CN106199512B - The methods, devices and systems of wireless location are carried out to the destination node in movement - Google Patents
The methods, devices and systems of wireless location are carried out to the destination node in movement Download PDFInfo
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- CN106199512B CN106199512B CN201610474706.0A CN201610474706A CN106199512B CN 106199512 B CN106199512 B CN 106199512B CN 201610474706 A CN201610474706 A CN 201610474706A CN 106199512 B CN106199512 B CN 106199512B
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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
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Abstract
The invention discloses the methods, devices and systems that a kind of destination node in movement carries out wireless location, belong to wireless positioning field.Including step 101: sending the first polling signal to the first receiving node and the second receiving node, include that the first receiving node identifies in first polling signal；Step 102: receiving first receiving node is sent first and reply message；Step 103: sending the first confirmation message to first receiving node；Step 104: sending the second polling signal to the first receiving node and the second receiving node, include that the second receiving node identifies in second polling signal；Step 105: receiving second receiving node is sent second and reply message；Step 106: sending the second confirmation message to second receiving node；Step 107: sending t1, t5, t6, t8, t12 and t13 to host computer.The present invention can eliminate destination node and multiple receiving nodes one by one ranging when error, accurately measure the position of destination node.
Description
Technical field
The present invention relates to wireless positioning fields, particularly relate to a kind of side to the destination node progress wireless location in movement
Method, device and system.
Background technique
The distance or angle that wireless location technology mainly passes through destination node (Tag) to receiving node (Anchor) are to mesh
It marks node and carries out ranging, and then calculating location information.Wireless location technology can be divided into is determined based on signal receiving strength (RSSI)
Position technology, the location technology for reaching based on signal angle (AOA) and based on signal transmission time (TOF, Time of Flight)
Location technology and be based on signal transmission time poor (TDOA) location technology.Wherein based on signal transmission time and based on letter
The location technology of number transmission time difference is current most widely used ranging technology.
By taking destination node does two-dimensional surface movement as an example, the core concept of TOF location technology be measure destination node with
The distance between three receiving nodes, using trilateration algorithm, to obtain the position of destination node.Positioning principle is as follows:
Position (the x of known three receiving nodes1,y1),(x2,y2),(x3,y3)；
Known target node (x0,y0) to the distance d of three receiving nodes1,d2,d3；
As shown in Figure 1, with (x1,y1),(x2,y2),(x3,y3) it is the center of circle, with d1,d2,d3Make three circles for radius, according to
Pythagorean theorem, the intersection point obtained are the position of destination node, and calculation formula is as follows:
(x1-x0)2+(y1-y0)2=d1 2
(x2-x0)2+(y2-y0)2=d2 2
(x3-x0)2+(y3-y0)2=d3 2
In TOF positioning, Tag with three Anchor rangings, obtains d one by one1,d2,d3, that is, trilateration algorithm can be used
Realize that position calculates.
If Tag does one-dimensional linear motion, only need two Anchor that can be positioned (two Anchor pairs to Tag
Tag is positioned, and 2 solutions are had, and since Tag does one-dimensional linear motion, can cast out one obviously not in one-dimensional straight path
On one solution).
Above method is built upon on the basis of the position Tag do not change, if Tag high-speed motion, Tag is one by one
When with multiple Anchor rangings, position has occurred that variation.For example, if Tag is moved with 300 kilometers of speed per hours, greatly
It is approximately the speed movement of 83.3 meter per seconds.If Tag and Anchor ranging Interval 100ms one by one, when Tag and Anchor survey
Away from finishing, and when with another Anchor ranging, the position of Tag has changed 8.33 meters；That is, being moved in Tag height
In the case where dynamic, the d of measurement1, d2, d3With actual distance d '1, d '2, d '3There is error, passes through Trilateration methods in this way
Calculated (x0,y0) and actual bit be equipped with deviation, positioning accuracy is undesirable.
Summary of the invention
The present invention provides a kind of methods, devices and systems to the destination node progress wireless location in movement, can disappear
Except destination node and multiple receiving nodes one by one ranging when error, accurately measure the position of destination node.
In order to solve the above technical problems, present invention offer technical solution is as follows:
On the one hand, the present invention provides a kind of method that the destination node in movement carries out wireless location, comprising:
Step 101: sending the first polling signal, first polling signal to the first receiving node and the second receiving node
In include the first receiving node identify；
Step 102: receiving first receiving node is sent first and reply message；
Step 103: sending the first confirmation message to first receiving node；
Step 104: sending the second polling signal, second polling signal to the first receiving node and the second receiving node
In include the second receiving node identify；
Step 105: receiving second receiving node is sent second and reply message；
Step 106: sending the second confirmation message to second receiving node；
Step 107: t1, t5, t6, t8, t12 and t13 are sent to host computer, so that the host computer calculates the position at t8 moment
Set (x0,y0), in which:
(x2-x0)2+(y2-y0)2=d2 2
d′1=d1+ d, d=c ((t8-t1)-(t10-t3)), (x1,y1) be the first receiving node position, (x2,y2) be
The position of second receiving node, d1=c ((t7-t4)-(t6-t5))/2, d2=c ((t14-t11)-(t13-t12))/2；
T1 is at the time of sending first polling signal, and t5 is at the time of receiving described first to reply message, and t6 is hair
At the time of sending first confirmation message, t8 is at the time of sending second polling signal, and t12 is to receive described second to reply
At the time of message, t13 is at the time of sending second confirmation message；
T3, t4, t7 and t10 are what first receiving node was sent to the host computer, and t3 is the first reception section
At the time of point receives first polling signal, at the time of t4 is that first receiving node transmission described first replies message,
At the time of t7 is that first receiving node receives first confirmation message, the t10 is first receiving node reception
At the time of second polling signal；
T11 and t14 is what second receiving node was sent to the host computer, and t11 is second receiving node hair
Described second is sent at the time of reply message, at the time of t14 is that second receiving node receives second confirmation message.
On the other hand, the present invention provides a kind of destination node, comprising:
First poll signal transmitting module, for sending the first poll letter to the first receiving node and the second receiving node
Number, it include that the first receiving node identifies in first polling signal；
First replies message receiving module, replies message for receiving first receiving node is sent first；
First confirmation message sending module, for sending the first confirmation message to first receiving node；
Second polling signal sending module, for sending the second poll letter to the first receiving node and the second receiving node
Number, it include that the second receiving node identifies in second polling signal；
Second replies message receiving module, replies message for receiving second receiving node is sent second；
Second confirmation message sending module, for sending the second confirmation message to second receiving node；
First communication module, for sending t1, t5, t6, t8, t12 and t13 to host computer, so that the host computer calculates
Position (the x at t8 moment0,y0), in which:
(x2-x0)2+(y2-y0)2=d2 2
d′1=d1+ d, d=c ((t8-t1)-(t10-t3)), (x1,y1) be the first receiving node position, (x2,y2) be
The position of second receiving node, d1=c ((t7-t4)-(t6-t5))/2, d2=c ((t14-t11)-(t13-t12))/2；
T1 is at the time of sending first polling signal, and t5 is at the time of receiving described first to reply message, and t6 is hair
At the time of sending first confirmation message, t8 is at the time of sending second polling signal, and t12 is to receive described second to reply
At the time of message, t13 is at the time of sending second confirmation message；
T3, t4, t7 and t10 are what first receiving node was sent to the host computer, and t3 is the first reception section
At the time of point receives first polling signal, at the time of t4 is that first receiving node transmission described first replies message,
At the time of t7 is that first receiving node receives first confirmation message, the t10 is first receiving node reception
At the time of second polling signal；
T11 and t14 is what second receiving node was sent to the host computer, and t11 is second receiving node hair
Described second is sent at the time of reply message, at the time of t14 is that second receiving node receives second confirmation message.
