CN106332280B - Single mobile beacon node assisted location method in WSNs based on energy efficient - Google Patents
Single mobile beacon node assisted location method in WSNs based on energy efficient Download PDFInfo
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
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Abstract
The present invention relates to single mobile beacon node assisted location methods in a kind of WSNs based on energy efficient, WSNs model includes the static unknown node and a single mobile beacon node of multiple random placements, and key step includes: the determination of single mobile beacon node communication radius；The determination of network resolution ratio；The deployment of the position of single mobile beacon node broadcasts location information packet；The path planning of single mobile beacon node；Single mobile beacon node is broadcast periodically location information packet in the process of moving, and the content of location information packet includes the coordinate information and beacon of mobile beacon node at this time；Location information packet is constantly monitored and received to static unknown node, and calculates the position coordinates of itself using trilateration to complete to position.The present invention reduces the energy consumption of single mobile beacon node on the basis of positioning accuracy height.Moreover, it relates to single mobile beacon node path planing method in the presence of a kind of obstacle and at this time dispositions method of broadcast message package location.
Description
Technical field
The invention belongs to the mobile letters of list in wireless sensor network field more particularly to a kind of WSNs based on energy efficient
Mark node assisted location method.
Background technique
In WSNs, determine that the location information of unknown node is a very important job, because unknown node is to perhaps
Multiposition sensing protocol and application program provide basic support.The information of acquisition needs and the position of node combines ability
More accurate data information is provided for observer.In addition, WSNs can also be used in monitoring application for tracking specific objective
Track algorithm be also required to sensor node corresponding location information be provided.These demands, which all promote, efficiently positions association in WSNs
The development of view.
Positioning is exactly that the process of node location information is found in a given system.In order in a complete coordinate system
The location information of a wireless sensor network, the position that some nodes need that some modes is taken to know itself in advance are determined in system
Confidence breath, such as by mobile beacon node.So-called mobile beacon node refers to can while node moves in sensing region
Broadcast the location information of itself.Unknown node positioning generally includes two steps: (1) the distance between two neighbor nodes measure；(2)
Geometry on the basis of measuring distance calculates.Location protocol can be divided into two major classes: location protocol based on ranging and based on pre-
The location protocol stayed.Agreement on the basis of ranging needs to know the location information of Beacon Point.According between point to be located and Beacon Point
Distance, so that it may estimate the position of point to be located.And estimated distance is not although needed without the agreement of ranging, but still need
It wants beaconing nodes to assist, estimates self-position by the relevant technologies.
The distance measurement technique that stationary nodes are all utilized positioned at this stage using ranging.Therefore its positioning accuracy
Inherently it is limited to network structure and deployment strategy.Because unified network deployment in practice can not be achieved, part
Network might have lower density, and neighbors may be inadequate.In addition, the position of beaconing nodes in a network is to each
It may not all be optimal for node.Because limitation is mobile so that the change of sensor network topological structure seldom, passes through
These technologies, the positioning accuracy of certain nodes are unable to get improvement.In addition, all installing GPS device to all nodes is to be difficult to reality
Existing, for extensive WSNs, and mobile beacon node can also generate a large amount of energy during turn
Consumption.Therefore it moves and reduces in traveling process between unknown node using a mobile beacon node equipped with GPS system
The quantity at turning, periodic broadcasting virtual beacon come help neighbouring nodes of locations carry out positioning be a kind of very feasible positioning side
Method.Some large size research institutions show that mobile beacon node is different from ordinary node by verifying, and can be gone by changing
It walks path and improves positioning accuracy.So come auxiliary positioning being a kind of effective localization method by single mobile beacon node, move
The path planning of dynamic beaconing nodes also becomes the emphasis of research.
