CN100566345C - Wireless sensor network node locating method based on ultra broadband - Google Patents
Wireless sensor network node locating method based on ultra broadband Download PDFInfo
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- CN100566345C CN100566345C CNB2006100323516A CN200610032351A CN100566345C CN 100566345 C CN100566345 C CN 100566345C CN B2006100323516 A CNB2006100323516 A CN B2006100323516A CN 200610032351 A CN200610032351 A CN 200610032351A CN 100566345 C CN100566345 C CN 100566345C
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Abstract
The invention discloses a kind of wireless sensor network node locating method based on ultra broadband, the present invention's communication media of ultra broadband as wireless sensor node, by normal data packet transceive record node between the wireless signal strength indicated value, adopt nonmetric multidimensional scaling technology directly to utilize internodal wireless signal strength indicated value to position.Wherein location algorithm was divided into for three megastages: bunch being that the local relative coordinate figure positioning stage of unit, local figure merge into overall relative coordinate figure stage and the relative coordinate figure translate phase to absolute coordinate figure.The present invention combines plurality of advantages such as strong, the anti-property intercepted and captured of ultra broadband anti-multipath and interference performance is good, characteristics such as make that the location has that cost is low, high accuracy, flexibility are big.
Description
Technical field
The present invention relates to ultra broadband (UWB) technology and wireless sensor network node location technology, specifically is a kind of wireless sensor network node locating method based on ultra broadband.
Background technology
The accurate location of node is the essential condition that wireless sensor network is used.A direct idea that obtains node location is to use global positioning system (GPS) to realize, but the position of using GPS to obtain all nodes in wireless sensor network is subjected to effects limit such as price, volume, power consumption, exist some difficulties, GPS also is difficult to be applied to the indoor wireless sensor network in addition.According to location mechanism, existing wireless sensor network self poisoning algorithm can be divided into two classes: Range-based and Range-free, promptly based on the location algorithm of ranging technology and the location algorithm of non-distance measuring.The former uses trilateration, triangulation or maximum likelihood estimate computing node position by the distance or the angle information of point-to-point between measured node; The latter need not distance and angle information, only realizes according to information such as network connectivties.The non-distance measuring location mechanism has advantage at aspects such as cost, power consumptions, but precision is lower, and main algorithm comprises centroid algorithm, convex programming algorithm, DV-Hop, Amorphous, MDS-MAP and APIT algorithm etc.
Ultra broadband (UWB) communication technology is a kind of unconventional, novel Radio Transmission Technology, and it adopts ultra-narrow pulse or extremely wide frequency spectrum to transmit information usually.With respect to traditional sinusoidal carrier communication system, the UWB wireless communication system has plurality of advantages such as high transfer rate, high spatial spectrum efficiency, high range accuracy, low probability of intercept, anti-multipath interference.
Summary of the invention
Defective at prior art, the invention provides a kind of wireless sensor network node locating method based on ultra broadband, it combines advantages such as strong, the anti-property intercepted and captured of ultra broadband anti-multipath and interference performance is good, characteristics such as have that the location cost is low, high accuracy, flexibility are big.
This wireless sensor network node locating method provided by the invention based on ultra broadband, utilize the bottom wireless communication medium of ultra broadband as sensor node, when wireless sensing node and neighbors communicate, by normal data packet transceive record node between the wireless signal strength indicated value, adopt nonmetric multidimensional scaling technology, directly utilize internodal wireless signal strength indicated value to position, wherein location algorithm is divided into three phases: bunch being the local relative coordinate figure positioning stage of unit, local relative coordinate figure merges into overall relative coordinate figure stage and the relative coordinate figure translate phase to absolute coordinate figure.
