CN106950536A - Localization method based on removable localizer beacon - Google Patents
Localization method based on removable localizer beacon Download PDFInfo
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- CN106950536A CN106950536A CN201710160035.5A CN201710160035A CN106950536A CN 106950536 A CN106950536 A CN 106950536A CN 201710160035 A CN201710160035 A CN 201710160035A CN 106950536 A CN106950536 A CN 106950536A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000004807 localization Effects 0.000 title claims abstract description 20
- 238000004891 communication Methods 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 8
- QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical group CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 claims description 3
- 238000001228 spectrum Methods 0.000 claims description 3
- 239000003550 marker Substances 0.000 claims 2
- 230000008054 signal transmission Effects 0.000 description 3
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- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
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Classifications
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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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- Engineering & Computer Science (AREA)
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- Radar, Positioning & Navigation (AREA)
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- Mobile Radio Communication Systems (AREA)
Abstract
The present invention relates to a kind of localization method based on removable localizer beacon；Specially：Make to be positioned and location aware device and wireless data transmitter are carried in target, on the periphery for being positioned target, alignment system is set, contain the unfixed removable localizer beacon in N number of position in alignment system, during positioning, N number of removable outside broadcasting packet of localizer beacon timing；Location aware device receives the message of N number of removable localizer beacon broadcast and handled, obtain the RSSI value of the MAC Address in each message and broadcasting packet and send wireless data transmitter to and wirelessly send, the alignment system MAC Address that wirelessly receiving radio data transmitter is sent and RSSI value, and according to MAC Address and RSSI value be positioned the acquisition of range information between target and each removable localizer beacon；The present invention solves orientation problem when alignment system is destroyed under the accident conditions such as fire, its accurate positioning, easy to operate.
Description
（One）, technical field：
The present invention relates to a kind of localization method, more particularly to a kind of localization method based on removable localizer beacon.
（Two）, background technology：
Indoors in positioning field, common positioning method is first one alignment system of structure, then carry fixed in mobile target
Position equipment, constantly carries out signal transmission between location equipment and alignment system, so that the positioning of mobile target is realized, this positioning
Method is commonly used in the fields such as fire-fighting, security in the monitoring and management of personnel, improves fire-fighting, the managerial skills of security, but its
Also there is weak point, such as：When fire occurs for building, some of alignment system equipment can be destroyed, at this moment,
Alignment system can not just learn the particular location of fireman or security officers, when fireman or security officers are trapped in the sea of fire or gone into a coma
When falling in a swoon, control centre can not just learn its particular location, so as to also can not just be succoured in time to it, to fireman or peace
The life security of guarantor person brings huge threat.
（Three）, the content of the invention：
The technical problem to be solved in the present invention is：A kind of localization method based on removable localizer beacon, the localization method are provided
Orientation problem when alignment system is destroyed under the accident conditions such as fire is solved, it is its accurate positioning, easy to operate.
Technical scheme：
A kind of localization method based on removable localizer beacon, making to be positioned carried in target location aware device and wireless data biography
Defeated device, is set in alignment system, alignment system on the periphery for being positioned target containing the unfixed removable positioning letter in N number of position
Mark, N is the natural number more than or equal to 1, is positioned target in the orientation range of alignment system, during positioning,
N number of removable outside broadcasting packet of localizer beacon timing；
Location aware device receives the message of N number of removable localizer beacon broadcast and handled, and obtains the MAC Address in each message
With the RSSI value of broadcasting packet（Received signal strength indicator value）And sending wireless data transmitter to, wireless data transmitter is again
MAC Address and RSSI value are wirelessly sent, wirelessly receiving radio data is transmitted alignment system
MAC Address and RSSI value that device is sent, and carry out being positioned target and each removable localizer beacon according to MAC Address and RSSI value
Between range information acquisition.
MAC（Media Access Control or Medium Access Control）Address, free translation is media interviews
Control, or be physical address, hardware address, for defining the position of the network equipment.
