CN106093857A - A kind of mobile anchor node WSN assisted location method based on helix - Google Patents

A kind of mobile anchor node WSN assisted location method based on helix Download PDF

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CN106093857A
CN106093857A CN201610421950.0A CN201610421950A CN106093857A CN 106093857 A CN106093857 A CN 106093857A CN 201610421950 A CN201610421950 A CN 201610421950A CN 106093857 A CN106093857 A CN 106093857A
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node
anchor node
helix
value
packet
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CN106093857B (en
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钱志鸿
朱建勋
杜雅锋
田洪亮
孙大洋
吕思潼
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Jilin University
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Jilin University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0284—Relative positioning
    • 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
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a kind of mobile anchor node WSN assisted location method based on helix, the method includes: first set up coordinate system with square region central point for initial point, draw helix using fixed intervals as the mobile route of anchor node, movement with anchor node, concentration is received the packet of anchor node broadcast by node to be positioned, determines this unknown node coordinate according to angle value；If two-wheeled data being detected, then determine this unknown node coordinate according to the less round information of RSSI value.The helix motion track that the present invention uses can well solve synteny problem existing for mobile route for the tradition, and using value is higher；In the present invention, mobile anchor node uses directional aerial, and the directional aerial omnidirectional antenna gain that compares is high, can strengthen signal strength signal intensity, increase antijamming capability, it is adaptable to the deployment of actual environment.

Description

A kind of mobile anchor node WSN assisted location method based on helix
Technical field
The invention belongs to electronic technology field, particularly relate to a kind of mobile anchor node WSN auxiliary positioning based on helix Method.
Background technology
Wireless sensor network (WSN) location technology is a kind of key core support technology, the topological control of some of WSN, Route Selection, load balancing scheduling theory are all highly dependent on the unknown message of node.WSN positioning basic technique principle is unknown joint Point estimates the position of self by carrying out communicating with the anchor node of a small amount of known position information.In recent years, WSN localization method grinds Study carefully and achieve lot of research.
According to position fixing process the need of measurement distance, WSN node locating can use localization method and nothing based on range finding The localization method that need to find range, wherein needs additional hardware to support based on the localization method of range finding, positions relatively costly, positioning precision High but easily by such environmental effects；And although the localization method positioning precision without range finding is relatively low, but low cost and be susceptible to ring Border factor impact, is more suitable for the application of low cost WSN.
Whether move according to anchor node, WSN localization method can be divided into static anchor node locating and dynamic anchor node positioning two Kind.Need certain density with satisfied connective demand when generally using static anchor node, therefore within the specific limits, anchor node Quantity is more, and corresponding unknown node positioning precision also can be higher, and thus also causes some problems, such as anchor node resource wave Take, algorithm complex is too high, position cost up etc..And the use of dynamic anchor node can greatly reduce anchor node quantity, and more Flexibly, receiving much attention in recent years, many scholars propose the location algorithm based on mobile anchor node from different angles.
The mobile anchor node locating technique research of early stage is concentrated mainly on the mobile route planning of anchor node, explores and is covering Optimal route selection in terms of scope and mobile route length, such as Scan, Double Scan and the Hilbert road occurring in early days Footpath, and Circle later, S-Curve, helix and random mobility model etc..In recent years, auxiliary for mobile anchor node Help localization method, use the method for the whole WSN of equilateral triangle track traversal along deployment region for the mobile anchor node to carry out fixed Position, ensureing that all unknown node all receive message, and obtains estimating position, compares its positioning precision of additive method higher； A kind of localization method based on regular hexagon motion track, is realized all standing of WSN deployment region by multilayer regular hexagon, with When use directional aerial for anchor node, and directional aerial is favorably improved positioning precision.
Although both the above localization method positioning thinking is relatively new, but all disposes GPS on mobile anchor node, pass through GPS The positional information of anchor node is provided, but, the error of GPS own is relatively big, and especially in node high speed movement, it positions by mistake Difference necessarily causes this localization method to there is natural limitation.
