CN202455540U - Group mobile communication system and node computer device thereof - Google Patents
Group mobile communication system and node computer device thereof Download PDFInfo
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- CN202455540U CN202455540U CN2012200201401U CN201220020140U CN202455540U CN 202455540 U CN202455540 U CN 202455540U CN 2012200201401 U CN2012200201401 U CN 2012200201401U CN 201220020140 U CN201220020140 U CN 201220020140U CN 202455540 U CN202455540 U CN 202455540U
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Abstract
The utility model discloses a group mobile communication system and a node computer device thereof. The node computer device comprises a power supply module, a digital compass module, two radio frequency transceiving modules, a micro controller unit (MCU), a memory unit and a switch array. The digital compass module and the MCU are connected through an inter-integrated circuit (I2C) bus. The two radio frequency transceiving modules and the memory unit are connected with an input/output (I/O) port through a data bus respectively. The switch array is connected with a control port of the MCU. The group mobile communication system comprises 2-26 node computer devices. In a moving process of cooperative group nodes, by means of wireless communication between the node computer devices, current opposite direction distance location of each node computer is obtained, and by means of wireless communication with a main node computer, relative position and distance length of each node computer in a group are obtained. The group mobile communication system and the node computer device have good practical value in the aspect of communication location.
Description
Technical field
The utility model relates to a population GSM and node machine thereof, belongs to the mobile communications device technical field.
Background technology
Location technology to mobile node has following principal character in mobile communication at present:
1, individual node has only a radio frequency transceiving module, is used for transmitting and exchanging the data that the self-sensor device is obtained more;
2, location positioning only to single isolated node, is ignored the business relations closely that possibly exist between each node;
3, adopt the GPS navigation system to come mobile node is carried out the position assessment as beacon as beacon or fixed position node, resulting positional information is an estimation information more;
4, the energy consumption minimized consideration of mobile node is placed above the other things, location information less demanding;
5, unpredictable to the directivity between the sparse neighboring mobile node, can only predict and be the circumferential path of radius at a certain distance, the specifying information of orientation angles needs a plurality of mobile nodes to carry out algorithm for estimating can to derive and calculate;
6, all adopt global positioning system (GPS) terminal positioning maximum can reach the orientation range of 25 meters circumference at present; But the GPS radio communication has shelter such as bridge and tunnel to ground; Then can't accomplish location work, and 25 meters orientation range moves the crowd, and directed range accuracy requires and can't reach between the adjacent member.
The utility model content
The utility model technical problem to be solved is defective and the deficiency to background technology; A kind of being adapted in the 3km scope proposed; Node machine quantity is that the group between 2 ~ 26 moves under the scene, and each node machine is known own relative position and the device of range information in group.
The utility model adopts following technical scheme for solving the problems of the technologies described above:
Node machine in the one population GSM comprises the supply module that is used for to node machine power supply, digital compass module, two RF receiving and transmission modules, micro-control unit MCU, memory cell, switch arrays; Wherein,
Adopt I between said digital compass module and the micro-control unit MCU
2The C bus connects;
Said two RF receiving and transmission modules, memory cell are connected with the I/O port of micro-control unit MCU through data/address bus respectively;
Said switch arrays are connected with the control port of micro-control unit MCU.
Further prioritization scheme as the node machine in crowd's GSM of the utility model also comprises the TFT LCD MODULE that is connected with micro-control unit MCU.
Further prioritization scheme as the node machine in crowd's GSM of the utility model; Also comprise the loud speaker and the ear arteries and veins interface that are connected with micro-control unit MCU, said loud speaker and ear arteries and veins interface are connected with micro-control unit MCU through impedance matching circuit, analog to digital conversion circuit successively.
Further prioritization scheme as the node machine in crowd's GSM of the utility model; Memory cell comprises static random access memory SRAM, flash memory Flash, and wherein said static random access memory SRAM, flash memory Flash are connected with micro-control unit MCU respectively.
