CN110366189B - Wireless ad hoc network communication node deployment method and device - Google Patents
Wireless ad hoc network communication node deployment method and device Download PDFInfo
- Publication number
- CN110366189B CN110366189B CN201910772199.2A CN201910772199A CN110366189B CN 110366189 B CN110366189 B CN 110366189B CN 201910772199 A CN201910772199 A CN 201910772199A CN 110366189 B CN110366189 B CN 110366189B
- Authority
- CN
- China
- Prior art keywords
- node deployment
- judgment result
- deployment
- real
- wireless
- 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.)
- Active
Links
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
- H04W16/18—Network planning tools
-
- 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
The embodiment of the invention provides a wireless ad hoc network communication node deployment method and a device, wherein the method comprises the following steps: acquiring real-time attitude data acquired by an inertial sensing unit; acquiring the geometric characteristics of the current route based on the real-time attitude data; determining a node deployment judgment result based on the geometric features; and if the judgment result of the node deployment is yes, deploying the communication node. According to the method and the device provided by the embodiment of the invention, the geometric characteristics are acquired through the real-time attitude data acquired by the inertial sensing unit, and then the node deployment judgment result is determined, so that the automatic deployment of the communication nodes in the advancing process is realized, the communication node deployment is not required to be performed in advance, the communication node deployment efficiency and the construction efficiency of the wireless ad hoc network can be effectively improved, and the reliable communication between personnel and the outside is ensured.
Description
Technical Field
The present invention relates to the field of wireless communication technologies, and in particular, to a method and an apparatus for deploying a wireless ad hoc network communication node.
Background
The wireless ad hoc network is a temporary multi-hop autonomous system formed by a group of communication nodes, does not depend on preset infrastructure, has the characteristics of temporary networking, quick deployment, no control center, strong survivability and the like, and is widely applied to the occasions of the Internet of things such as building instrument data acquisition and field investigation.
The existing wireless ad hoc network is mainly deployed in a manual mode, and constructors need to plan the layout positions of communication nodes in advance according to the characteristics of the working environment where the network is located. However, in practical applications, for example, when a disaster occurs, rescue workers enter an unfamiliar environment of a disaster site, especially a large depth indoor place of a basement, a mine and a large-scale urban complex, the environment itself has strong sealing performance, the infrastructure of a wireless communication operator cannot cover the area, the rescue workers need to travel quickly, trapped people are searched and rescued in the shortest time, and sufficient time and conditions cannot be provided for communication construction workers to perform network planning. Meanwhile, rescue workers are often carried about, more tools are far away, two hands are occupied, the communication node deployment work is difficult to be considered, and the communication node deployment device is required to be capable of automatically deploying the communication node so as to guarantee reliable communication between the rescue workers and external commanders.
However, how to implement automatic deployment of communication nodes in a wireless ad hoc network still remains an urgent problem to be solved by those skilled in the art.
Disclosure of Invention
The embodiment of the invention provides a wireless ad hoc network communication node deployment method and device, which are used for solving the problems that the existing wireless ad hoc network needs manual deployment and cannot meet the requirements of scenes such as disasters.
In a first aspect, an embodiment of the present invention provides a method for deploying a wireless ad hoc network communication node, including:
acquiring real-time attitude data acquired by an inertial sensing unit;
acquiring the geometric characteristics of the current route based on the real-time attitude data;
determining a node deployment judgment result based on the geometric features;
and if the judgment result of the node deployment is yes, deploying the communication node.
In a second aspect, an embodiment of the present invention provides a wireless ad hoc network communication node deployment apparatus, including:
the attitude data measuring unit is used for acquiring real-time attitude data acquired by the inertial sensing unit;
the geometric feature acquisition unit is used for acquiring the geometric features of the current route based on the real-time attitude data;
the deployment judgment unit is used for determining a node deployment judgment result based on the geometric characteristics;
and the deployment unit is used for deploying the communication node if the node deployment judgment result is yes.
In a third aspect, an embodiment of the present invention provides an electronic device, including a processor, a communication interface, a memory, and a bus, where the processor and the communication interface, the memory complete communication with each other through the bus, and the processor may call a logic instruction in the memory to perform the steps of the method provided in the first aspect.
In a fourth aspect, an embodiment of the present invention provides a non-transitory computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the method as provided in the first aspect.