Content of the invention
It is an object of the invention to provide a kind of mobile anchor node WSN assisted location method based on helix, it is intended to solve Certainly present in anchor node high speed movement, GPS position information error causes more greatly the problem that conventional mapping methods lost efficacy；This Invention utilizes time parameter this high accuracy measure to replace GPS position information, inherently solves anchor node and moves middle institute Intrinsic equipment error problem, disposes directional aerial simultaneously on anchor node, can effectively improve positioning and cover and practical value.
The present invention is achieved in that a kind of mobile anchor node WSN assisted location method based on helix, should be based on spiral shell The mobile anchor node WSN assisted location method of spin line includes:
Step one: assume first that unknown node is randomly dispersed in a square region, with square region central point as initial point Setting up coordinate system, drawing helix as the mobile route of anchor node, a length of L in region using fixed intervals R, helix is divided into n section, The bidirectional oriented antenna of mobile anchor node equipment moves, mobile by fixed angles speed omega (rad/s), and directional aerial central shaft is all the time Vertical with moving direction, mobile route is fixing multi-layer helical line, and moving process is from inside to outside, (-R/ on the left of the origin of coordinates 2,0) start timing at coordinate to move, by 00:00, periodic broadcast packet, continue this process until anchor node moves Terminate when moving right side (R n/2,0) coordinate points；
Step 2, with the movement of anchor node, concentration is received the packet of anchor node broadcast by node to be positioned, when the When once receiving packet, moment value when receiving packet for the first time is labeled as T1 (1), and detect reception for the first time It to signal strength values during packet, is designated as RSSI1 (1)；When second time receives packet, second time is received data Moment value during bag is labeled as T2(1), and detect signal strength values when receiving packet for the second time, it is designated as RSSI2 (1)；Weight Multiple above procedure, until no longer detecting packet；Finally detected moment value is Tn (1), signal strength values is RSSIn (1)；
Step 3, unknown node are according to T1 (1), Tn (1)And angular velocity omega calculates residing at present arc section and angle, obtain empty Intend the angle of anchor node intermediate pointAndWhen unknown node is distributed in outside helix, receives only one and take turns data Bag, and when unknown node is distributed in inside helix, concentrates and receive two-wheeled packet, lay respectively at the identical of different segmental arc Angle direction, second takes turns the moment value receiving and signal strength signal intensity is respectively labeled asWithSecond to take turns calculating process identical with the first round, obtains intermediate point angleAnd Value；
It if step 4, each unknown node only detect one and take turns data, then is positioned the outer lateral extent of this unknown node circular arc The position of d1, d1 is drawn by signal fadeout model conversation, and signal fadeout model refers to that signal strength signal intensity can be with the increasing of propagation distance Weakening greatly, researcher, according to substantial amounts of experimental data, has obtained the relation mould between wireless signal strength and transmission range Type RSSI=-(A+10nlgd), wherein n is path loss coefficient, and d is transmission range；Then this unknown is determined according to angle value Node coordinate；If two-wheeled data being detected, then determine this unknown node coordinate, RSSI according to the less round information of RSSI value Less, respective distances is bigger, and then the data received by node to be positioned are more.
The advantageous measure that the present invention uses has:
The value of fixed intervals R sets according to directional antenna communications distance.
The a length of L in region, helix is divided into according to formula L=R × (n+1) segmentation in n section, and wherein, R is fixed intervals.