As the further prioritization scheme of the node machine in crowd's GSM of the utility model, the distance between the antenna of two RF receiving and transmission modules is a H=0.16 rice.
Further prioritization scheme as the node machine in crowd's GSM of the utility model; Supply module comprises charging circuit and battery; Wherein charging circuit adopts the oscillatory type charging structure, in moving, produces mechanical force and at any time battery is charged, and supplied power by battery.
The utility model also proposes a population GSM, comprises N node machine, and each node machine distance each other is in the circumference range of 100 meters of diameters, wherein 2≤N≤26.
The utility model adopts above technical scheme, has following technique effect:
The node machine of the utility model can be to the position estimation of non-member node machine; And the data estimator of barrier present position and length shows between the member; Move the test shows of carrying out under the scene the crowd, compare, possess following technological technical indicator with the node machine of injection frequency transceiver module:
(1) working power+3.6 ~ 5.5V;
Electric current < 100mA, electric current < 10mA during dormancy when (2) working;
(3) totally three working frequency points 2.4GHz/915MHz/868MHz;
(4) MAC layer work agreement IEEE 802.15.4;
(5) maximum data transfer rate: 250Kb/s (typical module), 20/40kb/s (alternating pattern);
(6) single node machine coverage: 0 ~ 100m (sighting distance space clear);
(7) maximum receiving sensitivity :-87 ~-98 dBm (typical module) ,-92dBm;
(8) maximum transmit power: 0 ~+5dBm;
(9) single node machine directivity positioning accuracy: ≤0.5 degree (sighting distance is accessible); ≤1 degree (diffracting obstacles thing); ≤3 degree (barrier blocks fully);
(10) single node machine range measurement accuracy: < 0.3 meter (sighting distance is accessible); ≤30 meters (diffracting obstacles thing); < 2 meters (barrier blocks fully).
Description of drawings
Fig. 1 is the module map of the utility model device.
Fig. 2 is the work sketch map of group GSM.
Fig. 3 is the mapping relations figure of Zigbee protocol stack and ICP/IP protocol stack.
Fig. 4 is the directed sketch map of the range finding of energy maximal contiguous node machine.
Fig. 5 is the directed sketch map of the range finding of small-sized barrier when blocking the node machine.
Fig. 6 is the directed sketch map of range finding that barrier blocks the node machine.
Fig. 7 is that group's mobile liquid crystal shows and the button sketch map.
Embodiment
Practical implementation in crowd's mobile communications network makes and is used as further detailed description to the utility model below in conjunction with accompanying drawing.
The utility model is useful between the group member 2 ~ 26, in 100 meters distances of single node machine (the node machine that strengthens transmitting power can reach 3Km, but energy consumption decline is very fast).In diameter was 100 meters circumference, node machine quantity need not be by crowd's GSM inside range measurement between the member each other, the direction location of the bigger satellite GPS location (the satellite communication minimal time delay is at 270ms) of time delay in 2 ~ 26.Quantitatively be upgraded between 50 ~ 100 like group member, the position is upgraded time delay and will be reached about 1s, and positioning accuracy also can descend relatively.The operation principle of node machine positioning distance measuring is to adjacent energy maximum node machine; The same less radio-frequency calculating phase difference that receives through dijection frequency transceiver module obtains the direction finding and ranging data, and the node machine that direct barrier is arranged is obtained accurate data information through data passes method in diffractometer algorithm or the group.
The device hardware of the utility model is formed as shown in Figure 1, comprises the battery feed circuit that is connected with charging circuit, digital compass module; A pair of employing Zigbee agreement RF receiving and transmission module A and B, memory cell, switch arrays; Loud speaker/ear arteries and veins interface, TFT liquid crystal display module.Wherein said power circuit is used for power supply, and the compass module is passed through I
2C interface provides north-south orientation data accurately to MCU, and said RF receiving and transmission module A and B and MCU symmetry link to each other, and the distance H between the antenna of two RF receiving and transmission modules is that fixed value is 0.16 meter, and said TFT liquid crystal display module links to each other with MCU.
