CN109996173A - A kind of positioning system and method automatically creating localizer beacon node coordinate - Google Patents
A kind of positioning system and method automatically creating localizer beacon node coordinate Download PDFInfo
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- CN109996173A CN109996173A CN201910300360.6A CN201910300360A CN109996173A CN 109996173 A CN109996173 A CN 109996173A CN 201910300360 A CN201910300360 A CN 201910300360A CN 109996173 A CN109996173 A CN 109996173A
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- 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
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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Abstract
The present invention proposes a kind of positioning system and method for automatically creating localizer beacon node coordinate, the system specifically includes that the positioning anchor point that can be received global positioning system signal and carry out wireless communication, it is able to carry out the beaconing nodes of wireless communication, it is able to carry out wireless communication and connects the gateway node and system server of server.Wherein, positioning anchor point determines the latitude and longitude coordinates of itself according to global positioning system signal；Beaconing nodes and positioning anchor point, gateway node form cordless communication network, determine the relative distance between each node by being mutually measured received signal strength indicator (RSSI) between each node；MDS algorithm is recycled to obtain the relative position coordinates of each node；According to the relative position coordinates of the latitude and longitude coordinates of positioning anchor point and each node, the latitude and longitude coordinates of beaconing nodes can be determined.The present invention is able to solve the self poisoning problem without global positioning module beaconing nodes, to realize that the ubiquitous positioning of radio node provides support.
Description
Technical field
The invention belongs to field of locating technology, and in particular to a kind of positioning system for automatically creating localizer beacon node coordinate
And method, the beacon section for itself not carrying GPS module is quickly created using low power consumption and low cost wireless communication technique
The latitude and longitude coordinates of point.
Background technique
Location technology of the satellite positioning tech as current comparative maturity, although have positioning accuracy high (within 10 meters),
Observation time is short, between survey station without intervisibility, it is adaptable the advantages that, but the disadvantage is that satellite positioning is only applicable to region spaciousness
Place.Once having arrived the excessive place of the veils such as interior, since satellite signal strength decaying is too fast, satellite positioning is regular can not
Normal use, such as subway, airport, large supermarket, forest etc..Therefore in the region that certain satellite positioning tech can not play a role
It is interior, it needs to carry out auxiliary positioning in the way of other.On the other hand, since cost, power consumption etc. limit, global location chip is simultaneously
It cannot be integrated in all radio nodes.The position of radio node provides data space attribute, therefore the positioning of radio node needs
Seeking Truth is very urgent.
Typical radio location technology mainly uses bluetooth, the wireless skill of WiFi, Zigbee and some privately owned frequency ranges at present
Art.In addition to this positioning method, there are also ground magnetic orientation, ultrasonic wave positioning, laser positionings and computer vision positioning etc..Its
In, earth magnetism location technology difficulty is larger, and the maintenance cost of fingerprint base is high；Ultrasonic wave positioning, laser positioning, ultra-wideband devices requirement
Relatively high, higher cost, and be not suitable for positioning application on a large scale.Computer vision positioning needs to carry out image procossing and field
Scape analysis, computing resource consumption is big, and partial high-precision positioning is suitble to use.In fact, bluetooth, WiFi, Zigbee etc. are common
Wireless technology is widely used in production and living, becomes the mainstreams communications such as Internet of Things, wireless sensor network, wireless messages push
Technology.Meanwhile wireless location technology is also the auxiliary positioning means of current main-stream.It therefore, can be with the wireless of fusing wireless technology
Communication and wireless locating function realize a variety of functions of set of system, and the system of greatly reducing is built dimension cost, improve system and utilize
Efficiency.After having set up cordless communication network, it is thus necessary to determine that the spatial position coordinate of each radio node, each node can be made
For the beaconing nodes of external radio node positioning.Currently, having the mode of combining global positioning system and the positioning of wireless three side, wirelessly
Three sides are located in the changeable application environment of actual complex, it is understood that there may be multipath transmisstion, barrier obstruction decaying, non line of sight etc. are asked
Topic, therefore its positioning accuracy is not high and is difficult to carry out algorithm optimization.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of positioning system for automatically creating localizer beacon node coordinate and sides
