CN104080051A - Locating system and locating method thereof - Google Patents
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- CN104080051A CN104080051A CN201410319791.4A CN201410319791A CN104080051A CN 104080051 A CN104080051 A CN 104080051A CN 201410319791 A CN201410319791 A CN 201410319791A CN 104080051 A CN104080051 A CN 104080051A
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Abstract
The invention provides a locating system and a locating method. A wireless sensor network is formed by arranging a plurality of sensor nodes around a located device and monitors a channel of the located device, and obtained data packages are processed through a mainframe so that information of the position of the located device can be determined. On the basis of the wireless sensor network based on self-construction, the locating system is free from influence of the surrounding, low in cost, high in locating precision and suitable for different indoor and outdoor occasions.
Description
Technical field
The present invention relates to image sensor technical field, particularly a kind of navigation system and localization method thereof.
Background technology
Global positioning system (GPS) can be applied to the fields such as military affairs, aviation, navigation and automobile, its object be mostly in professional purpose as accurate location the use with navigation; Along with the transition in epoch, GPS has been widely used in daily life, as auto navigation.But it also exists precision not enough in orientation problem, is subject to environmental constraints, global positioning system cannot be applied under indoor, parking lot or overline bridge, this is owing to not receiving the signal of satellite direct projection in these places; Therefore development is in indoor location technology, is that many people crane one and expect.
In addition, the framing signal broadcasting out for receiving world locational system satellite, user must buy gps receiver, and this receiver is easily more than thousands of units, and the error of receiver self, stability and life-span, be all the factor that affects positioning accurate accuracy, therefore based on GPS, position, improved user's cost, and its positioning accurate accuracy has much room for improvement.
Therefore, find a kind ofly, to improve positioning accurate accuracy, reduce application cost, and suitable application area navigation system more widely, become those skilled in the art and is finding and the direction of studying always.
Summary of the invention
The object of the present invention is to provide a kind of navigation system and localization method thereof, to solve existing global positioning system, cannot be applied to indoorly, and application cost is higher, the problem that positioning accurate accuracy is low.
For solving the problems of the technologies described above, the invention provides a kind of navigation system and localization method thereof, described navigation system comprises: a plurality of sensor nodes and carry out the main frame of radio communication with sensor node; Wherein,
Described a plurality of sensor node forms wireless sensor network, and described wireless sensor network is for monitoring the channel of the Wi-Fi signal of the device transmitting that is positioned;
Described main frame, processes for the packet that described radio sensing network is listened to, and shows the position of the device that is positioned.
Optionally, in described navigation system, described sensor node comprises: a base-station node and some ordinary nodes.
Optionally, in described navigation system, between described ordinary node, adopt Zig-Bee agreement to carry out radio communication.
Optionally, in described navigation system, between described base-station node and described ordinary node, adopt distribution protocol and convergence protocol in TinyOS operating system to carry out radio communication.
Optionally, in described navigation system, described base-station node comprises: serial communication modular, the first wireless communication module; Wherein, described serial communication modular is for communicating with described main frame; Described the first wireless communication module is for communicating with described ordinary node.
Optionally, in described navigation system, the coordinate of each ordinary node is known, and to be less than or equal to the interval of 10 meters, is matrix array distribution between each ordinary node.
Optionally, in described navigation system, described ordinary node comprises: sensing module and the memory module being electrically connected with described sensing module; Wherein, the packet transmitting on the channel of described sensing module for the Wi-Fi signal of the device transmitting that is positioned described in gathering; Described memory module is for storing the packet that described sensor assembly gathers.
Optionally, in described navigation system, described main frame is provided with gui interface, and described gui interface is for showing the position of the device that is positioned.
Optionally, in described navigation system, described gui interface comprises: the configured board of arranging successively, Data panel and positioning panel; Wherein, described configured board is for the position coordinates of sensors configured network ordinary node; Data panel is for showing the result after the packet described radio sensing network being listened to by main frame is processed; Positioning panel is for showing the 3-D view of locating space.
Optionally, in described navigation system, described in the device that is positioned be mobile phone, panel computer or car-mounted terminal.
The present invention also provides a kind of localization method, and described localization method comprises the steps:
Adjusting is positioned device in continuing the state of transmitting Wi-Fi signal;
At the device that is positioned, a plurality of sensor nodes are set around, described a plurality of sensor nodes form wireless sensor network;
Regulate the working frequency range of sensor node;
Radio sensing network is monitored the channel of the device that is positioned, and by the Packet Generation listening to main frame;
Main frame is determined the positional information of the device that is positioned according to the packet receiving;
By gui interface, show positioning result.