It is as follows for the research papers of wireless sensor network path planning at present:
The article that 1.Ou C etc. is delivered on " IEEE Transactions on Mobile Computing " in 2008
“Sensor position determination with flying anchors in three-dimensional
Wireless sensor networks ", proposes a kind of location algorithm.In this algorithm, beaconing nodes fly in the zone,
Each beaconing nodes are equipped with GPS device, broadcasting virtual beacon when flight is across sensing region.In sensing region,
Each unknown node measures at a distance from the virtual beacon that can be received, and estimates its coordinate on the basis of being based on geometrical principle
Position.If unknown node receives the information more than four virtual beacons, this four virtual beacons will form two and intersect
Circle, and have two vertical lines perpendicular to the respective center of circle.The intersection of two perpendicular bisectors is just estimated as the big of unknown node
Cause position.Although this algorithm can help unknown node to position, but be not involved with path planning.
What 2.Dimitrios Koutsonikolas etc. was delivered on " Computer Communication " in 2007
Article " Path planning of mobile landmarks for localization in wireless sensor
Networks ", author propose some improved algorithms.These three algorithms are called SCAN algorithm respectively, and DOUBLESCAN is calculated
Method and HILBERT algorithm.In SCAN algorithm, mobile beacon node moves in one direction, such as in two-dimensional coordinate system,
It is moved along y-axis, but due to being to move in one direction, does not also increase other processing methods, if unknown node is caused to will receive
The packet that dry mobile beacon is sent in collinear position is to influence locating effect.Double SCAN algorithm considers collinearly
The presence of problem, therefore a movement in the direction of the x axis is increased, although alleviating conllinear problem to a certain extent, increase
Path length is added to increase energy consumption.Hilbert algorithm is made of multiple not closed small squares, is increased and is much turned
Point is so that receive more non-colinear packets.In comparison, Hilbert algorithm improves positioning accuracy, but it is not
There is the consumption problem for considering turning energy.
" the The Fifth Annual IEEE International in 2007 such as 3.Rui Huang
The article delivered on Conference on Pervasive Computing and Communications Workshops "
" Static path planning for mobile beacons to localize sensor networks ", proposes
The routing algorithm of optimization, it is also possible that path length is limited while improving positioning accuracy.Both algorithms are called respectively
CIRCLES algorithm and S-CURVES algorithm.Both algorithms are all to provide path locus in advance, without reference to real sensor node
Distribution.Two kinds of algorithms can be to avoid the conllinear problem of virtual beacon.But the mobile anchor node in CIRCLES algorithm does not traverse
Entire monitoring region, monitoring the unknown node near the angle of four, region can not position because can not receive enough virtual beacons.
In addition, two kinds of algorithms are all that node near beaconing nodes track more can accurately obtain location information.Mark leave the right or normal track farther out
Node locating error it is larger or even part unknown node is not in beaconing nodes communication range, thus cannot position.
" the 2009 Second Asia-Pacific of In Proc.of the in 2009 such as 4.Baoli Zhang
It is delivered on Conference on Computational Intelligence and Industrial Applications "
Article " Collaborative localization algorithm for wireless sensor networks using
Mobile anchors " proposes GMAN algorithm.The number of mobile beacon node is three in the algorithm.Three moveable
Node forms equilateral triangle.During traveling, relative position is remained unchanged.Mobile beacon node group according to from left to right, from
Under supreme sequence traversed in sensor network.Although the highest original of equilateral triangle positioning accuracy is utilized in the algorithm
Reason, but it is not described how mobile beacon node is broadcasted, also do not illustrate formed equilateral triangle side length and network point
The relationship of resolution.
The article that 5.Javad Rezazadeh etc. is delivered on " IEEE SENSORS JOURNAL " in 2014
“Superior Path Planning Mechanism for Mobile Beacon-Assisted Localization in
Wireless Sensor Networks ", and Z-curve algorithm is proposed in this article.According to the path planning algorithm,
Mobile beacon node is advanced in position fixing process in " Z ", can solve three point on a straight line problem, thus static state is precisely located not
It is reduced while knowing node and carries out distance.In addition, Z-curve algorithm is also handled obstacle, it can be in monitoring region
It is positioned in the case where there are obstacle.Although the algorithm can be improved the positioning accuracy of unknown node, but advised according to path
It draws, mobile beacon node needs that direction of travel is varied multiple times during traveling, although reducing path length, significantly
Turning quantity is increased, to increase energy consumption.
