CN110087180A - A kind of localization method of wireless sensor network - Google Patents
A kind of localization method of wireless sensor network Download PDFInfo
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- CN110087180A CN110087180A CN201910237369.7A CN201910237369A CN110087180A CN 110087180 A CN110087180 A CN 110087180A CN 201910237369 A CN201910237369 A CN 201910237369A CN 110087180 A CN110087180 A CN 110087180A
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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
- G01S5/0257—Hybrid positioning
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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
- G01S5/08—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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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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- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
It is the improvement DV-HOP algorithm based on TDOA ranging the invention discloses a kind of localization method of wireless sensor network, comprising the following steps: (1) broadcast anchor node location information；(2) every hop distance is calculated；(3) location information that all anchor nodes are collected in unknown node traverse without repetition to anchor node；(4) screening meets the anchor node of condition；(5) TDOA algorithm is combined, the position coordinates of unknown node are calculated；(6) it is included in weight Wi, correct unknown node position coordinates.The present invention is a kind of localization method of improved wireless sensor network, and accuracy is high, and broad covered area has a good application prospect.
Description
Technical field
The present invention relates to technology of wireless sensing network field, especially a kind of positioning side of improved wireless sensor network
Method.
Background technique
It is logical that wireless sensor network (WSN, wireless sensor networks) collects sensor network technique, computer
Letter technology, Radio Transmission Technology and embedded technology carry out a large amount of sensor nodes with the arrangement of certain topological form in one,
The critical functions such as acquisition in real time, processing and storage transmission are made it have, are the key technologies in contemporary Internet of Things application development.With
The development of wireless sensor network, wireless sensor network had been applied to intelligent medical, wireless office, intelligent automobile and intelligence
The numerous areas such as household, the application of wireless sensor network positioning technology are turned up significantly while facilitating people's life
People's lives quality.
Location technology occupies critical positions in the research direction of wireless sensor network, and current location algorithm mainly has
Based on the location algorithm (range-based) for measuring distance and apart from unrelated two class of location algorithm (range-free).Wherein,
Location algorithm based on measurement distance includes AOA algorithm, TOA algorithm, TDOA algorithm etc., includes apart from unrelated location algorithm
Centroid algorithm, DV-HOP algorithm, Amorphous algorithm, APIT algorithm etc..
The basic thought of DV-HOP algorithm is to utilize Average hop distance and between the two the product representation unknown node of hop count
The distance between anchor node is arrived, maximum likelihood estimate either centroid algorithm is recycled to carry out the calculating of unknown node coordinate.
Mainly there are three steps for DV-HOP algorithm: (1) broadcasting anchor node location information；(2) every hop distance is calculated；(3) unknown section is calculated
Point coordinate.The defect that cost is excessively high, hardware is complicated, debugging maintenance is cumbersome however, DV-HOP algorithm has.The basic think of of TDOA algorithm
Want to utilize is the reaching time-difference for the signal that spread speed differs several orders of magnitude, and it is different that anchor node issues spread speed
Two kinds of signals, unknown node measuring signal reach the time of monitoring station, can determine the distance of signal source.The cost of TDOA algorithm
Although lower, there is the lower defects of positioning accuracy.
Summary of the invention
To solve above-mentioned technical problem, the present invention provides a kind of positioning sides of improved wireless sensor network
Method, this method carry out the factors influential on positioning accuracy such as the anchor node topology of original DV-HOP algorithm, range error
It targetedly improves, the advantages of in combination with TDOA algorithm, and joined weighted calculation link, to improve wireless sense network
The accuracy of network positioning.
Technical scheme is as follows:
A kind of localization method of wireless sensor network, includes the following steps:
(1) anchor node location information is broadcasted；
(2) every hop distance is calculated；
(3) location information that all anchor nodes are collected in unknown node traverse without repetition to anchor node；
(4) screening meets the anchor node of condition；
(5) TDOA algorithm is combined, the position coordinates of unknown node are calculated；
(6) it is included in weight Wi, correct unknown node position coordinates.
The step of broadcast anchor node location information, is as follows in above-mentioned step (1):
Step (2-1): anchor node issues the information including identification sequence number, coordinate and hop count；
Step (2-2): anchor node or unknown node in its communication range receive information, on the basis of former hop count
On, jumping figure value adds 1, repeats above-mentioned movement；
Step (2-3): the optimization of hop count is carried out according to minimal path shot, so that all nodes in network are received and stored
The minimum hop count value of it and other each anchor nodes.
The step of every hop distance is calculated in above-mentioned step (2) is as follows:
Step (3-1): the Average hop distance D_PerHop of each anchor node is calculated by formula (1)；
In formula (1), (Xi,Yi) be this anchor node location information, (Xj,Yj) be other anchor nodes location information, hijFor
Hop count between anchor node i and anchor node j, D_PerHop are Average hop distance.
