CN112333628A - Lora and NB-IoT based positioning tracking system and method - Google Patents

Lora and NB-IoT based positioning tracking system and method Download PDF

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CN112333628A
CN112333628A CN202011137907.4A CN202011137907A CN112333628A CN 112333628 A CN112333628 A CN 112333628A CN 202011137907 A CN202011137907 A CN 202011137907A CN 112333628 A CN112333628 A CN 112333628A
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module
lora
positioning
iot
point
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CN112333628B (en
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王正家
何嘉奇
陈长乐
曾雨晴
王少东
邵明志
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Hubei University of Technology
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • 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
    • G01S19/11—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 pseudolites or satellite radio beacon positioning system signal repeaters
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • 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)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
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Abstract

The invention discloses a location tracking system and a method based on Lora and NB-LoT, wherein the system comprises a Lora host module, a server side and a Lora slave module, wherein the Lora host module is used for configuring a Lora point-to-point communication mode and a data anti-theft protocol, receiving and analyzing a data packet sent by the Lora slave module and transmitting a location information serial port to the server side; the server side is connected with the Lora host module and used for storing all positioning information and transmitting the positioning information to the client side; the Lora slave module is connected with the main control module and used for receiving data sent by a serial port of the main control module and forwarding the data to the Lora host module through an authorization-free frequency band; the NB-IoT module is connected with the main control module, is in a dormant state during the period that the equipment is not stolen so as to save energy and flow, and is used for replacing the Lora module to position and track when the Lora module does not work normally and starting the base station to position and realize long-distance tracking when the equipment is stolen; and the GPS positioning module is connected with the main control module. The invention has the advantages of high positioning precision, low positioning cost, long tracking distance, independent power supply and no interference in positioning information transmission.

Description

Lora and NB-IoT based positioning tracking system and method
Technical Field
The present invention relates to a positioning and tracking system and method, and more particularly, to a positioning and tracking system and method based on Lora and NB-IoT.
Background
With the increasing domestic manpower cost, more and more unattended automation equipment falls into the ground in a dispute, such as vending machines, automatic car washing machines and the like. The unattended operation obviously reduces the operation cost, but simultaneously has the problem of equipment theft prevention, and how to prevent the equipment from being stolen and how to track the equipment after the equipment is stolen is particularly important for the equipment. How to be equipped with the problem of stable effectual localization tracking on burglar alarm's basis is solved to this patent.
There are many positioning and tracking systems in the market, which generally transmit positioning information based on GPS positioning and cellular data network, such as chinese patent documents CN 110730424 and CN201811263720.1, and this method transmits positioning information based on GPS positioning and cellular data network. The cellular data network can not be communicated in places with poor signals, such as large underground malls or train stations with dense personnel, and the cellular data network needs to purchase an SIM card for flow charging, thereby consuming 30M flow charge of 10 yuan per month without monthly renting by operators.
For the problems of poor signal and high traffic cost, the patents CN110189493 and CN106303970 disclose a location tracking method based on Lora network. The signals in the two positioning and tracking systems are transmitted in a Lora communication mode, the transmitting power of Lora wireless signals is higher than 22dB of cellular network signals, the signal coverage range cannot be poor, an authorization-free ISM frequency band is used in Lora, the flow cost is not generated in the communication process, the Lora communication distance is only 20km at the highest even in an open area, and long-distance tracking cannot be effectively carried out.
In order to solve the problem, chinese patent document CN205880607 discloses a tracker based on NB-IoT technology, and mentions that NB-IoT network is used for location tracking. The NB-IoT network has the same signal strength as the Lora network, and at present, as many as 70 thousands of NB-IoT base stations in China can basically achieve national coverage and can track over long distances. But the NB-IoT still needs to purchase a SIM card to pay for traffic charges when transmitting the positioning message.