Although in conclusion mobile beacon path planning has made great progress, but still there have some problems to need to be further
Research:
(1) existing most of research does not account for the starting of mobile beacon node, turning, the energy at the uniform velocity in traveling process
Consumption is all to be based on mobile beacon node ideally, or only consider the energy consumption of packet of receiving and sending messages；
(2) most of path planning algorithms can carry out more accurate positioning to the unknown node inside monitoring region,
And node at network edge cannot be positioned accurately；
(3) there are many turning process of most of more accurate path planning algorithms of positioning, so that energy consumption is big, but turn
It is inaccurate to bend through the few algorithm positioning of journey.
Summary of the invention
The object of the present invention is to provide single mobile beacon node assisted location method in a kind of WSNs based on energy efficient,
This method makes single mobile beacon node advance as far as possible along straight line on the basis of improving unknown node positioning accuracy, and reduction is turned
Angle quantity makes the static unknown node in WSNs complete the positioning of oneself to reduce energy consumption.
In order to solve the above technical problems, the technical solution adopted by the present invention is that:
Single mobile beacon node assisted location method based on energy efficient in a kind of WSNs, WSNs model include it is multiple with
The static unknown node of machine deployment and a single mobile beacon node, step include:
(1) single mobile beacon determines list mobile beacon node communication radius R, movement speed v equipped with GPS positioning device；
(2) network resolution ratio r, network resolution ratio, that is, commitment defini interval distance are determined according to communication radius R；
(3) according to network resolution ratio r, the position of single mobile beacon node broadcasts location information packet is disposed；
(4) path planning is carried out to single mobile beacon node according to the position of broadcast position information packet；
(5) single mobile beacon node is advanced according to the path planned, is broadcast periodically position in the process of moving
Packet, location information packet include the coordinate information and beacon ID for moving single beaconing nodes at this time；
(6) location information packet is constantly monitored and received to the static unknown node being randomly dispersed in WSNs, when can receive
To the location informations of three not conllinear beacons be capable of forming equilateral triangle, and unknown node is located in equilateral triangle, then adopts
The position coordinates of itself are calculated with trilateration to complete to position；
(7) when in the WSNs where single mobile beacon node there are obstacle, single mobile beacon node equipped with camera with
The distance between and ultrasonic detection device, can identify and calculate obstacle, take avoidance measure while avoiding obstacle,
Also surrounding unknown node broadcast position information packet can be given；When there are obstacle, if the position of broadcast message packet is capable of forming just
Triangle, and unknown node is located in equilateral triangle, then calculated using equilateral triangle trilateration the position coordinates of itself come
Positioning is completed, positioning is otherwise completed using common triangle trilateration.
Network resolution ratio r refers to two location informations of single mobile beacon node periodic broadcast in above-mentioned steps (2)
The distance between packet.
The position dispositions method of single mobile beacon node broadcasts location information packet is as follows in above-mentioned steps (3):
In the region that a length of l wide is h, nlThe straight line represented in the length areas of a length of l need to arrange equilateral triangle
Number, nhThe number that need to arrange equilateral triangle as the straight line of the length of h in width is represented, wherein nlAnd nhIt is necessary to meet following condition:
That is:WithWherein d=r, d indicate the side length of equilateral triangle, network resolution ratio r=
R, and equilateral triangle is virtually arranged in monitoring region on this basis, cover whole region can by equilateral triangle
Most ideal situation, the vertex of equilateral triangle is then the position of single mobile beacon node broadcasts packet, in order to guarantee whole region
It can be covered by equilateral triangle, equilateral triangle has extension appropriate in boundary.
Path planning refers to single mobile beacon node from one side of a length of l, along long direction in above-mentioned steps (4)
It is traversed with constant speed v, the distance between two adjacent paths arePosition until having traversed all broadcast message packets
It sets, and is broadcast periodically single mobile beacon node real-time position information at the position that these are pre-designed.
The packet that the continuous monitoring reception of unknown node is sent from single mobile beacon node in above-mentioned steps (6), works as energy
Three packets are enough received, and when position of packet can constitute the equilateral triangle of unknown node inside it takes three sides to survey
The position coordinates of amount method calculating unknown node itself；If three beacons cannot be received, continues to monitor, wait.
