CN202750234U - Three-dimensional positioning system under synergistic action of wireless sensor networks and ultrasonic waves - Google Patents
Three-dimensional positioning system under synergistic action of wireless sensor networks and ultrasonic waves Download PDFInfo
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- CN202750234U CN202750234U CN 201220367071 CN201220367071U CN202750234U CN 202750234 U CN202750234 U CN 202750234U CN 201220367071 CN201220367071 CN 201220367071 CN 201220367071 U CN201220367071 U CN 201220367071U CN 202750234 U CN202750234 U CN 202750234U
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Abstract
The utility model discloses a three-dimensional positioning system under the synergistic action of wireless sensor networks and ultrasonic waves, and belongs to the technical field of wireless three-dimensional positioning. The three-dimensional positioning system relates to a highly-efficient and reliable time synchronization mechanism, the fact that global network nodes keep the same time benchmark is ensured by means of four-time handshake communication between a target node and a reference node, accurate distance information is obtained, the position of the target node is confirmed through an improved algorithm based on the mass center method, and high precision three-dimensional positioning of the target node in the measurement space is achieved from hardware and software. The three-dimensional positioning system solves the problems that a cable way ultrasonic wave three-dimensional positioning system is complex in cabling, poor positioning precision is caused by network node clock desynchrony in the wireless way and the like, and the three-dimensional positioning system is wide in applicability and strong in extensibility.
Description
[technical field]
The utility model belongs to the Wireless stereo field of locating technology, particularly the stereotactic system under a kind of wireless sensor network and the ultrasonic wave synergistic reaction.
[background technology]
Ultrasonic ranging location is a kind of non-contact measuring technology, and high with its range accuracy, directive property is strong, energy consumes low and the characteristics such as electromagnetic field is insensitive are generally used in the range finding location.Wired ultrasonic positioning system can be comprised of a destination node and several reference nodes, reference node is launched the signal of telecommunication by wire medium to destination node under the effect of microcomputer command signal, destination node after receiving the signal of telecommunication simultaneously to reference node emission ultrasonic signal, thereby calculate testing distance according to the time difference of command signal and ultrasonic wave arrival.Utilize at last more than three or three the not reference node on same straight line, determine the position of destination node by the correlation computations rule.But also there is certain limitation in this kind locate mode, and the introducing of wire medium has limited the extensibility of system, can't be applied to be not suitable for to connect up or environment that wiring cost is higher.
The wireless ultrasonic location technology has and avoids wiring, is not subjected to spatial limitation and the advantage such as can expands on a large scale.In the wireless ultrasonic navigation system, the time synchronized between the ultrasonic wave transmitting-receiving node is to carry out pinpoint key point.Under wired mode, a microcontroller utilizes timer can realize temporal strict control from the emission control to the receive interruption fully, but under the wireless mode, destination node and a plurality of reference node respectively have himself system clock, these local clocks are precise synchronization not, always has the regular hour error, thereby can not directly calculate according to the time interval, must carry out comprehensive compensation to measurement data, timing differential is suitably revised.Time synchronization problem becomes the difficulty that must break through together based in the stereoscopic ultrasonic navigation system of wireless sensor network.
The utility model combines the pinpoint advantage of ultrasonic wave with wireless sensor network, the new approaches of a colocated are provided for stereotaxic technique, and a kind of simple and reliable Time Synchronization Mechanism is proposed, the High Precision Stereo of realize target node in measurement space located.
[summary of the invention]
The purpose of this utility model provides the stereotactic system under a wireless sensor network and the ultrasonic wave synergistic reaction, and design corresponding Time Synchronization Mechanism, can solve the nonsynchronous problem of ubiquitous nodal clock in the wireless location system, the High Precision Stereo location of realize target node in measurement space.
The utility model system hardware comprises:
Destination node 1: formed by radio-frequency module, ultrasonic wave module, controller module, motor drive module and power module five parts, accept the instruction of remote controller node 6 and make corresponding actions, move freely in can be in detected space;
Remote controller node 6: be comprised of radio-frequency module, ultrasonic wave module, controller module and power module four parts, be responsible for sending remote control command, commander's destination node 1 is made left-hand rotation, the action such as is turned right, advances, stops;
Base-station node 7: formed by radio-frequency module, LCD MODULE, controller module, serial port module and power module five parts, realize the functions such as data processing and spatial coordinates calculation.
Design a kind of Time Synchronization Mechanism that is applicable to the stereotactic system under wireless sensor network and the ultrasonic wave synergistic reaction, it is characterized in that destination node 1 carries out common 4-Way Handshake with reference node 2,3,4,5 respectively and communicates by letter, eliminate the intrinsic time error by calculating, unified global time reference, precision ranging.And utilize improved centroid method algorithm realize target location, positioning accuracy can reach 1cm.
