基于无线电和超声波的室内定位技术响应时间的研究
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摘要
室外定位技术难以满足位置感知技术的需要,室内位置服务也变得越来越重要,室内环境下GPS等室外定位技术往往会不能正常工作,甚至彻底失效。因此室内位置服务存在大量应用需求,但是影响室内定位技术的因素多,室内定位技术特性复杂,因此室内定位技术是近年研究的难点和热点。本文针对室内定位技术的特点,查阅整理了室内无线-超声定位技术性相关文献,分析了典型系统设计思想和优缺点,在此基础上提出并设计了对基于无线电和超声波的无线传感器网络室内定位技术的典型系统——Cricket系统的响应时间方面的改进方案。
Cricket室内定位系统的优点是具有私密性和对分散物体的可测量性(对待测节点数量没有限制),但是在响应时间方面存在一定缺点,由于其信标节点发射时间为随机发射(类似Aloha),出现冲突在所难免,因此存在响应时间较长且不稳定(实施性差)的缺点。
本文介绍了一种通过引入中心控制来协同调度各个信标节点的发射时间,从而达到信标节点依次发射(类似TDM),从而对信标节点实现冲突避免和缩短发射间隔进而实现整体系统的响应时间缩短和系统响应时间的稳定(实时)化的改进方案,并且介绍了对该改进方案进行评估实验的方法以及实验结果,结果表明该系统在保证不破坏Cricket室内定位系统私密性、待测节点数量无限制特性以及较高的定位精度的前提下,能够有效缩短响应时间,并且减小响应时间的波动(改进实时性)。
Outdoor positioning technology can't meet the needs of location-aware technologies; indoor location/positioning services are becoming more and more important, in the indoor environments outdoor positioning technology such as GPS often doesn't work well, or even completely unavailable. There is much requirement of indoor location-based services applications. However, the impact of indoor positioning technology factors, and characteristics of the complex, an indoor positioning technology is a difficulties and hot spots of recent study. In this paper, the characteristics of a indoor positioning technology which is a Radio frequency - ultrasound based wireless sensor network indoor positioning typical system - Cricket system, and the design and implement of it's improvement on the response time.
Cricket Indoor Location System has the advantage of privacy and did not limit the number of test nodes, but there is some disadvantage of response time. Because the beacon node has a policy of random beacon (similar to Aloha), there conflict is inevitable, so there is a longer response time and unstable (response time is not real time).
In this paper, a central control architecture is introduced, this architecture will coordinate the beacon of beacon node to avoid conflict and reduce the beacon interval to achieve the overall system response time to be shorter and more stable(real time).And also the experimental method and experimental results show that the system not to undermine the Cricket Indoor Location System privacy, unlimited number of properties of test nodes, positioning accuracy of the premise, can effectively shorten the response time and make response time stable (real time).
Cricket室内定位系统的优点是具有私密性和对分散物体的可测量性(对待测节点数量没有限制),但是在响应时间方面存在一定缺点,由于其信标节点发射时间为随机发射(类似Aloha),出现冲突在所难免,因此存在响应时间较长且不稳定(实施性差)的缺点。
本文介绍了一种通过引入中心控制来协同调度各个信标节点的发射时间,从而达到信标节点依次发射(类似TDM),从而对信标节点实现冲突避免和缩短发射间隔进而实现整体系统的响应时间缩短和系统响应时间的稳定(实时)化的改进方案,并且介绍了对该改进方案进行评估实验的方法以及实验结果,结果表明该系统在保证不破坏Cricket室内定位系统私密性、待测节点数量无限制特性以及较高的定位精度的前提下,能够有效缩短响应时间,并且减小响应时间的波动(改进实时性)。
Outdoor positioning technology can't meet the needs of location-aware technologies; indoor location/positioning services are becoming more and more important, in the indoor environments outdoor positioning technology such as GPS often doesn't work well, or even completely unavailable. There is much requirement of indoor location-based services applications. However, the impact of indoor positioning technology factors, and characteristics of the complex, an indoor positioning technology is a difficulties and hot spots of recent study. In this paper, the characteristics of a indoor positioning technology which is a Radio frequency - ultrasound based wireless sensor network indoor positioning typical system - Cricket system, and the design and implement of it's improvement on the response time.
Cricket Indoor Location System has the advantage of privacy and did not limit the number of test nodes, but there is some disadvantage of response time. Because the beacon node has a policy of random beacon (similar to Aloha), there conflict is inevitable, so there is a longer response time and unstable (response time is not real time).
In this paper, a central control architecture is introduced, this architecture will coordinate the beacon of beacon node to avoid conflict and reduce the beacon interval to achieve the overall system response time to be shorter and more stable(real time).And also the experimental method and experimental results show that the system not to undermine the Cricket Indoor Location System privacy, unlimited number of properties of test nodes, positioning accuracy of the premise, can effectively shorten the response time and make response time stable (real time).
引文
1 J. Hightower, G. Borriello. Location systems for ubiquitous computing. IEEE Computer. 2001, 34 (8): 57~66
2李彩霞,曹奇英,蒲芳.普适计算中的室内位置感知.计算机工程, 2005, 31 (21):153~155
3 N. B. Priyantha. The Cricket Indoor Location System. PhD Thesis, Massachusetts Institute of Technology, 2005:23~59
4 F. Akyildiz, W. Su, Y. Sankarasubramaniam, E. Cayirci. Wireless sensor network: A survey. Computer Networks. 2002, 38(4): 393~422
5孙利民.无线传感器网络.清华大学出版社出版(ISBN:7302106932), 2005:19~ 138
6李海燕,张岩.移动通信网络的移动台定位技术及应用.邮电设计技术. 200 6,(03): 27~34
7 R. Want, A. Hopper, V. Falcao, J. Gibbons. The Active Badge Location System. ACM Transactions on Information Systems (TOIS). 1992, 10(1):91~102
8 A. Harter, A. Hopper, P. Steggles, A. Ward, P. Webster. The anatomy of a context-aware application. Wireless Networks. 2002, 8(2):187~197
9 P. Bahl, V. N. Padmanabhan. RADAR: An In-Building RF-Based User Location and Tracking System. 19th Annual Joint Conference of the IEEE Computer and Communications Societies - IEEE INFOCOM2000: 'Reaching the Promised Land of Communications, Tel Aviv, Israel, 2000.NJ, United States, IEEE, Piscataway: 775~784
10 F. Davoli, S. Palazzo, S. Zappatore. Distributed Cooperative Laboratories: Networking, Instrumentation, and Measurements. Birkhuser(ISBN:0387298118), 2006:512~525
11 R. Aldunate, M. Nussbaum, F. Pena-Mora. An Emprirical Wi-fi Based Location Mechanism for Urban Search and Rescue Operations. Proceedings Wired/wireless Internet communications: second international conference WWIC, Frankfurt (Oder), Germany, 2004, Springer, 2004:48~61
12 I. Stojmenovi. Handbook of sensor networks: algorithms and architectures. John Wiley and Sons(ISBN:0471684724), 2005:471~489
13 D. J. Cook, S. K. Das. Smart environments: technologies, protocols, and applications. John Wiley and Sons(ISBN:0471544485), 2005:39~225
14 W. C. Chung, D. Ha. An accurate ultra wideband (UWB) ranging for precisionasset location. 2003 IEEE Conference on UltraWideband Systems and Technologies, 2003.Hyatt Regency Reston, Virginia, USA, IEEE Press Piseataway,2003: 389~393
15 D. B. Jourdan, J. J. Deyst, M. Z. Win, N. Roy. Monte Carlo localization in dense multipath environments using UWB ranging. Proceedings of IEEE International Conference on Ultra-Wideband, Zurich, Switzerland, 2005. Piscataway, 2005: 314~319
16关媛媛,安世全,刘光明.提供精确室内定位信息的Cricket系统.重庆工业高等专科学校学报2004, 19(2):39~41.
