CN101986758B - Method for positioning wireless sensor network - Google Patents
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- CN101986758B CN101986758B CN 201010538486 CN201010538486A CN101986758B CN 101986758 B CN101986758 B CN 101986758B CN 201010538486 CN201010538486 CN 201010538486 CN 201010538486 A CN201010538486 A CN 201010538486A CN 101986758 B CN101986758 B CN 101986758B
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Abstract
The invention relates to a method for positioning a wireless sensor network. The method comprises the following steps: an unknown node receives a message which is broadcast and transmitted by a mobile anchor node and contains position of the node; a two-dimensional rectangular coordinate system is established for the region of the wireless sensor network to determine a mobile path of the mobile anchor node; the mobile anchor node moves a certain distance every period T; a beacon signal is broadcast in a circle with a communication radius r by using the position of the mobile anchor node, wherein the beacon signal comprises the position message of the mobile anchor node at the moment and the time at the moment; the moving path of the mobile anchor node is a regular triangle, wherein the side length of the regular triangle is d, and d equals to r; the unknown node constantly monitors and receives the beacon messages, and receives three beacon messages broadcast by the mobile anchor node; and if positions of the three beacon messages form a regular triangle, and the unknown node is positioned in the regular triangle, the position message of the unknown node can be acquired by a trilateration survey method. The method has the advantages of high positioning accuracy and low networking cost, and is not easily influenced by environmental factors.
Description
Technical field
The present invention relates to a kind of localization method of wireless communication field, relate in particular to a kind of wireless sensor network locating method.
Background technology
In recent years, development along with MEMS (micro electro mechanical system), radio communication and Digital Electronic Technique, wireless sensor network (wireless sensor networks, WSN) in Military Application and the field such as civilian, be widely used, it combines with the RFID technology, in fields such as logistics, has also obtained application achievements preferably.
Positional information has vital meaning to the application of WSN, and the position that event occurs or the position of information source are the important component parts that sensor network transmits data, thereby the WSN location technology becomes a large focus of research.At present, scholars have proposed a lot of location algorithms about WSN, mainly be divided into two large classes: based on anchor node and the non-WSN node locating algorithm based on anchor node, anchor node is exactly the node that can obtain in advance self-position, usually adopt and gps system is installed on node or is manually arranged in advance, anchor node location residue node for location algorithm based on anchor node, but not the relative position of the main computing node of node locating algorithm based on anchor node, generate the relative position map of a WSN node, bring very large restriction to the application of WSN, but, in the node locating algorithm based on anchor node, the use of GPS has increased the cost of WSN node, the characteristics that this and WSN apply are not inconsistent, in this case, can only on some transportable sensor nodes, equip GPS, the method has very high Practical significance: only on some nodes, equip GPS, not only too much do not increase cost, and obtain higher positioning precision than the algorithm that does not use anchor node, and mobile node can be used mobile robot platform, and energy is unrestricted, in order to improve positioning precision and location efficiency, the path planning of mobile anchor node becomes the basic problem of research.
Arrive sensitive zones (region of interest when transducer is distributed, ROI) after in, the mobile anchor node starts to walk in them, simultaneously with certain transmitting power broadcast message packet, the coordinate that contains this anchor node in information packet, near the anchor node node, the sensor node of (in the beacon signal transmission range) can receive the bootstrap information bag, each node is measured received signal strength index (received signal strength indication when receiving bag, be called for short RSSI) and calculate the distance of anchor node, according to subsidiary beacon position in the distance value to anchor node and bootstrap information bag
each node calculates the constraints of self-position, when obtaining 3 above bootstrap information bags, each node can calculate by trilateration the coordinate of self, the movement-based anchor node carries out sensor node localization and has some obvious advantages: at first, reduce in a large number the anchor node quantity needed, thereby reduced cost, secondly, due to anchor node negligible amounts (ideally only needing 1 beacon), therefore, the user can control the mobile route of anchor node, the position (abbreviation transmitting site) of broadcast anchor node packet, thereby improves location efficiency and improve locating effect.
