基于无线传感器网络的消防机器人的定位系统设计

发布时间：2018-03-21 06:16

本文选题：无线传感器网络　切入点：移动节点定位　出处：《河北工程大学》2015年硕士论文　论文类型：学位论文

【摘要】：无线传感器网络(Wireless Sensor Networks,WSN)技术发展迅速,节点定位技术作为WSN的主要支撑技术之一,其所提供的节点位置信息是该类网络应用的基础。消防机器人在灭火救援过程中具有较高的应用价值,该类机器人可以在火灾救援过程中第一时间进入灾难现场,进行数据采集、处理、反馈,有效地解决消防人员在上述场所面临的人身安全、信息获取不足等问题。针对该场景,本文将WSN技术应用于消防救援场景,提出了一种基于连通度和加权校正的移动节点定位方法,工作重点是基于该方法设计了一套定位系统,用以辅助消防机器人对待救人员进行定位。首先,介绍了WSN定位技术和消防机器人的发展状况,并阐明了消防机器人定位系统在消防救援中的应用价值。然后归纳总结了已有的WSN定位技术,并对各项定位技术作了优缺点分析,在此基础上提出了一种基于连通度和加权校正的移动节点定位方法:在未知节点定位过程中,根据节点间连通度的大小选取参与定位的信标节点,利用加权校正方法修正接收信号强度指示的测距信息,获得足够的信标信息后使用最小二乘法计算出未知点的坐标。仿真分析表明,节点通信半径和信标密度在一定范围内变化时,该算法均表现出良好的性能。然后,将上述移动节点定位算法应用于消防领域,设计出消防机器人的定位系统。该定位系统主要包括汇聚节点、信标节点和定位节点。依据功能需求对节点进行了硬件设计,节点主要包括CC2431模块、接口模块、射频模块和电源模块等。并根据系统定位流程对各节点的数据发送、接收流程进行了程序设计。最后,分析了信标布置方法,并组建起无线传感器网络,测试了系统的定位精度。
[Abstract]:Wireless Sensor Networks (WSNs) technology is developing rapidly in wireless sensor networks. Node location technology is one of the main supporting technologies of WSN. The node location information provided by it is the basis of this kind of network application. The fire fighting robot has higher application value in the process of fire fighting and rescue, and this kind of robot can enter the disaster scene at the first time in the course of fire rescue. Data collection, processing, feedback, effectively solve the fire protection personnel in the above-mentioned places faced by the personal safety, insufficient access to information and other issues. In view of this scenario, this paper applies WSN technology to the scene of fire rescue, A mobile node location method based on connectivity and weighting correction is proposed. Based on this method, a set of positioning system is designed to assist the fire protection robot to locate the rescuer. This paper introduces the development of WSN positioning technology and fire control robot, and expounds the application value of fire robot positioning system in fire protection and rescue. Then, the existing WSN positioning technology is summarized, and the advantages and disadvantages of each positioning technology are analyzed. On this basis, a mobile node location method based on connectivity and weighting correction is proposed. In the process of unknown node location, the beacon nodes participating in the location are selected according to the degree of connectivity between nodes. The weighted correction method is used to correct the ranging information indicated by the received signal strength, and the coordinates of the unknown points are calculated by the least square method after obtaining enough beacon information. The simulation results show that, When the node communication radius and beacon density change in a certain range, the algorithm shows good performance. Then, the above mobile node location algorithm is applied to the field of fire protection. The positioning system of fire protection robot is designed. The positioning system mainly includes convergent node, beacon node and positioning node. According to the function requirement, the hardware of the node is designed. The node includes CC2431 module and interface module. Radio frequency module and power supply module, etc. According to the system positioning process, the data transmission and receive flow of each node are programmed. Finally, the method of beacon arrangement is analyzed, and the wireless sensor network is constructed. The positioning accuracy of the system is tested.
【学位授予单位】：河北工程大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP242;TP212.9;TN929.5

【参考文献】