CN111538060B - Relative positioning method based on Lora network - Google Patents
Relative positioning method based on Lora network Download PDFInfo
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- CN111538060B CN111538060B CN202010406776.9A CN202010406776A CN111538060B CN 111538060 B CN111538060 B CN 111538060B CN 202010406776 A CN202010406776 A CN 202010406776A CN 111538060 B CN111538060 B CN 111538060B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
- G01S19/073—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections involving a network of fixed stations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
- G01S19/12—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are telecommunication base stations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a relative positioning method based on a Lora network, which comprises the following steps: the gateway node and the terminal node acquire satellite information through the GPS positioning module at the same time at the appointed moment, and acquire the positioning coordinates of the gateway node and the terminal node; for a terminal node, if the number of repeated satellites of a satellite sequence set S' in the acquired satellite information and the satellite sequence set S of the gateway node is greater than a preset threshold, uploading the positioning coordinates and the number of repeated satellites to the gateway node by the terminal node; and the gateway node calculates the relative coordinates between the gateway node and the corresponding terminal node according to the positioning coordinates of the gateway node, the positioning coordinates uploaded by the terminal node and the repeated satellite number. Most of system errors can be eliminated by adopting relative positioning, so that the relative positioning errors among nodes are reduced; the method can ensure the positioning accuracy without increasing the cost of hardware, is suitable for the fields of fine agriculture, aquaculture, livestock tracking and the like, and has good economic benefit and social value.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a relative positioning method based on a Lora network.
Background
Modern aquaculture is becoming a trend in scale and refinement, and low cost and high quality are becoming demands. Research and application of fishery internet of things (internet of things, IOT) technology are becoming more and more widespread. Besides static monitoring points, the terminal nodes of the fishery Internet of things also comprise a large number of nodes in a floating state, which take buoys, fish steaks, net cages and the like as carriers; therefore, how to acquire high-precision position information has become one of the hot spots in the current research of the fishery internet of things.
For long-range internet of things applications, the LoRa protocol is typically used for communication. LoRa (long range) is a low-power consumption long-distance wireless communication technology, and the industry chain is mature and perfected at present. LoRa wireless communication technology is an important basic technology for Internet of things application after being popularized globally by LoRa alliance composed of Semtech, cisco, IBM and the like. Unlike conventional wireless systems, which use frequency shift keying modulation as a physical layer to achieve low power consumption, the LoRa uses linear frequency modulation spread spectrum modulation, has the same low power consumption characteristics as the frequency shift keying modulation technology, and the transmission distance is significantly increased. The working frequency of LoRa is below 1GHz and comprises 109MHz, 433MHz, 866MHz and the like. Thanks to the novel spreading modulation technique used by LoRa, users can customize different spreading factors and bandwidths to meet different distances and demands. Furthermore, the penetration capability in LoRa communication is enhanced by the spread spectrum technique used, and therefore can be used in a relatively complex environment. Therefore, the LoRa technology has obvious advantages in the aspects of low power consumption, wireless transmission distance, penetration capacity, networking and the like. Therefore, the present study employs low power long range LoRa wireless communication technology as the data communication link in the relative positioning system.
Positioning is a basic requirement of the application of the internet of things. The common positioning methods are mainly divided into the following 3 types:
(1) Positioning based on received signal strength indication (received signal strength indicator, RSSI) measurements and path loss models. This method requires that the location of the gateway is known in advance and then the location of the terminal devices within the area can be roughly calculated. The method is greatly influenced by environment and obstacles, and the positioning error is up to hundreds of meters.
(2) Positioning based on time difference of arrival (time difference of arrival, TDOA). TDOA-based positioning methods require time synchronization between nodes. And the LoRa terminal equipment sends the uplink packet to the LoRa gateway. Each gateway records packet arrival times separately. A positioning server in the network calculates the time difference of arrival and then determines the location of the terminal device. The method requires multi-gateway deployment, time synchronization is needed between gateways, special hardware and software are needed to capture high-precision arrival time, and the method has high requirements on equipment cost.