In periodic broadcast packet, packet includes current time value and ID value (unique volume of node of mobile anchor node Code identification, determines that information that unknown node receives, from anchor node, thus avoids unknown node proper communication This position fixing process is interfered by journey), with { T, ID} represent, the cycle of broadcast is Tsend。
Further, the Coordinate calculation method of node P to be positioned is:
Formula (1) is utilized to calculate the intermediate time point of kth round:
Wherein, n is the packet number of times receiving in kth round；
Then formula (2) is utilized to calculate the angle value of intermediate point:
θ r ( k ) = 180 π × ω × T r ( k ) - - - ( 2 )
In like manner its signal strength values is:
According to RSSI range finding model formation:
RSSI=-(A+10nlgd) (4) calculates distance d between this moment anchor node and node to be positionedk, formula Middle A is the absolute value of received signal strength at range transmission node 1m, and n is path loss coefficient, when unknown node receives only One when taking turns data, d=d1；When unknown node receives two-wheeled data, take
d = d 1 , d 1 < d 2 - d 2 , d 1 &GreaterEqual; d 2 - - - ( 5 )
Then, if unknown node coordinate is (xi,yi), the radius of this unknown node place segmental arc is calculated according to formula (6),
R=R m/2+d (6)
Wherein
Finally, calculate gained according to above, substitute into node p to be positionediCoordinate formula:
So far, after obtaining the coordinate of P point, the position fixing process of this point terminates, and other nodes to be positioned all implement said method, Complete the position fixing process of self.
The present invention uses a mobile anchor node auxiliary to complete positioning, is characterized in using time value parameter as positioning side The core of method, it is to avoid the error that GPS information is brought, and the mobile anchor node positioning method having been proposed that is led by GPS device The error average out to 3-5m causing；Utilize directional aerial gain high simultaneously, the remote feature of communication distance, it is applied to actual environment portion Administration, comprehensive positioning precision is high, is suitable for outdoor WSN positioning；
The present invention utilizes time parameter this high accuracy measure to replace GPS position information, inherently solves anchor joint Equipment error problem intrinsic during point is mobile；
The present invention is directed to WSN mobile anchor node locating technique, it is proposed that a kind of localization method based on helix, have relatively High position precision, the method advantage has:
Time is one of a kind of relative accuracy ambient parameter the highest, and the present invention utilizes time parameter computational methods to replace passing System localization method utilizes GPS to determine the method for position, reduces, from the source of localization method, the error brought by environmental variance, There is inborn superiority；
The helix motion track that the present invention uses can well solve synteny existing for mobile route for the tradition and ask Topic, and using value is higher；
In the present invention, mobile anchor node uses directional aerial, and the directional aerial omnidirectional antenna gain that compares is high, can strengthen Signal strength signal intensity, increases antijamming capability, it is adaptable to the deployment of actual environment.
Brief description
Fig. 1 is the mobile anchor node WSN assisted location method flow chart based on helix that the embodiment of the present invention provides.
Fig. 2 is Node distribution and the motion track figure of embodiment of the present invention offer.
Fig. 3 is the directional aerial schematic diagram that the embodiment of the present invention provides.
Fig. 4 is the local nodes positioning schematic diagram that the embodiment of the present invention provides.
Fig. 5 is the mobile anchor node auxiliary positioning programme diagram that the embodiment of the present invention provides.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with embodiment, to the present invention It is further elaborated.It should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not used to Limit the present invention.
Below in conjunction with the accompanying drawings the application principle of the present invention is explained in detail.
