CN106291468B - It is a kind of can quick positioning system and its localization method in the sonication chamber of remote monitoring - Google Patents
It is a kind of can quick positioning system and its localization method in the sonication chamber of remote monitoring Download PDFInfo
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- CN106291468B CN106291468B CN201610879858.9A CN201610879858A CN106291468B CN 106291468 B CN106291468 B CN 106291468B CN 201610879858 A CN201610879858 A CN 201610879858A CN 106291468 B CN106291468 B CN 106291468B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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Abstract
The present invention is a kind of quick positioning system and its localization method being related to indoor positioning and position sensing technical field in the sonication chamber of remote monitoring, relate more specifically to can remote monitoring, calculate in monolithic generator terminal execution position, and terminal intuitively show physical location can quick positioning system and method in the sonication chamber of remote monitoring.Including destination node, beaconing nodes, gateway and terminal, destination node is connected with beaconing nodes, and destination node is communicated by gateway with terminal；Destination node receives the positioning command that terminal is sent out, and sends radiofrequency signal and ultrasonic signal to beaconing nodes；Beaconing nodes return data packet is to destination node；Terminal sends positioning instruction to destination node, and current location information is transmitted to terminal by destination node；The location information that terminal returns destination node is in the form of coordinate system figure for user's real time inspection.The system accuracy is high, and average localization error is less than 5cm；The system locating speed is fast, has higher location frequency.
Description
Technical field
The present invention is a kind of quick positioning system and its localization method being related to indoor positioning in the sonication chamber of remote monitoring
With position sensing technical field, relate more specifically to can remote monitoring, calculate in monolithic generator terminal execution position, and it is straight in terminal
See show physical location can quick positioning system and method in the sonication chamber of remote monitoring.
Background technology
Global positioning system (GPS) can provide precision in outdoor environment and reach meter level object location information, if sharp again
It is modified with the principle of difference, it might even be possible to reach decimeter grade.But GPS can not work well in environment indoors
Make, reason is that the positioning result of GPS drastically deteriorates because of multipath effect and signal interrupting.Therefore its positioning accuracy lags far behind
In the positioning accuracy of local positioning.For the type of current local positioning, the positioning method based on beacon has obtained more general
Time application.
Positioning method based on beacon refers to surveying measured position in advance indoors to place beaconing nodes, and destination node passes through
The information that the sensor of installation obtains beaconing nodes obtains the position of oneself, these modes mainly have ultrasonic wave positioning, infrared ray
Positioning, radio frequency identification positioning, ultra wide band positioning, bluetooth positioning, Wifi positioning and ZigBee positioning etc..Positioning based on beacon
Mode can quickly, coordinate that is reliable, accurately obtaining absolute fix, however, to ensure that generally require installation more for accuracy
Beacon, this undoubtedly increases the cost of whole system.
Mainly beaconing nodes and position destination node to be measured known to position form ultrasonic positioning system, pass through survey
The time difference measured ultrasonic wave transmitting and received calculates destination node and correspondence with the method for the positioning of three sides or triangulation location
The distance between beaconing nodes.But the decaying generated when being propagated in air medium due to ultrasonic wave is bigger, it is normally only fitted
It is measured for adjusting the distance in smaller range.In general, the propagation distance of ultrasonic wave in air medium is short to
Only tens meters.Currently, the ultrasonic ranging system within the scope of relatively short distance obtained in real life it is extremely widespread
Application, its range accuracy can be as accurate as Centimeter Level.
Ultrasonic wave positioning active mode Typical Representative is to be based on arrival time（TOA）ActiveBat positioning systems, by English
The AndyWard in Cambridge University of state laboratory et al. is proposed.It includes carrying the target to be positioned of radio-frequency transmissions receiving module and taking
Ultrasonic wave with radio frequency reception receives network.But the network in order to ensure accuracy need install compared with multi-beacon, a large amount of beacon
Node is arranged such that the cost of total system is higher, it is difficult to promote.
Ultrasonic wave positioning passive type Typical Representative is to be based on reaching time-difference（TDOA）Loose couplings type Cricket positioning
System, by Massachusetts Institute of Technology's computer science development in laboratory.Each beacon emissions are confidential according to it in Cricket systems
The coordination system constantly emits ultrasound RF signals, increases system power dissipation；For the receiver being placed on mobile object, and not
TDOA rangings are carried out with beacon, position may move, and cause mobile target range sample asynchronous, to
Cause to be deteriorated to the positioning accuracy of dynamic object.