Disclosure of Invention
In view of the above, a first objective of the present invention is to provide a location tracking system based on Lora and NB-IoT, in which a main control module calculates GPS location data in real time, and when a current post-location data deviation exceeds an error range of the GPS, the main control module turns on an NB-IoT module and simultaneously turns on NB-IoT base station location in cooperation with the GPS location for dual-mode location. The main control module calculates positioning data, a point-to-point communication mode of the Lora slave module and the Lora host module is utilized, positioning information of a GPS is transmitted from the main control module to a server side in an unlicensed ISM frequency band, positioning accuracy is high, positioning cost is low, tracking distance is long, power can be independently supplied, and positioning information sending is not interfered.
The invention has the second aim of providing a location tracking method based on Lora and NB-IoT, which transmits location information to a server through Lora network, when a main control module detects that equipment is stolen, the NB-IoT base station is started for location, and performs dual-mode high-precision location in cooperation with GPS location, and simultaneously, the equipment is switched to battery power supply for continuous location after being powered off; compared with the signal intensity which is hundreds of times stronger than that of a cellular network, the positioning accuracy can be improved, monthly flow cost can be reduced, a standby power supply design method is adopted, the power supply of the required positioning equipment is cut off, the positioning can be continued for more than 200 hours, and the anti-theft tracking requirement is guaranteed.
In order to further achieve the first object, the invention adopts the following technical scheme: a localization tracking system based on Lora and NB-IoT comprises
The system comprises a Lora host module (WH-L101 module) and a server, wherein the Lora host module (WH-L101 module) is used for configuring a Lora point-to-point communication mode and a data anti-theft protocol, receiving and analyzing a data packet sent by a Lora slave module and transmitting a positioning information serial port to the server;
the server (a host of the CentOS7 system) is connected with the Lora host module and used for storing all positioning information and transmitting the positioning information to the client;
the Lora slave module (WH-L101 module) is connected with the main control module and used for receiving data sent by a serial port of the main control module and forwarding the data to the Lora host module through an authorization-free frequency band;
the NB-IoT module (a remote BC28 module) is connected with the main control module, is in a dormant state during the period that the equipment is not stolen so as to save energy and save flow, is used for replacing a Lora master-slave module (a Lora master module and a Lora slave module) to carry out positioning tracking when Lora data transmission is abnormal, and starts base station positioning to realize long-distance tracking when the equipment is stolen;
the GPS positioning module (MT3339 chip) is connected with the main control module and used for receiving satellite positioning information and sending the positioning information to the main control module through a serial port;
the power module (LTC4416 chip) is connected with the 5V power supply and the high-capacity lithium battery of the positioned equipment at one end, is connected with the main control module at the other end, is used for supplying power to the positioned equipment when the positioned equipment is not stolen, and is switched to be supplied with power by the battery when the power supply of the positioned equipment is cut off;
and the main control module consists of a Lora slave module, an NB-IoT module, a GPS positioning module and a power supply module and is used for controlling each module to perform conversion transmission of positioning information and calculation of positioning coordinates.
Optionally, the Lora host module is connected with the server side through a serial port; the main control module judges the positioning information of the GPS positioning module and forwards the positioning information to the Lora slave module; the Lora slave module forwards the positioning information to the Lora host module through the Lora network; the Lora host module transmits positioning information to the server through the serial port; when the master control module judges that the equipment is stolen, the Lora slave module is closed, the NB-IoT module is opened, the dual-mode high-precision positioning of base station positioning and GPS positioning is carried out, and positioning information is transmitted to a server through an NB-IoT network; and the server side forwards the positioning information to the client side in real time.
Preferably, the main control module is composed of an stm32F103 chip and minimum system hardware thereof; the NB-IoT module is a remote BC28 module; the power module adopts LTC4416 chip of Linear company to manufacture a redundant power supply circuit.
Therefore, the positioning and tracking system realizes the wireless transmission of the positioning information by using the Lora point-to-point communication technology, compared with the traditional GPRS communication, the communication signal is hundreds of times stronger, the communication can be carried out in places with poor signals, such as large underground shopping malls or railway stations with dense personnel, and the Lora is communicated in an authorization-free frequency band without paying the flow cost. Compared with a Lora WAN network communication framework adopted by the Lora module at present, the communication process is simplified through point-to-point communication, a gateway does not need to be built by self, and the cost is saved.