In another aspect, the present invention provides a kind of method that the destination node in movement carries out wireless location, comprising:
Step 201: the first receiving node and the second receiving node receive the first polling signal that the destination node is sent,
It include that the first receiving node identifies in first polling signal；
Step 202: the first receiving node sends first to the destination node and replies message；
Step 203: the first receiving node receives the first confirmation message that the destination node is sent；
Step 301: the first receiving node and the second receiving node receive the second polling signal that the destination node is sent,
It include that the second receiving node identifies in second polling signal；
Step 302: the second receiving node sends second to the destination node and replies message；
Step 303: the second receiving node receives the second confirmation message that the destination node is sent；
Step 401: the first receiving node sends t3, t4, t7 and t10 to host computer, and the second receiving node is sent out to host computer
T11 and t14 are sent, so that the host computer calculates the position (x of t8 moment destination node0,y0), in which:
(x2-x0)2+(y2-y0)2=d2 2
d′1=d1+ d, d=c ((t8-t1)-(t10-t3)), (x1,y1) be the first receiving node position, (x2,y2) be
The position of second receiving node, d1=c ((t7-t4)-(t6-t5))/2, d2=c ((t14-t11)-(t13-t12))/2；
At the time of t3 is that first receiving node receives first polling signal, t4 is first receiving node hair
It send described first at the time of reply message, it is described at the time of t7 is that first receiving node receives first confirmation message
At the time of t10 is that first receiving node receives second polling signal, t11 is described in second receiving node is sent
Second at the time of reply message, at the time of t14 is that second receiving node receives second confirmation message；
T1, t5, t6, t8, t12 and t13 are what the destination node was sent to host computer, and t1 is to send first poll
At the time of signal, t5 is at the time of receiving described first to reply message, and t6 is at the time of sending first confirmation message, and t8 is
At the time of sending second polling signal, t12 is at the time of receiving described second to reply message, and t13 is to send described second
At the time of confirmation message.
In another aspect, the present invention provides a kind of first receiving node, comprising:
First poll signal receiving module one, the first polling signal sent for receiving the destination node, described the
It include that the first receiving node identifies in one polling signal；
First replies message sending module, replies message for sending first to the destination node；
First confirmation message receiving module receives the first confirmation that the destination node is sent for the first receiving node and disappears
Breath；
Second polling signal receiving module, the second polling signal sent for receiving the destination node, described second
It include that the second receiving node identifies in polling signal；
Second communication module, for sending t3, t4, t7 and t10 to host computer.
In another aspect, the present invention provides a kind of second receiving node, comprising:
First poll signal receiving module two, the first polling signal sent for receiving the destination node, described the
It include that the first receiving node identifies in one polling signal；
Second replies message sending module, sends second to the destination node for the second receiving node and replies message；
Second confirmation message receiving module receives the second confirmation that the destination node is sent for the second receiving node and disappears
Breath；
Second polling signal receiving module two, the second polling signal sent for receiving the destination node, described the
It include that the second receiving node identifies in two polling signals；
Third communication module, for sending t11 and t14 to host computer.
In another aspect, the present invention provides a kind of system that the destination node in movement carries out wireless location, including above-mentioned
Destination node, the first receiving node and the second receiving node.
The invention has the following advantages:
In the present invention, from destination node Tag one by one to specified receiving node Anchor (the first receiving node or the second reception
Node) poll message is sent, message carries the Anchor mark for needing to carry out ranging, and all receiving node Anchor are in prison
State is listened, i.e., multiple Anchor can receive the poll message that Tag is sent, after only specified Anchor and Tag is carried out
The ranging step on side, other Anchor are only recorded at the time of receive poll, as shown in Figure 3.
