CN102014147A - Positioning system in Internet of things as well as deploying method and device thereof - Google Patents
Positioning system in Internet of things as well as deploying method and device thereof Download PDFInfo
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Abstract
The invention discloses a positioning system in Internet of things as well as a deploying method and device thereof. The method comprises the following steps of: determining the coverage of an electronic landmark; determining the deploying density of the electronic landmark according to the coverage of the electronic landmark; and deploying the electronic landmark according to the deploying density of the electronic landmark. The invention also discloses a device comprising a coverage determining module, a deploying density determining module and a deploying module, wherein the coverage determining module is used for determining the coverage of the electronic landmark; the deploying density determining module is used for determining the deploying density of the electronic landmark according to the coverage of the electronic landmark; and the deploying module is used for deploying the electronic landmark according to the deploying density of the electronic landmark. The invention also discloses a positioning system comprising a wireless gateway, a landmark management server and an electronic landmark node deployed according to the above method. A thing positioning system within the global range is constructed aiming at the characteristics of huge amount, wide circulation area and frequent position alteration of things in the Internet of things, thereby the things within the global range can be positioned with high precision and low cost.
Description
Technical field
The present invention relates to the technology of Internet of things field, the navigation system in particularly a kind of Internet of Things and dispositions method and device.
Background technology
Internet of Things is by information sensing equipment such as radio-frequency (RF) identification, infrared inductor, global positioning system, laser scanners, by existing wired, wireless communication protocol, any article and Internet connection are got up, carry out information exchange and communication, to realize a kind of network of intelligent identification, location, tracking, monitoring and management.At present, Internet of Things is widely used in fields such as intelligent transportation, environmental monitoring, material flow tracking and location, yet, all these are used the support that all be unable to do without the article geographical location information, so, obtain the important directions that the article geographical location information has become Internet of Things research how to the article location.
More existing correlative studys of locating with article in the prior art, however these researchs concentrate on the location algorithm of article.In addition, the location of article only only limits to industry inside and does not have scale, and the application of Internet of Things has only possessed scale, just can make the shared and use of large numbers of items information become possibility.
In realizing process of the present invention, the inventor finds that there is following problem at least in prior art:
Characteristics such as, the field of circulation huge at number of articles in the Internet of Things extensively, the position change is frequent need to make up the item location system in the global range, realize the high accuracy of article in the global range, low-cost location.
Summary of the invention
In order to make up an item location system in the global range, realize the high accuracy of article in the global range, low-cost location, the embodiment of the invention provides the dispositions method of the navigation system in a kind of Internet of Things, and described method comprises:
Determine target coverage electronically;
Determine the described deployment density of target electronically according to the described coverage of target electronically;
According to the described deployment density of target electronically described electronics terrestrial reference is disposed.
The embodiment of the invention also provides the deployment devices of the navigation system in a kind of Internet of Things, and described device comprises:
The coverage determination module is used for determining target coverage electronically;
The deployment density determination module is used for determining the described deployment density of target electronically according to the described coverage of target electronically;
Deployment module is used for according to the described deployment density of target electronically described electronics terrestrial reference being disposed.
The embodiment of the invention also provides the navigation system in a kind of Internet of Things, it is characterized in that, described system comprises: radio network gateway, terrestrial reference management server and the electronics terrestrial reference node of disposing according to said method.
The beneficial effect that the technical scheme that the embodiment of the invention provides is brought is: by determining target coverage electronically; According to this final deployment that realizes the navigation system in the Internet of Things of definite target deployment density electronically of target coverage electronically, and then the high accuracy of article in the global range, the low-cost location have been realized.
Description of drawings
Fig. 1 is the method flow diagram that provides in the embodiment of the invention 1;
Fig. 2 is the method flow diagram that provides in the embodiment of the invention 2;
Fig. 3 is the method flow diagram that provides in the embodiment of the invention 3;
Fig. 4 determines the method flow diagram of target coverage electronically according to weights in the embodiment of the invention 4;
Fig. 5 is the structural representation of the device that provides in the embodiment of the invention 5;
Embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, embodiment of the present invention is described further in detail below in conjunction with accompanying drawing.
Embodiment 1
As shown in Figure 1, the invention provides the dispositions method of the navigation system in a kind of Internet of Things, this method may further comprise the steps:
S101: determine target coverage electronically;
S102: determine target deployment density electronically according to target coverage electronically;
S103: the electronics terrestrial reference is disposed according to target deployment density electronically.