(3) The GPS positioning is the most widely applied positioning scheme at present, the error of GPS single-point positioning is about 10 meters, the positioning precision can be effectively improved by adopting a differential technology, but the GPS single-point positioning needs to be supported by a ground base station, and differential equipment has a low price, so that the GPS single-point positioning cannot be widely applied to applications such as fine agriculture, aquaculture and the like.
Disclosure of Invention
The invention aims to provide a relative positioning method based on a Lora network according to the defects of the prior art, and the method combines the Lora network with GPS positioning, so that the problem that the cost and the positioning precision of the positioning scheme of the Internet of things in the prior art are difficult to be compatible is solved.
The invention is realized by the following technical scheme:
the relative positioning method based on the Lora network is applied to the Lora network, and the Lora network comprises gateway nodes and a plurality of terminal nodes which are in communication connection with the gateway nodes through a Lora protocol; the gateway node and the terminal node both comprise GPS positioning modules, and the relative positioning method comprises the following steps:
(S1) the gateway node and the terminal node are at the agreed satellite sampling time t SN Meanwhile, satellite information is acquired through a GPS positioning module, and positioning coordinates of the satellite information are acquired;
(S2) for the terminal node, if the number of repeated satellites of the satellite sequence set S' in the acquired satellite information and the satellite sequence set S of the gateway node is greater than a preset threshold, uploading the positioning coordinates and the repeated satellite number to the gateway node by the terminal node;
(S3) the gateway node calculates the relative coordinates between itself and the corresponding terminal node according to its own positioning coordinates, the positioning coordinates uploaded by the terminal node, and the number of repeated satellites.
A further improvement of the invention is that the relative positioning method is described as T P For periodic operation, each period T P Time-sequentially divided into sampling periods T S Command broadcasting period T B Terminal data upload period T D ；
The gateway node and the terminal node are in a sampling period T S Acquiring satellite information and positioning coordinates of the satellite information;
the gateway node is in command broadcasting period T B Transmitting a command packet B to each terminal node, wherein the command packet B comprises a satellite sequence set S acquired by the gateway node;
the terminal data uploading period T D Dividing the terminal node into a plurality of time slots, wherein the terminal node is provided with a group number, and the time slots correspond to the group number; and the terminal node uploads the acquired satellite sequence set S' and the positioning coordinates to the gateway node in the time slot allocated to the terminal node.
A further improvement of the present invention is that,
the command packet B also includes the next period T P+1 Packet number of terminal node participating in positioning and appointed satellite sampling time t SN ；
In the next period T P+1 In only the previous period T P The terminal node corresponding to the packet number included in the command packet B participates in the relative positioning.
A further improvement of the invention is that the terminal node and the gateway node each comprise a microcontroller; and the gateway node and the terminal node perform time synchronization through the second pulse of the GPS positioning module.
The invention is further improved in that in the terminal node and the gateway node, the serial port of the GPS positioning module is connected with the serial port of the microcontroller; the microcontroller is connected with a pulse-per-second signal pin of the GPS positioning module, and responds to an interrupt signal and enters a pulse-per-second interrupt response program when the GPS positioning module sends pulse-per-second;
when the second pulse interrupt response program is started for the first time, the microcontroller calculates a time message obtained by the GPS positioning module, obtains a time value from the time message, and stores the time value;
and then, when the second pulse interrupt response program is started each time, the microcontroller adds the number of seconds of the interval between the last second pulse interrupt and the current second pulse interrupt with the stored time value to obtain the current time value.
The invention has the advantages that:
(1) Combining the Lora network with GPS positioning, adopting relative positioning can eliminate most of system errors, thereby reducing the relative positioning errors between nodes; the method can ensure the positioning accuracy without increasing the cost of hardware, is suitable for the fields of fine agriculture, aquaculture, livestock tracking and the like, and has good economic benefit and social value;
(2) The process of transmitting data from the terminal node to the gateway node adopts a Time Division Multiple Access (TDMA) technology, so that different time slots are allocated to different terminal nodes, the channel collision probability can be reduced, the data delivery rate can be improved, and the network capacity can be improved.
Drawings
FIG. 1 is a flow chart of the manner of operation of a gateway node;
FIG. 2 is a flow chart of the operational mode of the end node;
FIG. 3 is a schematic diagram of each period T in the relative positioning method P Schematic diagram of data receiving and transmitting mode;
FIG. 4 is a schematic diagram of a data frame of command packet B;
fig. 5 is a schematic diagram of a data frame sent by a terminal node to a gateway node.