Invention content
It can quickly be positioned in the sonication chamber of remote monitoring the purpose of the present invention is place offer is a kind of against the above deficiency
System and its localization method calculate corresponding distance of each time by destination node according to current environmental temperature, and according to prior
The indoor coordinate system built up, the position that destination node is calculated in conjunction with recursion data fusion location algorithm, pass through gateway by position
Return to terminal, terminal in the form of coordinate system figure for user's real time inspection, to realize remote monitoring.
The present invention takes following technical scheme to realize：
It is a kind of can quick positioning system in the sonication chamber of remote monitoring, including destination node, beaconing nodes, gateway and end
End, destination node are connected with beaconing nodes, and destination node is communicated by gateway with terminal；
Destination node receives the positioning command that terminal is sent out, and sends radiofrequency signal and ultrasonic signal to beaconing nodes；
Beaconing nodes return data packet is to destination node；
Terminal sends positioning instruction to destination node, and current location information is transmitted to terminal by destination node；Terminal is by mesh
The location information of mark node passback is in the form of coordinate system figure for user's real time inspection.
The destination node includes destination node radio-frequency module, ultrasonic wave transmitting module, temperature sensor module, WiFi
Module and destination node one-chip computer module, destination node one-chip computer module emit with destination node radio-frequency module, ultrasonic wave respectively
Module and temperature sensor module are connected；Destination node one-chip computer module controls radio-frequency module and ultrasonic wave module sends radio frequency
And ultrasonic signal；
Radiofrequency signal for waking up beaconing nodes is sent to beaconing nodes by destination node radio-frequency module；
Ultrasonic wave transmitting module sends ultrasonic signal to beaconing nodes；
Temperature sensor module is used for measuring environment temperature, and temperature information is passed to destination node one-chip computer module；
WiFi module for realizing destination node and terminal communication；Destination node passes through gateway and end using WiFi module
End communication；
Destination node one-chip computer module receives the data of beaconing nodes passback for receiving the positioning command that terminal is sent out
Packet, combination temperature information calculate destination node at a distance from each beaconing nodes, and then calculate current location information.
The beaconing nodes include beaconing nodes radio-frequency module, ultrasonic wave receiving module and beaconing nodes microcontroller mould
Block, beaconing nodes one-chip computer module are connected with beaconing nodes radio-frequency module and ultrasonic wave transmitting module respectively；Destination node list
Piece machine module controls radio-frequency module and ultrasonic wave module sends radio frequency and ultrasonic signal；
Beaconing nodes radio-frequency module receives the radiofrequency signal sent from destination node, and radiofrequency signal is passed to beacon section
Point one-chip computer module；Data packet comprising temporal information, own location information is sent to destination node；
Ultrasonic wave receiving module receives the ultrasonic signal propagated through air dielectric sent from destination node, and will be ultrasonic
Wave signal passes to beaconing nodes one-chip computer module；
Beaconing nodes one-chip computer module be used to measure from ultrasonic propagation that destination node is sent arrival beaconing nodes when
Between, and the own location information of above-mentioned temporal information, beaconing nodes is packaged into data packet and passes to beaconing nodes radio-frequency module.
The terminal is computer or smart mobile phone.
When the present invention works, destination node receives the positioning command that terminal is sent out, and sends radiofrequency signal to beaconing nodes
And ultrasonic signal；Destination node receives the data packet of beaconing nodes passback, combining target intra-node temperature sensor module
The temperature information of measurement calculates destination node at a distance from each beaconing nodes, and then calculates current location information；With
In current location information is returned to terminal.