The method that present embodiment provides is by determining target coverage electronically; Determine the final deployment that realizes the navigation system in the Internet of Things of target deployment density electronically according to this electronics terrestrial reference coverage, and then realized the high accuracy of article in the global range, low-cost location.
The invention provides the deployment devices of the navigation system in a kind of Internet of Things, this device comprises:
The coverage determination module is used for determining target coverage electronically;
The deployment density determination module is used for determining the described deployment density of target electronically according to the described coverage of target electronically;
Deployment module is used for according to the described deployment density of target electronically described electronics terrestrial reference being disposed.
The invention provides the navigation system in a kind of Internet of Things, this system comprises: radio network gateway, terrestrial reference management server and the electronics terrestrial reference node of disposing according to said method.The terrestrial reference management server is indoor terrestrial reference management server, and this electronics terrestrial reference node is indoor electronics terrestrial reference node; Or the terrestrial reference management server is outdoor terrestrial reference management server, and this electronics terrestrial reference node is outdoor electronics terrestrial reference node.
Embodiment 2
As shown in Figure 2, be example with the indoor locating system in the Internet of Things, the navigation system in the indoor Internet of Things is made up of at indoor electronics terrestrial reference node, radio network gateway and the indoor terrestrial reference management server of indoor deployment different tissues, mechanism and individual.Indoor electronics terrestrial reference is the i.e. information of this electronics terrestrial reference geographic location of storage landmark information, and has the intelligent terminal of wireless communication ability.The indoor electronics terrestrial reference node zone in its communication range at set intervals sends landmark information, and article can be according to calculating himself position from target landmark information differently.Indoor electronics terrestrial reference is deployed in indoor to realize the multiple landmark information covering to room area with certain density, promptly indoor optional position all can receive the landmark information that sends from a plurality of electronics terrestrial references.Article are in receiving from different chamber electronically behind the target landmark information, can pass through existing location algorithm such as TOA (Time of Arriving, the time of advent algorithm), TDOA (Time Difference OfArrival, the time of advent difference algorithm) carry out the location of self-position, preferably, these article receive from the different chamber electronically the target landmark information be at least three.Indoor electronics terrestrial reference communicates by radio network gateway and indoor terrestrial reference management server.Preferably, indoor electronics terrestrial reference can be formed ad hoc (multi-hop mobile wireless network) network with other wireless terminals such as mobile phone, recognizer, when electronics terrestrial reference and radio network gateway distance is far away, can be connected with radio network gateway by mobile phone, the recognizer in the ad hoc network of its place, thus the effect that is connected of having promoted indoor electronics terrestrial reference and radio network gateway.Indoor terrestrial reference management server receives the information from indoor electronics terrestrial reference, in time finds and report the electronics terrestrial reference node of fault, the normal operation of mark system electronically in the maintenance room.
The dispositions method of the navigation system in this indoor Internet of Things specifically comprises:
S201: determine target coverage electronically;
Concrete, for indoor optional position P
0, P
0All can be covered by the different terrestrial reference signal of h, then h is target coverage electronically.Wherein, the communication radius of terrestrial reference is R
0If with indoor optional position P
0Abstract is a point, then with a P
0Be the center of circle, R
0For being deployed with h electronics terrestrial reference at least in the circle of radius, preferably electronically target coverage h more than or equal to 3.
S202: according to
Determine target deployment density electronically;
Wherein, R
0Be target communication radius electronically, h is target coverage electronically, n
0Be target deployment density electronically.Particularly, if the electronics terrestrial reference is evenly disposed, the target deployment density is n electronically
0Individual/square metre, then
Promptly
Therefore, the indoor electronics terrestrial reference system that satisfies that h heavily covers, the target deployment density rounds up electronically, is at least
Individual/square metre.
S203: the electronics terrestrial reference is disposed according to target deployment density electronically.
