Jean et al. | Passive localization and synchronization using arbitrary signals | |
| Bakkali et al. | Kalman filter-based localization for Internet of Things LoRaWAN™ end points | |
| US20130324150A1 (en) | Location estimation apparatus and method | |
| CN104135333B (en) | Time synchronization method of open loop network for TDMA (Time Division Multiple Address) node based on kalman filter | |
| CN106209289A (en) | A kind of moonlet self-organizing network method for synchronizing time | |
| Rashid et al. | Dead reckoning localisation technique for mobile wireless sensor networks | |
| Dil et al. | Stochastic radio interferometric positioning in the 2.4 GHz range | |
| CN109041166A (en) | A kind of method and system that the spatial relation of wireless netted network node is formed and updated | |
| Song et al. | Fingerprinting localization method based on toa and particle filtering for mines | |
| Zhang et al. | An efficient node localization approach with RSSI for randomly deployed wireless sensor networks | |
| CN109429177A (en) | A kind of positioning and rectifying method and device | |
| Chen et al. | Multi-scene LoRa positioning algorithm based on Kalman filter and its implementation on NS3 | |
| CN104080169A (en) | Dynamic self-adaptation positioning method of underwater wireless sensor network | |
| Gu et al. | Challenges in mobile localisation in wireless sensor networks for disaster scenarios | |
| IL279646B2 (en) | Method and system for determining a position of a plurality of transmitting nodes | |
| Chen et al. | Dynamic service execution in sensor networks | |
| Yi et al. | Joint time synchronization and tracking for mobile underwater systems | |
| US20160277880A1 (en) | Geo-location of a wlan device | |
| Garg et al. | Accurate link lifetime computation in autonomous airborne UAV networks | |
| Khan et al. | A stochastic distribution based methodology to estimate control phase time for software-defined radios in tactical manets | |
| KR20230020385A (en) | High-precision object-positioning system and self-positioning method using the same | |
| CN107454671B (en) | A kind of range difference processing method and processing device based on TDOA positioning | |
| Zaarour et al. | Localization context-aware models for wireless sensor network |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |