CN108375754A - Node positioning method based on mobile node original state and mobile status in WSN - Google Patents
Node positioning method based on mobile node original state and mobile status in WSN Download PDFInfo
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- CN108375754A CN108375754A CN201810138084.3A CN201810138084A CN108375754A CN 108375754 A CN108375754 A CN 108375754A CN 201810138084 A CN201810138084 A CN 201810138084A CN 108375754 A CN108375754 A CN 108375754A
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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
- G01S5/12—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 by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
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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
- H04W64/006—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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Abstract
The present invention provides the node positioning method based on mobile node original state and mobile status in a kind of WSN, is related to wireless sensor field of locating technology.This method is divided into original state positioning and mobile status positioning.In original state positioning, beaconing nodes of the node to be positioned into network broadcast RF and US signals, it is corresponding that initial coordinate is calculated using trilateration, the node coordinate calculating method of introducing correction value, the location algorithm based on multi signal according to beaconing nodes return information group number, initial coordinate is recorded；Artificial setting joint movements initial velocity, acceleration and the direction of motion, start mobile status positioning；Node random motion to be positioned is broadcasted self information and collects the quantity of neighbours' beaconing nodes, judge neighbours' anchor node number, the final positioning of mobile node is realized using the mobile node positioning mode based on historic state.The present invention can effectively inhibit position error under nlos environment indoors, improve position success rate, have good positioning application.
Description
Technical field
The present invention relates to mobile node initial shape is based in wireless sensor field of locating technology more particularly to a kind of WSN
The node positioning method of state and mobile status.
Background technology
Wireless sensor network (Wireless Sensor Network, abbreviation WSN) be by largely have sensing capability,
The self-organizing network of the sensor node of computing capability and communication capacity composition.In a WSN, node is randomly distributed different
Detection site, node is responsible for acquiring information, processing information and transmission information, and obtained data information is sent to convergence section
Point, to facilitate manager to perceive and monitor the objective physical world.In a WSN, location technology can make each in network
A node obtains itself position coordinates, to ensure to the monitoring of target, the collection of data in network and share and predict.
So far from the nineties in last century, WSN progresses into people’s lives, in the fields exhibition such as smart home and target following
Reveal and be widely applied, the scholar that positioning field content is engaged in by various countries constantly studies, and WSN location technologies have taken at present
Obtained certain achievement.Common WSN node locating techniques are broadly divided into location technology based on ranging and based on non-ranging
Location technology.Positioning based on ranging can realize the positioning of degree of precision, but have very high requirement to hardware, increase network
Cost and power consumption.Mainly realize the positioning of node using the connectivity of network based on non-ranging positioning, it is low in energy consumption, without increasing
Stiffened part can reduce expense, but position error is larger, can be only done rough grade positioning.Both location technologies are relatively suitable for
Stationary node, and the research for mobile node positioning is relatively fewer.At this stage, the application scenario of mobile node is but in a WSN
It is more and more, such as storage substance, medical treatment and nursing, manipulator trajectory tracking etc..In existing location technology, outdoor is based on GPS
Or the location technology relative maturity of the Big Dipper, but due to the influence of barrier under indoor environment, the communication between node can pass through diffraction,
Reflection could arrive at signal receiving end, this can make location information generate large error, cannot meet wanting for indoor high accuracy positioning
It asks.For existing location technology application environment limitation is big, application power is insufficient, indoor moving node locating precision needs to be carried
The problems such as high, how to be related to high-precision, low complex degree, low-power consumption indoor moving node positioning method, it has also become sensor network
The difficulties of urgent need to resolve in network Position Research.
Invention content
The technical problem to be solved by the present invention is in view of the above shortcomings of the prior art, provide in a kind of WSN based on movement
The node positioning method of node original state and mobile status is capable of the accurate location of effective position sensor node, indoors
Position error can effectively be inhibited under nlos environment, improve position success rate, there is good positioning application.
In order to solve the above technical problems, the technical solution used in the present invention is：
Node positioning method based on mobile node original state and mobile status in a kind of WSN, includes the following steps：
Step 1：Dispose wireless sensor network, the artificial coordinate letter that beaconing nodes in network are set；
Step 2：When node to be positioned enters in network area, the position fixing process of starter node original state；
Step 3：Node to be positioned is positioned based on TDOA distance measuring methods；Node to be positioned with the forms of broadcasting send RF and
US signals；Neighbours' beaconing nodes in node communication range to be positioned receive signal, and location data packet is written in self information
And return to node to be positioned；Wherein, the self information of neighbours' beaconing nodes includes：Node number, the signal of beaconing nodes reach
The time of beaconing nodes and the coordinate information of beaconing nodes；
Step 4：Judge that node to be positioned receives the group number of beaconing nodes return information；If node to be positioned receive 3 groups with
Upper beaconing nodes return information, thens follow the steps 4.1；If node to be positioned receives 3 groups of beaconing nodes return informations, step is executed
Rapid 4.2；If node to be positioned receives the mark node return information that letter is less than 3 groups, 4.3 are thened follow the steps；
Step 4.1：Suitable beaconing nodes are chosen using NLOS inhibiting factors, are then sat using the node for introducing correction value
Mark calculating method calculates the original state coordinate of node to be positioned, executes step 6；
Step 4.2：The original state coordinate of node to be positioned is calculated using trilateration, executes step 6；
Step 4.3：Ranging is carried out with the distance value between supplemental node with RSSI, executes step 5；
Step 5：The original state coordinate of node to be positioned, detailed process are calculated using the location algorithm based on multi signal
For：
Step 5.1：After node to be positioned re-initiates primary broadcast, that can receive neighbours' beaconing nodes RSSI value is judged
Number, if the RSSI value of 2 neighbours' beaconing nodes can be received, thens follow the steps 5.2, then executes step 6；If 3 neighbours can be received
