CN103002463A - Method for zigbee indoor location networking design and corresponding simplification - Google Patents
Method for zigbee indoor location networking design and corresponding simplification Download PDFInfo
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Abstract
A method for zigbee indoor location networking design and corresponding simplification belongs to the field of network of things. The method includes determining an area with side length being 6.5-7.5 in actual application to be optimum networking space, selecting common isosceles triangle or equilateral triangle to conduct networking and obtaining a value parameter A by offset estimation. The method simplifies a research process and is favorable for raising a corresponding research model. Effective location data can be obtained under a networking plan by value relation only related to a parameter n obtained by reduction by means of the proportional relation of three points and a coordinate value. The method enables a location process to be free of interference of the parameter A and the parameter n and only needs to obtain relative function relation with the parameter n after parameter elimination and known reference point coordinate under the corresponding relation. Therefore, corresponding coordinate is calculated, and the location aim can be achieved. By means of the method, networking density and the networking plan are scientifically designed. The method provides an analysis base for proceeding of a scientific experiment and application cost.
Description
Technical field
The present invention relates to networking planning and corresponding shortcut calculation process in a kind of indoor positioning process.Networking planning combines with algorithm design, by the reasonable analysis design, in the networking scope of application.Be subjected to environmental change to affect larger parameter A and n is converted into the Variation Features of only wanting to consider n with traditional, namely can obtain corresponding locator data.He is an important breakthrough inwardly in the location.(the A value is range transmission machine 1m RSSI absolute value far away; The n value is the RSSI absolute value of the every increase of range transmission machine 1m decay.)
Background technology
The development of Internet of Things and the market demand of indoor positioning make the correlative study of indoor positioning developed, and traditional thought thinks that networking planning is more intensive, and the positioning accuracy of its acquisition is higher.Actually this is not so, 3 centroid algorithms that existing quite a few algorithm relates to, in some random reference node planning, the signal strength values that its networking obtains can't satisfy 3 centroid algorithms and produce location disappearance and drift, and diagram 1 is more common case.A large amount of researchers is applied in energy to the transmission characteristic of 2.4GHZ frequency band signals and filtering algorithm and the neural network algorithm research of response in addition.Filtering algorithm and neural net research often obtain reasonable effect in theoretical analysis and simulation design.Yet in the practical application, nonideal local environment is to the interference of signal, and movement of objects is obtained the impact that causes to signal strength signal intensity, all is objective reality, is difficult to go the problem that solves by the theoretical research under the ecotopia.
Summary of the invention
The problem to be solved in the present invention is: indoor positioning is as the Internet of Things branch in forward position, its correlative study has obtained more satisfactory result in theoretical and simulation analysis process, yet actual application does not have desirable environment, the impact that its signal disturbs and movement of objects causes, concerning the practical application of indoor positioning, exist very important impact.Adopt in addition the location model of parameter A and n, related data is carried out simultaneously Filtering Analysis is processed its science performance and theoretical research is in bottleneck stage at present.
For addressing the above problem, the technical solution used in the present invention is: the networking spacing to actual networking is set.By scheme relatively, design is implemented in the identical indoor range, and its needed networking number of nodes is minimum, and the reaction value of signal strength signal intensity is most scientific, also can make use cost minimum simultaneously.By to the movement of objects analysis, reach the variation characteristic of signal strength signal intensity in relative Repeat.By the relation between determining at 3, the utilization index characteristic is offset parameter A in the existence of computational process, utilizes ratio relation and 3 centroid algorithms of three point coordinates reduction between 3, obtains locator data.
A kind of zigbee indoor positioning Networking Design and corresponding method for simplifying is characterized in that the method may further comprise the steps:
1) determine in the practical application in as 6.5 to 7.5 meters zones of the length of side to select conventional isosceles as best networking spacing, equilateral triangle carries out networking.
2) by analyzing, suppose that t1 moment random disturbances is L
T1, steadily disturb to be K
T1, then the signal strength signal intensity that constantly receives of t1 is:
RSSI=-A-10nlogd+L
T1+ K
T1Formula 1), wherein the A value is range transmission machine 1m RSSI absolute value far away; The n value is the RSSI absolute value of the every increase of range transmission machine 1m decay.
