CN113567910A - Wireless beacon positioning system and positioning method thereof - Google Patents
Wireless beacon positioning system and positioning method thereof Download PDFInfo
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- CN113567910A CN113567910A CN202110831823.9A CN202110831823A CN113567910A CN 113567910 A CN113567910 A CN 113567910A CN 202110831823 A CN202110831823 A CN 202110831823A CN 113567910 A CN113567910 A CN 113567910A
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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
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
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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
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
Abstract
The invention provides a wireless beacon positioning system and a positioning method thereof, belonging to the technical field of personnel positioning, Internet of things and wireless communication.A wireless beacon and a transmission substation are paired and grouped in a mode of distribution as required, and the positioning accuracy of an identification card is ensured by setting the intensity threshold of a positioning handshake signal of the identification card through the technologies of configuration of emission field intensity and attenuation coefficient as required, filtering of the signal intensity threshold and the like, so that the identification card can only communicate with equipment such as a nearest wireless beacon and the like, and can be limited by the signal intensity; through setting up the response identification card signal strength threshold, wireless beacon can the existence of auto-induction identification card, realizes that the people comes the situation that the communication people went the dormancy, and the response scope of identification card is injectd through this parameter, also can regard as the logical switch whether to enable response identification card, and then has satisfied the nimble requirement of deploying as required to the positioning accuracy at operation sites such as petrochemical industry, chemical industry, has realized low cost, the positioning effect of high accuracy again.
Description
Technical Field
The invention relates to the technical field of personnel positioning, Internet of things and wireless communication, in particular to a wireless beacon positioning system and a positioning method thereof.
Background
The current indoor beacon positioning technology is divided into urban positioning methods based on ranging and non-ranging according to different positioning mechanisms. The method based on non-ranging realizes positioning by utilizing information such as network connectivity and the like, and the positioning precision is relatively low; the distance measurement-based method calculates the positions of the nodes by measuring the distance, the angle and other information between the nodes, and the positioning accuracy is relatively high.
The positioning technology based on Received Signal Strength (RSSI) belongs to a method based on distance measurement, the distance between two points is estimated by the RSSI method, positioning is carried out by the mutual positions of the nodes, and due to the complexity of the operation field environment, the precision of the method is seriously influenced by factors such as large interference, multipath reflection, non-line-of-sight problems and the like, so the positioning precision of the method is not ideal enough.
When the radio signal is in the process of propagation, partial signal intensity loss exists, the distance between a radio signal transmitting point and a radio signal receiving point can be deduced according to the loss, and the purpose of positioning can be achieved according to a plurality of distance data. However, due to the complexity of the real application environment, such as the influence of various uncertain factors such as obstruction, diffraction, air temperature and humidity, accurate modeling of the radio signal loss model is almost impossible, which results in a large error in estimating the distance between the mobile node and the reference node through the RSSI value.
Positioning by multipoint RSSI: in fact, a poor signal of any beacon in the petrochemical, chemical and other operation fields can cause principle errors such as 'crossing device \ equipment \ wall, no separation between inside and outside', and the like.
A basic framework of the positioning system utilizing various technologies such as RFID, ZigBee, Wi-Fi and Bluetooth beacons is that a card reading base station is fixedly deployed, personnel carry identification cards, the card reading base station receives information from the identification cards carried by the personnel and carries out identification and positioning according to the information such as field intensity, phase and identification card sequence codes.
The above positioning algorithms all require that the clocks of the nodes in the network remain synchronized. However, different nodes all have their own local clocks, and because crystal oscillation frequencies of different nodes have deviations, the frequencies of a plurality of crystal oscillators are difficult to keep consistent, a traditional time synchronization protocol tries to make the crystal oscillation frequencies in the whole network reach the time synchronization, and however, due to the limitation of a wireless sensor network node architecture, a time synchronization algorithm in the prior art often hardly meets ideal requirements. Such as:
the principle of the time synchronization algorithm based on a sender-a receiver is that the sender embeds local time in a synchronization message, and a receiver adjusts the local time according to the time after receiving the message.
Based on the sender-receiver interaction time synchronization algorithm, the principle is to send a synchronization message in two directions, and according to the synchronization message, the time deviation between two adjacent nodes and the transmission delay time of the message can be calculated.
Based on a receiver-receiver interaction time synchronization algorithm, the principle is that the time between a plurality of receivers is synchronized by using a message, every time a reference message is sent by a reference node, other receiver nodes in a broadcast domain of the reference node receive the message, and the local time when the reference message is received is recorded. The receivers exchange their recorded times and calculate the difference, which is the clock offset between the receivers.
In the positioning process, the fact that shielding does not exist between the identification card and the card reading base station is assumed, various obstacles such as steel structures, concrete and other operation sites often exist under complicated environment conditions such as petrochemical sites, chemical sites and the like, and the required positioning and tracking capabilities cannot be provided by a pure radio frequency-based method.
The patentee revives a 'personnel positioning system (notice number CN 103634908A)' aiming at personnel positioning, the system comprises a personnel positioning communication base station, a personnel positioning portable terminal, a positioning beacon and a personnel positioning server, the positioning beacon is installed at a fixed position according to needs, the positioning beacon has a unique number associated with the installation position information of the positioning beacon, and the number information of the positioning beacon is periodically transmitted to the personnel positioning portable terminal in a wireless mode; the personnel positioning portable terminal is carried by personnel, receives the number information sent by each positioning beacon in real time, processes the number information to obtain the current position information, displays the current position information to the carrying personnel and sends the current position information to the personnel positioning server.
Patent CN102523621A also discloses a personnel positioning system, which is composed of a ground monitoring center, a transmission base station, an optical fiber, a gateway node, a bus, a beacon node, a training node and a mobile node. Beacon nodes are distributed in a roadway according to blocks, personnel carry mobile nodes, and the mobile nodes read signals of the beacon nodes, process received positioning information of the beacon nodes, upload the positioning information to a ground monitoring center and perform matching calculation with positioning mode data of the ground monitoring center to realize positioning; the training nodes are used for measuring, acquiring and correcting positioning mode data.
