CN105652242B - Indoor locating system based on ZigBee technology - Google Patents
Indoor locating system based on ZigBee technology Download PDFInfo
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- CN105652242B CN105652242B CN201610186090.7A CN201610186090A CN105652242B CN 105652242 B CN105652242 B CN 105652242B CN 201610186090 A CN201610186090 A CN 201610186090A CN 105652242 B CN105652242 B CN 105652242B
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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
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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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
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0081—Transmission between base stations
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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
- G01S5/0273—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 using multipath or indirect path propagation signals in position determination
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Abstract
本发明公开了一种基于ZigBee技术的室内定位系统，包括服务器、协调器、路由器、参考标签和待定位标签。所述服务器由数据库管理系统与定位系统构成，所述协调器、路由器、参考标签和待定位标签由CC2530芯片、单片机和电源构成。协调器、路由器、参考标签和待定位标签通过自组网建立ZigBee无线网络，其中，路由器通过ZigBee无线信号，获取参考标签和待定位标签的信号强度值和地址，转发给协调器，协调器接收数据并上传到服务器，服务器对数据进行处理，利用改进的LANDMARC算法实现定位功能。本发明提供的基于ZigBee技术的室内定位系统解决了现有室内定位技术中定位精度低、成本高的问题，提供了一种新型的室内定位技术。
The invention discloses an indoor positioning system based on ZigBee technology, which includes a server, a coordinator, a router, a reference tag and a tag to be positioned. The server is composed of a database management system and a positioning system, and the coordinator, router, reference label and label to be located are composed of a CC2530 chip, a single-chip microcomputer and a power supply. The coordinator, router, reference label and label to be located establish a ZigBee wireless network through the ad hoc network, wherein the router obtains the signal strength value and address of the reference label and the label to be located through the ZigBee wireless signal, forwards it to the coordinator, and the coordinator receives The data is uploaded to the server, the server processes the data, and uses the improved LANDMARC algorithm to realize the positioning function. The indoor positioning system based on ZigBee technology provided by the present invention solves the problems of low positioning accuracy and high cost in the existing indoor positioning technology, and provides a new type of indoor positioning technology.
Description
技术领域technical field
本发明属于定位领域，尤其涉及一种基于ZigBee技术的室内定位系统。The invention belongs to the field of positioning, in particular to an indoor positioning system based on ZigBee technology.
背景技术Background technique
现阶段，随着大型室内展管和仓库的发展，以及对矿井内人员跟踪定位的需求，室内定位技术受到了人们越来越多的关注。现有的室内定位技术有WiFi、ZigBee、射频识别(RFID)、蓝牙和超宽带定位等，射频技术是当今应用最为广泛的室内定位技术，但也有其自身的不足，首先是作用距离近，不具有通信能力，而且不便于整合到其他系统之中；其次系统硬件不能直接提供接收的信号强度值(RSSI)，只能提供能量等级，这样就要求系统获得能量等级后对数据进行分析，然后计算出能量值，这将对实时定位和定位精度产生较大的影响。而ZigBee作为一种新兴的短距离、低速率无线网络技术，以其低功耗和低成本，有广阔的发展前景，因此对ZigBee技术的研究具有非常重要的意义。且ZigBee标签可以直接提供信号强度值，能够加快定位速度，同时还避免了在射频定位中由于能量等级划分对定位精度造成的影响。At this stage, with the development of large-scale indoor exhibition tubes and warehouses, as well as the demand for personnel tracking and positioning in mines, indoor positioning technology has received more and more attention. Existing indoor positioning technologies include WiFi, ZigBee, radio frequency identification (RFID), Bluetooth and ultra-wideband positioning, etc. Radio frequency technology is the most widely used indoor positioning technology today, but it also has its own shortcomings. It has communication capabilities, and it is not easy to integrate into other systems; secondly, the system hardware cannot directly provide the received signal strength value (RSSI), only the energy level, which requires the system to analyze the data after obtaining the energy level, and then calculate The output energy value will have a greater impact on real-time positioning and positioning accuracy. As a new short-distance, low-speed wireless network technology, ZigBee has broad development prospects due to its low power consumption and low cost. Therefore, the research on ZigBee technology is of great significance. Moreover, the ZigBee tag can directly provide signal strength values, which can speed up the positioning speed, and at the same time avoid the impact on the positioning accuracy caused by the energy level division in the radio frequency positioning.
对于定位系统来说，最核心的技术是定位算法，现有的室内定位技术中比较经典的算法如LANDMARC、Fang算法以及VIRE算法，这些算法都各有自己的优缺点。而传统的LANDMARC定位算法创造性的引入了参考标签的概念，抵消了环境因素对定位精度的影响，提高了定位精度。For the positioning system, the core technology is the positioning algorithm. In the existing indoor positioning technology, the classic algorithms such as LANDMARC, Fang algorithm and VIRE algorithm have their own advantages and disadvantages. The traditional LANDMARC positioning algorithm creatively introduces the concept of reference tags, which offsets the impact of environmental factors on positioning accuracy and improves positioning accuracy.