As shown in Figure 1: a kind of mobile anchor node WSN assisted location method based on helix, should be based on the shifting of helix Dynamic anchor node WSN assisted location method includes:
S101: assume first that unknown node is randomly dispersed in a square region, build for initial point with square region central point Vertical coordinate system, draws helix as the mobile route of anchor node using fixed intervals R, and a length of L in region, helix is divided into n section, moves The bidirectional oriented antenna of dynamic anchor node equipment moves, and moves by fixed angles speed omega, and directional aerial central shaft all the time with movement side To vertically, mobile route is fixing multi-layer helical line, and moving process is from inside to outside, (-R/2,0) coordinate on the left of the origin of coordinates Place starts timing and moves, by 00:00, and periodic broadcast packet, continue this process until anchor node moves to right side Terminate during (R n/2,0) coordinate points；
S102: with the movement of anchor node, concentration is received the packet of anchor node broadcast by node to be positioned, when first Secondary when receiving packet, moment value when receiving packet for the first time is labeled as T1 (1), and detect and receive for the first time Signal strength values during packet, is designated as RSSI1 (1)；When second time receives packet, second time is received packet When moment value be labeled as T2 (1), and detect signal strength values when receiving packet for the second time, it is designated as RSSI2 (1)；Repeat with Upper process, until no longer detecting packet；Finally detected moment value is Tn (1), signal strength values is RSSIn (1)；
S103: unknown node is according to T1 (1), Tn (1)And angular velocity omega calculates residing at present arc section and angle, obtain virtual The angle of anchor node intermediate pointAndWhen unknown node is distributed in outside helix, receives only one and take turns data Bag, and when unknown node is distributed in inside helix, concentrates and receive two-wheeled packet, lay respectively at the identical of different segmental arc Angle direction, second takes turns the moment value receiving and signal strength signal intensity is respectively labeled asWithSecond to take turns calculating process identical with the first round, obtains intermediate point angleAnd Value；
S104: if each unknown node only detects one takes turns data, then be positioned the outer lateral extent d1 of this unknown node circular arc Position, d1 is drawn by signal fadeout model conversation, then determines this unknown node coordinate according to angle value；If two-wheeled being detected Data, then determine this unknown node coordinate according to the less round information of RSSI value, and RSSI is less, and respective distances is bigger, enters And the data received by node to be positioned are more, position more accurate.
Further, the value of fixed intervals R sets according to directional antenna communications distance.
Further, a length of L in region, helix is divided into according to formula L=R × (n+1) segmentation in n section, and wherein, R is fixing Interval.
Further, in periodic broadcast packet, packet includes current time value and the ID value of mobile anchor node, ID value For the unique encodings identification of node, determine that information that unknown node receives, from anchor node, thus avoids the unknown Interfere use in node normal course of communications { T, ID} represent, the cycle of broadcast is T to this position fixing processsend。
Further, the Coordinate calculation method of node P to be positioned is:
Formula (1) is utilized to calculate the intermediate time point of kth round:
Wherein, n is the packet number of times receiving in kth round；
Then formula (2) is utilized to calculate the angle value of intermediate point:
&theta; r ( k ) = 180 &pi; &times; &omega; &times; T r ( k ) - - - ( 2 )
In like manner its signal strength values is:
According to RSSI range finding model formation:
RSSI=-(A+10nlgd) (4)
Calculate distance d between this moment anchor node and node to be positionedk, in formula, A is to connect at range transmission node 1m Receive signal strength signal intensity absolute value, n is path loss coefficient, when unknown node receive only one take turns data when, d=d1；Work as the unknown When node receives two-wheeled data, take
d = d 1 , d 1 < d 2 - d 2 , d 1 &GreaterEqual; d 2 - - - ( 5 )
Then, if unknown node coordinate is (xi,yi), the radius of this unknown node place segmental arc is calculated according to formula (6),
R=R m/2+d (6)
Wherein
Finally, calculate gained according to above, substitute into node p to be positionediCoordinate formula:
So far, after obtaining the coordinate of P point, the position fixing process of this point terminates, and other nodes to be positioned all implement said method, Complete the position fixing process of self
Below in conjunction with specific embodiment, the present invention is further described.
If reference location scene is as in figure 2 it is shown, scene is the length of side is the square area of 450m, region area be 450m × 450m, sets up coordinate system, 30 unknown node of random placement, the communication of mobile anchor node S with square region central point for initial point Scope R=50m, directional antenna radiation angle is 30 °, and fixing traveling angle speed omega is π/36 (rad/s), anchor node from (-50, 0) starting to move counterclockwise along helix, directional broadcasting cycle T send is 1s, and wherein directional aerial is as shown in Figure 3.
