CN111538060B - A relative positioning method based on Lora network - Google Patents
A relative positioning method based on Lora network Download PDFInfo
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- G—PHYSICS
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- 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
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- 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
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- 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
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- 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
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Abstract
本发明公开了一种基于Lora网络的相对定位方法,其包括:网关节点以及终端节点在约定的时刻同时通过其GPS定位模块获取卫星信息,并获取其自身的定位坐标;对于终端节点,若其获取的卫星信息中的卫星序列集S′与所述网关节点的卫星序列集S的重复卫星数大于预设的阈值,则终端节点将其定位坐标以及重复卫星数上传至所述网关节点;所述网关节点根据其自身的定位坐标、所述终端节点上传的定位坐标以及重复卫星数计算其与相应终端节点之间的相对坐标。采用相对定位可以将大多数系统误差消除,从而降低节点之间的相对定位误差;在保证定位精度的同时不会提高硬件的成本,适宜于精细农业、水产养殖、畜牧跟踪等领域,具有良好的经济效益和社会价值。
The invention discloses a relative positioning method based on the Lora network, which includes: gateway nodes and terminal nodes obtain satellite information through their GPS positioning modules at the agreed time at the same time, and obtain their own positioning coordinates; for the terminal node, if it If the number of duplicate satellites between the satellite sequence set S' in the acquired satellite information and the satellite sequence set S of the gateway node is greater than the preset threshold, then the terminal node uploads its positioning coordinates and the number of duplicate satellites to the gateway node; so The gateway node calculates the relative coordinates between itself and the corresponding terminal node based on its own positioning coordinates, the positioning coordinates uploaded by the terminal node, and the number of repeated satellites. The use of relative positioning can eliminate most system errors, thereby reducing the relative positioning error between nodes; while ensuring positioning accuracy without increasing the cost of hardware, it is suitable for precision agriculture, aquaculture, livestock tracking and other fields, and has good performance economic benefits and social value.
Description
技术领域Technical field
本发明涉及通信技术领域,具体涉及一种基于Lora网络的相对定位方法。The invention relates to the field of communication technology, and in particular to a relative positioning method based on Lora network.
背景技术Background technique
现代水产养殖规模化、精细化成为趋势,低成本、高品质成为需求。渔业物联网(internet of things,IOT)技术的研究与应用越来越广泛。渔业物联网的终端节点除了静态监测点以外,还有大量以浮标、鱼排、网箱等为载体的处于浮动状态的节点;因此如何获取高精度的位置信息已成为目前渔业物联网研究的热点之一。Large-scale and refined modern aquaculture has become a trend, and low cost and high quality have become demands. The research and application of fishery Internet of things (IOT) technology are becoming more and more extensive. In addition to static monitoring points, the terminal nodes of the Fishery Internet of Things also have a large number of floating nodes using buoys, fish rafts, cages, etc. as carriers; therefore, how to obtain high-precision location information has become a hot topic in the current Fisheries Internet of Things research. one.