Concrete, adjust target deployment density electronically according to the article flow flux of zones of different in the navigation system.Because the terrestrial reference signal is to cover with the circle that is designated as the center of circle electronically, and it is in kind far away more apart from the electronics terrestrial reference, signal is weak more, therefore, for the bigger zone of quantity in circulation in kind, in order to guarantee the stronger terrestrial reference signal that all can receive in kind, need to dispose the more signal strength signal intensity that is marked with the enhancing terrestrial reference electronically.In addition,, need more accurate article position information, could in a large amount of material objects, locate material object more exactly, and this needs the multiple covering of terrestrial reference signal for the bigger zone of quantity in circulation in kind.Therefore, the h value can be got different values according to the quantity in circulation of material object, and as average family, preferred h=3 can satisfy the requirement of location in kind, and for quantity in circulation in kind bigger factory or market, the desirable bigger value of h satisfies the demand of large numbers of items location.
Present embodiment is provided with target deployment density electronically according to the circulation of indoor article, realizes the multiple electronics landmark information of room area is covered.Therefore, indoor article can be with the positional information of higher accuracy computation self.
Embodiment 3
As shown in Figure 3, be example with the outdoor navigation system in the Internet of Things, the outdoor navigation system in the Internet of Things is made up of outdoor electronics terrestrial reference node and public terrestrial reference management server.Outdoor being designated as electronically stored the i.e. information of this electronics terrestrial reference geographic location of landmark information, and has the intelligent terminal of wireless communication ability.The outdoor electronics terrestrial reference node zone in communication radius at set intervals sends landmark information, and article can calculate self-position from target landmark information differently according to what receive.In the city, the circulating area of outdoor article is mainly road, therefore, outdoorly be marked with road both sides that certain density is arranged in the city electronically and realize that it is that optional position in the road all can receive from a plurality of landmark informations of target electronically that multiple landmark information to optional position in the road covers.Article can carry out the location of self-position by existing location algorithm such as TOA, TDOA behind the landmark information that receives from different chamber's exoelectron terrestrial reference, wherein, the landmark information from different chamber's exoelectron terrestrial reference that these article receive is at least three.Outdoor electronics terrestrial reference communicates by radio network gateway and public terrestrial reference management server.Preferably, outdoor electronics terrestrial reference can be formed ad hoc network with other wireless terminals such as mobile phone, recognizer, when electronics terrestrial reference and radio network gateway distance is far away, can be connected with radio network gateway by mobile phone, the recognizer in the ad hoc network of its place, thus the effect that is connected of having promoted outdoor electronics terrestrial reference and radio network gateway.At set intervals, outdoor electronics terrestrial reference is reported its operating state to public terrestrial reference management server.Public terrestrial reference management server receives the electronics terrestrial reference node of from the outdoor information of target electronically, in time finding and report fault, the normal operation of maintenance room exoelectron ground mark system.
If with the road in the navigation system abstract be the limit, the starting point of road, terminal point and breakover point are abstract to be the summit, form a non-directed graph G (V by limit and summit, E), wherein, the set on summit in the V presentation graphs, the set on limit in the E presentation graphs, N is the number on summit among the figure, and then as shown in Figure 2, the dispositions method of the outdoor navigation system in this Internet of Things specifically comprises:
S301: determine the weights of road in the navigation system, determine target coverage electronically according to weights;
Wherein, determine that the weights of road specifically comprise in the navigation system: according to
Determine the weights of road in the navigation system, e
IjThe length on limit between expression summit i and the j, w
IjFor length is e
IjThe weights on limit,
Be limit e
IjDegree centrality,
Be limit e
IjContiguous centrality,
Be limit e
IjJie count centrality,
Be limit e
IjGathering centrality,
Be limit e
IjStraight line centrality,
Be limit e
IjInformation centre's property.
Limit e
IjDegree centrality
Be defined as
Be used to represent limit e
IjThe actual adjacent side number that has, i.e. e
IjSum and e are counted in the limit that two summits are connected
IjThe ratio of the adjacent side number that may have.The degree centrality on limit is big more, and limit more in the key diagram can directly link to each other with this limit, and therefore, this limit is in the comparatively position at center in whole figure.For example, limit e
IjTwo summits be i and j,
The limit number that expression summit i is connected,
The limit number that expression summit j is connected,
(e
Ik+ e
Jk) expression limit e
IjTwo summits the actual limit number that connects and.And in the ideal case, limit e
IjCan connect 2 (N-2) bar limit at most, promptly summit i can connect (N-2) bar limit, and summit j also can connect (N-2) bar limit because summit i or j can with figure in remove i and j N-2 summit be connected.This formula is not consider limit e
Ij, because
In do not consider limit e
Ij, do not consider limit e among 2 (N-2) yet
Ij, the limit of self is not considered on all limits when calculating degree centrality, all be fair to all limits then.
