CN103207383A - Method for performing two-dimensional wireless positioning on stationary node based on single mobile node - Google Patents
Method for performing two-dimensional wireless positioning on stationary node based on single mobile node Download PDFInfo
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Abstract
The invention discloses a method for performing two-dimensional wireless positioning on a stationary node based on a single mobile node and relates to a wireless positioning method. The method comprises the steps of measuring information of acceleration, angular speed and the like through an inertial sensor to calculate the relative position of the mobile node; determining several point coordinates to serve as virtual positioning index points; and using measured distances between the stationary node and the index points during determination and a locating algorithm to calculate relative coordinates of the stationary node to the mobile node, and displaying the relative coordinates on a handheld device. According to the method for performing two-dimensional wireless positioning on the stationary node based on the single mobile node, search and rescue personnel can find persons in distress rapidly and accurately.
Description
Technical field
The present invention relates to a kind of method of wireless location, particularly relate to a kind of method of one stationary node being carried out the two dimensional wireless location based on single mobile node.
Background technology
In the position application based on wireless technology, general by laying the known wireless calibration point (more than or equal to 3) of relative coordinate, by measuring the relative distance between these calibration points and the some mobile nodes respectively, utilize algorithm (as maximum-likelihood method, least square method or Kalman filtering etc.) then, utilize known calibration point coordinate, calculate the relative two-dimensional position of this mobile node.But can't lay wireless calibration point application scenario in advance at some, as the location rescue to distress personnel, be the position application of mobile node to stationary node, wireless distance finding between simple dependence and the distress personnel comes its position is demarcated, not only the drawback of searching direction is adjusted in the fuzzy constantly dependence in location apart from diminishing, and increased the successful time of searching, strengthened the personnel's that rescued life danger.Utilize GPS to position target, but because the gps signal penetration performance is relatively poor, if it is buried to be rescued object, GPS may lose efficacy the location.
Summary of the invention
The object of the present invention is to provide a kind of method of one stationary node being carried out the two dimensional wireless location based on single mobile node.This method is by determining that several point coordinate are used as virtual positioning and demarcating point, when utilize determining this several calibration point and the measuring distance between the stationary node, calculate stationary node with respect to the relative coordinate of mobile node, and show in handheld device, at the fire-fighting and rescue scene, the rescue worker can find distress personnel fast and accurately.
The objective of the invention is to be achieved through the following technical solutions:
One stationary node is carried out the method for two dimensional wireless location based on single mobile node, described method comprises wireless distance finding and the position reckoning technology utilized, adopt location algorithm, only need a mobile node just can finish the relative position of stationary node is located by constructing a plurality of virtual calibration points; Wireless distance finding refers to that the measuring distance between its node refers to utilize stationary node and mobile node to carry out radio communication, measures the physical distance of two nodes; Inertial position is calculated and is referred to utilize virtual positioning and demarcating point, and the measuring distance between these several virtual positioning and demarcating points and the static radio node, utilize least-squares algorithm, maximum-likelihood method or Kalman filtering algorithm to calculate static radio node with respect to the relative coordinate of mobile wireless node; Virtual positioning and demarcating point refers to that the user carries mobile wireless node, start search procedure, position of oneself is true origin when moving beginning with this, the user moves, according to the relative position projectional technique, write down mobile in sometime with respect to the coordinate of initial point, and this position as a virtual positioning and demarcating point, when determining this several calibration point and the measuring distance between the stationary node, utilize location algorithm, calculate stationary node with respect to the relative coordinate of mobile node, and show in handheld device and to get final product.
Described method of one stationary node being carried out the two dimensional wireless location based on single mobile node, described position projectional technique refers to utilize the MEMS inertial sensor, as gyroscope, accelerometer, magnetometer, measure acceleration, angular velocity and the position angle of mobile node, by the frequency of the step in personnel's moving process and step-length are estimated, extrapolate the current place of mobile node relative position.