Assuming that Tag is stationary in Far Left point position, then Tag and Anchor-A1 (the first receiving node) are calculated,
The distance of Anchor-A2 (the second receiving node) is respectively d1, d2 '；Actually in ranging process, Tag is by Far Left point
It sets and is moved to rightmost point position, be respectively d1, d2 at a distance from practical Tag and Anchor-A1 and Anchor-A2 measurement.
Since Anchor has monitored all poll message, by Fig. 3 and the available Far Left point of Fig. 4 and rightmost point it
Between distance, i.e. Tag is separated by a distance respectively at two Anchor rangings: d=c ((t8-t1)-(t10-t3)).
According to obtained in the previous step as a result, when can learn Tag and the second receiving node A2 ranging, with the first receiving node
The distance of A1 is that d1+d, i.e. d1' pass through d1 ' and d2 picture circle and find intersection then according to three side calculation methods, to obtain most accurate
Tag position (x ', y '), i.e. the position (t8 moment) of rightmost point is counter to push away it, when Tag and Anchor-A1 ranging can be obtained
Exact position, i.e. the position of Far Left point (t1 moment).
The position of Tag can then be accurately calculated in a two-dimensional plane using three Anchor, the present invention describes to be one-dimensional
The calculation of plane, but it is not limited to one-dimensional plane calculating.
In conclusion the method that the destination node of the invention in movement carries out wireless location can eliminate destination node
With multiple receiving nodes one by one ranging when error, accurately measure destination node position.
Detailed description of the invention
Fig. 1 is positioning schematic；
Fig. 2 is that the destination node of the invention in movement carries out the method flow diagram of wireless location (for target section
Point)；
Fig. 3 is the schematic diagram that the destination node of the invention in movement carries out wireless location；
Fig. 4 is the schematic diagram of the positioning in the present invention；
Fig. 5 is destination node schematic diagram of the invention；
Fig. 6 is that the destination node of the invention in movement carries out the method flow diagram of wireless location (for the first reception
Node and the second receiving node)；
Fig. 7 is the first receiving node schematic diagram of the invention；
Fig. 8 is the second receiving node schematic diagram of the invention；
Fig. 9 is the system schematic that the destination node of the invention in movement carries out wireless location.
Specific embodiment
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
On the one hand, the present invention provides a kind of method that the destination node in movement carries out wireless location, is used for target section
On point, as shown in Figures 2 and 3, comprising:
Step 101: the destination node t1 moment sends the first polling signal to the first receiving node and the second receiving node, the
It include that the first receiving node identifies in one polling signal, the first receiving node t3 reception arrives, the second receiving node t2 moment
It receives.First receiving node sends first to destination node in the t4 moment and replies message, and the second receiving node does not work.
Step 102: destination node first is replied message what the first receiving node of t5 reception was sent.
Step 103: destination node sends the first confirmation message, the first receiving node t7 to the first receiving node at the t6 moment
Reception arrives.
Step 104: destination node sends the second polling signal to the first receiving node and the second receiving node at the t8 moment,
It include that the second receiving node identifies in second polling signal, the first receiving node t10 reception arrives, when the second receiving node t9
Quarter receives, and the second receiving node sends second to destination node in the t11 moment and replies message, and the first receiving node does not work.
Step 105: destination node second is replied message what the second receiving node of t12 reception was sent.
Step 106: destination node sends the second confirmation message, the second receiving node to the second receiving node at the t13 moment
T14 reception arrives.