Method, and in particular to be that a kind of communication of combining wireless and global positioning system calculate localizer beacon using MDS algorithm come automatic
The system and method for point coordinate,
Positioning system includes beaconing nodes, positioning anchor point, gateway node and system server, wherein
The beaconing nodes are used to constitute the wireless network of covering certain area, positioning anchor point, beacon section in the region
Point and gateway node constitute all radio nodes of the wireless network, and beaconing nodes are by own unique ID and each radio node of surrounding
Between RSSI value be transmitted to gateway node；
The positioning anchor point is wirelessly saved for positioning latitude and longitude coordinates, and by own unique ID, latitude and longitude coordinates and surrounding
RSSI intensity value between point is transmitted to gateway node；
The gateway node be used to collect the positioning latitude and longitude coordinates of anchor point, all radio nodes exclusive ID and it is each wirelessly
RSSI intensity value between node, and relative position coordinates are calculated, relative position coordinates are uploaded to system server；Alternatively,
The information of collection is directly uploaded to system server by gateway node；
The case where having carried out relevant position coordinates calculating for gateway node, system server is according to known positioning anchor
Beaconing nodes relative position coordinates are converted to global latitude and longitude coordinates, and each beacon that will be obtained by the global latitude and longitude coordinates of point
Node coordinate is stored in system server.The case where all nodal informations are directly uploaded for gateway node, system server is complete
It is calculated at relevant position coordinates, then completes the conversion of beaconing nodes latitude and longitude coordinates and storage.
It mainly includes two calculating steps that relevant position coordinates, which calculate: (1) according to the RSSI value measured between each node, meter
The distance between all nodes are calculated, to establish the Distance matrix D of all nodes in whole region, the wherein spacing of unknown node
From a unified initial value can be set.(2) it according to Distance matrix D, can be obtained between all nodes using MDS algorithm
Relative position coordinates.
Include: using the method that above-mentioned positioning system is positioned
S1 obtains the RSSI value between latitude and longitude coordinates and surrounding radio node by positioning anchor point, and will position anchor point
Latitude and longitude coordinates, own unique ID and RSSI value be transmitted to gateway node；
S2 obtains the RSSI value between surrounding radio node by beaconing nodes, and by the RSSI value and beaconing nodes
Exclusive ID is transmitted to gateway node；
S3 collects the latitude and longitude coordinates and the exclusive ID of all radio nodes and each wireless of positioning anchor point by gateway node
RSSI value between node, and it is uploaded to system server；Alternatively, gateway node calculates relative position coordinates, by relative position
Coordinate is uploaded to system server；
S4, the case where having carried out relevant position coordinates calculating for gateway node, system server is according to known fixed
Beaconing nodes relative position coordinates are converted to global latitude and longitude coordinates, and each by what is obtained by position anchor point whole world latitude and longitude coordinates
Beaconing nodes coordinate is stored in system server.The case where all nodal informations are directly uploaded for gateway node, system service
Device is completed relevant position coordinates and is calculated, and the conversion of beaconing nodes latitude and longitude coordinates and storage are then completed.
Compared with prior art, the present invention beneficial effect is: combining wireless communication of the present invention and global-positioning technology and benefit
Fast automatic positioning is carried out to beaconing nodes with MDS algorithm, by the low-cost equipment for largely carrying wireless module, in conjunction with being
The high-performance data processing of system server and mass data storage ability, improve the speed, precision, flexibility of positioning, drop
The low cost of whole system.
Detailed description of the invention
Fig. 1 is the system block diagram of the embodiment of present system；
Fig. 2 is the wireless connection figure that present system is positioned based on MDS；
Fig. 3 is the practical block diagram of the indoor embodiment of present system；
Specific embodiment
In order to illustrate the embodiments of the present invention more clearly, Detailed description of the invention a specific embodiment of the invention will be compareed below.
It should be evident that drawings in the following description are only some embodiments of the invention, those of ordinary skill in the art are come
It says, without creative efforts, is also possible to obtain other drawings based on these drawings, and obtain other real
Apply mode.Wherein, the positioning anchor point in figure, beaconing nodes, gateway node quantity cannot represent it is specific under actual conditions
Quantity.
Fig. 1 is the system block diagram of present system embodiment, which includes positioning anchor point, beaconing nodes, wireless network,
Gateway node, system server and external node.