17张三慧.大学物理学第一册力学.第二版.清华大学出版社出版(ISBN:73020 33714), 1999:298~298
18张兆顺,催桂香.流体力学.清华大学出版社(ISBN:7302031681), 1999:268~268
19刘丰华,张远见,吴永辉.无线局域定位系统的分析与设计.电子产品世界, 20 04,(19):76~80
20唐琎,白涛,蔡自兴.基于光电鼠标的移动机器人室内定位方法.微计算机信息(测控自动化), 2005, 21(5):20~22
21石鹏,徐凤燕,王宗欣.基于传播损耗模型的最大似然估计室内定位算法.信号处理, 2005, 21(05):474~504
22陈永光,李修和.基于信号强度的室内定位技术.电子学报, 2004,32(9):1456~1 458
23倪巍,王宗欣.基于接收信号强度测量的室内定位算法.复旦学报(自然科学版), 2004, 43(1):72~76
24张明华,张申生.无线局域网中基于信号强度的室内定位.计算机科学, 2007, 134(16):68~75
25王春东,王秀峰.基于802.11的室内定位算法研究.计算机工程, 2007, 33(7): 94~126
26鲁琦,殳国华.基于单片机的红外超声室内定位系统.微处理机, 2006, (2):66 ~71
27燕学智,王树勋,马中胜,李辛.基于超声红外定位导航研制自动引导车辆系统.吉林大学学报(工学版), 2006,36(2):242~246
28徐巧勇,陈浩珉,王宗欣. DS2UWB定位系统传输时延估计.复旦学报(自然科学版), 2004, 43(1):92~96
29谢亚琴,张业荣.基于信号到达时间的UWB定位算法.南京邮电大学学报(自然科学版), 2007, 27(3):71~75
30 L. M. Ni, Y. Liul, Y. C. Lau, A. P. Patil. LANDMARC: Indoor Location Sensing Using Active RFID. IEEE International Conference on Pervasive Computing and Communications (PerCom),Fort Worth, Texas, 2003.IEEE Computer Society, 2003:407~415
31尹蕾,李瑶,刘洛琨,张剑,一种基于卡尔曼滤波的UWB定位算法,通信技术,2008, 41(2):10~12
32 N. B. Priyantha, A. Chakraborty, H. Balakrishnan. The Cricket Location - Support System. Proceedings of the 6th annual international conference on Mobile computing and networking, Massachusetts, United States, 2000.New York USA, ACM Press, 2000:32-43
33 J. J. Astrain, J. Villadangos, J. R. Garitagoitia, J. R. G. Mendivil, V. Cholvi. Fuzzy location and tracking on wireless networks. Proceedings of the 4th ACM international workshop on Mobility management and wireless access, Terromolinos, Spain, 2006.New York, ACM Press, 2006: 84~91
34赵锐,任新华.无线传感器网络自定位技术.科技情报开发与经济. 2007, 2: 165~166
35 A. J. Weiss, A. Amar. Direct position determination of multiple radio signals. EURASIP Journal on Applied Signal Processing. 2005,(1):37~49
36 P. S. Wang, K. P. Shih, C. Y. Chang. Distributed Direction - based Localization in Wireless Sensor Networks. Computer Communications. 2007, 30(6):1424~1439
37 N. Patwari, A. O. Hero. Using proximity and quantized RSS for sensor localization in wireless networks. Proceedings of the 2nd ACM international conference on Wireless sensor networks and applications, SanDiego, USA, 2003.New York, ACM Press, 2003:20~29
38 B. N, H. J. Estdn. GPS-less Low-cost Outdoor Localization for Very Small Devices. IEEE Personal Communications. 2000, 7(5): 28~34
39 D. Niculescu, B. Nath. Ad hoc positioning system (APS), IEEE Global Telecommunicatins Conference GLOBECOM'01, San Antonio, TX, United states, 2001, Institute of Electrical and Electronics Engineers Inc, 2001:2926~2931