The present invention concretely comprises the following steps under above implementation condition:
Step 1: mobile anchor node starts timing at 00:00 and moves, by the directional broadcasting of every 1 second of cycle once, packet bag The value of delivery time containing current message and self ID, anchor node reaches home (225,0) after moving 4.5 circles, the moment now Value is 05:24, altogether 324s, and moving process terminates.
Step 2: Fig. 4 specifically illustrates the process that a certain round node to be positioned P receives packet and recording-related information. In actual deployment, close with mobile anchor node, node P to be positioned is at Ti (1)Anchor node is received first during=01:00 Broadcast message, then by ID verify anchor node identity, after being verified, record moment value and the RSSI value of this time；Every 1 Second all receives broadcast message, untilNo longer receive broadcast message afterwards, then receive altogether 5 secondary data bags, Choose the position of intermediate time point as virtual anchor node, i.e.Recording its RSSI value is-65.89dbm；Then After 72s (a mobile circle), P point receives the packet that anchor node is sent again, from Ti (2)=02:11 starts, and arrivesTerminate, then receive altogether 7 secondary data bags, choose the position of intermediate time point as virtual anchor node, i.e.Its RSSI value is-70.92dbm.In sum, choosing the less round of RSSI, i.e. second takes turns (if only receiving To a round packet, then need not compare RSSI value again, directly carry out step below), willSubstitute into formulaCalculate angle valueIt is 670 °；
Step 3: in RSSI range finding model formation RSSI=-(A+10nlgd), understands A=33.89 through reality measurement, Path loss coefficient n=2.46, calculates distance d=-32 (m) between this moment anchor node and node to be positioned accordingly, if Unknown node coordinate is (xi,yi), radius r=68 (m) of this unknown node place segmental arc is calculated according to formula r=R m/2+d, WhereinI.e. m=4；
Step 4: by parameter r,M substitutes into positioning node piCoordinate formula:
Can be (-68.71,52.09) in the hope of the coordinate of P point, so far, the position fixing process of this unknown node P terminates.Other Node to be positioned all implements said method, completes the position fixing process of self.
Below in conjunction with mobile anchor node auxiliary positioning programme diagram in whole finder, the present invention is further described.
As shown in Figure 5.First being netinit, carrying out node deployment to relevant range, then anchor node is by regulation road Footpath is moved and periodic broadcast；Unknown node to be positioned is positioned oneself after receiving packet, when all unknown node are complete After becoming positioning, whole position fixing process terminates.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention Any modification, equivalent and the improvement etc. made within god and principle, should be included within the scope of the present invention.

Claims (7)

1. the mobile anchor node WSN assisted location method based on helix, it is characterised in that should be based on the movement of helix Anchor node WSN assisted location method includes:
Step one: assume first that unknown node is randomly dispersed in a square region, sets up with square region central point for initial point Coordinate system, draws helix as the mobile route of anchor node, a length of L in region using fixed intervals R, and helix is divided into n section, mobile The anchor node bidirectional oriented antenna of equipment moves, and moves by fixed angles speed omega, and directional aerial central shaft all the time with moving direction Vertically, mobile route is fixing multi-layer helical line, and moving process is from inside to outside, starts timing on the left of the origin of coordinates at coordinate Mobile, by 00:00, periodic broadcast packet, continue this process until anchor node moves to during the coordinate points of right side whole Only；
Step 2, with the movement of anchor node, concentration is received the packet of anchor node broadcast by node to be positioned, when for the first time When receiving packet, moment value when receiving packet for the first time is labeled as T1 (1), and detect and for the first time receive number It according to signal strength values during bag, is designated as RSSI1 (1)；When second time receives packet, when second time is received packet Moment value be labeled as T2 (1), and detect signal strength values when receiving packet for the second time, it is designated as RSSI2 (1)；More than repetition Process, until no longer detecting packet；Finally detected moment value is Tn (1), signal strength values is RSSIn (1)；
Step 3, unknown node are according to T1 (1), Tn (1)And angular velocity omega calculates residing at present arc section and angle, obtain virtual anchor The angle of node intermediate pointAndWhen unknown node is distributed in outside helix, receives only one and take turns packet, And when unknown node is distributed in inside helix, concentrates and receive two-wheeled packet, lay respectively at the same angular of different segmental arc Degree direction, second takes turns the moment value receiving and signal strength signal intensity is respectively labeled asWithSecond to take turns calculating process identical with the first round, obtains intermediate point angleAndValue；
It if step 4, each unknown node only detect one and take turns data, then is positioned the outer lateral extent d1's of this unknown node circular arc Position, d1 is drawn by signal fadeout model conversation, then determines this unknown node coordinate according to angle value；If two-wheeled number being detected According to, then determining this unknown node coordinate according to the less round information of RSSI value, RSSI is less, and respective distances is bigger, and then Data received by node to be positioned are more.