Further, wherein local relative coordinate figure positioning stage is finished on node, and a bunch of scope that comprises is a hop neighbor node of this node, and step comprises:
1) sets the terminal node of some nodes at the boundary of network as route, initiate the inundation route by the sink node as origination node, when running into terminal node, the inundation on this direction finishes, and finds some thus by the route of sink node to terminal node;
2) be included in every origination node each node on the terminal note route respectively with it oneself for bunch bunch first node, a hop neighbor node that adds it successively advances bunch;
3) collect bunch in each node between the wireless signal strength indicated value constitute sparse matrix, if the distance of two nodes surpasses node radio communication radius, then Dui Ying value is 0;
4) since bunch in a hop neighbor node can not guarantee all to interconnect, therefore utilize shortest path first try to achieve bunch in each node between signal strength values construct similarity matrix in the nonmetric multidimensional scaling;
5) each node on this route oneself is a bunch head with it, and bunch to be unit, the relative coordinate of all nodes that comprise in calculating bunch with the nonmetric multidimensional scaling respectively is a bunch local relative coordinate figure;
Further, it is that a bunch local relative coordinate figure who will calculate passes to the sink node that wherein local relative coordinate figure merges into the overall relative coordinate figure stage, by the computer that links to each other with the sink node it is merged processing.When local relative coordinate figure merges into overall relative coordinate figure, at first select one comprise node maximum bunch be starting point, as current overall situation figure.Next, the preferential selection bunch local relative coordinate figure merging maximum with the common node number of current overall figure is re-used as the current overall situation to the figure after merging and schemes when merging at every turn, and constantly merging has comprised all nodes in current overall figure.
Further, wherein merge to handle being based on common node and carrying out, adopt the optimum linearity conversion, realize the conversion of common node from a figure to another figure, the coordinates matrix of common node in the figure A of office drawn game figure B is respectively X
AAnd X
B, determine from X
BTo X
AOptimum linearity conversion be to make difference minimum before and after the conversion promptly to satisfy min
Q|| Q (X
B)-X
A||
2, wherein Q is the linear transformation function;
Further, when merging based on common node in wherein merge handling, determine that the coordinate among the new figure of nodes X after merging adopts following principle: if X in figure A and in figure B, gets its coordinate X at figure A
AIf X in figure B and not in figure A, gets the coordinate Q (X after its conversion
B); If X gets it at the coordinate X that schemes A for the common node of figure A and figure B
AWith the coordinate Q (X after its conversion
B) both mean value.
Say further, wherein relative coordinate figure to the translate phase of absolute coordinate figure be with computer that sink links to each other on finish, this conversion is based on that beaconing nodes (node of a small amount of known location) carries out: the relative position of m beaconing nodes is R=[r
Ij]
2 * m=(R
1, R
2, K, R
m), the actual position of its beaconing nodes is T=[t
Ij]
2 * m=(T
1, T
2, K, T
m), obtain the transfer function Q that vectorial R changes to vector T earlier, again the relative coordinate of all nodes be multiply by the absolute coordinate that transfer function Q obtains all nodes.
Cardinal principle of the present invention is described below: in the nonmetric multidimensional scaling, different (seemingly) property of inter-entity only need satisfy the certain sequence hierarchical relationship, and does not need to show quantitatively.During according to the point coordinates of diversity these entity correspondences of reconstruct on hyperspace of each inter-entity, satisfy the diversity p of each inter-entity
IjWith between corresponding each point apart from d
Ij(X) keep identical precedence categories relation, promptly for any i, j, k, l, if p
Ij＜p
Kl, d so
Ij(X)＜d
Kl(X).Select for use wireless signal strength to locate, be because it is with respect to other method such as signal arrival time difference, signal arrival angle etc., the simplest to hardware requirement, satisfy requirement cheaply, and when wireless sensing node and neighbors communicate, just can record its wireless signal strength indicated value by normal data packet transceive.Ultra broadband is because to have multi-path resolved ability, antijamming capability, penetration capacity strong, makes it can obtain more accurate signal strength values under complex environment.And radio signal propagation has following characteristic usually: acceptance point is near more from transmit leg, and the signal strength signal intensity that records is strong more; Acceptance point is far away more from transmit leg, and the signal strength signal intensity that records is weak more.This monotonic relationshi of wireless signal strength indicated value and distance just in time satisfies the requirement of inter-entity diversity data in the nonmetric multidimensional scaling, therefore utilizes this characteristic to propose directly to use nonmetric multidimensional scaling algorithm to come location node on internodal wireless signal strength value.