Described method of one stationary node being carried out the two dimensional wireless location based on single mobile node, described position projectional technique two refers to utilize the MEMS inertial sensor, as gyroscope, accelerometer, magnetometer, measure acceleration and the angular velocity of mobile node, adopt the inertial navigation principle, calculate the current place of mobile node relative position.
Describedly based on single mobile node one stationary node is carried out the method for two dimensional wireless location, described algorithm is RSSI, TOA.
Describedly based on single mobile node one stationary node is carried out the method for two dimensional wireless location, the described physical distance of measuring two nodes is represented with unit rice.
Advantage of the present invention and effect are:
The present invention utilizes the inertia sensing device to measure the relative position reckoning that information such as acceleration and angular velocity realize mobile node, by determining that several point coordinate are used as virtual positioning and demarcating point, when utilize determining this several calibration point and the measuring distance between the stationary node, utilize location algorithm, calculate stationary node with respect to the relative coordinate of mobile node, and show in handheld device, utilize the present invention at the fire-fighting and rescue scene, the rescue worker can find distress personnel fast and accurately.
Description of drawings
Fig. 1 utilizes virtual positioning and demarcating point for the embodiment of the invention static radio node is positioned the method synoptic diagram;
Fig. 2 (a) and (b) are that the embodiment of the invention utilizes inertia components and parts metrical information to carry out relative position projectional technique process flow diagram;
The mobile wireless node equipment structure chart of Fig. 3 for providing in the embodiment of the invention;
The static wireless node apparatus structural drawing of Fig. 4 for providing in the embodiment of the invention.
Embodiment
The present invention is described in detail below in conjunction with embodiment.
The present invention includes and utilize the inertia sensing device to measure the relative position reckoning that information such as acceleration and angular velocity realize mobile node, by determining that several point coordinate are used as virtual positioning and demarcating point, when utilize determining this several calibration point and the measuring distance between the stationary node, utilize location algorithm, calculate stationary node with respect to the relative coordinate of mobile node, and show in handheld device.Its relative coordinate calculate be position when beginning to locate be true origin, adopt geographic coordinate system, calculate current relative position.Its handheld device has the position location information that can show stationary node.Measuring distance between its node refers to utilize stationary node and mobile node to carry out radio communication, adopts certain algorithm (as RSSI, TOA etc.), measures the physical distance (representing with rice) of two nodes.Its location algorithm refers to utilize virtual positioning and demarcating point, and the measuring distance between these several virtual positioning and demarcating points and the static radio node, utilize least-squares algorithm, maximum-likelihood method or Kalman filtering algorithm etc., calculate static radio node with respect to the relative coordinate of mobile wireless node.
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is carried out clear, complete description.Obviously, described embodiment only is a part of embodiment of the present invention, rather than whole embodiment.Based on embodiments of the invention, those of ordinary skills are not making under the creative work prerequisite, and the every other embodiment that obtains belongs to the scope of protection of the invention.
The embodiment of the invention provides utilizes virtual positioning and demarcating point that static radio node is positioned method, as shown in Figure 1.The user carries mobile wireless node M, starts search procedure, and position of oneself is true origin when moving beginning with this.The user moves, according to the relative position projectional technique, write down mobile in sometime with respect to the coordinate of initial point as (x0, y0), (x1, y1) reach (x2, y2), and this position as one of them virtual positioning and demarcating point, utilize wireless mode to measure this constantly mobile wireless node and static radio node distance between two points, as L0, L1 and L2, in user's moving process, this process continues to carry out, and when definite virtual positioning and demarcating number of spots is above more than or equal to three, utilizes least-squares algorithm, maximum-likelihood method or Kalman filtering algorithm etc., calculate static radio node with respect to the relative position of mobile wireless node (x, y).