Wherein, MCU adopts MSP430F model single-chip microcomputer, it can be between extremely low operating voltage 1.8 ~ 3.6V equal operate as normal, activating under the Active pattern; Operating current is 280uA only; There are 3 clock signals MSP430 single-chip microcomputer inside, and it has abundant peripheral interface, comprises standard serial port, SPI interface, I
2C interface etc.
The MCU module is the core of node machine; Control flow mainly comprises apparatus for initializing; Data are handled and calculated; Give radio frequency transceiving module A and B and send the probing signal, simultaneously also will handle the data message that radio frequency transceiving module A and B receive, and according to after the operation of data processing with storage on SRAM; Notify LCD MODULE to upgrade group's positional information simultaneously, can put outward or through ear arteries and veins interface notice group member warning information through loud speaker group's abnormal conditions.
Adopting the radio frequency transceiving module of Zigbee agreement is the detection feeler of two sensitivities of the utility model node machine; Printing on the PCB circuit; Adopted the CC2430 chip to add that peripheral circuit forms jointly, CC2430 is a real System on Chip/SoC (SOC) CMOS solution.This solution can improve performance and satisfy with Zigbee is that basic 2.4GHz ISM wave band is used to low cost the requirement of low-power consumption.It combines a high-performance 2.4GHz DSSS (DSSS) RF transceiver core and small and exquisite 8051 controllers efficiently of technical grade; CC2430 is owing to be wireless SOC design; A large amount of necessary circuit that its inside is integrated adopt less peripheral circuit promptly to realize the transmission-receiving function of signal.
The composition of table 1 Zigbee wireless channel
| Channel number | Centre frequency/MHz | Channel spacing/MHz | Upper frequency limit/MHz | Lower-frequency limit/MHz |
| K=0 | 868.3 | 868.6 | ? 868.0 | |
| K=1,2,……10 | 902+2（k-1） | 2 | 928.0 | ? 902.0 |
| K=11,12……26 | 2401+5(k-11) | 5 | 2483.5 | ? 2400.0 |
The node machine has adopted the one pole unbalanced antenna, in order to optimize the wireless receiving sensitivity behaviour, has used balun, and balun may operate in the occasion of independent cheaply inductor of use and capacitor.
Fig. 2 is the scene of typical crowd's GSM work, A is promptly arranged, B; C; The common group that forms of four node machines of D, wherein A is the host node machine, this group is direction motion northeastward under the leading of A; Each node machine all can be known the accurate position and the liquid crystal display of other node machines; And according to the direction of motion of host node machine adjustment movement locus separately, wherein C node machine is blocked by barrier in some motions constantly, and its more specific location information and associated disorders thing size information will and be presented on the LCDs by estimation.
Because group's intercommunication characteristic of group communication system, i.e. member's internal authorization communication feature, and the maximum characteristics of radio communication are to disperse broadcast-type, all can communicate by letter in all wireless signal overlay areas.Therefore Fig. 3 has shown the corresponding relation of traditional T CP/IP protocol stack and Zigbee protocol stack; Wherein data link layer is the wireless collision Access Layer of Zigbee agreement; The IEEE802.15.4 standard that adopts, and the network layer of encrypting can prevent to invade the node machine legal person that disguises oneself as and gets into group.
In IEEE 802.15.4, defined 14 physical layer basic parameters and 35 media access control layer basic parameters, be total up to 49, in IEEE 802.15.4, defined two kinds of devices: global function device (FFD) and simplify function element (RFD).To full-function device, require it to support 49 all basic parameters.And, when minimal configuration, only require 38 basic parameters of its support to simplifying function element.Obtaining of these basic parameters is the node machine carries out data computation to the wireless signal that receives most important foundation.
The concrete course of work of the utility model can be divided into: initialization procedure and crowd's mobile communication process.