Limit e
IjContiguous centrality
Be defined as
The total limit number and the limit e of expression network
IjThe ratio of the beeline sum on other limit in the network.Wherein, the beeline on two limits is defined as the minimum limit number that will pass through to another limit from a limit, if two limits are adjacent, then these two limits beeline be 2,
Expression limit e
IjWith limit e
PqBeeline.The contiguous centrality on limit is big more, the beeline that this limit and other limit are described is more little, promptly the optional position from network arrives this limit Vietnamese side just, therefore, this limit is in the comparatively position at center in whole network, wherein, article two, the beeline on limit is defined as the minimum limit number that will pass through to another limit from a limit, if two limits are adjacent, then these two limits beeline be 2
Expression limit e
IjWith limit e
PqBeeline,
Expression limit e
IjBeeline sum with every other limit in the network.
Limit e
IjJie count centrality
Be defined as
Expression limit e
IjAppear at the probability on all internodal shortest paths.Wherein, n
PqShortest path number between expression summit p and the q, m
Pq(e
Ij) represent in the shortest path between summit p and the q through limit e
IjThe shortest path number.It is big more that Jie on limit counts centrality, represents that this limit is present in the more shortest path, and therefore the physical flow of carrying is also bigger, and this limit is in the comparatively position at center, n
PqShortest path number between expression summit p and the q.For example, have 1,2 in the network, 3,4 four summits, from 1 to 4 shortest path number has many so, such as from 1 directly to 4, also may be from 2 directly to 4.m
Pq(e
Ij) represent in the shortest path between summit p and the q through limit e
IjThe shortest path number, many shortest paths are for example arranged between p and the q, but may some through limit e
Ij, some is without limit e
Ijm
Pq(e
Ij)/n
PqRepresent in the shortest path between p and the q through limit e
IjProbability.
Shortest path in the network between any a pair of summit is through limit e
IjThe probability sum.Yet, total N (N-1)/2 pair summit in the network, therefore
Represent that divided by N (N-1)/2 shortest path on average every pair of summit in the network is through limit e
IjProbability.
Limit e
IjGathering centrality
Be defined as
The ratio of in esse limit number and the maximum limit number that may have between expression summit i and all neighborss of j.Wherein, k
IjThe sum of the neighbors that expression summit i and summit j have, EN
IjThe limit number that exists between the neighbors of expression summit i and j.The gathering centrality on limit is big more, and the probability that all neighborss of expression summit i and j are connected with each other is lower, therefore, needs more adjacent side to be directly connected to this limit, to guarantee the connectedness of city road network, so this limit is in the comparatively position at center; If between certain summit s and summit i the limit is arranged, then s is the neighbors of i.k
IjThe sum of the neighbors that expression summit i and summit j have, k
IjIndividual neighbors is interconnected, is up to k
Ij(k
Ij-1) limit/2, EN
IjIn esse limit number between the neighbors of expression summit i and j.
EN is counted in esse limit between expression summit i and all neighborss of j
IjCount k with the maximum limit that may have
Ij(k
Ij-1) ratio/2.
Limit e
IjStraight line centrality
Be defined as
The Euclidean distance on other summits and summit i and j arrive the length ratio of the shortest path on other summits in the network in expression summit i and the j arrival network.Wherein,
Expression summit i and k are along the Euclidean distance of straight line, and Euclidean distance is represented the air line distance between two summits, l
IkThe shortest path length of expression summit i and k, when road when being straight, its path is the Euclidean distance on two summits, when the road is when bending, calculating path length then.The straight line centrality on limit has represented that two summits on the limit arrive the degree of the shortest path off-straight on other summits.The straight line centrality on limit is big more, and expression arrives this limit more for quick, convenient, so the geographical position on this limit is more for important.Concrete,
Expression summit i arrives the Euclidean distance on other N-1 summit in the network and the length ratio that summit i arrives the shortest path on other N-1 summit in the network, to their summation.
