CN1749773A - Relative distance measuring and pestioning method of short distance radio network based on link quality indication - Google Patents

Abstract

The present invention discloses a kind of relative distance measuring and positioning method based on link quality index (LQI) in short range radio network. Digital or analog LQI data in radio communication network module is utilized in relative distance measuring and positioning. The communication signal one emitter emits is received by several receivers to demodulate corresponding communication data and link quality index parameters, so as to obtain the direct distance between each of the receiver and the emitter. The relative positioning coordinates of the emitter are then obtained according to the distance values and the 3D position coordinates of the receivers.

Description

A kind of short-range wireless networking based on link-quality indication is range finding and localization method relatively

technical field

The present invention relates to a kind of relative range finding and localization method of the short-range wireless networking based on link-quality indication LQI, this range finding and positioning system are indicated the coordinate points relation between the numerical values recited of LQI and transmitter, receiver by link-quality, thereby obtain the direct range of receiver and transmitter.

background technology

Wireless location technology is modern wireless important applied field.Modal wireless location is global position system, comprises GPS, GLANASS, Double Satellite Positioning System etc.Global position system generally adopts time-of-arrival loaction location, utilizes the high stable clock of satellite, poor by receiving the different time of different satellites, is converted into distance locates according to the speed of radio wave propagation.Satnav has advantages of that broad covered area, precision are high, but system building and maintenance cost are higher, but inapplicable for small-sized material handling.

Early stage continental rise and offshore location system adopt carrier phase technological orientation, for example rowland-C system.Receiver receives the carrier wave of a plurality of known phase, according to phase differential, calculates distance, then location.But carrier phase periodically makes location produce all ambiguities because phase place has, and often adopts multicarrier or modulating wave technology to revise.This locator meams also can realize global location by networking, but generally can only determine planimetric coordinates, can not take the altitude.

The mode of the positioning system using modulated symbol also having is carried out wireless location.According to the code element receiving, determine mistiming or phase differential, then show that the distance of receiver and each reference point positions.

Link-quality indication LQI is the abbreviation of Link Quality Indication, represents two link-quality indications between communication module.Link-quality indication LQI be in Modern wireless communication module in PHY layer or MAC layer intrinsic designation data, its LQI numerical values recited is relevant to signal transmission distance, when the transmission range between communication module is far away, LQI is little in its link-quality indication, be signal between communication module a little less than, vice versa.

summary of the invention

The object of the invention is to propose a kind of short-range wireless networking based on link-quality indication LQI range finding and localization method relatively, described range finding and location are that the reception signal designation data LQI configuring by wireless network communication module Plays determines the distance between a transmitter and a plurality of receiver, then by this distance value, obtain the best located point of transmitter.This localization method has that algorithm is simple, cost is low, and has seamless networking function with wireless network.

The present invention is a kind of short-range wireless networking based on link-quality indication LQI range finding and localization method relatively, described short-range wireless networking consists of transmitter unit 1, receiver unit 2 and network monitoring center 3, its transmitter unit 1 and receiver unit 2 are operated on same channel, and, described transmitter unit 1 is a transmitter, described receiver unit 2 at least includes three or three above known receivers of three-dimensional position point coordinate, in the present invention, the range finding of a transmitter and a plurality of receivers and be positioned with following steps:

(A) a plurality of receivers receive after the signal of communication of being launched by a transmitter, at least obtain a parameter that characterizes link-quality indication after demodulation in each receiver $\mathrm{LQIQ}=A/d_n^2+B,$ A is constant, and B is constant, and described parameter LQIQ is obtained to the direct range d between each receiver and transmitter by conversion _n; Described a plurality of receiver by described apart from d with transmitter receiving _nsignal exports network monitoring center 3 to;

(B) described a plurality of receivers of 3 pairs of receptions of described network monitoring center described apart from d with transmitter separately _nthe three-dimensional position point coordinate of signal and described a plurality of receivers adopts cross bearing formula

$\left\{\begin{array}{c}{(x-x_A)}^2+{(y-y_A)}^2+{(z-z_A)}^2=d_A^2\\ {(x-x_B)}^2+{(y-y_B)}^2+{(z-z_B)}^2=d_B^2\\ {(x-x_C)}^2+{(y-y_C)}^2+{(z-z_C)}^2=d_C^2\\ {(x-x_D)}^2+{(y-y_D)}^2+{(z-z_D)}^2=d_D^2\\ \·\\ \·\\ \·\\ {(x-x_n)}^2+{(y-y_n)}^2+{(z-z_n)}^2=d_n^2\end{array}\right.$ Simultaneous converts, thus obtain described transmitter with