The RSSI value for occupying beaconing nodes thens follow the steps 5.3, then executes step 6；If the RSSI of multiple neighbours' beaconing nodes can be received
Value, thens follow the steps 5.4, then executes step 6；
Step 5.2：Node to be positioned can receive the RSSI value RSSI of neighbours' beaconing nodes A and BAAnd RSSIB, then to be positioned
The original state coordinate (x, y) of node calculates detailed process：
Step 5.2.1：If the coordinate of neighbours' beaconing nodes A and B are respectively (xa, ya) and (xb, yb), respectively with A's and B
Position coordinates are the center of circle, make two round O by radius of communication distanceA、OB, two circle OA、OBDistinguish C, H with the intersection point of line segment AB；
Step 5.2.2：Respectively using the position coordinates of A and B as the center of circle, with RSSIAAnd RSSIBMake two round O ' for radiusA、
O’B, two circle O 'A、O’BIntersection point be point E (xe, ye) and point F (xf, yf)；Obtain straight line AB with using beaconing nodes B as the center of circle, with
RSSIBIt is D and D to do two round intersection points by radius ', straight line AB with using beaconing nodes A as the center of circle, with RSSIAIt is done by radius
Two round intersection points G and G '；
Step 5.2.3：The distance of point A to point D and point D ', and and RSSI are asked respectivelyACompare, distance is less than RSSIAPoint with
The intersection point of line segment AB is point D, if its coordinate is (xd, yd)；
Step 5.2.4：The distance of point B to point G and point G ', and and RSSI are asked respectivelyBCompare, distance is less than RSSIBPoint with
The intersection point of line segment AB is point G, if its coordinate (xg, yg)；
Step 5.2.5：Appoint take three vertex in quadrangle EGFD form four triangle Δ EGF, Δ EGD, Δ GFD and
Δ EFG calculates separately the barycenter of four triangles；
Step 5.2.6：Node original state coordinate to be positioned is the average value of four center-of-mass coordinates；
Step 5.3：Node to be positioned can receive the RSSI value RSSI of 3 neighbours' beaconing nodes A, B, CA、RSSIB、RSSIC,
And RSSIA＞ RSSIB＞ RSSIC, then node to be positioned original state coordinate (x, y) calculate detailed process be：
Step 5.3.1：Minimum overlay region △ DEF are obtained by RSSI-Convex location algorithms；
Step 5.3.2：Respectively using A, B, C as the center of circle, with RSSIA、RSSIB、RSSICJustify for radius work, takes overlapping region
Three vertex G, H, I obtain Δ GHI；
Step 5.3.3：The intersection point of two triangle Δ DEF and Δ GHI is G, F, J, calculates separately three intersection points to each neighbour
Occupy the distance of beaconing nodes, intersection point is apart from nearest neighbours' beaconing nodes i.e. intersection point affiliated neighbours' beaconing nodes region thus；Three
A intersection point is respectively divided to three neighbours' beaconing nodes regions；
Step 5.3.4：Reciprocal be used as choosing RSSI value between node to be positioned and neighbours' beaconing nodes belongs to this neighbour letter
Mark the weight w when intersection point in range of nodes participates in location Calculation, i.e. w=1/RSSI；
Step 5.3.5：The original state coordinate of node to be positioned is calculated as follows；
In formula, (xg, yg) be intersection point G coordinate, (xf, yf) be intersection point F coordinate, (xj, yj) be intersection point J coordinate； wA
Weight when location Calculation, w are participated in for intersection point JA=1/RSSIA；wBWeight when location Calculation, w are participated in for intersection point GB=1/
RSSIB；wCWeight when location Calculation, w are participated in for intersection point FC=1/RSSIC；
Step 5.4：Node to be positioned can receive the RSSI value of multiple neighbours' beaconing nodes, then the initial shape of node to be positioned
State coordinate (x, y) calculates detailed process：
Step 5.4.1：According to convex programming positioning principle, appoint the RSSI value for taking three beaconing nodes, according to the side of step 5.3
Method obtains an original state coordinate of node to be positioned；
Step 5.4.2：Whole RSSI values that node to be positioned receives are traversed, several initial shapes of node to be positioned are obtained
State coordinate；
Step 5.4.3：The average value for seeking all node original state coordinates to be positioned obtained in step 5.4.2, as
The final original state coordinate of node to be positioned；
Step 6：The original state coordinate information of node to be positioned is recorded, the positioning of the node motion state is used for；
Step 7：It is artificial to set joint movements state after node to be positioned completes original state positioning, including at the beginning of node
Speed, acceleration and movement angle, then starter node mobile status position fixing process；
Step 8：Node to be positioned initiates to broadcast in a network, judges the number for positioning moment neighbours' beaconing nodes；If waiting for
There is no neighbours' beaconing nodes in positioning node communication range, thens follow the steps 8.1；If there are one in node communication range to be positioned
Neighbours' beaconing nodes, then follow the steps 8.2；If there are two neighbours' beaconing nodes in node communication range to be positioned, step is executed
Rapid 8.3；If there are three neighbours' beaconing nodes in node communication range to be positioned, 8.4 are thened follow the steps；If node communication to be positioned
Neighbours' beaconing nodes number is more than three in range, thens follow the steps 8.5；
Step 8.1：Using the node to be positioned history position record, by angle localization method obtain mobile node this
The coordinate at quarter；Calculation formula is：
In formula, (xt, yt) be t moment mobile node to be positioned coordinate；(xt-1, yt-1) it is t-1 moment node to be positioned
Coordinate information；For the absolute fix angle that t moment measures, the i.e. angle of joint movements displacement and abscissa；θT-1, tIt is opposite
Move angle, the i.e. angle of joint movements displacement and last moment；sT-1, tDisplacement is relatively moved for node；
Step 8.2：The coordinate of node to be positioned is calculated in conjunction with node history location information, formula is：
In formula, (xt, yt) it is node t moment coordinate to be positioned；(xm, ym) it is neighbours' beaconing nodes coordinate；D is to be positioned
Node is at a distance from neighbours' beaconing nodes, (xt-1, yt-1) it is that the history of node to be positioned positions the position seat at t-1 moment in record
Mark, sT-1, tDisplacement is relatively moved for node；
The average value of two solutions is the final elements of a fix of node to be positioned in modus ponens (13)；
Step 8.3：The first predictive coordinate (x of node to be positioned is calculated as followst1, yt1)：
In formula, (xm1, ym1)、(xm2, ym2) it is respectively two beaconing nodes coordinates；d1、d2Respectively t moment section to be positioned
Point is at a distance from two neighbours' beaconing nodes；(xT-1,yt-1) be node to be positioned at this time history positioning record in t-1 moment
Position coordinates；sT-1, tFor the relative movement displacement of node to be positioned；
According to angle location algorithm, the second predictive coordinate (x of node to be positioned is obtainedt2, yt2)；
Then the final coordinate of mobile node is：
Step 8.4：In conjunction with node history location information and neighbours' beaconing nodes information, sat using the node for introducing correction value
It marks calculating method and calculates node coordinate to be positioned；
Step 8.5：The inverse of RSSI value between node to be positioned and neighbours' beaconing nodes is chosen as neighbours' beaconing nodes
Weights when location Calculation are participated in, first three neighbours' beaconing nodes of wherein weight minimum are chosen, utilize the section for introducing correction value
Point coordinates calculating method calculates the coordinate of node to be positioned.