Step 107: destination node sends t1, t5, t6, t8, t12 and t13 to host computer, so that host computer calculates the t8 moment
Position (x0,y0), in which:
(x2-x0)2+(y2-y0)2=d2 2
d′1=d1+ d, d=c ((t8-t1)-(t10-t3)), (x1,y1) be the first receiving node position, (x2,y2) be
The position of second receiving node, d1=c ((t7-t4)-(t6-t5))/2, d2=c ((t14-t11)-(t13-t12))/2；
T1 is at the time of sending the first polling signal, and t5 is at the time of receiving first to reply message, and t6 is to send first really
At the time of recognizing message, t8 is at the time of sending the second polling signal, and t12 is at the time of receiving second to reply message, and t13 is to send
At the time of second confirmation message；
T3, t4, t7 and t10 are what the first receiving node was sent to host computer, and t3 is that the first receiving node receives the first round
At the time of asking signal, at the time of t4 is that the first receiving node transmission first replies message, t7 is that the first receiving node receives first
At the time of confirmation message, at the time of t10 is that the first receiving node receives the second polling signal；
T11 and t14 is what the second receiving node was sent to host computer, and t11 is that the second reply of the second receiving node transmission disappears
At the time of breath, at the time of t14 is that the second receiving node receives the second confirmation message.
In the present invention, from destination node Tag one by one to specified receiving node Anchor (the first receiving node or the second reception
Node) poll message is sent, message carries the Anchor mark for needing to carry out ranging, and all receiving node Anchor are in prison
State is listened, i.e., multiple Anchor can receive the poll message that Tag is sent, after only specified Anchor and Tag is carried out
The ranging step on side, other Anchor are only recorded at the time of receive poll, as shown in Figure 3.
Assuming that Tag is stationary in Far Left point position, then Tag and Anchor-A1 (the first receiving node) are calculated,
The distance of Anchor-A2 (the second receiving node) is respectively d1, d2 '；Actually in ranging process, Tag is by Far Left point
It sets and is moved to rightmost point position, be respectively d1, d2 at a distance from practical Tag and Anchor-A1 and Anchor-A2 measurement.
Since Anchor has monitored all poll message, by Fig. 3 and the available Far Left point of Fig. 4 and rightmost point it
Between distance, i.e. Tag is separated by a distance respectively at two Anchor rangings: d=c ((t8-t1)-(t10-t3)).
According to obtained in the previous step as a result, when can learn Tag and the second receiving node A2 ranging, with the first receiving node
The distance of A1 is that d1+d, i.e. d1' pass through d1 ' and d2 picture circle and find intersection then according to three side calculation methods, to obtain most accurate
Tag position (x ', y '), i.e. the position (t8 moment) of rightmost point is counter to push away it, when Tag and Anchor-A1 ranging can be obtained
Exact position, i.e. the position of Far Left point (t1 moment).
The position of Tag can then be accurately calculated in a two-dimensional plane using three Anchor, the present invention describes to be one-dimensional
The calculation of plane, but it is not limited to one-dimensional plane calculating.
In conclusion the method that the destination node of the invention in movement carries out wireless location can eliminate destination node
With multiple receiving nodes one by one ranging when error, accurately measure destination node position.
Further, the position at t1 moment can also be measured, step 107 is further at this time are as follows:
T1, t5, t6, t8, t12 and t13 are sent to host computer, so that the host computer calculates the position (x' at t1 moment0,
y'0), in which:
d'2=d2+d
On the other hand, the present invention provides a kind of destination node 5, as shown in Figure 5, comprising:
First poll signal transmitting module 51, for sending the first poll letter to the first receiving node and the second receiving node
Number, it include that the first receiving node identifies in the first polling signal；
First replies message receiving module 52, and first for receiving the transmission of the first receiving node replies message；
First confirmation message sending module 53, for sending the first confirmation message to the first receiving node；
Second polling signal sending module 54, for sending the second poll letter to the first receiving node and the second receiving node
Number, it include that the second receiving node identifies in the second polling signal；
Second replies message receiving module 55, and second for receiving the transmission of the second receiving node replies message；
Second confirmation message sending module 56, for sending the second confirmation message to the second receiving node；
First communication module 57, for sending t1, t5, t6, t8, t12 and t13 to host computer, so that host computer calculating is worked as
Front position (x0,y0), in which:
(x2-x0)2+(y2-y0)2=d2 2
d′1=d1+ d, d=c ((t8-t1)-(t10-t3)), (x1,y1) be the first receiving node position, (x2,y2) be
The position of second receiving node, d1=c ((t7-t4)-(t6-t5))/2, d2=c ((t14-t11)-(t13-t12))/2；
T1 is at the time of sending the first polling signal, and t5 is at the time of receiving first to reply message, and t6 is to send first really
At the time of recognizing message, t8 is at the time of sending the second polling signal, and t12 is at the time of receiving second to reply message, and t13 is to send
At the time of second confirmation message；
T3, t4, t7 and t10 are what the first receiving node was sent to host computer, and t3 is that the first receiving node receives the first round
At the time of asking signal, at the time of t4 is that the first receiving node transmission first replies message, t7 is that the first receiving node receives first
At the time of confirmation message, at the time of t10 is that the first receiving node receives the second polling signal；
T11 and t14 is what the second receiving node was sent to host computer, and t11 is that the second reply of the second receiving node transmission disappears
At the time of breath, at the time of t14 is that the second receiving node receives the second confirmation message.
