CN202957987U - Location device based on position accurate location - Google Patents

Abstract

The utility model relates a location device based on position accurate location. The location device comprises a sensing node, a base station and a computer terminal. The sensing node is connected with the base station through wireless signals, and the base station is connected with a serial port of the computer terminal. The sensing node comprises a signal transceiver, a storage, a controller and a request generator. The controller is connected with the transceiver, the storage and the request generator, and the signal transceiver, the request generator and the base station are connected through wireless signals. The controller is a central processing unit (CPU) used for recognizing and judging information in a location information storage and a survival time storage, so that location accuracy of the node in the network can be improved.

Description

The pinpoint positioner of position-based

Technical field

The utility model relates to a kind of wireless sensing device, relates in particular to the pinpoint positioner of a kind of position-based.

Background technology

In wireless sensor technology, the wireless sensing positioner forms by being deployed in sensing nodes a large amount of in monitoring section, form the ad hoc network system of multi-hop by communication, its objective is perception collaboratively, perceived object information in the acquisition and processing network's coverage area, and send to client to observe for the observer.Wireless sensor technology combines sensor technology, crisis electric system technology, embedded computing technique, wireless communication technology and distributed information processing in one; mutual with the external world by wireless senser, the functions such as data acquisition, processing, communication and management.

In existing wireless sensor technology, be to calculate the distance of unknown node and sensing node by the distance of the average every jumping of sensing node, yet the objective reality of the bad node such as fringe node and inferior isolated node in network, thereby reduced the positioning precision of whole network.

The utility model content

In view of above content, the utility model is necessary to provide a kind of pinpoint positioner of position-based that improves positioning precision.

The pinpoint positioner of a kind of position-based comprises sensing node, base station and terminal, between described sensing node and described base station, by wireless signal, be connected, described base station is connected with described terminal serial ports, sensing node comprises signal transceiver, memory, controller, and request generator, described controller and described transceiver, memory and request generator connect, described signal transceiver, request generator is connected by wireless signal with described base station, described controller is CPU, be used to the signal of described sensing node broadcast to be controlled and process operation, described memory is for storing the node coordinate of sensing node, sensing node ID, the information of counter and life span.

Further, described memory comprises node recognition device, coordinate storage, locating information memory, the default device of coordinate and life span memory, described node recognition device is connected with described controller, coordinate storage, life span memory and locating information memory, and the default device of described coordinate can be connected by data wire and/or control line with described coordinate storage.

Further, described node recognition device is used to the standby globally unique sign of the signal system of described sensing node broadcast, and described sign can be identified in described whole radio sensing network between each transducer.

Further, described coordinate storage is for preserving the coordinate of sensing node.

Further, described coordinate storage is selected a kind of in EPROM, EEPROM or CMOS RAM.

Further, the locating information memory is used for preserving the information such as other sensing node signs, coordinate, jumping figure, life span and every hop distance in network.

Further, the default device of described coordinate is used to the sensing node preset coordinate, and this preset coordinate is stored by coordinate storage.

Further, described life span memory is used to the life span of signal in sensing node to set initial value.

The utility model also is necessary to provide the pinpoint positioner of a kind of position-based to comprise sensing node, base station and terminal, between described sensing node and described base station, by wireless signal, be connected, described base station is connected with described terminal serial ports, sensing node comprises signal transceiver, memory, controller and request generator, described controller is connected with described transceiver, memory and request generator, and described signal transceiver, request generator are connected by wireless signal with described base station.

Further, described memory is for storing the information of node coordinate, sensing node ID, counter and life span of sensing node.

In sum, the memory of the pinpoint positioner of the utility model position-based comprises locating information memory and life span memory.Can control information identification, the judgement in coordinate storage, locating information memory and life span memory by controller, thereby improve the positional accuracy of nodes.

The accompanying drawing explanation

The device schematic diagram that Fig. 1 is the pinpoint algorithm of position-based in the utility model preferred embodiment;

Fig. 2 is sensing node schematic diagram in the utility model preferred embodiment;

Fig. 3 is that in the utility model position-based Precision Orientation Algorithm, node obtains the reference node estimated position information flow chart of specifying jumping figure;

Fig. 4 is network positions flow chart in the utility model position-based Precision Orientation Algorithm.

