CN103024898B - ZigBee technology positioning method based on received signal strength indicator (RSSI) and received signal strength (RSS) - Google Patents

Abstract

The invention discloses a ZigBee technology positioning method based on a received signal strength indicator (RSSI) and received signal strength (RSS). The method is particularly suitable for emergency processing of emergencies, for example, when the emergencies occur, trapped people can be accurately positioned, and timely saving of the trapped people can be facilitated. On the basis of existing positioning algorithms based on ZigBee, the ZigBee technology positioning method based on the RSSI and the RSS is provided. The method includes received power pRX calculation, RSS calculation, coordinate calculation of a locating tag node M, weight based locating process, calculation of average weight of each base station node, calculation of weight of base station nodes and the locating tag node, and obtaining the coordinate of the locating tag node M. The ZigBee technology positioning method based on the RSSI and the RSS has the advantages of being high in positioning accuracy and good in applicability.

Description

A kind of ZigBee technology localization method based on RSSI and RSS

Technical field

The present invention relates to short-distance wireless communication technology, to position etc. the knowledge in field, especially a kind of ZigBee technology localization method based on signal strength signal intensity instruction (RSSI).

Background technology

Along with the continuous propelling of coal mining, underground work casualties number is also constantly rising.Although country has carried forward vigorously the improvement of mine safety measure, but mine accident still happens occasionally, and due to shaft production bad environments, type complicated, mobility of people is large, make to search and rescue weak effect, the efficiency of rescue and relief work, safety first-aid is low, so how when mine accident occurs, navigate to the accurate location of indicator of trapped personnel in time and carry out suing and labouring and just seem particularly important.ZigBee technology is as a kind of emerging short-distance wireless communication technology, due to superiority such as its low cost, low-power consumption, low-complexities, carry out personnel positioning in the down-hole of circumstance complication and there is advantage clearly, thus in underground communica tion, obtain a large amount of application.

Location algorithm based on ZigBee technology refers to that mine staff carries positioning label, positioning label constantly sends its information of carrying to neighbouring base station by the frequency of specifying, base-station node reads carry information and the signal strength indication value of each positioning label automatically, according to the relation of signal strength signal intensity instruction (RSSI) with distance, calculate the position at underground work personnel place.Weights-selected Algorithm is under solution has the environment such as barrier, electromagnetism, refraction, problem that positioning precision is on the low side.The signal strength signal intensity instruction now utilizing base-station node to read, carries out the research of a kind of new algorithm of ranging localization.Right to use value function combines with RSS and locates in the algorithm, can improve positioning precision in complex environment.

Location algorithm has a variety of, there is now the location algorithm that two large classes are main, be respectively RFID and ZigBee, but location algorithm can have much different classification according to different standards, wherein relatively more conventional method is three location, limit, and this is also the basis of the localization method that the present invention adopts.In a two-dimensional coordinate system, the minimum coordinate needing the distance using three reference points uniquely could determine a point.The basis that wireless location technology is located on three limits develops out some reasonable methods: the location based on ranging technology and the location without the need to ranging technology.Location based on ranging technology mainly contains TOA, TDOA, AOA, signal strength signal intensity telemetry; Location algorithm without the need to range finding mainly contains: the algorithm of centroid method, convex programming location algorithm, distance vector jumping figure.

There is a lot of accidentalia in the location algorithm based on RFID, and can only be accurate to certain scope, and positioning precision is poor; ZigBee technology, as the emerging short-distance wireless communication technology of one, with superiority such as its low-power consumption, low cost, low-complexities, is widely applied, the personnel location system particularly in the complex environment of down-hole in underground communica tion.But the existing location algorithm based on ZigBee can only could navigate to concrete point when environment is more spacious with higher precision, once be in complex environment, positioning precision is just relatively low.

Summary of the invention

In order to overcome the deficiency existing poor based on the positioning precision of the localization method of ZigBee technology, applicability is poor, the invention provides the ZigBee technology localization method based on RSSI and RSS that a kind of positioning precision is higher, applicability is good.