Step (3-2): second of broadcast anchor node information in a network；
Step (3-3): by formula (2) according to the distance D_UN of the hop count information estimation unknown node received to anchor node；
D_UN=D_PerHop*Hop (2)
In formula (2), D_UN is distance of the unknown node to anchor node, and D_PerHop is Average hop distance, and Hop is unknown
Hop count of the node to anchor node.
The step of screening meets the anchor node of condition in above-mentioned step (4), is as follows:
Step (4-1): screening meets the anchor node of hop count restrictive condition；
Step (4-2): screening meets the anchor node of cosine value threshold condition.
The step of screening meets the anchor node of hop count restrictive condition in above-mentioned step (4-1) is as follows:
Step (5-1): the hop count of anchor node is limited to 2；
Step (5-2): if hop count is greater than 2, return step (3) carries out step (4-2) if hop count is less than or equal to 2；
The step of screening meets the anchor node of cosine value threshold condition in above-mentioned step (4-2) is as follows:
Step (6-1): the maximum cosine value of the triangle of anchor node composition is calculated；
Step (6-2): the threshold value of the maximum cosine value of the triangle of anchor node composition is set as 0.5-0.6；
Step (6-3): if anchor node composition triangle maximum cosine value not in threshold range, return step
(3), if in threshold range, step (5) are carried out.
The step of maximum cosine value of the triangle of anchor node composition is calculated in above-mentioned step (6-1) is as follows:
Step (7-1): the length of the minimum edge of the triangle of anchor node composition is calculated；
Step (7-2): according to sine, the corresponding minimum angle of minimum edge is calculated；
Step (7-3): minimum cosine of an angle value NC, the i.e. maximum cosine value of triangle are calculated.
The step of combining TDOA algorithm in above-mentioned step (5), calculating the position coordinates of unknown node is as follows:
Step (8-1): the anchor node screened is set as the receiving station in TDOA algorithm, unknown node coordinate is set as
Target position in TDOA algorithm；
Step (8-2): the Nonlinear System of Equations of unknown node coordinate (x, y) is calculated by formula (3)；
ri 2=(xi-x)2+(yi-y)2=ki-2xix-2yiy+x2+y2 (3)
In formula (3), (x, y) is unknown node coordinate, (xi,yi) it is anchor node position coordinates, riFor unknown node and anchor section
Distance between point position,Ki indicates the sum of square of anchor node cross, ordinate.
Step (8-3): the Nonlinear System of Equations of unknown node coordinate (x, y) is linearized by formula (4)；
Gaza=h (4)
In formula (4),xi,1=xi-x1, yi,1=yi-y1,
ri,1=ri-r1,zp=[x, y]T, (xi,yi) it is anchor node position coordinates, riFor unknown section
It puts at a distance between anchor node position.
Step (8-4): introduce noise error, as i=1, convolution (3) and formula (5) calculating unknown node coordinate (x,
y)。
Z in formula (5)p=[x, y]T, Φ '=[φ ' φ 'T]=4B'cov (za) B', Φ is error matrix,φ=cBn+0.5c2N, B'=diag { x-x1,y-y1,r1, n=[n2,1,n3,1,...nM,1], ni,jFor noise
Error, c are propagation velocity of electromagnetic wave, za,1=x+e1, za,2=y+e2, za,3=r1+e3, e1、e2、e3For zaEvaluated error, (x,
It y) is unknown node coordinate, (xi,yi) it is anchor node position coordinates, riFor unknown node between anchor node position at a distance from.
Weight W is included in above-mentioned step (6)i, correct unknown node position coordinates the step of it is as follows:
The weight W that step (9-1): being calculated as reduction range error by formula (6) and setsi；
In formula (6), WiFor the weight of each anchor node, NCiThe minimum angle of triangle composed by each anchor node set
Cosine value, NCjFor the minimum cosine of an angle value of triangle composed by other anchor node set.
Step (9-2): the revised coordinate Position of unknown node (x, y) after weight is added is calculated by formula (7).
In formula (7), Position is the revised coordinate of unknown node (x, y) being added after weight, and X is by xiComposition
Matrix, Y are by yiThe matrix of composition, W are by WiThe matrix of composition.
Beneficial effects of the present invention: this method is to the anchor node topology of original DV-HOP algorithm, range error etc. to positioning
The influential factor of precision, is targetedly improved, and the advantages of in combination with TDOA algorithm, and joined weighted calculation ring
Section, to improve the accuracy of wireless sensor network positioning.
Detailed description of the invention
Fig. 1 is system block diagram of the invention.
