CN106569176A - Wireless sensor network stereo positioning method - Google Patents
Wireless sensor network stereo positioning method Download PDFInfo
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- CN106569176A CN106569176A CN201510652908.5A CN201510652908A CN106569176A CN 106569176 A CN106569176 A CN 106569176A CN 201510652908 A CN201510652908 A CN 201510652908A CN 106569176 A CN106569176 A CN 106569176A
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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
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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Abstract
The invention belongs to the wireless communication technology field, relates to a wireless sensor network node positioning method and particularly relates to a wireless sensor network stereo positioning method. According to the method, four reference nodes and a terminal user node are set, the four reference nodes are not on a same plane but on four vertexes of a triangular pyramid and are used for receiving signals emitted by a to-be-positioned node, and an identity identifier and signal intensity of the to-be-positioned node are sent to a terminal user node; the terminal user node is used for receiving the identity identifier and signal intensity of the to-be-positioned node sent by the four reference nodes, distances from the to-be-positioned node to the four reference nodes are calculated according to signal intensity, and the position coordinate of the to-be-positioned node is calculated according to the four distances; lastly, the coordinate of the to-be-positioned node is sent by the terminal user node to the display terminal for display.
Description
Technical field
The invention belongs to wireless communication technology field, is related to wireless sensor network node locating method, specifically a kind of wireless sensor network node solid locating method.
Background technology
In wireless sensor network, monitoring activity of the positional information to sensor network is most important, position that event occurs or the node location for obtaining information are the important component parts included in sensor node monitoring information, and the supervisory messages for not having positional information are nonsensical.Therefore, wireless sensor network node positioning is one of its most basic function, and the effectiveness of application of higher wireless sensor network is played a crucial role.
Wireless senser location algorithm includes the positioning based on range finding and two kinds of the positioning without the need for range finding.It is to be indicated using reception signal intensity based on the location algorithm of range finding（RSSI）Estimate that node to be positioned, to the distance of reference mode, then calculates the coordinate of node to be positioned according to ranging localization algorithm, typical ranging localization algorithm has：Polygon positioning, Bounding Box positioning, MDS-MAP etc..The positioning that need not be found range is that positioning is realized using network connectivty, Node distribution, jumping figure etc., and typically the location algorithm without the need for finding range includes：Center coordination, DV-HOP positioning, APIT positioning etc..
In above-mentioned location algorithm, whether based on the positioning of range finding, or the positioning without the need for finding range has both sides limitation：One be the position of reference mode be irremovable, two is that node to be positioned and reference mode should be at grade.Due to the two limitations so that the popularization and application of wireless sense network location technology are restricted.
The content of the invention
For above-mentioned the deficiencies in the prior art, the present invention provides a kind of solid locating method of wireless sensor network.
In order to achieve the above object, the technical scheme is that：Set up four reference modes and an end-user node, but, this four reference modes are not located on same plane, but on four summits of triangular pyramid, it is responsible for receiving the signal of node transmitting to be positioned, and the identity node to be positioned and signal intensity is sent to end-user node.End-user node is responsible for identity and the signal intensity for receiving the node to be positioned that four reference modes send, node to be positioned is calculated to the distance of four reference modes according to signal intensity, and then the position coordinateses of node to be positioned are calculated according to this four distances.Comprise the following steps that：
A, set up three-dimensional cartesian coordinate system, demarcate position coordinateses of the reference mode in rectangular coordinate system, in practical application, relative position and coordinate of the reference mode in three-dimensional cartesian coordinate system is constant, when even reference mode is moved, the relative position of four reference modes is constant, and rectangular coordinate system is moved with the movement of reference mode, and position coordinateses of such reference mode in rectangular coordinate system will not become.Four reference modes position coordinateses in a coordinate system are used respectively（x1,y1,z1）、（x2,y2,z2）、（x3,y3,z3）With（x4,y4,z4）Represent.
B, arbitrary node to be positioned coordinate in a coordinate system are set to（xi,yi,zi）, node to be positioned periodically sends the wireless signal comprising self information to reference mode.
C, four reference modes receive the wireless signal that node to be positioned is sended over, and parse the identity of the node, and determine the signal intensity for receiving, and then the identity of node to be positioned and signal intensity are sent to end-user node.
D, end-user node are responsible for identity and the signal intensity for receiving the node to be positioned that four reference modes send, and are indicated according to signal intensity（RSSI）Node to be positioned is calculated to the distance of this reference mode.Then, the coordinate of node to be positioned is calculated according to the coordinate of this four distances and four reference modes, and is sent to display terminal and shown.Node location coordinate to be positioned（xi,yi,zi）With four reference mode position coordinateses（x1,y1,z1）、（x2,y2,z2）、（x3,y3,z3）、（x4,y4,z4）Meet following relational expression：
(xi- x1)2+(
yi- y1)2+( zi-
z1)2=l1 2
(xi- x2)2+(
yi- y2)2+( zi-
z2)2=l2 2
(xi- x3)2+(
yi- y3)2+( zi-
z3)2=l3 2
(xi- x4)2+(
yi- y4)2+( zi-
z4)2=l4 2
Wherein, l1、l2、l3、l4It is distance of the node to be positioned to four reference modes.