Show that very summit j arrives the Euclidean distance on other N-1 summit in the network and the length ratio that summit j arrives the shortest path on other N-1 summit in the network, to their summation.Why divided by 2 (N-1), be because to above-mentioned these two and average, because
Be N-1 ratio addition,
Also be N-1 ratio addition divided by N-1, promptly obtain average.
Limit e
IjInformation centre's property
Be defined as
Expression deletion limit e
IjAfter, the central variation of the straight line on all limits among the figure.Wherein,
G ' expression deletion limit e
IjAfter figure, if the deletion limit e
IjAfter, unreachable between summit p and q, then definition
Information centre's property on limit is big more, and then behind this limit of expression deletion, it is more to cause inaccessible summit that the shortest path length between more or summit is increased, and causes incomplete connection of road network or time-delay longer, and therefore, this limit is outbalance in whole road network.
Euclidean distance between expression summit p and q, l
PqThe shortest path length of expression summit p and q,
The Euclidean distance in the expression network between any two summits and the length ratio of the shortest path between this two summits are to their summation.Because altogether to the summation of N (N-1)/2 pair of summit, so, obtain the average of the length ratio of Euclidean distance between any two summits and the shortest path between this two summits divided by N (N-1)/2.E[G]-E[G '] expression network in the deletion limit e
IjAfter, how many variations of the average of the length ratio of the shortest path between the Euclidean distance between any two summits and this two summits promptly reduced, divided by E[G] expression rate of change, promptly at E[G] the basis on what have reduced.
Wherein, as described in Figure 4, determine that according to weights the target coverage specifically may further comprise the steps electronically:
S3011: the coverage H (e that determines the maximum limit of weights in the navigation system
Max);
Concrete, e
MaxBe the limit of weights maximum, e
MaxCoverage be H (e
Max), default H (e
Max) be 3, calculate target deployment density electronically according to the method for S302, and at limit e
MaxRoad corresponding Road
MaxDeploy electronics terrestrial reference node is realized the H (e to this limit
Max) heavily cover;
S3012: at road Road
MaxMiddle deployment material object is also tested H (e
Max) whether the ground mark system that heavily covers can satisfy the demand of location in kind.If can, then carry out S3015, otherwise carry out S3013;
S3013:H (e
Max) ← H (e
Max)+1 is promptly at default H (e
Max) add one on the basis of value, at this road deploy electronics terrestrial reference node, realize H (e according to the method for S302 to road
Max) heavily cover;
S3014: test H (e
Max) ← H (e
MaxWhether)+1 o'clock, ground mark system can satisfy the demand of location in kind, if can, then carry out S3015; If cannot, then carry out S3013., by test repeatedly, until the best coverage H (e that determines the maximum road of weights
Max);
S3015: for limit arbitrarily, if e
Ij≠ 0, then calculate limit e
IjCoverage H (e
Ij)=(H (e
Max) w
Ij)/w
MaxWherein, w
MaxBe road Road
MaxThe weights of corresponding sides, i.e. maximum weights in the road, H (e
Max) be the coverage of the maximum road of weights, w
IjFor with i for starting point j is that terminal point or j are the weights of the road of terminal point for starting point i, H (e
Ij) for being that terminal point or j are the coverage of target electronically of the road of terminal point for starting point i for starting point j with i.Concrete, dispose target density electronically according to the weights decision on limit, promptly the limit weights are big more, and deployment density is big more, and the limit weights are more little, and deployment density is more little, and disposing electronically, target density and limit weights increase by on a year-on-year basis.
S302: determine target communication radius R electronically
1With the width L of road, according to
Determine target deployment density, wherein (R electronically
1＞L/2), n is target deployment density electronically;
For example, if the intersection point of circle O and road both sides is respectively C
1, C
2, C
3, C
4, then | C
1C
2| with | C
3C
4| dispose H (e at least
Ij) individual electronics terrestrial reference node.Wherein, | C
1C
2| be illustrated in road one side, C
1With C
2Between road section length, | C
3C
4| be illustrated in the road opposite side, C
3With C
4Between road section length.If P
1To C
1With C
2The distance of place road is r, then P
1To C
3With C
4The distance of place road is L-r, therefore,
Therefore,
Because 0≤r≤L, can calculate when the r=0 by differentiate, | C
1C
2|+| C
3C
4| get minimum value, minimum value is
Therefore,
Promptly dispose electronically that target density rounds up in the both sides of road, for
S303:, realize the electronics terrestrial reference is disposed according to target deployment density electronically.
