| With the development of Internet and wireless sensor technology,location-based services have been widely used in recent years,especially in the field of indoor positioning,and have got more and more attention.Especially in the next environments,such as hospitals,mines,warehouses,prisons,airports,etc.,people usually need to know the approximate location of the relative personnel and important facilities.A lot of the existing indoor positioning algorithms will be affected by the complex environment,the positioning accuracy is not high.And ZigBee with the low power,low cost,low complexity can be a good solution to this problem,it is suitable in indoor positioning.This paper has mainly completed the design of ZigBee positioning system,including the hardware and software design,and proposed a recursive iterative fusion algorithm to improve the positioning accuracy.In detail,the completed work is showed in the following aspects.First of all,this article is wrote on the basis of a lot of references,the purpose and significance of the study about indoor positioning,domestic and foreign research status and future development trends are introduced.This paper summarizes some typical single mode algorithms and the basic knowledge of data fusion methods,including the main characteristics and existing problems of the algorithms,which lays the foundation for the following theoretical content.Secondly,when designing the indoor positioning system in this paper,the ZigBee technology is studied,we analyze the its topological structure,channel structure,application areas and the wireless communication model,comparing several communication model simulation results,we choose the logarithmic attenuation model,for this model has better communication performance.The function of each layer of the ZigBee2007 protocol stack is analyzed,and the program of the coordinator,router and reference node in the protocol stack is modified to realize the positioning function,and the signaling flow of the positioning system is analyzed.Then,this paper,which is based on ZigBee,completes the software and hardware design of the wireless location system.We have built the framework of wireless positioning system,analyzed the function of the wireless location terminal,wireless positioning router and positioning gateway,data processing,management and display platform in the framework of wireless positioning system.Then we choose CC2530 of TI as the positioning node,in order to save cost,the node is improved,we use the minimum simulation connection mode,the shape is reduced,and the cost is saved.In the software design,LabVIEW is used as the PC monitor software,we can combine matlab orientation program and the software of LabVIEW,the LabVIEW serial port is used to read the collected information through the computer so as to realize the positioning and positioning results can be displayed in the front panel window.Finally,we propose a kind of multi-mode recursive data fusion algorithm aiming at the problem that the received signal strength(RSSI)and inertial sensors cannot receive accurate measurement results in the measurement process because of the presence of random noise.According to the received signal strength and the measurement data of the inertial sensors we can calculate the location coordinates,and in the decision level fusion of two kinds of coordinate values,we can achieve the iterative calculation.The simulation results show that the error between the proposed algorithm and the real coordinates can be reduced by 71%and 39%comparing with the errors of the received signal strength and the inertial sensors between the real coordinates..The validity of the proposed algorithm is proved. |
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