1st to the 3rd equation is deducted into the 4th equation, arrangement is obtained：
2(x4- x1) xi+2(y4-
y1) yi+2(z4- z1)
zi= x4 2- x1 2+
y4 2- y1 2+ z4 2-
z1 2+ l1 2- l4 2
2(x4- x2) xi+2(y4-
y2) yi+2(z4- z2)
zi= x4 2- x2 2+
y4 2- y2 2+ z4 2-
z2 2+ l2 2- l4 2
2(x4- x3) xi+2(y4-
y3) yi+2(z4- z3)
zi= x4 2- x3 2+
y4 2- y3 2+ z4 2-
z3 2+ l3 2- l4 2
It is expressed as the form of linear equationAX=b 。 AX=bBoth sides with taking advantage ofA - 1ObtainX= A - 1 b, i.e., node coordinate to be positioned（xi,yi,zi）.
Description of the drawings
Flow charts of the Fig. 1 for wireless sensor network solid locating method first embodiment.
Fig. 2 is first embodiment of the invention reference mode scattergram.
Flow charts of the Fig. 3 for wireless sensor network solid locating method second embodiment.
Fig. 4 is second embodiment of the invention reference mode scattergram.
Specific embodiment
The core of the present invention is to provide a kind of wireless sensor network solid locating method, in order to those skilled in the art more fully understand the present invention program, and it is understandable to become apparent from the above objects, features and advantages of the present invention, below in conjunction with the accompanying drawings and embodiment the present invention is described in further detail.
First embodiment of the invention flow chart is as shown in figure 1, first embodiment reference mode scattergram is as shown in Figure 2.
Step 1：Refering to Fig. 2:Set up four reference modes A, B, C, D and an end-user node R, it is assumed that node to be positioned is M.Three-dimensional cartesian coordinate system is set up, the position coordinateses of reference mode A, B, C, D in rectangular coordinate system is demarcated and is respectively（x1,y1,z1）、（x2,y2,z2）、（x3,y3,z3）、（x4,y4,z4）This four reference modes are not located on same plane, but on four summits of triangular pyramid, the relative position of four reference modes is constant, rectangular coordinate system is moved with the movement of reference mode, and position coordinateses of such reference mode in rectangular coordinate system will not become.
Step 2：Arbitrary node to be positioned is assumed for M, coordinate in a coordinate system is set to（xi,yi,zi）, periodic wireless signal of the transmission comprising self identification to be positioned.
Step 3：After reference mode receives the wireless signal that node to be positioned sends, the identity of the node is parsed, and determines the signal intensity for receiving, then the identity of node to be positioned and signal intensity are sent to end-user node.
Step 4：End-user node is responsible for identity and the signal intensity for receiving the node to be positioned that four reference modes send, and is indicated according to signal intensity（RSSI）Node to be positioned is calculated to the distance of this reference mode.Computing formula is as follows：
RSSI =A-10nlgd
When wherein A is 1m for signal distance, the power of signal is received（dBm）, n is signal transmission constant, relevant with the transmission environment of signal；D is distance of the transmitting node to reference mode.Assume that calculated node to be positioned is respectively l to the distance of four reference modes1、l2、l3And l4.End-user node calculates the position coordinateses of node to be positioned according to this four distances and reference mode coordinate（xi,yi,zi）.Computational methods are as follows：
Node location coordinate to be positioned（xi,yi,zi）With four reference mode position coordinateses（x1,y1,z1）、（x2,y2,z2）、（x3,y3,z3）、（x4,y4,z4）Meet following relational expression：
(xi- x1)2+(
yi- y1)2+( zi-
z1)2=l1 2
(xi- x2)2+(
yi- y2)2+( zi-
z2)2=l2 2
(xi- x3)2+(
yi- y3)2+( zi-
z3)2=l3 2
(xi- x4)2+(
yi- y4)2+( zi-
z4)2=l4 2
Wherein, l1、l2、l3、l4It is distance of the node to be positioned to four reference modes.