Detailed Description
As shown in fig. 1 to 5, an embodiment of the present invention includes a relative positioning method based on a Lora network, which is applied to the Lora network. The Lora network comprises a gateway node and a plurality of terminal nodes which are in communication connection with the gateway node through a Lora protocol. The gateway node and the terminal node each comprise a GPS positioning module.
As shown in fig. 1 to 3, the above-mentioned Lora network uses T P For periodic operation, each period T P Time-sequentially divided into sampling periods T S Command broadcasting period T B Terminal data upload period T D . In each cycle, the relative positioning method includes the steps of:
(1) During the sampling period T S In the method, gateway nodes and terminal nodes are arranged at appointed satellite sampling time t SN (t in FIG. 3) s Time of day) acquires satellite information through its GPS positioning module and acquires its own positioning coordinates. The positioning coordinates here include latitude and longitude, and the error level is the same as that of the ordinary GPS single-point positioning. The satellite information comprises a satellite sequence set received by a GPS positioning module.
(2) In the command broadcasting period T B And the gateway node sends a command packet B to each terminal node through the Lora protocol. The frame format of the command packet B is shown in fig. 4, where the command packet B includes the satellite sequence set S acquired by the gateway node.
(3) Terminal data uploading period T D If the number of repeated satellites of the satellite sequence set S' and the satellite sequence set S of the gateway node in the satellite information acquired by a certain terminal node is greater than a preset threshold, the terminal node uploads the positioning coordinates and the number of repeated satellites to the gateway node, and the format of the uploaded data frame is shown in fig. 5.
As shown in fig. 3, the terminal data uploading period TD is divided into a plurality of time slots θ, and the terminal node has a packet number, and the time slots correspond to the packet numbers; the terminal node is in the time slot theta allocated to the terminal node i And uploading the acquired satellite sequence set S' and the positioning coordinates to the gateway node.
(4) The gateway node calculates the relative coordinates between the gateway node and the corresponding terminal node according to the positioning coordinates of the gateway node, the positioning coordinates uploaded by the terminal node and the repeated satellite number.
In this embodiment, the relative coordinates are calculated only when the number of repeated satellites is greater than a preset threshold, because: the purpose of calculating the relative coordinates is to eliminate most of the systematic error cancellation, thereby reducing the relative positioning error between the nodes. The positioning coordinates of the terminal node and the gateway node only comprise similar systematic errors when the terminal node and the gateway node are positioned by the same satellite, and the accuracy of the calculated relative coordinates is higher when the number of repeated satellites is larger.
The principle of calculating the relative coordinates to reduce the relative positioning error is: in the GPS positioning process, positioning accuracy is generally affected by three part errors, the first part being common to each user receiver, such as satellite clock errors, ephemeris errors, etc.; the second part is propagation delay errors that cannot be calculated by the user measurement or correction model, such as ionospheric refraction and tropospheric delay, etc.; the third part is the errors inherent to each user receiver, such as internal noise, channel delays, multipath effects, etc.
Let the observation position of the gateway node be P W ＝P tW +P eW ,P tW P is the true position of the gateway node eW Position errors caused by position measurement errors for gateway nodes. The position of the terminal node is P N ＝P tN +P eN ,P tN P is the true position of the gateway node eN Is a position error caused by a gateway position measurement error. The available relative positions are
Gateway node W at t W The observation position (coordinate) error in the earth-centered coordinate system (ECEF) is obtained at the moment, and can be expressed as the expression (1):
P eW (t W )＝G W (E W ΔS W (t W )-Δρ W (t W )) (1)
g in W 、E W The azimuth characteristic matrix of the node W and each satellite; p (P) eW (t W ) At t W Satellite position deviation caused by satellite clock error, atmospheric layer delay, multipath deviation, receiver hardware deviation and the like at the moment; Δρ W (t W ) At t W Pseudo-range error vector from time node W to each satellite.