Embodiment

By the following specific embodiment the pinpoint positioner of the utility model position-based is further described.Specific embodiment is for further describing the utility model, non-limiting protection range of the present utility model.

Refer to Fig. 1, the utility model provides the pinpoint positioner 100 of a kind of position-based to comprise sensing node 10, base station 20 and terminal 30.Between described sensing node 10 and described base station 20, by wireless signal, be connected, described base station 20 is connected with described terminal 30 serial ports.Described sensing node 10 is transferred to base station 20 for image data and by the data of collection with the form of wireless signal, by base station 20, signal is transferred to terminal 30.

Please in conjunction with consulting the described sensing node 10 of Fig. 2, comprise signal transceiver 11, memory 12, controller 13 and Location Request generator 14.Described controller 13 is connected with described transceiver 11, memory 12 and Location Request generator 14.Described signal transceiver 11, request generator 14 are connected by wireless signal with described base station 20.Described memory 12 is for the information of node coordinate, sensing node ID, counter and life span etc. of storing sensing node 10, and described memory 12 comprises node recognition device 121, coordinate storage 122, locating information memory 123, the default device 124 of coordinate and life span memory 125.Described node recognition device 121 is connected with described controller 13, coordinate storage 122, life span memory 125 and locating information memory 123, and the default device 124 of described coordinate can be connected by data wire and/or control line with described coordinate storage 122.

Described node recognition device 121 is connected with described controller 13, coordinate storage 122 and locating information memory 123, this node recognition device 121 is used to the standby globally unique sign of the signal system of described sensing node 10 broadcast, and described sign can be identified in described whole radio sensing network between each transducer.This node recognition device can be made jumper wire construction, before sensing node comes into operation, determines the sign of this node recognition device 121 by revising its jumper wire construction.Described sign can be stored in locating information memory 123.

Described coordinate storage 122 is connected with described controller 13, the default device 124 of coordinate, described coordinate storage 122 is for preserving the coordinate of sensing node 10, the utility model has adopted the Amorphous location algorithm, in network, there is the position of part of nodes 10 to set, this sensing node set can not re-move usually, so the coordinate of this sensing node set 10 need to be kept in coordinate storage 122 for a long time.But described coordinate storage 122 can be selected the erasable planning type ROM of EPROM(), the EEPROM(EEPROM (Electrically Erasable Programmable Read Only Memo)) or CMOS RAM(complementary metal oxide semiconductors (CMOS)) in a kind of.Described EPROM and EEPROM are applicable to the operating time of high voltage.Described EPROM still can retain the computer stored chip of data after a kind of outage.CMOS RAM is a kind of read-write chip, is used for storing data, and its content can be read and write by setting program.

Described locating information memory 123 is connected with described life span memory 125, locating information memory 123 comprises historical reference node listing (figure is mark not), and this historical reference node listing is used for preserving the information such as other sensing node signs, coordinate, jumping figure, life span and every hop distance in network.The information of these locating information memory 123 interior preservations can be controlled by controller 13, and by sending the mutual information that obtains these locating information memory 123 interior preservations of other nodes 10 in transceiver 11 and network to.These information can may change and upgrade in adopting Amorphous location algorithm computational process.

The default device 124 of described coordinate is used to the sensing node preset coordinate, then by wireless signal, send on the transceiver 11 of sensing node 10, transceiver 11 sends to by described the wireless signal received on coordinate storage 122, and is stored by coordinate storage 122.

Described life span memory 125 is used to the life span of signal in sensing node to set initial value, and described life span is stored in life span memory 125.In positioning calculation process, this life span can change.

Described controller 13 can be common CPU, is used to the signal of described sensing node 10 broadcast to be controlled, process or the operation such as judgement.

Described Location Request generator 14 can be controlled and be passed through transceiver 11 for to sensing node 10, sending locating information by controller 13.