The invention provides an NB-IoT module for realizing long-distance tracking, and simultaneously adopts PSM dormancy technology to effectively reduce NB-IoT cost, the NB-IoT network signal intensity is the same as that of an Lora network, the signal range basically covers the whole country, and the location tracking can be theoretically carried out in the whole country.
The invention provides two modes of equipment non-theft and equipment theft for positioning management. When the equipment is not stolen, the Lora host module is connected with the server side scheme, so that the equipment transmits positioning information in an authorization-free frequency band. According to the scheme, a plurality of Lora base stations do not need to be built, the service end does not need to be connected through the NB-IoT network, and the positioning cost of the equipment is greatly reduced in the field of unattended equipment. The main control module is adopted to calculate the positioning data to detect whether the equipment is stolen, and the method does not need to additionally increase an anti-theft detection device and reduces the cost. During the period that the equipment is stolen, the dual-mode positioning of NB-IoT and GPS is adopted, the positioning accuracy is less than 5m, and the positioning tracking can be continued for more than 200 hours even if the power supply of the equipment is cut off. Greatly increasing the success rate of retrieving objects in densely populated areas and streets.
The invention provides NB-IoT cooperative GPS dual-mode positioning, which improves the positioning precision and effectively realizes accurate positioning tracking in a complex area. The invention provides a method for realizing long-time positioning tracking by ensuring that equipment can independently supply power even if a power supply is manually cut off by a redundant power supply circuit.
In order to further achieve the second object, the invention adopts the following technical scheme: a location tracking method based on Lora and NB-IoT comprises the following steps:
step 1: the method comprises the following steps that a master control module is connected with a Lora slave module, an NB-IoT module, a GPS positioning module and a power supply module through serial ports, a Lora host module is connected with a server through serial ports, the working mode of the Lora host module is set to be point-to-point communication, and the master control module is fixed on equipment needing positioning and tracking;
step 2: the main control module receives the position information of the GPS positioning module in real time, compares the position information with the position of the set equipment, calculates the positioning offset distance, transmits the positioning information to a server side connected with the Lora host computer module through the Lora slave computer module when the offset distance is within 50 meters, continuously receives 20 pieces of positioning information when the offset distance is more than 50 meters, and calculates whether the offset distance is increased;
and step 3: when the offset distance is continuously increased, the Lora slave module is closed, the NB-IoT module is opened, the base station positioning is simultaneously started, the dual-mode high-precision positioning is carried out with the GPS positioning module, the positioning information is transmitted to the server side through the NB-IoT network in real time, and the server side forwards the message to the client side;
and 4, step 4: with the backup power method, when the power supply of the positioned equipment is cut off, the positioning system is switched to be powered by the battery.
In the above step 1, the working mode of the Lora host module is set to be point-to-point communication, and identification and communication are performed through the slave id. In the step 3, the NB-IoT module is switched from the PSM mode to the Active mode, the NB-IoT module adopts the sleep mode, and does not access the network when the equipment is not stolen, so that the cost of the NB-IoT is reduced. In the aspect of safety, the NB-IoT technology can reach the safety index of a carrier level, the 3GPP authorized spectrum is adopted to avoid the interference problem, and the communication of the Lora can be replaced after the Lora communication is interfered. The NB-IoT R14 version supports base station positioning, the positioning precision can reach 50m, and the double-mode positioning technology is realized by combining with a GPS (global positioning system), so that accurate positioning tracking in a complex scene is realized.
Optionally, the Lora host module mode set in step 1 is a point-to-point transparent transmission mode.
Optionally, the device position in step 2 is set by averaging multiple positioning results after the device is installed.
Optionally, the NB-IoT module in step 3 starts positioning of the base station through the SIM card, where the NB-IoT module is a remote BC28 module, supports E-CID, UTDOA, and OTDOA positioning, and has a positioning accuracy target within 50 meters.