对于长距离的物联网应用,通常采用LoRa协议进行通信。LoRa(long range)是一种低功耗长距离无线通信技术,目前其产业链已经非常成熟和完善。LoRa无线通信技术经过Semtech,美国思科,IBM等组成的LoRa联盟全球推广后,已成为物联网应用的重要基础技术。不同于传统的无线系统为了实现低功耗基于频移键控调制当作物理层,LoRa是利用线性调频扩频调制,拥有和频移键控调制技术一样的低功耗特点,而且传输距离也显著得到了提高。LoRa的工作频率是在1GHz以下,包含109MHz、433MHz、866MHz等频率。得益于LoRa使用新型扩频调制技术,用户可以自定义不同的扩频因子和带宽来满足不同的距离和需求。此外,LoRa通信时的穿透能力因为使用的扩频技术而得以增强,所以能够在相对复杂的环境中使用。所以LoRa技术在低功耗,无线传输距离,穿透能力,组网等方面有明显的优势。因此,本研究采用低功耗长距离的LoRa无线通信技术作为相对定位系统中数据通信链路。For long-distance IoT applications, the LoRa protocol is usually used for communication. LoRa (long range) is a low-power long-distance wireless communication technology, and its industry chain is currently very mature and complete. LoRa wireless communication technology has become an important basic technology for Internet of Things applications after being promoted globally by the LoRa Alliance composed of Semtech, Cisco, and IBM. Different from traditional wireless systems that use frequency shift keying modulation as the physical layer to achieve low power consumption, LoRa uses linear frequency modulation spread spectrum modulation, which has the same low power consumption characteristics as frequency shift keying modulation technology, and the transmission distance is also Significantly improved. The working frequency of LoRa is below 1GHz, including 109MHz, 433MHz, 866MHz and other frequencies. Thanks to LoRa's use of new spread spectrum modulation technology, users can customize different spreading factors and bandwidths to meet different distances and needs. In addition, the penetration capability of LoRa communication is enhanced due to the spread spectrum technology used, so it can be used in relatively complex environments. Therefore, LoRa technology has obvious advantages in low power consumption, wireless transmission distance, penetration capability, networking, etc. Therefore, this study uses low-power long-distance LoRa wireless communication technology as the data communication link in the relative positioning system.
定位是物联网应用的一项基本需求。常用的定位方法主要分为以下3种:Positioning is a basic requirement for IoT applications. Commonly used positioning methods are mainly divided into the following three types:
(1)基于接收信号的强度指示(received signal strength indicator,RSSI)测量和路径损耗模型的定位。此方法要求预先知道网关的位置,然后可以粗略计算区域内的终端设备的位置。该方法受环境和障碍物影响大,定位误差高达几百米。(1) Based on the received signal strength indicator (RSSI) measurement and positioning of the path loss model. This method requires the location of the gateway to be known in advance, and then the location of the end devices within the area can be roughly calculated. This method is greatly affected by the environment and obstacles, and the positioning error is as high as several hundred meters.
(2)基于到达时间差(time difference of arrival,TDOA)的定位。基于TDOA的定位方法需要节点之间的时间同步。LoRa终端设备向LoRa网关发送上行分组。每个网关分别记录分组到达时间。网络中的定位服务器计算到达时间差,然后确定终端设备的位置。该方法要求多网关部署,且网关之间必须时间同步,该方法需要专用硬件和软件捕获高精度到达时间,对设备成本要求高。(2) Positioning based on time difference of arrival (TDOA). Positioning methods based on TDOA require time synchronization between nodes. The LoRa terminal device sends uplink packets to the LoRa gateway. Each gateway records the packet arrival time separately. A positioning server in the network calculates the time difference of arrival and then determines the location of the end device. This method requires multiple gateways to be deployed, and time synchronization between gateways is required. This method requires dedicated hardware and software to capture high-precision arrival times, and requires high equipment costs.
(3)通过GPS定位,是目前应用最广的定位方案,GPS单点定位的误差在10米左右,采用差分技术可有效提高定位精度,但需要地面基站支持,且差分设备价格不菲,因此无法广泛应用,如精细农业、水产养殖等应用。(3) GPS positioning is currently the most widely used positioning solution. The error of GPS single-point positioning is about 10 meters. Using differential technology can effectively improve positioning accuracy, but it requires support from ground base stations, and differential equipment is expensive. Therefore, It cannot be widely used in applications such as precision agriculture and aquaculture.
发明内容Contents of the invention
本发明的目的是根据上述现有技术的不足之处,提供一种基于Lora网络的相对定位方法,该方法将Lora网络与GPS定位相结合,解决了现有技术中物联网定位方案成本和定位精度难以兼顾的问题。The purpose of the present invention is to provide a relative positioning method based on the LoRa network based on the above-mentioned shortcomings of the prior art. This method combines the LoRa network with GPS positioning to solve the cost and positioning problems of the Internet of Things positioning solution in the prior art. It is difficult to balance accuracy.