The concrete location working method of the pinpoint positioner of position-based of the present utility model is as follows:

Refer to Fig. 3, the Amorphous algorithm realization after the utility model utilization improves, sensing node accounts for 10% of sum.When sensing node is transceiver to the positional information grouping of its neighbor node broadcast self, described position fresh information is grouped into node coordinate, sensing node ID, counter, life span and precision weighted value ω, and the initial value of setting described counter is 0, the initial value of precision weighted value is ω=1 and described life span, described life span memory 125 is N by the life span initial value, and N is greater than 0 positive integer; Obtain the minimum hop count of unknown node and annex sensing node by described counter.Judging whether to loop positional precision with affiliated described precision weighted value calculates.Described life span is greater than the node location information of life span for rejection.

When the transceiver of a unknown node receives the positional information grouping of other sensing nodes in network, the counter and the sensing node ID that by controller 13, are controlled in dividing into groups by locating information judge whether to continue to broadcast the information block of sensing node, and the minimum hop count that obtains unknown node and neighbor node, and record the minimum hop count that all nodes in network can get at each sensing node.

When unknown node receives information block, the Counter Value in the information block received is added to 1 and life span is subtracted to 1, will in the historical reference node listing in local locating information device, search, the node ID whether existence receives, if not having the information block of controlling the node that will receive by controller 13 adds in local historical reference node listing also, and continue to this information block of other node broadcasts, control the Counter Value in the Counter Value in the information block received and original information block is compared if exist by controller 13, if the Counter Value in the information block received is larger than the Counter Value in original information block, the information block of by controller 13, being controlled and by described transceiver, this being received abandons, otherwise whether the life span that judges information block is 0 o'clock, that this unknown node no longer forwards this information block, otherwise the life span of knowing information block that will receive controls by controller 13 life span that subtracts the original information block of 1 rear replacement, and the Counter Value in the information block received is replaced to the Counter Value in original information block, and life span and Counter Value after upgrading are kept in described locating information memory 123, and continue this and broadcast this information block.

Amorphous algorithm of the present utility model obtains the minimum hop count of unknown node and neighbours' sensing node by comprise sensing node ID and counter in broadcast node is thought information block.

Node i is collected the jumping figure of neighbor node, and utilizes formula (a) to count the jumping figure of certain sensing node,

$S_i=\frac{\underset{j=\mathrm{nbrs}\left(i\right)}{\mathrm{\Σ}}{h}_j+h_i}{\left|\mathrm{nbrs}\left(i\right)\right|+1}-0.5---\left(a\right)$

The neighbor node set that wherein nbrs (i) is unknown node i, h _iFor the jumping figure between node i and sensing node, h _jFor the jumping figure between neighbor node j and sensing node;

Suppose the average degree of communication n of network _LocalKnown, use formula (b) to calculate the actual range of average every jumping,

$H=r(1+\exp (-n_{\mathrm{ctds}})-{\∫}_{-1}^1\exp (-\frac{n_{\mathrm{ctds}}}{\mathrm{\π}}(\arccos t-t\sqrt{1-t^2}))\mathrm{dt})---\left(b\right)$

Wherein r means the communication radius of node, n _CtdsMean the average degree of communication of network, that is, and the average neighbor node number of nodes;

A unknown node has been received the actual range of average every jumping and the jumping figure of three above sensing nodes, utilizes formula s _iThe unknown node of estimating * H arrives the distance before sensing node, and uses trilateration to estimate certain unknown node self-position coordinate;

Whether the estimated position coordinate that judges unknown node meets the demands, by controller 13, to control and preserve and stop calculating, otherwise abandon, then judge whether to meet the condition of calculating that stops, if satisfied control and stop calculating by controller 13, if do not meet the refinement that enters next circulation, calculate.

Refer to Fig. 4, in computing network, the method for nodal exactness position is: suppose that the inquiry node coordinate is for (x, y), the coordinate of the sensing node of acquisition is (x ₁, y ₁), (x ₂, y ₂) ..., (x _n, y _n) and the corresponding distance to sensing node be d ₁,, d ₂..., d _n..., d _i=S _i* H can obtain according to the two dimensional surface range formula:

$\left\{\begin{array}{c}\sqrt{{(x-x_1)}^2+{(y-y_1)}^2}=d_1\\ \sqrt{{(x-x_2)}^2+{(y-y_2)}^2}=d_2\\ ...\\ \sqrt{{(x-x_n)}^2+{(y-y_n)}^2}=d_n\end{array}\right.---\left(1\right)$