Through existing literature search is found, pertinent literature is as follows:
1, the article " Path Planning for Mobile Anchor Node in Localization for Wireless Sensor Networks " that Hongjun Li etc. delivers on " the Journal of Computer Research and Development " of 2009, studied the path planning problem of mobile anchor node, graph theory has been incorporated into to the wireless sensor network node navigation system.Wireless sensor network is regarded as to the node non-directed graph of a connection, path planning problem is converted into map generalization tree and traversal problem, has proposed breadth-first and has recalled the formula greedy algorithm.But this algorithmic rule mobile route out can not guarantee all unknown node and receive anchor node information, thereby Signal Coverage Percentage is not high.
2, in the article " Localization in Wireless Sensor Networks Using a Mobile Anchor Node " that Zhen HU etc. delivers on " the IEEE/ASME International Conference on Advanced Intelligent Mechatronics " of 2008, mobile node is with spiral path movement, broadcast its positional information every one-period, after unknown node is received the positional information more than 3, the estimated position that the mean value of getting these positions is unknown node.This algorithm efficiently solves the problem that node can't be located on same straight line, but this path can't cover sensitive zones efficiently, the beacon coverage hole easily occurs, thereby has reduced positioning precision.
3, in the article " Sensor Position Determination with Flying Anchors in Three-Dimensional Wireless Sensor Networks " that ChaiHo Ou etc. delivers on " the IEEE Transactions on Mobile Computing " of 2008, a kind of novel Range-Free localization method has been proposed, the method " perpendicular bisector of string passes through the center of circle " this character based in elementary geometry, use the flight anchor node with GPS to move and periodically broadcast its current location at sensitive zones, unknown node is calculated its position according to Rules of Geometry and these information.This algorithm, after the anchor node obtained more than 4, forms two and intersects circle, through these two, intersects the center of circle of circle and the estimated position that the crossing point of the round straight line that intersects vertically is unknown node.The method has been made certain innovation and contribution in links such as measuring the distance of anchor node and unknown node, calculating unknown node coordinate, but all relate to the mobile anchor node path, selects problem.
4, the article " Static path planning for mobile beacons to localize sensor networks " that Rui Huang etc. delivers on " the IEEE PERCOMW " of 2007 proposes to make the mobile anchor node according to S shape path movement, the information of the reception mobile node in the unknown node cycle of sensitive zones, thus its positional information calculated.Although the path of this algorithm mobile node is shorter, and the energy consumption of having saved accordingly node, the node at edge does not cause situation about can't locate to occur owing to receiving enough information.
5, in the article " Path planning of mobile landmarks for localization in wireless sensor networks " that Koutsonilas D etc. delivers on " the Computer Communication " of 2007, analyzed the path that mobile node moves along change in coordinate axis direction, its pluses and minuses have been compared, although wherein Scan method movable length is the shortest, it can cause information that unknown node receives on same straight line and can't locate it.
summary of the invention
The objective of the invention is: a kind of positioning precision is high, be not subject to environmental factor impact and the low wireless sensor network locating method of network cost are provided.
In order to achieve the above object, technical scheme of the present invention is: a kind of wireless sensor network locating method, and its innovative point is: its step comprises:
A, mobile anchor node broadcasts send the information that comprises self-position;
B, unknown node receive the information that the mobile anchor node sends;
C, the two-dimensional direct angle coordinate system is set up in the wireless sensor network zone, one or several unknown node distribute in the two-dimensional direct angle coordinate system, determine the mobile route of mobile anchor node, the mobile anchor node moves a certain distance every cycle T, and take the mobile anchor node this moment position be the center of circle, communication radius is
round broadcast beacon signals, beacon signal comprises the positional information of this moment mobile anchor node and the time in this moment, the path of mobile anchor node motion is equilateral triangle, the length of side of equilateral triangle is
, and
;
D, unknown node are constantly monitored and are accepted beacon message, receive three beacon messages of mobile anchor node broadcasts, if the position of these three beacon messages forms equilateral triangle, and unknown node is positioned at equilateral triangle,, by trilateration, obtain the positional information of unknown node; If unknown node is positioned at the boundary in wireless sensor network zone, the set of locations that unknown node receives three beacon messages becomes obtuse triangle or for right-angled triangle or be all the other triangles, and unknown node is positioned at obtuse triangle or for right-angled triangle or for all the other triangles, using the mean value of three beacon message coordinates receiving as the position of unknown node, obtain the positional information of unknown node.
In above-mentioned wireless sensor network locating method, described mobile anchor node and unknown node spacing adopt the received signal strength method to measure.