本发明目的实现由以下技术方案完成:The purpose of the present invention is achieved by the following technical solutions:
一种基于Lora网络的相对定位方法,应用于Lora网络,所述Lora网络包括网关节点以及多数量的与所述网关节点通过Lora协议通信连接的终端节点;所述网关节点以及所述终端节点均包括GPS定位模块,所述相对定位方法包括以下步骤:A relative positioning method based on the Lora network, applied to the Lora network. The Lora network includes a gateway node and a large number of terminal nodes that are communicated with the gateway node through the Lora protocol; the gateway node and the terminal node both Including a GPS positioning module, the relative positioning method includes the following steps:
(S1)所述网关节点以及所述终端节点在约定的卫星采样时刻tSN同时通过其GPS定位模块获取卫星信息,并获取其自身的定位坐标;(S1) The gateway node and the terminal node simultaneously obtain satellite information through their GPS positioning modules at the agreed satellite sampling time t SN , and obtain their own positioning coordinates;
(S2)对于终端节点,若其获取的卫星信息中的卫星序列集S′与所述网关节点的卫星序列集S的重复卫星数大于预设的阈值,则终端节点将其定位坐标以及重复卫星数上传至所述网关节点;(S2) For the terminal node, if the number of duplicate satellites between the satellite sequence set S′ in the satellite information it obtains and the satellite sequence set S of the gateway node is greater than the preset threshold, the terminal node will determine its positioning coordinates and the duplicate satellites. Upload the data to the gateway node;
(S3)所述网关节点根据其自身的定位坐标、所述终端节点上传的定位坐标以及重复卫星数计算其与相应终端节点之间的相对坐标。(S3) The gateway node calculates the relative coordinates between itself and the corresponding terminal node based on its own positioning coordinates, the positioning coordinates uploaded by the terminal node, and the number of repeated satellites.
本发明的进一步改进在于,所述相对定位方法以TP为周期运行,每个周期TP按时间先后分为采样时段TS、命令广播时段TB、终端数据上传时段TD;A further improvement of the present invention is that the relative positioning method operates with TP as a period, and each period TP is divided into a sampling period TS , a command broadcast period TB , and a terminal data upload period TD according to time;
所述网关节点以及所述终端节点在采样时段TS获取卫星信息,并获取其自身的定位坐标;The gateway node and the terminal node obtain satellite information during the sampling period T S and obtain their own positioning coordinates;
所述网关节点在命令广播时段TB向各所述终端节点发送命令包B,所述命令包B中包括所述网关节点获取的卫星序列集S;The gateway node sends a command packet B to each of the terminal nodes during the command broadcast period T B. The command packet B includes the satellite sequence set S obtained by the gateway node;
所述终端数据上传时段TD分为多数量的时隙,所述终端节点具有一个分组号,所述时隙与所述分组号相对应;述终端节点在其分配到的时隙向所述网关节点上传其获取的卫星序列集S′以及定位坐标。The terminal data upload period TD is divided into a plurality of time slots, the terminal node has a group number, and the time slot corresponds to the group number; the terminal node transmits data to the terminal node in its assigned time slot. The gateway node uploads the satellite sequence set S′ and positioning coordinates it has obtained.
本发明的进一步改进在于,A further improvement of the present invention is that,
所述命令包B中还包括下一周期TP+1参与定位的终端节点的分组号、约定卫星采样时刻tSN;The command package B also includes the group number of the terminal node participating in positioning in the next period TP +1 and the agreed satellite sampling time t SN ;
在下一个周期TP+1中,仅有在前一周期TP的命令包B中包括的分组号对应的终端节点参与相对定位。In the next period T P+1 , only the terminal node corresponding to the group number included in the command packet B of the previous period T P participates in relative positioning.
本发明的进一步改进在于,所述终端节点以及所述网关节点中均包括微控制器;所述网关节点以及所述终端节点通过GPS定位模块的秒脉冲进行时间同步。A further improvement of the present invention is that the terminal node and the gateway node each include a microcontroller; the gateway node and the terminal node perform time synchronization through the second pulse of the GPS positioning module.