According to the wireless ad hoc network communication node deployment method and device provided by the embodiment of the invention, the geometric characteristics are acquired through the real-time attitude data acquired by the inertial sensing unit, and then the node deployment judgment result is determined, so that the automatic deployment of the communication node in the advancing process is realized, the communication node deployment is not required to be performed in advance, the communication node deployment efficiency and the wireless ad hoc network construction efficiency can be effectively improved, and the reliable communication between personnel and the outside is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic flowchart of a wireless ad hoc network communication node deployment method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the determination of geometric features based on an ultrasonic sensing unit according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a method for correcting a node deployment determination result according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a wireless ad hoc network communication node deployment apparatus according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The current wireless ad hoc network is mainly deployed in a manual mode. However, in disaster scenes such as earthquake and fire, sufficient time and conditions cannot be provided for communication constructors to perform network planning and node deployment, and it is not practical for rescuers to manually deploy communication nodes while traveling fast. In view of the above problems, embodiments of the present invention provide a method for deploying a communication node in a wireless ad hoc network, so as to implement automatic deployment of the communication node in a process of a person. Fig. 1 is a schematic flowchart of a wireless ad hoc network communication node deployment method according to an embodiment of the present invention, as shown in fig. 1, the method includes:
and step 110, acquiring real-time attitude data acquired by the inertial sensing unit.
Here, the inertial sensing unit is a sensing device for measuring acceleration, tilt, shock, vibration, rotation, and multiple degrees of freedom motion, and is an important part to solve navigation, orientation, and motion carrier control. The inertial sensing unit may be an angular rate gyro, or an accelerometer, etc. The inertial sensing unit is arranged on rescuers or other persons needing to enter a wireless ad hoc network scene, and is used for detecting the movement posture of the persons in the advancing process and outputting real-time posture data. Here, real-time posture data, that is, acceleration, angular velocity, and the like are used as data indicating the posture of the person during travel.
And step 120, acquiring the geometric characteristics of the current route based on the real-time attitude data.
In particular, the current route is the route the person is currently traveling. The geometric feature may be the shape, direction, etc. of the current route, e.g. straight, turning, descending stairs, ascending stairs, etc. And judging whether the current route traveled by the personnel is a straight line, whether a turn exists, whether the height changes and the like through the acceleration, the angular velocity and the like contained in the real-time attitude data, and further obtaining the geometric characteristics of the current route.
And step 130, determining a node deployment judgment result based on the geometric characteristics.
Specifically, based on the geometric features, it can be determined whether a person passes through a wall, a staircase, or other obstacles that may cause strong signal attenuation during traveling, and further, it is determined whether new communication nodes need to be deployed, so as to obtain a node deployment determination result. Here, the node deployment determination result is used to indicate whether node deployment is performed at the current time. The node deployment judgment result is yes or no.
And 140, if the judgment result of the node deployment is yes, deploying the communication node.
Specifically, walls, stairs and other obstacles may cause strong signal attenuation, after the deployment of the previous communication node is completed, if a person turns to travel to another room, or walks around an obstacle, goes up and down stairs, walls, stairs or other obstacles may exist between the person and the previous communication node, the signal of the transmission point of the previous communication node may cause strong attenuation, and at this time, the node deployment judgment result obtained based on the geometric features is yes, that is, a new communication node needs to be deployed at the current time, and the deployment of the communication node is automatically performed. Here, the deployment of the communication node can be realized by ejecting the communication node by a communication node ejection device which is assembled by a control person. And the deployed new communication nodes establish new wireless signal coverage at the current position, so that a plurality of communication nodes deployed successively on the travel route can be connected with each other to form a wireless ad hoc network.
According to the method provided by the embodiment of the invention, the geometric characteristics are acquired through the real-time attitude data acquired by the inertial sensing unit, and then the node deployment judgment result is determined, so that the automatic deployment of the communication nodes in the advancing process is realized, the communication node deployment is not required to be performed in advance, the communication node deployment efficiency and the construction efficiency of the wireless ad hoc network can be effectively improved, and the reliable communication between personnel and the outside is ensured.
Based on the foregoing embodiment, in the method, step 130 specifically includes: acquiring a preset geometric feature deployment condition; if the geometric features meet the preset geometric feature deployment conditions, determining the node deployment judgment result as yes; otherwise, determining the node deployment judgment result as no.