In order to more be accurately positioned, the number N of removable localizer beacon can also be further defined to more than or equal to 3 from
So count.
Also containing M locating base station, location-server and terminal in alignment system, M is the natural number more than or equal to 1, M
Locating base station, location-server and terminal are both connected on network, and wirelessly receiving radio data is passed locating base station
MAC Address and RSSI value in each message that defeated device is sent simultaneously send location-server to, and location-server is according in each message
MAC Address and RSSI value judge to be positioned the distance between target and each removable localizer beacon, determined so as to get
Position the distance between target and each removable localizer beacon information, is then sent to terminal by the range information got.
It is that N number of removable localizer beacon is carried by N number of rescue personnel respectively, terminal by rescue personnel to be positioned target
Administrative staff learnt from terminal by rescue personnel and each rescue personnel the distance between after information, should be away from by intercom
Notified from information to each rescue personnel, enable rescue personnel's fast searching to by rescue personnel so that by rescue personnel can and
When succoured.
Wireless data transmitter is LoRa spread spectrum radio transmitters, the time of the wireless signal transmission of wireless data transmitter
Interval, transmission power, tranmitting frequency are adjustable, and the transmission power of wireless data transmitter and removable localizer beacon is according to positioning
The size of scope is set, and the transmission time interval of wireless data transmitter is set according to the power of positioning real-time, removable
The time interval of each broadcasting packet of dynamic localizer beacon is set also according to the power of positioning real-time；Location aware device it is serial
The serial communication interface connection of communication port and wireless data transmitter, location aware device is by its serial communication interface by each message
The RSSI value of MAC Address and broadcasting packet simultaneously sends wireless data transmitter to.
The model of wireless data transmitter：SX1278.
Removable localizer beacon is WiFi localizer beacons, may move localizer beacon broadcast WiFi signal, and alignment system is
WiFi alignment systems, location aware device is WiFi location aware devices.
Contain WiFi localizer beacons device and the first battery in WiFi localizer beacons, the power supply of WiFi localizer beacon devices is by first
Battery is provided, the model of WiFi localizer beacon devices：ESP8266, the WiFi localizer beacons are the WiFi based on 2.4G or 5.8G
Low-power consumption beacon, it supports 802.11b/g/n consensus standards；The model of WiFi location aware devices is also：ESP8266, WiFi are fixed
Position perceptron is the WiFi location aware devices based on 2.4G or 5.8G, and it supports 802.11b/g/n consensus standards, the number that it is received
According to parameters such as including but not limited to MAC Address, type of data packet, channel numbers, and the received signal power intensity of signal can be provided
RSSI。
Or, may move localizer beacon is bluetooth localizer beacon（iBeacon）, may move localizer beacon broadcast bluetooth letter
Number, alignment system is bluetooth alignment system, and location aware device is bluetooth location aware device.
Contain bluetooth localizer beacon device and the first battery in bluetooth localizer beacon, the power supply of bluetooth localizer beacon device is by first
Battery is provided, the model of bluetooth localizer beacon device：CC2540, the bluetooth localizer beacon is that the bluetooth BLE4.0 based on 2.4G is low
Power consumption Bluetooth beacon, it supports bluetooth BLE4.0 consensus standards；The model of bluetooth location aware device is also：CC2540, bluetooth is fixed
Position perceptron is the bluetooth BLE4.0 location aware devices based on 2.4G, and it supports bluetooth BLE4.0 consensus standards, the number that it is received
According to parameters such as the address of including but not limited to Bluetooth signal, type of data packet, channel numbers, and the reception signal work(of signal can be provided
Rate intensity RSSI.
Further, it is positioned in target and also carries serial data memory, the data port of serial data memory is with determining
The serial data mouthful connection of position perceptron, serial data memory is used for storing the arrange parameter of location aware device.
The model of serial data memory：W25Q128.
Further, it is positioned in target and also carries the second battery, location aware device, wireless data transmitter and serial number
There is provided according to the power supply of memory by the second battery.