The specific method of the node coordinate calculating method coordinate that calculates node to be positioned for introducing correction value is：
Step 01：The difference of node to be positioned and the actual range d and measurement distance d ' of neighbours' beaconing nodes are to correct
Distance：Dv=d-d '；
Step 02：Node to be positioned and beaconing nodes (x1, y1) between corrected range dv1It is defined asIn formula, (x, y) is the true coordinate of node to be positioned；(x ', y ') it is node to be positioned
Measuring coordinate；xvAnd yvThe correction value of respectively x ' and y '；
Step 03：Corrected range d between node to be positioned and all neighbours' beaconing nodesvFor：Wherein, n is the sum of neighbours' beaconing nodes；(xi, yi) it is i-th of neighbour
The coordinate of beaconing nodes；
Step 04：The calculation formula that correction value can be obtained according to step 01 and step 03 is：
V=(QTQ)-1QTP (15)
Wherein：P=d-d ',
In formula, d is the actual range of node to be positioned and neighbours' beaconing nodes；D ' is between node to be positioned and beaconing nodes
Measurement distance；
Step 05：X is acquired using the nonlinear IEM model method of standardvAnd yv, then the final coordinate of node to be positioned be
(x’+xv, y '+yv)。
It is using advantageous effect caused by above-mentioned technical proposal：Based at the beginning of mobile node in WSN provided by the invention
The node positioning method of beginning state and mobile status is suitable for the positioning of the sensor mobile node under indoor nlos environment.
In position fixing process, original state when network is first entered according to node, ensures node using the localization method based on multi signal
The accuracy of initial coordinate establishes good basis for the positioning of NextState；Further, start during node setting in motion
Location mechanism based on historical information, according to the location information of the neighbours' beaconing nodes number and previous moment of positioning moment node
The coordinate position for calculating mobile node this moment, enables the node in motion process fast and accurately to complete to position.The present invention can
The accurate location of effective position sensor node can effectively inhibit position error indoors under nlos environment, improve positioning
Success rate has good positioning application.
Description of the drawings
Fig. 1 is node original state positioning flow figure to be positioned in WSN provided in an embodiment of the present invention；
Fig. 2 is to have in node communication range to be positioned in WSN interior joints original state provided in an embodiment of the present invention positioning
The positioning schematic of two neighbours' beaconing nodes；
Fig. 3 is to have in node communication range to be positioned in WSN interior joints original state provided in an embodiment of the present invention positioning
The positioning schematic of three neighbours' beaconing nodes；
Fig. 4 is that there are three when neighbours' beaconing nodes in node communication range to be positioned in WSN provided in an embodiment of the present invention
Node participates in the schematic diagram of weight；
Fig. 5 is node motion state positioning flow figure to be positioned in WSN provided in an embodiment of the present invention；
Fig. 6 is not have in node communication range to be positioned in WSN interior joints mobile status provided in an embodiment of the present invention positioning
There is the positioning schematic of neighbours' beaconing nodes；
Fig. 7 is provided in an embodiment of the present invention under conditions of different range errors, and the original state of the present embodiment positions
The position error comparison schematic diagram of mechanism and RSSI-Convex algorithms；
Fig. 8 is provided in an embodiment of the present invention under conditions of different anchor node numbers, the mobile status of the present embodiment
The position error comparison schematic diagram of location mechanism and historic state Information locating algorithm.
Specific implementation mode
With reference to the accompanying drawings and examples, the specific implementation mode of the present invention is described in further detail.Implement below
Example is not limited to the scope of the present invention for illustrating the present invention.
For the location determination of the mobile sensor node under indoor nlos environment, the present embodiment provides in a kind of WSN
Node positioning method based on mobile node original state and mobile status, it is right first after node enters network in network
Its initial position carries out location determination, and secondly initial velocity, acceleration and the movement angle etc. of artificial setting joint movements, work as node
In network when setting in motion, mobile node is positioned with Fixed Time Interval.It is described that the specific method is as follows.
Step 1：Dispose wireless sensor network, the artificial coordinate letter that beaconing nodes in network are set.
Step 2：When node to be positioned enters in network area, the position fixing process of starter node original state.Node is initial
The position fixing process of state is as shown in Figure 1.
Step 3：Node to be positioned carries out the positioning of original state based on TDOA distance measuring methods；Node to be positioned is to broadcast shape
Formula sends RF and US signals, i.e. radio frequency and ultrasonic signal；Neighbours' beaconing nodes in node communication range to be positioned receive letter
Number, and location data packet is written into self information and returns to node to be positioned；Wherein, the self information packet of neighbours' beaconing nodes
It includes：Node number, the signal of beaconing nodes reach the coordinate information of the time and beaconing nodes of beaconing nodes.