本发明的进一步改进在于,在所述终端节点以及所述网关节点中,所述GPS定位模块的串口与所述微控制器的串口连接;所述微控制器与所述GPS定位模块的秒脉冲信号引脚连接,当GPS定位模块发出秒脉冲时,所述微控制器响应中断信号,进入秒脉冲中断响应程序;A further improvement of the present invention is that in the terminal node and the gateway node, the serial port of the GPS positioning module is connected to the serial port of the microcontroller; the second pulse of the microcontroller and the GPS positioning module The signal pin is connected. When the GPS positioning module sends out a second pulse, the microcontroller responds to the interrupt signal and enters the second pulse interrupt response program;
初次进入秒脉冲中断响应程序时,所述微控制器解算所述GPS定位模块得到的时间电文,从中获取时间值,并保存该时间值;When entering the second pulse interrupt response program for the first time, the microcontroller resolves the time message obtained by the GPS positioning module, obtains the time value therefrom, and saves the time value;
之后每次进入秒脉冲中断响应程序时,所述微控制器将上次秒脉冲中断与本次秒脉冲中断之间的间隔秒数与其保存的时间值相加,得到当前的时间值。Each time the second pulse interrupt response program is entered thereafter, the microcontroller adds the number of seconds between the last second pulse interrupt and the current second pulse interrupt and its saved time value to obtain the current time value.
本发明的优点是:The advantages of the present invention are:
(1)将Lora网络与GPS定位相结合,采用相对定位可以将大多数系统误差消除,从而降低节点之间的相对定位误差;在保证定位精度的同时不会提高硬件的成本,适宜于精细农业、水产养殖、畜牧跟踪等领域,具有良好的经济效益和社会价值;(1) Combining the Lora network with GPS positioning, using relative positioning can eliminate most system errors, thereby reducing the relative positioning error between nodes; it ensures positioning accuracy without increasing the cost of hardware, and is suitable for precision agriculture. , aquaculture, livestock tracking and other fields, with good economic benefits and social value;
(2)终端节点向网关节点传输数据的过程采用时分多址(TDMA)技术,为不同的终端节点分配不同的时隙,可以降低信道碰撞概率同时提高数据投递率,提高了网络的容量。(2) The process of transmitting data from the terminal node to the gateway node uses time division multiple access (TDMA) technology, which allocates different time slots to different terminal nodes, which can reduce the probability of channel collision while increasing the data delivery rate and increasing the capacity of the network.
附图说明Description of the drawings
图1是网关节点的运行方式流程图;Figure 1 is a flow chart of the operation mode of the gateway node;
图2是终端节点的运行方式流程图;Figure 2 is a flow chart of the operation mode of the terminal node;
图3是相对定位方法中每个周期TP中数据收发方式的示意图;Figure 3 is a schematic diagram of the data sending and receiving method in each cycle TP in the relative positioning method;
图4是命令包B的数据帧示意图;Figure 4 is a schematic diagram of the data frame of command packet B;
图5是终端节点向网关节点发送的数据帧的示意图。Figure 5 is a schematic diagram of a data frame sent by a terminal node to a gateway node.
具体实施方式Detailed ways
如图1至5所示,本发明的实施例包括一种基于Lora网络的相对定位方法,该方法应用于Lora网络。Lora网络包括网关节点以及多数量的与网关节点通过Lora协议通信连接的终端节点。网关节点以及终端节点均包括GPS定位模块。As shown in Figures 1 to 5, embodiments of the present invention include a relative positioning method based on the Lora network, which method is applied to the Lora network. The Lora network includes gateway nodes and a large number of terminal nodes that communicate with the gateway nodes through the Lora protocol. Both the gateway node and the terminal node include GPS positioning modules.