In above-mentioned wireless sensor network locating method, the communication radius of described mobile anchor node
concrete establishing method be:
Set up target function and constraint function, and set communication radius
scope,
The target function of setting up is
,
The constraint function of setting up is
for integer, and
round numbers,
The communication radius of setting
scope be
,
Wherein:
for the length in wireless sensor network zone,
For the energy of the every mobile 1m consumption of mobile anchor node,
Then, calculate by computer the communication radius that meets above-mentioned condition
value.
In above-mentioned wireless sensor network locating method, described mobile anchor node has the GPS positioner, reference node as the location unknown node, the mobile anchor node contains the beacon message packet of its positional information and self ID to the unknown node broadcast packet around it, the communication range of mobile anchor node is radius
circle.
Compared with prior art, the good effect that the present invention has is:
(1) do not need extra communication overhead in position fixing process, only by received signal strength, can complete location, and the mobile anchor node is according to the equilateral triangle path movement, the running fix precision is the highest;
(2) to the not restriction of node density of network, no matter be at dense network or in sparse network, on not impact of positioning precision, thereby good autgmentability arranged, be difficult for affected by environment;
(3) the present invention only needs a mobile anchor node, can know the positional information of all unknown node in the wireless sensor network zone, has reduced the cost of network.
The communication range of mobile anchor node is circular, tallies with the actual situation, and be easy to implement in actual environment, and positioning precision is high.
The accompanying drawing explanation
The flow chart that Fig. 1 is wireless sensor network locating method of the present invention;
Fig. 2 is the schematic diagram that the equilateral triangle localization method calculates unknown node;
Fig. 3 is unknown node random distribution figure;
Fig. 4 is mobile anchor node locating schematic diagram;
The schematic diagram that Fig. 5 is mobile anchor node motion path and emission packets of information position.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.
As shown in Fig. 1,2,3,4,5, a kind of wireless sensor network locating method, its step comprises:
A, mobile anchor node broadcasts send the information that comprises self-position;
B, unknown node receive the information that the mobile anchor node sends;
C, the two-dimensional direct angle coordinate system is set up in the wireless sensor network zone, one or several unknown node distribute in the two-dimensional direct angle coordinate system, determine the mobile route of mobile anchor node, the mobile anchor node moves a certain distance every cycle T, and take the mobile anchor node this moment position be the center of circle, communication radius is
round broadcast beacon signals, beacon signal comprises the positional information of this moment mobile anchor node and the time in this moment, the path of mobile anchor node motion is equilateral triangle, the length of side of equilateral triangle is
, and
;
D, unknown node are constantly monitored and are accepted beacon message, receive three beacon messages of mobile anchor node broadcasts, if the position of these three beacon messages forms equilateral triangle, and unknown node is positioned at equilateral triangle,, by trilateration, obtain the positional information of unknown node; If unknown node is positioned at the boundary in wireless sensor network zone, the set of locations that unknown node receives three beacon messages becomes obtuse triangle or for right-angled triangle or be all the other triangles, and unknown node is positioned at obtuse triangle or for right-angled triangle or for all the other triangles, using the mean value of three beacon message coordinates receiving as the position of unknown node, obtain the positional information of unknown node.
In above-mentioned wireless sensor network locating method, described mobile anchor node and unknown node spacing adopt the received signal strength method to measure.
In above-mentioned wireless sensor network locating method, the communication radius of described mobile anchor node
concrete establishing method be:
Set up target function and constraint function, and set communication radius
scope,
The target function of setting up is
,
The constraint function of setting up is
for integer, and
round numbers,
The communication radius of setting
scope be
,
Wherein:
for the length in wireless sensor network zone,
for the width in wireless sensor network zone,
for the size of packets of information,
For the energy of the every mobile 1m consumption of mobile anchor node,
Then, calculate by computer the communication radius that meets above-mentioned condition
value.
In above-mentioned wireless sensor network locating method, described mobile anchor node has the GPS positioner, reference node as the location unknown node, the mobile anchor node contains the beacon message packet of its positional information and self ID to the unknown node broadcast packet around it, the communication range of mobile anchor node is radius
circle.
In the present embodiment, all unknown node are random distribution (as shown in Figure 3) in the wireless sensor network zone, and the mobile anchor node carries out initialization mobile anchor node to wireless sensor network and starts mobile (as shown in Figure 4) from the origin of coordinates.