In whole network, destination node 1 and each reference node 2,3,4,5 are safeguarded a local clock separately, but the local clock of each node is not synchronously strict.There is respectively the poor T of intrinsic system clock in hypothetical target node 1 with reference node 2,3,4,5
1-2, T
1-3, T
1-4, T
1-5Be without loss of generality, take destination node 1 and reference node 2 as example, establishing the aerial propagation time of radio wave is Δ t
1-2, the moment after destination node 1 wireless excitation is designated as t
α 2, signal is designated as t through the moment that air borne arrives after reference node 2 receives
β 2Destination node 1 at first sends a request signal to reference node 2, sets according to above-mentioned parameter, has:
t
α2+Δt
1-2＝t
β2-T
1-2
Reference node 2 receives behind the signal of destination node 1 that immediately postbacking one to destination node 1 is used for the wireless signal confirmed, thereby finishes a handshake communication between destination node 1 and the reference node 2.With reference to constantly being designated as t after node 2 signal excitation
γ 2, air-borne transmission is designated as t constantly after destination node 1 receives
δ 2, then have:
t
γ2+Δt
1-2＝t
δ2-T
1-2
Above two equatioies of simultaneous can obtain Δ t of aerial propagation time of radio signal through calculating
1-2With the clock difference T of destination node 1 with reference node 2
1-2:
Δt
1-2＝(t
β2+t
δ2-t
γ2-t
α2)/2
T
1-2＝(t
β2+t
γ2-t
α2-t
δ2)/2
In like manner utilize said method, pass through again three-way handshake communication, can measure reference node 3,4,5 and destination node 1 between clock difference T
1-3, T
1-4, T
1-5:
T
1-3＝(t
β3+t
γ3-t
α3-t
δ3)/2
T
1-4＝(t
β4+t
γ4-t
α4-t
δ4)/2
T
1-5＝(t
β5+t
γ5-t
α5-t
δ5)/2
Then just can utilize clock difference to carry out the Network Synchronization adjustment, overall situation benchmark unified time, thus realize accurately real-time solid location.
[advantage of the present utility model and good effect]
Compared with prior art, the utlity model has following advantage and good effect:
The first, the utility model utilizes wireless sensor network and ultrasonic wave synergistic reaction to realize three-dimensional location, has avoided the problems such as wiring complexity that traditional wired mode causes, limited space, has expanded the range of application of navigation system, is easy to popularization.
The second, because destination node and a plurality of reference node have system clock separately, utilize in wired locate mode time interval method to find range and can not realize.The utility model innovation ground proposes a kind of Time Synchronization Mechanism of suitable wireless location system, eliminate intrinsic time error, unified length of a game by 4-Way Handshake communication, can effectively solve internodal asynchronism(-nization) step problem, for accuracy and the real-time of system provides strong guarantee.
The 3rd, wireless sensor network technology is applied to the Wireless stereo location, destination node in the navigation system and reference node form network in the ad-hoc wireless mode, just can enlarge the scope of location as long as increase the number of reference node, and stand good in the orientation range of this Time Synchronization Mechanism after expansion.
[description of drawings]
Fig. 1 is the stereotactic system reference node distribution map under wireless sensor network and the ultrasonic wave synergistic reaction;
Fig. 2 is the three-dimensional positioning principle schematic diagram under wireless sensor network and the ultrasonic wave synergistic reaction;
Fig. 3 a is the destination node hardware structure diagram;
Fig. 3 b is reference node and remote controller node hardware structure figure;
Fig. 3 c is the base-station node hardware structure diagram;
Fig. 4 is the Time Synchronization Mechanism schematic diagram;
[embodiment]
Embodiment 1:
The solid space that the actual measured target spatial dimension of the wireless sensor network that the utility model proposes and the stereotactic system under the ultrasonic wave synergistic reaction is a 4.0m * 4.0m * 2.0m, the top, space uses tripod to fix nine reference nodes, as shown in Figure 1.Nine nodes are divided into detected space the positioning unit of 4 2.0m * 2.0m * 2.0m.
Take one of them unit as example, Fig. 2 has shown stereoscopic ultrasonic positioning system structure figure in this unit.Wherein destination node 1 selects motor-driven carrier as its carrier, moves freely in can be in detected space; Four reference nodes 2 of top, space fixed placement, 3,4,5; The space outside utilizes the advancing of remote controller node 6 control destination nodes 1, retreats, about the function such as turn, stop; Base-station node 7 is responsible for receiving the range data that reference node 2,3,4,5 transmits, and realizes data processing and spatial coordinates calculation.
Destination node 1 is comprised of radio receiving transmitting module, ultrasonic wave module, controller module, motor drive module and power module five parts, shown in Fig. 3 a; Reference node 2,3,4,5 and remote controller node 6 formed by radio receiving transmitting module, ultrasonic wave module, controller module and power module four parts, shown in Fig. 3 b; Base-station node is comprised of radio receiving transmitting module, LCD MODULE, controller module, serial port module and power module five parts, shown in Fig. 3 c.