Step 4：Judge that node to be positioned receives the group number of beaconing nodes return information；If node to be positioned receive 3 groups with
Upper beaconing nodes return information, thens follow the steps 4.1；If node to be positioned receives 3 groups of beaconing nodes return informations, step is executed
Rapid 4.2；If node to be positioned receives the mark node return information that letter is less than 3 groups, 4.3 are thened follow the steps.
Step 4.1：Suitable beaconing nodes are chosen using NLOS inhibiting factors, are then sat using the node for introducing correction value
Mark calculating method calculates the original state coordinate of node to be positioned, executes step 6.
The formula that suitable beaconing nodes are chosen using NLOS inhibiting factors is：
d2=(x-x ')2+(y-y′)2=NIFdi 2 (1)
In formula, (x ', y ') it is beaconing nodes coordinate；(x, y) is node coordinate to be positioned；D is node to be positioned and beacon
Actual range between node；diFor the measurement distance between node to be positioned and beaconing nodes；NIF(NLOS Inhibitory
Factor) it is NLOS inhibiting factors；
When there are NLOS influences, d≤di, therefore 0 NIF≤1 ＜；As NIF=1, d=di, i.e., it is line-of-sight propagation ring at this time
Border；
By calculating the value of NIF, d is judgediWhether it is the data obtained by NLOS distance measures, chooses as far as possible
NIF values participate in positioning close to 1 neighbours' beaconing nodes.
The specific method of the node coordinate calculating method coordinate that calculates node to be positioned for introducing correction value is：
Step 01：The difference of node to be positioned and the actual range d and measurement distance d ' of neighbours' beaconing nodes are to correct
Distance：Dv=d-d '；
Step 02：Node to be positioned and beaconing nodes (x1, y1) between corrected range dv1It is defined asIn formula, (x, y) is the true coordinate of node to be positioned；(x ', y ') it is node to be positioned
Measuring coordinate；xvAnd yvThe correction value of respectively x ' and y '；
Step 03：Corrected range d between node to be positioned and all neighbours' beaconing nodesvFor：Wherein, n is the sum of neighbours' beaconing nodes；(xi, yi) it is i-th of neighbour
The coordinate of beaconing nodes；
Step 04：The calculation formula that correction value can be obtained according to step 01 and step 03 is：
V=(QTQ)-1QTP (15)
Wherein：P=d-d ',
In formula, d is the actual range of node to be positioned and neighbours' beaconing nodes；D ' is between node to be positioned and beaconing nodes
Measurement distance；
Step 05：X is acquired using the nonlinear IEM model method of standardvAnd yv, then the final coordinate of node to be positioned be
(x’+xv, y '+yv)。
Step 4.2：The original state coordinate of node to be positioned is calculated using trilateration, executes step 6；
Based on three times mensurations, coordinate (x, y) calculation formula of node to be positioned is：
X=Y-1Z (2)
Wherein：
In formula, (x1, y1)、(x2, y2)、(x3, y3) be three neighbours' beaconing nodes coordinate；d1、d2、d3For section to be positioned
Point is at a distance from three beaconing nodes；
Step 4.3：Ranging is carried out with the distance value between supplemental node with RSSI, executes step 5.
In the positioning based on RSSI ranging technologies, due to the communication of WSN in building propagate can by multipath effect or
Object such as blocks, reflects, reflecting at the influence of factors；
The present embodiment uses distance of the logarithm between loss model calculate node, and formula is
In formula, PL(d) it is the loss sent and received between node；D is distance of the node to be positioned to beaconing nodes；PL
(d0) it is near field reference point loss value；d0For reference point；N is path loss index, in the environment and region dependent on monitoring region
Building type；X σ are that obedience mean value is 0, standard variance σ2Gauss normal distribution；
If taking d0=1m, and ignore Xσ, at this time formula be：
RSSI=A-10nlgd (4)
In formula, A is to receive signal strength at 1 meter of node to be positioned；RSSI is at node d meters to be positioned
Receive signal strength；N is path loss index；D is distance of the node to be positioned to beaconing nodes；
RSSI rangings are directly used, its measured value and the error of actual value are very big, so being obtained using RSSI ranging technologies
After taking fully enough beaconing nodes information, the initial coordinate of node to be positioned is calculated using the location algorithm based on multi signal, specifically such as
Described in step 5.