A, initialization procedure:
A1, the node machine of some concentrate in the wireless signal coverage within the diameter 5m, by the user function of node machine are carried out initializing set.
A1.1, the group member attribute is provided with, and comprises the setting of host node machine, and the group leader in the designated group GSM through switch arrays are set, is set to the Master pattern, and the node machine that surpasses plural Master pattern will be given tacit consent to the preferential node machine that is provided with; The Slave pattern that is set to of common group members node machine; Each member can select own personalized address, such as " John " or " Mary ", will be used for the user's in the liquid crystal display identification.
A1.2; The setting of other attributes of node machine, for guaranteeing the disguise of group in moving, or saves energy adopts the least energy mode of operation; Each node machine can be arranged to single radio frequency transceiving module operational mode; Whether voice suggestion pattern, whether whether liquid crystal display pattern starts compass mode etc.
B, crowd's mobile communication process:
B1; The handoff procedure of host node machine in crowd's mobile communication: because in crowd's moving movement; Therefore original host node machine possibility power down need give a certain node machine with group leader's permission grant perhaps for power saving switches to the node machine, need broadcast announcement to give all group members after the finishing switching.
B2; Node machine handshake procedure during the crowd moves: the i.e. negotiations process of group member internal node machine; And the spanning tree (Spanning Tree) of the no loop back path of generation; With ceiling capacity the principle of setting up that is limited to neighbor node is arranged between two node machines of spanning tree, each node with the spanning tree information stores in SRAM.
B3, ranging process: distance measurement inquiring message is sent constantly at T1 in the opposite end to the success of shaking hands, and record T1 moment relevant parameter, and ranging response message is returned after receiving range finding message in the opposite end; Because the node machine has a pair of radio frequency transceiving module, all received at ranging response message with pair of end, and the record relevant parameter, through one group of mathematical computations and estimation, can know the orientation angles and the range data of opposite end.
B3.1, adjacent sighting distance node machine range finding orientation process:
In crowd's GSM, topmost scene is that sighting distance does not have the directed range finding of node machine in the scope of blocking, and is as shown in Figure 4.
Between node machine A and the B 100 meters with interior accessible, and satisfy energy maximization open loop principle between A and the B, and B is the ceiling capacity neighbor node of A; And B is a member (preventing ding-dong the effect of closed loop) on the spanning tree, two RF receiving and transmission module radio frequencies 1 and the radio frequency 2 of node A, and B sends distance measuring signal to adjacent node; Receive the radio frequency 3 of node machine B, the signal of radio frequency 4 after communicating by letter successfully respectively, know that thus energy parameter and the data of Node B are returned constantly, energy parameter can be estimated the distance L 1 of radiation radius; And the priority of return time delay can be used for the direction of measurement angle information, and get the direction of the center angle of D (3,1) and D (4.1) as node machine B; By D (3; 1) is issued to the processing delay that D (4,1) return time deducts fixing node machine B, multiply by light velocity 3*10
8Can calculate accurate distance L2.
B3.2, the range finding when small-sized barrier blocks the node machine is directed:
Owing to can the short time barrier occur between between node in crowd's moving movement process, theoretical according to electromagnetic wave diffraction, electromagnetism wave energy diffraction is crossed the barrier that approaches self wavelength.The node machine of the utility model has objectively been offset the influence that conventional obstacles blocks owing to adopted dijection transceiver module frequently.
Node machine work signal is as shown in Figure 5, only receives the B signal around the node machine A, and the L1 and the error between the L2 that draw when the method for using B3.1 reach more than 10%; Judge between A and the B small-sized barrier to have occurred, carry out direction finding and ranging respectively, can calculate physics D (M through opposing connection exit point M and N point; N) approximate size; Error range is 0.3 meter, because D (M, N) length obviously surpasses node machine radio-frequency antenna distance H; Then further be judged to be barrier but not node machine B; The orientation of this node machine B with the central angle of central angle+∠ M2N of ∠ M1N and mark divided by 2, the distance of node machine B is simulated sign with the distance in the crosspoint of the central angle ray of the central angle ray of ∠ M1N and ∠ M2N, shown in punctuating among Fig. 5.