40 Crossbow Technology, Inc. MCS410CA DataSheet. http://www.xbow.com/ Prod ucts/Product_pdf_files/Wireless_pdf/MCS410_Cricket Datasheet.pdf
41 A. S. Tanenbaum. Computer Networks. Fourth Edition. Prentice Hall PTR (ISBN:0130661023), 2003:254~254
42 F. Dunn, L. Parberry.图形与游戏开发(3d数学基础):图形与游戏开发.史银雪,陈洪,王荣静译.清华大学出版社出版(ISBN:730210946X), 2005:244~245
2李彩霞,曹奇英,蒲芳.普适计算中的室内位置感知.计算机工程, 2005, 31 (21):153~155
3 N. B. Priyantha. The Cricket Indoor Location System. PhD Thesis, Massachusetts Institute of Technology, 2005:23~59
4 F. Akyildiz, W. Su, Y. Sankarasubramaniam, E. Cayirci. Wireless sensor network: A survey. Computer Networks. 2002, 38(4): 393~422
5孙利民.无线传感器网络.清华大学出版社出版(ISBN:7302106932), 2005:19~ 138
6李海燕,张岩.移动通信网络的移动台定位技术及应用.邮电设计技术. 200 6,(03): 27~34
7 R. Want, A. Hopper, V. Falcao, J. Gibbons. The Active Badge Location System. ACM Transactions on Information Systems (TOIS). 1992, 10(1):91~102
8 A. Harter, A. Hopper, P. Steggles, A. Ward, P. Webster. The anatomy of a context-aware application. Wireless Networks. 2002, 8(2):187~197
9 P. Bahl, V. N. Padmanabhan. RADAR: An In-Building RF-Based User Location and Tracking System. 19th Annual Joint Conference of the IEEE Computer and Communications Societies - IEEE INFOCOM2000: 'Reaching the Promised Land of Communications, Tel Aviv, Israel, 2000.NJ, United States, IEEE, Piscataway: 775~784
10 F. Davoli, S. Palazzo, S. Zappatore. Distributed Cooperative Laboratories: Networking, Instrumentation, and Measurements. Birkhuser(ISBN:0387298118), 2006:512~525
11 R. Aldunate, M. Nussbaum, F. Pena-Mora. An Emprirical Wi-fi Based Location Mechanism for Urban Search and Rescue Operations. Proceedings Wired/wireless Internet communications: second international conference WWIC, Frankfurt (Oder), Germany, 2004, Springer, 2004:48~61
12 I. Stojmenovi. Handbook of sensor networks: algorithms and architectures. John Wiley and Sons(ISBN:0471684724), 2005:471~489
13 D. J. Cook, S. K. Das. Smart environments: technologies, protocols, and applications. John Wiley and Sons(ISBN:0471544485), 2005:39~225
14 W. C. Chung, D. Ha. An accurate ultra wideband (UWB) ranging for precisionasset location. 2003 IEEE Conference on UltraWideband Systems and Technologies, 2003.Hyatt Regency Reston, Virginia, USA, IEEE Press Piseataway,2003: 389~393
15 D. B. Jourdan, J. J. Deyst, M. Z. Win, N. Roy. Monte Carlo localization in dense multipath environments using UWB ranging. Proceedings of IEEE International Conference on Ultra-Wideband, Zurich, Switzerland, 2005. Piscataway, 2005: 314~319
16关媛媛,安世全,刘光明.提供精确室内定位信息的Cricket系统.重庆工业高等专科学校学报2004, 19(2):39~41.