Fig. 4 is the Time Synchronization Mechanism schematic diagram of the utility model design, and this mechanism is eliminated the intrinsic time error, the Unified Network node time by carrying out handshake communication between destination node and the reference node.Internodal transmission of wireless signals can resolve into wireless excitation, radio transmission, three processes of wireless receiving, and there is respectively the poor T of intrinsic system clock in hypothetical target node 1 with reference node 2,3,4,5
1-2, T
1-3, T
1-4, T
1-5
Take destination node 1 and reference node 2 as example, establishing the aerial propagation time of radio wave is Δ t
1-2, the moment after destination node 1 wireless excitation is designated as t
α 2, signal is designated as t through the moment of propagating after reference node 2 receives
β 2Destination node 1 at first sends a request signal to reference node 2, sets according to above-mentioned parameter, has:
t
α2+Δt
1-2＝t
β2-T
1-2
Reference node 2 receives behind the signal of destination node 1 that immediately postbacking one to destination node 1 is used for the wireless signal confirmed, thereby finishes a handshake communication between destination node 1 and the reference node 2.With reference to constantly being designated as t after node 2 signal excitation
γ 2, air-borne transmission is designated as t constantly after destination node 1 receives
δ 2, then have:
t
γ2+Δt
1-2＝t
δ2-T
1-2
Above two equatioies of simultaneous can obtain Δ t of aerial propagation time of radio signal through calculating
1-2With the clock difference T of destination node 1 with reference node 2
1-2:
Δt
1-2＝(t
β2+t
δ2-t
γ2-t
α2)/2
T
1-2＝(t
β2+t
γ2-t
α2-t
δ2)/2
In like manner utilize said method, pass through again three-way handshake communication, can measure reference node 3,4,5 and destination node 1 between clock difference T
1-3, T
1-4, T
1-5:
T
1-3＝(t
β3+t
γ3-t
α3-t
δ3)/2
T
1-4＝(t
β4+t
γ4-t
α4-t
δ4)/2
T
1-5＝(t
β5+t
γ5-t
α5-t
δ5)/2
The time reference that just can unify on this basis the whole network node is realized the effective three-dimensional location to target.Obtain at first respectively the range information between destination node 1 and the reference node 2,3,4,5 during the location, then send to base-station node 7 by merging, packing, base-station node 7 will resolve, extract and process packet.Native system adopts the improvement algorithm based on centroid method, judges first the size of four distances, gets rid of apart from the solstics according to size order, only uses nearest ranging information to calculate at 3, obtains final three-dimensional positioning result.
Claims (2)
1. the stereotactic system under a wireless sensor network and the ultrasonic wave synergistic reaction, this system hardware comprises:
Destination node 1: formed by radio-frequency module, ultrasonic wave module, controller module, motor drive module and power module five parts, accept the instruction of remote controller node 6 and make corresponding actions, move freely in can be in detected space;
Reference node 2,3,4,5: formed by radio-frequency module, ultrasonic wave module, controller module and power module four parts, be responsible for ultrasonic signal is received and demodulation, can obtain destination node 1 and reference node 2,3,4, four groups of range informations of 5;
Remote controller node 6: be comprised of radio-frequency module, ultrasonic wave module, controller module and power module four parts, be responsible for sending remote control command, commander's destination node 1 is made left-hand rotation, the action such as is turned right, advances, stops;
Base-station node 7: formed by radio-frequency module, LCD MODULE, controller module, serial port module and power module five parts, realize the functions such as data processing and spatial coordinates calculation.
2. the stereotactic system under described wireless sensor network and the ultrasonic wave synergistic reaction according to claim 1, it is characterized in that destination node 1 carries out common 4-Way Handshake with reference node 2,3,4,5 respectively and communicates by letter, eliminate the intrinsic time error by calculating, unified global time reference, precision ranging, positioning accuracy can reach 1cm, solution is in whole network, destination node 1 and each reference node 2,3,4,5 are safeguarded a local clock separately, but the local clock of each node is not strict stationary problem.
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|---|---|---|---|
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| CN 201220367071 CN202750234U (en) | 2012-07-27 | 2012-07-27 | Three-dimensional positioning system under synergistic action of wireless sensor networks and ultrasonic waves |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103645462A (en) * | 2013-11-26 | 2014-03-19 | 清华大学 | Acoustic wave positioning method and terminal |
| CN104166121A (en) * | 2014-08-07 | 2014-11-26 | 广州市香港科大霍英东研究院 | Ocean wireless sensor network positioning method |
-
2012
- 2012-07-27 CN CN 201220367071 patent/CN202750234U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103645462A (en) * | 2013-11-26 | 2014-03-19 | 清华大学 | Acoustic wave positioning method and terminal |
| CN103645462B (en) * | 2013-11-26 | 2015-08-12 | 清华大学 | A kind of audiolocation method and terminal |
| CN104166121A (en) * | 2014-08-07 | 2014-11-26 | 广州市香港科大霍英东研究院 | Ocean wireless sensor network positioning method |
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|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130220 Termination date: 20130727 |