Optionally, in described localization method, the working frequency range of described adjusting sensor node, is that the transmission data band of sensor node is adjusted to the frequency range of the device transmitting Wi-Fi signal that is positioned overlapping.
Optionally, in described localization method, described sensor node comprises a base-station node and some ordinary nodes.
Optionally, in described localization method, between described base-station node and described ordinary node, adopt distribution protocol and convergence protocol in TinyOS operating system to carry out radio communication.
Optionally, in described localization method, described main frame is determined the positional information of the device that is positioned according to the packet receiving, and is by described main frame, to move its data processor loading to realize.
Optionally, in described localization method, described data processor comprises: single-node data is processed function, original discrete picture constructor, interpolation continuous curve surface picture construction function and calculated the device coordinate function that is positioned; Wherein, described single-node data is processed function for determining the RSSI value of each ordinary node; Described original discrete picture constructor is for setting up original discrete figure according to the position coordinates of the fixed RSSI value of each ordinary node and ordinary node; Described interpolation continuous curve surface picture construction function is that described original discrete figure is carried out to two-dimensional interpolation, builds interpolation continuous curve surface image; The described calculating device coordinate function that is positioned is by searching the position of described interpolation continuous curve surface image upward peak, returns to the coordinate of this peak value, be positioned described in the being positional information of device of the coordinate of described peak value.
In navigation system provided by the invention and localization method thereof, thereby build wireless sensor network by a plurality of sensor nodes being set at the device that is positioned around, wireless sensor network is monitored the channel of the device that is positioned, thereby the packet of acquisition is determined the positional information of the device that is positioned through host process.Navigation system provided by the present invention is the wireless sensor network building based on voluntarily, and the navigation system based on wireless sensor network, can not be subject to surrounding environment influence, and cost is low, and positioning precision is high, and is applicable to the different places of indoor and outdoors.
Accompanying drawing explanation
Fig. 1 is the system architecture schematic diagram of navigation system of the present invention;
Fig. 2 is the distributed architecture schematic diagram of disposing ordinary node in navigation system of the present invention;
Fig. 3 is the flow chart of localization method of the present invention.
Wherein, in Fig. 1:
Main frame-10; Wireless sensor network-20; Base-station node-21; Device-30 are positioned.
Embodiment
The navigation system and the localization method thereof that the present invention are proposed below in conjunction with the drawings and specific embodiments are described in further detail.According to the following describes and claims, advantages and features of the invention will be clearer.It should be noted that, accompanying drawing all adopts very the form of simplifying and all uses non-ratio accurately, only in order to convenient, the object of the aid illustration embodiment of the present invention lucidly.
Please refer to Fig. 1, the system architecture schematic diagram that it is navigation system of the present invention.As shown in Figure 1, described navigation system comprises: a plurality of sensor nodes and carry out the main frame 10 of radio communication with sensor node; Wherein, described a plurality of sensor nodes form wireless sensor network 20, and described wireless sensor network 20 is for monitoring the channel of the Wi-Fi signal of device 30 transmittings that are positioned; Described main frame 10, processes for the packet that described radio sensing network 20 is listened to, and shows the position of the device 30 that is positioned.
In the present embodiment, described sensor node comprises: a base-station node 21 and some ordinary nodes.Wherein, between described ordinary node, adopt Zig-Bee agreement to carry out radio communication.Between described base-station node 21 and described ordinary node, adopt distribution protocol and convergence protocol in TinyOS operating system to carry out radio communication.
In the present embodiment, described base-station node 21 comprises: serial communication modular, the first wireless communication module; Wherein, described serial communication modular is for communicating with described main frame 10; Described the first wireless communication module is for communicating with described ordinary node.Described ordinary node comprises: sensing module and the memory module being electrically connected with described sensing module; Wherein, the packet transmitting on the channel of described sensing module for the Wi-Fi signal of the device transmitting that is positioned described in gathering; Described memory module is for storing the packet that described sensor assembly gathers.
