基于嵌入式Linux的定位技术的研究与实现
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摘要
近年来,伴随着物联网的兴起,无线传感器网络已经成为通信领域的研究热点。从无线传感器网络的支撑技术出发,嵌入式终端和传感器网络节点定位无疑是两大重要的应用基础。本文从这两方面展开研究,在设计完成基于S3C2440和嵌入式Linux的网络节点平台基础之上,开发定位终端的系统软件。定位系统软件以GIS(Geographic Information System,地理信息系统)相关技术为基础,包括GIS相关功能、GPS定位以及卫星信号缺失情况下的测距定位等。以下是本文的主要工作：
首先,设计定位系统终端硬件平台和软件平台。硬件平台以基于ARM920T核的S3C2440处理器为中心,通过RS232接口连接GPS模块和电子罗盘。软件平台以裁减过的Linux 2.6.13嵌入式操作系统为基础,由它统一管理整个硬件系统平台与系统引导程序、内核、通信协议、底层驱动等。文章对基于嵌入式Linux和Qt的交叉编译环境、系统移植以及应用软件移植进行了详细阐述,并开发和改进了基于Linux和Qt的中文输入法。
其次,对无线传感器网络中的定位算法进行深入研究后,在已经提出的NLOS环境下TOA相对定位算法的基础之上,本文新提出了一种改进算法：该方法引入待测节点移动的方位角度信息,结合节点运动轨迹,预测下一时刻的位置,并以此判断TOA测距距离是否有非视距误差,完成测量值的重构,使其接近于LOS测量值。仿真结果和分析表明,该算法在非视距传播干扰下有良好的定位精度,随着非视距误差增大,相比其他算法的性能更优越。
然后,设计和实现定位终端通信协议即各模块交互接口,包括基于RS232串口的GPS模块和电子罗盘的实现、定位终端与测距模块间基于UDP的网口通信协议的设计和实现。
最后,实现定位终端相关系统应用软件。定位终端应用程序采用C/C++语言进行开发,采取分层设计、模块化设计以及Linux下多进程通信的设计方法。定位算法采用C语言实现,GIS/GPS软件、TOA定位软件及其用户图形界面(GUI)设计开发采用基于MapGIS-EMS和Qt的C++语言实现。应用测试结果表明：系统装载地图容量大、运行速度快、成本低、携带方便,在有无卫星定位信号情况下都能实现网络节点定位,有着广泛的应用前景。
In recent years, as emerging of Internet of Things, wireless sensor network (WSN) has been widely researched in the field of communications. From the supporting technology standpoint of WSN, the embedded terminals and location information of the WSN node are the foundation of any application. This paper focuses on the double technologies, based on designing and developing the WSN node platform using S3C2440 microprocessor and embedded Linux OS, we develop the location terminal software system. The location system software is based on GIS (Geographic Information System) technology, containing GIS related functions, GPS location, and ranging location when the satellite information is missed or the satellite location system can't be used. The main ideas of this paper are as followings:
First of all, we design and develop the hardware platform and software platform of location terminal. The hardware platform uses S3C2440 microprocessor which is based on ARM920T core. Two RS232 interfaces are used to communicate with GPS module and electronic compass. The software platform uses reduced Linux 2.6.13 as embedded OS. It manages the whole hardware platform and the system's bootloader, kernel, communication protocols, hardware drivers, etc. The paper introduces how to construct the cross compile platform and transplant of system or application software, and illustrates the development and improvement of Chinese input method based on embedded Linux and Qt.
Secondly, on the basis of studies on researching location algorithm of WSN, a TOA-based relative location algorithm with Non-Line-of-Sight propagation considered is proposed in this paper. By exploiting the characteristics of moving unknown nodes and using its moving angle, we predict the location at the next moment, and then get the distances between the unknown node and all reference nodes. By compare the TOA distances and predicted ones, we reduce the NLOS errors and rebuilt the measuring distances, thus improve the location accuracy. The simulation results indicate the effectiveness of this method.
Thirdly, location terminal communication protocol is the design and implementation of interactive interfaces among all modules. This paper implements the communication between main module of terminal and GPS module or electronic compass, which based on RS232. We also design and realize the communication protocol between Location terminal and ranging module, using Ethernet that based on UDP.