The technical solution adopted for the present invention to solve the technical problems is:

Based on a ZigBee technology localization method of RSSI and RSS, comprise the following steps:

1) received power p _rXcalculating: wherein RSSI is received signal strength indicator, p _reffor transmission power level, the pass between three is:

$\mathrm{RSSI}=10\×\log \frac{p_{\mathrm{RX}}}{p_{\mathrm{Ref}}}---\left(1\right)$

Wherein p _ref=1mW;

2) calculating of RSS: RSS constructs according to the relation of transmitting terminal transmitting power and received power, and wherein transmitting power is tried to achieve by formula (1);

3) coordinate of positioning label node M calculates: make any 3 base-station node J ₁, J ₂, J ₃node coordinate be (x ₁, y ₁), (x ₂, y ₂), (x ₃, y ₃), the coordinate of positioning label node is (x, y), then can obtain:

$d_{1M}=\sqrt{{(x_1-x)}^2+{(y_1-y)}^2}---\left(2\right)$

$d_{2M}=\sqrt{{(x_2-x)}^2+{(y_2-y)}^2}---\left(3\right)$

$d_{3M}=\sqrt{{(x_3-x)}^2+{(y_3-y)}^2}---\left(4\right)$

Wherein d _1M, d _2M, d _3Mrepresent base-station node J respectively ₁, J ₂, J ₃with the distance of destination node M;

4) based on weights position fixing process: positioning label towards periphery base-station node sends signal, having 3 base-station nodes at least, when determining that at least 3 base stations receive signal, making these 3 base-station nodes be respectively J within the scope of this ₁, J ₂, J ₃, positioning label receives 3 different automatic-answering back device signals, calculates the position of label node M, and wherein, the position of each base-station node immobilizes, and distance between adjacent base station node is constant, then the weights equation between base-station node is:

$W_{12}=\frac{d_{12}}{{\mathrm{RSS}}_{12}}\×100---\left(5\right)$

$W_{13}=\frac{d_{13}}{{\mathrm{RSS}}_{13}}\×100---\left(6\right)$

$W_{23}=\frac{d_{23}}{{\mathrm{RSS}}_{23}}\×100---\left(7\right)$

Wherein W ₁₂, W ₁₃, W ₂₃represent base-station node J respectively ₁and J ₂, base-station node J ₁and J ₃, base-station node J ₂and J ₃weights; d ₁₂, d ₁₃, d ₂₃represent base-station node J respectively ₁and J ₂, base-station node J ₁and J ₃, base-station node J ₂and J ₃between distance; RSS ₁₂, RSS ₁₃, RSS ₂₃represent base-station node J respectively ₁and J ₂, base-station node J ₁and J ₃, base-station node J ₂and J ₃between signal strength values;

5) calculating of the average weight of each base-station node: the weights that can be drawn the base-station node that each base-station node is adjacent by formula (5), (6), (7), thus try to achieve the evaluation weights of each base-station node:

$\mathrm{Avew}{J}_1=\frac{\underset{i=1}{\overset{N}{\mathrm{\Σ}}}{W}_{1i}}{N-1}=\frac{W_{12}+W_{13}+...+W_{1N}}{N-1},(N\≥3,i\≠1)---\left(8\right)$

$\mathrm{Avew}{J}_2=\frac{\underset{i=1}{\overset{N}{\mathrm{\Σ}}}{W}_{2i}}{N-1}=\frac{W_{21}+W_{23}+...+W_{2N}}{N-1},(N\≥3,i\≠2)---\left(9\right)$

$\mathrm{Avew}{J}_3=\frac{\underset{i=1}{\overset{N}{\mathrm{\Σ}}}{W}_{3i}}{N-1}=\frac{W_{31}+W_{32}+...+W_{3N}}{N-1},(N\≥3,i\≠3)---\left(10\right)$

Wherein AvewJ ₁, AvewJ ₂, AvewJ ₃represent base-station node J respectively ₁, J ₂, J ₃average mean, namely represent base-station node J ₁, J ₂, J ₃residing main environment;