The embodiment of the invention provides utilizes the inertial sensor metrical information to carry out the relative position projectional technique, as shown in Figure 2, comprising:
Utilize the MEMS inertial sensor, as gyroscope, accelerometer, magnetometer, measure acceleration and the angular velocity of mobile node, adopt the inertial navigation principle, calculate the current place of mobile node relative position, as Fig. 2 (a).
Further can be preferred, the described method of this example also comprises:
Utilize the MEMS inertial sensor, as gyroscope, accelerometer, magnetometer, measure acceleration, angular velocity and the position angle of mobile node, by the frequency of the step in personnel's moving process and step-length are estimated, extrapolate the current place of mobile node relative position, as Fig. 2 (b).
The embodiment of the invention provides the mobile wireless node device structure, as shown in Figure 3, comprises Inertial Measurement Unit, data transmission unit, data processing unit, wireless communication unit and display unit.
Wherein Inertial Measurement Unit comprises MEMS inertial sensor element, comprises gyroscope, accelerometer, magnetometer, is used for information such as measured angular speed, acceleration and magnetic direction;
Data transmission unit is finished the Inertial Measurement Unit metrical information is transferred to the data processing unit current relative position calculating of mobile node.Data transfer mode can adopt wired or wireless mode to carry out;
Data processing unit adopts CPU, finishes mobile node relative position and stationary node relative position and calculates, and the result is shown at display unit, for search and rescue person's (being mobile node) provides by the positional information of the person's of rescuing (being stationary node), is convenient to search and rescue.
Wireless communication unit is finished the radio communication with static wireless node apparatus on the one hand, utilizes TOA or RSSI scheduling algorithm to finish distance between two points and measures, and result transmission is handled to data processing unit; Finish on the other hand and command centre or static wireless node apparatus between information communication;
Display unit is Liquid Crystal Module, finishes stationary node with respect to the position indication of mobile node, is convenient to guide mobile node to search and rescue fast, finds stationary node.
The embodiment of the invention provides static wireless node apparatus structure, as shown in Figure 4, comprises wireless communication unit.Receive the wireless distance finding information of mobile wireless node device transmission and reply according to rule.
Further alternative, static wireless node apparatus can adopt mobile wireless node equipment to dispose equally in the described method of this example, does not influence function and realizes.
Claims (5)
1. based on single mobile node one stationary node is carried out the method for two dimensional wireless location, it is characterized in that, described method comprises wireless distance finding and the position reckoning technology utilized, adopt location algorithm, only need a mobile node just can finish the relative position of stationary node is located by constructing a plurality of virtual calibration points; Wireless distance finding refers to that the measuring distance between its node refers to utilize stationary node and mobile node to carry out radio communication, measures the physical distance of two nodes; Inertial position is calculated and is referred to utilize virtual positioning and demarcating point, and the measuring distance between these several virtual positioning and demarcating points and the static radio node, utilize least-squares algorithm, maximum-likelihood method or Kalman filtering algorithm to calculate static radio node with respect to the relative coordinate of mobile wireless node; Virtual positioning and demarcating point refers to that the user carries mobile wireless node, start search procedure, position of oneself is true origin when moving beginning with this, the user moves, according to the relative position projectional technique, write down mobile in sometime with respect to the coordinate of initial point, and this position as a virtual positioning and demarcating point, when determining this several calibration point and the measuring distance between the stationary node, utilize location algorithm, calculate stationary node with respect to the relative coordinate of mobile node, and show in handheld device and to get final product.
2. method of one stationary node being carried out two dimensional wireless location based on single mobile node according to claim 1, it is characterized in that, described position projectional technique refers to utilize the MEMS inertial sensor, as gyroscope, accelerometer, magnetometer, measure acceleration, angular velocity and the position angle of mobile node, by the frequency of the step in personnel's moving process and step-length are estimated, extrapolate the current place of mobile node relative position.