Avoidance measure in above-mentioned steps (7) refers to: when single mobile beacon node once recognizes obstacle presence and energy
When enough monitoring obstacle boundaries, distinguished number is taken to calculate the boundary being closer to, obstacle is advanced after moving to boundary point,
When reaching next boundary point, the broadcast location point on the original route nearest from the point is calculated, and move to it；In avoidance process
In, single mobile beacon node in addition at each inflection point while broadcast position information packet, also everyTime is to surroundings nodes
Broadcast position information packet；If obstacle is excessive, single mobile beacon node cannot recognize that the either boundary of obstacle, mobile beacon node
It then moves on, is turned right always traveling after the obstacle in each corner, until returning to normal driving path, in avoidance mistake
Cheng Zhong, single mobile beacon node in addition at each inflection point while broadcast position information packet, also everyTime is to surrounding section
Point broadcast position information packet.
Above-mentioned distinguished number refers to:
The image that single mobile beacon node acquires back equipped with camera, it is assumed that when there is obstacle in front, camera is acquired back
Be dark-colored image, not obstacle part show light-colored image；Dark-colored image and light-colored image constitute whole image；
Remember ileft、irightRespectively single mobile beacon node collects image scaled shared by left and right both ends light-colored image
Size:
Work as ileft> iright, monitor that boundary is closer From Left, then boundary is advanced to the left；
Work as ileft< iright, monitor, then to the right boundary traveling closer apart from right margin；
Work as ileft=iright, both ends boundary is all unable to monitor, then continues on.
Compared with prior art, the present invention has the beneficial effects that
(1) additional communication overhead is not needed in position fixing process, and positioning only can be completed by received signal strength measurement,
And the position of the beacon packet of mobile beacon broadcast may be constructed equilateral triangle, and positioning rate and setting accuracy is substantially improved；
(2) single mobile beacon node suitably extends monitoring region during traveling, so that disposes in advance is wide
Entire monitoring region can be covered by broadcasting multiple equilateral triangles not overlapped that the position of packet is constituted；
(3) single mobile beacon node is advanced according to the position for the broadcast message packet disposed in advance along straight line in the present invention, and
Periodically broadcast includes the packet of itself real-time position information at the position of deployment, thus while advance along straight line, but
Due to the deployment to broadcast location, to solve the problems, such as to a certain extent conllinear.
(4) avoidance measure of the invention, it is possible to reduce the moving distance during avoidance increases of broadcast message packet
Number, thus the positioning accuracy in the presence of improving obstacle.
Detailed description of the invention
Fig. 1 is flow chart of the invention；
Fig. 2 is the position deployment diagram of single mobile beacon node broadcasts packet；
Fig. 3 is the path planning figure of single mobile beacon node；
Fig. 4 is that three beacons that unknown node receives are in equilateral triangle schematic diagram；
Fig. 5 is that mobile beacon node monitors the travel path in the case of right margin；
Fig. 6 is that mobile beacon node monitors the travel path in the case of left margin；
Fig. 7 is the mobile beacon node travel path unable to monitor in the case of three kinds of either boundary；
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawing.
As shown in Figure 1, single mobile beacon node assisted location method in a kind of WSNs based on energy efficient, WSNs model
Including the static unknown node of multiple random placements and a single mobile beacon node, step includes:
(1) single mobile beacon determines list mobile beacon node communication radius R, movement speed v equipped with GPS positioning device；
(2) network resolution ratio r, network resolution ratio, that is, commitment defini interval distance are determined according to communication radius R；
(3) according to network resolution ratio r, the position of single mobile beacon node broadcasts location information packet is disposed；
(4) path planning is carried out to single mobile beacon node according to the position of broadcast position information packet；
(5) single mobile beacon node is advanced according to the path planned, is broadcast periodically position in the process of moving
Packet, location information packet include the coordinate information and beacon ID for moving single beaconing nodes at this time；
(6) location information packet is constantly monitored and received to the static unknown node being randomly dispersed in WSNs, when can receive
To the location informations of three not conllinear beacons be capable of forming equilateral triangle, and unknown node is located in equilateral triangle, then adopts
The position coordinates of itself are calculated with trilateration to complete to position；
(7) when in the WSNs where single mobile beacon node there are obstacle, single mobile beacon node equipped with camera with
The distance between and ultrasonic detection device, can identify and calculate obstacle, take avoidance measure while avoiding obstacle,
Also surrounding unknown node broadcast position information packet can be given；When there are obstacle, if the position of broadcast message packet is capable of forming just
Triangle, and unknown node is located in equilateral triangle, then calculated using equilateral triangle trilateration the position coordinates of itself come
Positioning is completed, positioning is otherwise completed using common triangle trilateration.