Order $f(x,y)=\sqrt{{\left({x-x}_n\right)}^2+{\left({y-y}_n\right)}^2}---\left(2\right)$

To formula (1) coordinate (x ₀, y ₀) locate to carry out Taylor and divide and solve

$f(x,y)=f(x_0+h,y_0+k)$

$=f(x_0,y_0)+(h\frac{\∂}{\∂x}+k\frac{\∂}{\∂y})f(x_0,y_0)+\frac{1}{2!}{(h\frac{\∂}{\∂x}+k\frac{\∂}{\∂y})}^{2}f(x_0,y_0)+...---\left(3\right)$

As (h, k) enough hour, formula (3) can be reduced to:

$f(x,y)=f(x_0+h,y_0+k)$

$=f(x,y)+(h\frac{\∂}{\∂x}+k\frac{\∂}{\∂y})+f(x_0,y_0)---\left(4\right)$

is

$f(x,y)=f(x_0+h,y_0+k)$

$=\sqrt{{(x_0-x_n)}^2+{(y_0-y_n)}^2}+\frac{(x_0-x_n)}{\sqrt{{(x_0-x_n)}^2+{(y_0-y_n)}^2}}h+\frac{(y_0-y_n)}{\sqrt{{(x_0-x_n)}^2+{(y_0-y_n)}^2}}k---\left(5\right)$

Formula (5) is applied to formula (1):

$\left\{\begin{array}{c}\frac{(x_0-x_1)}{\sqrt{{(x_0-x_1)}^2+{(y_0-y_1)}^2}}h+\frac{(y_0-y_1)}{\sqrt{{(x_0-x_1)}^2+{(y_0-y_1)}^2}}k=d_1-\sqrt{{(x_0-x_1)}^2+{(y_0-y_1)}^2}\\ \frac{(x_0-x_2)}{\sqrt{{(x_0-x_2)}^2+{(y_0-y_2)}^2}}h+\frac{(y_0-y_2)}{\sqrt{{(x_0-x_2)}^2+{(y_0-y_2)}^2}}k=d_2-\sqrt{{(x_0-x_2)}^2+{(y_0-y_2)}^2}\\ .\\ .\\ .\\ \frac{(x_0-x_n)}{\sqrt{{(x_0-x_n)}^2+{(y_0-y_n)}^2}}h+\frac{(y_0-y_n)}{\sqrt{{(x_0-x_n)}^2+{(y_0-y_n)}^2}}k=d_n-\sqrt{{(x_0-x_n)}^2+{(y_0-y_n)}^2}\end{array}\right.---\left(6\right)$

Get coordinate (x ₀, y ₀) initial value is each beacon mid point, solution formula (6)

$\left\{\begin{array}{c}{x}_0=\frac{x_1+x_2+...+x_n}{n}\\ y_0=\frac{y_1+y_2+...+y_n}{n}\end{array}\right.---\left(7\right)$

Bring formula (7) into formula (6) and obtain formula (8),

$\mathrm{\&omega;}=\sqrt{h^2+k^2}<{\mathrm{\&epsiv;}}_{\mathrm{threshold}}---\left(8\right)$

Then whether judgment formula (8) is set up, if set up, by controller 13, controls and stops refinement calculating.Otherwise control new weighted value is replaced to original weighted value and enters next judgement by controller 13, get

Suppose

$\left\{\begin{array}{c}{x}_0=x_0+\frac{h}{2}\\ y_0=y_0+\frac{k}{2}\end{array}\right.---\left(9\right)$

Formula (9) substitution formula (6) is recalculated, judges, until formula (8) is set up.Unknown node is utilized the precision weighted value obtaining on the basis of initial estimated location to increase, thereby utilizes the precision weighted value can effectively improve the positioning precision of node by above-mentioned computational process.

Amorphous algorithm after the improvement that the concrete localization method of the pinpoint positioner of the utility model position-based utilizes, while dividing into groups to the positional information of its neighbor node broadcast self by sensing node, described position fresh information is grouped into node coordinate, sensing node ID and counter, obtain all nodes in network minimum hop count to each sensing node by sensing node ID and counter, and then calculate jumping figure between each node and its sensing node and the actual range of average every jumping, and each node is multiplied by jumping figure between its sensing node and the actual range of average every jumping, utilize Trilateration methods to obtain the position of oneself.And the sensing node ID that must meet the information block of the sensing node received does not exist in original historical reference node listing, and the count value of the information block of the sensing node received is less than the value of the counter of original historical reference node listing internal information grouping, information block other nodes that node just can record this node forward, thereby improve the positional accuracy of nodes.