Specific embodiment
With reference to the accompanying drawing, the present invention is further illustrated.
Technical scheme is as follows:
As shown in Figure 1, the present invention is a kind of localization method of wireless sensor network, include the following steps:
(1) anchor node location information is broadcasted；
Step (1-1): it includes identification sequence number, coordinate and hop count information that anchor node, which issues one,；
Step (1-2): anchor node or unknown node in its communication range receive information, on the basis of former hop count
On, jumping figure value adds 1, repeats above-mentioned movement；
Step (1-3): the optimization of hop count is carried out according to minimal path shot, so that all nodes in network are received and stored
The minimum hop count value of it and other each anchor nodes.
(2) every hop distance is calculated；
Step (2-1): the Average hop distance D_PerHop of each anchor node is calculated by formula (1)；
In formula (1), (Xi,Yi) be this anchor node location information, (Xj,Yj) be other anchor nodes location information, hijFor
Hop count between anchor node i and anchor node j, D_PerHop are Average hop distance.
Step (2-2): second of broadcast anchor node information in a network；
Step (2-3): by formula (2) according to the distance D_UN of the hop count information estimation unknown node received to anchor node；
D_UN=D_PerHop*Hop (2)
In formula (2), D_UN is distance of the unknown node to anchor node, and D_PerHop is Average hop distance, and Hop is unknown
Hop count of the node to anchor node.
(3) location information that all anchor nodes are collected in unknown node traverse without repetition to anchor node；
(4) screening meets the anchor node of condition；
Step (4-1): screening meets the anchor node of hop count restrictive condition；
Step (4-1-1): the hop count of anchor node is limited to 2；
Step (4-1-2): if hop count is greater than 2, return step (3) carries out step (4- if hop count is less than or equal to 2
2)；
Step (4-2): screening meets the anchor node of cosine value threshold condition.
Step (4-2-1): the maximum cosine value of the triangle of anchor node composition is calculated；
Step (4-2-1-1): the length of the minimum edge of the triangle of anchor node composition is calculated；
Step (4-2-1-2): according to sine, the corresponding minimum angle of minimum edge is calculated；
Step (4-2-1-3): minimum cosine of an angle value NC, the i.e. maximum cosine value of triangle are calculated.
Step (4-2-2): the threshold value of the maximum cosine value of the triangle of anchor node composition is set as 0.5-0.6；
Step (4-2-3): if anchor node composition triangle maximum cosine value not in threshold range, return step
(3), if in threshold range, step (5) are carried out.
(5) TDOA algorithm is combined, the position coordinates of unknown node are calculated；
Step (5-1): the anchor node screened is set as the receiving station in TDOA algorithm, unknown node coordinate is set as
Target position in TDOA algorithm；
Step (5-2): the Nonlinear System of Equations of unknown node coordinate (x, y) is calculated by formula (3)；
ri 2=(xi-x)2+(yi-y)2=ki-2xix-2yiy+x2+y2 (3)
In formula (3), (x, y) is unknown node coordinate, (xi,yi) it is anchor node position coordinates, riFor unknown node and anchor section
Distance between point position,Ki indicates the sum of square of anchor node cross, ordinate.
Step (5-3): the Nonlinear System of Equations of unknown node coordinate (x, y) is linearized by formula (4)；
Gaza=h (4)
In formula (4),xi,1=xi-x1, yi,1=yi-y1,
ri,1=ri-r1,zp=[x, y]T, (xi,yi) it is anchor node position coordinates, riFor unknown section
It puts at a distance between anchor node position.
Step (5-4): introduce noise error, as i=1, convolution (3) and formula (5) calculating unknown node coordinate (x,
y)。
Z in formula (5)p=[x, y]T, Φ '=[φ ' φ 'T]=4B'cov (za) B', Φ is error matrix,φ=cBn+0.5c2N, B'=diag { x-x1,y-y1,r1, n=[n2,1,n3,1,...nM,1], ni,jFor noise
Error, c are propagation velocity of electromagnetic wave, za,1=x+e1, za,2=y+e2, za,3=r1+e3, e1、e2、e3For zaEvaluated error, (x,
It y) is unknown node coordinate, (xi,yi) it is anchor node position coordinates, riFor unknown node between anchor node position at a distance from.
(6) it is included in weight Wi, correct unknown node position coordinates.
The weight W that step (6-1): being calculated as reduction range error by formula (6) and setsi；
In formula (6), WiFor the weight of each anchor node, NCiThe minimum angle of triangle composed by each anchor node set
Cosine value, NCjFor the minimum cosine of an angle value of triangle composed by other anchor node set.
Step (6-2): the revised coordinate Position of unknown node (x, y) after weight is added is calculated by formula (7).