Best located point coordinate Δ between described a plurality of receiver _f=(x, y, z), in formula,

LQIQ represents the link-quality designation data that each receiver receiver/transmitter is launched,

D represents the distance of transmitter and one of them receiver,

N represents the number of receiver;

X _nrepresent the coordinate that each receiver is parallel to the ground,

Y _nrepresent the coordinate that each receiver is perpendicular to the ground,

Z _nthe height that represents each receiver and ground.

Described short-range wireless networking is range finding and localization method relatively, and its network monitoring center 3 is exported to the identification information that at least includes each receiver in the information of transmitter unit 1.

Short-range wireless networking of the present invention is the advantage of range finding and localization method relatively: the link-quality adopting in (1) range finding of the present invention and localization method indicate LQI be in Modern wireless communication module in PHY layer or MAC layer intrinsic designation data, do not need for location increases new hardware cost, effectively memorandum production cost; (2) utilize link-quality indication LQI range finding or location relatively, algorithm is simple, and software cost is low; (3) on the basis that guarantees basic communication functions and radio network functions, increase range finding and positioning function, strengthened the function of product, improved the cost performance of product; (4) can utilize the network function of wireless module, realize interior in a big way range finding, location and target following etc., improve range finding and positioning precision, positioning precision reaches 2 meters.

accompanying drawing explanation

Fig. 1 is the networking structure schematic diagram of short-range wireless networking.

Fig. 2 is range finding and the positioning principle structural representation of a transmitter of the present invention and a plurality of receivers.

In figure: 1. transmitter unit 2. receiver unit 21. receiver A 22. receiver B23. receiver C 24. receiver D 3. network monitoring centers

embodiment

Below in conjunction with accompanying drawing, the present invention is described in further detail.

The present invention is a kind of short-range wireless networking based on link-quality indication range finding and localization method relatively, its design is according to the incoming level indication RSSI based on Modern wireless communication module and link-quality indication LQI, to determine a kind of localization method of reception and transmission range, the method can be applied in various short-distance wireless communications, as WLAN, WPAN, Bluetooth, ZigBee etc.Link-quality indication LQI be in Modern wireless communication module in PHY layer or MAC layer intrinsic designation data, in practice, do not need to increase new hardware product, on the basis that completes proper communication function, can also realize relative range finding and location between wireless network communication module.

In the present invention, short-range wireless networking forms (shown in Figure 1) by transmitter unit 1, receiver unit 2 and network monitoring center 3,3 pairs of transmitter units 1 of network monitoring center and receiver unit 2 carry out condition managing, and the three-dimensional position point coordinate of each receiver in receiver unit 2 is demarcated.The coordinate of each receiver is demarcated (coordinate x parallel to the ground _n, coordinate y perpendicular to the ground _nwith the height z with ground _n) can measure acquisition by instrument, and by the three-dimensional coordinate number scale typing network monitoring center 3 of acquisition to facilitate best located point coordinate or the best coordinates point that obtains transmitter unit 1 by coordinate cross bearing formula.In order to guarantee the communication quality of transmitter and receiver and the interference that is not subject to other signal, in the present invention, transmitter unit 1 and receiver unit 2 are operated on same channel, and, receiver unit 2 at least should have more than three or three, forms a short distance radio communication network structure connecing more.Transmitter unit 1 is realized and being connected mutually by antenna separately with receiver unit 2.

Range finding refers to the distance between every two modules (being each receiver and transmitter) in short-range wireless networking relatively, and short-range wireless networking in the present invention is relatively found range and localization method has the following steps:

(A) a plurality of receivers receive after the signal of communication of being launched by a transmitter, at least obtain a parameter that characterizes link-quality indication after demodulation in each receiver $\mathrm{LQIQ}=A/d_n^2+B,$ A is constant, and B is constant, and described parameter LQIQ is obtained to the direct range d between each receiver and transmitter by conversion _n; Described a plurality of receiver by described apart from d with transmitter receiving _nsignal output causes to network monitoring center 3.From electronic signal, flow to that to be each receiver export to network monitoring center 3 by the distance with transmitter receiving notes down, meanwhile, one of network monitoring center 3 output is with being that the id signal of which receiver is to transmitter.