Network resolution ratio r refers to two location informations of single mobile beacon node periodic broadcast in above-mentioned steps (2)
The distance between packet.
The position dispositions method of single mobile beacon node broadcasts location information packet is as follows in above-mentioned steps (3):
In the region that a length of l wide is h, nlThe straight line represented in the length areas of a length of l need to arrange equilateral triangle
Number, nhThe number that need to arrange equilateral triangle as the straight line of the length of h in width is represented, wherein nlAnd nhIt is necessary to meet following condition:
That is:WithWherein d=r, d indicate the side length of equilateral triangle, network resolution ratio r=
R, and equilateral triangle is virtually arranged in monitoring region on this basis, cover whole region can by equilateral triangle
Most ideal situation, the vertex of equilateral triangle is then the position of single mobile beacon node broadcasts packet, in order to guarantee whole region
It can be covered by equilateral triangle, equilateral triangle has extension appropriate in boundary.
Path planning refers to single mobile beacon node from one side of a length of l, along long direction in above-mentioned steps (4)
It is traversed with constant speed v, the distance between two adjacent paths arePosition until having traversed all broadcast message packets
It sets, and is broadcast periodically single mobile beacon node real-time position information at the position that these are pre-designed.
The packet that the continuous monitoring reception of unknown node is sent from single mobile beacon node in above-mentioned steps (6), works as energy
Three packets are enough received, and when position of packet can constitute the equilateral triangle of unknown node inside it takes three sides to survey
The position coordinates of amount method calculating unknown node itself；If three beacons cannot be received, continues to monitor, wait.
Avoidance measure in above-mentioned steps (7) refers to: when single mobile beacon node once recognizes obstacle presence and energy
When enough monitoring obstacle boundaries, distinguished number is taken to calculate the boundary being closer to, obstacle is advanced after moving to boundary point,
When reaching next boundary point, the broadcast location point on the original route nearest from the point is calculated, and move to it；In avoidance process
In, single mobile beacon node in addition at each inflection point while broadcast position information packet, also everyTime is to surroundings nodes
Broadcast position information packet；If obstacle is excessive, single mobile beacon node cannot recognize that the either boundary of obstacle, mobile beacon node
It then moves on, is turned right always traveling after the obstacle in each corner, until returning to normal driving path, in avoidance mistake
Cheng Zhong, single mobile beacon node in addition at each inflection point while broadcast position information packet, also everyTime is to surrounding section
Point broadcast position information packet.
Above-mentioned distinguished number refers to:
The image that single mobile beacon node acquires back equipped with camera, it is assumed that when there is obstacle in front, camera is acquired back
Be dark-colored image, not obstacle part show light-colored image；Dark-colored image and light-colored image constitute whole image；
Remember ileft、irightRespectively single mobile beacon node collects image scaled shared by left and right both ends light-colored image
Size:
Work as ileft> iright, monitor that boundary is closer From Left, then boundary is advanced to the left；
Work as ileft< iright, monitor, then to the right boundary traveling closer apart from right margin；
Work as ileft=iright, both ends boundary is all unable to monitor, then continues on.
Embodiment:
Work as nl=6 and nhWhen=5, the position deployment diagram of single mobile beacon node broadcasts packet is as shown in Figure 2.It is single mobile
The communication radius of beaconing nodes is R, network resolution ratio r=R.The location point of each broadcast message packet can form several mutually not
The equilateral triangle of overlapping, the side length d=r=R of equilateral triangle.Single mobile beacon node is from one end of the monitoring long l in region, edge
Straight line is mobile with constant speed v, successively traverses the position of all broadcast message packets from the bottom up, in order to guarantee controllability,
Single mobile beacon node changes the position of moving direction respectively on two straight lines in left and right ends, as shown in Figure 3.It is pre- when reaching
When the position for the broadcast message packet first disposed, single mobile beacon node broadcasts include the packet of itself real-time position information to week
The static unknown node enclosed.