Concrete, please continue to refer to Fig. 1, in order to monitor the channel of the device that is positioned, the operating frequency of sensor node is overlapping with the frequency range of transmitting Wi-Fi signal.By ordinary node, the channel of the device that is positioned is monitored, at ordinary node 1, ordinary node 2, ordinary node 3, ordinary node 4, ordinary node 5, ordinary node 6, ordinary node 7, ordinary node 8, ordinary node 9, ordinary node 10, ordinary node 11, ordinary node 12 can obtain respectively the packet transmitting on this monitor channel, and the Packet Generation listening to according to each ordinary node to main frame is processed, here the processing of saying comprises the data processor that main frame operation is write, described data processor comprises single-node data processing function, original discrete picture constructor, interpolation continuous curve surface picture construction function, the calculating device elements of a fix function that is positioned.Wherein, described single-node data is processed function for determining the RSSI value of each ordinary node; Here the RSSI value of determining each ordinary node refers to: the packet that utilizes single-node data processing function to monitor each ordinary node carries out the arrangement of data, retain effective RSSI value in packet, remove invalid RSSI value, to remaining all effective RSSI values, average again, required to RSSI mean value can characterize the RSSI value at this ordinary node place.Described original discrete picture constructor is for setting up original discrete figure according to the RSSI value of each ordinary node and coordinate thereof, concrete, with X-axis, Y-axis (unit is m), for plane represents the position coordinates of each ordinary node, represents to characterize the RSSI value of ordinary node with Z axis (dBm of unit); Described interpolation continuous curve surface picture construction function is that described original discrete figure is carried out to two-dimensional interpolation, builds interpolation continuous curve surface image; The described calculating device coordinate function that is positioned is by searching the position of described interpolation continuous curve surface image upward peak, returns to the coordinate of this peak value, be positioned described in the being positional information of device of the coordinate of described peak value.The maximum position of positional representation RSSI value of interpolation continuous curve surface image upward peak, the signal strength signal intensity of monitoring is the strongest, due in wireless sensor network from the ordinary node of device close to more that be positioned, the RSSI value of the sign ordinary node calculating is larger.Therefore the coordinate of this this peak value of location positioning positional information of device that is positioned described in being.
Further, described main frame is provided with gui interface, and described gui interface is for showing the position of the device that is positioned.
Please refer to Fig. 2, it is for disposing the distributed architecture schematic diagram of ordinary node in navigation system of the present invention.As shown in Figure 2, the coordinate of each ordinary node is known, and to be less than or equal to the interval of 10 meters, is matrix array distribution between each ordinary node.Position coordinates for ordinary node is by gui interface, manually to input according to actual needs, can artificially set the spacing distance between X-direction and Y direction ordinary node, in the present embodiment, be preferably between ordinary node and be spaced apart 1 meter, be convenient to communicate between ordinary node transmission data.
Further, described gui interface comprises: the configured board of arranging successively, Data panel and positioning panel; Wherein, described configured board is for the position coordinates of sensors configured network ordinary node; Data panel is for showing the result after the packet described radio sensing network being listened to by main frame is processed; Positioning panel is for showing the 3-D view of locating space.
Concrete, by configured board, set the position coordinates of ordinary node, artificially input the spacing distance numerical value between X-direction and Y direction ordinary node, according to the position of the device that is positioned, carry out preferably the scope of setting wireless sensor network, make to be positioned device in the distribution of wireless sensor network, to its channel is monitored and obtained packet, improved positioning accurate accuracy.Data panel can demonstrate the configuration operation through configured board intuitively, and main frame imports the packet of monitoring, and after service data handling procedure, has obtained the RSSI value of each ordinary node.Positioning panel shows through calculating the positional information of device of being positioned after device coordinate function calculates that is positioned.Can come in the 3-D view in space, location, to characterize intuitively by the 3-D view button of setting the position of the device that is positioned, the i.e. location coordinate information of peak value in 3-D view in addition.
Further, the device that is positioned described in is mobile phone, panel computer or car-mounted terminal.
Accordingly, the present embodiment also provides a kind of localization method.Please refer to Fig. 3, its flow chart that is localization method of the present invention.As shown in Figure 3, described localization method comprises the steps:
First, execution step S1, regulates the device that is positioned in continuing the state of transmitting Wi-Fi signal.
Concrete, be only positioned device when continuing the state of transmitting Wi-Fi signal, just for follow-up wireless sensor network monitor channel provides condition, when there is Wi-Fi signal, have the transmission of some data.
Then, execution step S2, arranges a plurality of sensor nodes around at the device that is positioned, and described a plurality of sensor nodes form wireless sensor network.
In the present embodiment, described sensor node comprises a base-station node and some ordinary nodes.Between described base-station node and described ordinary node, adopt distribution protocol and convergence protocol in TinyOS operating system to carry out radio communication.Wherein, described base-station node comprises: serial communication modular, the first wireless communication module; Wherein, described serial communication modular is for communicating with described main frame; Described the first wireless communication module is for communicating with described ordinary node.Described ordinary node comprises: sensing module and the memory module being electrically connected with described sensing module; Wherein, the packet transmitting on the channel of described sensing module for the Wi-Fi signal of the device transmitting that is positioned described in gathering; Described memory module is for storing the packet that described sensor assembly gathers.