It is a kind of can in the sonication chamber of remote monitoring quick positioning system localization method, include the following steps：
1）The beaconing nodes that distance is less than R are disposed on the ceiling by the star-like cellular topology in six sides, to ensure at least 3
A receiving module can receive ultrasonic signal, and the calculation formula of distance R is,, whereinIt is arrived for ceiling
The vertical range on ground,For the angle of departure of ultrasonic sensor used；
2）The beaconing nodes placed on the ceiling are opened, beaconing nodes radio-frequency module is made to be in communications status；Select day
A beaconing nodes in beaconing nodes on card are leader cluster node, and broadcast initialization clock data frame is realized to all letters
The clock for marking node synchronizes；Each beaconing nodes establish corresponding geographic location information table；Leader cluster node broadcasts dormancy dispatching table, makes
Obtain the dormant state that beaconing nodes are periodically in low-power consumption；The period beaconing nodes of revival are in the radio frequency reception stage, detect
Destination node is listened to send the data frame of Location Request；
3）DelayDestination node radio frequency receiver is opened afterwards, waits for the control command frame of gateway；It is describedFor beacon section
Synchronization time is put,Value is set as 1ms；
4）If the control command frame that destination node receives is dormancy instruction frame, dormancy instruction is broadcasted to beaconing nodes
Frame information, to adjust current dormancy time；If the control command frame that destination node receives is positioning instruction frame, basis should
Frame information carries out periodic sampling positioning or in real time positioning to destination node；
5）If destination node is in the time limitIt is interior without other Radio Frequency Interfere, destination node is sent in real time or by the period and contains
The request location data frame of self information；It is describedTo prevent beaconing nodes interference time,Value is set as 5ms；
6）After the beaconing nodes of revival receive request location data frame, corresponding ultrasonic wave receiving module is opened；
7）Destination node is delayedSending time synchronizing signal and ultrasonic signal afterwards, while radio circuit being in and is connect
Receipts state；For the location data frame propagation time,It is set as 1us；
8）The beaconing nodes of revival receive step 7）In ultrasonic signal after or more than maximum latency when,
The beaconing nodes for not receiving ultrasonic signal are made to enter dormant state；The received ultrasonic signal time difference shortest revival beacon section
Point, waking up surrounding distance isSuspend mode beaconing nodes, while return allow location data frame；Wherein R is step 1）Described in
Deployment distance；
9）Destination node sending time synchronizing signal and ultrasonic signal again, while destination node radio-frequency module being set
In reception state；
10）The beaconing nodes of revival calculate signal arrival time difference, and own location information and time difference information are packaged
It is sent to destination node, is then worked by dormancy dispatching table；
11）Destination node uses step 10）The information that the data packet and temperature sensor module of middle return transmit calculates
Go out spread speed of the ultrasonic wave in current environment, and then calculate destination node at a distance from each beaconing nodes, carries out phase
The recursion data fusion location Calculation answered, and terminal is sent to carry out Real time displaying by WiFi module, it so far completes primary
Positioning operation.
Step 11）Calculation formula of the destination node at a distance from each beaconing nodes is as follows,
In formula：For the distance between each beaconing nodes and destination node；V is propagation speed of the ultrasonic wave in current environment
Degree,The time for reaching each beaconing nodes is propagated from destination node for ultrasonic signal；
The calculation formula of the spread speed is as follows,
Wherein, V be spread speed of the ultrasonic wave in current environment, 331.5 for ultrasonic wave in 0 degree Celsius of lower air
Spread speed, unit are m/s（Meter per second）；T is average indoor temperature.
Advantages of the present invention：
The present invention is a kind of can quick positioning system in the sonication chamber of remote monitoring, wherein destination node and beaconing nodes
It is simple in structure, it is small, facilitate installation, carrying and deployment；Beaconing nodes are placed on the ceiling, and ground environment is not easily susceptible to
Interference；Data transmission is by wireless, and beaconing nodes can work independently, and system coupling is weak, convenient for deployment；Pass through letter
Mark mode of the node with reference to the work of dormancy dispatching table so that most of node without work is in the state of suspend mode, power consumption pole
It is low；The system accuracy is high, and average localization error is less than 5cm；The system locating speed is fast, has higher location frequency；
The final location information of the system is in the form of coordinate system figure in terminal for user's real time inspection, intuitive and convenient.
Description of the drawings
Below with reference to attached drawing, the invention will be further described：
Fig. 1 is the system construction drawing of an embodiment of the present invention.
Fig. 2-1 is positioning flow Fig. 1 of an embodiment of the present invention（Waking up surrounding distance isSuspend mode beaconing nodes
Preceding flow）.
Fig. 2-2 is positioning flow Fig. 2 of an embodiment of the present invention（Waking up surrounding distance isSuspend mode beaconing nodes
Flow afterwards）.
Fig. 3 is the star-like cellular topology figure in six sides of an embodiment of the present invention.
Fig. 4 is the system composition and operation principle schematic diagram of an embodiment of the present invention.
Fig. 5 is the destination node circuit diagram of an embodiment of the present invention.
Fig. 6 is the beaconing nodes circuit diagram of an embodiment of the present invention.
Fig. 7 is the ultrasonic wave transmitting module circuit diagram of the destination node of an embodiment of the present invention.
Fig. 8 is the temperature sensor module circuit diagram of the destination node of an embodiment of the present invention.
Fig. 9 is the WiFi module circuit diagram of the destination node of an embodiment of the present invention.
Figure 10 is the radio frequency module circuit schematic diagram of the destination node/beaconing nodes of an embodiment of the present invention.
Figure 11 is the one-chip computer module circuit diagram first of the destination node/beaconing nodes of an embodiment of the present invention
Point.
Figure 12 is the one-chip computer module circuit diagram second of the destination node/beaconing nodes of an embodiment of the present invention
Point.