Wherein, the positioning anchor point in system, itself carries GPS module and wireless communication module.The anchor point
It is normally placed at more spacious outdoor, is easy to receive satellite-signal, obtains accurately global latitude and longitude coordinates.Position anchor point
By wireless communication by the RSSI intensity value and the number such as itself latitude and longitude coordinates between own unique ID, with radio node around
It is believed that breath is transmitted to the gateway node nearest from the node.
Beaconing nodes itself are integrated with wireless communication module, and small volume, antenna is shorter, can be placed on any one
Corner constitutes the wireless network of covering extensive region.All positioning anchor points, beaconing nodes and gateway node are constituted in the region
All radio nodes of wireless network.Position anchor point and beaconing nodes need between each radio node around RSSI value,
Exclusive ID and other significant datas are sent to gateway node.
Gateway node collects latitude and longitude coordinates, the exclusive ID and RSSI related data of all radio nodes of positioning anchor point,
And according to itself calculated performance, relevant position coordinates calculating can be carried out, all information directly can also be uploaded to system clothes
Business device.Wherein, it mainly includes two calculating steps that relevant position coordinates, which calculate:
(1) according to the RSSI value measured between each node, the distance between all nodes are calculated, to establish whole region
The Distance matrix D of interior all nodes, wherein a unified initial value can be set in distance between unknown node.
(2) according to Distance matrix D, the relative position coordinates between all nodes, structure can be obtained using MDS algorithm
Schematic diagram is as shown in Figure 2.The two calculate step and can be completed by the gateway node of better performances, can also be by system server
It completes.
System server, according to the global latitude and longitude coordinates of positioning anchor point by each radio node (mainly beaconing nodes)
Relative position coordinates are converted to global latitude and longitude coordinates.Finally each radio node ID and its correspondence latitude and longitude coordinates are stored into
System server.
External node can be by the wireless communication module itself installed, with letter into after the coverage area of wireless network
Mark node interact, using the latitude and longitude coordinates of beaconing nodes as reference coordinate, as shown in Fig. 2, according to external node point this
When periphery beaconing nodes quantity number, the complexity of local environment chooses most suitable positioning method and obtains the external node
Global latitude and longitude coordinates.
In the present embodiment, if illumination region, beaconing nodes can be usually combined together with LED light source indoors,
Be conducive to save space and be not easy to be found, as shown in Figure 3.Covering is formed at the LED of beaconing nodes by positioning anchor point sum aggregate
The wireless network of whole region, the equipment that mobile phone etc. itself configures wireless communication module, not needing any change just can be at this
It is quickly positioned in system.Wireless communication module is configured in the equipment such as remote controler, key chain, dust catcher, it can be by quickly fixed
Position saves hunting time, prevents article from losing.
Those skilled in the art can be obvious, and the above-mentioned general introduction of the present invention is not meant to elaborate each example of the invention
Property embodiment or each embodiment, be easy to the present invention carry out various modifications and form replacement without departing from of the invention
Spirit and scope.Accordingly, it is intended to which present invention covering is made to fall in pair within the scope of the appended claims and its equivalent arrangements
Modification, replacement and its equivalent form of the invention.
Claims (6)
1. a kind of positioning system for automatically creating localizer beacon node coordinate, it is characterised in that: including beaconing nodes, positioning anchor
Point, gateway node and system server, wherein
The beaconing nodes are used to constitute the wireless network for covering certain area, positioning anchor point, beaconing nodes in the region and
Gateway node constitutes all radio nodes of the wireless network, and beaconing nodes will be between own unique ID and each radio node of surrounding
RSSI value be transmitted to gateway node；
The positioning anchor point for positioning latitude and longitude coordinates, and by own unique ID, latitude and longitude coordinates and surrounding radio node it
Between RSSI intensity value be transmitted to gateway node；
The gateway node is used to collect the exclusive ID and each radio node of the latitude and longitude coordinates of positioning anchor point, all radio nodes
Between RSSI intensity value, and be uploaded to system server；
The information that the system server is used to upload gateway node calculates, and obtains and store the warp of all radio nodes
Latitude coordinate.