However, the above methods each require periodically transmitting the positioning information to the mobile node or the person positioning portable terminal in a wireless manner. Therefore, they all have the following problems: due to the difference in the crystal oscillation characteristics of the nodes, even if the clock frequency and the count period between the nodes are set to the same value, the periods of the nodes cannot be guaranteed to be equal. Due to the influence of various factors such as an operation field, the node cannot be directly synchronized with the time reference node but can only be synchronized with the node with the synchronization error of the time reference node, so that the synchronization error is inevitably accumulated, and the reliability of the system is also rapidly reduced.
The prior art people positioning method has the above problems due to the deterioration of channels, which may even affect the point-to-point communication between positioning devices, even if there is no external radio frequency interference source, there is also multipath fading, and the signal may be greatly attenuated when passing through various objects in the environment, etc.
The positioning technology based on Received Signal Strength (RSSI) belongs to a method based on distance measurement, the distance between two points is calculated by the RSSI method, positioning is carried out by the mutual positions of the nodes, and due to the complexity of the operation field environment, the precision of the method is seriously influenced by factors such as large interference, multipath reflection, non-line-of-sight problems and the like, so the positioning precision of the method is not ideal enough. The RSSI algorithm is used for positioning, when the transmission distance is close, the power attenuation is fast, and the signal attenuation is slow when the transmission distance is far. Therefore, the closer the RSSI is used for positioning, the more accurate the positioning is; the further the distance, the greater the positioning error.
When the radio signal is in the process of propagation, partial signal intensity loss exists, the distance between a radio signal transmitting point and a radio signal receiving point can be deduced according to the loss, and the purpose of positioning can be achieved according to a plurality of distance data. However, due to the complexity of the real application environment, such as the influence of various uncertain factors such as obstruction, diffraction, air temperature and humidity, accurate modeling of the radio signal loss model is almost impossible, which results in a large error in estimating the distance between the mobile node and the reference node through the RSSI value.
Aiming at personnel positioning, patentees who were hong, wear national courser, zhuyin and the like invented a 'short-distance accurate positioning method (notice number CN201410256215) based on RSSI', the system firstly carries out parameter calibration to obtain a mapping system from RSSI to distance, and the purpose of accurate distance measurement is achieved. And then finishing the subsequent work of ranging, and carrying out accurate positioning on the unknown node by using the distance data of the unknown node and a plurality of different beacon nodes.
Patent CN201410204298 also discloses an RSSI positioning method based on frequency hopping technology, in the calibration stage, a plurality of channel RSSI values are measured at a fixed point, and the ranging parameters in the RSSI ranging model are recorded and calculated; preparing a system, deploying positioning anchor nodes and realizing synchronization of a target node and the anchor nodes; respectively using a plurality of channels to communicate on a target node to acquire RSSI values; in the signal processing stage, the RSSI is processed into signal intensity amplitude optimization processing; and in the positioning stage, calculating the distance and the position of the target node on a positioning server according to the signal intensity.
The common characteristics of the above methods are:
and finally, positioning is carried out through multipoint RSSI. In fact, a poor signal of any beacon in the petrochemical, chemical and other operation fields can cause principle errors such as 'track crossing device \ equipment \ wall body, no separation between inside and outside', and the like.
Disclosure of Invention
Aiming at the problems, the invention provides a wireless beacon positioning system and a positioning method thereof, aiming at solving the problem that the wireless beacon cannot achieve clock synchronization under the condition of using a battery to supply power for dormancy as required, meeting the flexible requirement of positioning precision deployment as required in operation sites of petrochemical industry, chemical industry and the like through technologies of configuring emission field intensity and attenuation coefficient as required, filtering signal intensity threshold values and the like, and realizing the positioning effect with low cost and high precision. The technical scheme provided by the invention is as follows:
the invention provides a wireless beacon positioning system, which comprises a wireless beacon, an identification card and a transmission substation, wherein the wireless beacon, the identification card and the transmission substation are in wireless transmission in a signal transmission mode, and the wireless beacon and the identification card are powered by batteries; the wireless beacons and the transmission substations are paired and grouped in a mode of distribution according to needs, data communication can be realized only between the wireless beacons and the transmission substations in the same group, the wireless beacons take periodic beacon signals of the transmission substations in the groups where the wireless beacons are located as reference, and time for sequentially sleeping and awakening is calculated according to a time stamp algorithm so as to achieve time synchronization among the wireless beacons; the wireless beacon and the identification card simultaneously transmit data in a multi-path and multi-channel mode in parallel, configuration parameters of the wireless beacon comprise frequency band parameters, channel parameters and transmitting power parameters, the wireless beacon comprehensively judges the idle state of each channel according to uplink signal strength, downlink signal strength, comprehensive distance, voltage peak value, module temperature, peripheral starting delay, peripheral response delay and terminal handshake threshold, peripheral detection, peripheral awakening, handshake confirmation, successful transmission and empty buffer area, the identification cards have the same algorithm priority, the identification cards are provided with positioning handshake signal strength thresholds, and the wireless beacon is provided with induction identification card signal strength thresholds.
Optionally, the serial handshake messages between the wireless beacon, the identification card and the transmission substation include a serial confirmation message, a successful transmission message and a buffer empty message, where the maximum length of the detection message of the identification card and the wireless beacon is 23 bytes, the maximum length of the peripheral wakeup message of the identification card and the wireless beacon is 15 bytes, and the maximum length of the handshake confirmation message of the identification card and the wireless beacon is 15 bytes.