The electronics terrestrial reference dispositions method that this example provides according to the structure of road network in the city, calculates the centrality of road in the city, disposes the electronics terrestrial reference for the central road of difference with different density, can satisfy the location requirement of article on different roads.Therefore, the outdoor electronics terrestrial reference dispositions method of multiple covering can make article with higher accuracy computation self-position information.
Embodiment 4
As shown in Figure 5, present embodiment provides the deployment devices of the navigation system in a kind of Internet of Things, and this device comprises:
Wherein, when each regional article flow flux was balanced in the system, preferred, the target coverage was more than or equal to 3 electronically;
When each regional article flow flux was unbalanced in the system, coverage determination module 401 also comprised:
Concrete, weights determining unit 4011 specifically is used for: according to
Determine the weights of road in the navigation system, wherein with the road in the navigation system abstract be the limit, the starting point of road, terminal point and breakover point are abstract to be the summit, forms a non-directed graph by limit and summit, N is the number on summit among the figure, e
IjThe length on limit between expression summit i and the j, w
IjFor length is e
IjThe weights on limit,
Be limit e
IjDegree centrality,
Be limit e
IjContiguous centrality,
Be limit e
IjJie count centrality,
Be limit e
IjGathering centrality,
Be limit e
IjStraight line centrality,
Be limit e
IjInformation centre's property.
Wherein, weights determining unit 4011 specifically comprises:
Jie counts centrality subelement 40113, is used for basis
Determine limit e
IjJie count centrality;
Assemble centrality subelement 40114, be used for basis
Determine limit e
IjGathering centrality;
Straight line centrality subelement 40115 is used for basis
Limit e
IjStraight line centrality, wherein,
Air line distance between expression summit i and the k, l
IkThe shortest path length of expression summit i and k;
Information centre temper unit 40116 is used for basis
Determine limit e
IjInformation centre's property, wherein,
G ' expression deletion limit e
IjAfter non-directed graph,
Air line distance between expression summit p and the q, l
PqShortest path length between expression summit p and the q.
Concrete, the coverage determining unit specifically comprises:
The coverage of maximum road is determined subelement 40121, is used for determining the coverage of the maximum road of navigation system weights, H (e
Max);
The target coverage is determined subelement 40122 electronically, is used for (the e according to H
Ij)=(H (e
Max) w
Ij)/w
MaxDetermine target coverage electronically; Wherein, w
MaxBe maximum weights, H (e
Max) be the coverage of the maximum road of weights, w
IjFor with i for starting point j is that terminal point or j are the weights of the road of terminal point for starting point i, H (e
Ij) for being that terminal point or j are the coverage of target electronically of the road of terminal point for starting point i for starting point j with i.
Deployment density determination module 402 is used for the basis definite target deployment density electronically of target coverage electronically;
Wherein, when each regional article flow flux was balanced in the system, deployment density determination module 402 specifically was used for: according to
Determine the described deployment density of target electronically; Wherein, R
0Be target communication radius electronically, h is target coverage electronically, n
0Be target deployment density electronically.
When each regional article flow flux was balanced in the system, deployment density determination module 402 specifically comprised:
Target deployment density determining unit 4022 is used for basis electronically
Determine target deployment density, wherein (R electronically
1＞L/2), n is target deployment density electronically.
The deployment devices that present embodiment provides by determining target coverage electronically, is determined target deployment density electronically according to target coverage electronically; The final deployment that realizes the navigation system in the Internet of Things, and then realized the high accuracy of article in the global range, low-cost location.
The deployment devices that this example provides, circulation according to article in the system is disposed the electronics terrestrial reference, satisfied the zone of system's various flows flux, the demand that article are positioned, realized of the multiple covering of electronics terrestrial reference to system, thereby, can make article with higher accuracy computation self-position information.
The system that present embodiment provides belongs to same design with method embodiment, and its specific implementation process sees method embodiment for details, repeats no more here.
The system that present embodiment provides is by determining target coverage electronically; Determine the final deployment that realizes the navigation system in the Internet of Things of target deployment density electronically according to this electronics terrestrial reference coverage, and then high accuracy, the low cost location of having realized article in the global range, simultaneously, this system can self-monitoring and safeguards the normal operation of ground mark system, simultaneously, article only need be furnished with cheap electronic tag and can finish the real-time location of self by the mark system electronically of indoor or outdoors.