如图1至3所示,上述的Lora网络以TP为周期运行,每个周期TP按时间先后分为采样时段TS、命令广播时段TB、终端数据上传时段TD。在每个周期中,相对定位方法包括以下步骤:As shown in Figures 1 to 3, the above-mentioned Lora network operates with T P as a cycle. Each cycle T P is divided into a sampling period T S , a command broadcast period T B , and a terminal data upload period T D in time order. In each cycle, the relative positioning method includes the following steps:
(1)在采样时段TS中,网关节点以及各终端节点在约定的卫星采样时刻tSN(图3中的ts时刻)通过其GPS定位模块获取卫星信息,并获取其自身的定位坐标。此处的定位坐标包括经度纬度,其误差等级与普通的GPS单点定位的误差等级相同。卫星信息中包括GPS定位模块接收到的卫星序列集。(1) During the sampling period TS , the gateway node and each terminal node obtain satellite information through its GPS positioning module at the agreed satellite sampling time t SN (time t s in Figure 3), and obtain its own positioning coordinates. The positioning coordinates here include longitude and latitude, and the error level is the same as that of ordinary GPS single-point positioning. The satellite information includes the satellite sequence set received by the GPS positioning module.
(2)在命令广播时段TB中,网关节点通过Lora协议向各个终端节点发送命令包B。命令包B的帧格式如图4所示,命令包B中包括所述网关节点获取的卫星序列集S。(2) In the command broadcast period T B , the gateway node sends command packet B to each terminal node through the Lora protocol. The frame format of the command packet B is shown in Figure 4. The command packet B includes the satellite sequence set S obtained by the gateway node.
(3)在终端数据上传时段TD中,若某个终端节点获取的卫星信息中的卫星序列集S′与网关节点的卫星序列集S的重复卫星数大于预设的阈值,则该终端节点将其定位坐标以及重复卫星数上传至网关节点,上传的数据帧的格式如图5所示。(3) During the terminal data upload period T D , if the number of duplicate satellites between the satellite sequence set S′ in the satellite information obtained by a terminal node and the satellite sequence set S of the gateway node is greater than the preset threshold, then the terminal node Upload its positioning coordinates and the number of repeated satellites to the gateway node. The format of the uploaded data frame is shown in Figure 5.
如图3所示,终端数据上传时段TD分为多数量的时隙θ,终端节点具有一个分组号,时隙与所述分组号相对应;述终端节点在其分配到的时隙θi向网关节点上传其获取的卫星序列集S′以及定位坐标。As shown in Figure 3, the terminal data upload period TD is divided into a plurality of time slots θ, the terminal node has a group number, and the time slot corresponds to the group number; the terminal node in its assigned time slot θ i The gateway node uploads the satellite sequence set S′ and positioning coordinates it has obtained.
(4)网关节点根据其自身的定位坐标、终端节点上传的定位坐标以及重复卫星数计算其与相应终端节点之间的相对坐标。(4) The gateway node calculates the relative coordinates between it and the corresponding terminal node based on its own positioning coordinates, the positioning coordinates uploaded by the terminal node, and the number of repeated satellites.
本实施例中,只有在重复卫星数大于预设的阈值时才计算相对坐标,其原因在于:计算相对坐标的目的是消除大多数系统误差消除,从而降低节点之间的相对定位误差。只有在终端节点以及网关节点借助相同的卫星进行定位,二者的定位坐标才会包含相似的系统误差,二者重复卫星数越多,计算出的相对坐标的精度越高。In this embodiment, relative coordinates are calculated only when the number of repeated satellites is greater than a preset threshold. The reason is that the purpose of calculating relative coordinates is to eliminate most system errors, thereby reducing relative positioning errors between nodes. Only when the terminal node and gateway node use the same satellite for positioning, will the positioning coordinates of the two contain similar systematic errors. The more repeated satellites there are, the higher the accuracy of the calculated relative coordinates.
计算相对坐标以降低相对定位误差的原理为:GPS定位过程中,定位精度通常会受三部分误差的影响,第一部分是对每一个用户接收机所公有的,如卫星钟误差、星历误差等;第二部分为不能由用户测量或校正模型来计算的传播延迟误差,如电离层折射和对流层延迟等;第三部分为各用户接收机所固有的误差,如内部噪声、通道延迟、多径效应等。The principle of calculating relative coordinates to reduce relative positioning errors is: During the GPS positioning process, positioning accuracy is usually affected by three parts of errors. The first part is common to every user receiver, such as satellite clock error, ephemeris error, etc. ; The second part is the propagation delay error that cannot be calculated by user measurement or correction model, such as ionospheric refraction and tropospheric delay; the third part is the error inherent in each user's receiver, such as internal noise, channel delay, multipath Effect etc.
