Design And Implementation Of Wireless Visual Mobile Localization System

At present, the wireless sensor network positioning technology has largeaccumulated errors and lack of efficient and accurate location algorithm. In thispaper, we designed a wireless sensor network positioning system based on visualand mobile node which is making use of four axis aircraft and Mini camera. Thevisual node equipped with wireless network card and link to the LAN AP orwireless router equipment by using of the LwIP protocol. Through the wirelessnetwork, the visual node transmit the environmental image, GPS coordinates andultrasonic distance measurement value to PC monitoring terminal in a real-timeway. PC software identifies the target nodes in images by using informationprocessing technology to complete the positioning task.This system is divided into two parts: the anchor node with visual anddynamic performance and mobile monitoring terminal. The design of anchornode adopts dual processor scheme. This system uses STM32F407VGT6as themain processor whose function is processing and operating the data related toaircraft control. The slave processor is STM32F405RGT6which takes chargevideo capture and wireless network data transmission. The monitoring andcontrol terminal comprises image processing software on host computer andremote of four axis. The software is designed by C#programming language ofVS2010and OpenCV function library. The experiment uses the Zhang Zhengyoucalibration method for camera calibration to calculate the internal parameters.The software creates a sample database through OpenCV and uses HarrTrainingalgorithm for training samples. Through the experimental analysis andverification, the results show that the positioning accuracy of this system is15%and the error is10cm in wireless sensor network. Its positioning performance ishigher than the traditional location algorithm. And the system also have goodpositioning performance in complex environment and NLOS case.