All or part of content in the technical scheme that above embodiment provides can realize that its software program is stored in the storage medium that can read by software programming, storage medium for example: the hard disk in the computer, CD or floppy disk.
The above only is preferred embodiment of the present invention, and is in order to restriction the present invention, within the spirit and principles in the present invention not all, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (20)
1. the dispositions method of the navigation system in the Internet of Things is characterized in that described method comprises:
Determine target coverage electronically;
Determine the described deployment density of target electronically according to the described coverage of target electronically;
According to the described deployment density of target electronically described electronics terrestrial reference is disposed.
2. according to the described method of claim 1, it is characterized in that, describedly determine that according to described electronics terrestrial reference coverage the described deployment density of target electronically specifically comprises:
According to
Determine the described deployment density of target electronically;
Wherein, R
0Be target communication radius electronically, h is target coverage electronically, n
0Be target deployment density electronically.
3. according to claim 1 or 2 described methods, it is characterized in that the described coverage of target electronically is more than or equal to 3.
4. according to claim 1 or 2 described methods, it is characterized in that described method also comprises:
Article flow flux according to zones of different in the described navigation system is adjusted the described deployment density of target electronically.
5. according to the described method of claim 1, it is characterized in that described definite target coverage electronically specifically comprises:
Determine the weights of road in the navigation system;
According to described weights, determine target coverage electronically.
6. according to the described method of claim 5, it is characterized in that the weights of road specifically comprise in described definite navigation system:
According to
Determine the weights of road in the navigation system, wherein with the road in the navigation system abstract be the limit, the starting point of described road, terminal point and breakover point are abstract to be the summit, forms a non-directed graph by described limit and described summit, N is the number on summit described in the figure, e
IjThe length on limit between expression summit i and the j, w
IjFor length is e
IjThe weights on limit, σ
PqFor each centrad of all roads in the system
Contiguous centrality,
Be limit e
IjJie count centrality,
Be limit e
IjGathering centrality,
Be limit e
IjStraight line centrality,
Be limit e
IjInformation centre's property.
7. according to the described method of claim 6, it is characterized in that, described
Be limit e
IjDegree centrality,
Be limit e
IjContiguous centrality,
Be limit e
IjJie count centrality,
Be limit e
IjGathering centrality,
Be limit e
IjStraight line centrality,
Be limit e
IjInformation centre's property be specially:
According to
Determine limit e
IjGathering centrality, EN
IjThe limit number that exists between the neighbors of expression summit i and j;
According to
Determine limit e
IjStraight line centrality, wherein,
Air line distance between expression summit i and the k, l
IkThe shortest path length of expression summit i and k;
According to
Determine limit e
IjInformation centre's property, wherein,
The average of representing the length ratio of Euclidean distance between any two summits and the shortest path between this two summits, G ' expression deletion limit e
IjAfter non-directed graph, E[G '] expression deletion limit e
IjThe average of the length ratio of the shortest path between the Euclidean distance in the back non-directed graph between any two summits and this two summits,
Air line distance between expression summit p and the q, l
PqShortest path length between expression summit p and the q.
8. according to the described method of claim 5, it is characterized in that, described according to described weights, determine that the target coverage comprises electronically:
Determine the coverage of the maximum road of weights in the described navigation system, H (e
Max);
According to H (e
Ij)=(H (e
Max) w
Ij)/w
MaxDetermine the described coverage of target electronically;
Wherein, w
MaxBe maximum weights, H (e
Max) be the coverage of the maximum road of weights, w
IjFor with i for starting point j is that terminal point or j are the weights of the road of terminal point for starting point i, H (e
Ij) for being that terminal point or j are the described coverage of target electronically of the road of terminal point for starting point i for starting point j with i.
9. described according to Claim 8 method is characterized in that, described basis target coverage electronically determines that the described deployment density of target electronically comprises:
Determine the described communication radius of target electronically R
1Width L with described road;
According to
Determine the described deployment density of target electronically, wherein (R
1＞L/2), n is the described deployment density of target electronically.
10. the deployment devices of the navigation system in the Internet of Things is characterized in that described device comprises:
The coverage determination module is used for determining target coverage electronically;
The deployment density determination module is used for determining the described deployment density of target electronically according to the described coverage of target electronically;
Deployment module is used for according to the described deployment density of target electronically described electronics terrestrial reference being disposed.