Here, the preset geometric feature deployment condition is a preset condition that needs to be satisfied when the communication node deployment is performed. For example, the preset geometric feature deployment condition is that at least one of sharp turns, stairs descending and stairs ascending exists in the geometric feature of the current route. For example, when the geometric features are straight lines, the preset geometric feature deployment conditions are not met, and the node deployment judgment result is determined to be negative; and when the geometric features are sharp turns, the preset geometric feature deployment conditions are met, and the node deployment judgment result is determined to be yes.
Based on any of the above embodiments, in the method, step 130 specifically includes: matching the geometric features with a prior map to obtain a geometric feature matching result of the current route; and determining a node deployment judgment result based on the geometric feature matching result.
Specifically, the prior map is a map obtained in advance in a scene where the deployment of the wireless ad hoc network communication node is required. After the geometric features of the current line are obtained, the geometric features are matched with the geometric features of all lines in the prior map, and then the geometric feature matching result of the current line can be obtained. Here, the geometric feature matching result is a specific position of the person at the current time in the prior map, and may also be a condition of a wall, a staircase, or other obstacles, which correspondingly exist in the prior map.
After the geometric feature matching result is obtained, whether a new communication node needs to be deployed or not is judged according to the conditions of the last communication node and the wall, the stair or other obstacles and the like existing in the prior map at the current position, and the node deployment judgment result is determined.
According to any of the above embodiments, the method further includes, before step 130: and acquiring real-time obstacle distance data acquired by the ultrasonic sensing unit.
Specifically, the ultrasonic sensing unit may emit ultrasonic waves and perform distance measurement according to a time difference of receiving the reflected ultrasonic waves. The ultrasonic sensing unit is arranged on rescuers or other persons needing to carry out wireless ad hoc network scenes, and is used for detecting the distance of surrounding obstacles in the advancing process of the persons and outputting real-time obstacle distance data.
Correspondingly, step 130 specifically includes: and determining a node deployment judgment result by using the geometric characteristics and the real-time obstacle distance data.
Specifically, whether to deploy a communication node is determined only by geometric features, and there may be a case where a person makes an action such as an meaningless turn, and the like, so that the person mistakenly thinks that an obstacle that may cause signal attenuation exists and deploys the node. In the above case, the deployed communication nodes are most likely to be redundant nodes, that is, the communication nodes are deployed in an area where signals are not attenuated, and there is a problem that the communication nodes are wasted. For the problem, the judgment can be performed based on the geometric features and the real-time obstacle distance data, wherein the real-time obstacle distance data is used for indicating the distance of peripheral obstacles, so that whether factors possibly causing strong signal attenuation exist around people can be judged, and whether a new communication node needs to be deployed or not is further determined.
According to any of the embodiments, in the method, the ultrasonic sensing unit is an omnidirectional ultrasonic sensor. Compared with a traditional ultrasonic sensor which only can realize a single direction, the omnidirectional ultrasonic sensor can realize omnidirectional ranging, so that the peripheral barrier distance data of personnel can be acquired, and a more accurate and comprehensive reference basis is provided for determining a node deployment judgment result.
Based on any one of the above embodiments, fig. 2 is a schematic diagram of determining geometric features based on an ultrasonic sensing unit according to an embodiment of the present invention, in fig. 2, a line segment with an oblique rod is used to represent an obstacle, a dotted line is used to represent a walking route of a person represented by real-time posture data detected by an inertial sensing unit, and a double arrow is an obstacle distance d obtained by the ultrasonic sensing unit during walking of the person. Based on the walking route of the person and the distance d of the obstacle detected by the ultrasonic sensing unit, the scene map can be drawn, and the geometric features can be obtained.
Based on any of the embodiments, in the method, the determining a node deployment judgment result based on the geometric features and the real-time obstacle distance data specifically includes: inputting the geometric characteristics and the real-time obstacle distance data into a signal attenuation perception model, and obtaining a node deployment judgment result output by the signal attenuation perception model; the signal attenuation perception model is obtained based on the geometric characteristics of the sample, the distance data of the sample obstacle and the deployment judgment result of the sample nodes.
Specifically, the signal attenuation perception model is used for judging whether signal attenuation exists in the current position and whether new nodes need to be deployed or not based on input geometric features and real-time obstacle distance data, and outputting an analysis result, namely a node deployment judgment result.