B3.3, barrier block the range finding orientation of node machine:
Large-scale barrier is blocked the situation that causes dropout between the part of nodes machine; Since in crowd's GSM between the member position in that section is relatively stable sometime; Be that each node machine is kept a metastable spanning tree path; The adjacent node member's that each node machine will be obtained through the transmission of wireless data separately positioning distance measuring data, as shown in Figure 6, node machine A will be through the transmission of node machine B; Know azimuth and the distance of node machine C, carry out the apparent azimuth angle and distance that the range of triangle algorithm estimates C thus.
B4; Position updating process: all group members carry out interactive information through the spanning tree path that the B2 step obtains; The ranging information of the node machine that self can't obtain is propagated through spanning tree, finally obtained the information of all member node machines, and be stored among the SRAM.LCD MODULE and SRAM shared data bus, specific data section content and output demonstration are directly read in liquid crystal display thus.And the MCU timing ratio has update content to group information as finding, then writes SRAM, is sent to loud speaker/audio frequency output suggestion voice, simultaneously through control signal notice LCD MODULE refresh data.
C, voice suggestion suggestion content example, in crowd's moving process, loud speaker can be put verbal announcement outward, perhaps uses ear arteries and veins output voice reminder, and the part voice suggestion thes contents are as follows:
1) starts the Master pattern;
2) start the Slave pattern;
3) register;
4) member's registration finishes;
5) the current motion of group is a northeast direction on two;
6) warning: this machine has broken away from group;
7) warning: the not clear thing in 10 meters, position on two, the southeast is approaching;
8) switched to the Master pattern.
D, crowd's shift position liquid crystal display: as shown in Figure 7, six press keys two is arranged totally altogether, and first row's button representes that from left to right screen moves left, moves up, and moves right; Second row's button representes that from left to right screen dwindles, and moves down, and screen amplifies.
Wherein " screen dwindles " key also is used as menu (Menu) function key and returns (Exit) key, and " screen amplification " key also is used as affirmation (Return) key, is used in user when carrying out function setting and confirms according to the option of liquid crystal display and return.
Crowd's mobile status in the initialization is as shown in Figure 7; Middle position is a node machine self-position; Node machine A is the host node machine, and C, D are other two members, liquid crystal display each member's position in the group; Direction, range data are to also schematically having marked the estimated position of barrier between self and the C.
Liquid crystal display usually only mark shows the azimuth-range of adjacent plurality of nodes machine, and the orientation of host node machine, because the general direction that the crowd moves is that the node machine is followed group's moving direction basically and moved by the direction of motion decision of host node machine; In big capacity crowd mobile communication process, like the whole information about firms of need, four buttons that can move through screen " on " D score " left side " " right side " and " amplifications " " dwindle " and carry out perception and inquire about.
Crowd's GSM test shows; At 2 ~ 26 node machines; To 20 kilometers/hour (marchings speed), direction location worst error is 1 degree at 5 kilometers/hour (about 1.5 meter per seconds of walking speed) for group's scope (sighting distance do not have block) within 100 meters, translational speed; Range error is 2 meters to the maximum, and the positioning information update time is 150 milliseconds.
Crowd's GSM test shows, at 50 ~ 100 node machines of group member, the positioning information update time will be increased to 500 milliseconds ~ 1 second.
Crowd's GSM test shows; Be installed in 2 ~ 26 node machines of the member of fleet; Adjacent node machine ultimate range is 100 meters, and host node machine movement velocity is under 100 kilometers/hour scenes, and the range direction position error is 0; Range error is orientated 5 meters as, and the positioned update time is 2 seconds to the maximum (team's head is to the tail of the queue passing time)
Thus; The utility model device can get access to better positioning distance measuring information, especially to disguised group fast moving communication systems such as tunnel, bridges under the crowd moves scene; Has higher utility; If be the composition GP configuring S module in crowd's GSM,, have the army and the people's multipurpose and be worth expanding the tip orientation range of gps system greatly on ground.