2. the mobile anchor node WSN assisted location method based on helix as claimed in claim 1, it is characterised in that fixing The value of interval R sets according to directional antenna communications distance, is: (-R/2,0) on the left of the described origin of coordinates at coordinate；Anchor node is right Side coordinate points is: (R n/2,0).
3. the mobile anchor node WSN assisted location method based on helix as claimed in claim 1, it is characterised in that region A length of L, helix is divided into according to formula L=R × (n+1) segmentation in n section, and wherein, R is fixed intervals.
4. the mobile anchor node WSN assisted location method based on helix as claimed in claim 1, it is characterised in that cycle Property broadcast data packet in packet include current time value and the ID value of mobile anchor node, with { T, ID} represent, the cycle of broadcast For Tsend。
5. the mobile anchor node WSN assisted location method based on helix as claimed in claim 1, it is characterised in that undetermined The Coordinate calculation method of position node P is:
Formula (1) is utilized to calculate the intermediate time point of kth round:
Wherein, n is the packet number of times receiving in kth round；
Then formula (2) is utilized to calculate the angle value of intermediate point:
&theta; r ( k ) = 180 &pi; &times; &omega; &times; T r ( k ) - - - ( 2 )
In like manner its signal strength values is:
According to RSSI range finding model formation:
RSSI=-(A+10nlgd) (4)
Calculate distance d between this moment anchor node and node to be positionedk, in formula, A is receipt signal at range transmission node 1m The absolute value of intensity, n is path loss coefficient, when unknown node receive only one take turns data when, d=d1；When unknown node connects When receiving two-wheeled data, take
d = d 1 , d 1 < d 2 - d 2 , d 1 &GreaterEqual; d 2 - - - ( 5 )
Then, if unknown node coordinate is (xi,yi), the radius of this unknown node place segmental arc is calculated according to formula (6),
R=R m/2+d (6)
Wherein
Finally, calculate gained according to above, substitute into node p to be positionediCoordinate formula:
So far, after obtaining the coordinate of P point, the position fixing process of this point terminates, and other nodes to be positioned all implement said method, complete The position fixing process of self.
6. the mobile anchor node WSN assisted location method based on helix as claimed in claim 1, it is characterised in that described Signal fadeout model refers to that signal strength signal intensity can weaken with the increase of propagation distance, between wireless signal strength and transmission range Relational model be:
RSSI=-(A+10nlgd),
Wherein n is path loss coefficient, and d is transmission range, and in formula, A is the absolute of received signal strength at range transmission node 1m Value.
7. the mobile anchor node WSN assisted location method based on helix as claimed in claim 4, it is characterised in that described ID value be the unique encodings identification of node, the information that ID value receives for determining unknown node is from anchor joint Point, it is to avoid in unknown node normal course of communications, this position fixing process is interfered.
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