CN203416427U - Ad hoc network positioning system based on ZigBee technology - Google Patents
Ad hoc network positioning system based on ZigBee technology Download PDFInfo
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Abstract
The utility model discloses an ad hoc network positioning system based on ZigBee technology. The ad hoc network positioning system comprises a data processing center, an ad hoc network based on ZigBee technology and terminal devices with positioning labels. The ad hoc network based on the ZigBee technology comprises a ZigBee coordinator and a plurality of positioning base stations. The ZigBee coordinator is used for building a network; the positioning base station has a ZigBee router function, serves as a ZigBee router to forward positioning data, meanwhile distance measurement of the positioning labels of the terminal devices is achieved, and uploads the positioning data to the data processing center. The data processing center performs positioning on the terminal devices according to the positioning data transmitted by the ZigBee coordinator. The system carries out communication based on CSS technology and carries out system positioning by utilizing a TOA or an TDOA positioning algorithm, has the advantages of having the ZigBee system ad hoc network, and being low in cost and easy to install and deploy, so that the system is strong in anti-interference capability, high in positioning precision, and stable in positioning precision.
Description
Technical field
The utility model relates to a kind of ZigBee navigation system, particularly a kind of ZigBee MANET navigation system of utilizing linear frequency modulation spread spectrum (CSS) to adopt TOA/TDOA location algorithm.
Background technology
ZigBee technology is a kind of short-distance radio network communication standard based on IEEE802.15.4 standard development, be operated in the ISM band of the 2.4Ghz, the 868MHz that open for free and 915MHz, transmission rate is 20-250kb/s, transmission range is 10-75m, compare with other various radio network techniques, its sharpest edges are that cost is low, low in energy consumption.Based on above feature, about the research of ZigBee navigation system, be subject at present people's extensive concern.
Current existing ZigBee navigation system great majority adopt RSSI location algorithms, and the RSSI location algorithm based on radiofrequency signal power is a kind of common localization method that carrys out measuring distance based on radiofrequency signal power.Its positioning principle is: the emissive porwer of known beaconing nodes, blind node is when receiving the signal of beaconing nodes, measure the current intensity transmitting, according to the difference in signal strength of front and back (that is: loss intensity), calculate the spacing of beaconing nodes and blind node.Its specific implementation process can be divided into two stages, and the first stage is three beaconing nodes RSSI values utilizing blind node to detect, measures respectively these three beaconing nodes and this blind internodal distance, and this is the range finding stage.Second stage is that to take these three beaconing nodes be the center of circle, and three distance measurement values that record of take are done three circles as radius, and the intersection point of three circles is blind node, utilizes formula can try to achieve the coordinate of blind node, and this is the coordinates computed stage.Its principle as shown in Figure 1.
Because sensor node itself has the wireless receiving and dispatching ability of signal, we only need the loss intensity of measuring signal just can realize range finding, so RSSI is a kind of easy realization, location algorithm cheaply.But in actual wireless senser fixer network, the problems such as reflection, multipath transmisstion, non line of sight, antenna gain all can impact the loss of signal strength signal intensity.Therefore, RSSI is also a kind of coarse location algorithm, and its positioning precision is in actual applications lower.
Due to above reason, cause existing ZigBee navigation system to there is positioning precision not high (3-20 error of meter in practicality), environmental suitability is poor, is easily subject to external interference (human body, rainwater, metal, body of wall), the shortcoming such as cannot in engineering, apply; And existing ZigBee navigation system can not be supported long range measurements, supports farthest 80 meters, reach 3 meters of accurate maximum magnitudes of measuring in precision left and right at 15-30 rice.The above-mentioned shortcoming of existing ZigBee navigation system makes it be mainly used in small data quantity transmission and control field, cannot be applied to accurate positioning field at present.So, in recent years ZigBee navigation system is improved and is become a study hotspot.
Summary of the invention
The problems referred to above that the utility model exists in actual applications for current ZigBee navigation system, utilize linear frequency modulation spread spectrum (CSS) to adopt TOA/TDOA location to replace original RSSI location in ZigBee navigation system, guarantee low-energy-consumption, lower rate transmissions, cheaply on basis, obtaining a kind of stable high-precision location.
MANET navigation system based on ZigBee technology of the present utility model, comprises data processing centre, the ad-hoc network based on ZigBee technology and has the terminal equipment of positioning label.The described ad-hoc network based on ZigBee technology comprises ZigBee telegon and a plurality of locating base station, ZigBee telegon is for building network and management, maintaining routing list, locating base station has ZigBee routing function, when completing the positioning label range finding of terminal equipment, as ZigBee router, forward locator data, locator data uploads to data processing centre by ZigBee telegon.Data processing centre, according to the locator data of ZigBee telegon transmission, positions terminal equipment.Ad-hoc network based on Zigbee protocol communicates based on CSS technology.This system adopts TOA or TDOA location algorithm to carry out system location.
