CN104581938B - A kind of node positioning method based on Deterministic searching - Google Patents
A kind of node positioning method based on Deterministic searching Download PDFInfo
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- CN104581938B CN104581938B CN201410839674.0A CN201410839674A CN104581938B CN 104581938 B CN104581938 B CN 104581938B CN 201410839674 A CN201410839674 A CN 201410839674A CN 104581938 B CN104581938 B CN 104581938B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
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Abstract
The present invention relates to a kind of node positioning method based on Deterministic searching, step includes：Step 101：Determine the initial point (x of search0,y0) and initial search radius step；Step 102:With point (x0,y0) it is the center of circle, r is that n Searching point is determined on the circle of radius；Step 103:Calculating target function is in the value of this n+1 point (including the center of circle)；Step 104:Update (x0,y0) it is the point and r for making object function minimum；Step 105:Step 102 104 is repeated, until r is less than given threshold value, is stopped search；Step 106:After stopping search, the point for making object function minimum is the position location of unknown node.Beneficial effect of the present invention：This method can realize higher positioning accuracy with less computation complexity, can solve the problems, such as positioning accuracy and computational methods complexity compromise in actual node positioning.
Description
Technical field
The invention belongs to wireless communication technology field, mainly a kind of node positioning method based on Deterministic searching.
Background technology
Location technology can be divided into indoor positioning and outdoor positioning by positioning scene.The Typical Representative of outdoor positioning technology is beautiful
The GPS positioning system of state, the Beidou satellite navigation system of China, European Galileo navigation system etc..Indoor positioning technologies
Typical Representative has the RADAR system of Microsoft, the iBeacon of apple etc..Generally, outdoor positioning relative maturity, indoor positioning into
Focus for the competition of numerous producers.
Location technology can be divided into the positioning based on ranging and the positioning without ranging by euclidean distance between node pair calculation.It is based on
The positioning of ranging needs to measure the distance between unknown node and known node, common distance measuring method using certain measurement method
Including RSSI rangings, TDOA rangings, AOA rangings etc.；Without ranging do not need to measure between unknown node and known node away from
From, using between node connection relation estimated distance, even directly using fingerprint method calculate unknown node position.
Location technology can be classified into infrared, bluetooth, WLAN (WiFi), ZigBee, 3G/4G, UWB by communication
Deng.In general, the communication distance of communication is shorter, then its positioning accuracy is higher；Conversely, communication is logical
Communication distance is longer, then its positioning accuracy is lower.
At present, realize that unknown node position is calculated there are mainly two types of mode, one kind is to utilize unknown node and known node
Distance calculated；Another kind is that the RSSI fingerprints of the known node received using unknown node carry out fingerprint matching.This hair
Bright to relate generally to the first computational methods, the mathematical model of the distributed implementation mode of this method is：
If node Si, coordinate (xi,yi) unknown, there is m (to generally assume that m in its a hop neighbor node>=3) a node
Coordinate (xj,yj) it is known that j=1,2 ..., m；Know unknown node S by ranging or distance estimations at this timeiWith known node Sj
Distance be dij, then node SiEstimated coordinates (position location) can be obtained by minimizing following formula.
The typical method for solving of above formula have Likelihood estimation, the least square method of Taylor expansion, linear programming method,
Intelligent search method etc..Or these methods are inaccurate in the presence of calculating, such as Likelihood estimation；There are computation complexities
It is excessively high, such as the least square method of Taylor expansion, linear programming method, intelligent search method, so as to limit these methods
Service condition in practical applications.
Invention content
The invention solves the shortcomings that the above-mentioned prior art, providing a kind of node positioning method based on Deterministic searching,
Higher positioning accuracy can be realized with less computation complexity, positioning accuracy and calculating in actual node positioning can be solved
The problem of method complexity compromise.
The present invention solves the technical solution that its technical problem uses：This node positioning method based on Deterministic searching,
Include the following steps：
Step 101, the initial point (x for determining search0,y0) and initial search radius step；
Step 102, with point (x0,y0) it is the center of circle, r is that n Searching point is determined on the circle of radius；
In the value of this n+1 point, this n+1 point include n Searching point and the center of circle for step 103, calculating target function；
Step 104, update (x0,y0) it is the point and r for making object function minimum；
Step 105 repeats step 102-104, until r is less than given threshold value, stops search；
Step 106, after stopping search, the point for making object function minimum is the position location of unknown node.
Further, in a step 101, the initial point (x0,y0) method of determination it is as follows：If the node is first
Positioning, then calculate (x using method for positioning mass center0,y0), as shown in formula (1)；
Wherein, (xj,yj) be known node coordinate position, m be known node number；If the node is not first fixed
Position, then using its known position as initial point；During first search, initial search radius step is traditionally arranged to be [0.5R, R]
Between, the radius of R single-hop communications between node.
Further, in a step 102, the method for determination of the n Searching point is as follows：During first search, r takes
Step, then with point (x0,y0) it is the center of circle, r draws circle for radius；It takes n point at equal intervals on the circle, this n is calculated by formula (2)
The coordinate of point；
As k=0, it is the center of circle (x to take x (0), y (0)0,y0), n+1 point is shared in this way.