3) because the Networking Design process has stipulated that the networking spacing is 7 meters, and in the zone of action of this spacing, think three reference nodes that obtain recently, its interference that is subject to is close.The actual signal strength signal intensity indication that receives in an Atria summit is respectively so:
RSSI
1=-A-10nlogd
1+ L
T1+ K
T1Formula 2)
RSSI
2=-A-10nlogd
2+ L
T1+ K
T1Formula 3)
RSSI
3=-A-10nlogd
3+ L
T1+ K
T1Formula 4)
4) by above formula find out signal strength values with apart from the numerical relation of d, the formula content changed:
d
1=10
(RSSI 1 + A-L T1 -K T1 )/10n... ... ... ... .... formula 5)
d
2=10
(RSSI 2 + A-L T1 -K T1 )/10n... ... ... ... .... formula 6)
d
3=10
(RSSI 3 + A-L T1 -K T1 )/10n... ... ... ... .... formula 7)
5) found by the formula of d, all have random disturbances and steady distracter, and there are exponential relationship in d and this two interference, ask the ratio relation abbreviation by being divided by.
d
1: d
2: d
3=10
RSSI 1 / 10n: 10
RSSI 2 / 10n: 10
RSSI 3 / 10n... .... formula 8)
Eliminate random disturbances and steadily disturb the interference of blind node to the reference node data for convenient, in fact lost corresponding signal strength indication value, in order to calculate the elements of a fix, need by existing numerical value ratio and parameter, again draft the elements of a fix of more approaching reality.Namely pass through the coordinate figure of the different reference nodes of the RSSI of system.Reference node ABC and corresponding d
1, d
2, d
3Ratio between relation, as shown in Figure 4.
6) by ratio relation, known reference point coordinates (x
1, y
1) (x
2, y
2) (x
3, y
3)
Calculate node location information (x, y).
Further the method step 1) determine to select in the practical application isosceles right triangle to carry out networking.
From the calculation procedure engineering, be not difficult to find out the theory of the method and practical application still take the triangle centroid algorithm as the basis, for fear of positioning deficiency or drift phenomenon occurring, and it is higher to correct traditional node density, the wrong views that locating effect is better.Need to carry out scientific definition to networking spacing and networking mode.
Sum up according to theoretical research and practical experience, Networking Design comprises following two parts.
1) reasonably spacing design.In the correlation theory data, based on its signal strength values of location algorithm of signal strength signal intensity 8 meters apart from the time, its Changing Pattern has larger transformation, and in the actual experiment process, distance can determine that mobile object moves the critical range with change in signal strength between 6.5 to 7.5.So getting 6.5 to 7.5m spaced sets committee networking spacing is rational spacing setting.
2) networking of science planning.What networking planning will realize is the construction area network coverage that realizes maximum area with minimum node, and traditional node distribution is science arbitrarily and not, and Cost Problems is lacked consideration, the unexpected phenomenon of drift and disappearance is lacked the explanation of science.To equilateral triangle, isosceles right triangle and relevant triangle from being easy to the feasible region area covering, take the reference spacing as support, are realized realizing that with minimum node the whole network of locating area covers.Relatively reach the scene reality of arranging net by diagram, the isosceles right triangle networking mode has optional reference node group and is better than other modes and makes up, and the networking Duty-circle is high, the advantage that the homalographic networking cost is minimum.
Compared with prior art, the invention has the beneficial effects as follows: Scientific Establishment networking density, and networking planning is for the carrying out of scientific experiment and the reduction of application cost provide analysis foundation.Obtain numerical parameter A by offsetting estimation.So that research process is simplified.Be conducive to propose corresponding research model, by proportionate relationship and the coordinate figure between 3 o'clock, the only numerical relation relevant with parameter n that reduction obtains under networking planning, can obtain effective locator data.
Description of drawings
Fig. 1. positioning deficiency or drift example in the triangle centroid algorithm
Fig. 2. equilateral triangle networking distribution map
Fig. 3. isosceles right triangle networking distribution map
Fig. 4. reference node ABC and corresponding d1, d2, the Relations Among of d3
Embodiment
Instruct according to theoretical research, 2.4G the networking significantly variation rule curve of ratio will occur at 8 meters left and right sides Changing Patterns affected by environment, in conjunction with practical laboratory indoor environment and parking lot indoor environment, determine in the practical application in as 6.5 to 7.5 meters zones of the length of side as best networking spacing, by to the indoor environment analysis, select conventional isosceles, regular figure such as equilateral grade carries out Analysis of Networking, can realize that the whole network covers, distributing take isosceles triangle as networking in addition, it is effectively higher not only can to realize covering, also can solve the triangle centroid algorithm and can not carry out problem, meanwhile among motion process, can realize the even distribution of many group reference nodes.Therefore set and carry out networking with the isosceles right triangle of getting suitable spacing in 6.5 to 7.5 meters scopes.
Networking principle and thought are:
One, in the time of the locating area all standing, cost is minimum.
Two, satisfy reference node and choose all the time suitable triangle centroid algorithm and improvement algorithm thereof.
Three, by design of mesh arrangement, the Position Design master that tries hard to break traditions locates and substantially only has one group of reference node, and hope can be obtained the reference node information that many groups meet centroid algorithm, is convenient to calculate blind node location.