Step 5：The original state coordinate of node to be positioned, detailed process are calculated using the location algorithm based on multi signal
For：
Step 5.1：After node to be positioned re-initiates primary broadcast, that can receive neighbours' beaconing nodes RSSI value is judged
Number, if the RSSI value of 2 neighbours' beaconing nodes can be received, thens follow the steps 5.2, then executes step 6；If 3 neighbours can be received
The RSSI value for occupying beaconing nodes thens follow the steps 5.3, then executes step 6；If the RSSI of multiple neighbours' beaconing nodes can be received
Value, thens follow the steps 5.4, then executes step 6；
Step 5.2：Node to be positioned can receive the RSSI value RSSI of neighbours' beaconing nodes A and BAAnd RSSIB, such as Fig. 2 institutes
Show, then original state coordinate (x, y) the calculating detailed process of node to be positioned is：
Step 5.2.1：If the coordinate of neighbours' beaconing nodes A and B are respectively (xa, ya) and (xb, yb), then the public affairs of straight line AB
Formula is：
Respectively using the position coordinates of A and B as the center of circle, make two round O by radius of communication distanceA、OB, two circle OA、OBWith line
The intersection point of section AB distinguishes C, H；
Step 5.2.2：Respectively using the position coordinates of A and B as the center of circle, with RSSIAAnd RSSIBMake two round O ' for radiusA、
O’B, formula is respectively：
(x-xa)2+(y-ya)2=RSSIA 2 (6)
(x-xb)2+(y-yb)2=RSSIB 2 (7)
Two circle O ' are obtained by formula (6) and formula (7)A、O’BIntersection point be point E (xe, ye) and point F (xf, yf)；Pass through formula (5)
Straight line AB and circle O ' are obtained with formula (7)BTwo intersection points be D and D ', by formula (5) and formula (6) obtain straight line AB with justify O 'A's
Two intersection points G and G '；
Step 5.2.3：The distance of point A to point D and point D ', and and RSSI are asked respectivelyACompare, distance is less than RSSIAPoint with
The intersection point of line segment AB is point D, if its coordinate is (xd, yd)；
Step 5.2.4：The distance of point B to point G and point G ', and and RSSI are asked respectivelyBCompare, distance is less than RSSIBPoint with
The intersection point of line segment AB is point G, if its coordinate (xg, yg)；
The apex coordinate of quadrangle EGFD has obtained at this time, and node to be positioned should be in quadrangle EGFD；
Step 5.2.5：Appoint take three vertex in quadrangle EGFD form four triangle Δ EGF, Δ EGD, Δ GFD and
Δ EFG calculates separately the barycenter of four triangles；
Step 5.2.6：Node original state coordinate to be positioned is the average value of four center-of-mass coordinates；
Step 5.3：Node to be positioned can receive the RSSI value RSSI of 3 neighbours' beaconing nodes A, B, CA、RSSIB、RSSIC,
And RSSIA＞ RSSIB＞ RSSIC, as shown in figure 3, then original state coordinate (x, y) the calculating detailed process of node to be positioned is：
Step 5.3.1：Minimum overlay region Δ DEF is obtained by RSSI-Convex location algorithms；
Step 5.3.2：Respectively using A, B, C as the center of circle, with RSSIA、RSSIB、RSSICJustify for radius work, takes overlapping region
Three vertex G, H, I obtain Δ GHI；
Step 5.3.3：As shown in figure 4, the intersection point of two triangle Δ DEF and Δ GHI is G, F, J, three are calculated separately
Intersection point is to the distance of each neighbours' beaconing nodes, and intersection point is apart from the nearest neighbours' beaconing nodes i.e. affiliated neighbours' beacon section of intersection point thus
Point region；By taking intersection point J as an example, the range formula of the intersection point and three neighbours' beaconing nodes is respectively：
In formula, (xj, yj) be point J coordinate；(xa, ya)、(xb, yb)、(xc, yc) be neighbours' beaconing nodes A, B, C seat
Mark；da、dbAnd dcRespectively J is at a distance from three neighbours' beaconing nodes A, B, C；
According to calculating and comparing to obtain, intersection point J is nearest at a distance from neighbours' beaconing nodes A, then neighbours' beaconing nodes A is to hand over
Neighbours' beaconing nodes region belonging to point J；Neighbours' beaconing nodes region belonging to intersection point G, F can similarly be obtained；Finally, three
A intersection point J, G, F are respectively divided to three regions neighbours beaconing nodes A, B, C；
Step 5.3.4：Reciprocal be used as choosing RSSI value between node to be positioned and neighbours' beaconing nodes belongs to this neighbour letter
Mark the weight w when intersection point in range of nodes participates in location Calculation, i.e. w=1/RSSI；According to neighbours' beaconing nodes area of division
Domain, weight when obtaining three intersection point J, G, F participation location Calculations is respectively wA、wB、wC, wA=1/RSSIA, wB=1/RSSIB,
wC=1/RSSIC；
Step 5.3.5：The original state coordinate of node to be positioned is calculated as follows；
In formula, (xg, yg) be intersection point G coordinate, (xf, yf) be intersection point F coordinate, (xj, yj) be intersection point J coordinate；
Step 5.4：Node to be positioned can receive the RSSI value of multiple neighbours' beaconing nodes, then the initial shape of node to be positioned
State coordinate (x, y) calculates detailed process：
Step 5.4.1：By convex programming positioning principle it is found that using three beacons are at most only needed when convex programming location algorithm
Node records each neighbours' beaconing nodes to waiting for so when having multiple neighbours' beaconing nodes in node communication range to be positioned
The RSSI value of positioning node appoints the RSSI value for taking three beaconing nodes, the one of node to be positioned is obtained according to the method for step 5.3
A original state coordinate；
Step 5.4.2：Whole RSSI values that node to be positioned receives are traversed, several initial shapes of node to be positioned are obtained
State coordinate；
Step 5.4.3：The average value for seeking all node original state coordinates to be positioned obtained in step 5.4.2, as
The final original state coordinate of node to be positioned.
Step 6：The original state coordinate information of node to be positioned is recorded, the positioning of the node motion state is used for.
Mobile node original state position fixing process has been completed at this time, and node to be positioned has obtained initial alignment coordinate, accurate
The standby position fixing process for entering mobile status, as shown in figure 5, mobile status position fixing process is described in detail below.
Step 7：The information such as artificial setting joint movements state, including node initial velocity, acceleration and movement angle, so
Afterwards, sensor node setting in motion, starter node mobile status position fixing process.