In sum, the memory 12 of the pinpoint positioner 100 of the utility model position-based comprises locating information memory 123 and life span memory 125.Identification, the judgement of node ID, jumping figure and the life span memory 12 life span values of 13 pairs of locating information memories 123 of controller can be passed through, thereby the positional accuracy of nodes can be improved.

The foregoing is only embodiment of the present utility model; not thereby limit the scope of the claims of the present utility model; every equivalent structure or conversion of equivalent flow process that utilizes the utility model description to do; or directly or indirectly be used in other relevant technical fields, all in like manner be included in scope of patent protection of the present utility model.

Claims (10)

1. the pinpoint positioner of position-based (100), comprise sensing node (10), base station (20) and terminal (30), between described sensing node (10) and described base station (20), by wireless signal, be connected, described base station (20) is connected with described terminal (30) serial ports, it is characterized in that: sensing node (10) comprises signal transceiver (11), memory (12), controller (13), and request generator (14), described controller (13) and described transceiver (11), memory (12) and request generator (14) connect, described signal transceiver (11), request generator (14) is connected by wireless signal with described base station (20), described controller (13) is CPU, be used to the signal of described sensing node (10) broadcast to be controlled and process operation, described memory (12) is for storing the node coordinate of sensing node, sensing node ID, the information of counter and life span.

2. the pinpoint positioner of position-based according to claim 1 (100), it is characterized in that: described memory (12) comprises node recognition device (121), coordinate storage (122), locating information memory (123), coordinate is preset device (124) and life span memory (125), described node recognition device (121) and described controller (13), coordinate storage (122), life span memory (125) and locating information memory (123) are connected, described coordinate is preset device (124) and is connected by data wire and/or control line with described coordinate storage (122).

3. the pinpoint positioner of position-based according to claim 2 (100), it is characterized in that: described node recognition device (121) is connected with described controller (13), coordinate storage (122) and locating information memory (123), described node recognition device (121) is used to the standby globally unique sign of the signal system of described sensing node (10) broadcast, and described being identified in described whole radio sensing network is identified between each transducer.

4. the pinpoint positioner of position-based according to claim 2 (100), it is characterized in that: described coordinate storage (122) is connected with described controller (13), the default device (124) of coordinate, and described coordinate storage (122) is for preserving the coordinate of sensing node (10).

5. the pinpoint positioner of position-based according to claim 4 (100) is characterized in that: described coordinate storage (122) is selected a kind of in EPROM, EEPROM or CMOS RAM.

6. the pinpoint positioner of position-based according to claim 2 (100), it is characterized in that: described locating information memory (123) is connected with described life span memory (125), and described locating information memory (123) is used for preserving the information of other sensing node signs, coordinate, jumping figure, life span and every hop distance in network.

7. the pinpoint positioner of position-based according to claim 2 (100), it is characterized in that: described coordinate is preset device (124) and is used to the sensing node preset coordinate, and this preset coordinate is stored by coordinate storage (122).

8. the pinpoint positioner of position-based according to claim 2 (100) is characterized in that: described life span memory (125) is used to the life span of signal in sensing node (10) to set initial value.

9. the pinpoint positioner of position-based (100) comprises sensing node (10), base station (20) and terminal (30), between described sensing node (10) and described base station (20), by wireless signal, be connected, described base station (20) is connected with described terminal (30) serial ports, it is characterized in that: sensing node (10) comprises signal transceiver (11), memory (12), controller (13), and request generator (14), described controller (13) and described transceiver (11), memory (12) and request generator (14) connect, described signal transceiver (11), request generator (14) is connected by wireless signal with described base station (20).

10. the pinpoint positioner of position-based according to claim 9 (100), it is characterized in that: between described memory (12) and described base station (20), signal is connected, for the information of node coordinate, sensing node ID, counter and the life span of storing sensing node (10).

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