Optionally, in step 3, the base station positioning is started simultaneously, and the dual-mode high-precision positioning is performed with the GPS positioning module, where the dual-mode high-precision positioning represents that the base station positioning point is set as a point a, the positioning precision thereof is 50m, the GPS positioning point is set as a point B, the positioning precision thereof is 20m, and after receiving the position information of the two points, a dual-mode positioning method model is established:
when the distance between the two points A, B is larger than 70m, continuing to receive data;
when the distance between the A, B two points is less than 70m and more than 30m, drawing a circle with the radius of 50m taking A as the center of the circle, drawing a circle with the radius of 20m taking B as the center of the circle, intersecting the two circles at the moment, calculating the middle point of the intersection area of the two circles, and transmitting the intersection area as an accurate positioning point;
when the distance between the two points A, B is less than 30m, point B is used as the accurate positioning point for transmission.
Further, the dual-mode positioning method model is characterized in that when the distance between A, B two points is less than 70m and greater than 30m, a geometric model is established:
knowing that the distance between the centers of two circles is L, the radius of circle A is r1Radius of circle B is r2The two circles intersect at a point C, D, the CD intersection AB is connected to a point E, and the midpoint of the intersection area of the two circles is set as a point E1;
knowing that point E1 is located on AB, let & lt CAE be alpha, let & lt CBE be beta, chord CD is tangent to circle AArea is S1The area tangent to the circle B is S2The intersection area of the two circles is S ═ S1+S2；
When the distance between the two points A, B is less than 70m and more than 50 m:
Figure BDA0002737276640000051
Figure BDA0002737276640000052
Figure BDA0002737276640000053
Figure BDA0002737276640000054
Figure BDA0002737276640000055
Figure BDA0002737276640000056
when the distance between the two points A, B is less than 50m and more than 30 m:
Figure BDA0002737276640000057
Figure BDA0002737276640000058
optionally, the standby power supply method in step 4 is a redundant power supply scheme, and a redundant power supply circuit is manufactured by using an LTC4416 chip of Linear corporation, so that a 5V power supply is provided for the equipment to supply power for normal power supply, and when the power supply of the equipment is cut off, the equipment is automatically switched to a 5V battery to supply power.
Compared with the prior art, the invention has the following beneficial effects:
1. when outdoor unmanned on duty equipment was in work or rest state, carry out position information transmission and do not consume the communication cost, and signal strength is high.
2. Compared with cellular network transmission, the signal intensity is high, the situation that the signal difference of the location where the equipment is located is avoided, and the client cannot receive the positioning tracking information is avoided.
3. The invention adopts a Lora point-to-point transmission method, namely, a master module and a slave module are adopted to transmit the positioning information. The method has the advantages that the real-time communication can be realized without self-setting of the base station, and the setting cost and the maintenance cost of the base station are high.
4. The power consumption is lower, an eDRX mode of NB-IoT is adopted, when the equipment is not stolen, the NB is in a dormant state, and only Lora and a GPS positioning module run.
5. The cost is lower, the traffic cost is not consumed in the Lora point-to-point transmission, and the NB is also in the dormant state when the equipment is not stolen, so that the traffic cost is not consumed.
6. And the precision is higher, and the precision is higher by adopting the GPS positioning and NB-IoT positioning to carry out dual-mode positioning.