Figure 13 is the ultrasonic wave receiving module circuit diagram first part of the beaconing nodes of an embodiment of the present invention.
Figure 14 is the ultrasonic wave receiving module circuit diagram second part of the beaconing nodes of an embodiment of the present invention.
Specific implementation mode
The embodiment of the present invention is further described below in conjunction with the accompanying drawings.
Attached drawing 1 and 4 be the embodiment of the present invention system composition and operation principle schematic diagram, the system include destination node,
Beaconing nodes, gateway and terminal；Wherein, terminal (can be personal computer or smart mobile phone, using intelligence in the present embodiment
Can mobile phone) positioning command is sent to by destination node through gateway by WiFi, the terminal both can be same with destination node
It, also can not be under same LAN under LAN（Signal is transmitted by public network）；Destination node sends radio frequency to beaconing nodes
Signal and ultrasonic signal, the ultrasonic signal pass to beaconing nodes by air dielectric, and beaconing nodes are placed on smallpox
On plate (placement location does not have specific requirement), position measures and obtains in advance, and the coordinate data of beaconing nodes is stored in
In the one-chip computer module of beaconing nodes, geographic location information table is constituted.In embodiments of the present invention, in order to make destination node obtain
Accurate location information, destination node need at least in the sensing range of three beaconing nodes.The sensing range of radiofrequency signal
It can be generally full of entire room, therefore its sensing range is negligible, and ultrasonic signal generally has certain angle of action
Degree, therefore take the mode of more cloth beaconing nodes.And in order to realize low-power consumption, it takes according to dormancy dispatching table so that beaconing nodes
It is periodically in the mode of the dormant state of low-power consumption, after a certain beaconing nodes receive ultrasonic signal, then wakes up surrounding
Node, realize positioning.Finally terminal will be transferred to through gateway by WiFi by destination node calculated location information, and
It is shown in the form of coordinate system figure.
Gateway in Fig. 4 in the present embodiment uses router, and terminal uses smart mobile phone, and terminal is transmitted through gateway receiving
Location information after, in conjunction with the coordinate system pre-set, the real time position of mobile device is shown in the form of coordinate diagram, supply
User checks.
Fig. 5 is the destination node of the embodiment of the present invention, including one-chip computer module, radio-frequency module, ultrasonic wave transmitting module, temperature
Sensor assembly and WiFi module are spent, one-chip computer module is using the MSP430 Launchpad of TI companies in the present embodiment, this 16
Position microcontroller processing capacity is strong, arithmetic speed is fast, resourceful in super low-power consumption, piece, disclosure satisfy that control and operation requirement, and
Low-power consumption can solve the powerup issue of multiple beaconing nodes；Radio-frequency module uses wireless communication module in the present embodiment
NRF24L01, microcontroller P1_0, P1_1, P1_2, P1_4, P1_5 pin connect the output end of radio-frequency module；Surpass in the present embodiment
The transformer secondary output inductance of sound wave transmitting module constitutes resonant tank with transmitter, to improve emission effciency, microcontroller P1_6,
P1_7 pins connect the output end of ultrasonic wave transmitting module；The number that temperature sensor module is produced using pine difficult to understand in the present embodiment
Temperature Humidity Sensor DHT22, microcontroller P2_3 pins connect the output end of temperature sensor module；WiFi module in the present embodiment
Using the ESP8266 of the prosperous production of pleasure, microcontroller P2_0, P2_1 pin connects the output end of WiFi module.
Fig. 6 is the beaconing nodes of the embodiment of the present invention, including one-chip computer module, radio-frequency module and ultrasonic wave receiving module,
Ultrasonic wave receiving module is specially designed for ultrasonic wave reception, amplification, the chip detected using TI companies in the present embodiment
TL852, microcontroller P1_6, P1_7, P2_0, P2_1, P2_4, P2_5 pin connect the output end of ultrasonic wave transmitting module.
Fig. 7 is the ultrasonic wave transmitting module circuit diagram of the destination node of the embodiment of the present invention, ultrasound in the present embodiment
The ultrasonic wave transmitting probe of wave transmitting module uses customized wide-angle ultrasonic wave receiving transducer, center resonant frequency 40
± 2.0KHz, acoustic pressure in transmission are more than 105dB, and receiving sensitivity is more than -74dB, and transmitted wave beam angle is 60 °, and operating temperature is -40
~+80 DEG C, operating voltage is 300~500Vp-p.Ultrasonic ranging require transmitting terminal power is larger and receiving terminal it is sensitive
Degree is higher.As transmitting module, for the considerations of improving signal-to-noise ratio, power is the bigger the better.Emitting head is piezoelectric ceramics transducing, is belonged to
It is driven in voltage, power proportional is in driving voltage.Therefore transformer is used to boost, step-up ratio 1：20.In addition, by transformer and
The matching of emitting head obtains approximate sine wave using resonance principle, is supplied to emitting head.Emitting head belongs to voltage driving, driving
Voltage more high power is bigger.Driving voltage is controlled using gain, gain setting is realized when writing program.The effect of Cut feet is
Energy converter work is controlled, the effect of Send feet is control repercussions suppression circuit work.