Further, in step 103, the object function such as following formula (3)：
Further, at step 104, by formula (4) calculating target function in the minimum value of n+1 point, wherein f (l)
For minimum value, l is corresponding serial number, i.e., l-th point obtains minimum value.
F (l)=min f (k), k=0,1 ..., n } (4)
(x is updated by formula (5)0,y0), update r by formula (6)；
R=α * r, α ∈ (0,1) (6)
Further, in step 105, if r>Stop_th then goes to step 102, restarts searching for a new round
Rope；If r<Stop_th then stops search；Wherein stop_th is minimum step-size in search.The step-size in search can be according to positioning accurate
Degree and positioning complexity require to be configured.In general, stop_th is smaller, positioning accuracy and positioning complexity are all higher.
The invention has the advantages that：This method can realize higher positioning accuracy with less computation complexity, can
To solve the problems, such as positioning accuracy and computational methods complexity compromise in actual node positioning.
Description of the drawings
Fig. 1 is orientation problem model of the present invention；
Fig. 2 is node locating flow chart of the present invention；
Fig. 3 is the specific implementation case one of the present invention；
Fig. 4 is the search process schematic diagram of the present invention；
Fig. 5 is the present invention and possibility predication, particle flux methods experiment results contrast figure；
Fig. 6 is present invention figure compared with particle flux method convergence process.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment the present invention is described in further detail.
As shown in Figure 1, node 0 is unknown node, node 1~5 is known node, i.e. the coordinate of node 0 is unknown, node 1
Known to~5 coordinate；In addition known node to unknown node away from for dijIt is known that the distance d in i.e. Fig. 11,0,d2,0,d3,0,
d4,0,d5,0It is known.Two dimensional surface orientation problem is exactly that the coordinate of node 0 how to be obtained in the above conditions.
If Fig. 2 is node locating flow chart, solution flow chart provides specific reality the problem of with reference to disclosed in Fig. 3 for Fig. 2
Apply mode.
As shown in figure 3, sharing 9 nodes, actual position is represented with circle.Node 1~8 be known node, X-coordinate
It is followed successively by [3.2258,7.8177,2.1706,5.7645,6.1320,1.2125,2.3598,0.6239,6.0000]；Y coordinate
It is followed successively by [2.5675,5.6377,8.8027,2.0686,5.9924,0.2024,1.0486,7.6764,7.0000]；To unknown
The distance of node 9 is [3.9004,1.5158,3.6370,5.2143,0.9062,6.0968,8.4731,4.6468].This implementation
In example, it is assumed that R=12.75.
According to step 101：First search starting point is calculated, first search radius is set.Specific embodiment is as follows：
Since node 9 is to position for the first time, according to centroid algorithm, according to formula (1)
Initial point (the x calculated0,y0) for (3.6633,4.2495), i.e. diamond shape marks in Fig. 3 point 1.
Search initial radium step is set as 0.75R, i.e. step=9.5625.
Step 102：Calculate the coordinate of search turn and n Searching point thereon.Specific embodiment is as follows：
In the present embodiment, n is set as 8.It is in the center of circle (3.9230,4.5552), radius is on the circumference of r=9.5625
8 points are taken at equal intervals.According to formula (2)：
The coordinate of this 8 points is followed successively by：
X-coordinate is [13.2258,10.4251,3.6633, -3.0984,5.8992, -3.0984,3.6633,10.4251]
Y coordinate for [4.2495,11.0112,13.8120,11.0112,4.2495, -2.5122, -5.3130, -
2.5122]
Step 103：It calculates in target function values of the n+1 (including the center of circle) on a Searching point.Specific embodiment is as follows：
This step is also added to the center of circle in Searching point, and after the completion of addition, the coordinate of n+1 new Searching point is：X
[3.6633,13.2258,10.4251,3.6633,-3.0984,5.8992,-3.0984,3.6633,10.4251]Y
[4.2495,4.2495,11.0112,13.8120,11.0112,4.2495,-2.5122,-5.3130,-2.5122]
Then, according to formula (3)：
The target function value on 9 Searching points is calculated successively, and result is：[50.506,294.405,269.054,
297.071,347.692,393.910,444.097,430.668,359.751]。
Step 104：The center of circle is updated using the point of object function minimum, updates search radius.Specific embodiment is as follows：
According to formula (4)：
F (l)=min f (k), k=0,1 ..., n } (4)
It is 50.506 that can obtain object function minimum value, corresponds to serial number 0.
According to formula (5)：
The new center of circle can be obtained to remain as (3.6633,4.2495), in the present embodiment, α=0.5 in formula (5).
Therefore according to formula (6)：
R=α * r, α ∈ (0,1) (6)
New r=4.7812.