7. The tracking is easier, the application scene of the invention is outdoor unattended equipment which is easy to be stolen, an auxiliary power supply system is provided, the problems that the equipment is stolen and cannot be positioned after being powered off are solved, when the equipment is in a stolen state, the positioning tracking can be carried out even if the power supply of the equipment is cut off, the reliability of positioning information is improved by adopting dual-mode high-precision positioning, and the tracking distance is long.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed for 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 only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a block diagram of the system of the present invention;
FIG. 2 is a schematic diagram of dual mode positioning according to the present invention;
fig. 3 is a circuit diagram of a power module according to the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and embodiments, and the technical solutions in the embodiments of the present invention will be described in full and clearly. The relative arrangement of the components, the numerical values and the like set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
Example 1:
a location tracking system based on Lora and NB-IoT is disclosed, as shown in FIG. 1, comprising a Lora host module, a Lora slave module, an NB-IoT module, a master control module, a power supply module, a GPS location module, a server and a client; wherein the content of the first and second substances,
the system comprises a Lora host module (WH-L101 module) and a server, wherein the Lora host module (WH-L101 module) is used for configuring a Lora point-to-point communication mode and a data anti-theft protocol, receiving and analyzing a data packet sent by a Lora slave module and transmitting a positioning information serial port to the server;
the server (a host of the CentOS7 system) is connected with the Lora host module and used for storing all positioning information and transmitting the positioning information to the client;
the Lora slave module (WH-L101 module) is connected with the main control module and used for receiving data sent by a serial port of the main control module and forwarding the data to the Lora host module through an authorization-free frequency band;
the NB-IoT module (a remote BC28 module) is connected with the main control module, is in a dormant state during the period that the equipment is not stolen so as to save energy and save flow, is used for replacing a Lora master-slave module (a Lora master module and a Lora slave module) to carry out positioning tracking when Lora data transmission is abnormal, and starts base station positioning to realize long-distance tracking when the equipment is stolen;
the GPS positioning module (MT3339 chip) is connected with the main control module and used for receiving satellite positioning information and sending the positioning information to the main control module through a serial port;
the power module (LTC4416 chip) is connected with the 5V power supply and the high-capacity lithium battery of the positioned equipment at one end, is connected with the main control module at the other end, is used for supplying power to the positioned equipment when the positioned equipment is not stolen, and is switched to be supplied with power by the battery when the power supply of the positioned equipment is cut off;
the main control module consists of a Lora slave module, an NB-IoT module, a GPS positioning module and a power supply module, and the main control module (stm32F103 chip) is used for controlling the modules to perform conversion transmission of positioning information and operation of positioning coordinates.
More specifically, the Lora host module is connected with the server side through a serial port; the main control module judges the positioning information of the GPS positioning module and forwards the positioning information to the Lora slave module; the Lora slave module forwards the positioning information to the Lora host module through the Lora network; the Lora host module transmits positioning information to the server through the serial port; when the master control module judges that the equipment is stolen, the Lora slave module is closed, the NB-IoT module is opened, the dual-mode high-precision positioning of base station positioning and GPS positioning is carried out, and positioning information is transmitted to a server through an NB-IoT network; and the server side forwards the positioning information to the client side in real time.
The Lora host module and the slave module are selected to be WH-L101 modules; the NB-IoT module is a remote BC28 module; the type of the main control module is formed by an stm32F103 chip and minimum system hardware thereof; the power module is made of a LTC4416 chip manufactured by Linear company.
As shown in fig. 3, for the redundant power supply circuit of the present invention, two 5V input ports are connected to two power supplies, i.e., a 5V power supply and a high capacity lithium battery of the located device. The output port is connected with the main control module. When the redundant circuit is used for cutting off the power supply of the equipment, the positioning and tracking system is independently powered by the high-capacity lithium battery, and the requirement of long-time positioning and tracking is met.
Example 2:
a location tracking method based on Lora and NB-IoT, as shown in fig. 1-2, comprising the following steps:
step 1: the master control module is connected with the Lora slave module, the NB-IoT module, the GPS positioning module and the power supply module through serial ports, and the Lora host module is connected with the server through the serial ports. And setting the working mode of the Lora host module as point-to-point communication, and fixing the main control module on the equipment needing positioning and tracking.
Step 2: the main control module receives the position information of the GPS positioning module in real time, compares the position information with the position of the set equipment, calculates the positioning offset distance, and transmits the positioning information to a server side connected with the Lora host computer module through the Lora slave computer module when the offset distance is within 50 meters. And when the offset distance is larger than 50 meters, continuously receiving 20 pieces of positioning information, and calculating whether the offset distance is increased.
And step 3: and when the offset distance is continuously increased, closing the Lora slave module, opening the NB-IoT module, simultaneously opening the base station for positioning, performing dual-mode high-precision positioning with the GPS positioning module, transmitting the positioning information to the server in real time through the NB-IoT network, and forwarding the message to the client by the server.