然而在LANDMARC定位系统中选择待测标签最近的参考标签，然后利用参考标签的坐标值求得待定位标签的坐标值。算法中选取四个最近参考标签，虽然说在正方形布局中是最佳选择个数，但如果所测得的数据存在一定的误差，这样会对高精度定位结果产生较大的影响。However, in the LANDMARC positioning system, the nearest reference tag of the tag to be tested is selected, and then the coordinate value of the tag to be located is obtained by using the coordinate value of the reference tag. In the algorithm, the four closest reference tags are selected. Although it is the best number to choose in the square layout, if there is a certain error in the measured data, it will have a greater impact on the high-precision positioning results.
随着室内定位技术的应用，特别是在一些特殊应用场合，比如工厂内精密仪器部件的定位，图书馆内书籍定位、产品生产环节定位等等，需要较高的定位精度，所以传统定位算法已经不能满足实际需求。With the application of indoor positioning technology, especially in some special applications, such as the positioning of precision instrument parts in factories, the positioning of books in libraries, the positioning of product production links, etc., high positioning accuracy is required, so traditional positioning algorithms have been Can not meet the actual needs.
发明内容Contents of the invention
为了解决现有室内定位中成本高，定位精度低的问题，本发明设计了一种基于ZigBee技术的室内定位系统。In order to solve the problems of high cost and low positioning accuracy in existing indoor positioning, the present invention designs an indoor positioning system based on ZigBee technology.
本发明所提供的一种基于ZigBee技术的室内定位系统，包括服务器、协调器、路由器、参考标签和待定位标签。所述服务器由数据库管理系统与定位系统构成，所述协调器、路由器、参考标签和待定位标签由CC2530芯片、单片机和电源构成。协调器、路由器、参考标签和待定位标签通过自组网建立ZigBee无线网络，其中，路由器通过ZigBee无线信号，获取参考标签和待定位标签的信号强度值和地址，转发给协调器，协调器接收数据并上传到服务器，服务器对数据进行处理，利用改进的LANDMARC算法实现定位功能。An indoor positioning system based on ZigBee technology provided by the present invention includes a server, a coordinator, a router, a reference tag and a tag to be positioned. The server is composed of a database management system and a positioning system, and the coordinator, router, reference label and label to be located are composed of a CC2530 chip, a single-chip microcomputer and a power supply. The coordinator, router, reference label and label to be located establish a ZigBee wireless network through the ad hoc network, wherein the router obtains the signal strength value and address of the reference label and the label to be located through the ZigBee wireless signal, forwards it to the coordinator, and the coordinator receives The data is uploaded to the server, the server processes the data, and uses the improved LANDMARC algorithm to realize the positioning function.
所述参考标签以正方形阵列的形式等间隔安装在定位区域内且参考标签之间的距离为1-5米。The reference tags are installed at equal intervals in the positioning area in the form of a square array, and the distance between the reference tags is 1-5 meters.
所述路由器分别安装在定位区域的四个边缘处。The routers are respectively installed at the four edges of the positioning area.
所述改进的LANDMARC算法是传统LANDMARC算法和质心算法的结合，通过建立信号强度和距离之间的散点图，利用多项式拟合中的三次数据拟合，得到信号强度和距离的函数曲线，然后把接收到的信号强度值转换为距离，计算出参考标签和待定位标签分别到路由器之间的距离，得到与待定位标签距离最近的四个参考标签，最后从四个参考标签中任取三个作为LANDMARC算法的最临近参考标签，求出四组待定位坐标点，再利用质心算法，取四个待定位坐标的质心作为最终定位坐标。The improved LANDMARC algorithm is a combination of the traditional LANDMARC algorithm and the centroid algorithm, by establishing a scatter diagram between the signal strength and the distance, using the cubic data fitting in the polynomial fitting to obtain the function curve of the signal strength and the distance, and then Convert the received signal strength value into a distance, calculate the distance between the reference label and the label to be located and the router respectively, and obtain the four reference labels closest to the label to be located, and finally select three from the four reference labels As the nearest reference label of the LANDMARC algorithm, four sets of coordinate points to be located are obtained, and then the center of mass of the four coordinates to be located is taken as the final positioning coordinates by using the centroid algorithm.
附图说明Description of drawings
图1是基于ZigBee技术的室内定位系统结构示意图。Figure 1 is a schematic diagram of the structure of an indoor positioning system based on ZigBee technology.