Fig. 8 is the temperature sensor module circuit diagram of the destination node of the embodiment of the present invention, the temperature in the present embodiment
It includes a condenser type humidity sensing element and one to spend sensor to use digital hygro sensor DHT22, temperature sensor DHT22
A NTC temperature-measuring thermistors, and be connected with 8 single-chip microprocessor MCUs of a high-performance；It is defeated eventually by single bus data format
Go out measuring temperature.
Fig. 9 is the WiFi module circuit diagram of the destination node of the embodiment of the present invention, is used in the present embodiment
ESP8266, the WiFi module is powerful, internal race LWIP agreements, can easily realize networking, and can receive monolithic
Machine rs 232 serial interface signal realizes WiFi communication.
Figure 10 is the radio frequency module circuit schematic diagram of destination node/beaconing nodes of the embodiment of the present invention, in the present embodiment
Using NRF24L01, operation principle is：NRF24L01 transmitting terminals send data to receiving terminal, and receiving terminal is acknowledging receipt of data
The address of transmitting terminal is recorded afterwards, and sends answer signal by destination address of this address（Belong to hardware realization）, in transmitting terminal, number
It is used as receiving answer signal according to channel 0, therefore the reception address in transmitting terminal channel 0 is equal with address end address is sent, with
Ensure to receive correct answer signal；1 pair 6 of wireless communication at most may be implemented in the radio-frequency module, and in microcontroller 1
Disconnected input pin, 5 GPIO are connected, and 5V power supplies, transmission speed can reach 2M（bps）.
Figure 11, Figure 12 are the one-chip computer module circuit diagram of destination node/beaconing nodes of the embodiment of the present invention, this reality
The MSP430 Launchpad for using TI companies in example are applied, are a kind of 16 super low-power consumptions, the mixing with reduced instruction set computer
Signal processor；The one-chip computer module of beaconing nodes measures the arrival of ultrasonic signal by 16 bit timing devices inside processor
Time, and the own location information of above-mentioned temporal information, beaconing nodes is packaged into data packet, and pass to radio-frequency module；Mesh
After the one-chip computer module of mark node receives data packet, in conjunction with the temperature information that DHT22 is measured, destination node and each letter are calculated
The distance of node is marked, and then calculates current location information, and passes to WiFi module.
Figure 13 is the ultrasonic wave receiving module circuit diagram first part of the beaconing nodes of the embodiment of the present invention, i.e., ultrasonic
The core of wave receiving module；The core of the ultrasonic signal detection circuit of receiving module is TL852 integrated circuits, and parameter is
For 40kHz Frequency Designs, the amplification and detection of echo are realized, totally 6 output interfaces；4 Interface Controller ultrasonic waves increase
Benefit, 1 interface are the output for the value that integrated circuit TL852 is obtained after integral, and also 1 interface is after obtaining echo-signal
Export negative value；The voltage of gain control is 5V, occupies 4 outputs of microcontroller.Echo-signal interface is connected to the interruption of microcontroller
Input, input high level when stopping timing；The effect of tetra- feet of GCA, GCB, GCC, GCD is control TL852, realizes 11
Stage gain；The effect of Inhibit feet is that output signal is made to reset, and the effect of Signal feet is the result of output comparator.
Figure 14 is the ultrasonic wave receiving module circuit diagram second part of the beaconing nodes of the embodiment of the present invention, i.e., ultrasonic
The output signal of wave receiving module extracts part, is made of low-voltage amplifier LMV358；Circuit is two parts, before be level-one with
Reduce the influence integrated to TL852 output capacitances with device in order to improve input impedance；The second level is comparator, in order to export down
Drop is along preferable signal to microcontroller.