Beneficial effects of the present invention：
The present invention is being positioned target（By rescue personnel）Upper carrying location aware device and wireless data transmitter, in alignment system
The middle unfixed removable localizer beacon of set location, during positioning, may move localizer beacon timing outwards broadcasting packet, location sense
Know that device receives message and handled, the MAC Address and RSSI value in each message of acquisition are passed by wireless data transmitter
Alignment system is given, alignment system according to MAC Address and RSSI value be positioned the spacing of target and removable localizer beacon
From the acquisition of information, the administrative staff of positioning system terminal notify the range information by intercom to give carrying removable positioning
The rescue personnel of beacon, so, the equipment in the original alignment system of building（Such as localizer beacon）Due to accidents such as fire
When destroyed, rescue personnel can carry removable localizer beacon and enter scene, by intercom terminal management personnel finger
Lead down, fast search is succoured, made by the life security of rescue personnel to stranded or stupor by rescue personnel in time to it
It is guaranteed；Therefore, the present invention solves orientation problem when alignment system is destroyed under the accident conditions such as fire, and it is determined
Level is true, easy to operate, substantially increases the rescue efficiency under accident conditions.
（Four）, brief description of the drawings：
Fig. 1 is the principle schematic of the localization method based on removable localizer beacon；
Fig. 2 is to be positioned one of circuit theory schematic diagram of annexation between the device carried in target；
Fig. 3 is be positioned the circuit theory schematic diagram of annexation between the device carried in target two.
（Five）, embodiment：
Embodiment one：Referring to Fig. 1, Fig. 2, in figure, the localization method based on removable localizer beacon is：Make to be positioned in target and take
Band location aware device U1 and wireless data transmitter U2, contains in setting alignment system, alignment system on the periphery for being positioned target
There is the unfixed removable localizer beacon in 3 positions, be positioned target in the orientation range of alignment system, during positioning,
3 removable outside broadcasting packets of localizer beacon timing；
Location aware device U1 receives the message of 3 removable localizer beacon broadcast and handled, the MAC in each message of acquisition
The RSSI value of location and broadcasting packet simultaneously sends wireless data transmitter U2 to, wireless data transmitter U2 again by MAC Address and
RSSI value is wirelessly sent, alignment system wirelessly receiving radio data transmitter U2 send
MAC Address and RSSI value, and carry out being positioned distance between target and each removable localizer beacon according to MAC Address and RSSI value
The acquisition of information.
Also containing 3 locating base stations, location-server and terminal in alignment system, 3 locating base stations, location-server and
Terminal is both connected on network, in locating base station each message that wirelessly receiving radio data transmitter U2 is sent
MAC Address and RSSI value simultaneously send location-server to, and MAC Address and RSSI value of the location-server in each message judge
Go out to be positioned the distance between target and each removable localizer beacon, target and each removable positioning letter are positioned so as to get
The distance between mark information, is then sent to terminal by the range information got.
During concrete application, being positioned target has two, is respectively, by rescue fireman 1 and by rescue fireman 2, to be rescued
Location aware device 1 and wireless data transmitter 1 are carried with fireman 1, location aware device 2 is carried with rescue fireman 2
It is respectively removable localizer beacon 1, removable localizer beacon 2 and can with 2,3 removable localizer beacons of wireless data transmitter
3,3 removable localizer beacons of running fix beacon are taken by rescuing fireman 1, rescue fireman 2 and rescue fireman 3 respectively
Band, the administrative staff of terminal learnt from terminal it is stranded or stupor by between rescue fireman and each rescue fireman away from
After information, the range information is notified by intercom, to each rescue fireman, to enable rescue fireman fast searching to quilt
Fireman is rescued, so that can be succoured in time by rescue fireman.