2. automatically creating the positioning system of localizer beacon node coordinate according to claim 1, it is characterised in that: the system
The information that server uploads gateway node calculates, specifically:
(1) according to the RSSI value between each radio node, the distance between all radio nodes are calculated, establish institute in whole region
There is the Distance matrix D of radio node,
(2) according to Distance matrix D, the relative position coordinates between all radio nodes are calculated using MDS algorithm；
(3) relative position coordinates between each radio node latitude is converted into according to the latitude and longitude coordinates of positioning anchor point to sit
Mark, and the exclusive ID of each radio node latitude and longitude coordinates corresponding with its are stored to system server.
3. a kind of positioning system for automatically creating localizer beacon node coordinate, it is characterised in that: including beaconing nodes, positioning anchor
Point, gateway node and system server, wherein
The beaconing nodes are used to constitute the wireless network for covering certain area, positioning anchor point, beaconing nodes in the region and
Gateway node constitutes all radio nodes of the wireless network, and beaconing nodes will be between own unique ID and each radio node of surrounding
RSSI value be transmitted to gateway node；
The positioning anchor point for positioning latitude and longitude coordinates, and by own unique ID, latitude and longitude coordinates and surrounding radio node it
Between RSSI intensity value be transmitted to gateway node；
The gateway node is used to collect the exclusive ID and each radio node of the latitude and longitude coordinates of positioning anchor point, all radio nodes
Between RSSI intensity value, and carry out relevant position coordinates calculating, relevant position coordinates be uploaded to system server；
The relative position coordinates of each radio node are converted by the system server according to the latitude and longitude coordinates of positioning anchor point
Latitude coordinate, and the exclusive ID latitude and longitude coordinates corresponding with its for storing each radio node.
4. automatically creating the positioning system of localizer beacon node coordinate according to claim 3, it is characterised in that: the gateway
Node carries out relevant position coordinates calculating, specifically:
(1) according to the RSSI value between each radio node, the distance between all radio nodes are calculated, establish institute in whole region
There is the Distance matrix D of radio node,
(2) according to Distance matrix D, the relative position coordinates between all radio nodes are calculated using MDS algorithm.
5. a kind of localization method for automatically creating localizer beacon node coordinate automatically creates positioning using as claimed in claim 2
The positioning system of beaconing nodes coordinate, which comprises the following steps:
S1 obtains the RSSI value between latitude and longitude coordinates and surrounding radio node, and the warp that will position anchor point by positioning anchor point
Latitude coordinate, own unique ID and RSSI value are transmitted to gateway node；
S2 obtains the RSSI value between surrounding radio node by beaconing nodes, and by the exclusive of the RSSI value and beaconing nodes
ID is transmitted to gateway node；
S3 collects the latitude and longitude coordinates of positioning anchor point and the exclusive ID and each radio node of all radio nodes by gateway node
Between RSSI value, and be uploaded to system server；
S4, the information that system server uploads gateway node calculate, and obtain and store the longitude and latitude of all radio nodes
Coordinate.
6. a kind of localization method for automatically creating localizer beacon node coordinate automatically creates positioning using as claimed in claim 4
The positioning system of beaconing nodes coordinate, which comprises the following steps:
S1 obtains the RSSI value between latitude and longitude coordinates and surrounding radio node, and the warp that will position anchor point by positioning anchor point
Latitude coordinate, own unique ID and RSSI value are transmitted to gateway node；
S2 obtains the RSSI value between surrounding radio node by beaconing nodes, and by the exclusive of the RSSI value and beaconing nodes
ID is transmitted to gateway node；
S3 collects the latitude and longitude coordinates of positioning anchor point and the exclusive ID and each radio node of all radio nodes by gateway node
Between RSSI value, and carry out relevant position coordinates calculating, relevant position coordinates be uploaded to system server；
The relative position coordinates of each radio node are converted to longitude and latitude according to the latitude and longitude coordinates of positioning anchor point by S4, system server
Spend coordinate, and the exclusive ID latitude and longitude coordinates corresponding with its for storing each radio node.
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| CN201910300360.6A CN109996173A (en) | 2019-04-15 | 2019-04-15 | A kind of positioning system and method automatically creating localizer beacon node coordinate |
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Application publication date: 20190709 |