The fixed reference node coordinate that the locator data that ZigBee telegon transmits to data processing centre is locating base station, positioning label are to locating base station distance, the coordinate of the terminal equipment with this positioning label calculates in data processing centre according to these above-mentioned data, terminal equipment is positioned.
Positioning System of the present utility model can meet most application demands, and adopts TOA or TDOA location technology, makes that system rejection to disturbance ability is strong, positioning precision is high and positioning precision stable.There are ZigBee system MANET, low, the easy installation and deployment of cost simultaneously.
Accompanying drawing explanation
Fig. 1 is the ZigBee navigation system positioning principle figure of available technology adopting RSSI algorithm;
Fig. 2 is CSS pulse compression schematic diagram of the present utility model;
Fig. 3 is the utility model TOA positioning principle schematic diagram;
Fig. 4 is the utility model TDOA positioning principle schematic diagram;
Fig. 5 is the structured flowchart of the MANET navigation system based on ZigBee technology of the present utility model.
Embodiment
Below in conjunction with accompanying drawing 3-4, to of the present utility model, be further described.
(1) linear frequency modulation spread spectrum (Chirp Spread Spectrum, CSS) technology
Linear frequency modulation spread spectrum (Chirp Spread Spectrum, CSS) in radar system, to take the pulse compression that Chirp signal is core theoretical for Technology origin, signal through pulse compression output has Sinc function envelope, Chirp signal can simply be understood as the adjustable pulse signal of a kind of frequency, as figure below, there is variation (Up Chirp or Down Chirp) or from high to low from low to high in time domain upper frequency in signal, according to the difference of Up Chirp or Down Chirp frequency change trend, becomes 1-0 signal.
The maximum technical characterictic of CSS signal is to utilize pulse compression technique, and CSS pulse compression schematic diagram as shown in Figure 2.This technology makes received pulse energy very concentrated, and because useful pulse amplitude is very large, is easy to be detected pulse, is improving resolution simultaneously, and its antijamming capability is also very strong.The advantage of CSS also comprises: anti-interference: chirp is after matched filtering, and noise is by from Lv Cheng arrowband, broadband.So CSS signal has very strong antijamming capability; Low-power: within energy is evenly distributed in certain bandwidth on frequency axis, make the transmitting power of Chirp signal become very little; Fail safe: so because adopt broadband system power density low, even signal can be submerged in noise, be not easy so will intercept and capture investigation signal, its confidentiality is better.
CSS communication and range finding realize the NA5TR1 chip that can select German nanotron company, and this chip is supported radio communication and the range finding of signal flight time under CSS technology.While adopting 80MHZ bandwidth, spectral density is lower, but can obtain larger channel gain, thereby easily tells pulse signal, and multipath is disturbed and has stronger inhibition ability; Owing to can easily telling pulse signal, chip can identify the transmitting time of signal transmission, corresponding return signal time of advent; And be recorded in register, for software algorithm, carry out path-length calculating.This chip, based on IEEE802.15.4a standard, meets ZigBee standard.
(2) TOA location algorithm
The range finding of signal flight time is by measuring the transmission time of radiofrequency signal between reference node and destination node, by electromagnetic transmission speed, calculate the distance between reference node and destination node, the advantage of this method is that radiofrequency signal is when be interfered, the distance of just finding range of impact, can not affect range accuracy.
TOA location is exactly the signal propagation time of measuring between two (or a plurality of) base stations and travelling carriage, thereby obtain two (or a plurality of) base stations to the estimated value of travelling carriage distance, as shown in Figure 3, take base station as the center of circle, distance to travelling carriage is that radius is drawn circle, and the intersection point of a plurality of circles is exactly the estimated position of travelling carriage.That is, measurement and positioning label, to the signal flight time of fixed reference node, obtains R1, R2, R3, the relative coordinate of compute location label.
(3) TDOA location algorithm
TDOA location algorithm is the location technology that a kind of positioning precision is high, locating speed is fast and antijamming capability is strong.It is by measuring the transmission time delay difference (time difference) between travelling carriage transmitting terminal and a plurality of base stations receiving terminal, realizing location thereby obtain the hyperbola of two or more pieces shown in Fig. 4.That is, measurement and positioning label is poor to the time of advent of fixed reference node, determines two hyperbolas in figure, is obtained the relative coordinate of positioning label by hyperbola intersection point, and TDOA location needs exact time synchronization between reference node.