Optionally, the transmission field strength and the attenuation coefficient of the transmission substation are configured as required, the maximum length of the successful transmission message of the identification card and the wireless beacon is 15 bytes, the maximum length of the buffer empty message of the identification card and the wireless beacon is 15 bytes, and the wakeup process and the data exchange process of the identification card and the wireless beacon are independent of each other.
Optionally, the transmitting substation controls the transmission power between the transmitting substation and the wireless beacon according to its deployment scenario, and configures a corresponding attenuation coefficient according to its deployment scenario; the identification card and the wireless beacon adopt a pure asynchronous collision algorithm and a wakeup method, the sleeping time slice lengths of the identification card and the wireless beacon are determined by setting sleeping parameters, and meanwhile, the continuous sending length of an asynchronous wakeup message and the overtime length of handshake are determined.
Optionally, the wireless beacon sets a signal strength threshold as required according to an application scenario and a positioning accuracy requirement, and filters the received signal, and finally only retains the signal meeting the requirement; deploying the wireless beacon position according to the control target and setting the signal radius of the wireless beacon in a differentiation mode to achieve the effect that the beacon signal of the wireless beacon is circumscribed to the edge of the control target.
Optionally, the wireless beacon controls the beacon transmission power according to different deployment scenarios and configures corresponding attenuation coefficients according to different scenarios by analyzing signal strength, link quality, and wireless handshake data; the wireless beacon sets a signal strength threshold value as required for filtering according to different deployment scenes and different positioning precision requirements, and only signals meeting the requirements are left by analyzing the signal strength, the link quality and the wireless handshake data.
On the other hand, the invention also discloses a positioning method applied to the wireless beacon positioning system, and the positioning method comprises the following steps:
grouping wireless beacons and transmission substations according to on-site conditions, wherein only the wireless beacons and the transmission substations in the same group can communicate, controlling the transmission power between the transmission substations and the wireless beacons according to deployment scenes, and configuring corresponding attenuation coefficients according to the deployment scenes;
the method comprises the steps that a periodic beacon signal of a transmission substation is taken as a reference, a wireless beacon and an identification card confirm the time of waking up in sequence according to respective clocks, and the time of waking up in a sleep mode is calculated according to a virtual timestamp algorithm, so that the time synchronization among the wireless beacons is achieved;
setting a marking range of the wireless beacon according to the positioning scene, wherein the marking range is 1.5-5 m;
the wireless beacon marks the identification card entering the marking range of the wireless beacon, and the marked identification card sends data to a transmission substation covering the identification card through a wireless signal;
and after receiving the data, the transmission substation transmits the data to a back-end data server so as to realize the calculation of the accurate position of the operator carrying the identification card through platform software.
The invention has at least the following beneficial effects:
the invention provides a wireless beacon positioning system and a positioning method thereof, wherein a wireless beacon and a transmission substation are paired and grouped in a mode of distribution according to needs, and data communication can be only carried out between the wireless beacon and the transmission substation in the same group; through setting up the response identification card signal strength threshold, wireless beacon can the existence of auto-induction identification card, realizes that the people comes the situation that the communication people went the dormancy, and the response scope of identification card is injectd through this parameter, also can regard as the logical switch whether to enable response identification card, and then has satisfied the nimble requirement of deploying as required to the positioning accuracy at operation sites such as petrochemical industry, chemical industry, has realized low cost, the positioning effect of high accuracy again.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a wireless beacon positioning system according to an embodiment of the present invention;
fig. 2 is a schematic diagram of data transmission of a wireless beacon positioning system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an on-demand sleep time slice according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a sleep wake-up process according to an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A wireless beacon positioning system and a positioning method thereof according to an embodiment of the present invention will be described in detail with reference to fig. 1, fig. 2, fig. 3, and fig. 4.
Referring to fig. 1, fig. 2, fig. 3, and fig. 4, a wireless beacon positioning system according to an embodiment of the present invention includes a wireless beacon 2, an identification card 3, and a transmission substation 1, where the wireless beacon 2 is a combination of one or more of a positioning substation, an anchor point, and a location tag, the wireless beacon 2, the identification card 3, and the transmission substation 1 perform signal transmission based on a wireless transmission mode, and for example, the wireless beacon 2, the identification card 3, and the transmission substation 1 perform signal transmission based on protocols such as bluetooth, ZigBee, UWB, RFID, and WIFI, that is, a connection mode between the wireless beacon 2, the identification card 3, and the transmission substation 1 is a wireless connection.
Referring to fig. 1, the wireless beacon 2 and the identification card 3 are both powered by batteries, that is, batteries, which may be rechargeable batteries or button batteries, are installed inside the wireless beacon 2 and the identification card 3. The wireless beacon 2 and the transmission substation 1 are paired and grouped in an on-demand distribution mode, data communication can be carried out only between the wireless beacon 2 and the transmission substation 1 in the same group, data communication cannot be carried out between the wireless beacon 2 and the transmission substation 1 which are not in the same group, and a real-time on-demand grouping principle is adopted between the wireless beacon 2 and the transmission substation 1. That is, the wireless beacon 2 and the transmission substation 1 can perform real-time distribution according to the field situation, some wireless beacons and some transmission substations can be distributed in the same specific group, and data communication can be performed between the wireless beacon 2 and the transmission substation 1 in the group.
Further, the wireless beacons 2 in the embodiment of the present invention use the periodic beacon signals of the transmission substations 1 in the group in which the wireless beacons are located as a reference, and calculate the time for sequentially waking up from sleep according to the timestamp algorithm, so as to achieve time synchronization between the wireless beacons 2; the wireless beacon 2 and the identification card 3 simultaneously transmit data in a multipath and multichannel parallel mode, and the channel idle detection does not depend on the signal intensity any more.