Before the above steps are performed, a signal attenuation perception model may also be obtained by training in advance, and specifically, the signal attenuation perception model may be obtained by training in the following manner: firstly, collecting a large number of sample geometric features, sample obstacle distance data and sample node deployment judgment results; the geometrical characteristics of the sample are the geometrical characteristics of a route acquired by attitude data acquired by the inertial sensing unit in the process of personnel advancing, and the obstacle distance data of the sample are acquired by the ultrasonic sensing unit in the process of personnel advancing; the sample node deployment judgment result can be obtained by judging the deployment position of each communication node in the wireless sub-networking, which is obtained by planning and designing by professional constructors in advance. And training the initial model based on the geometric characteristics of the sample, the obstacle distance data of the sample and the deployment judgment result of the sample nodes, so as to obtain a signal attenuation perception model. The initial model may be a single neural network model or a combination of a plurality of neural network models, and the embodiment of the present invention does not specifically limit the type and structure of the initial model.
The method provided by the embodiment of the invention realizes the judgment of the obstacles in the advancing route based on the artificial intelligence technology, further determines whether factors which can cause strong attenuation of signals exist, further obtains the corresponding node deployment judgment result, and greatly improves the automatic deployment efficiency and accuracy of the communication nodes.
Based on any of the above embodiments, in the method, as shown in fig. 3, fig. 3 is a schematic flow chart of a method for correcting a node deployment determination result according to an embodiment of the present invention, and after step 130, the method further includes: and if the node deployment judgment result is yes and the real-time obstacle distance data is larger than the preset obstacle threshold, correcting the node deployment judgment result to be no. The real-time obstacle distance data are acquired by the ultrasonic sensing unit.
Specifically, since the node deployment determination result is determined only by the geometric features, there may be a problem that communication nodes are wasted due to misunderstanding that there is an obstacle that may cause signal attenuation and deploying the nodes because a person performs an action such as meaningless turning. After determining the node deployment judgment result based on the geometric characteristics, the embodiment of the invention takes the real-time obstacle distance data acquired by the ultrasonic sensing unit as the correction condition of the node deployment judgment result, and further corrects the node deployment judgment result to ensure the accuracy of the node deployment judgment result.
The preset obstacle threshold is the preset maximum distance data of obstacles which may exist around and cause strong signal attenuation, if the real-time obstacle distance data is larger than the preset obstacle threshold, no obstacle exists around and cause strong signal attenuation, and if the real-time obstacle distance data is smaller than or equal to the preset obstacle threshold, an obstacle which causes strong signal attenuation exists around and does not exist around.
If the obtained node deployment judgment result is yes, if the real-time obstacle distance data is larger than the preset obstacle threshold, turning and the like exist in the geometric characteristics, and route changes caused by the meaningless behaviors of personnel possibly exist, node redundancy is possibly caused by node deployment, and therefore the node deployment judgment result is corrected to be no. If the obtained node deployment judgment result is yes, if the real-time obstacle distance data is smaller than or equal to the preset obstacle threshold, turning and the like existing in the geometric features are most likely to be route changes of personnel due to obstacle avoidance, and the node deployment judgment result is not modified.
Based on any embodiment, in the method, the inertial sensing unit is arranged on a person entering a wireless ad hoc network scene and used for detecting the movement posture of the person in the advancing process and outputting real-time posture data.
Based on any of the above embodiments, the method specifically includes the steps of:
before entering a scene in which wireless ad hoc network communication node deployment is needed, personnel wear an inertial sensing unit and an omnidirectional ultrasonic sensing unit and carry an ejection device with an ejection communication node function.
After personnel enter a scene needing wireless ad hoc network communication node deployment, the inertial sensing unit acquires real-time attitude data of the personnel, and the omnidirectional ultrasonic sensing unit acquires real-time obstacle distance data around the personnel.
After the real-time attitude data is obtained, whether the current route where the personnel walk is a straight line, whether a turn exists, whether the height changes and the like are judged according to the acceleration, the angular velocity and the like contained in the real-time attitude data, and then the geometric characteristics of the current route are obtained.
Then, acquiring a preset geometric feature deployment condition, and if the geometric feature meets the preset geometric feature deployment condition, determining a node deployment judgment result as 'yes'; otherwise, determining the node deployment judgment result as 'no'.
