Design Of Positioning System For Firefighting Robot Based On Wirelesssensor Networks

With the rapid development of wireless sensor networks, the node localization technology is one of the main supporting technologies of WSN, and the location information provided by the nodes is the basis of the application of this kind of network.Moreover, fire robot has great application value and necessity in the process of firefighting and rescue. The fire robot can enter into the field of flammable, explosive, toxic, anoxic, smoke and other dangerous disaster accident site for data acquisition, processing, feedback. The fire robot effectively solves the problem of the safety of the firemen and the lack of information in the above-mentioned places.So WSN technology is applied to fire rescue scene in this paper. A mobile node localization method is proposed based on connectivity and weighted correction, and a set of fire robot positioning system designed based on this method.Firstly, the research background and research status are presented about WSN positioning technology and firefighting robot, and the research significance of the fire robot positioning system is expounded. Then the main WSN positioning technology is summarized, and the advantages of various positioning technology are analyzed. And then A new algorithm based on connectivity and weighted correction is proposed: in the blind node localization process. Beacon nodes for localization are chosen by the connectivity of beacon nodes and the blind node. Weighted correction is used to correct the error of RSSI. At last, Least-Squares is applied for estimating position of unknown nodes. The simulation experiment shows that the algorithm proposed in this paper has good localization performance in a certain range of node communication radius and beacon density.Then, the mobile node localization algorithm is applied to the fire area, and the positioning system of the fire robot is designed. The positioning system mainly includes the sink node, beacon node and mobile node. According to the system functional requirements, hardware of the node is designed with the CC2431 circuit, serial circuit, USB to serial circuit, power circuit and RF circuit, etc.. According to the process of data transmission and receiving process, the program of the system is carried out.Finally, the location of the scene is constructed to carry out experiments of localization using the system designed in this paper.