假设网关节点的观测位置为PW=PtW+PeW,PtW为网关节点的真实位置,PeW为网关节点位置测量误差引起的位置误差。终端节点的位置为PN=PtN+PeN,PtN为网关节点的真实位置,PeN为网关位置测量误差引起的位置误差。可得相对位置为 Assume that the observed position of the gateway node is P W =P tW +P eW , P tW is the real position of the gateway node, and P eW is the position error caused by the measurement error of the gateway node position. The position of the terminal node is P N =P tN +P eN , P tN is the real position of the gateway node, and P eN is the position error caused by the gateway position measurement error. The relative position available is
网关节点W在在tW时刻得到其在地心坐标系(earth-centered,earth-fixed,ECEF)下的观测位置(坐标)误差,可以表示为式(1)所示:The gateway node W obtains its observation position (coordinate) error in the earth-centered coordinate system (earth-centered, earth-fixed, ECEF) at time t W , which can be expressed as Equation (1):
PeW(tW)=GW(EWΔSW(tW)-ΔρW(tW)) (1)P eW (t W )=G W (E W ΔS W (t W )-Δρ W (t W )) (1)
式中GW、EW为节点W与各卫星的方位特征矩阵;PeW(tW)为tW时刻由于卫星时钟差、大气层延迟、多径偏差和接收机硬件偏差等引起的卫星位置偏差;ΔρW(tW)为tW时刻节点W到各卫星的伪距误差向量。In the formula, G W and E W are the azimuth characteristic matrices of node W and each satellite; P eW (t W ) is the satellite position deviation at time t W caused by satellite clock difference, atmospheric delay, multipath deviation and receiver hardware deviation. ; Δρ W (t W ) is the pseudo-range error vector from node W to each satellite at time t W .
同上所述,对于终端节点N,可以得到tN时刻在ECEF坐标系下的观测位置(坐标)误差为式(2)所示:As mentioned above, for the terminal node N, the observation position (coordinate) error in the ECEF coordinate system at time t N can be obtained as shown in Equation (2):
PeN(tN)=GN(ENΔSN(tN)-ΔρN(tN)) (2)P eN (t N )=G N (E N ΔS N (t N )-Δρ N (t N )) (2)
岸上网关节点W和终端节点N之间的观测相对位置为式(3)所示:Observed relative position between onshore gateway node W and terminal node N As shown in formula (3):
令其中DWN=PtW(tW)-PtN(tN)为W和N之间的真实相对位置,ΔDWN为其相对位置误差,并结合式(1)~(3),得到W、N之间的相对距离误差为式(4)所示:make Where D WN =P tW (t W )-P tN (t N ) is the true relative position between W and N, ΔD WN is its relative position error, and combined with equations (1) to (3), we get W, The relative distance error between N is shown in equation (4):
网关节点W和终端节点N在时间同步后,按约定的同一时刻获取GPS位置信息,即:tW=tN=t,在同一区域范围内,岸上网关节点W和监测水域中终端节点N几乎可以观测到一样的卫星组合,即:SW=SN=S。这样在相同的时刻采用几乎相同的卫星组合进行定位计算时,由卫星时钟差、大气层延迟等引起的卫星位置偏差几乎相同,即:ΔSW(t)=ΔSN(t)。由于岸上网关节点W固定,节点N在养殖水域中,网关节点W和节点N间的位置差异相对于节点到卫星的距离来讲可以忽略,两点与卫星之间的方向角相差很小,因此其方向矢量之间的差异可以忽略不计,即GWEW≈GNEN。则将式(2)和(3)代入式(4)可以得到式(5):After time synchronization, the gateway node W and the terminal node N obtain the GPS location information at the same time as agreed, that is: t W =t N =t. Within the same area, the gateway node W on the shore and the terminal node N in the monitoring waters are almost The same satellite combination can be observed, namely: S W =S N =S. In this way, when almost the same satellite combination is used for positioning calculations at the same time, the satellite position deviations caused by satellite clock differences, atmospheric delays, etc. are almost the same, that is: ΔS W (t) = ΔS N (t). Since the gateway node W on the shore is fixed and the node N is in the breeding waters, the position difference between the gateway node W and the node N can be ignored relative to the distance from the node to the satellite. The difference in direction angle between the two points and the satellite is very small. Therefore, The difference between their direction vectors is negligible, that is, G W E W ≈ G N E N . Then substitute equations (2) and (3) into equation (4) to get equation (5):