(B) described a plurality of receivers of 3 pairs of receptions of described network monitoring center described apart from d with transmitter separately _nthe three-dimensional position point coordinate of signal and described a plurality of receivers adopts cross bearing formula

$\left\{\begin{array}{c}{(x-x_A)}^2+{(y-y_A)}^2+{(z-z_A)}^2=d_A^2\\ {(x-x_B)}^2+{(y-y_B)}^2+{(z-z_B)}^2=d_B^2\\ {(x-x_C)}^2+{(y-y_C)}^2+{(z-z_C)}^2=d_C^2\\ {(x-x_D)}^2+{(y-y_D)}^2+{(z-z_D)}^2=d_D^2\\ \·\\ \·\\ \·\\ {(x-x_n)}^2+{(y-y_n)}^2+{(z-z_n)}^2=d_n^2\end{array}\right.$ Simultaneous converts, thus obtain described transmitter with

Best located point coordinate Δ between described a plurality of receiver _f=(x, y, z), in formula,

LQIQ represents the link-quality designation data that each receiver receiver/transmitter is launched,

D represents the distance of transmitter and one of them receiver,

N represents the number of receiver;

X _nrepresent the coordinate that each receiver is parallel to the ground,

Y _nrepresent the coordinate that each receiver is perpendicular to the ground,

Z _nthe height that represents each receiver and ground.

Network monitoring center 3 of the present invention returns to the identification information that at least includes each receiver in the information of transmitter unit 1.Identification information include each receiver coordinate points and and transmitter between distance.

Illustrate relative distance and location (shown in Figure 2) between a transmitter and four receptions below, example is only for illustrating that range finding of the present invention and localization method confirmed through practice.The radio receiving transmitting module platform that transmitter and receiver adopts MC9SO8GT60MCU chip and the MC13193RF chip by Freescale company to form.Transmitter 1 and receiver A21, receiver B22, signal of communication between receiver C23 and receiver D24 is treated to the relevant treatment of traditional approach, but in the present invention, in order to obtain the better communication quality between each receiver and transmitter, the scheme of its solution is to be link-quality indication LQI by intrinsic designation data in PHY layer in transmitting set and wireless receiver or MAC layer, but this designation data is relevant to signal transmission distance again, by being carried out to coordinate cross bearing formula, the distance of this designation data and signal transmission calculates, thereby obtain the best located point of transmitting set.

In figure, receiver A21, receiver B22, receiver C23 and receiver D24 are placed on respectively on the arbitrary orientation of transmitter 1, the three-dimensional position point coordinate A (x of receiver A21 _a, y _a, z _a), the three-dimensional position point coordinate B (x of receiver B22 _b, y _b, z _b), the three-dimensional position point coordinate C (x of receiver C23 _c, y _c, z _c), the three-dimensional position point coordinate D (x of receiver D24 _d, y _d, z _d).The signal of communication that transmitter 1 is launched is given respectively receiver A21, receiver B22, receiver C23 and receiver D24, and receiver A21, receiver B22, receiver C23 and receiver D24 obtain the parameter of the link-quality between receiver A21 and transmitter 1 to the signal of communication receiving after demodulation process in receiver A21 $\mathrm{LQIQ}=A/d_A^2+B$ (A and B are constant) obtains the parameter of the link-quality between receiver B22 and transmitter 1 in receiver B22 $\mathrm{LQIQ}=A/d_B^2+B$ (A and B are constant) obtains the parameter of the link-quality between receiver C23 and transmitter 1 in receiver C23 $\mathrm{LQIQ}=A/d_C^2+B$ (A and B are constant) obtains the parameter of the link-quality between receiver D24 and transmitter 1 in receiver D24 $\mathrm{LQIQ}=A/d_D^2+B$ (A and B are constant), four receivers convert by the parameter of the link-quality to separately, and the relative distance obtaining between receiver A21 and transmitter 1 is d _a, the relative distance between receiver B22 and transmitter 1 is d _b, the relative distance between receiver C23 and transmitter 1 is d _c, the relative distance between receiver D24 and transmitter 1 is d _d.Then, four receivers are exported to respectively transmitter 1 and network monitoring center 3 by relative distance parameter separately.Four distance parameters of 3 pairs of receptions of network monitoring center carry out coordinate cross bearing formula $\left\{\begin{array}{c}{(x-x_A)}^2+{(y-y_A)}^2+{(z-z_A)}^2=d_A^2\\ {(x-x_B)}^2+{(y-y_B)}^2+{(z-z_B)}^2=d_B^2\\ {(x-x_C)}^2+{(y-y_C)}^2+{(z-z_C)}^2=d_C^2\\ {(x-x_D)}^2+{(y-y_D)}^2+{(z-z_D)}^2=d_D^2\end{array}\right.$ Simultaneous calculates, and obtains the anchor point coordinate Δ of transmitter 1 _f=(x, y, z).