As described above, for the terminal node N, t can be obtained N The observed position (coordinate) error at the time in the ECEF coordinate system is represented by the formula (2):
P eN (t N )＝G N (E N ΔS N (t N )-Δρ N (t N )) (2)
observed relative position between onshore gateway node W and terminal node NIs represented by formula (3):
order theWherein D is WN ＝P tW (t W )-P tN (t N ) ΔD is the true relative position between W and N WN The relative positional error is obtained by combining the formulas (1) to (3), and the relative distance error between W, N is represented by formula (4):
after time synchronization, the gateway node W and the terminal node N acquire GPS position information according to the agreed same moment, namely: t is t W ＝t N In the same area, the same satellite combination can be observed by the onshore gateway node W and the terminal node N in the monitored water, namely: s is S W ＝S N =s. When positioning calculation is performed using almost the same satellite combination at the same time, satellite position deviation due to satellite clock error, atmospheric layer delay, and the like is almost the same, that is: ΔS W (t)＝ΔS N (t). Because the on-shore gateway node W is fixed, the node N is in the aquaculture water domain, and the position difference between the gateway node W and the node N is relative to the node-to-sanitationThe distance of the satellite is negligible, and the difference between the direction vectors of the two points and the satellite is small, namely G W E W ≈G N E N . Then substituting formulas (2) and (3) into formula (4) can result in formula (5):
ΔD WN ＝G W Δρ W (t)-G N Δρ N (t) (5)
the pseudo-range error is expressed as: Δρ Wi ＝B Wi +V Wi (i=1, 2, …, 4), wherein B Wi Is a systematic random error and is mainly caused by atmospheric delay, troposphere, ionosphere effect and the like, V Wi Is a random error, mainly caused by multipath bias and receiver hardware. Then for W, N node there is: Δρ W ＝B W +V W ，Δρ N ＝B N +V N Substituting equation (5) indicates a position error of W, N node, and the equation (6) shows:
ΔD WN ＝G W B W -G N B N +G W V W -G N V N (6)
random error V in W 、V N Independent of each other, and E { V W }＝E{V N }＝0，
Let Δn=n N -N W ，ΔG＝G N -G W The mathematical expectation that the position error of W, N node can be obtained by substituting the difference between the W, N node systematic error and the azimuth matrix into the equations (5) and (6) and neglecting the third order small amount is shown by the equation (7):
as can be seen from equation (7), the relative position error between the gateway node and the terminal node is mainly related to the second order small amount of the difference between the system error and the azimuth matrix, whereas the distance error caused by the random error of the hardware is usually small relative to the system error, so that most of the system error can be eliminated by adopting the relative positioning, thereby reducing the relative positioning error between the nodes.
In some practical cases, the terminal node is far from the gateway node 100m, the maximum relative positioning error is 2m, the minimum relative positioning error is 1.1m, the average positioning error is 1.5m, the positioning error level is far lower than that of GPS single-point positioning, and the positioning error is almost 1 time smaller than that of single-point positioning.
As shown in fig. 1,2 and 3, in the present embodiment, the terminal node does not have each period T P Are involved in the relative positioning. The next period T is also included in the command packet B P+1 Packet number of terminal node participating in positioning and appointed satellite sampling time t SN . In the next period T P+1 In only the previous period T P The terminal node corresponding to the packet number included in the command packet B participates in the relative positioning.
Terminal data uploading period T D The number of time slots may be smaller than the number of end nodes, in which case the command packet B issued by the gateway node includes, except for the next period T P+1 The packet numbers of the terminal nodes participating in the positioning also need to be assigned with corresponding time slot numbers so that the corresponding terminal nodes upload data in the assigned time slots. In the embodiment of the invention, the process of transmitting data from the terminal node to the gateway node adopts a Time Division Multiple Access (TDMA) technology, different time slots are allocated for different terminal nodes, the channel collision probability can be reduced, the data delivery rate is improved, and the capacity of the network is improved.
In some implementations, the end node and the gateway node each include a microcontroller therein. The gateway node and the terminal node perform time synchronization through the second pulse of the GPS positioning module.