As shown in Figure 5, described navigation system comprises data processing centre, the ad-hoc network based on ZigBee technology and has the terminal equipment of positioning label the structured flowchart of the MANET navigation system based on ZigBee technology of the present utility model.
The described ad-hoc network based on ZigBee technology comprises ZigBee telegon and a plurality of locating base station, ZigBee telegon is responsible for setting up network, management maintenance routing table, locating base station has ZigBee routing function, in the positioning label range finding completing with terminal equipment, as ZigBee router, forward locator data, all locator datas upload to data processing centre by ZigBee telegon.
Data processing centre can calculate the coordinate of the terminal equipment with this positioning label according to the fixed reference node coordinate of locating base station, and terminal equipment is positioned.
The described ad-hoc network based on Zigbee protocol communicates based on CSS technology.
Positioning system using TOA of the present utility model or TDOA location algorithm carry out system location.
Above-described embodiment is only preferred and exemplary, and those skilled in the art can adopt different devices, equipment to realize this patent according to the description of this patent, and it is all covered by the protection range of this patent.
Claims (5)
1. the MANET navigation system based on ZigBee technology, is characterized in that: comprise data processing centre, the ad-hoc network based on ZigBee technology and have the terminal equipment of positioning label;
The described ad-hoc network based on ZigBee technology comprises ZigBee telegon and a plurality of locating base station, ZigBee telegon is for building network and management, maintaining routing list, locating base station has ZigBee routing function, when completing the positioning label range finding of terminal equipment, as ZigBee router, forward locator data, locator data uploads to data processing centre by ZigBee telegon, data processing centre, according to the locator data of ZigBee telegon transmission, positions terminal equipment.
2. the MANET navigation system based on ZigBee technology as claimed in claim 1, it is characterized in that: the fixed reference node coordinate that the locator data that ZigBee telegon transmits to data processing centre is locating base station, positioning label arrive the distance of locating base station, the coordinate of the terminal equipment with this positioning label calculates in data processing centre according to above-mentioned data, terminal equipment is positioned.
3. the MANET navigation system based on ZigBee technology as claimed in claim 1 or 2, is characterized in that: the described ad-hoc network based on Zigbee protocol communicates based on CSS technology.
4. the MANET navigation system based on ZigBee technology as claimed in claim 3, is characterized in that: described system adopts TOA or TDOA location algorithm to position.
5. the MANET navigation system based on ZigBee technology as claimed in claim 1 or 2, is characterized in that: described system adopts TOA or TDOA location algorithm to position.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104376665A (en) * | 2014-11-28 | 2015-02-25 | 中国电子科技集团公司第二十八研究所 | Monitoring node of perimeter protection system of wireless sensor network |
| CN106842117A (en) * | 2016-12-16 | 2017-06-13 | 中国电子科技集团公司第五十四研究所 | A kind of asynchronous MANET alignment system and localization method based on two-way precise distance measurement |
| CN106842116A (en) * | 2017-01-23 | 2017-06-13 | 长安大学 | A kind of tunnel personnel location system and method based on CSS technologies |
| CN108255094A (en) * | 2017-11-28 | 2018-07-06 | 南京航空航天大学 | A kind of ad hoc network intelligent carriage experimental data acquisition platform |
| CN109739185A (en) * | 2018-11-16 | 2019-05-10 | 成都生活家网络科技有限公司 | Long-distance intelligent house ornamentation field management system |
-
2013
- 2013-07-26 CN CN201320451340.7U patent/CN203416427U/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104376665A (en) * | 2014-11-28 | 2015-02-25 | 中国电子科技集团公司第二十八研究所 | Monitoring node of perimeter protection system of wireless sensor network |
| CN106842117A (en) * | 2016-12-16 | 2017-06-13 | 中国电子科技集团公司第五十四研究所 | A kind of asynchronous MANET alignment system and localization method based on two-way precise distance measurement |
| CN106842117B (en) * | 2016-12-16 | 2019-04-19 | 中国电子科技集团公司第五十四研究所 | An asynchronous ad hoc network positioning system and positioning method based on two-way precise ranging |
| CN106842116A (en) * | 2017-01-23 | 2017-06-13 | 长安大学 | A kind of tunnel personnel location system and method based on CSS technologies |
| CN106842116B (en) * | 2017-01-23 | 2024-04-02 | 长安大学 | A tunnel personnel positioning system and method based on CSS technology |
| CN108255094A (en) * | 2017-11-28 | 2018-07-06 | 南京航空航天大学 | A kind of ad hoc network intelligent carriage experimental data acquisition platform |
| CN109739185A (en) * | 2018-11-16 | 2019-05-10 | 成都生活家网络科技有限公司 | Long-distance intelligent house ornamentation field management system |
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