And meanwhile, judging whether the real-time obstacle distance data is larger than a preset obstacle threshold value. When the node deployment judgment result is determined to be 'yes' and the real-time obstacle distance data is larger than the preset obstacle threshold value, the geometric features meeting the preset geometric feature deployment condition are most likely to be route changes caused by the meaningless behaviors of the personnel, and therefore the node deployment judgment result is corrected to be 'no'.
And when the node deployment judgment result is determined to be 'yes' after the node deployment judgment result is corrected and judged, controlling the ejection device to eject a communication node so as to realize the deployment of the communication node.
Based on the method, the communication nodes can be deployed at the positions where the deployment judgment results of the corresponding nodes are determined to be 'yes' according to the collected real-time attitude data and the real-time obstacle distance data in the process of personnel traveling, so that the automatic deployment of the communication nodes in the personnel traveling route is realized, the construction of a wireless ad hoc network is completed, and the reliable communication between the personnel and the outside is further ensured.
Based on any of the above embodiments, fig. 4 is a schematic structural diagram of a wireless ad hoc network communication node deployment apparatus provided in the embodiment of the present invention, as shown in fig. 4, the apparatus includes an attitude data measurement unit 210, a geometric feature acquisition unit 220, a deployment judgment unit 230, and a deployment unit 240;
the attitude data measuring unit 210 is configured to obtain real-time attitude data acquired by the inertial sensing unit;
the geometric feature obtaining unit 220 is configured to obtain a geometric feature of the current route based on the real-time posture data;
the deployment judgment unit 230 is configured to determine a node deployment judgment result based on the geometric features;
the deployment unit 240 is configured to deploy the communication node if the node deployment determination result is yes.
According to the device provided by the embodiment of the invention, the geometric characteristics are acquired through the real-time attitude data acquired by the inertial sensing unit, the node deployment judgment result is further determined, the automatic deployment of the communication nodes in the advancing process is realized, the communication node deployment is not required to be performed in advance, the communication node deployment efficiency and the wireless ad hoc network construction efficiency can be effectively improved, and the reliable communication between personnel and the outside is ensured.
Based on any of the above embodiments, in the apparatus, the deployment determining unit 230 is specifically configured to:
acquiring a preset geometric feature deployment condition;
if the geometric features meet the preset geometric feature deployment conditions, determining that the node deployment judgment result is yes; otherwise, determining the node deployment judgment result as no.
Based on any of the above embodiments, in the apparatus, the deployment determining unit 230 is specifically configured to:
matching the geometric features with a prior map to obtain a geometric feature matching result of the current route;
and determining a node deployment judgment result based on the geometric feature matching result.
Based on any of the above embodiments, the apparatus further comprises a distance measuring unit, the distance measuring unit is configured to: acquiring real-time obstacle distance data acquired by an ultrasonic sensing unit;
correspondingly, the deployment determining unit 230 is specifically configured to:
and determining a node deployment judgment result by using the geometric characteristics and the real-time obstacle distance data.
Based on any of the above embodiments, in the apparatus, the deployment determining unit 230 is specifically configured to:
inputting the geometric characteristics and the real-time obstacle distance data into a signal attenuation perception model, and obtaining a node deployment judgment result output by the signal attenuation perception model; the signal attenuation perception model is obtained based on the geometric characteristics of the sample, the distance data of the sample obstacle and the deployment judgment result of the sample nodes.
According to any of the above embodiments, the apparatus further comprises a correction unit;
the correction unit is used for correcting the node deployment judgment result to be negative if the node deployment judgment result is positive and the real-time obstacle distance data is larger than a preset obstacle threshold; the real-time obstacle distance data are acquired by the ultrasonic sensing unit.
According to any one of the above embodiments, in the apparatus, the ultrasonic sensing unit is an omnidirectional ultrasonic sensor.
Based on any one of the above embodiments, in the device, the inertial sensing unit is installed on a person entering a wireless ad hoc network scene, and is used for detecting the movement posture of the person in the advancing process and outputting the real-time posture data.
Fig. 5 is a schematic entity structure diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 5, the electronic device may include: a processor (processor)301, a communication Interface (communication Interface)302, a memory (memory)303 and a communication bus 304, wherein the processor 301, the communication Interface 302 and the memory 303 complete communication with each other through the communication bus 304. The processor 301 may invoke a computer program stored on the memory 303 and executable on the processor 301 to perform the wireless ad hoc network communication node deployment method provided by the above embodiments, for example, including: acquiring real-time attitude data acquired by an inertial sensing unit; acquiring the geometric characteristics of the current route based on the real-time attitude data; determining a node deployment judgment result based on the geometric features; and if the judgment result of the node deployment is yes, deploying the communication node.