Utilization nonmetric multidimensional scaling algorithm positions and is divided into three phases: bunch being that the local relative coordinate figure positioning stage of unit, local figure merge into overall relative coordinate figure stage and the relative coordinate figure translate phase to absolute coordinate figure:
1) sets the terminal node of some nodes at the boundary of network as route, initiate the inundation route by the sink node as origination node, when running into terminal node, the inundation on this direction finishes, and finds some thus by the route of sink node to terminal node;
2) be included in every origination node each node on the terminal note route respectively with it oneself for bunch bunch first node, a hop neighbor node that adds it successively advances bunch;
3) collect bunch in each node between the wireless signal strength indicated value constitute sparse matrix, if the distance of two nodes surpasses node radio communication radius, then Dui Ying value is 0;
4) since bunch in a hop neighbor node can not guarantee all to interconnect, so utilize shortest path first try to achieve bunch in each node between signal strength values construct similarity matrix in the nonmetric multidimensional scaling;
5) each node on this route oneself is a bunch head with it, and bunch to be unit, the relative coordinate of all nodes that comprise in calculating bunch with the nonmetric multidimensional scaling respectively is a bunch local relative coordinate figure:
6) a bunch local relative coordinate figure who calculates passes to the sink node, merges processing by the computer that links to each other with the sink node;
7) with computer that sink links to each other on finish the translate phase of relative coordinate figure to absolute coordinate figure.
The present invention combines advantages such as strong, the anti-property intercepted and captured of ultra broadband anti-multipath and interference performance is good, characteristics such as have that the location cost is low, high accuracy, flexibility are big.
Description of drawings
Fig. 1 is the flow chart of node positioning method of the present invention.
Fig. 2 is the schematic diagram of of the present invention bunch of formation.
Bunches 2 local relative coordinate figure in Fig. 3 embodiments of the invention.
Merge coordinate diagram in Fig. 5 embodiments of the invention.
Fig. 6 is the final positioning result of the present invention.
Embodiment
Below, with reference to the description of drawings embodiments of the present invention.
Fig. 1 is the flow chart of node positioning method of the present invention.This location algorithm is divided into three phases: bunch being that the local relative coordinate figure positioning stage of unit, local relative coordinate figure merge into overall relative coordinate figure stage and the relative coordinate figure translate phase to absolute coordinate figure.Its concrete steps comprise:
1) sets the terminal node of some nodes at the boundary of network as route.Initiate the inundation route by the sink node as origination node, when running into terminal node, the inundation on this direction finishes, and finds some thus by the route of sink node to terminal node;
2) be included in every origination node each node on the terminal note route respectively with it oneself for bunch bunch first node, a hop neighbor node that adds it successively advances bunch;
3) collect bunch in each node between the wireless signal strength indicated value constitute sparse matrix, if the distance of two nodes surpasses node radio communication radius, then Dui Ying value is 0;
4) since bunch in a hop neighbor node can not guarantee all to interconnect, so utilize shortest path first try to achieve bunch in each node between signal strength values construct similarity matrix in the nonmetric multidimensional scaling;
5) each node on this route oneself is a bunch head with it, and bunch to be unit, the relative coordinate of all nodes that comprise in calculating bunch with the nonmetric multidimensional scaling respectively is a bunch local relative coordinate figure;
6) a bunch local relative coordinate figure who calculates passes to the sink node, and the computer that links to each other with the sink node merges processing to it;
7) with computer that sink links to each other on finish the translate phase of relative coordinate figure to absolute coordinate figure.