Unknown node is constantly monitored, receives packet, with received signal strength method (received signal
Strength indicator, RSSI) measure the distance that mobile beacon sends this information package location, i.e.,Wherein PR(d) received signal power, P are indicatedTIndicate transmission power, PL (d0) table
Show that propagation distance is d0When path loss, η is path loss index, distance of the d between sending node and receiving node.When quiet
State unknown node can receive three non-colinear beacons, and three beacons can form equilateral triangle, and unknown node is located at just
In triangle, then unknown node calculates the position of itself using trilateration (trilateration).It is assumed that
The coordinate of unknown node is (x, y), and the coordinate for three virtual beacons that unknown node can receive is (xa,ya), (xb,yb),
(xc,yc), it is capable of forming equilateral triangle, the calculation formula of unknown node are as follows:
Wherein da, db, dcRespectively unknown node is to three virtual beacon (xa,ya), (xb,yb) and (xc,yc) distance.
When, there are (present invention assumes that barrier is rectangle) when barrier, Fig. 5, Fig. 6, Fig. 7 respectively indicate shifting in region
Dynamic beaconing nodes monitor right margin, left margin and the travel path unable to monitor in the case of three kinds of either boundary.Work as energy
When enough monitoring close apart from right margin, as shown in figure 5, mobile beacon to Boundary Moving, is then advanced to along boundary up to lower one side
The position for finding the broadcast message packet not covered by obstacle nearest from this position on original path, and Xiang Qiyi are calculated behind boundary
It is dynamic, complete avoidance.Entire avoidance process in addition to corner can broadcast position information packet, everyMoment, mobile beacon also can
Unknown node of the broadcast position information to surrounding.Fig. 6 illustrates the situation opposite with Fig. 5, left margin of the mobile beacon to obstacle
The process of traveling.When it is unable to monitor to obstacle boundaries when, then mobile beacon moves on, and encounters obstacle or reaches all right when boundary
It turns, broadcast message packet procedures are similar to first two, and until returning to normally travel path, Fig. 7 gives schematic diagram.
The present invention can reduce energy consumption on the basis of positioning accuracy height；Suitable for sensor node random placement
Wireless sensor network；It is relatively simple using single mobile beacon node deployment；Also give corresponding avoidance measure.
The dispositions method of the above broadcast message package location and the paths planning method of mobile beacon node are in the present invention
Embodiment, but it cannot be understood as limitations on the scope of the patent of the present invention.It should be pointed out that not departing from this
Invent propose method under the premise of, wireless sensor network mobile beacon paths planning method have several new embodiments and
Modification and improvement to this programme, these are all within the scope of protection of the present invention.Therefore, the scope of protection of the patent of the present invention should be with
Subject to appended claims.