In the present invention, the distance dependent that the quality of link-quality and signal are propagated, signal is propagated far, link-quality is poorer, therefore, link-quality indication LQI (also claiming LQI parameter) is closely related with the transmission range of transmitter signal, simultaneously relevant with the disposal route of dual-mode antenna parameter, radio propagation environment and receiver link quality indication LQI, by the demarcation of the link-quality indication LQI to different receivers, can draw the physical relationship formula of link-quality indication LQI and distance $\mathrm{LQIQ}=A/d_n^2+B$ (A and B represent constant), thus link-quality indication LQI is connected with distance.

The range finding of short-range wireless networking of the present invention and location, can meet wireless industrial monitoring location or the demands such as orientation management of warehouse management control system to goods.Through the orientation management of goods in freight house is carried out to experiment test, its positioning precision can reach 2 meters.

Claims (4)

1, a kind of short-range wireless networking based on link-quality indication LQI is found range and localization method relatively, described short-range wireless networking consists of transmitter unit (1), receiver unit (2) and network monitoring center (3), it is characterized in that: transmitter unit (1) and receiver unit (2) are operated on same channel, and

Described transmitter unit (1) is a transmitter,

Described receiver unit (2) at least includes three or three above known receivers of three-dimensional position point coordinate;

The range finding of a transmitter and a plurality of receivers and be positioned with following steps:

(A) a plurality of receivers receive after the signal of communication of being launched by a transmitter, at least obtain a parameter that characterizes link-quality indication after demodulation in each receiver $\mathrm{LQIQ}=A/d_n^2+B,$ A is constant, and B is constant, and described parameter LQIQ is obtained to the direct range d between each receiver and transmitter by conversion _n; Described a plurality of receiver by described apart from d with transmitter receiving _nsignal exports network monitoring center (3) to;

(B) described network monitoring center (3) to the described a plurality of receivers that receive described apart from d with transmitter separately _nthe three-dimensional position point coordinate of signal and described a plurality of receivers adopts cross bearing formula

$\left\{\begin{array}{c}{(x-x_A)}^2+{(y-y_A)}^2+{(z-z_A)}^2=d_A^2\\ {(x-x_B)}^2+{(y-y_B)}^2+{(z-z_B)}^2=d_B^2\\ {(x-x_C)}^2+{(y-y_C)}^2+{(z-z_C)}^2=d_C^2\\ {(x-x_D)}^2+{(y-y_D)}^2+{(z-z_D)}^2=d_D^2\\ \·\\ \·\\ \·\\ {(x-x_n)}^2+{(y-y_n)}^2+{(z-z_n)}^2=d_n^2\end{array}\right.$ Simultaneous converts, thus obtain described transmitter with

Best located point coordinate Δ f=(x, y, z) between described a plurality of receiver, in formula,

LQIQ represents the link-quality designation data that each receiver receiver/transmitter is launched,

D _nthe distance that represents transmitter and one of them receiver,

N represents the number of receiver;

X _nrepresent the coordinate that each receiver is parallel to the ground,

Y _nrepresent the coordinate that each receiver is perpendicular to the ground,

Z _nthe height that represents each receiver and ground.

2, relatively range finding and localization method of short-range wireless networking according to claim 1, is characterized in that: network monitoring center (3) is exported to the identification information that at least includes each receiver in the information of transmitter unit (1).

3, short-range wireless networking according to claim 1 is found range and localization method relatively, it is characterized in that: transmitter and receiver adopts MC9SO8GT60 MCU chip and the MC13193RF chip by Freescale company to form wireless module platform.

4, short-range wireless networking according to claim 1 is found range and localization method relatively, it is characterized in that: be applicable to wireless industrial monitoring location or the location of warehouse management control system to goods, its positioning precision reaches 2 meters.

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