图2是基于ZigBee技术的室内定位系统框图。Figure 2 is a block diagram of an indoor positioning system based on ZigBee technology.
具体实施方式Detailed ways
下面结合附图对本发明作进一步说明。The present invention will be further described below in conjunction with accompanying drawing.
根据图1，本发明所提供的一种基于ZigBee技术的室内定位系统，包括服务器、协调器、路由器、参考标签和待定位标签。所述服务器由数据库管理系统与定位系统构成，所述协调器、路由器、参考标签和待定位标签由CC2530芯片、单片机和电源构成。协调器、路由器、参考标签和待定位标签通过自组网建立ZigBee无线网络，其中，路由器通过ZigBee无线信号，获取参考标签和待定位标签的信号强度值和地址，转发给协调器，协调器接收数据并上传到服务器，服务器对数据进行处理，利用改进的LANDMARC算法实现定位功能。According to FIG. 1 , an indoor positioning system based on ZigBee technology provided by the present invention includes a server, a coordinator, a router, a reference tag and a tag to be positioned. The server is composed of a database management system and a positioning system, and the coordinator, router, reference label and label to be located are composed of a CC2530 chip, a single-chip microcomputer and a power supply. The coordinator, router, reference label and label to be located establish a ZigBee wireless network through the ad hoc network, wherein the router obtains the signal strength value and address of the reference label and the label to be located through the ZigBee wireless signal, forwards it to the coordinator, and the coordinator receives The data is uploaded to the server, the server processes the data, and uses the improved LANDMARC algorithm to realize the positioning function.
所述参考标签以正方形阵列的形式等间隔安装在定位区域内且参考标签之间的距离为1-5米。The reference tags are installed at equal intervals in the positioning area in the form of a square array, and the distance between the reference tags is 1-5 meters.
所述路由器分别安装在定位区域的四个边缘处。The routers are respectively installed at the four edges of the positioning area.
所述改进的LANDMARC算法是传统LANDMARC算法和质心算法的结合，通过建立信号强度和距离之间的散点图，利用多项式拟合中的三次数据拟合，得到信号强度和距离的函数曲线，然后把接收到的信号强度值转换为距离，计算出参考标签和待定位标签分别到路由器之间的距离，得到与待定位标签距离最近的四个参考标签，最后从四个参考标签中任取三个作为LANDMARC算法的最临近参考标签，求出四组待定位坐标点，再利用质心算法，取四个待定位坐标的质心作为最终定位坐标。The improved LANDMARC algorithm is a combination of the traditional LANDMARC algorithm and the centroid algorithm, by establishing a scatter diagram between the signal strength and the distance, using the cubic data fitting in the polynomial fitting to obtain the function curve of the signal strength and the distance, and then Convert the received signal strength value into a distance, calculate the distance between the reference label and the label to be located and the router respectively, and obtain the four reference labels closest to the label to be located, and finally select three from the four reference labels As the nearest reference label of the LANDMARC algorithm, four sets of coordinate points to be located are obtained, and then the center of mass of the four coordinates to be located is taken as the final positioning coordinates by using the centroid algorithm.
根据图2，所述基于ZigBee技术的室内定位系统具体工作流程：当携带待定位标签的移动物体进入定位区域后，待定位标签会自动加入由协调器、路由器和参考标签构成的ZigBee无线网络，通过路由器获取参考标签和待定位标签的信号强度值和地址并同时将接收到的数据和自身地址转发给协调器，协调器接收数据并上传到服务器，服务器对数据存储分析，通过数据拟合，将信号强度数据转换为距离，再利用改进LANDMARC算法，计算出待定位标签的坐标值，并在软件上实时显示出待定位标签的具体位置。According to Fig. 2, the specific workflow of the indoor positioning system based on ZigBee technology: when the mobile object carrying the tag to be positioned enters the positioning area, the tag to be positioned will automatically join the ZigBee wireless network composed of a coordinator, a router and a reference tag, Obtain the signal strength value and address of the reference tag and the tag to be located through the router and forward the received data and its own address to the coordinator at the same time, the coordinator receives the data and uploads it to the server, the server stores and analyzes the data, and through data fitting, Convert the signal strength data into distance, and then use the improved LANDMARC algorithm to calculate the coordinate value of the tag to be located, and display the specific position of the tag to be located in real time on the software.
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| CN107889059A (en) * | 2017-11-20 | 2018-04-06 | 电子科技大学 | A kind of network-building method for indoor positioning |
| CN110736994B (en) * | 2018-07-18 | 2021-09-07 | 北京小米移动软件有限公司 | Distance detection function establishing method and device and distance detection method and device |
| CN110210268A (en) * | 2019-06-05 | 2019-09-06 | 北京京投信安科技发展有限公司 | RFID high-precision location technique based on LANDMARC algorithm |
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