The specific works process of wireless sensor network locating method of the present invention is:
As shown in Figure 1, the information that the mobile anchor node comprises self-position according to path movement the broadcast transmission of equilateral triangle;
By calculate known mobile anchor node position error be:
, when
the time, the error band of location
reaching minimum is
, three packets of information consist of equilateral triangle, wherein
the range measurement error,
,
,
angle between the length of side, thus the mobile route of known mobile anchor node is defined as equilateral triangle; Because the position when three beacon messages of mobile anchor node emission forms the length of side, be
equilateral triangle, the region area maximum that sensor network covers without leak, therefore in the present invention, the mobile anchor node is according to the equilateral triangle path movement of predesignating, and the equilateral triangle length of side formed is
;
Wherein, the communication radius of mobile anchor node
for predefined value, the length in assumed wireless sensor network zone
for
, width
for
, the area in wireless sensor network zone is
, the scope of setting communication radius
for
and constraints
for integer, and
round numbers,
,
,
,
,
,
Make
,
the value minimum, can calculate the communication radius of mobile anchor node
for 40m.
As shown in Figure 1, unknown node receives the information that the mobile anchor node sends, and wherein, the mobile anchor node moves a certain distance every cycle T, and take the mobile anchor node this moment position be the center of circle, communication radius is
round broadcast beacon signals, beacon signal comprises the positional information of this moment mobile anchor node and the time in this moment; As shown in Figure 5, the every movement of mobile anchor node
the distance launch a packets of information, wherein
it is the communication radius of mobile anchor node.
As shown in Figure 1, the continuous monitoring reception beacon message of unknown node, after receiving three beacon messages, these three beacon messages should be equilateral triangle, calculating receives the distance of each anchor node to unknown node, according to trilateration, obtains the positional information of unknown node.
As shown in Figure 5, if unknown node
the triangle that three beacon messages that receive form is equilateral triangle, and the position of three beacon messages be (
), unknown node
can calculate the position of this unknown node according to these three beacon messages that receive by trilateration, pass through formula
, the coordinate of acquisition unknown node
;
If unknown node
for fringe node, the position of three beacon messages that receive for (
), unknown node
go out the position of this unknown node according to the coordinate mean value calculation of these three beacon messages that receive, according to formula
, obtain the coordinate of this unknown node
.
The present invention has advantages of simple and reliable and positioning precision is high, only use a location that the mobile anchor node has just been realized the transducer unknown node, reduced the requirement to hardware, saved network cost, according to the optimization of region strategy, can be optimized irregular area, make the positioning precision optimum, extensibility is strong, the mobile anchor node adopts the mobile route of positive triangle, mobile route is short, makes the unknown node positioning precision high, is with a wide range of applications.
Claims (3)
1. a wireless sensor network locating method, its step comprises:
A, mobile anchor node broadcasts send the information that comprises self-position;
B, unknown node receive the information that the mobile anchor node sends;
It is characterized in that: further comprising the steps of:
C, the two-dimensional direct angle coordinate system is set up in the wireless sensor network zone, one or several unknown node distribute in the two-dimensional direct angle coordinate system, determine the mobile route of mobile anchor node, the mobile anchor node moves a certain distance every cycle T, and take the mobile anchor node this moment position be the center of circle, communication radius is
round broadcast beacon signals, beacon signal comprises the positional information of this moment mobile anchor node and the time in this moment, the path of mobile anchor node motion is equilateral triangle, the length of side of equilateral triangle is
, and
; The communication radius of described mobile anchor node
concrete establishing method be:
Set up target function and constraint function, and set communication radius
scope,
The target function of setting up is
,
The constraint function of setting up is
for integer, and
round numbers,
The communication radius of setting
scope be
,
Wherein:
for the length in wireless sensor network zone,
For the energy of the every mobile 1m consumption of mobile anchor node,
,
for communication radius
scope,
Then, calculate by computer the communication radius that meets above-mentioned condition
value;
D, unknown node are constantly monitored and are accepted beacon message, receive three beacon messages of mobile anchor node broadcasts, if the position of these three beacon messages forms equilateral triangle, and unknown node is positioned at equilateral triangle,, by trilateration, obtain the positional information of unknown node; If unknown node is positioned at the boundary in wireless sensor network zone, the set of locations that unknown node receives three beacon messages becomes obtuse triangle or for right-angled triangle or be all the other triangles, and unknown node is positioned at obtuse triangle or for right-angled triangle or for all the other triangles, using the mean value of three beacon message coordinates receiving as the position of unknown node, obtain the positional information of unknown node.