Claims (7)
1. the node machine in the population GSM is characterized in that: comprise the supply module that is used for to the power supply of node machine, digital compass module, two RF receiving and transmission modules, micro-control unit, memory cell, switch arrays; Wherein,
Adopt I between said digital compass module and the micro-control unit
2The C bus connects;
Said two RF receiving and transmission modules, memory cell are connected with the I/O port of micro-control unit through data/address bus respectively;
Said switch arrays are connected with the control port of micro-control unit.
2. the node machine in the population GSM according to claim 1 is characterized in that, also comprises the TFT LCD MODULE that is connected with micro-control unit.
3. the node machine in the population GSM according to claim 1; It is characterized in that; Also comprise the loud speaker and the ear arteries and veins interface that are connected with micro-control unit, said loud speaker and ear arteries and veins interface are connected with micro-control unit through impedance matching circuit, analog to digital conversion circuit successively.
4. the node machine in the population GSM according to claim 1 is characterized in that said memory cell comprises static random access memory, flash memory, and wherein said static random access memory, flash memory are connected with micro-control unit respectively.
5. the node machine in the population GSM according to claim 1 is characterized in that the distance between the antenna of said two RF receiving and transmission modules is a H=0.16 rice.
6. the node machine in the population GSM according to claim 1; It is characterized in that; Said supply module comprises charging circuit and battery; Wherein charging circuit adopts the oscillatory type charging structure, in moving, produces mechanical force and at any time battery is charged, and supplied power by battery.
7. a population GSM is characterized in that, comprises N like the arbitrary described node machine of claim 1-6, and each node machine distance each other is in the circumference range of 100 meters of diameters, wherein 2≤N≤26.
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| CN2012200201401U CN202455540U (en) | 2012-01-17 | 2012-01-17 | Group mobile communication system and node computer device thereof |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103139812A (en) * | 2013-03-01 | 2013-06-05 | 哈尔滨工业大学 | Mobile node formation obstacle avoidance method based on wireless sensor network |
| CN103713640A (en) * | 2013-12-31 | 2014-04-09 | 北京理工大学 | Node movement behavior control method for mobile wireless sensor network |
| CN108253969A (en) * | 2017-12-14 | 2018-07-06 | 中国航空工业集团公司成都飞机设计研究所 | A kind of computational methods of unmanned plane during flying line of sight link coverage area |
-
2012
- 2012-01-17 CN CN2012200201401U patent/CN202455540U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103139812A (en) * | 2013-03-01 | 2013-06-05 | 哈尔滨工业大学 | Mobile node formation obstacle avoidance method based on wireless sensor network |
| CN103139812B (en) * | 2013-03-01 | 2015-06-03 | 哈尔滨工业大学 | Mobile node formation obstacle avoidance method based on wireless sensor network |
| CN103713640A (en) * | 2013-12-31 | 2014-04-09 | 北京理工大学 | Node movement behavior control method for mobile wireless sensor network |
| CN103713640B (en) * | 2013-12-31 | 2016-03-02 | 北京理工大学 | A kind of mobile radio sensor network node motor behavior control method |
| CN108253969A (en) * | 2017-12-14 | 2018-07-06 | 中国航空工业集团公司成都飞机设计研究所 | A kind of computational methods of unmanned plane during flying line of sight link coverage area |
| CN108253969B (en) * | 2017-12-14 | 2021-09-14 | 中国航空工业集团公司成都飞机设计研究所 | Method for calculating flight line-of-sight link coverage range of unmanned aerial vehicle |
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Granted publication date: 20120926 Termination date: 20140117 |