Further, the configuration parameters of the wireless beacon 2 in the embodiment of the present invention include frequency band parameters, channel parameters, and transmission power parameters, the wireless beacon 2 comprehensively determines the idle state of each channel according to the uplink signal strength, the downlink signal strength, the comprehensive distance, the voltage peak value, the module temperature, the peripheral start delay, the peripheral response delay, the terminal handshake threshold, the peripheral detection, the peripheral wakeup, the handshake confirmation, the successful transmission, and the empty buffer area, the identification cards 3 have the same algorithm priority, the identification card 3 is configured with a positioning handshake signal strength threshold, and the wireless beacon 2 is configured with an inductive identification card signal strength threshold.
Specifically, the configuration parameters of the wireless beacon 2 include a frequency band parameter, a channel parameter, and a transmission power parameter, where the frequency band parameter corresponds to two bits, for example, 00 b-frequency band 1, 01 b-frequency band 2, 10 b-frequency band 3, 11 b-frequency band 4. Band 1 is around 2400MHz, band 2 is around 24 x MHz, band 3 is around 24 x MHz, and band 4 is around 24 x MHz. Channel parameters (00000 b-channel 1, …, 11111 b-channel 32). Each frequency band is divided into 32 main channels, and frequency points among the main channels are not overlapped. The bottom layer adopts encrypted transmission, and modules between different channels can not communicate strictly. The channel number is used as a preferred parameter for dividing the network, and the physical layers of different channel networks cannot interfere with each other, so that data can be transmitted in parallel. The network ID parameter may be considered as an auxiliary parameter for network division when the channel number is not sufficient.
The serial port handshake messages between the wireless beacon 2, the identification card 3 and the transmission substation 1 in the embodiment of the invention comprise serial port confirmation messages, successful sending messages and buffer zone empty messages, wherein the maximum length of the detection messages of the identification card 3 and the wireless beacon 2 is 23 bytes, the maximum length of the peripheral awakening messages of the identification card 3 and the wireless beacon 2 is 15 bytes, and the maximum length of the handshake confirmation messages of the identification card 3 and the wireless beacon 2 is 15 bytes. The maximum length of the successful message sent by the identification card 3 and the wireless beacon 2 is 15 bytes, the maximum length of the buffer empty message of the identification card 3 and the wireless beacon 2 is 15 bytes, and the awakening process and the data exchange process of the identification card 3 and the wireless beacon 2 are independent.
The identification card 3 and the wireless beacon 2 of the embodiment of the invention adopt a pure asynchronous collision algorithm and a wakeup method, determine the sleeping time slice length of the identification card and the wireless beacon by setting the sleeping parameters, and simultaneously determine the continuous sending length of the asynchronous wakeup message and the overtime length of handshake. The wireless beacon 2 controls the beacon transmitting power according to different deployment scenes and needs, analyzes the signal intensity, the link quality and the wireless handshake data, and configures corresponding attenuation coefficients according to different scenes; the wireless beacon 2 also sets a signal strength threshold value according to different deployment scenes and different positioning precision requirements to filter, and only signals meeting the requirements are left by analyzing the signal strength, the link quality and the wireless handshake data.
The identification card 3 and the transmission substation 1 of the embodiment of the invention have no binding relationship, so the identification card 3 can move freely in the network and can send data in multiple paths; the identification card can sleep according to a preset sleep time slice, and can actively send a message inquiry broadcast message after the sleep time slice is finished, and detect the existence of a wireless beacon and a transmission substation.
The embodiment of the invention does not rely on signal strength to judge the idle state of each channel, but synthesizes the comprehensive judgment of the strength of an uplink signal, the strength of a downlink signal, the comprehensive distance, the peak-to-peak voltage value, the module temperature, the starting delay of a peripheral (an identification card and a wireless beacon), the response delay of the peripheral, the handshake threshold of a terminal, the detection of the peripheral, the awakening of the peripheral, the handshake confirmation, the successful transmission, the empty buffer area and the like.
The maximum message length of the buffer empty message in the embodiment of the invention is 15 bytes. If the buffer area of the module is changed from full to idle, the module sends the message to the external device to inform the external device that the next frame data message can be sent. After the message is set, the peripheral can wait for the buffer area of the module to be empty without continuously retransmitting the trial, and only needs to wait for the buffer area empty message of the module to retransmit the next message, so that the time slot time overhead between the messages is reduced, and the handshake processing process of the peripheral is simplified.
In the embodiment of the invention, the identification card far away from the wireless beacon and the identification card near the wireless beacon have the same algorithm priority, no near-far effect exists, the identification card is still effective under strong interference, and meanwhile, the expenditure of the MCU is reduced; by setting the signal strength threshold of the identification card positioning handshake and the signal strength threshold of the wireless beacon sensing identification card, one is determined to be the positioning accuracy, and the other is the range of the sensing identification card and the distance between the sensing identification card and the substation, so that the positioning accuracy can reach 1.5m, people beyond 10m can be sensed, the communication with the substation beyond 100 m can be realized, and the judgment is not performed through the RSSI (received signal strength indicator) alone.
Each frequency band is divided into 32 main channels, and frequency points among the main channels are not overlapped. Modules among different channels can not communicate strictly, physical layers of different channel networks basically cannot interfere with each other, and data can be sent in parallel. When the channel is interfered, several positions can be automatically shifted up and down to be transmitted in parallel according to the handshaking condition. And messages are sent at intervals, a plurality of data message buffer areas are arranged in the core modules of the identification card and the wireless beacon, and a serial port is likely to continuously send a plurality of data messages. However, for some identification cards and wireless beacons, continuous data messages may not be processed timely, resulting in data message loss. In the embodiment of the invention, by setting the interval parameter, the data message of the module serial port can send a plurality of messages to the identification card 3 and the wireless beacon 2 according to the minimum time interval unit taking response overtime as the minimum time interval unit, or send the next message after receiving the feedback messages of the identification card 3 and the wireless beacon 2.