2. wireless sensor network locating method according to claim 1, is characterized in that: described mobile anchor node and the measurement of unknown node spacing employing received signal strength method.
3. wireless sensor network locating method according to claim 1, it is characterized in that: described mobile anchor node has the GPS positioner, reference node as the location unknown node, the mobile anchor node contains the beacon message packet of its positional information and self ID to the unknown node broadcast packet around it, the communication range of mobile anchor node is radius
circle.
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| CN101986758B true CN101986758B (en) | 2013-05-15 |
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| CN102685883B (en) * | 2011-03-18 | 2015-04-15 | 中国科学院深圳先进技术研究院 | Positioning method of sensor network nodes |
| CN102209331A (en) * | 2011-05-31 | 2011-10-05 | 河海大学常州校区 | Node positioning method of irregular transmission model in wireless sensor network |
| CN102291818B (en) * | 2011-07-29 | 2014-08-13 | 电子科技大学 | Pseudo-three-dimensional positioning method for wireless sensor network based on terrain information |
| CN102595594B (en) * | 2012-02-22 | 2014-12-03 | 江苏大学 | Wireless sensor network node positioning method based on node distribution density |
| CN102932256A (en) * | 2012-10-31 | 2013-02-13 | 中国矿业大学(北京) | Positioning and routing method based on DV-Hop (Distance Vector-Hop) positioning mechanism |
| CN103024897B (en) * | 2012-11-26 | 2014-05-14 | 中山大学 | Wireless sensor network environment adaptive ring overlapped positioning algorithm based on received signal strength indicator (RSSI) |
| CN103067962B (en) * | 2012-12-20 | 2015-04-22 | 浙江工业大学 | Drifting detection method of distributed beacon nodes in wireless sensor network |
| EP2939482B1 (en) * | 2012-12-28 | 2019-01-23 | Intel Corporation | Trilateration processing of abnormal location data |
| CN103068040B (en) * | 2012-12-28 | 2016-03-02 | 中国人民解放军信息工程大学 | A kind of wireless sensing net node location, air navigation aid and relevant apparatus, system |
| CN103327607B (en) * | 2013-06-28 | 2016-06-29 | 赵忠厚 | Wireless sensor network many anchor nodes group mobile route planing method |
| CN103607726B (en) * | 2013-11-25 | 2016-08-31 | 河海大学常州校区 | Based on orthohexagonal mobile anchor node path planing method in wireless sensor network |
| CN103796306B (en) * | 2014-02-17 | 2017-02-15 | 山东省计算中心 | Method for locating wireless sensor network nodes with multiple mobility anchor nodes |
| CN103945528B (en) * | 2014-04-10 | 2017-10-24 | 西安电子科技大学 | Single goal localization method in wireless sensor network |
| CN103889055B (en) * | 2014-04-14 | 2017-11-24 | 北京工业大学 | Wireless sensor network node locating method and device based on mobile anchor node |
| CN105049488B (en) * | 2015-06-18 | 2018-11-02 | 瑞驰博方（北京）科技有限公司 | A kind of data center's assets intelligent management system |
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| CN108289282B (en) * | 2017-12-28 | 2020-11-24 | 广州华创物联科技股份有限公司 | High-precision indoor positioning method |
| CN109471062A (en) * | 2018-11-14 | 2019-03-15 | 深圳美图创新科技有限公司 | Localization method, positioning device and positioning system |
| CN111347417B (en) * | 2018-12-24 | 2022-05-10 | 深圳市优必选科技有限公司 | Position calibration method and device of UWB positioning equipment and robot |
| CN109669173B (en) * | 2019-01-08 | 2020-08-21 | 南京航空航天大学 | Ground target positioning method based on unmanned aerial vehicle and relative signal strength |
| CN109889976B (en) * | 2019-02-18 | 2022-03-01 | 南京邮电大学 | Wireless sensor network mobile anchor node path planning method based on circle |
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| CN113253200B (en) * | 2021-04-27 | 2024-05-14 | 中国人民解放军91388部队 | Mobile anchor node RSSI value positioning method based on regular triangle motion path |
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