And 4, step 4: a standby power supply method is adopted. When the power supply of the positioned equipment is cut off, the positioning system is switched to be powered by the battery.
And (3) setting the Lora host module mode to be a point-to-point transparent transmission mode in the step (1).
And 2, averaging and setting the position of the equipment in the step 2 according to multiple positioning results after the equipment is installed.
And 3, starting the base station positioning by the NB-IoT module through the SIM card. The NB-IoT module is selected as a remote BC28 module, supports E-CID, UTDOA and OTDOA positioning, and has a positioning precision target within 50 meters.
And 3, starting the base station for positioning at the same time, and performing dual-mode high-precision positioning with the GPS positioning module. The dual-mode high-precision positioning is characterized in that a base station positioning point is set as a point A, the positioning precision is 50m, a GPS positioning point is set as a point B, and the positioning precision is 20 m. After receiving the position information of the two points, establishing a dual-mode positioning method model:
when the distance between the two points A, B is larger than 70m, continuing to receive data;
when the distance between the two points A, B is less than 70m and greater than 30m, a circle is drawn with the radius of 50m taking the point A as the center of the circle, and a circle is drawn with the radius of 20m taking the point B as the center of the circle, and the two circles intersect at the moment. Calculating the middle point of the intersection area of the two circles, and transmitting the middle point as an accurate positioning point;
when the distance between the two points A, B is less than 30m, point B is used as the accurate positioning point for transmission.
Wherein, when the distance between A, B two points is less than 70m and more than 30m, a geometric model is established: knowing that the distance between the centers of two circles is L, the radius of circle A is r1Radius of circle B is r2. The two circles intersect at point C, D, connecting CD intersection AB to point E, and setting the midpoint of the intersection area of the two circles as point E1.
Knowing that point E1 is located on AB, let & lt CAE be alpha, & lt CBE be beta, the area of chord CD tangent to circle A be S1, and the area of chord CD tangent to circle B be S2The intersection area of the two circles is S ═ S1+S2。
When the distance between the two points A, B is less than 70m and more than 50 m:
Figure BDA0002737276640000091
Figure BDA0002737276640000092
Figure BDA0002737276640000093
Figure BDA0002737276640000094
Figure BDA0002737276640000095
Figure BDA0002737276640000096
when the distance between the two points A, B is less than 50m and more than 30 m:
Figure BDA0002737276640000097
Figure BDA0002737276640000098
as shown in fig. 3, it is a schematic diagram of a design of a redundancy circuit, which is used to provide 5V power supply for the device when the device is normally powered, and automatically switch to 5V battery power supply when the device is powered off.
According to the invention, by adopting a standby power supply design method, when the needed positioning equipment is powered off, the positioning system can continuously position for more than 200 hours (the main control module consumes 32mA due to the fact that an STM32F103 chip normally works, the GPS positioning module consumes 17mA due to the fact that an MT3339 chip consumes, the NB-IoT module adopts a remote BC28 module, and the BC28 module consumes 80 mA.30000mAh polymer lithium battery and can support module positioning for more than 200 hours when in a network connection state), so that the anti-theft tracking requirement is ensured.
Compared with a cellular network, the invention has the advantages of having signal strength which is hundreds of times stronger, improving positioning accuracy, reducing monthly flow cost, adopting Lora communication to transmit position information when the equipment is not stolen, and not only realizing real-time positioning but also not generating flow cost. And adopting NB-IoT communication to track for a long distance during the period that the equipment detects the theft, and simultaneously starting NB-IoT base station positioning and GPS positioning to perform dual-mode positioning and improve positioning accuracy. And by adopting a standby power supply design method, when the power supply of the required positioning equipment is cut off, the positioning system can also continuously position for more than 200 hours, and the anti-theft tracking requirement is ensured.
Attaching a positioning accuracy and cost comparison table of the positioning schemes of the existing Lora network and the NB-IoT network, wherein the table 1 is the positioning accuracy comparison of the positioning schemes of the existing Lora network and the NB-IoT network; table 2 shows a comparison of the positioning costs of the existing Lora network and NB-IoT network positioning schemes.