6) weight computing of base-station node and positioning label node: the weights equation of base-station node and positioning label node is:

$d_{1M}=\frac{{\mathrm{AvewJ}}_1\×{\mathrm{RSS}}_{1M}}{100}---\left(11\right)$

$d_{2M}=\frac{{\mathrm{AvewJ}}_2\×{\mathrm{RSS}}_{2M}}{100}---\left(12\right)$

$d_{3M}=\frac{{\mathrm{AvewJ}}_3\×{\mathrm{RSS}}_{3M}}{100}---\left(13\right)$

Wherein d _1M, d _2M, d _3Mrepresent that positioning label node M is to base-station node J respectively ₁, J ₂, J ₃distance; RSS _1M, RSS _2M, RSS _3Mrepresent base-station node J respectively ₁, J ₂, J ₃and the signal strength values between positioning label node M;

7) according to formula (11), (12), (13) and formula (2), (3), (4), the coordinate (x, y) of positioning label node M is tried to achieve.

Technical conceive of the present invention is: the present invention is on the basis of original algorithm, propose a kind of new ZigBee technology localization method based on RSSI and RSS, this algorithm is a kind of weights location algorithm, for solve shaft production bad environments, the challenge that type is complicated, mobility of people is so greatly there is good effect.

Beneficial effect of the present invention is mainly manifested in: effectively overcome existing ZigBee location algorithm can only could navigate to concrete point with higher precision drawback in the situation that environment is more spacious, has good effect for the orientation problem solved under complicated Minepit environment.

Accompanying drawing explanation

Fig. 1 is positioning label and the base station weights graph of a relation of the inventive method.

Fig. 2 is the ZigBee technology localization method flow chart based on RSSI and RSS of the inventive method.

Embodiment

Below in conjunction with accompanying drawing, the invention will be further described.

See figures.1.and.2, a kind of ZigBee technology localization method based on RSSI and RSS, comprises the following steps:

1) received power p _rXcalculating: wherein RSSI is received signal strength indicator, p _reffor transmission power level, the pass between three is:

$\mathrm{RSSI}=10\×\log \frac{p_{\mathrm{RX}}}{p_{\mathrm{Ref}}}---\left(1\right)$

Wherein p _ref=1mW;

2) calculating of RSS: RSS constructs according to the relation of transmitting terminal transmitting power and received power, and wherein transmitting power can be in the hope of by formula (1);

3) coordinate of positioning label node M calculates: make any 3 base-station node J ₁, J ₂, J ₃node coordinate be (x ₁, y ₁), (x ₂, y ₂), (x ₃, y ₃), the coordinate of positioning label node is (x, y), then can obtain:

$d_{1M}=\sqrt{{(x_1-x)}^2+{(y_1-y)}^2}---\left(2\right)$

$d_{2M}=\sqrt{{(x_2-x)}^2+{(y_2-y)}^2}---\left(3\right)$

$d_{3M}=\sqrt{{(x_3-x)}^2+{(y_3-y)}^2}---\left(4\right)$

Wherein d _1M, d _2M, d _3Mrepresent base-station node J respectively ₁, J ₂, J ₃with the distance of destination node M;

4) based on weights location algorithm: weights location is a kind of algorithm of locating uncertain node based on known several node.Positioning label towards periphery base-station node sends signal, having 3 base-station nodes at least, when determining that at least 3 base stations receive signal, making these 3 base-station nodes be respectively J within the scope of this ₁, J ₂, J ₃(positioning label receives 3 different automatic-answering back device signals), calculate the position of label node M, schematic diagram as shown in Figure 1.Wherein, the position of each base-station node immobilizes, and distance between adjacent base station node is constant, then the weights equation between base-station node is:

$W_{12}=\frac{d_{12}}{{\mathrm{RSS}}_{12}}\×100---\left(5\right)$

$W_{13}=\frac{d_{13}}{{\mathrm{RSS}}_{13}}\×100---\left(6\right)$

$W_{23}=\frac{d_{23}}{{\mathrm{RSS}}_{23}}\×100---\left(7\right)$

Wherein W ₁₂, W ₁₃, W ₂₃represent base-station node J respectively ₁and J ₂, base-station node J ₁and J ₃, base-station node J ₂and J ₃weights; d ₁₂, d ₁₃, d ₂₃represent base-station node J respectively ₁and J ₂, base-station node J ₁and J ₃, base-station node J ₂and J ₃between distance; RSS ₁₂, RSS ₁₃, RSS ₂₃represent base-station node J respectively ₁and J ₂, base-station node J ₁and J ₃, base-station node J ₂and J ₃between signal strength values;

5) calculating of the average weight of each base-station node: the weights that can be drawn the base-station node that each base-station node is adjacent by formula (5), (6), (7), thus the evaluation weights of each base-station node can be tried to achieve:

$\mathrm{Avew}{J}_1=\frac{\underset{i=1}{\overset{N}{\mathrm{\Σ}}}{W}_{1i}}{N-1}=\frac{W_{12}+W_{13}+...+W_{1N}}{N-1},(N\≥3,i\≠1)---\left(8\right)$

$\mathrm{Avew}{J}_2=\frac{\underset{i=1}{\overset{N}{\mathrm{\Σ}}}{W}_{2i}}{N-1}=\frac{W_{21}+W_{23}+...+W_{2N}}{N-1},(N\≥3,i\≠2)---\left(9\right)$

$\mathrm{Avew}{J}_3=\frac{\underset{i=1}{\overset{N}{\mathrm{\Σ}}}{W}_{3i}}{N-1}=\frac{W_{31}+W_{32}+...+W_{3N}}{N-1},(N\≥3,i\≠3)---\left(10\right)$

Wherein AvewJ ₁, AvewJ ₂, AvewJ ₃represent base-station node J respectively ₁, J ₂, J ₃average mean, namely represent base-station node J ₁, J ₂, J ₃residing main environment;

6) weight computing of base-station node and positioning label node: the weights equation of base-station node and positioning label node is:

$d_{1M}=\frac{{\mathrm{AvewJ}}_1\×{\mathrm{RSS}}_{1M}}{100}---\left(11\right)$

$d_{2M}=\frac{{\mathrm{AvewJ}}_2\×{\mathrm{RSS}}_{2M}}{100}---\left(12\right)$

$d_{3M}=\frac{{\mathrm{AvewJ}}_3\×{\mathrm{RSS}}_{3M}}{100}---\left(13\right)$

Wherein d _1M, d _2M, d _3Mrepresent that positioning label node M is to base-station node J respectively ₁, J ₂, J ₃distance; RSS _1M, RSS _2M, RSS _3Mrepresent base-station node J respectively ₁, J ₂, J ₃and the signal strength values between positioning label node M;

7) according to formula (11), (12), (13) and formula (2), (3), (4), the coordinate (x, y) of positioning label node M is tried to achieve.

Claims (1)

1., based on a ZigBee technology localization method of RSSI and RSS, it is characterized in that: comprise the following steps:

1) received power p _rXcalculating: wherein RSSI is received signal strength indicator, p _reffor transmission power level, the pass between three is:

$\mathrm{RSSI}=10\×\log \frac{p_{\mathrm{RX}}}{p_{\mathrm{Ref}}}---\left(1\right)$

Wherein p _ref=1mW;

2) calculating of RSS: RSS constructs according to the transmitting power of transmitting terminal and the relation of received power, and wherein transmitting power is tried to achieve by formula (1);

3) coordinate of positioning label node M calculates: make any 3 base-station node J ₁, J ₂, J ₃node coordinate be (x ₁, y ₁), (x ₂, y ₂), (x ₃, y ₃), the coordinate of positioning label node is (x, y), then can obtain:

$d_{1M}=\sqrt{{(x_1-x)}^2+{(y_1-y)}^2}---\left(2\right)$

$d_{2M}=\sqrt{{(x_2-x)}^2+{(y_2-y)}^2}---\left(3\right)$

$d_{3M}=\sqrt{{(x_3-x)}^2+{(y_3-y)}^2}---\left(4\right)$

Wherein d _1M, d _2M, d _3Mrepresent base-station node J respectively ₁, J ₂, J ₃with the distance of destination node M;

4) based on weights position fixing process: positioning label towards periphery base-station node sends signal, having 3 base-station nodes at least, when determining that at least 3 base stations receive signal, making these 3 base-station nodes be respectively J within the scope of this ₁, J ₂, J ₃, positioning label receives 3 different automatic-answering back device signals, calculates the position of label node M, and wherein, the position of each base-station node immobilizes, and distance between adjacent base station node is constant, then the weights equation between base-station node is:

$W_{12}=\frac{d_{12}}{{\mathrm{RSS}}_{12}}\×100---\left(5\right)$

$W_{13}=\frac{d_{13}}{{\mathrm{RSS}}_{13}}\×100---\left(6\right)$

$W_{23}=\frac{d_{23}}{{\mathrm{RSS}}_{23}}\×100---\left(7\right)$

Wherein W ₁₂, W ₁₃, W ₂₃represent base-station node J respectively ₁and J ₂, base-station node J ₁and J ₃, base-station node J ₂and J ₃weights; d ₁₂, d ₁₃, d ₂₃represent base-station node J respectively ₁and J ₂, base-station node J ₁and J ₃, base-station node J ₂and J ₃between distance; RSS ₁₂, RSS ₁₃, RSS ₂₃represent base-station node J respectively ₁and J ₂, base-station node J ₁and J ₃, base-station node J ₂and J ₃between signal strength values;

5) calculating of the average weight of each base-station node: the weights that can be drawn the base-station node that each base-station node is adjacent by formula (5), (6), (7), thus try to achieve the evaluation weights of each base-station node:

${\mathrm{AvewJ}}_1=\frac{\underset{i=1}{\overset{N}{\mathrm{\Σ}}}{W}_{1i}}{N-1}=\frac{W_{12}+W_{13}+...+W_{1N}}{N-1},(N\≥3,i\≠1)---\left(8\right)$

${\mathrm{AvewJ}}_2=\frac{\underset{i=1}{\overset{N}{\mathrm{\Σ}}}{W}_{2i}}{N-1}=\frac{W_{21}+W_{23}+...+W_{2N}}{N-1},(N\≥3,i\≠2)---\left(9\right)$

${\mathrm{AvewJ}}_3=\frac{\underset{i=1}{\overset{N}{\mathrm{\Σ}}}{W}_{3i}}{N-1}=\frac{W_{31}+W_{32}+...+W_{3N}}{N-1},(N\≥3,i\≠3)---\left(10\right)$

Wherein AvewJ ₁, AvewJ ₂, AvewJ ₃represent base-station node J respectively ₁, J ₂, J ₃average mean, namely represent base-station node J ₁, J ₂, J ₃residing main environment;

6) weight computing of base-station node and positioning label node: the weights equation of base-station node and positioning label node is:

$d_{1M}=\frac{{\mathrm{AvewJ}}_1\×{\mathrm{RSS}}_{1M}}{100}---\left(11\right)$

$d_{2M}=\frac{{\mathrm{AvewJ}}_2\×{\mathrm{RSS}}_{2M}}{100}---\left(12\right)$

$d_{3M}=\frac{{\mathrm{AvewJ}}_3\×{\mathrm{RSS}}_{3M}}{100}---\left(13\right)$

Wherein d _1M, d _2M, d _3Mrepresent that positioning label node M is to base-station node J respectively ₁, J ₂, J ₃distance; RSS _1M, RSS _2M, RSS _3Mrepresent base-station node J respectively ₁, J ₂, J ₃and the signal strength values between positioning label node M;

7) according to formula (11), (12), (13) and formula (2), (3), (4), the coordinate (x, y) of positioning label node M is tried to achieve.