11., it is characterized in that described deployment density determination module specifically is used for according to the described device of claim 10:
According to
Determine the described deployment density of target electronically;
Wherein, R
0Be target communication radius electronically, h is target coverage electronically, n
0Be target deployment density electronically.
12., it is characterized in that the described coverage of target electronically is more than or equal to 3 according to claim 10 or 11 described devices.
13., it is characterized in that described device also comprises according to claim 10 or 11 described devices:
Adjusting module is used for adjusting the described deployment density of target electronically according to the article flow flux of described navigation system zones of different.
14., it is characterized in that described coverage determination module specifically comprises according to the described device of claim 10:
The weights determining unit is used for determining the weights of navigation system road;
The coverage determining unit is used for according to described weights, determines target coverage electronically.
15., it is characterized in that described weights determining unit specifically is used for according to the described device of claim 14:
According to
Determine the weights of road in the navigation system, wherein with the road in the navigation system abstract be the limit, the starting point of described road, terminal point and breakover point are abstract to be the summit, forms a non-directed graph by described limit and described summit, N is the number on summit described in the figure, e
IjThe length on limit between expression summit i and the j, w
IjFor length is e
IjThe weights on limit, σ
PqFor each centrad of all roads in the system
e
IjContiguous centrality,
Be limit e
IjJie count centrality,
Be limit e
IjGathering centrality,
Be limit e
IjStraight line centrality,
Be limit e
IjInformation centre's property.
16., it is characterized in that described weights determining unit specifically comprises according to the described device of claim 15:
Degree centrality subelement is used for basis
Determine described limit e
IjDegree centrality;
Assemble the centrality subelement, be used for basis
Determine limit e
IjGathering centrality, EN
IjThe limit number that exists between the neighbors of expression summit i and j;
Straight line centrality subelement is used for basis
Determine limit e
IjStraight line centrality, wherein,
Air line distance between expression summit i and the k, l
IkThe shortest path length of expression summit i and k;
Information centre temper unit is used for basis
Determine limit e
IjInformation centre's property, wherein,
The average of representing the length ratio of Euclidean distance between any two summits and the shortest path between this two summits, G ' expression deletion limit e
IjAfter non-directed graph, E[G '] expression deletion limit e
IjThe average of the length ratio of the shortest path between the Euclidean distance in the back non-directed graph between any two summits and this two summits,
Air line distance between expression summit p and the q, l
PqShortest path length between expression summit p and the q.
17., it is characterized in that described coverage determining unit specifically comprises according to the described method of claim 14:
The coverage of maximum road is determined subelement, is used for determining the coverage of the maximum road of described navigation system weights, H (e
Max);
The target coverage is determined subelement electronically, is used for (the e according to H
Ij)=(H (e
Max) w
Ij)/w
MaxDetermine the described coverage of target electronically;
Wherein, w
MaxBe maximum weights, H (e
Max) be the coverage of the maximum road of weights, w
IjFor with i for starting point j is that terminal point or j are the weights of the road of terminal point for starting point i, H (e
Ij) for being that terminal point or j are the described coverage of target electronically of the road of terminal point for starting point i for starting point j with i.
18., it is characterized in that described deployment density determination module specifically comprises according to the described device of claim 17:
The parameter determining unit is used for determining the described communication radius of target electronically R
1Width L with described road;
Target deployment density determining unit is used for basis electronically
Determine the described deployment density of target electronically, wherein (R
1＞L/2), n is the described deployment density of target electronically.
19. the navigation system in the Internet of Things is characterized in that described system comprises: radio network gateway, terrestrial reference management server and the electronics terrestrial reference node of disposing according to the described method of claim 1.
20., it is characterized in that described terrestrial reference management server is indoor terrestrial reference management server according to the described system of claim 19, described electronics terrestrial reference node is indoor electronics terrestrial reference node; Or described terrestrial reference management server is outdoor terrestrial reference management server, and described electronics terrestrial reference node is outdoor electronics terrestrial reference node.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103079214A (en) * | 2012-12-16 | 2013-05-01 | 北京泛联至诚科技有限公司 | Internet of Things communication relay node deployment method based on road and crossing distribution and density |
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