Specifically, in the terminal node and the gateway node, the serial port of the GPS positioning module is connected with the serial port of the microcontroller; the microcontroller is connected with a pulse-per-second signal pin of the GPS positioning module, and when the GPS positioning module sends pulse-per-second, the microcontroller responds to the interrupt signal and enters a pulse-per-second interrupt response program.
When the second pulse interrupt response program is started for the first time, the microcontroller calculates a time message obtained by the GPS positioning module, the message is sent through a serial port, a time value is contained in the message, and the time value is stored. The process of resolving the message transmitted through the serial port and containing the time value requires time, and the length of the resolving process time is uncertain, so that the time value is difficult to directly use for time synchronization, and is usually only used for initialization.
After the interrupt signal is responded for the first time, each time the second pulse interrupt response program is entered, the microcontroller adds the number of interval seconds between the last second pulse interrupt and the current second pulse interrupt to the stored time value, and the current time value is obtained. The accuracy of the Pulse Per Second (PPS) output by the GPS positioning module is 1 μs, and the GPS positioning module can be used for high-accuracy time synchronization.
In addition, in each cycle, the command packet B issued by the gateway node also includes a command type. Each terminal node performs the above method when the command type is positioning.
The above embodiments of the present invention do not limit the scope of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (3)
1. The relative positioning method based on the Lora network is applied to the Lora network, and the Lora network comprises gateway nodes and a plurality of terminal nodes which are in communication connection with the gateway nodes through a Lora protocol; the gateway node and the terminal node both comprise GPS positioning modules, and the relative positioning method is characterized by comprising the following steps:
(S1) the gateway node and the terminal node are at the agreed satellite sampling time t SN Meanwhile, satellite information is acquired through a GPS positioning module, and positioning coordinates of the satellite information are acquired;
(S2) for a terminal node, if the number of repeated satellites of a satellite sequence set S' in the acquired satellite information and the satellite sequence set S of the gateway node is greater than a preset threshold, uploading the positioning coordinates and the number of the repeated satellites to the gateway node;
(S3) the gateway node calculates the relative coordinates between itself and the corresponding terminal node according to its own positioning coordinates, the positioning coordinates uploaded by the terminal node, and the number of repeated satellites;
the relative positioning method adopts T P For periodic operation, each period T P Time-sequentially divided into sampling periods T S Command broadcasting period T B Terminal data upload period T D ；
The terminal data uploading period T D Dividing the terminal node into a plurality of time slots, wherein the terminal node is provided with a group number, and the time slots correspond to the group number; the terminal node uploads the acquired satellite sequence set S' and the positioning coordinates to the gateway node in the time slot allocated to the terminal node;
the gateway node and the terminal node are in a sampling period T S Acquiring satellite information and positioning coordinates of the satellite information;
the gateway node is in command broadcasting period T B Transmitting a command packet B to each terminal node, wherein the command packet B comprises a satellite sequence set S acquired by the gateway node;
the command packet B also includes the next period T P+1 Packet number of terminal node participating in positioning and appointed satellite sampling time t SN ；
The terminal data uploading period T D When the number of time slots is smaller than the number of terminal nodes, the command packet B sent by the gateway node comprises the next period T P+1 The grouping number of the terminal node participating in the positioning and the corresponding time slot number are designated;
in the next period T P+1 In only the previous period T P The terminal node corresponding to the packet number included in the command packet B participates in the relative positioning.
2. The relative positioning method based on the Lora network according to claim 1, wherein the terminal node and the gateway node comprise microcontrollers; and the gateway node and the terminal node perform time synchronization through the second pulse of the GPS positioning module.
3. The relative positioning method based on the Lora network according to claim 2, characterized in that in the terminal node and the gateway node, the serial port of the GPS positioning module is connected with the serial port of the microcontroller; the microcontroller is connected with a pulse-per-second signal pin of the GPS positioning module, and responds to an interrupt signal and enters a pulse-per-second interrupt response program when the GPS positioning module sends pulse-per-second;
when the second pulse interrupt response program is started for the first time, the microcontroller calculates a time message obtained by the GPS positioning module, obtains a time value from the time message, and stores the time value;
and then, when the second pulse interrupt response program is started each time, the microcontroller adds the number of seconds of the interval between the last second pulse interrupt and the current second pulse interrupt with the stored time value to obtain the current time value.
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