Fig. 2 is of the present invention bunch and forms schematic diagram.16 nodes are placed to the irregular grid shape of alphabetical L type among the figure, and the radio communication radius of node is 9, and the line between the node is represented the connection situation.Wherein node 1 is the sink node, node 5 is set and node 15 is terminal node at the boundary of network.Initiate the inundation route by sink node 1, find origination node 1 to be respectively 1 → 3 → 5 and 1 → 11 → 15 to the route of terminal node 5 and 15.Be respectively node 1,3,5,11,15 by origination node to each node on the route of terminal node along every, oneself to be a bunch first node, a hop neighbor node that adds it successively advances bunch, forms 5 bunches thus, represents with 5 circles respectively in the drawings.Comprise node 1,2,3,6,7,8,11,12 by node 1 for bunch 1 of bunch head, comprise node 1,2,3,4,5,6,7,8,9,10,12 by node 3 for bunches 2 of bunch head, comprise node 3,4,5,8,9,10 by node 5 for bunches 3 of bunch head, comprise node 1,2,6,7,8,11,12,13,14,15,16 by node 11 for bunches 4 of bunch head, comprise node 11,12,13,14,15,16 for bunches 5 of bunch head by node 15.Use the local relative coordinate of nonmetric multidimensional scaling compute cluster respectively to 5 bunches.
Fig. 3 is with node 3 bunches 2 local relative coordinate figure for bunch head, and Fig. 4 is with bunch 1 the local relative coordinate figure of node 1 for bunch head.When bunch local relative coordinate figure merges with comprise interstitial content maximum bunch be benchmark, select maximum bunch the merging of common node with it.Be benchmark with bunches 2 among the figure, the optimum linearity transfer function of common node from bunch 1 to bunches 2 is
Fig. 5 is that two bunches of local relative coordinate figure merge later coordinate, and wherein bunch 1 and bunches 2 common node 1,2,3,6,7,8,12 merges later coordinate and gets them at bunches 2 coordinate X
2With the coordinate Q (X after bunch 1 conversion
1) both mean value; Node 4,5 is got it originally at bunches 2 coordinate X in bunches 2 and not in bunch 1
2 Node 11 is got the coordinate Q (X after its conversion in bunch 1 and not in bunches 2
1).
Fig. 6 is final positioning result.Choosing node 7,10,16 among the figure is the beaconing nodes of three location awares, represents with five-pointed star, and the solid line of band arrow is represented the position estimated and the error of actual position.The relative position of 3 beaconing nodes is
The actual position of its beaconing nodes is
Obtain the optimum translation function Q that vectorial R changes to vector T earlier, again the relative coordinate of all nodes is obtained the absolute coordinate of all nodes by transfer function Q, wherein transfer function Q is
Claims (5)
1, a kind of wireless sensor network node locating method based on ultra broadband, utilize the bottom wireless communication medium of ultra broadband as sensor node, when wireless sensing node and neighbors communicate, by normal data packet transceive record node between the wireless signal strength indicated value, adopt nonmetric multidimensional scaling technology, directly utilize internodal wireless signal strength indicated value to position, it is characterized in that location algorithm is divided into three phases: bunch being the local relative coordinate figure positioning stage of unit, local relative coordinate figure merges into overall relative coordinate figure stage and the relative coordinate figure translate phase to absolute coordinate figure; Described local relative coordinate figure positioning stage is finished on node, and a bunch of scope that comprises is a hop neighbor node of this node, and step comprises:
1) sets the terminal node of some nodes at the boundary of network as route, initiate the inundation route by the sink node as origination node, when running into terminal node, the inundation on this direction finishes, and finds some thus by the route of sink node to terminal node;
2) be included in every origination node each node on the terminal note route respectively with it oneself for bunch bunch first node, a hop neighbor node that adds it successively advances bunch;
3) collect bunch in each node between the wireless signal strength indicated value constitute sparse matrix, if the distance of two nodes surpasses node radio communication radius, then Dui Ying value is 0;
4) since bunch in a hop neighbor node can not guarantee all to interconnect, therefore utilize shortest path first try to achieve bunch in each node between signal strength values construct similarity matrix in the nonmetric multidimensional scaling;
5) each node on this route oneself is a bunch head with it, and bunch to be unit, the relative coordinate of all nodes that comprise in calculating bunch with the nonmetric multidimensional scaling respectively is a bunch local relative coordinate figure.