Step 8：Node to be positioned initiates to broadcast in a network, judges whether the number for positioning moment neighbours' beaconing nodes is big
In equal to 3, if it is not, being less than 3, then judge that the number for positioning moment neighbours' beaconing nodes whether there is, it is if being not present, i.e., undetermined
There is no neighbours' beaconing nodes in the node communication range of position, thens follow the steps 8.1；If in the presence of having in node communication range to be positioned
When one neighbours' beaconing nodes, 8.2 are thened follow the steps, there are two when neighbours' beaconing nodes in node communication range to be positioned, then
Execute step 8.3；If there are three neighbours' beaconing nodes in node communication range to be positioned, 8.4 are thened follow the steps；If section to be positioned
Neighbours' beaconing nodes number is more than three in point communication range, thens follow the steps 8.5；
Step 8.1：As shown in fig. 6, in node communication range to be positioned without neighbours' beaconing nodes when, it is to be positioned using this
The history positioning record of node, the coordinate of mobile node this moment is obtained by angle localization method；Calculation formula is：
In formula, (xt, yt) be t moment mobile node to be positioned coordinate；(xt-1, yt-1) it is t-1 moment node to be positioned
Coordinate information；For the absolute fix angle that t moment measures, the i.e. angle of joint movements displacement and abscissa；θT-1, tIt is opposite
Move angle, the i.e. angle of joint movements displacement and last moment；sT-1, tDisplacement is relatively moved for node；
Step 8.2：There are one in node communication range to be positioned when neighbours' beaconing nodes, in conjunction with node history location information
The coordinate of node to be positioned is calculated, formula is：
In formula, (xt, yt) it is node t moment coordinate to be positioned；(xm, ym) it is neighbours' beaconing nodes coordinate；D is to be positioned
Node is at a distance from neighbours' beaconing nodes, (xT-1,yt-1) it is that the history of node to be positioned positions the position seat at t-1 moment in record
Mark, sT-1, tDisplacement is relatively moved for node；
The average value of two solutions is the final elements of a fix of node to be positioned in modus ponens (13)；
Step 8.3：There are two when neighbours' beaconing nodes in node communication range to be positioned, node to be positioned is calculated as follows
The first predictive coordinate (xt1, yt1)：
In formula, (xm1, ym1)、(xm2, ym2) it is respectively two beaconing nodes coordinates；d1、d2Respectively t moment section to be positioned
Point is at a distance from two neighbours' beaconing nodes；(xt-1, yt-1) be node to be positioned at this time history positioning record in t-1 moment
Position coordinates；sT-1, tFor the relative movement displacement of node to be positioned；
According to angle localization method the second predictive coordinate (x of node to be positioned is obtained with reference to step 8.1t2, yt2)；
Then the final coordinate of mobile node is：
Step 8.4：There are three in node communication range to be positioned when neighbours' beaconing nodes, in conjunction with node history location information
With neighbours' beaconing nodes information, node coordinate to be positioned, specific method are calculated using the node coordinate calculating method for introducing correction value
With reference to the node coordinate calculating method of the introducing correction value in step 4.1；
Step 8.5：In node communication range to be positioned neighbours' beaconing nodes number be more than 3 when, choose node to be positioned with
The weights when inverse of RSSI value is as neighbours' beaconing nodes participation location Calculation between neighbours' beaconing nodes, choose wherein weight
First three minimum neighbours' beaconing nodes, if its coordinate is respectively (xm1, ym1)、(xm2, ym2) and (xm3, ym3), when measuring t at this time
Carve node (x to be positionedt, yt) at a distance from three neighbours' beaconing nodes it is respectively d1、d2、d3, the seat of t-1 moment node to be positioned
It is designated as (xt-1, yt-1), it is s that t moment, which measures node relative motion displacement to be positioned,T-1, t；Utilize the node coordinate for introducing correction value
Calculating method calculates the coordinate of node to be positioned, and specific method refers to the node coordinate calculating method of the introducing correction value in step 4.1.
By the above process, the positioning of mobile node in network is completed.
Method provided in this embodiment is suitable for the positioning of the sensor mobile node under indoor nlos environment, positions
Journey is divided into original state positioning when node to be positioned enters monitoring region and starts to move in monitoring region with node to be positioned
Mobile status positioning afterwards.After node to be positioned enters network, start original state localization method, the letter first into network
Node broadcasts radio frequency and ultrasonic signal are marked, if beaconing nodes return information is three groups, is calculated using traditional trilateration
The initial coordinate of node to be positioned；If beaconing nodes return information is more than three groups, it is suitable to be chosen using non line of sight inhibiting factor
Beaconing nodes participate in location Calculation, and introduce and correct the initial coordinate that value node computational methods calculate node to be positioned；If beacon
Node return information then uses RSSI ranging technologies to obtain more beaconing nodes information, and using based on multi signal less than three groups
Location algorithm calculate the initial coordinate of node to be positioned.History letter is recorded after initial coordinate known to node to be positioned
In breath, movement initial velocity, acceleration and the direction of motion of node to be positioned are manually set, and starts mobile status localization method.
At this point, node to be positioned starts random motion, and self information is broadcasted, the quantity of neighbours' beaconing nodes is collected, by judging this
The neighbours' anchor node number for carving node to be positioned realizes mobile node using the mobile node positioning method based on historic state
Final positioning, indoors under nlos environment have good positioning application.
The behavior pattern for the localization method that the present embodiment uses is investigated, it is specific as follows to verify the validity of this method：
The communication radius of the mobile node to be positioned of random placement 10 and 3-15 beaconing nodes in 30 × 30 region, node is R
=7.
When Fig. 7 illustrates to dispose 10 anchor nodes in network, at the beginning of the node of RSSI-Convex location algorithms and the present embodiment
Location algorithm (being based on multi signal location algorithm, abbreviation BMS) error of beginning state is with the increased comparison of range error.It can see
Going out, the performance of localization method can be influenced by measurement distance error between node, when range error increases, the mistake of localization method
Difference can also increase therewith, but the localization method of the present embodiment is significantly higher, it can be seen that, localization method tool provided in this embodiment
There is good performance.