In addition, the logic instructions in the memory 303 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solutions of the embodiments of the present invention may be essentially implemented or make a contribution to the prior art, or may be implemented in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
An embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented to, when executed by a processor, perform the wireless ad hoc network communication node deployment method provided in the foregoing embodiments, for example, including: acquiring real-time attitude data acquired by an inertial sensing unit; acquiring the geometric characteristics of the current route based on the real-time attitude data; determining a node deployment judgment result based on the geometric features; and if the judgment result of the node deployment is yes, deploying the communication node.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A wireless ad hoc network communication node deployment method, comprising:
acquiring real-time attitude data acquired by an inertial sensing unit;
acquiring the geometric characteristics of the current route based on the real-time attitude data;
determining a node deployment judgment result based on the geometric features; if the node deployment judgment result is yes, deploying a communication node;
the determining a node deployment judgment result based on the geometric features further includes:
acquiring real-time obstacle distance data acquired by an ultrasonic sensing unit;
correspondingly, determining a node deployment judgment result based on the geometric features specifically comprises:
and determining a node deployment judgment result by using the geometric characteristics and the real-time obstacle distance data.
2. The method for deploying a wireless ad hoc network communication node according to claim 1, wherein the determining a result of determining node deployment based on the geometric feature specifically comprises:
acquiring a preset geometric feature deployment condition;
if the geometric features meet the preset geometric feature deployment conditions, determining that the node deployment judgment result is yes; otherwise, determining the node deployment judgment result as no.
3. The method for deploying a wireless ad hoc network communication node according to claim 1, wherein the determining a result of determining node deployment based on the geometric feature specifically comprises:
matching the geometric features with a prior map to obtain a geometric feature matching result of the current route;
and determining a node deployment judgment result based on the geometric feature matching result.
4. The method for deploying a wireless ad hoc network communication node according to claim 1, wherein the determining a node deployment judgment result by using the geometric features and the real-time obstacle distance data specifically comprises:
inputting the geometric characteristics and the real-time obstacle distance data into a signal attenuation perception model, and obtaining a node deployment judgment result output by the signal attenuation perception model; the signal attenuation perception model is obtained based on the geometric characteristics of the sample, the distance data of the sample obstacle and the deployment judgment result of the sample nodes.
5. The method for deploying wireless ad hoc network communication nodes according to any one of claims 1 to 3, wherein the determining a node deployment determination result based on the geometric feature further comprises:
if the node deployment judgment result is yes and the real-time obstacle distance data is larger than a preset obstacle threshold value, correcting the node deployment judgment result to be no; the real-time obstacle distance data are acquired by the ultrasonic sensing unit.
6. The deployment method of the wireless ad hoc network communication nodes according to any one of claims 1 to 4, wherein the inertial sensing unit is mounted on a person entering a wireless ad hoc network scene, and is used for detecting the motion posture of the person in the process of traveling and outputting the real-time posture data.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the program, implements the steps of the wireless ad hoc network communication node deployment method according to any of claims 1 to 6.