Then, execution step S3, the working frequency range of adjusting sensor node.
Further, the working frequency range of described adjusting sensor node, is that the transmission data band of sensor node is adjusted to the frequency range of the device transmitting Wi-Fi signal that is positioned overlapping.Sensor node can be monitored be positioned device transmitting Wi-Fi signal, thereby monitor the packet of its channel, be i.e. RSSI value in monitored data bag, the data in can not decoded data packets.Preferably, in the present embodiment, sensor node is all used 2.4G frequency spectrum with the device that is positioned.
Then, execution step S4, radio sensing network is monitored the channel of the device that is positioned, and by the Packet Generation listening to main frame.
Concrete, the operation principle when wireless sensor network is monitored the channel of the device that is positioned is as follows: first by base-station node to all ordinary node issue an orders, realize the control of whole wireless sensor network and scheduling.Here the order of all ordinary node issues is comprised: initialization command, image data order, passback data command.Wherein, initialization command effect is that the memory module in ordinary node is emptied, for image data is prepared; Image data order is after initialization command has moved, and the packet that ordinary node starts listening to gathers; Passback data command is after image data order has moved, and gathered packet is collected.Preferably, the process of issue an order has adopted distribution protocol, utilizes distribution protocol to make each ordinary node state be updated to successively state described in order, finally sets up the consistency of cordless communication network.When corresponding passback data command is about to adopt when packet that each ordinary node monitors passes back to substrate node convergence protocol.In passback data procedures, there is packet loss phenomenon, adopt the method for the capacity that increases data that sensing module is adopted to solve.
Then, execution step S5, main frame is determined the positional information of the device that is positioned according to the packet receiving.
In the present embodiment, described main frame is determined the positional information of the device that is positioned according to the packet receiving, and is by described main frame, to move its data processor loading to realize.Described data processor comprises: single-node data is processed function, original discrete picture constructor, interpolation continuous curve surface picture construction function and calculated the device coordinate function that is positioned; Wherein, described single-node data is processed function for determining the RSSI value of each ordinary node; Here the RSSI value of determining each ordinary node refers to: the packet that utilizes single-node data processing function to monitor each ordinary node carries out the arrangement of data, retain effective RSSI value in packet, remove invalid RSSI value, to remaining all effective RSSI values, average again, required to RSSI mean value can characterize the RSSI value that this ordinary node goes out.Described original discrete picture constructor is for setting up original discrete figure according to the position coordinates of the fixed RSSI value of each ordinary node and ordinary node; Described interpolation continuous curve surface picture construction function is that described original discrete figure is carried out to two-dimensional interpolation, builds interpolation continuous curve surface image; The described calculating device coordinate function that is positioned is by searching the position of described interpolation continuous curve surface image upward peak, returns to the coordinate of this peak value, be positioned described in the being positional information of device of the coordinate of described peak value.
Then, execution step S6, shows positioning result by gui interface.
Concrete, by main frame, gui interface being set, can show more intuitively the position of the device that is positioned.
Described gui interface comprises: the configured board of arranging successively, Data panel and positioning panel; Wherein, described configured board is for the position coordinates of sensors configured network ordinary node; Data panel is for showing the result after the packet described radio sensing network being listened to by main frame is processed; Positioning panel is for showing the 3-D view of locating space.
In the present embodiment, by configured board, set the position coordinates of ordinary node, artificially input the spacing distance numerical value between X-direction and Y direction ordinary node, according to the position of the device that is positioned, carry out preferably the scope of setting wireless sensor network, make to be positioned device in the distribution of wireless sensor network, to its channel is monitored and obtained packet, improved positioning accurate accuracy.Data panel can demonstrate the configuration operation through configured board intuitively, and main frame imports the packet of monitoring, and after service data handling procedure, has obtained the RSSI value of each ordinary node.Positioning panel shows through calculating the positional information of device of being positioned after device coordinate function calculates that is positioned.Can come in the 3-D view in space, location, to characterize intuitively by the 3-D view button of setting the position of the device that is positioned, the i.e. location coordinate information of peak value in 3-D view in addition.
To sum up, in the navigation system and localization method thereof providing in the embodiment of the present invention, thereby build wireless sensor network by a plurality of sensor nodes being set at the device that is positioned around, wireless sensor network is monitored the channel of the device that is positioned, thereby the packet of acquisition is determined the positional information of the device that is positioned through host process.Navigation system provided by the present invention is the wireless sensor network building based on voluntarily, and the navigation system based on wireless sensor network, can not be subject to surrounding environment influence, and cost is low, and positioning precision is high, and is applicable to the different places of indoor and outdoors.