Destination node of the invention can eliminate destination node and multiple receiving nodes one by one ranging when error, accurately
Measure the position of destination node.
Further, the position at t1 moment can also be measured, the first communication module 57 is further used at this time:
To host computer send t1, t5, t6, t8, t12 and t13 so that the host computer calculate the t1 moment position (x'0,
y'0), in which:
d'2=d2+d
On the other hand, the present invention provides a kind of method that the destination node in movement carries out wireless location, is used for first
Receiving node and the second receiving node, as shown in Figure 6, comprising:
Step 201: the first polling signal that the first receiving node and the second receiving node reception destination node are sent, first
It include that the first receiving node identifies in polling signal；
Step 202: the first receiving node sends first to destination node and replies message；
Step 203: the first receiving node receives the first confirmation message that destination node is sent；
Step 301: the second polling signal that the first receiving node and the second receiving node reception destination node are sent, second
It include that the second receiving node identifies in polling signal；
Step 302: the second receiving node sends second to destination node and replies message；
Step 303: the second receiving node receives the second confirmation message that destination node is sent；
Step 401: the first receiving node sends t3, t4, t7 and t10 to host computer, and the second receiving node is sent out to host computer
T11 and t14 are sent, so that host computer calculates the current location (x of destination node0,y0), in which:
(x2-x0)2+(y2-y0)2=d2 2
d′1=d1+ d, d=c ((t8-t1)-(t10-t3)), (x1,y1) be the first receiving node position, (x2,y2) be
The position of second receiving node, d1=c ((t7-t4)-(t6-t5))/2, d2=c ((t14-t11)-(t13-t12))/2；
At the time of t3 is that the first receiving node receives the first polling signal, t4 is that the first reply of the first receiving node transmission disappears
At the time of breath, at the time of t7 is that the first receiving node receives the first confirmation message, t10 is that the first receiving node receives the second poll
At the time of signal, at the time of t11 is that the second receiving node transmission second replies message, t14 is that the second receiving node receives second
At the time of confirmation message；
T1, t5, t6, t8, t12 and t13 are that destination node is sent to host computer, t1 be first polling signal of transmission when
It carves, t5 is at the time of receiving first to reply message, and t6 is at the time of sending the first confirmation message, and t8 is to send the second polling signal
At the time of, t12 is at the time of receiving second to reply message, and t13 is at the time of sending the second confirmation message.
The method for carrying out wireless location to the destination node in movement of the invention can eliminate destination node and connect with multiple
Receive node one by one ranging when error, accurately measure destination node position.
In another aspect, the present invention provides a kind of first receiving node 7, as shown in fig. 7, comprises:
First poll signal receiving module 1, for receiving the first polling signal of destination node transmission, the first poll
It include that the first receiving node identifies in signal；
First replies message sending module 72, replies message for sending first to destination node；
First confirmation message receiving module 73 receives the first confirmation that destination node is sent for the first receiving node and disappears
Breath；
Second polling signal receiving module 74, for receiving the second polling signal of destination node transmission, the second poll letter
It include that the second receiving node identifies in number；
Second communication module 75, for sending t3, t4, t7 and t10 to host computer.