The phenomenon of wireless module packet loss can be found in the application of continuously sending a plurality of messages, and the data packet is discarded by the serial port of the wireless module instead of being wireless. The number of data caches in the chip of the wireless module is limited, and under the condition of wireless network congestion, data messages in the module cache are not sent wirelessly, and at the moment, if new messages are continuously sent to the module serial port, a buffer area is full. And after the module buffer area is full, the serial port is temporarily closed, and the data message sent to the module serial port is discarded. And only after the data message is successfully or unsuccessfully sent, the serial port of the module is opened again to receive a new message.
The embodiment of the invention ensures the reliability of the serial port data message of the module by carrying out simple serial port handshake with the wireless module. The module provides parameters to set 3 serial handshaking messages: (1) the serial port confirms the message: after the module serial port receives the complete data frame, the message is sent back through the serial port to inform the peripheral MCU to confirm that the serial port accurately receives the just-received data frame; (2) and (3) sending a success message: after the module successfully transmits a packet of unicast data frame in a wireless mode (broadcast is invalid), the module transmits the message through the serial port to inform the peripheral MCU that the data message is successfully transmitted in a wireless mode; (3) buffer empty message: when the module serial buffer is empty from full, the message is sent through the serial port to inform the external MCU to send a new data message to the module, so that the load of the MCU is reduced.
In addition, referring to fig. 3, the embodiment of the present invention improves the way of waking up the handshake message, simplifies the excessive information of the handshake message, and shortens the length of the message to the shortest; the characteristics of the Zigbee radio frequency chip are fully utilized, and a collision algorithm with higher time precision and more intelligence is adopted. By adopting the sleep-on-demand awakening algorithm, the monitoring time slice can be further shortened to be within 1ms by adopting shorter awakening messages, and the sleep standby current of the identification card 3 and the positioning substation can be as low as 5 muA.
The maximum message length of the identification card and the wireless beacon detection message in the embodiment of the invention is 23 bytes. The message mainly realizes the following functions: (1) when the peripheral address is adopted, the module actively sends the message to the peripheral when being powered on or reset so as to obtain the response of the peripheral and obtain the address of the peripheral from the response message; (2) when the periodic whole network data is checked, if the downlink message is a fixed data frame, the downlink message can be set as an external detection message, so that the sending time of the downlink message is saved, and the power consumption is reduced.
The maximum message length of the peripheral equipment awakening message is 15 bytes. If the external device is set as a low-power-consumption sleep device, the module needs to wake up the external device before communicating with the external device, and besides being woken up through an MP1 pin, the module can also be woken up through a serial port message. If the setting of the peripheral equipment awakening message is not null, the module firstly sends the peripheral equipment awakening message when sending any data message to the peripheral equipment. The message is suitable for the equipment which originally wakes up the data frame header.
The maximum message length of the handshake confirmation message is 15 bytes. If the message is not empty, when a packet of complete data of the peripheral equipment is received, the message is set outwards and sent, and the peripheral equipment is informed of accurately receiving the data message. The protocol wirelessly ensures that data is not lost through multiple handshakes. However, the number of buffers in the module chip is limited, and when the peripheral sends data to the module, the data message may be lost because the module does not have an available buffer. In order to ensure the reliability of the whole system, the reliability of the serial port is ensured by the serial port handshake confirmation message between the peripheral and the module, and when the module serial port handshake message cannot be received within a certain time, the peripheral needs to retransmit the data of the previous packet.
The maximum length of the message for sending the successful message is 15 bytes. If the message is not empty, the module sends the message to the peripheral equipment when successfully sending a packet of unicast data frame wirelessly, and informs the peripheral equipment that the serial port message is successfully sent to the next hop node accurately. The message can be used as a basis for judging whether the destination node exists or not and whether the message can reach the destination node or not, and can basically replace an external confirmation message fed back by the destination node, so that the burden of a network is reduced.
The maximum message length of the buffer empty message in the embodiment of the invention is 15 bytes. If the buffer area of the module is changed from full to idle, the module sends the message to the external device to inform the external device that the next frame data message can be sent. After the message is set, the peripheral can wait for the buffer of the module to be empty without continuously repeating the attempt, and only wait for the message of the buffer of the module to be empty and then send the next message. By doing so, not only is the time slot time overhead between messages reduced, but also the peripheral handshake processing is simplified.
Referring to fig. 4, the embodiment of the present invention separates the wake-up process, and does not perform simultaneously with the data exchange process, so as to avoid the repeated wake-up. The improved wake-up algorithm keeps the advantages of the traditional handshake message wake-up, and strictly controls the time required by the wake-up process, and has definite wake-up delay, network node density and network scale independence.
The invention adopts a pure asynchronous collision algorithm and a wake-up method, determines the sleeping time slice length of the identification card and the wireless beacon by setting the sleeping parameters, and simultaneously determines the continuous sending length of the asynchronous wake-up message and the overtime length of the handshake. Unlike traditional dormancy, a module will listen for a wake-up packet after the asynchronous dormancy slice has ended, waiting for passive wake-up, rather than actively probing the network. For a conventional network modulated by the GFSK, 128 or 256 modulation bits are monitored generally, and the wake-up success rate completely depends on hardware, including the consistency of a radio frequency chip, the receiving sensitivity and the frequency offset of a crystal oscillator, and there is a relatively high probability of false wake-up. The asynchronous dormancy time unit of the invention is 16.384ms, and if hundreds of points need to send data at the same time, the reliability is ensured, the data can be sent only by a single point, namely the data can be sent only by confirming the receiving and sending relation with the handshake of the other side, even if 128-bit awakening is adopted, the awakening time margin is several times, the awakening success rate of the whole network awakening is basically ensured to be close to 100 percent, and the probability of being awakened by mistake is ensured to be less than one ten thousandth. The asynchronous awakening can realize multi-hop full-network quick awakening and multi-hop single-point awakening.