Foregoing description is only the description to preferred embodiment of the present invention, the not any restriction to the scope of the invention, and any change, modification that the those of ordinary skill in field of the present invention is done according to above-mentioned disclosure, all belong to the protection range of claims.
Claims (16)
1. a navigation system, is characterized in that, comprising: a plurality of sensor nodes and carry out the main frame of radio communication with sensor node; Wherein,
Described a plurality of sensor node forms wireless sensor network, and described wireless sensor network is for monitoring the channel of the Wi-Fi signal of the device transmitting that is positioned;
Described main frame, processes for the packet that described radio sensing network is listened to, and shows the position of the device that is positioned.
2. navigation system as claimed in claim 1, is characterized in that, described sensor node comprises: a base-station node and some ordinary nodes.
3. navigation system as claimed in claim 2, is characterized in that, adopts Zig-Bee agreement to carry out radio communication between described ordinary node.
4. localization method as claimed in claim 2, is characterized in that, adopts distribution protocol and convergence protocol in TinyOS operating system to carry out radio communication between described base-station node and described ordinary node.
5. navigation system as claimed in claim 2, is characterized in that, described base-station node comprises: serial communication modular, the first wireless communication module; Wherein, described serial communication modular is for communicating with described main frame; Described the first wireless communication module is for communicating with described ordinary node.
6. navigation system as claimed in claim 2, is characterized in that, the coordinate of each ordinary node is known, and to be less than or equal to the interval of 10 meters, is matrix array distribution between each ordinary node.
7. navigation system as claimed in claim 6, is characterized in that, described ordinary node comprises: sensing module and the memory module being electrically connected with described sensing module; Wherein, the packet transmitting on the channel of described sensing module for the Wi-Fi signal of the device transmitting that is positioned described in gathering; Described memory module is for storing the packet that described sensor assembly gathers.
8. navigation system as claimed in claim 7, is characterized in that, described main frame is provided with gui interface, and described gui interface is for showing the position of the device that is positioned.
9. navigation system as claimed in claim 8, is characterized in that, described gui interface comprises: the configured board of arranging successively, Data panel and positioning panel; Wherein, described configured board is for the position coordinates of sensors configured network ordinary node; Data panel is for showing the result after the packet described radio sensing network being listened to by main frame is processed; Positioning panel is for showing the 3-D view of locating space.
10. navigation system as claimed in claim 9, is characterized in that, described in the device that is positioned be mobile phone, panel computer or car-mounted terminal.
11. 1 kinds of localization methods, is characterized in that, comprise that step is as follows:
Adjusting is positioned device in continuing the state of transmitting Wi-Fi signal;
At the device that is positioned, a plurality of sensor nodes are set around, described a plurality of sensor nodes form wireless sensor network;
Regulate the working frequency range of sensor node;
Radio sensing network is monitored the channel of the device that is positioned, and by the Packet Generation listening to main frame;
Main frame is determined the positional information of the device that is positioned according to the packet receiving;
By gui interface, show positioning result.
12. localization methods as claimed in claim 11, is characterized in that, the working frequency range of described adjusting sensor node is that the transmission data band of sensor node is adjusted to the frequency range of the device transmitting Wi-Fi signal that is positioned overlapping.
13. localization methods as claimed in claim 11, is characterized in that, described sensor node comprises a base-station node and some ordinary nodes.
14. localization methods as claimed in claim 13, is characterized in that, adopt distribution protocol and convergence protocol in TinyOS operating system to carry out radio communication between described base-station node and described ordinary node.
15. localization methods as claimed in claim 11, is characterized in that, described main frame is determined the positional information of the device that is positioned according to the packet receiving, and are by described main frame, to move its data processor loading to realize.
16. localization methods as claimed in claim 15, is characterized in that, described data processor comprises: single-node data is processed function, original discrete picture constructor, interpolation continuous curve surface picture construction function and calculated the device coordinate function that is positioned; Wherein, described single-node data is processed function for determining the RSSI value of each ordinary node; Described original discrete picture constructor is for setting up original discrete figure according to the position coordinates of the fixed RSSI value of each ordinary node and ordinary node; Described interpolation continuous curve surface picture construction function is that described original discrete figure is carried out to two-dimensional interpolation, builds interpolation continuous curve surface image; The described calculating device coordinate function that is positioned is by searching the position of described interpolation continuous curve surface image upward peak, returns to the coordinate of this peak value, be positioned described in the being positional information of device of the coordinate of described peak value.
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