Fig. 2-1 and Fig. 2-2 is the positioning flow figure of the present invention, and this method is using ultrasonic wave and radio-frequency technique and based on by mesh
The system that mark node, beaconing nodes, gateway, terminal are constituted is included the following steps with realizing to the positioning of indoor moving device：
1）If Fig. 3 disposes the beaconing nodes that distance is less than R on the ceiling by the star-like cellular topology in six sides, to ensure at least
3 receiving modules can receive ultrasonic signal,, whereinFor the vertical range of ceiling to ground,
For the angle of departure of ultrasonic sensor used；
2）The beaconing nodes placed on the ceiling are opened, its radio circuit is made to be in communications status；Select it is therein certain
A beaconing nodes are leader cluster node, and broadcast initialization clock data frame is realized and synchronized to the clock of all beaconing nodes；Each beacon
Node establishes corresponding geographic location information table；Leader cluster node broadcasts dormancy dispatching table so that beaconing nodes are periodically in
The dormant state of low-power consumption；The period beaconing nodes of revival are in the radio frequency reception stage, intercept destination node and send Location Request
Data frame；
3）DelayDestination node radio frequency receiver is opened afterwards, waits for the control command frame of gateway；It is describedFor beaconing nodes
Synchronization time,Value is set as 1ms；It is determined by the scale of corresponding microcontroller and destination node, to ensure the effective of system
Property, bigger than normal, value 1ms can be set；
4）If the control command frame that destination node receives is dormancy instruction frame, dormancy instruction is broadcasted to beaconing nodes
Frame information, to adjust current dormancy time；If the control command frame that destination node receives is positioning instruction frame, basis should
Frame information carries out periodic sampling positioning or in real time positioning to destination node；
5）If destination node is in the time limitIt is interior without other Radio Frequency Interfere, destination node in real time/period sends and contains itself
The request location data frame of information；It is describedTo prevent beaconing nodes interference time, to ensure that the stability of system, this system are set
It is 5ms to set it；
6）After the beaconing nodes of revival receive request location data frame, corresponding ultrasonic wave receiving module is opened；
7）Destination node is delayedSending time synchronizing signal and ultrasonic signal afterwards, while radio circuit being in and is connect
Receipts state；For the location data frame propagation time,It is set as 1us；Since location data frame is radiofrequency signal, 10m institutes are propagated
Time is about 0.033us, therefore this system willIt is set as 1us；
8）After the beaconing nodes of revival receive ultrasonic signal（Or it is more than maximum latency）After make not receive it is super
The node of acoustic signals enters dormant state, receives the time difference shortest revival beaconing nodes, wakes up surrounding distance and isSuspend mode
Beaconing nodes, while returning to permission location data frame；
9）Destination node sending time synchronizing signal and ultrasonic signal again, while radio circuit being in and receives shape
State；
10）The beaconing nodes of revival, calculate signal arrival time difference again, and by own location information, time difference information
It transmits to destination node, then works by dormancy dispatching table；
11）Destination node calculates ultrasonic wave and exists with the data packet returned, and temperature sensor information thereon
Spread speed in current environment, and then destination node is calculated at a distance from each beaconing nodes, carry out corresponding recursion number
Host computer platform is sent to carry out Real time displaying according to fusion location Calculation, and by WiFi, so far completes one-time positioning operation.
Step 11）Calculation formula of the destination node at a distance from each beaconing nodes is as follows,
In formula：For the distance between each beaconing nodes and destination node；V is propagation speed of the ultrasonic wave in current environment
Degree,The time for reaching each beaconing nodes is propagated from destination node for ultrasonic signal；
The calculation formula of the spread speed is as follows,
Wherein, V be spread speed of the ultrasonic wave in current environment, 331.5 for ultrasonic wave in 0 degree Celsius of lower air
Spread speed, unit are m/s（Meter per second）；T is average indoor temperature.
The recursion data fusion location Calculation considers the operational capability of destination node, when the anchor node number of reference
When more, the matrix inversion operation in general weighted multilateration is not applicable to destination node, to avoid destination node because of operand mistake
Big to generate exception, this algorithm is converted to scalar recursive operation under the premise of not influencing positioning accuracy, by vector calculus, subtracts significantly
The complexity for having lacked algorithm realizes the positioning to target.
The computational methods that recursion data merges location Calculation are as follows：
1）Establish observational equation
If known nodeTrue deployment coordinate be, the actual distance with target is, ultrasonic sensor survey
Distance be；If target unknown coordinates are, according to Pythagorean theorem（Pythagoras）Theorem is set up
Following equations group,
(formula 1)
It is describedFor the vertical range of ceiling to ground；
If nodeNode can be obtainedActual position informationWith at a distance from target, then have difference
Equation：
(formula 2)
For nodeFor the observed range of target, then, wherein noiseTo obey's
Independent Gaussian noise profile can obtain：
（Formula 3）
Latter 2 of 3 the right of the formula are noise item；Due toWithIt is orthogonal, then there is its covariance to be：
（Formula 4）
Had according to Gaussian distribution nature, i.e. noise itemWithIt is orthogonal.