ΔDWN=GWΔρW(t)-GNΔρN(t) (5)ΔD WN =G W Δρ W (t)-G N Δρ N (t) (5)
将伪距误差表示为:ΔρWi=BWi+VWi(i=1,2,…,4),其中BWi为系统随机误差,主要由大气层延迟、对流层和电离层效应等引起,VWi为随机误差,主要由多径偏差和接收机硬件引起。则对于W、N节点有:ΔρW=BW+VW,ΔρN=BN+VN,代入式(5),表示W、N节点的位置误差,则由式(6)所示:Express the pseudorange error as: Δρ Wi = B Wi + V Wi (i = 1, 2,..., 4), where B Wi is the systematic random error, mainly caused by atmospheric delay, tropospheric and ionospheric effects, etc., V Wi It is a random error, mainly caused by multipath deviation and receiver hardware. Then for the W and N nodes: Δρ W =B W +V W , Δρ N =B N +V N , substituted into equation (5) to represent the position error of the W and N nodes, as shown in equation (6):
ΔDWN=GWBW-GNBN+GWVW-GNVN (6)ΔD WN =G W B W -G N B N +G W V W -G N V N (6)
式中随机误差VW、VN相互独立,且E{VW}=E{VN}=0, In the formula, the random errors V W and V N are independent of each other, and E{V W }=E{V N }=0,
令ΔN=NN-NW,ΔG=GN-GW分别表示W、N节点系统误差和方位矩阵的差分,代入式(5)和式(6),并忽略三阶小量,可以得到W、N节点的位置误差的数学期望由式(7)所示:Let ΔN=N N -N W and ΔG=G N -G W represent the difference of W and N node system errors and orientation matrices respectively. Substituting into equations (5) and (6), and ignoring the third-order small quantities, we can get The mathematical expectation of the position error of nodes W and N is shown in formula (7):
由式(7)可以看出,网关节点以及终端节点之间的相对位置误差主要与系统误差和方位矩阵差分的二阶小量有关系,而通常硬件随机误差引起的距离误差相对于系统误差是很小的,因此采用相对定位可以将大多数系统误差消除,从而降低节点之间的相对定位误差。It can be seen from equation (7) that the relative position error between the gateway node and the terminal node is mainly related to the system error and the second-order small quantity of the orientation matrix difference, and the distance error caused by the hardware random error is usually related to the system error. Very small, so using relative positioning can eliminate most systematic errors, thereby reducing the relative positioning error between nodes.
在一些实际案例中,终端节点距离网关节点100m,最大相对定位误差为2m,最小相对定位误差为1.1m,平均定位误差为1.5m,其定位误差水平远远低于GPS单点定位的误差,定位误差几乎比单点定位小1倍。In some actual cases, the terminal node is 100m away from the gateway node, the maximum relative positioning error is 2m, the minimum relative positioning error is 1.1m, and the average positioning error is 1.5m. Its positioning error level is far lower than the error of GPS single-point positioning. The positioning error is almost 1 times smaller than single-point positioning.
如图1、2、3所示,本实施例中,终端节点并不是每个周期TP都参与相对定位。命令包B中还包括下一周期TP+1参与定位的终端节点的分组号、约定卫星采样时刻tSN。在下一个周期TP+1中,仅有在前一周期TP的命令包B中包括的分组号对应的终端节点参与相对定位。As shown in Figures 1, 2, and 3, in this embodiment, the terminal node does not participate in relative positioning every cycle TP . The command package B also includes the group number of the terminal node participating in positioning in the next period T P+1 and the agreed satellite sampling time t SN . In the next period T P+1 , only the terminal node corresponding to the group number included in the command packet B of the previous period T P participates in relative positioning.