When Fig. 8 is illustrated node to be positioned and is moved with uniform velocity with 0.5m/s in network, lower of different anchor node numbers
The location algorithm (i.e. the mobile node location algorithm based on historic state, abbreviation MNHS) of the node motion state of embodiment with
Some historical information state location algorithms (i.e. calculate by Historical Information State Location, HISL positioning
Method) performance compare.When anchor node number is 3 in network, node to be positioned enters network and broadcasts, and can not protect at this time
One surely obtains the location information of 3 beaconing nodes in card broadcasting area, but a history is at least stored in node to be positioned
Information records, and HISL location algorithms obtain current location information using this record, and the method for the present embodiment can not only utilize
Historical information records, and current location information is calculated herein in connection with the return information of 1 or 2 beaconing nodes, to reduce positioning
Error.When anchor node number gradually increases, the localization method of the present embodiment is substantially better than HISL.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
To modify to the technical solution recorded in previous embodiment, either which part or all technical features are equal
It replaces；And these modifications or replacements, model defined by the claims in the present invention that it does not separate the essence of the corresponding technical solution
It encloses.
Claims (5)
1. the node positioning method based on mobile node original state and mobile status in a kind of WSN, it is characterised in that：Including with
Lower step：
Step 1：Dispose wireless sensor network, the artificial coordinate letter that beaconing nodes in network are set；
Step 2：When node to be positioned enters in network area, the position fixing process of starter node original state；
Step 3：Node to be positioned is positioned based on TDOA distance measuring methods；Node to be positioned sends RF and US with the forms of broadcasting to be believed
Number；Neighbours' beaconing nodes in node communication range to be positioned receive signal, and location data packet is written in self information and is returned
Back to node to be positioned；Wherein, the self information of neighbours' beaconing nodes includes：Node number, the signal of beaconing nodes reach beacon
The time of node and the coordinate information of beaconing nodes；
Step 4：Judge that node to be positioned receives the group number of beaconing nodes return information；Believe if node to be positioned receives 3 groups or more
Node return information is marked, thens follow the steps 4.1；If node to be positioned receives 3 groups of beaconing nodes return informations, then follow the steps
4.2；If node to be positioned receives the mark node return information that letter is less than 3 groups, 4.3 are thened follow the steps；
Step 4.1：Suitable beaconing nodes are chosen using NLOS inhibiting factors, then utilize the node coordinate meter for introducing correction value
Algorithm calculates the original state coordinate of node to be positioned, executes step 6；
Step 4.2：The original state coordinate of node to be positioned is calculated using trilateration, executes step 6；
Step 4.3：Ranging is carried out with the distance value between supplemental node with RSSI, executes step 5；
Step 5：The original state coordinate of node to be positioned is calculated using the location algorithm based on multi signal, then executes step 6；
Step 6：The original state coordinate information of node to be positioned is recorded, the positioning of the node motion state is used for；
Step 7：After node to be positioned completes original state positioning, artificial setting joint movements state, including node initial velocity,
Acceleration and movement angle, then starter node mobile status position fixing process；
Step 8：Node to be positioned initiates to broadcast in a network, judges the number for positioning moment neighbours' beaconing nodes；If to be positioned
There is no neighbours' beaconing nodes in node communication range, thens follow the steps 8.1；If there are one neighbours in node communication range to be positioned
Beaconing nodes then follow the steps 8.2；If there are two neighbours' beaconing nodes in node communication range to be positioned, then follow the steps
8.3；If there are three neighbours' beaconing nodes in node communication range to be positioned, 8.4 are thened follow the steps；If node to be positioned communicates model
It encloses interior neighbours' beaconing nodes number and is more than three, then follow the steps 8.5；
Step 8.1：Record is positioned using the history of the node to be positioned, obtains mobile node this moment by angle localization method
Coordinate；
Step 8.2：The coordinate of node to be positioned is calculated in conjunction with node history location information；
Step 8.3：The first predictive coordinate (x of node to be positioned is calculated as followst1, yt1)：
In formula, (xm1, ym1)、(xm2, ym2) it is respectively two beaconing nodes coordinates；d1、d2Respectively t moment node to be positioned and two
The distance of a neighbours' beaconing nodes；(xt-1, yt-1) it is that the history of node to be positioned at this time positions the position seat at t-1 moment in record
Mark；ST-1, tFor the relative movement displacement of node to be positioned；
According to angle location algorithm, the second predictive coordinate (x of node to be positioned is obtainedt2, yt2)；
Then the final coordinate of mobile node is：
Step 8.4：In conjunction with node history location information and neighbours' beaconing nodes information, the node coordinate meter for introducing correction value is utilized
Algorithm calculates node coordinate to be positioned；
Step 8.5：The inverse for choosing RSSI value between node to be positioned and neighbours' beaconing nodes is participated in as neighbours' beaconing nodes
Weights when location Calculation choose first three neighbours' beaconing nodes of wherein weight minimum, are sat using the node for introducing correction value
Mark calculating method calculates the coordinate of node to be positioned.