3. method of one stationary node being carried out two dimensional wireless location based on single mobile node according to claim 1, it is characterized in that, described position calculates that technical method two refers to utilize the MEMS inertial sensor, as gyroscope, accelerometer, magnetometer, measure acceleration and the angular velocity of mobile node, adopt the inertial navigation principle, calculate the current place of mobile node relative position.
4. according to claim 1ly based on single mobile node one stationary node is carried out the method for two dimensional wireless location, it is characterized in that described algorithm is RSSI, TOA.
5. according to claim 1ly based on single mobile node one stationary node is carried out the method for two dimensional wireless location, it is characterized in that the described physical distance of measuring two nodes is represented with unit rice.
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Cited By (19)
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| CN103954284A (en) * | 2014-05-13 | 2014-07-30 | 北京信息科技大学 | Inertial measurement unit for fire fighting scene |
| CN103995249A (en) * | 2014-06-11 | 2014-08-20 | 王立宁 | Wireless communication system and method for determining position of target object |
| CN104360312A (en) * | 2014-12-05 | 2015-02-18 | 歌尔声学股份有限公司 | Object locating method and object locating system |
| CN104457742A (en) * | 2014-12-05 | 2015-03-25 | 歌尔声学股份有限公司 | Target positioning method and target positioning equipment of object |
| CN104656058A (en) * | 2015-01-27 | 2015-05-27 | 谢之恒 | Distributed multiple-mobile-node cooperative positioning system |
| CN105223549A (en) * | 2015-08-22 | 2016-01-06 | 东北电力大学 | The full mobile node positioning method of a kind of wireless sensor network based on RSSI |
| CN106123895A (en) * | 2016-08-12 | 2016-11-16 | 湖南华诺星空电子技术有限公司 | A kind of inertial navigation original point position method and system based on UWB range finding |
| CN106950536A (en) * | 2017-03-17 | 2017-07-14 | 河南航飞光电科技有限公司 | Localization method based on removable localizer beacon |
| CN107110952A (en) * | 2015-01-29 | 2017-08-29 | 阿尔卑斯电气株式会社 | Position detecting system |
| CN108919184A (en) * | 2018-07-17 | 2018-11-30 | 东北大学 | A kind of method for positioning mobile robot based on wireless signal |
| CN109188352A (en) * | 2018-09-07 | 2019-01-11 | 东南大学 | A kind of integrated navigation relative positioning method |
| CN109655786A (en) * | 2018-12-29 | 2019-04-19 | 清华大学 | Mobile ad hoc network cooperation relative positioning method and device |
| CN109813315A (en) * | 2019-01-02 | 2019-05-28 | 广州市康软信息科技有限公司 | A kind of indoor navigation method, system and storage medium |
| CN110049437A (en) * | 2019-05-22 | 2019-07-23 | 东南大学 | Based on the ambulant single anchor node localization method of destination node in a kind of two-dimensional space |
| CN110530362A (en) * | 2019-09-05 | 2019-12-03 | 北京航空航天大学 | A kind of fireman's indoor orientation method based on single reference mode/inertia combination |
| CN110753301A (en) * | 2018-07-06 | 2020-02-04 | 北京金坤科创技术有限公司 | Strange scene-oriented indoor positioning system and method |
| WO2021062670A1 (en) * | 2019-09-30 | 2021-04-08 | 上海飞来信息科技有限公司 | Method for positioning unmanned aerial vehicle, terminal device, and unmanned aerial vehicle |
| CN112665587A (en) * | 2020-11-25 | 2021-04-16 | 南京森林警察学院 | Tactical positioning device and working method thereof |
| CN113038362A (en) * | 2021-02-09 | 2021-06-25 | 华为技术有限公司 | Ultra-wideband positioning method and system |