Finally, develop the related software of the location terminal. Application programs of location terminal are developed using C/C++language. We use layered modular design and the design method of multi-process communication in Linux. Location algorithm is implemented using C language. GIS/GPS software, TOA ranging location software and GUI development are developed using C++ language that based on MapGIS-EMS and Qt. Application test shows that:the system can load large data maps, high work speed, low cost and portability, most of all, it can implement network node location without considering the satellite location information.In short, this location system will have an extensive practicing foreground.
首先,设计定位系统终端硬件平台和软件平台。硬件平台以基于ARM920T核的S3C2440处理器为中心,通过RS232接口连接GPS模块和电子罗盘。软件平台以裁减过的Linux 2.6.13嵌入式操作系统为基础,由它统一管理整个硬件系统平台与系统引导程序、内核、通信协议、底层驱动等。文章对基于嵌入式Linux和Qt的交叉编译环境、系统移植以及应用软件移植进行了详细阐述,并开发和改进了基于Linux和Qt的中文输入法。
其次,对无线传感器网络中的定位算法进行深入研究后,在已经提出的NLOS环境下TOA相对定位算法的基础之上,本文新提出了一种改进算法：该方法引入待测节点移动的方位角度信息,结合节点运动轨迹,预测下一时刻的位置,并以此判断TOA测距距离是否有非视距误差,完成测量值的重构,使其接近于LOS测量值。仿真结果和分析表明,该算法在非视距传播干扰下有良好的定位精度,随着非视距误差增大,相比其他算法的性能更优越。
然后,设计和实现定位终端通信协议即各模块交互接口,包括基于RS232串口的GPS模块和电子罗盘的实现、定位终端与测距模块间基于UDP的网口通信协议的设计和实现。
最后,实现定位终端相关系统应用软件。定位终端应用程序采用C/C++语言进行开发,采取分层设计、模块化设计以及Linux下多进程通信的设计方法。定位算法采用C语言实现,GIS/GPS软件、TOA定位软件及其用户图形界面(GUI)设计开发采用基于MapGIS-EMS和Qt的C++语言实现。应用测试结果表明：系统装载地图容量大、运行速度快、成本低、携带方便,在有无卫星定位信号情况下都能实现网络节点定位,有着广泛的应用前景。
In recent years, as emerging of Internet of Things, wireless sensor network (WSN) has been widely researched in the field of communications. From the supporting technology standpoint of WSN, the embedded terminals and location information of the WSN node are the foundation of any application. This paper focuses on the double technologies, based on designing and developing the WSN node platform using S3C2440 microprocessor and embedded Linux OS, we develop the location terminal software system. The location system software is based on GIS (Geographic Information System) technology, containing GIS related functions, GPS location, and ranging location when the satellite information is missed or the satellite location system can't be used. The main ideas of this paper are as followings:
First of all, we design and develop the hardware platform and software platform of location terminal. The hardware platform uses S3C2440 microprocessor which is based on ARM920T core. Two RS232 interfaces are used to communicate with GPS module and electronic compass. The software platform uses reduced Linux 2.6.13 as embedded OS. It manages the whole hardware platform and the system's bootloader, kernel, communication protocols, hardware drivers, etc. The paper introduces how to construct the cross compile platform and transplant of system or application software, and illustrates the development and improvement of Chinese input method based on embedded Linux and Qt.
Secondly, on the basis of studies on researching location algorithm of WSN, a TOA-based relative location algorithm with Non-Line-of-Sight propagation considered is proposed in this paper. By exploiting the characteristics of moving unknown nodes and using its moving angle, we predict the location at the next moment, and then get the distances between the unknown node and all reference nodes. By compare the TOA distances and predicted ones, we reduce the NLOS errors and rebuilt the measuring distances, thus improve the location accuracy. The simulation results indicate the effectiveness of this method.
Thirdly, location terminal communication protocol is the design and implementation of interactive interfaces among all modules. This paper implements the communication between main module of terminal and GPS module or electronic compass, which based on RS232. We also design and realize the communication protocol between Location terminal and ranging module, using Ethernet that based on UDP.