Step 105：Search radius is less than given threshold value.Specific embodiment is as follows：
In the present embodiment, search radius threshold value is set as 0.05R, as 0.6375.The radius r after search is for the first time
4.7812, more than given threshold value, it is therefore desirable to start new round search, that is, jump to step 102 and re-execute.In fact, this reality
The search process of example is applied as shown in figure 4, the object function smallest point after often wheel search is as shown in the Diamond spot in Fig. 3.It can see
It arrives, after 4 wheel search, search radius r is 0.5977, at this time already less than search radius threshold value 0.6375, is then stopped search,
Enter step 106.
Step 106：Export the positioning result of unknown node.In the present embodiment, searched for by 4 wheels, obtained minimum target
Functional value is 10.12, and the coordinate of corresponding point is (5.3538,7.1353), as shown in the Diamond spot 4 in Fig. 4.Node 9
True coordinate is (6.0000,7.0000), it can be seen that the absolute error of the elements of a fix and true coordinate is 0.6602.
Compared with traditional intelligence searching method (such as particle flux method), announcement method of the present invention have search point it is few, receive
Hold back the advantages that fast.From attached drawing 5, it can be seen that, the positioning performance of particle flux method and announcement method of the present invention is similar, particle flux
Average localization error for 0.084R, slightly poorer to announcement method of the present invention.But each node locating of announcement method of the present invention is only
28 points of search (7 wheel search, often take turns 4 points) are needed, and each node locating of particle flux method needs to search for 600 points (30
Wheel search, often takes turns 20 points), announcement method of the present invention significantly has the advantages that search point is few.In addition, attached drawing 6 gives separately
Figure is compared in the position error convergence of iterative search procedures under one scene, compares for convenience, the method for the present invention and particle flux are all
60 wheel iteration are carried out, from attached drawing 6 it can also be seen that announcement method of the present invention significantly has the advantages that restrain fast, present aspect iteration 7
Wheel can be obtained by than preferably as a result, and particle flux at least needs 30 wheels.
The preferable embodiment of the above, the only present invention, is not intended to limit the scope of the present invention..
Any modifications, equivalent substitutions and improvements made within spirit of the invention etc., the claim that should be included in the present invention is protected
Within the scope of shield.
Claims (5)
1. a kind of node positioning method based on Deterministic searching, which is characterized in that include the following steps：
Step 101, the initial point (x for determining search0,y0) and initial search radius step；
Step 102, with point (x0,y0) it is the center of circle, r is that n Searching point is determined on the circle of radius；
In the value of this n+1 point, this n+1 point include n Searching point and the center of circle for step 103, calculating target function；
Step 104, update (x0,y0) it is the point and r for making object function minimum；
Step 105 repeats step 102-104, until r is less than given threshold value, stops search；
Step 106, after stopping search, the point for making object function minimum is the position location of unknown node；
The method of determination of the n Searching point is as follows：During first search, r takes step, then with point (x0,y0) it is the center of circle, r is half
Diameter draws circle；It takes n point at equal intervals on the circle, the coordinate of this n point is calculated by formula (1)；
As k=0, it is the center of circle (x to take x (0), y (0)0,y0), n+1 point is shared in this way.
2. the node positioning method according to claim 1 based on Deterministic searching, which is characterized in that the initial point
(x0,y0) method of determination it is as follows：If the node is first positioning, (x is calculated using method for positioning mass center0,y0), such as formula (2)
It is shown；
Wherein, (xj,yj) be known node coordinate position, m be known node number；If the node is not to position for the first time,
Using its known position as initial point；During first search, initial search radius step is set as between [0.5R, R], and R is
The radius of single-hop communication between node.
3. the node positioning method according to claim 1 based on Deterministic searching, which is characterized in that the object function
Such as following formula (3)：
4. the node positioning method according to claim 1 based on Deterministic searching, which is characterized in that calculated by formula (4)
Object function n+1 point minimum value, whereinFor minimum value,For corresponding serial number, i.e.,A point obtains minimum value
5. the node positioning method according to claim 1 based on Deterministic searching, which is characterized in that if r>Stop_th,
Step 102 is then gone to, restarts the search of a new round；If r<Stop_th then stops search；Wherein stop_th is searched for minimum
Suo Buchang.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101393260A (en) * | 2008-11-06 | 2009-03-25 | 华南理工大学 | Wireless sensor network target positioning and tracking method |
| CN102984798A (en) * | 2012-11-21 | 2013-03-20 | 联想中望***服务有限公司 | Position-based accurate positioning method |
| CN103517338A (en) * | 2013-10-17 | 2014-01-15 | 山东省计算中心 | Positioning method using mobile anchor nodes and facing three-dimensional wireless sensing network |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101393260A (en) * | 2008-11-06 | 2009-03-25 | 华南理工大学 | Wireless sensor network target positioning and tracking method |
| CN102984798A (en) * | 2012-11-21 | 2013-03-20 | 联想中望***服务有限公司 | Position-based accurate positioning method |
| CN103517338A (en) * | 2013-10-17 | 2014-01-15 | 山东省计算中心 | Positioning method using mobile anchor nodes and facing three-dimensional wireless sensing network |
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