TABLE 1 alignment accuracy comparison
Figure BDA0002737276640000101
TABLE 2 comparative cost
Figure BDA0002737276640000102
Figure BDA0002737276640000111
In conclusion, the invention provides two modes of the device being not stolen and the device being stolen for positioning management. When the equipment is not stolen, the Lora host module is connected with the server side scheme, so that the equipment transmits positioning information in an authorization-free frequency band. According to the scheme, a plurality of Lora base stations do not need to be built, the service end does not need to be connected through the NB-IoT network, and the positioning cost of the equipment is greatly reduced in the field of unattended equipment. The main control module is adopted to calculate the positioning data to detect whether the equipment is stolen, and the method does not need to additionally increase an anti-theft detection device and reduces the cost. During the period that the equipment is stolen, the dual-mode positioning of NB-IoT and GPS is adopted, the positioning accuracy is less than 5m, and the positioning tracking can be continued for more than 200 hours even if the power supply of the equipment is cut off. Greatly increasing the success rate of retrieving objects in densely populated areas and streets.
Although the terms Lora module, NB-IoT module, master control module, GPS location module, etc. are used more herein, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe the nature of the invention and they are to be construed as any additional limitation which is not in accordance with the spirit of the invention.
It should be understood that the above description of the preferred embodiments is given for clearness of understanding and no unnecessary limitations are to be understood therefrom, for those skilled in the art may make modifications and alterations within the scope of the invention without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. A location tracking system based on Lora and NB-IoT comprises
The system comprises a Lora host module, a server and a slave module, wherein the Lora host module is used for configuring a Lora point-to-point communication mode and a data anti-theft protocol, receiving and analyzing a data packet sent by the Lora slave module, and transmitting a positioning information serial port to the server;
the server side is connected with the Lora host module and used for storing all positioning information and transmitting the positioning information to the client side;
the Lora slave module is connected with the main control module and used for receiving data sent by a serial port of the main control module and forwarding the data to the Lora host module through an authorization-free frequency band;
the NB-IoT module is connected with the main control module, is in a dormant state during the period that the equipment is not stolen so as to save energy and save flow, and is used for positioning and tracking instead of the Lora master-slave module when the Lora data transmission is abnormal, and starting base station positioning to realize long-distance tracking when the equipment is stolen;
the GPS positioning module is connected with the main control module and used for receiving satellite positioning information and sending the positioning information to the main control module through a serial port;
the power module is connected with a 5V power supply and a high-capacity lithium battery of the positioned equipment at one end, is connected with the main control module at the other end, and is used for supplying power to the positioned equipment when the positioned equipment is not stolen and switching to the battery for supplying power when the power supply of the positioned equipment is cut off;
and the main control module consists of a Lora slave module, an NB-IoT module, a GPS positioning module and a power supply module and is used for controlling each module to perform conversion transmission of positioning information and calculation of positioning coordinates.
2. The Lora and NB-IoT based location tracking system according to claim 1 wherein the Lora host module is connected to the server using a serial port; the main control module judges the positioning information of the GPS positioning module and forwards the positioning information to the Lora slave module; the Lora slave module forwards the positioning information to the Lora host module through the Lora network; the Lora host module transmits positioning information to the server through the serial port; when the master control module judges that the equipment is stolen, the Lora slave module is closed, the NB-IoT module is opened, the dual-mode high-precision positioning of base station positioning and GPS positioning is carried out, and positioning information is transmitted to a server through an NB-IoT network; and the server side forwards the positioning information to the client side in real time.
3. The Lora and NB-IoT based location tracking system according to claim 1, wherein said master control module is comprised of stm32F103 chip and its minimum system hardware; the NB-IoT module is a remote BC28 module; the power module adopts LTC4416 chip of Linear company to manufacture a redundant power supply circuit.