Specifically, referring to fig. 1 and fig. 2, the signal transmission mode between the wireless beacon 2 and the transmission substation 1 according to the embodiment of the present invention is wireless transmission, and the wireless beacon 2 and the transmission substation 1 may be grouped as needed, that is, a certain/several wireless beacons 2 and a certain/several transmission substations 1 may be divided into a specific group, and only communicate with the wireless beacon 2 and the transmission substation 1 in the same group.
When arranging the communication among the transmission substation 1, the wireless beacon 2 and the identification card 3, the number of the transmission substations and the wireless beacons which can realize the communication with the same identification card is controlled within a required range by controlling the transmission channel of the wireless beacon 2.
Specifically, according to the difference of each wireless beacon 2, the identification cards 3 are divided into a plurality of groups which send position IDs on different channels, the groups are monitored on different channels distributed by each group one by one, and the identification cards 3 in each group are read and written one by one, so that the groups which have signed in the identification cards are distinguished from the groups which do not sign in the identification cards, the interference to the identification cards in the groups which do not sign in is avoided, useless information is avoided, and collision is reduced.
The wireless beacon 2 of the embodiment of the invention adopts a dynamic on-demand time service principle to carry out time synchronization. In particular, the method comprises the following steps of,the invention The wireless beacon 2 of the embodiment is based on the periodic beacon signal of the transmitting substation 1 in the packet in which it is located and based on the virtual time The time of the sequential sleep wakeup is calculated by the stamp algorithm to achieve time synchronization between the individual radio beacons 2.In the prior art, the purpose of the traditional time synchronization protocol is to realize node timeThe synchronization technology of the embodiment of the present invention is to achieve synchronization between the wireless beacon and the identification card, that is, some actions of the identification card and the wireless beacon have the same period and phase. Meanwhile, in order to reduce the power consumption of the wireless beacons, each wireless beacon can be dormant as required, the transmission substation sends a periodic beacon signal, and the wireless beacons perform time synchronization adjustment according to the beacon signal, so that the synchronization among the nodes is achieved. Data communication is direct communication between the wireless beacons and the transmission substations, so that the data communication can be ensured to be stable and reliable as long as the synchronization between the wireless beacons in the same group can be achieved.
The embodiment of the invention ensures the positioning precision of the identification card 3 by setting the identification card positioning handshake signal strength threshold, ensures that the identification card 3 can only communicate with the nearest wireless beacon 2 and other devices, and can be limited by the signal strength. The signal intensity threshold of the induction identification card is set. The wireless beacon 2 can automatically sense the existence of the identification card 3, and the situation that people come to communicate and go to sleep is achieved. The sensing range of the identification card is limited by the parameter, and the parameter can also be used as a logic switch for enabling or not sensing the identification card.
The length of the uplink signal strength of the embodiment of the invention is 1 byte. The uplink signal strength is the signal strength of the substation directly sent by the source node (identification card, wireless beacon). The length of the downstream signal strength is 1 byte. The downlink signal strength is the signal strength sent by the wireless beacon to the source node. The pin function of the core module is set for wireless direction control, serial port direction control and the like, and the wireless direction control is as follows: the module informs the state of the radio frequency through the MP1 pin, whether to transmit or receive/sleep. The pin is mainly used for driving the direction of an external power amplifier. Controlling the direction of the serial port: the status of the serial port is informed through an MP1 pin, and the output is the input. The downlink message command informs that a downlink broadcast message is set outside through an MP0 pin to be sent, and for some application scenarios such as periodic data acquisition, data of the whole network needs to be acquired in as short time as possible, and at this time, the power consumption can be reduced to the minimum by taking seconds for minutes. If the downlink broadcast message is a fixed message or known content, the peripheral can be awakened to prepare data in advance before receiving the downlink broadcast message without waiting for the downlink message content to be really obtained, so that the whole data acquisition process is accelerated, and the power consumption is reduced. In "downstream message" mode, MP0 is only a very short pulse and does not continue until the peripheral response is complete.
The wireless beacon 2 of the embodiment of the invention realizes accurate positioning by setting 255 threshold parameters of 0-254. According to the method, a proper wireless beacon position and a proper beacon signal radius in differentiated setting are freely deployed according to a control target, such as 1.5m, 2m, 3m and … …, so that the beacon signal is circumscribed to the edge of the control target, and the conditions of inside and outside, up and down, in place, over-membership, border crossing, layering and the like are correctly judged.
Referring to fig. 1, the transmission field strength and the attenuation coefficient of each transmission substation 1 according to the embodiment of the present invention may be configured as needed, that is, the transmission power of the transmission substation 1 and the transmission power of the wireless beacon 2 are controlled as needed according to different deployment scenarios of the transmission substation 1, and corresponding attenuation coefficients are configured as needed according to different deployment scenarios. Specifically, the transmission substation 1 controls the transmission power between the transmission substation and the wireless beacon according to the deployment scenario thereof, and configures a corresponding attenuation coefficient according to the deployment scenario thereof. For example, a correspondence table of the attenuation coefficient, the transmission power, and the scene may be preset in the terminal in advance, and then in the process of configuration as needed, the transmission power and the attenuation coefficient of the transmission substation 1 may be configured according to the correspondence table preset in advance.
Specifically, the transmission power is set as follows as required: the wireless beacon 2 continuously receives information, personnel wake up to send broadcast signals for 1 time every 1s with the identification card 3, the wireless beacon replies an ID number and a channel number of the wireless beacon according to a set attenuation coefficient and a fixed threshold after receiving the broadcast signals, and the identification card 3 switches channels and transmits power to the transmission substation 1 after completing analysis, so that the accurate positioning function is realized.