Claims (6)
1. single mobile beacon node assisted location method in a kind of WSNs based on energy efficient, WSNs model includes multiple random
The single mobile beacon node of the static unknown node of deployment and one, it is characterised in that: its step includes:
(1) single mobile beacon determines list mobile beacon node communication radius R, movement speed v equipped with GPS positioning device；
(2) network resolution ratio r, network resolution ratio, that is, commitment defini interval distance are determined according to communication radius R；
(3) according to network resolution ratio r, the position of single mobile beacon node broadcasts location information packet is disposed；
(4) path planning is carried out to single mobile beacon node according to the position of broadcast position information packet；
(5) single mobile beacon node is advanced according to the path planned, is broadcast periodically location information in the process of moving
Packet, location information packet includes the coordinate information and beacon ID for moving single beaconing nodes at this time；
(6) location information packet is constantly monitored and received to the static unknown node being randomly dispersed in WSNs, when what can be received
The location information of three not conllinear beacons is capable of forming equilateral triangle, and unknown node is located in equilateral triangle, then uses three
Side mensuration calculates the position coordinates of itself to complete to position；
(7) when there are obstacles in the WSNs where single mobile beacon node, single mobile beacon node is equipped with camera and surpasses
The distance between acoustic detector, can identify and calculate obstacle, it takes avoidance measure while avoiding obstacle, also can
It is enough to give surrounding unknown node broadcast position information packet；When there are obstacle, if the position of broadcast message packet is capable of forming positive triangle
Shape, and unknown node is located in equilateral triangle, then calculates the position coordinates of itself using equilateral triangle trilateration to complete
Otherwise positioning completes positioning using common triangle trilateration；
Avoidance measure refers to: when single mobile beacon node exists and when can monitor obstacle boundaries once recognizing obstacle,
Distinguished number is taken to calculate the boundary being closer to, obstacle is advanced after moving to boundary point, when reaching next boundary point,
The broadcast location point on the original route nearest from the point is calculated, and is moved to it；During avoidance, single mobile beacon node is removed
At each inflection point while broadcast position information packet, also everyTime is to surroundings nodes broadcast position information packet；If barrier
Hinder excessive, single mobile beacon node cannot recognize that the either boundary of obstacle, mobile beacon node then move on, close to obstacle
It turns right always traveling in each corner afterwards, until returning to normal driving path, during avoidance, single mobile beacon node
In addition at each inflection point while broadcast position information packet, also everyTime is to surroundings nodes broadcast position information packet.
2. single mobile beacon node assisted location method in WSNs according to claim 1 based on energy efficient, special
Sign is that network resolution ratio r refers to two location information packets of single mobile beacon node periodic broadcast in the step (2)
The distance between.
3. single mobile beacon node assisted location method in WSNs according to claim 1 based on energy efficient, special
Sign is that the position dispositions method of single mobile beacon node broadcasts location information packet is as follows in the step (3):
In the region that a length of l wide is h, nlThe number of equilateral triangle need to be arranged by representing the straight line in the length areas of a length of l,
nhThe number that need to arrange equilateral triangle as the straight line of the length of h in width is represented, wherein nlAnd nhIt is necessary to meet following condition:
That is:WithThe side length of wherein d=r, d expression equilateral triangle, network resolution ratio r=R, and
Equilateral triangle is virtually arranged in monitoring region on this basis, the most reason that cover whole region can by equilateral triangle
Think situation, the vertex of equilateral triangle is then the position of single mobile beacon node broadcasts packet, in order to guarantee that whole region can
Enough to be covered by equilateral triangle, equilateral triangle has extension appropriate in boundary.
4. single mobile beacon node assisted location method in WSNs according to claim 1 based on energy efficient, special
Sign is that path planning refers to single mobile beacon node from one side of a length of l, along long direction in the step (4)
It is traversed with constant speed v, the distance between two adjacent paths arePosition until having traversed all broadcast message packets
It sets, and is broadcast periodically single mobile beacon node real-time position information at the position that these are pre-designed.
5. single mobile beacon node assisted location method in WSNs according to claim 1 based on energy efficient, special
Sign is, the packet that the continuous monitoring reception of unknown node is sent from single mobile beacon node in the step (6), when can
Three packets are received, and when position of packet can constitute the equilateral triangle of unknown node inside it takes trilateration
The position coordinates of method calculating unknown node itself；If three beacons cannot be received, continues to monitor, wait.
6. single mobile beacon node assisted location method in WSNs according to claim 1 based on energy efficient, special
Sign is that the distinguished number refers to:
The image that single mobile beacon node acquires back equipped with camera, it is assumed that when there is obstacle in front, what camera acquired back is
Dark-colored image, the part of obstacle does not show light-colored image；Dark-colored image and light-colored image constitute whole image；
Remember ileft、irightRespectively single mobile beacon node collects the size of image scaled shared by left and right both ends light-colored image:
Work as ileft>iright, monitor that boundary is closer From Left, then boundary is advanced to the left；
Work as ileft<iright, monitor, then to the right boundary traveling closer apart from right margin；
Work as ileft=iright, both ends boundary is all unable to monitor, then continues on.
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