1st to the 3rd equation is deducted into the 4th equation, arrangement is obtained：
2(x4- x1) xi+2(y4-
y1) yi+2(z4- z1)
zi= x4 2- x1 2+
y4 2- y1 2+ z4 2-
z1 2+ l1 2- l4 2
2(x4- x2) xi+2(y4-
y2) yi+2(z4- z2)
zi= x4 2- x2 2+
y4 2- y2 2+ z4 2-
z2 2+ l2 2- l4 2
2(x4- x3) xi+2(y4-
y3) yi+2(z4- z3)
zi= x4 2- x3 2+
y4 2- y3 2+ z4 2-
z3 2+ l3 2- l4 2
It is expressed as the form of linear equationAX=b 。 AX=bBoth sides with taking advantage ofA - 1ObtainX= A - 1 b, i.e., node coordinate to be positioned（xi,yi,zi）.
Step 5：End-user node is sent to display terminal node coordinate to be positioned and is shown.
The second embodiment of the inventive method：
Second embodiment of the invention flow chart is as shown in figure 3, second embodiment reference mode scattergram is as shown in Figure 4.Second embodiment of the invention is that a reference mode is increased on the basis of first embodiment, so that reference mode forms " double triangular pyramids " three-dimensional distribution, is comprised the following steps that：
Step 1：Set up five reference modes A, B, C, D, E and an end-user node R, it is assumed that node to be positioned is M.Three-dimensional cartesian coordinate system is set up, the position coordinateses of reference mode A, B, C, D, E in rectangular coordinate system is demarcated and is respectively（x1,y1,z1）、（x2,y2,z2）、（x3,y3,z3）、（x4,y4,z4）、（x5,y5,z5）This five reference modes are not located on same plane, but are located on the summit of " double triangular pyramids ", and the relative position of five reference modes is constant, rectangular coordinate system is moved with the movement of reference mode, and position coordinateses of such reference mode in rectangular coordinate system will not become.
Step 2：Arbitrary node to be positioned is assumed for M, coordinate in a coordinate system is set to（xi,yi,zi）, periodic wireless signal of the transmission comprising self identification to be positioned.
Step, 3：After reference mode receives the wireless signal that node to be positioned sends, the identity of the node is parsed, and determines the signal intensity for receiving, then the identity of node to be positioned and signal intensity are sent to end-user node.
Step 4：End-user node is responsible for identity and the signal intensity for receiving the node to be positioned that five reference modes send, and is indicated according to signal intensity（RSSI）Node to be positioned is calculated to the distance of this reference mode.Computing formula is as follows：
RSSI =A-10nlgd
When wherein A is 1m for signal distance, the power of signal is received（dBm）, n is signal transmission constant, relevant with the transmission environment of signal；D is distance of the transmitting node to reference mode.Assume that calculated node to be positioned is respectively l to the distance of five reference modes1、l2、l3、l4And l5。
End-user node calculates the position coordinateses of node to be positioned according to this five distances and reference mode coordinate（xi,yi,zi）.Computational methods are as follows：
Node location coordinate to be positioned（xi,yi,zi）With five reference mode position coordinateses（x1,y1,z1）、（x2,y2,z2）、（x3,y3,z3）、（x4,y4,z4）、（x5,y5,z5）Meet following two groups of relational expressions：
(xi- x1)2+(
yi- y1)2+( zi-
z1)2=l1 2
(xi- x1)2+(
yi- y1)2+( zi-
z1)2=l1 2
(xi- x2)2+( yi-
y2)2+( zi- z2)2=l2 2
With
(xi- x2)2+( yi-
y2)2+( zi- z2)2=l2 2
(xi- x3)2+(
yi- y3)2+( zi-
z3)2=l3 2
(xi-
x3)2+( yi- y3)2+(
zi- z3)2=l3 2
(xi- x4)2+(
yi- y4)2+( zi-
z4)2=l4 2
(xi- x5)2+(
yi- y5)2+( zi-
z4)2=l5 2
Wherein, l1、l2、l3、l4And l5It is distance of the node to be positioned to five reference modes of A, B, C, D, E.
The 1st in above-mentioned two equation group to the 3rd equation is deducted the 4th equation, arrangement is obtained：
2(x4- x1) xi+2(y4-
y1) yi+2(z4- z1)
zi= x4 2- x1 2+
y4 2- y1 2+ z4 2-
z1 2+ l1 2- l4 2
2(x4- x2) xi+2(y4-
y2) yi+2(z4- z2)
zi= x4 2- x2 2+
y4 2- y2 2+ z4 2-
z2 2+ l2 2- l4 2
2(x4- x3) xi+2(y4-
y3) yi+2(z4- z3)
zi= x4 2- x3 2+
y4 2- y3 2+ z4 2-
z3 2+ l3 2- l4 2
With
2(x5- x1) xi+2(y5-
y1) yi+2(z5- z1)
zi= x5 2- x1 2+
y5 2- y1 2+ z5 2-
z1 2+ l1 2- l5 2
2(x5- x2) xi+2(y5-
y2) yi+2(z5- z2)
zi= x5 2- x2 2+
y5 2- y2 2+ z5 2-
z2 2+ l2 2- l5 2
2(x5- x3) xi+2(y5-
y3) yi+2(z5- z3)
zi= x5 2- x3 2+
y5 2- y3 2+ z5 2-
z3 2+ l3 2- l5 2
Above-mentioned two equation group is expressed as the form of linear equationA 1 X=b 1WithA 2 X=b 2 , A 1 X=b 1WithA 2 X=b 2Both sides be multiplied by respectivelyA 1 - 1WithA 2 - 1ObtainX= A 1 - 1 b 1WithX= A 2 - 1 b 2, the coordinate of the available two groups of nodes to be positioned of this method.