8. A non-transitory computer readable storage medium, having stored thereon a computer program, characterized in that the computer program, when being executed by a processor, is adapted to carry out the steps of the wireless ad hoc network communication node deployment method according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910772199.2A CN110366189B (en) | 2019-08-21 | 2019-08-21 | Wireless ad hoc network communication node deployment method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910772199.2A CN110366189B (en) | 2019-08-21 | 2019-08-21 | Wireless ad hoc network communication node deployment method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110366189A CN110366189A (en) | 2019-10-22 |
| CN110366189B true CN110366189B (en) | 2022-02-22 |
Family
ID=68224803
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910772199.2A Active CN110366189B (en) | 2019-08-21 | 2019-08-21 | Wireless ad hoc network communication node deployment method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110366189B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112074000A (en) * | 2020-07-31 | 2020-12-11 | 深圳市贝贝特科技实业有限公司 | Ejection type ad hoc network device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102932742A (en) * | 2012-10-12 | 2013-02-13 | 上海交通大学 | Method and system for indoor positioning based on inertial sensor and wireless signal characteristics |
| CN104184781A (en) * | 2013-05-28 | 2014-12-03 | 东北大学 | Unknown environment exploration-oriented mobile robot self-deploying sensing network |
| CN104301907A (en) * | 2014-11-11 | 2015-01-21 | 东南大学 | Hybrid network mobile node coverage detection method and node deployment selection method |
| CN106840147A (en) * | 2016-12-22 | 2017-06-13 | 武汉船舶通信研究所 | A kind of long range positioning method and system |
| CN109612476A (en) * | 2018-12-04 | 2019-04-12 | 广州辰创科技发展有限公司 | Map reconstructing method, device, inertial navigation system and computer storage medium based on inertial navigation technology |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7970574B2 (en) * | 2005-06-22 | 2011-06-28 | The Board Of Trustees Of The Leland Stanford Jr. University | Scalable sensor localization for wireless sensor networks |
| US8849926B2 (en) * | 2010-08-06 | 2014-09-30 | Simon Fraser University | System and method for self-calibrating, self-organizing and localizing sensors in wireless sensor networks |
-
2019
- 2019-08-21 CN CN201910772199.2A patent/CN110366189B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102932742A (en) * | 2012-10-12 | 2013-02-13 | 上海交通大学 | Method and system for indoor positioning based on inertial sensor and wireless signal characteristics |
| CN104184781A (en) * | 2013-05-28 | 2014-12-03 | 东北大学 | Unknown environment exploration-oriented mobile robot self-deploying sensing network |
| CN104301907A (en) * | 2014-11-11 | 2015-01-21 | 东南大学 | Hybrid network mobile node coverage detection method and node deployment selection method |
| CN106840147A (en) * | 2016-12-22 | 2017-06-13 | 武汉船舶通信研究所 | A kind of long range positioning method and system |
| CN109612476A (en) * | 2018-12-04 | 2019-04-12 | 广州辰创科技发展有限公司 | Map reconstructing method, device, inertial navigation system and computer storage medium based on inertial navigation technology |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110366189A (en) | 2019-10-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6783751B2 (en) | Methods and equipment to use portable navigation with improved quality of map information assistance | |
| US10852145B2 (en) | Crowd sourced mapping with robust structural features | |
| CN102620737B (en) | Portable enclosure for generating building map | |
| US9146113B1 (en) | System and method for localizing a trackee at a location and mapping the location using transitions | |
| US8712686B2 (en) | System and method for locating, tracking, and/or monitoring the status of personnel and/or assets both indoors and outdoors | |
| Roucek et al. | System for multi-robotic exploration of underground environments ctu-cras-norlab in the darpa subterranean challenge | |
| JP2019175015A (en) | Disaster information processing apparatus and disaster information processing model learning apparatus | |
| WO2019113611A2 (en) | Method and system for fingerprinting survey | |
| AU2014277724B2 (en) | Locating, tracking, and/or monitoring personnel and/or assets both indoors and outdoors | |
| CN102708752A (en) | Building map generation using location and tracking data | |
| EP2881708A1 (en) | System and method for indoor localization using mobile inertial sensors and virtual floor maps | |
| CN110493716B (en) | Automatic deployment method and device for communication nodes | |
| CN113433937A (en) | Heuristic exploration-based layered navigation obstacle avoidance system and layered navigation obstacle avoidance method | |
| CN110366189B (en) | Wireless ad hoc network communication node deployment method and device | |
| CN106871894B (en) | Map matching method based on conditional random field | |
| CN117246425A (en) | Navigation obstacle avoidance and stair climbing method and system for quadruped robot | |
| JP2012104089A (en) | Method and system for human movement recognition | |
| Kottege et al. | Heterogeneous robot teams with unified perception and autonomy: How Team CSIRO Data61 tied for the top score at the DARPA Subterranean Challenge | |
| Fattah et al. | Dynamic map generating rescuer offering surveillance robotic system with autonomous path feedback capability | |
| Horvath et al. | Indoor autonomous drone development | |
| US20230392930A1 (en) | Methods and techniques for predicting and constraining kinematic trajectories | |
| Ikeuchi et al. | Development of mobile robots for search and rescue operation systems | |
| Yuan et al. | Research on Indoor Firefighter Positioning Based on Inertial Navigation | |
| CN114296475A (en) | Unknown space exploration system, method, device, equipment and medium | |
| KR20240099680A (en) | System for spatial visualizing of disaster site and method thereof |
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 |