Finally, develop the related software of the location terminal. Application programs of location terminal are developed using C/C++language. We use layered modular design and the design method of multi-process communication in Linux. Location algorithm is implemented using C language. GIS/GPS software, TOA ranging location software and GUI development are developed using C++ language that based on MapGIS-EMS and Qt. Application test shows that:the system can load large data maps, high work speed, low cost and portability, most of all, it can implement network node location without considering the satellite location information.In short, this location system will have an extensive practicing foreground.
引文
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[2]Sunxuebin ZhouZheng. A tracking-based target location algorithm in wireless sensor networks [J]. The journal of China Universities of Posts and Telecommunications,2004,11(1):17-23.
[3]李善仓,张克旺.无线传感器网络原理与应用[M].北京：机械工业出版社,2008：1-269.
[4]T. He, C. Huang, B. M. Blum, et al. Range-free localization schemes for large scale sensor networks[C]. San Diego, CA, the 9th Annual Int'l Conf on Mobile Computing and Networking (MobiCom), 2003:81-95.
[5]P.N. Pathirana, N. Bulusu, A.V.Savkin. Node localization using mobile robots in delay-tolerant sensor networks [J]. IEEE Mobile Computing,2005,4(3):285-296.
[6]D. Niculescu, B. Nath. DV Based Positioning in Ad hoc networks [J]. Journal of Telecommunication Systems,2003,22(1-4):267-280.
[7]L. Doberty, K. Pister, L. Ghaoui. Convex position estimation in wireless sensor networks[C]. Anchorage, AK, USA, Proc of IEEE INFOCOM,2001:1655-1663.
[8]M. Kuorilelito, M. Hannikainen, T. D. Hamalainen. A survey of application distribution in wireless sensor networks [J]. Eurasip Journal on Wireless Communications and Networking,2005(5):774-788.
[9]J. G. Pottie, J. W. Kaiser. Wireless integrated network sensors [J]. Proc of Communications of the ACM, 2000,43(5):551-558.
[10]W.R.Young. Advanced Mobile Phone Service:Introduction, Background, and Objectives [J]. The Bell System Technical Journal,1999,79(1):255-275.
[11]I. F. Akyildig. Wireless Sensor Networks:a Survey [J]. ACM Computer Networks,2002,4:116-125.
[12]Y. F. Chen, W. J. Wn, C. K. Chen, et al. Design and implementation of smart sensor nodes for wireless disaster monitoring systems[C]. San Diego, CA, United States,2004:798-805.
[13]于海斌,曾鹏,王忠锋.分布式无线传感器网络通信协议研究[J].通信学报,2004,25(10)：102-110.
[14]刘善平,林亚平,周四望.一种低能耗延时的无线传感器网络MAC协议[J].计算机应用,2006,26(2)：287-291.
[15]Capkun S, Hamdi M, Hubaux J-P. GPS-Free positioning in mobile ad-hoc networks[J]. Cluster Computing,2002,5(2):157-167.
[16]Iyengar R, Sikdar B. Scalable and distributed GPS free positioning for sensor networks[OL]. In:Proc. of IEEE Int'l Conf. on Communications 2003. Vol.1, Anchorage:IEEE Communications Society,2003. 338-342. http://networks.ecse.rpi.edu/-bsikdar/papers/raj_icc03.pdf
[17]Doherty L. Algorithms for position and data recovery in wireless sensor networks [MS. Thesis]. Berkeley:University of California,2000.
[18]Niculescu D, Nath B. Ad hoc positioning system (APS) using AoA[OL]. In:Proc. of the IEEE INFOCOM 2003. Vol.3, San Francisco:IEEE Computer and Communications Societies,2003. 1734-1743. http://paul.rutgers.edu/～dnicules/research/aps/aoa-infocom.pdf
[19]Savvides A, Han C-C, Srivastava MB. Dynamic fine-grained localization in ad-hoc networks of sensors[OL]. In:Proc. of the 7th Annual Int'l Conf. on Mobile Computing and Networking. Rome: ACM Press,2001.166-179. http://citeseer.ist.psu.edu/savvides01 dynamic.html.
[20]孙言强,王晓东,周兴铭.无线传感器网络中基于几何覆盖的Jamming攻击定位算法[J].通信学报,2010,31(11)：9-16.
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