2, a kind of wireless sensor network node locating method according to claim 1 based on ultra broadband, it is characterized in that, it is that a bunch local relative coordinate figure who will calculate passes to the sink node that described local relative coordinate figure merges into the overall relative coordinate figure stage, by the computer that links to each other with the sink node it is merged processing.
3, a kind of wireless sensor network node locating method according to claim 2 based on ultra broadband, it is characterized in that, described merging processing is based on common node and carries out, the conversion of employing optimum linearity, realize the conversion of common node from a figure to another figure, the coordinates matrix of common node in the figure A of office drawn game figure B is respectively X
AAnd X
B, determine from X
BTo X
AOptimum linearity conversion be to make difference minimum before and after the conversion promptly to satisfy min
Q|| Q (X
B)-X
A||
2, wherein Q is the linear transformation function;
4, a kind of wireless sensor network node locating method according to claim 3 based on ultra broadband, it is characterized in that, when merging based on common node during described merging is handled, determine that the coordinate among the new figure of nodes X after merging adopts following principle: if X in scheming A and in figure B, gets it at the coordinate X that schemes A
AIf X in figure B and not in figure A, gets the coordinate Q (X after its conversion
B); If X gets it at the coordinate X that schemes A for the common node of figure A and figure B
AWith the coordinate Q (X after its conversion
B) both mean value.
5, a kind of wireless sensor network node locating method according to claim 1 based on ultra broadband, it is characterized in that, relative coordinate figure to the translate phase of absolute coordinate figure be with computer that sink links to each other on finish, this conversion is based on that beaconing nodes carries out
The relative position of supposing m beaconing nodes is R=[r
Ij]
2 * m=(R
1, R
2.., R
m), the actual position of its beaconing nodes is T=[t
Ij]
2 * m=(T
1, T
2..., T
m), obtain the transformation matrix Q that vectorial R changes to vector T earlier, again the relative coordinate of all nodes be multiply by the absolute coordinate that transformation matrix Q obtains all nodes.
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| CN101594677B (en) * | 2009-06-25 | 2012-06-13 | 北京航空航天大学 | Irregular Ad hoc network node self positioning system based on clustering |
| CN102006607A (en) * | 2010-11-24 | 2011-04-06 | 中国科学技术大学苏州研究院 | Statistical method of group mobile nodes in wireless sensor network |
| CN103427905B (en) * | 2013-08-05 | 2017-03-01 | 南京航空航天大学 | A kind of ultra-wideband radio over fiber positioning system |
| CN103561466B (en) * | 2013-10-30 | 2017-01-04 | 广东省数字广东研究院 | A kind of system improving sensor network nodes positional accuracy |
| CN103826281B (en) * | 2014-02-24 | 2017-03-29 | 江苏林洋能源股份有限公司 | Micro power radio communication Centroid network-building method based on field intensity information |
| CN105704664A (en) * | 2015-03-06 | 2016-06-22 | 济南大学 | Sparse wireless sensor network positioning method in noisy environment |
| US10483804B2 (en) | 2016-06-07 | 2019-11-19 | Mediatek Inc. | Monotonic wireless power transfer |
| CN107566268B (en) * | 2016-06-30 | 2021-08-17 | 中兴通讯股份有限公司 | Method and device for acquiring Ethernet path |
| CN108225329B (en) * | 2017-12-28 | 2021-10-29 | 杨艳华 | Accurate indoor positioning method |
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