In another aspect, the present invention provides a kind of second receiving node 8, as shown in Figure 8, comprising:
First poll signal receiving module 2 81, for receiving the first polling signal of destination node transmission, the first poll
It include that the first receiving node identifies in signal；
Second replies message sending module 82, sends second to destination node for the second receiving node and replies message；
Second confirmation message receiving module 83 receives the second confirmation that destination node is sent for the second receiving node and disappears
Breath；
Second polling signal receiving module 2 84, for receiving the second polling signal of destination node transmission, the second poll
It include that the second receiving node identifies in signal；
Third communication module 85, for sending t11 and t14 to host computer.
Second receiving node of the invention can eliminate destination node and multiple receiving nodes one by one ranging when error, essence
Really measure the position of destination node.
In another aspect, the present invention provides a kind of system that the destination node in movement carries out wireless location, such as Fig. 9 institute
Show, including above-mentioned destination node 5, the first receiving node 7 and the second receiving node 8.
The system for carrying out wireless location to the destination node in movement of the invention can eliminate destination node and connect with multiple
Receive node one by one ranging when error, accurately measure destination node position.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, it can also make several improvements and retouch, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (6)
1. a kind of method that the destination node in movement carries out wireless location characterized by comprising
Step 101: sending the first polling signal to the first receiving node and the second receiving node, wrapped in first polling signal
Include the first receiving node mark；
Step 102: receiving first receiving node is sent first and reply message；
Step 103: sending the first confirmation message to first receiving node；
Step 104: sending the second polling signal to the first receiving node and the second receiving node, wrapped in second polling signal
Include the second receiving node mark；
Step 105: receiving second receiving node is sent second and reply message；
Step 106: sending the second confirmation message to second receiving node；
Step 107: t1, t5, t6, t8, t12 and t13 are sent to host computer, so that the host computer calculates the position at t8 moment
(x0,y0), in which:
(x2-x0)2+(y2-y0)2=d2 2
d′1=d1+ d, d=c ((t8-t1)-(t10-t3)), (x1,y1) be the first receiving node position, (x2,y2) it is second
The position of receiving node, d1=c ((t7-t4)-(t6-t5))/2, d2=c ((t14-t11)-(t13-t12))/2；
T1 is at the time of sending first polling signal, and t5 is at the time of receiving described first to reply message, and t6 is transmission institute
At the time of stating the first confirmation message, t8 is at the time of sending second polling signal, and t12 is to receive described second to reply message
At the time of, t13 is at the time of sending second confirmation message；
T3, t4, t7 and t10 are what first receiving node was sent to the host computer, and t3 is that first receiving node connects
At the time of receiving first polling signal, at the time of t4 is that first receiving node transmission described first replies message, t7 is
At the time of first receiving node receives first confirmation message, the t10 is described in first receiving node receives
At the time of second polling signal；
T11 and t14 is what second receiving node was sent to the host computer, and t11 sends institute for second receiving node
At the time of stating second and reply message, at the time of t14 is that second receiving node receives second confirmation message.