Wireless data transmitter U2 is LoRa spread spectrum radio transmitters, wireless data transmitter U2 wireless signal transmission
Time interval, transmission power, tranmitting frequency are adjustable, the transmission power root of wireless data transmitter U2 and removable localizer beacon
Set according to the size of orientation range, wireless data transmitter U2 transmission time interval is set according to the power of positioning real-time
Put, the time interval of each broadcasting packet of removable localizer beacon is set also according to the power of positioning real-time；Location aware
Device U1 serial communication interface（TXD、RXD）With wireless data transmitter U2 serial communication interface（RXD、TXD）Connection, location aware
Device U1 passes through its serial communication interface（TXD、RXD）By the MAC Address and the RSSI value of broadcasting packet in each message and send nothing to
Line data link U2.
Wireless data transmitter U2 model：SX1278.
Removable localizer beacon is WiFi localizer beacons, may move localizer beacon broadcast WiFi signal, and alignment system is
WiFi alignment systems, location aware device U1 is WiFi location aware devices.
Contain WiFi localizer beacons device and the first battery in WiFi localizer beacons, the power supply of WiFi localizer beacon devices is by first
Battery is provided, the model of WiFi localizer beacon devices：ESP8266, the WiFi localizer beacons are the WiFi based on 2.4G or 5.8G
Low-power consumption beacon, it supports 802.11b/g/n consensus standards；The model of WiFi location aware devices is also：ESP8266, WiFi are fixed
Position perceptron is the WiFi location aware devices based on 2.4G or 5.8G, and it supports 802.11b/g/n consensus standards, the number that it is received
According to parameters such as including but not limited to MAC Address, type of data packet, channel numbers, and the received signal power intensity of signal can be provided
RSSI。
Serial data memory U3 is also carried in addition, being positioned in target, serial data memory U3 data port
（CS、DO、WP、DIO、CLK、HOLD）With location aware device U1 serial data mouthful（SD_CMD、SD_Data0、SD_ Data3、
SD_ Data1、SD_CLK 、SD_ Data2）Connection, serial data memory U3 is used for storing location aware device U1 setting ginseng
Number.
Serial data memory U3 model：W25Q128.
It is positioned in target and also carries the second battery BAT, location aware device U1, wireless data transmitter U2 and serial number
There is provided according to memory U3 power supply by the second battery BAT.
Embodiment two：Referring to Fig. 1, Fig. 3, numbered and the identical of embodiment one in figure, the meaning of representative is identical, and its is worked
Journey is also essentially identical, and something in common is not repeated, and is a difference in that：Location aware device U1 serial communication interface（P0.2、P0.3）With
Wireless data transmitter U2 serial communication interface（TXD、RXD）Connection, location aware device U1 passes through its serial communication interface（P0.2、
P0.3）By the MAC Address and the RSSI value of broadcasting packet in each message and send wireless data transmitter U2 to.
Removable localizer beacon is bluetooth localizer beacon（iBeacon）, may move localizer beacon broadcast Bluetooth signal, positioning
System is bluetooth alignment system, and location aware device U1 is bluetooth location aware device.
Contain bluetooth localizer beacon device and the first battery in bluetooth localizer beacon, the power supply of bluetooth localizer beacon device is by first
Battery is provided, the model of bluetooth localizer beacon device：CC2540, the bluetooth localizer beacon is that the bluetooth BLE4.0 based on 2.4G is low
Power consumption Bluetooth beacon, it supports bluetooth BLE4.0 consensus standards；The model of bluetooth location aware device is also：CC2540, bluetooth is fixed
Position perceptron is the bluetooth BLE4.0 location aware devices based on 2.4G, and it supports bluetooth BLE4.0 consensus standards, the number that it is received
According to parameters such as the address of including but not limited to Bluetooth signal, type of data packet, channel numbers, and the reception signal work(of signal can be provided
Rate intensity RSSI.
Location aware device U1, wireless data transmitter U2 and the second battery BAT are only carried in addition, being positioned in target, is not had
Serial data memory U3 is carried, location aware device U1 and wireless data transmitter U2 power supply are carried by the second battery BAT
For.