Its mean value and variance are respectively：
Because, then the variance of obvious Section 3 be far smaller than the 2nd.Therefore then relative to stochastic variable, stochastic variableIt can be considered constant, at this time observational equation be represented by：
(formula 5)
Wherein：
；
,；
；Then there is its covariance matrix to be：
（Formula 6）
2）Recursive algorithm is analyzed
If sampling node number isIt is a, then haveA observational equation is：
(formula 7)
If, it is convenient to derive, now noise is expressed as follows：
(8)
The noise matrix of obvious above formula statement, is band-like symmetrical matrix, to eliminate correlation of nodes, observer nodes 2 can table
State for：
(9)
Wherein：It sets up.
Obviously it is only related to adjacent node, and correlation is：
WithIt is uncorrelated：
WithCorrelation：
WithAutocorrelation：
(10)
Then the 2nd observer nodes are deformed, have the corresponding noise matrix to be：
Then and so on, observer nodes 3 can be expressed as：
Wherein：It sets up.
Then it is with the correlation of other nodes：
Its correlation matrix is：
If set start node as：.It is combined with Least Square Recurrence, there is recursive expression：
。
This system terminal sends control command frame to destination node to trigger system by gateway, and mouse beacon node
Dormancy time improves the service life of system；Destination node sends radiofrequency signal and ultrasonic signal to placing on the ceiling
Beaconing nodes to obtain TDOA information, while radiofrequency signal keeps the clock between destination node and beaconing nodes synchronous.Multiple letters
Node is marked by the TDOA information backs measured to destination node.Each time is calculated according to current environmental temperature by destination node
Corresponding distance, and calculate destination node according to the indoor coordinate system built up in advance, in conjunction with recursion data fusion location algorithm
Position, position is returned into terminal by gateway, terminal is in the form of coordinate system figure for user's real time inspection.The end
End both can be under same LAN with destination node, also can not be under same LAN（Signal is transmitted by public network）, therefore it is real
Remote monitoring is showed.The present invention is with simple in structure, deployment is convenient, calculation amount is small, precision is high, low in energy consumption, observation intuitive and convenient
The advantages that.
Claims (5)
1. a kind of can quick positioning system in the sonication chamber of remote monitoring, it is characterised in that：Including destination node, beacon section
Point, gateway and terminal, destination node are connected with beaconing nodes, and destination node is communicated by gateway with terminal；
Destination node receives the positioning command that terminal is sent out, and sends radiofrequency signal and ultrasonic signal to beaconing nodes；Beacon
Node return data packet is to destination node；
Terminal sends positioning instruction to destination node, and current location information is transmitted to terminal by destination node；Terminal is by target section
The location information of point passback is in the form of coordinate system figure for user's real time inspection；
The localization method of quick positioning system it can include the following steps in the sonication chamber of remote monitoring：
1) it presses the star-like cellular topology in six sides and disposes the beaconing nodes that distance is less than R on the ceiling, to ensure that at least three receives
Module can receive ultrasonic signal, and the calculation formula of distance R is,Wherein H is that ceiling arrives ground
Vertical range,For the angle of departure of ultrasonic sensor used；
2) beaconing nodes placed on the ceiling are opened, beaconing nodes radio-frequency module is made to be in communications status；Select ceiling
On beaconing nodes in a beaconing nodes be leader cluster node, broadcast initialization clock data frame, realize to all beacon sections
The clock of point synchronizes；Each beaconing nodes establish corresponding geographic location information table；Leader cluster node broadcasts dormancy dispatching table so that letter
Mark the dormant state that node is periodically in low-power consumption；The period beaconing nodes of revival are in the radio frequency reception stage, intercept mesh
Mark the data frame that node sends Location Request；
3) be delayed t1Destination node radio frequency receiver is opened afterwards, waits for the control command frame of gateway；The t1It is synchronized for beaconing nodes
Time, t1Value is set as 1ms；
If 4) the control command frame that destination node receives is dormancy instruction frame, to beaconing nodes broadcast dormancy instruction frame letter
Breath, to adjust current dormancy time；If the control command frame that destination node receives is positioning instruction frame, believed according to the frame
Breath carries out periodic sampling positioning or in real time positioning to destination node；
5) if destination node is in time limit t2It is interior without other Radio Frequency Interfere, destination node is sent in real time or by the period and believes containing itself
The request location data frame of breath；The t2To prevent beaconing nodes interference time, t2Value is set as 5ms；
6) after the beaconing nodes revived receive request location data frame, corresponding ultrasonic wave receiving module is opened；
7) destination node delay t3Sending time synchronizing signal and ultrasonic signal afterwards, while radio circuit is in reception state；
t3For location data frame propagation time, t3It is set as 1us；
8) when the beaconing nodes revived are received after the ultrasonic signal in step 7) or more than maximum latency, make not connect
The beaconing nodes for receiving ultrasonic signal enter dormant state；The received ultrasonic signal time difference shortest revival beaconing nodes, are called out
Surrounding of waking up distance is the suspend mode beaconing nodes of 2R, while returning to permission location data frame；Wherein R is the deployment described in step 1)
Distance；
9) destination node sending time synchronizing signal and ultrasonic signal again, while destination node radio-frequency module is placed in reception
State；
10) beaconing nodes revived calculate signal arrival time difference, and own location information and time difference information are transmitted
To destination node, then work by dormancy dispatching table；
11) information that destination node is transmitted with the data packet and temperature sensor module that are returned in step 10), calculates ultrasound
Spread speed of the wave in current environment, and then destination node is calculated at a distance from each beaconing nodes, it is passed accordingly
Data fusion positioning calculating is pushed away, and terminal is sent to carry out Real time displaying by WiFi module, so far completes one-time positioning behaviour
Make.
