| Summary: | The positioning task of the Internet of Things (IoT) for outdoor environments requires that the node devices meet the requirements of low power consumption, long endurance, and low cost and that the positioning system can achieve high-precision positioning and wide-area coverage. Considering that traditional IoT positioning technology cannot balance the cost, energy consumption, and positioning performance well, a Wide-Area Positioning System Based on Long Range Mesh (LoRaWAPS), which is a low-cost and low-power outdoor positioning system with multi-anchor wireless mesh networking and multi-dimensional data fusion, is designed in this paper. To meet the need for a positioning system, a low-power consumption and high-reliability LoRa Mesh protocol is proposed. Aiming at the problem that the accuracy of LoRa ranging is easily affected by the non-line-of-sight (NLOS) path propagation of signals, a distance estimation algorithm based on the fusion of time of flight (TOF) and received signal strength indicator (RSSI) multi-sampling data is proposed. Furthermore, a position estimation algorithm is designed to minimize the posteriori RSSI error for multi-anchor cooperative estimation scenarios. Furthermore, the prototype of LoRaWAPS is built and tested in the campus environment. The experimental results show that the proposed system can provide reliable location service with low power and low cost.
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