2. the method that the destination node according to claim 1 in movement carries out wireless location, which is characterized in that described
Step 107 is further are as follows:
T1, t5, t6, t8, t12 and t13 are sent to host computer, so that the host computer calculates the position (x' at t1 moment0,y'0),
Wherein:
d'2=d2+d。
3. a kind of destination node characterized by comprising
First poll signal transmitting module, for sending the first polling signal, institute to the first receiving node and the second receiving node
State in the first polling signal includes that the first receiving node identifies；
First replies message receiving module, replies message for receiving first receiving node is sent first；
First confirmation message sending module, for sending the first confirmation message to first receiving node；
Second polling signal sending module, for sending the second polling signal, institute to the first receiving node and the second receiving node
State in the second polling signal includes that the second receiving node identifies；
Second replies message receiving module, replies message for receiving second receiving node is sent second；
Second confirmation message sending module, for sending the second confirmation message to second receiving node；
First communication module, for sending t1, t5, t6, t8, t12 and t13 to host computer, when so that the host computer calculating t8
Position (the x at quarter0,y0), in which:
(x2-x0)2+(y2-y0)2=d2 2
d′1=d1+ d, d=c ((t8-t1)-(t10-t3)), (x1,y1) be the first receiving node position, (x2,y2) it is second
The position of receiving node, d1=c ((t7-t4)-(t6-t5))/2, d2=c ((t14-t11)-(t13-t12))/2；
T1 is at the time of sending first polling signal, and t5 is at the time of receiving described first to reply message, and t6 is transmission institute
At the time of stating the first confirmation message, t8 is at the time of sending second polling signal, and t12 is to receive described second to reply message
At the time of, t13 is at the time of sending second confirmation message；
T3, t4, t7 and t10 are what first receiving node was sent to the host computer, and t3 is that first receiving node connects
At the time of receiving first polling signal, at the time of t4 is that first receiving node transmission described first replies message, t7 is
At the time of first receiving node receives first confirmation message, the t10 is described in first receiving node receives
At the time of second polling signal；
T11 and t14 is what second receiving node was sent to the host computer, and t11 sends institute for second receiving node
At the time of stating second and reply message, at the time of t14 is that second receiving node receives second confirmation message.
4. destination node according to claim 3, which is characterized in that first communication module is further used for:
T1, t5, t6, t8, t12 and t13 are sent to host computer, so that the host computer calculates the position (x' at t1 moment0,y'0),
Wherein:
d'2=d2+d。
5. a kind of method that the destination node in movement carries out wireless location characterized by comprising
Step 201: the first receiving node and the second receiving node receive the first polling signal that the destination node is sent, described
It include that the first receiving node identifies in first polling signal；
Step 202: the first receiving node sends first to the destination node and replies message；
Step 203: the first receiving node receives the first confirmation message that the destination node is sent；
Step 301: the first receiving node and the second receiving node receive the second polling signal that the destination node is sent, described
It include that the second receiving node identifies in second polling signal；
Step 302: the second receiving node sends second to the destination node and replies message；
Step 303: the second receiving node receives the second confirmation message that the destination node is sent；
Step 401: the first receiving node sends t3, t4, t7 and t10 to host computer, and the second receiving node sends t11 to host computer
And t14, so that the host computer calculates the position (x of t8 moment destination node0,y0), in which:
(x2-x0)2+(y2-y0)2=d2 2
d′1=d1+ d, d=c ((t8-t1)-(t10-t3)), (x1,y1) be the first receiving node position, (x2,y2) it is second
The position of receiving node, d1=c ((t7-t4)-(t6-t5))/2, d2=c ((t14-t11)-(t13-t12))/2；
At the time of t3 is that first receiving node receives first polling signal, t4 sends institute for first receiving node
At the time of stating first and reply message, at the time of t7 is that first receiving node receives first confirmation message, the t10 is
At the time of first receiving node receives second polling signal, t11 is that second receiving node sends described second
At the time of replying message, at the time of t14 is that second receiving node receives second confirmation message；
T1, t5, t6, t8, t12 and t13 are what the destination node was sent to host computer, and t1 is to send first polling signal
At the time of, t5 is at the time of receiving described first to reply message, and t6 is at the time of sending first confirmation message, and t8 is to send
At the time of second polling signal, t12 is at the time of receiving described second to reply message, and t13 is to send second confirmation
At the time of message.
6. a kind of system that the destination node in movement carries out wireless location, which is characterized in that including claim 3 or 4 institutes
Destination node, the first receiving node and the second receiving node stated.
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