The transmission power of the wireless beacon 2 is controlled as required according to different deployment scenes, and corresponding parameters such as attenuation coefficients, transmission power, threshold thresholds, handshaking signals, signal strength and link quality are configured according to different scenes, so that the problem that the distance between a mobile node and a reference node estimated by an RSSI value of an actual operation field has a large error is solved, and a mapping system of data such as the signal strength, the link quality and wireless handshaking conditions to the distance is perfected. For example, the mapping table between attenuation factor, transmission power, threshold, handshake signal, signal strength, link quality and deployment scenario is as shown in table one below:
table one: mapping table between attenuation coefficients and deployment scenarios
Further, the wireless beacon 2 sets a signal strength threshold value according to the application scene and the positioning accuracy requirement, filters the received signals and finally only retains the signals meeting the requirement.
Signal strength threshold filtering: according to different scenes and different positioning precision requirements, signal intensity thresholds can be set as required for filtering, and only signals meeting the requirements are left. The attenuation coefficient and the transmission power of each wireless beacon can be set arbitrarily according to the field condition, and a mapping system from the RSSI to the distance of the wireless beacon is obtained through different transmission powers and signal strength thresholds.
The transmission field strength, the attenuation coefficient and the like of the transmission substation 1 in the embodiment of the present invention can be configured as needed, that is, the transmission powers of the transmission substation 1 and the wireless beacon 2 are controlled as needed according to different deployment scenes of the transmission substation 1, and the corresponding attenuation coefficients are configured as needed according to different deployment scenes. Specifically, the transmission substation 1 controls the transmission power between the transmission substation 1 and the wireless beacon 2 according to the deployment scenario thereof, and configures a corresponding attenuation coefficient according to the deployment scenario thereof. For example, a correspondence table of the attenuation coefficient, the transmission power, and the scene may be preset in the terminal in advance, and then in the process of configuring as needed, the transmission power and the attenuation coefficient of the transmission substation may be configured according to the correspondence table preset in advance.
The purpose of the traditional time synchronization protocol is to achieve consistency of node time, namely, achieve simultaneity, and to achieve synchronization among the identification card 3, the wireless beacon 2 and the transmission substation 1, the traditional method needs real-time clock synchronization, is high in power consumption, and cannot achieve battery power supply. However, the invention takes the periodic beacon signal of the transmission substation as a reference, and the wireless beacons calculate the time of sleeping and waking in sequence according to the virtual timestamp algorithm, so as to achieve the time synchronization among the wireless beacons. That is, the synchronization technology of the present invention is to achieve synchronization between the wireless beacon and the identification card, that is, some actions of the identification card and the wireless beacon have the same period and phase. In order to reduce the power consumption of the wireless beacons, each wireless beacon can sleep as required, the transmission substation sends a periodic beacon signal, and the beacons perform time synchronization adjustment according to the beacon signal, so that the stability and reliability of data communication can be ensured as long as the synchronization between similar wireless beacons can be achieved, clock synchronization can be realized under the condition of battery power supply, and more accurate position information can be obtained.
The embodiment of the invention solves the problem of large error in the estimation of the distance between the mobile node and the reference node by the RSSI value in the actual operation field by adopting the transmission power, the attenuation coefficient and the threshold filtering technology, and perfects the RSSI-to-distance mapping system.
For the wireless wake-up of the asynchronous sleeping node, a preamble mode is generally adopted, however, the wake-up party requires that the preamble length of the message is greater than the length of the sleeping time slice to basically ensure that the sleeping node can be woken up. The message of the leading awakening mode takes long time, the probability of being awakened by mistake is high, collision avoidance can be basically avoided in the awakening process, unicast and multicast can not be distinguished, and mass people in a dormant network can not be checked.
Because the handshake messages are very short and an excellent collision avoidance algorithm is added, the handshake messages are directly adopted to wake up in a small-range scene, and a very ideal wake-up effect can be achieved. The handshake message awakening does not need the message to last the whole sleep time slice, the possibility of being awakened by mistake is basically avoided, a collision algorithm can be carried out, the broadcast message and the unicast message can be easily distinguished, routing and broadcast information can be exchanged in the awakening process, and the extremely high awakening success rate is achieved. However, in a chemical plant with a large network scale, the handshake message wake-up mode may cause the sleeping node to be repeatedly woken up due to the continuous data message, and the length of the monitoring time slice of the sleeping node may also be relatively long. The collision avoidance algorithm is designed comprehensively according to actual application scenes and resource overhead, can quickly detect the instant link quality of a plurality of links, and can select a path with the best link quality in a very short time.
The embodiment of the present invention further provides a positioning method applied to the above wireless beacon positioning system, which specifically includes:
grouping wireless beacons and transmission substations according to on-site conditions, wherein only the wireless beacons and the transmission substations in the same group can communicate, controlling the transmission power between the transmission substations and the wireless beacons according to deployment scenes, and configuring corresponding attenuation coefficients according to the deployment scenes;
the method comprises the steps that a periodic beacon signal of a transmission substation is taken as a reference, a wireless beacon and an identification card confirm the time of waking up in sequence according to respective clocks, and the time of waking up in a sleep mode is calculated according to a virtual timestamp algorithm, so that the time synchronization among the wireless beacons is achieved;
setting a marking range of the wireless beacon according to the positioning scene, wherein the marking range is 1.5-5 m;
the wireless beacon marks the identification card entering the marking range of the wireless beacon, and the marked identification card sends data to a transmission substation covering the identification card through a wireless signal;
and after receiving the data, the transmission substation transmits the data to a back-end data server so as to realize the calculation of the accurate position of the operator carrying the identification card through platform software.
Referring to fig. 1, the wireless beacon positioning system in the embodiment of the present invention includes 4 wireless beacons 2, which are numbered D1-D4, respectively, of course, one or more wireless beacons may be used, and the embodiment of the present invention is not limited to this. The number of the transmission substations 1 is 2, and the transmission substations are respectively numbered as J1 and J2, the number of the identification cards 3 is 2, and the identification cards are respectively numbered as K1 and K2. In fig. 1, reference numeral 5 denotes a marking range of each radio beacon, reference numeral 6 denotes a marking data stream, and reference numeral 7 denotes a position data stream.