Claims (10)
1. a kind of localization method based on removable localizer beacon, it is characterized in that：Make to be positioned carrying location aware device in target
And wireless data transmitter, set unfixed containing N number of position in alignment system, alignment system on the periphery for being positioned target
Removable localizer beacon, N is the natural number more than or equal to 1, is positioned target in the orientation range of alignment system, positioning
When,
N number of removable outside broadcasting packet of localizer beacon timing；
Location aware device receives the message of N number of removable localizer beacon broadcast and handled, and obtains the MAC Address in each message
With the RSSI value of broadcasting packet and send wireless data transmitter to, wireless data transmitter again by MAC Address and RSSI value with
Wirelessly send, alignment system wirelessly receiving radio data transmitter send MAC Address and
RSSI value, and be positioned obtaining for range information between target and each removable localizer beacon according to MAC Address and RSSI value
Take.
2. the localization method according to claim 1 based on removable localizer beacon, it is characterized in that：In the alignment system
Also containing M locating base station, location-server and terminal, M is the natural number more than or equal to 1, M locating base station, positioning service
Device and terminal are both connected on network, in locating base station each message that wirelessly receiving radio data transmitter is sent
MAC Address and RSSI value and send location-server to, MAC Address and RSSI value of the location-server in each message are sentenced
Break and to be positioned the distance between target and each removable localizer beacon, target and each removable positioning are positioned so as to get
The distance between beacon information, is then sent to terminal by the range information got.
3. the localization method according to claim 2 based on removable localizer beacon, it is characterized in that：It is described to be positioned target
For by rescue personnel, N number of removable localizer beacon is carried by N number of rescue personnel respectively, the administrative staff of terminal obtain from terminal
Know by rescue personnel and each rescue personnel the distance between after information, the range information is notified to each rescue by intercom
Personnel.
4. the localization method according to claim 1 based on removable localizer beacon, it is characterized in that：The wireless data is passed
Defeated device is LoRa spread spectrum radio transmitters.
5. the localization method according to claim 4 based on removable localizer beacon, it is characterized in that：The wireless data is passed
The model of defeated device：The transmission power of SX1278, wireless data transmitter and removable localizer beacon is according to the big of orientation range
Small to set, the transmission time interval of wireless data transmitter is set according to the power of positioning real-time, may move positioning letter
The time interval for marking each broadcasting packet is set also according to the power of positioning real-time；The serial communication interface of location aware device with
The serial communication interface connection of wireless data transmitter, location aware device is by its serial communication interface by the MAC Address in each message
With the RSSI value of broadcasting packet and send wireless data transmitter to.
6. the localization method according to claim 1 based on removable localizer beacon, it is characterized in that：The removable positioning
Beacon is WiFi localizer beacons, may move localizer beacon broadcast WiFi signal, and alignment system is WiFi alignment systems, location aware
Device is WiFi location aware devices.
7. the localization method according to claim 6 based on removable localizer beacon, it is characterized in that：The WiFi positioning letter
Contain WiFi localizer beacons device and the first battery in mark, the power supply of WiFi localizer beacon devices is provided by the first battery, WiFi positioning
The model of marker：ESP8266；The model of WiFi location aware devices is also：ESP8266.
8. the localization method according to claim 1 based on removable localizer beacon, it is characterized in that：The removable positioning
Beacon is bluetooth localizer beacon, may move localizer beacon broadcast Bluetooth signal, and alignment system is bluetooth alignment system, location aware
Device is bluetooth location aware device.
9. the localization method according to claim 8 based on removable localizer beacon, it is characterized in that：The bluetooth positioning letter
Contain bluetooth localizer beacon device and the first battery in mark, the power supply of bluetooth localizer beacon device is provided by the first battery, bluetooth positioning
The model of marker：CC2540；The model of bluetooth location aware device is also：CC2540.
10. the localization method according to claim 1 based on removable localizer beacon, it is characterized in that：It is described to be positioned mesh
Put on and also carry serial data memory, the data port of serial data memory connects with the serial data of location aware device mouthful
Connect.
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