2. the node positioning method based on mobile node original state and mobile status in WSN according to claim 1,
It is characterized in that：The location algorithm detailed process based on multi signal is in the step 5：
Step 5.1：After node to be positioned re-initiates primary broadcast, the number that can receive neighbours' beaconing nodes RSSI value is judged,
If the RSSI value of 2 neighbours' beaconing nodes can be received, 5.2 are thened follow the steps, then executes step 6；If 3 neighbours' letters can be received
The RSSI value for marking node, thens follow the steps 5.3, then executes step 6；If the RSSI value of multiple neighbours' beaconing nodes can be received,
5.4 are thened follow the steps, step 6 is then executed；
Step 5.2：Node to be positioned can receive the RSSI value RSSI of neighbours' beaconing nodes A and BAAnd RSSIB, then node to be positioned
Original state coordinate (x, y) calculate detailed process be：
Step 5.2.1：If the coordinate of neighbours' beaconing nodes A and B are respectively (xa, ya) and (xb, yb), it is sat respectively with the position of A and B
It is designated as the center of circle, makees two round O by radius of communication distanceA、OB, two circle OA、OBDistinguish C, H with the intersection point of line segment AB；
Step 5.2.2：Respectively using the position coordinates of A and B as the center of circle, with RSSIAAnd RSSIBMake two round O ' for radiusA、O’B, two
Circle O 'A、O'BIntersection point be point E (xe, ye) and point F (xf, yf)；Obtain straight line AB with using beaconing nodes B as the center of circle, with RSSIBFor
Radius do two round intersection points be D and D ', straight line AB with using beaconing nodes A as the center of circle, with RSSIARound two are done by radius
A intersection point G and G '；
Step 5.2.3：The distance of point A to point D and point D ', and and RSSI are asked respectivelyACompare, distance is less than RSSIAPoint and line segment
The intersection point of AB is point D, if its coordinate is (xd, yd)；
Step 5.2.4：The distance of point B to point G and point G ', and and RSSI are asked respectivelyBCompare, distance is less than RSSIBPoint and line segment
The intersection point of AB is point G, if its coordinate (xg, yg)；
Step 5.2.5：Appoint and three vertex in quadrangle EGFD is taken to form four triangle Δ EGF, Δ EGD, Δ GFD and Δ
EFG calculates separately the barycenter of four triangles；
Step 5.2.6：Node original state coordinate to be positioned is the average value of four center-of-mass coordinates；
Step 5.3：Node to be positioned can receive the RSSI value RSSI of 3 neighbours' beaconing nodes A, B, CA、RSSIB、RSSIC, and
RSSIA＞ RSSIB＞ RSSIC, then node to be positioned original state coordinate (x, y) calculate detailed process be：
Step 5.3.1：Minimum overlay region Δ DEF is obtained by RSSI-Convex location algorithms；
Step 5.3.2：Respectively using A, B, C as the center of circle, with RSSIA、RSSIB、RSSICJustify for radius work, takes three of overlapping region
Vertex G, H, I obtain Δ GHI；
Step 5.3.3：The intersection point of two triangle Δ DEF and Δ GHI is G, F, J, calculates separately three intersection points and believes to each neighbours
The distance of node is marked, intersection point is apart from nearest neighbours' beaconing nodes i.e. intersection point affiliated neighbours' beaconing nodes region thus；Three friendships
Point is respectively divided to three neighbours' beaconing nodes regions；
Step 5.3.4：Reciprocal be used as choosing RSSI value between node to be positioned and neighbours' beaconing nodes belongs to this neighbours' beacon section
Intersection point in point range participates in weight w when location Calculation, i.e. w=1/RSSI；
Step 5.3.5：The original state coordinate of node to be positioned is calculated as follows；
In formula, (xg, yg) be intersection point G coordinate, (xf, yf) be intersection point F coordinate, (xj, yj) be intersection point J coordinate；wAFor intersection point
J participates in weight when location Calculation, wA=1/RSSIA；wBWeight when location Calculation, w are participated in for intersection point GB=1/RSSIB；wC
Weight when location Calculation, w are participated in for intersection point FC=1/RSSIC；
Step 5.4：Node to be positioned can receive the RSSI value of multiple neighbours' beaconing nodes, then the original state of node to be positioned is sat
Mark (x, y) calculates detailed process：
Step 5.4.1：According to convex programming positioning principle, appoints the RSSI value for taking three beaconing nodes, obtained according to the method for step 5.3
To an original state coordinate of node to be positioned；
Step 5.4.2：Whole RSSI values that node to be positioned receives are traversed, several original states for obtaining node to be positioned are sat
Mark；
Step 5.4.3：The average value for seeking all node original state coordinates to be positioned obtained in step 5.4.2, as undetermined
The final original state coordinate of position node.
3. the node positioning method based on mobile node original state and mobile status in WSN according to claim 1,
It is characterized in that：The specific method of the node coordinate calculating method coordinate that calculates node to be positioned for introducing correction value is：
Step 01：The difference of node to be positioned and the actual range d and measurement distance d ' of neighbours' beaconing nodes is corrected range：
Dv=d-d '；
Step 02：Node to be positioned and beaconing nodes (x1, y1) between corrected range dv1It is defined asIn formula, (x, y) is the true coordinate of node to be positioned；(x ', y ') it is node to be positioned
Measuring coordinate；xvAnd yvThe correction value of respectively x ' and y '；
Step 03：Corrected range d between node to be positioned and all neighbours' beaconing nodesvFor：Wherein, n is the sum of neighbours' beaconing nodes；(xi, yi) it is i-th of neighbour
The coordinate of beaconing nodes；
Step 04：The calculation formula that correction value can be obtained according to step 01 and step 03 is：
V=(QTQ)-1QTP (15)
Wherein：P=d-d ',
In formula, d is the actual range of node to be positioned and neighbours' beaconing nodes；Surveys of the d ' between node to be positioned and beaconing nodes
Span from；
Step 05：X is acquired using the nonlinear IEM model method of standardvAnd yv, then the final coordinate of node to be positioned be (x '+
xv, y '+yv)。
4. the node positioning method based on mobile node original state and mobile status in WSN according to claim 1,
It is characterized in that：Show that the calculation formula of the coordinate of mobile node this moment is by angle localization method in the step 8.1：
In formula, (xt, yt) be t moment mobile node to be positioned coordinate；(xt-1, yt-1) be t-1 moment node to be positioned coordinate
Information；For the absolute fix angle that t moment measures, the i.e. angle of joint movements displacement and abscissa；θT-1, tFor relative movement
Angle, the i.e. angle of joint movements displacement and last moment；ST-1, tDisplacement is relatively moved for node.
5. the node positioning method based on mobile node original state and mobile status in WSN according to claim 1,
It is characterized in that：It is in conjunction with the formula for the coordinate that node history location information calculates node to be positioned in the step 8.2：
In formula, (xt, yt) it is node t moment coordinate to be positioned；(xm, ym) it is neighbours' beaconing nodes coordinate；D be node to be positioned with
The distance of neighbours' beaconing nodes, (xt-1, yt-1) it is that the history of node to be positioned positions the position coordinates at t-1 moment in record,
ST-1, tDisplacement is relatively moved for node；
The average value of two solutions is the final elements of a fix of node to be positioned in modus ponens (13).
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