17张三慧.大学物理学第一册力学.第二版.清华大学出版社出版(ISBN:73020 33714), 1999:298~298
18张兆顺,催桂香.流体力学.清华大学出版社(ISBN:7302031681), 1999:268~268
19刘丰华,张远见,吴永辉.无线局域定位系统的分析与设计.电子产品世界, 20 04,(19):76~80
20唐琎,白涛,蔡自兴.基于光电鼠标的移动机器人室内定位方法.微计算机信息(测控自动化), 2005, 21(5):20~22
21石鹏,徐凤燕,王宗欣.基于传播损耗模型的最大似然估计室内定位算法.信号处理, 2005, 21(05):474~504
22陈永光,李修和.基于信号强度的室内定位技术.电子学报, 2004,32(9):1456~1 458
23倪巍,王宗欣.基于接收信号强度测量的室内定位算法.复旦学报(自然科学版), 2004, 43(1):72~76
24张明华,张申生.无线局域网中基于信号强度的室内定位.计算机科学, 2007, 134(16):68~75
25王春东,王秀峰.基于802.11的室内定位算法研究.计算机工程, 2007, 33(7): 94~126
26鲁琦,殳国华.基于单片机的红外超声室内定位系统.微处理机, 2006, (2):66 ~71
27燕学智,王树勋,马中胜,李辛.基于超声红外定位导航研制自动引导车辆系统.吉林大学学报(工学版), 2006,36(2):242~246
28徐巧勇,陈浩珉,王宗欣. DS2UWB定位系统传输时延估计.复旦学报(自然科学版), 2004, 43(1):92~96
29谢亚琴,张业荣.基于信号到达时间的UWB定位算法.南京邮电大学学报(自然科学版), 2007, 27(3):71~75
30 L. M. Ni, Y. Liul, Y. C. Lau, A. P. Patil. LANDMARC: Indoor Location Sensing Using Active RFID. IEEE International Conference on Pervasive Computing and Communications (PerCom),Fort Worth, Texas, 2003.IEEE Computer Society, 2003:407~415
31尹蕾,李瑶,刘洛琨,张剑,一种基于卡尔曼滤波的UWB定位算法,通信技术,2008, 41(2):10~12
32 N. B. Priyantha, A. Chakraborty, H. Balakrishnan. The Cricket Location - Support System. Proceedings of the 6th annual international conference on Mobile computing and networking, Massachusetts, United States, 2000.New York USA, ACM Press, 2000:32-43
33 J. J. Astrain, J. Villadangos, J. R. Garitagoitia, J. R. G. Mendivil, V. Cholvi. Fuzzy location and tracking on wireless networks. Proceedings of the 4th ACM international workshop on Mobility management and wireless access, Terromolinos, Spain, 2006.New York, ACM Press, 2006: 84~91
34赵锐,任新华.无线传感器网络自定位技术.科技情报开发与经济. 2007, 2: 165~166
35 A. J. Weiss, A. Amar. Direct position determination of multiple radio signals. EURASIP Journal on Applied Signal Processing. 2005,(1):37~49
36 P. S. Wang, K. P. Shih, C. Y. Chang. Distributed Direction - based Localization in Wireless Sensor Networks. Computer Communications. 2007, 30(6):1424~1439
37 N. Patwari, A. O. Hero. Using proximity and quantized RSS for sensor localization in wireless networks. Proceedings of the 2nd ACM international conference on Wireless sensor networks and applications, SanDiego, USA, 2003.New York, ACM Press, 2003:20~29
38 B. N, H. J. Estdn. GPS-less Low-cost Outdoor Localization for Very Small Devices. IEEE Personal Communications. 2000, 7(5): 28~34
39 D. Niculescu, B. Nath. Ad hoc positioning system (APS), IEEE Global Telecommunicatins Conference GLOBECOM'01, San Antonio, TX, United states, 2001, Institute of Electrical and Electronics Engineers Inc, 2001:2926~2931
40 Crossbow Technology, Inc. MCS410CA DataSheet. http://www.xbow.com/ Prod ucts/Product_pdf_files/Wireless_pdf/MCS410_Cricket Datasheet.pdf
41 A. S. Tanenbaum. Computer Networks. Fourth Edition. Prentice Hall PTR (ISBN:0130661023), 2003:254~254
42 F. Dunn, L. Parberry.图形与游戏开发(3d数学基础):图形与游戏开发.史银雪,陈洪,王荣静译.清华大学出版社出版(ISBN:730210946X), 2005:244~245