Referring to fig. 1, the positioning method can achieve quick positioning for each identification card 3 in the process of approaching or departing from the wireless beacon 2. Illustratively, when the identification cards 3 numbered K1 and K2 in the present embodiment are individually close to or far from the wireless beacon 2, the positioning is performed according to the above-described operating method, and the identification cards identified by the identification cards numbered K1 or K2 transmit the position information to the transmission substation 1; if the identification cards 3 with the numbers of K2 and K1 are close to or far away from the wireless beacon 2, the positioning is carried out according to the positioning method, the two identities and the positioning information are respectively sent to the transmission substation 1, and the simultaneous positioning of different identification cards 3 is realized.
The invention provides a wireless beacon positioning system and a positioning method thereof, wherein a wireless beacon and a transmission substation are paired and grouped in a mode of distribution according to needs, and data communication can be only carried out between the wireless beacon and the transmission substation in the same group; through setting up the response identification card signal strength threshold, wireless beacon can the existence of auto-induction identification card, realizes that the people comes the situation that the communication people went the dormancy, and the response scope of identification card is injectd through this parameter, also can regard as the logical switch whether to enable response identification card, and then has satisfied the nimble requirement of deploying as required to the positioning accuracy at operation sites such as petrochemical industry, chemical industry, has realized low cost, the positioning effect of high accuracy again.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. A wireless beacon positioning system is characterized by comprising a wireless beacon, an identification card and a transmission substation, wherein the wireless beacon, the identification card and the transmission substation are in wireless transmission in a signal transmission mode, and the wireless beacon and the identification card are powered by batteries; the wireless beacon and the transmission substation are paired and grouped in a mode of distribution according to needs, and data communication can be carried out only between the wireless beacon and the transmission substation in the same group; the wireless beacons take periodic beacon signals of transmission substations in the groups where the wireless beacons are located as references, and calculate the time for sequentially sleeping and awakening according to a timestamp algorithm so as to achieve time synchronization among the wireless beacons; the wireless beacon and the identification card simultaneously transmit data in a multi-path and multi-channel mode in parallel, configuration parameters of the wireless beacon comprise frequency band parameters, channel parameters and transmitting power parameters, the wireless beacon comprehensively judges the idle state of each channel according to uplink signal strength, downlink signal strength, comprehensive distance, voltage peak value, module temperature, peripheral starting delay, peripheral response delay and terminal handshake threshold, peripheral detection, peripheral awakening, handshake confirmation, successful transmission and empty buffer area, the identification cards have the same algorithm priority, the identification cards are provided with positioning handshake signal strength thresholds, and the wireless beacon is provided with induction identification card signal strength thresholds.
2. The system according to claim 1, wherein the serial handshake messages between the radio beacon, the identification card and the transmission substation include a serial acknowledge message, a successful transmission message and a buffer empty message, wherein the maximum length of the probe messages of the identification card and the radio beacon is 23 bytes, the maximum length of the peripheral wake-up message of the identification card and the radio beacon is 15 bytes, and the maximum length of the handshake acknowledge message of the identification card and the radio beacon is 15 bytes.
3. The system according to claim 1 or 2, wherein the transmission field strength and attenuation coefficient of the transmission substation are configured as required, the maximum length of the successful transmission message of the identification card and the wireless beacon is 15 bytes, the maximum length of the buffer empty message of the identification card and the wireless beacon is 15 bytes, and the wakeup process and the data exchange process of the identification card and the wireless beacon are independent of each other.
4. The wireless beacon positioning system of claim 4, wherein the transmitting substation controls the transmission power between the transmitting substation and the wireless beacon according to its deployment scenario, and configures the corresponding attenuation coefficient according to its deployment scenario; the identification card and the wireless beacon adopt a pure asynchronous collision algorithm and a wakeup method, the sleeping time slice lengths of the identification card and the wireless beacon are determined by setting sleeping parameters, and meanwhile, the continuous sending length of an asynchronous wakeup message and the overtime length of handshake are determined.
5. The system according to claim 4, wherein the wireless beacon filters the received signals by setting a signal strength threshold as required according to the application scenario and the positioning accuracy requirement, and finally only retains the signals meeting the requirement; deploying the wireless beacon position according to the control target and setting the signal radius of the wireless beacon in a differentiation mode to achieve the effect that the beacon signal of the wireless beacon is circumscribed to the edge of the control target.
6. The wireless beacon positioning system of claim 5, wherein the wireless beacon controls the beacon transmission power according to different deployment scenarios, and configures the corresponding attenuation coefficient according to different deployment scenarios by analyzing the signal strength, the link quality, and the wireless handshake data; the wireless beacon sets a signal strength threshold value as required for filtering according to different deployment scenes and different positioning precision requirements, and only signals meeting the requirements are left by analyzing the signal strength, the link quality and the wireless handshake data.
7. A positioning method applied to the wireless beacon positioning system according to any one of claims 1 to 6, wherein the positioning method comprises:
grouping wireless beacons and transmission substations according to on-site conditions, wherein only the wireless beacons and the transmission substations in the same group can communicate, controlling the transmission power between the transmission substations and the wireless beacons according to deployment scenes, and configuring corresponding attenuation coefficients according to the deployment scenes;
the method comprises the steps that a periodic beacon signal of a transmission substation is taken as a reference, a wireless beacon and an identification card confirm the time of waking up in sequence according to respective clocks, and the time of waking up in a sleep mode is calculated according to a virtual timestamp algorithm, so that the time synchronization among the wireless beacons is achieved;
setting a marking range of the wireless beacon according to the positioning scene, wherein the marking range is 1.5-5 m;
the wireless beacon marks the identification card entering the marking range of the wireless beacon, and the marked identification card sends data to a transmission substation covering the identification card through a wireless signal;
and after receiving the data, the transmission substation transmits the data to a back-end data server so as to realize the calculation of the accurate position of the operator carrying the identification card through platform software.
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