Step 5：End-user node selects therein one group according to practical situation, or coordinate of the average as node to be positioned for taking this two groups of coordinates.
Step 6：End-user node is sent to display terminal node coordinate to be positioned and is shown.
Claims (9)
1. a kind of solid locating method of wireless sensor network, it is characterised in that：Set up three-dimensional cartesian coordinate system, demarcate position coordinateses of the reference mode in rectangular coordinate system, relative position and coordinate of the reference mode in three-dimensional cartesian coordinate system is constant, when even reference mode is moved, rectangular coordinate system is moved with the movement of reference mode, and position coordinateses of such reference mode in rectangular coordinate system will not become.
2. wireless sensor network solid locating method according to claim 1, it is characterised in that：Node to be positioned periodically sends the wireless signal comprising self information to reference mode.
3. wireless sensor network solid locating method according to claim 1, it is characterised in that：After reference mode receives the wireless signal that node to be positioned sends, the identity of the node is parsed, and determines the signal intensity for receiving, then the identity of node to be positioned and signal intensity are sent to end-user node.
4. wireless sensor network solid locating method according to claim 3, it is characterised in that：End-user node is responsible for identity and the signal intensity for receiving the node to be positioned that four reference modes send, and is indicated according to signal intensity（RSSI）Node to be positioned is calculated to the distance of this reference mode, and the coordinate of node to be positioned is calculated according to the coordinate of this four distances and four reference modes, and be sent to display terminal and shown.
5. wireless sensor network solid locating method according to claim 1, it is characterised in that：The quantity of reference mode is 4 or 5, and all of reference mode is not distributed on same plane, and is distributed across on the summit of " triangular pyramid " or " double triangular pyramids ".
6. wireless sensor network solid locating method according to claim 4, it is characterised in that：Node to be positioned is indicated to this reference mode apart from basis signal intensity（RSSI）Calculate.
7. wireless sensor network solid locating method according to claim 4, it is characterised in that：Calculating node coordinate method to be positioned is：Assume that calculated node to be positioned is respectively l to the distance of four reference modes1、l2、l3And l4, node location coordinate to be positioned（xi,yi,zi）With four reference mode position coordinateses（x1,y1,z1）、（x2,y2,z2）、（x3,y3,z3）、（x4,y4,z4）Meet following relational expression：
(xi- x1)2+(
yi- y1)2+(
zi- z1)2=l1 2
(xi- x2)2+(
yi- y2)2+(
zi- z2)2=l2 2
(xi- x3)2+(
yi- y3)2+(
zi- z3)2=l3 2
(xi- x4)2+(
yi- y4)2+(
zi- z4)2=l4 2
1st to the 3rd equation is deducted into the 4th equation, arrangement is obtained：
2(x4- x1) xi+2(y4-
y1) yi+2(z4- z1)
zi= x4 2-
x1 2+ y4 2- y1 2+
z4 2- z1 2+ l1 2-
l4 2
2(x4- x2) xi+2(y4-
y2) yi+2(z4- z2)
zi= x4 2-
x2 2+ y4 2- y2 2+
z4 2- z2 2+ l2 2-
l4 2
2(x4- x3) xi+2(y4-
y3) yi+2(z4- z3)
zi= x4 2-
x3 2+ y4 2- y3 2+
z4 2- z3 2+ l3 2-
l4 2
It is expressed as the form of linear equationAX=b
AX=bBoth sides with taking advantage ofA - 1ObtainX= A - 1 b, i.e., node coordinate to be positioned（xi,yi,zi）.
8. wireless sensor network solid locating method according to claim 5, it is characterised in that：When being 5 with reference to number of nodes, the coordinate of two groups of nodes to be positioned can be calculated, end-user node selects therein one group according to practical situation, or coordinate of the average as node to be positioned for taking this two groups of coordinates.
9. wireless sensor network solid locating method according to claim 7, it is characterised in that：End-user node is sent to display terminal node coordinate to be positioned and is shown.
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