终端数据上传时段TD中,时隙的数目可小于终端节点的数目,在此情况下,网关节点发出的命令包B中除了包括下一周期TP+1参与定位的终端节点的分组号还需要指定相应的时隙编号,以便相应的终端节点在指定的时隙上传数据。本发明的实施例中,终端节点向网关节点传输数据的过程采用时分多址(TDMA)技术,为不同的终端节点分配不同的时隙,可以降低信道碰撞概率同时提高数据投递率,提高了网络的容量。In the terminal data upload period T D , the number of time slots can be smaller than the number of terminal nodes. In this case, the command packet B sent by the gateway node includes in addition to the group number of the terminal node participating in positioning in the next period T P+1. The corresponding time slot number needs to be specified so that the corresponding terminal node uploads data in the specified time slot. In the embodiment of the present invention, the process of transmitting data from the terminal node to the gateway node uses time division multiple access (TDMA) technology to allocate different time slots to different terminal nodes, which can reduce the probability of channel collision while increasing the data delivery rate and improving the network efficiency. capacity.
在一些实施的过程中,终端节点以及网关节点中均包括微控制器。网关节点以及所述终端节点通过GPS定位模块的秒脉冲进行时间同步。In some implementations, microcontrollers are included in both the end node and the gateway node. The gateway node and the terminal node perform time synchronization through the second pulse of the GPS positioning module.
具体的,在终端节点以及网关节点中,GPS定位模块的串口与微控制器的串口连接;所述微控制器与GPS定位模块的秒脉冲信号引脚连接,当GPS定位模块发出秒脉冲时,微控制器响应中断信号,进入秒脉冲中断响应程序。Specifically, in the terminal node and the gateway node, the serial port of the GPS positioning module is connected to the serial port of the microcontroller; the microcontroller is connected to the second pulse signal pin of the GPS positioning module. When the GPS positioning module sends out the second pulse, The microcontroller responds to the interrupt signal and enters the second pulse interrupt response program.
初次进入秒脉冲中断响应程序时,微控制器解算所述GPS定位模块得到的时间电文,该电文通过串口发送,内部包含时间值,并保存该时间值。通过串口传输的包含时间值的电文的解算过程需要时间,并且解算的过程时间长度不确定,因此该时间值难以直接用于时间同步,通常只用于初始化。When entering the second pulse interrupt response program for the first time, the microcontroller interprets the time message obtained by the GPS positioning module. The message is sent through the serial port, contains the time value internally, and saves the time value. The resolution process of the message containing the time value transmitted through the serial port takes time, and the length of the resolution process is uncertain. Therefore, the time value is difficult to be directly used for time synchronization and is usually only used for initialization.
在初次响应中断信号之后,每次进入秒脉冲中断响应程序时,微控制器将上次秒脉冲中断与本次秒脉冲中断之间的间隔秒数与其保存的时间值相加,得到当前的时间值。GPS定位模块输出的秒脉冲(PPS)的精度为为1μs,可用于进行高精度的时间同步。After the initial response to the interrupt signal, each time the second pulse interrupt response program is entered, the microcontroller adds the number of seconds between the last second pulse interrupt and the current second pulse interrupt and its saved time value to obtain the current time. value. The accuracy of the pulse per second (PPS) output by the GPS positioning module is 1μs, which can be used for high-precision time synchronization.
此外,每个周期中,网关节点发出的命令包B还包括命令类型。在命令类型为定位时,各终端节点才会执行上述的方法。In addition, in each cycle, the command package B sent by the gateway node also includes the command type. Each terminal node will execute the above method only when the command type is positioning.
以上的本发明实施方式,不构成对本发明保护范围的限定。任何在本发明的精神和原则之内所作的修改、同替换和改进等,均应包含在本发明的保护范围内。The above embodiments of the present invention do not limit the scope of protection of the present invention. Any modifications, substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.
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