Equilateral triangle and isosceles right triangle networking more as shown 2,3.
Isosceles right triangle when being in the location during moving area: triangle ABC, ABD, ADC, CDB is probably as with reference to the node group, subrange is many shared reference node, classify example as with three in addition, the isosceles right angle is owing to its zone, right angle conforms to building plans, so save a reference node than equilateral triangle.
The localization method design:
That the location reaches desired result owing to define service range, by analyzing indoor environment, traditional
Based on the location of signal strength signal intensity indication, it has suc as formula relation shown in through simplifying apart from d and change in signal strength RSSI:
RSSI=-A-10nlogd
During actual acquisition RSSI value, exist and steadily disturb and the random disturbances part.This two large interference being carried out filter design, make the RSSI value near the ideal value under the noiseless condition, is research emphasis.
When Networking Design, attempt to seek better filtering algorithm, positioning accuracy is improved, after determining network model, only one road signal is carried out analyzing and processing by the filter design before analyzing, approximate think between three nodes choosing in synchronization suffered interference in subrange to be close, and exist potential numerical relation between blind node and three reference nodes.
The method implementation procedure is:
1) suppose t1 constantly random disturbances be Lt1, steadily disturb to be Kt1, then the signal strength signal intensity that constantly receives of t1 is:
RSSI=-A-10nlogd+L
T1+ K
T1Formula 1)
2) because the Networking Design process has stipulated that the networking spacing is 7 meters, and in the zone of action of this spacing, can think three reference nodes that obtain recently, its interference that is subject to is close.The actual signal strength signal intensity indication that receives in an Atria summit is respectively so:
RSSI
1=-A-10nlogd
1+ L
T1+ K
T1Formula 2)
RSSI
2=-A-10nlogd
2+ L
T1+ K
T1Formula 3)
RSSI
3=-A-10nlogd
3+ L
T1+ K
T1Formula 4)
3) by above formula can find out signal strength values with apart from the numerical relation of d, the formula content changed:
d
1=10
(RSSI 1 + A-L T1 -K T1 )/10n... ... ... ... .... formula 5)
d
2=10
(RSSI 2 + A-L T1 -K T1 )/10n... ... ... ... .... formula 6)
d
3=10
(RSSI 3 + A-L T1 -K T1 )/10n... ... ... ... .... formula 7)
4) found by the formula of d, all have random disturbances and steady distracter, and there are exponential relationship in d and this two interference, so expect asking by being divided by the ratio relation abbreviation.
d
1: d
2: d
3=10
RSSI 1 / 10n: 10
RSSI 2 / 10n: 10
RSSI 3 / 10n... .... formula 8)
In ratio relation, can calculate ratio relation and the RSSI of d1 and d2
1And RSSI
2In the A value do not have corresponding relation, that is to say, in computational process, get the A value this drafted for range transmission machine 1m RSSI absolute value far away not necessarily reasonably numerical value is disallowable.Its ratio relation is that the every increase of the range transmission machine 1m RSSI absolute value of decaying is relevant with n value only.D2 in like manner, d3; D1, d3 also are like this.
Eliminate random disturbances and steadily disturb the interference of blind node to the reference node data for convenient, in fact lost corresponding signal strength indication value, in order to calculate the elements of a fix, need by existing numerical value ratio and parameter, again draft the elements of a fix of more approaching reality.Namely pass through the coordinate figure of the different reference nodes of the RSSI of system.Reference node ABC and corresponding d1, d2, the relation between the ratio of d3, as shown in Figure 4.
5) reached by ratio relation
Can calculate node location information (x, y).
Claims (2)
1. a zigbee indoor positioning Networking Design and corresponding method for simplifying is characterized in that the method may further comprise the steps:
1) determine in the practical application in as 6.5 to 7.5 meters zones of the length of side to select conventional isosceles or equilateral triangle to carry out networking as best networking spacing,
2) by analyzing, suppose that t1 moment random disturbances is L
T1, steadily disturb to be K
T1, then the signal strength signal intensity that constantly receives of t1 is:
RSSI=-A-10nlogd+L
T1+ K
T1Formula 1), wherein the A value is range transmission machine 1m RSSI absolute value far away; The n value is the RSSI absolute value of the every increase of range transmission machine 1m decay;
3) the actual signal strength signal intensity indication that receives in an Atria summit is respectively:
RSSI
1=-A-10nlogd
1+ L
T1+ K
T1Formula 2)
RSSI
2=-A-10nlogd
2+ L
T1+ K
T1Formula 3)
RSSI
3=-A-10nlogd
3+ L
T1+ K
T1Formula 4)
4) by above formula find out signal strength values with apart from the numerical relation of d, the formula content changed:
d
1=10
(RSSI 1 + A-L T1 -K T1 )/10n... ... ... ... .... formula 5)
d
2=
10 (RSSI 2 + A-L T1 -K T1 )/10n... ... ... ... .... formula 6)
d
3=10
(RSSI 3 + A-L T1 -K T1 )/10n... ... ... ... .... formula 7)
5) found by the formula of d, all have random disturbances and steady distracter, and there are exponential relationship in d and this two interference, ask the ratio relation abbreviation by being divided by;
d
1: d
2: d
3=10
RSSI 1 / 10n: 10
RSSI 2 / 10n: 10
RSSI 3 / 10n... .... formula 8)
6) by ratio relation, known reference point coordinates (x
1, y
1) (x
2, y
2) (x
3, y
3) calculate node location information (x, y);
2. application rights requires a kind of zigbee indoor positioning Networking Design and the corresponding method for simplifying in 1, it is characterized in that the method step 1) determine to select in the practical application isosceles right triangle to carry out networking.