4. A location tracking method based on Lora and NB-IoT, which employs the location tracking system based on Lora and NB-IoT of claim 1, and comprises the following steps:
step 1: the method comprises the following steps that a master control module is connected with a Lora slave module, an NB-IoT module, a GPS positioning module and a power supply module through serial ports, a Lora host module is connected with a server through serial ports, the working mode of the Lora host module is set to be point-to-point communication, and the master control module is fixed on equipment needing positioning and tracking;
step 2: the main control module receives the position information of the GPS positioning module in real time, compares the position information with the position of the set equipment, calculates the positioning offset distance, transmits the positioning information to a server side connected with the Lora host computer module through the Lora slave computer module when the offset distance is within 50 meters, continuously receives 20 pieces of positioning information when the offset distance is more than 50 meters, and calculates whether the offset distance is increased;
and step 3: when the offset distance is continuously increased, the Lora slave module is closed, the NB-IoT module is opened, the base station positioning is simultaneously started, the dual-mode high-precision positioning is carried out with the GPS positioning module, the positioning information is transmitted to the server side through the NB-IoT network in real time, and the server side forwards the message to the client side;
and 4, step 4: with the backup power method, when the power supply of the positioned equipment is cut off, the positioning system is switched to be powered by the battery.
5. The method as claimed in claim 4, wherein the Lora and NB-IoT based location tracking method in step 1 is characterized by setting the Lora host module mode to be the point-to-point transparent transmission mode.
6. The Lora and NB-IoT based location tracking method according to claim 4, wherein the device location in step 2 is set by averaging multiple location results after device installation.
7. The Lora and NB-IoT based location tracking method according to claim 4, wherein in step 3, the NB-IoT module starts base station location via SIM card, wherein the NB-IoT module is selected as a remote BC28 module, supports E-CID, UTDOA, OTDOA location, and has a location accuracy target within 50 meters.
8. The Lora and NB-IoT based location tracking method according to claim 4, wherein in step 3 said base station location is started simultaneously, and dual-mode high-precision location is performed with GPS location module, wherein the dual-mode high-precision location shows that the base station location point is set as point A, the location precision is set as 50m, the GPS location point is set as point B, the location precision is set as 20m, and when receiving the location information of two points, a dual-mode location method model is established:
when the distance between the two points A, B is larger than 70m, continuing to receive data;
when the distance between the A, B two points is less than 70m and more than 30m, drawing a circle with the radius of 50m taking A as the center of the circle, drawing a circle with the radius of 20m taking B as the center of the circle, intersecting the two circles at the moment, calculating the middle point of the intersection area of the two circles, and transmitting the intersection area as an accurate positioning point;
when the distance between the two points A, B is less than 30m, point B is used as the accurate positioning point for transmission.
9. The Lora and NB-IoT based location tracking method according to claim 8 characterized in that said bimodal location method model wherein when A, B two points distance is less than 70m and greater than 30m a geometric model is established:
knowing that the distance between the centers of two circles is L, the radius of circle A is r1Radius of circle B is r2The two circles intersect at a point C, D, the CD intersection AB is connected to a point E, and the midpoint of the intersection area of the two circles is set as a point E1;
knowing that the point E1 is located on AB, let & lt CAE be alpha, & lt CBE be beta, and the area of chord CD tangent to circle A be S1The area tangent to the circle B is S2The intersection area of the two circles is S ═ S1+S2；
When the distance between the two points A, B is less than 70m and more than 50 m:
Figure FDA0002737276630000031
Figure FDA0002737276630000032
Figure FDA0002737276630000033
Figure FDA0002737276630000034
Figure FDA0002737276630000035
Figure FDA0002737276630000036
when the distance between the two points A, B is less than 50m and more than 30 m:
Figure FDA0002737276630000037
Figure FDA0002737276630000038
10. the Lora and NB-IoT based location tracking method according to claim 4, wherein the backup power supply method in step 4 is a redundant power supply scheme, a LTC4416 chip from Linear company is used to fabricate a redundant power supply circuit, a 5V power supply is provided for the device for normal power supply, and when the power supply of the device is cut off, the device is automatically switched to a 5V battery power supply.
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