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| CN103954284A (en) * | 2014-05-13 | 2014-07-30 | 北京信息科技大学 | Inertial measurement unit for fire fighting scene |
| CN103995249A (en) * | 2014-06-11 | 2014-08-20 | 王立宁 | Wireless communication system and method for determining position of target object |
| CN104360312A (en) * | 2014-12-05 | 2015-02-18 | 歌尔声学股份有限公司 | Object locating method and object locating system |
| CN104457742A (en) * | 2014-12-05 | 2015-03-25 | 歌尔声学股份有限公司 | Target positioning method and target positioning equipment of object |
| CN104457742B (en) * | 2014-12-05 | 2017-10-03 | 歌尔股份有限公司 | The object localization method and location equipment of object |
| CN104656058A (en) * | 2015-01-27 | 2015-05-27 | 谢之恒 | Distributed multiple-mobile-node cooperative positioning system |
| CN107110952A (en) * | 2015-01-29 | 2017-08-29 | 阿尔卑斯电气株式会社 | Position detecting system |
| CN105223549A (en) * | 2015-08-22 | 2016-01-06 | 东北电力大学 | The full mobile node positioning method of a kind of wireless sensor network based on RSSI |
| CN105223549B (en) * | 2015-08-22 | 2018-12-11 | 东北电力大学 | A kind of full mobile node positioning method of wireless sensor network based on RSSI |
| CN106123895B (en) * | 2016-08-12 | 2020-01-21 | 湖南华诺星空电子技术有限公司 | Inertial navigation origin positioning method and system based on UWB ranging |
| CN106123895A (en) * | 2016-08-12 | 2016-11-16 | 湖南华诺星空电子技术有限公司 | A kind of inertial navigation original point position method and system based on UWB range finding |
| CN106950536A (en) * | 2017-03-17 | 2017-07-14 | 河南航飞光电科技有限公司 | Localization method based on removable localizer beacon |
| CN110753301A (en) * | 2018-07-06 | 2020-02-04 | 北京金坤科创技术有限公司 | Strange scene-oriented indoor positioning system and method |
| CN108919184A (en) * | 2018-07-17 | 2018-11-30 | 东北大学 | A kind of method for positioning mobile robot based on wireless signal |
| CN109188352A (en) * | 2018-09-07 | 2019-01-11 | 东南大学 | A kind of integrated navigation relative positioning method |
| CN109188352B (en) * | 2018-09-07 | 2022-09-30 | 东南大学 | Combined navigation relative positioning method |
| CN109655786A (en) * | 2018-12-29 | 2019-04-19 | 清华大学 | Mobile ad hoc network cooperation relative positioning method and device |
| CN109813315A (en) * | 2019-01-02 | 2019-05-28 | 广州市康软信息科技有限公司 | A kind of indoor navigation method, system and storage medium |
| CN110049437A (en) * | 2019-05-22 | 2019-07-23 | 东南大学 | Based on the ambulant single anchor node localization method of destination node in a kind of two-dimensional space |
| CN110530362A (en) * | 2019-09-05 | 2019-12-03 | 北京航空航天大学 | A kind of fireman's indoor orientation method based on single reference mode/inertia combination |
| WO2021062670A1 (en) * | 2019-09-30 | 2021-04-08 | 上海飞来信息科技有限公司 | Method for positioning unmanned aerial vehicle, terminal device, and unmanned aerial vehicle |
| CN112690008A (en) * | 2019-09-30 | 2021-04-20 | 上海飞来信息科技有限公司 | Unmanned aerial vehicle positioning method, terminal equipment and unmanned aerial vehicle |
| CN112690008B (en) * | 2019-09-30 | 2023-07-21 | 上海飞来信息科技有限公司 | Unmanned aerial vehicle positioning method, terminal equipment and unmanned aerial vehicle |
| CN112665587A (en) * | 2020-11-25 | 2021-04-16 | 南京森林警察学院 | Tactical positioning device and working method thereof |
| CN113038362A (en) * | 2021-02-09 | 2021-06-25 | 华为技术有限公司 | Ultra-wideband positioning method and system |
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Application publication date: 20130717 |