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| CN103889051A (en) * | 2014-02-18 | 2014-06-25 | 北京工业大学 | Indoor WLAN fingerprint positioning method based on AP ID filtering and Kalman filtering |
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| CN104507161A (en) * | 2014-12-24 | 2015-04-08 | 电子科技大学 | Indoor corridor positioning method based on zigbee network |
| CN104540143A (en) * | 2014-12-05 | 2015-04-22 | 英业达科技有限公司 | Reference node configuration system for ZigBee and method thereof |
| CN105846856A (en) * | 2015-12-31 | 2016-08-10 | 北京邮电大学 | Networking mode evaluation method and device of electric power communication |
| CN107426714A (en) * | 2017-09-11 | 2017-12-01 | 深圳市启望科文技术有限公司 | The method and its system of similar 2.4G equipment frequency range automatic paragraphing networking |
| CN107979814A (en) * | 2017-12-18 | 2018-05-01 | 李华 | For the cognition wireless precise positioning system and its control method from agricultural machinery of walking |
| CN109874142A (en) * | 2019-03-07 | 2019-06-11 | 甘肃万维信息技术有限责任公司 | A kind of signal detection system based on ZIGBEE |
| CN110346761A (en) * | 2019-07-22 | 2019-10-18 | 华北水利水电大学 | Pollution of waterhead quick positioning system and method based on Internet of Things |
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Cited By (14)
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| CN103889051B (en) * | 2014-02-18 | 2017-06-06 | 北京工业大学 | Indoor WLAN fingerprint positioning methods based on AP ID filterings and Kalman filtering |
| CN103889051A (en) * | 2014-02-18 | 2014-06-25 | 北京工业大学 | Indoor WLAN fingerprint positioning method based on AP ID filtering and Kalman filtering |
| CN104486834A (en) * | 2014-11-28 | 2015-04-01 | 英业达科技有限公司 | Indoor positioning method and equipment |
| CN104486834B (en) * | 2014-11-28 | 2018-01-30 | 英业达科技有限公司 | Indoor orientation method and equipment |
| CN104540143A (en) * | 2014-12-05 | 2015-04-22 | 英业达科技有限公司 | Reference node configuration system for ZigBee and method thereof |
| CN104507161B (en) * | 2014-12-24 | 2018-05-18 | 电子科技大学 | A kind of indoor corridor localization method based on zigbee network |
| CN104507161A (en) * | 2014-12-24 | 2015-04-08 | 电子科技大学 | Indoor corridor positioning method based on zigbee network |
| CN105846856A (en) * | 2015-12-31 | 2016-08-10 | 北京邮电大学 | Networking mode evaluation method and device of electric power communication |
| CN105846856B (en) * | 2015-12-31 | 2018-05-18 | 北京邮电大学 | Construction of electric power communication network mode evaluation method and device |
| CN107426714A (en) * | 2017-09-11 | 2017-12-01 | 深圳市启望科文技术有限公司 | The method and its system of similar 2.4G equipment frequency range automatic paragraphing networking |
| CN107426714B (en) * | 2017-09-11 | 2020-05-15 | 深圳市启望科文技术有限公司 | Method and system for intelligent sectional networking of frequency bands of similar 2.4G devices |
| CN107979814A (en) * | 2017-12-18 | 2018-05-01 | 李华 | For the cognition wireless precise positioning system and its control method from agricultural machinery of walking |
| CN109874142A (en) * | 2019-03-07 | 2019-06-11 | 甘肃万维信息技术有限责任公司 | A kind of signal detection system based on ZIGBEE |
| CN110346761A (en) * | 2019-07-22 | 2019-10-18 | 华北水利水电大学 | Pollution of waterhead quick positioning system and method based on Internet of Things |
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Application publication date: 20130327 |