2. according to claim 1 can quick positioning system in the sonication chamber of remote monitoring, it is characterised in that：Described
Destination node includes destination node radio-frequency module, ultrasonic wave transmitting module, temperature sensor module, WiFi module and destination node
One-chip computer module, destination node one-chip computer module are passed with destination node radio-frequency module, ultrasonic wave transmitting module and temperature respectively
Sensor module is connected；Destination node one-chip computer module controls radio-frequency module and ultrasonic wave module sends radio frequency and ultrasonic signal；
Radiofrequency signal for waking up beaconing nodes is sent to beaconing nodes by destination node radio-frequency module；
Ultrasonic wave transmitting module sends ultrasonic signal to beaconing nodes；
Temperature sensor module is used for measuring environment temperature, and temperature information is passed to destination node one-chip computer module；WiFi
Module for realizing destination node and terminal communication；Destination node is communicated by gateway with terminal using WiFi module；
Destination node one-chip computer module receives the data packet of beaconing nodes passback, knot for receiving the positioning command that terminal is sent out
Temperature information is closed, calculates destination node at a distance from each beaconing nodes, and then calculate current location information.
3. according to claim 1 can quick positioning system in the sonication chamber of remote monitoring, it is characterised in that：Described
Beaconing nodes include beaconing nodes radio-frequency module, ultrasonic wave receiving module and beaconing nodes one-chip computer module, beaconing nodes monolithic
Machine module is connected with beaconing nodes radio-frequency module and ultrasonic wave transmitting module respectively；Destination node one-chip computer module controls radio frequency
Module and ultrasonic wave module send radio frequency and ultrasonic signal；Beaconing nodes radio-frequency module receives the radio frequency sent from destination node
Signal, and radiofrequency signal is passed into beaconing nodes one-chip computer module；The data packet of temporal information, own location information will be included
It is sent to destination node；
Ultrasonic wave receiving module receives the ultrasonic signal propagated through air dielectric sent from destination node, and ultrasonic wave is believed
Number pass to beaconing nodes one-chip computer module；
Beaconing nodes one-chip computer module is used to measure the time that the ultrasonic propagation sent from destination node reaches beaconing nodes, and
The own location information of above-mentioned temporal information, beaconing nodes is packaged into data packet and passes to beaconing nodes radio-frequency module.
4. according to claim 1 can quick positioning system in the sonication chamber of remote monitoring, it is characterised in that：The end
End is computer or smart mobile phone.
5. according to claim 1 can quick positioning system in the sonication chamber of remote monitoring, which is characterized in that step
11) calculation formula of the destination node at a distance from each beaconing nodes described in is as follows,
In formula：For the distance between each beaconing nodes and destination node；V is spread speed of the ultrasonic wave in current environment,The time for reaching each beaconing nodes is propagated from destination node for ultrasonic signal；
The calculation formula of the spread speed is as follows,
V=331.5+0.607*T
Wherein, V is spread speed of the ultrasonic wave in current environment, and 331.5 be propagation of the ultrasonic wave in 0 degree Celsius of lower air
Speed, unit are m/s (meter per seconds)；T is average indoor temperature.
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| CN107037405A (en) * | 2017-05-11 | 2017-08-11 | 深圳爱络凯寻科技有限公司 | Indoor ultrasonic 3 D positioning system and method |
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| CN110673097B (en) * | 2019-10-24 | 2022-01-18 | 浙江工商大学 | Method for positioning sounding object in space by using audio arrival time difference |
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