In formula (7), Position is the revised coordinate of unknown node (x, y) being added after weight, and X is by xiComposition
Matrix, Y are by yiThe matrix of composition, W are by WiThe matrix of composition.
Embodiment:
A kind of localization method of above-mentioned wireless sensor network is placed in the following conditions and carries out emulation experiment:Plane domain in, the arrangement of anchor node is carried out as unit of star, anchor node and unknown node
Communication radius is equal 300m, and the measurement radius of TDOA is 600m, and the noise figure of addition is 30m, generates mistake at random with Gaussian Profile
Difference.The results are shown in Table 1 for emulation.
The application condition of 1 algorithm of table
From the classification in table 1 as can be seen that for traditional DV-HOP location algorithm, wireless sensing of the invention
The location algorithm error of network is smaller.Therefore, a kind of localization method of improved wireless sensor network has good
Practical value and application prospect.
The above embodiments are only the preferred technical solution of the present invention, and are not construed as limitation of the invention, this hair
Bright protection scope is not limited thereto, and further includes the equivalents of technical characteristic in the technical solution of claim record
For protection scope.
Claims (9)
1. a kind of localization method of wireless sensor network, it is characterised in that include the following steps:
(1) anchor node location information is broadcasted；
(2) every hop distance is calculated；
(3) location information that all anchor nodes are collected in unknown node traverse without repetition to anchor node；
(4) screening meets the anchor node of condition；
(5) TDOA algorithm is combined, the position coordinates of unknown node are calculated；
(6) it is included in weight Wi, correct unknown node position coordinates.
2. a kind of localization method of wireless sensor network according to claim 1, it is characterised in that: the step
(1) the step of broadcast anchor node location information, is as follows in:
Step (2-1): anchor node issues the information including identification sequence number, coordinate and hop count；
Step (2-2): anchor node or unknown node in its communication range receive information, on the basis of former hop count, jump
Numerical value adds 1, repeats above-mentioned movement；
Step (2-3): according to minimal path shot carry out hop count optimization so that all nodes in network receives and store it and
The minimum hop count value of other each anchor nodes.
3. a kind of localization method of wireless sensor network according to claim 1, it is characterised in that: the step
(2) the step of every hop distance is calculated in is as follows:
Step (3-1): the Average hop distance D_PerHop of each anchor node is calculated by formula (1)；
In formula (1), (Xi,Yi) be this anchor node location information, (Xj,Yj) be other anchor nodes location information, hijFor anchor section
Hop count between point i and anchor node j, D_PerHop are Average hop distance；
Step (3-2): second of broadcast anchor node information in a network；
Step (3-3): by formula (2) according to the distance D_UN of the hop count information estimation unknown node received to anchor node；
D_UN=D_PerHop*Hop (2)
In formula (2), D_UN is unknown node to the distance of anchor node, and D_PerHop is Average hop distance, and Hop is unknown node
To the hop count of anchor node.
4. a kind of localization method of wireless sensor network according to claim 1, it is characterised in that: the step
(4) the step of screening meets the anchor node of condition in, is as follows:
Step (4-1): screening meets the anchor node of hop count restrictive condition；
Step (4-2): screening meets the anchor node of cosine value threshold condition.
5. a kind of localization method of wireless sensor network according to claim 4, it is characterised in that: the step
The step of screening meets the anchor node of hop count restrictive condition in (4-1) is as follows:
Step (5-1): the hop count of anchor node is limited to 2；
Step (5-2): if hop count is greater than 2, return step (3) carries out step (4-2) if hop count is less than or equal to 2.
6. a kind of localization method of wireless sensor network according to claim 4, it is characterised in that: the step
The step of screening meets the anchor node of cosine value threshold condition in (4-2) is as follows:
Step (6-1): the maximum cosine value of the triangle of anchor node composition is calculated；
Step (6-2): the threshold value of the maximum cosine value of the triangle of anchor node composition is set as 0.5-0.6；
Step (6-3): if anchor node composition triangle maximum cosine value not in threshold range, return step (3), if
In threshold range, then step (5) are carried out.
7. a kind of localization method of wireless sensor network according to claim 6, it is characterised in that: the step
The step of maximum cosine value of the triangle of anchor node composition is calculated in (6-1) is as follows:
Step (7-1): the length of the minimum edge of the triangle of anchor node composition is calculated；
Step (7-2): according to sine, the corresponding minimum angle of minimum edge is calculated；
Step (7-3): minimum cosine of an angle value NC, the i.e. maximum cosine value of triangle are calculated.
8. a kind of localization method of wireless sensor network according to claim 1, it is characterised in that: the step
(5) the step of combining TDOA algorithm in, calculating the position coordinates of unknown node is as follows:
Step (8-1): the anchor node screened is set as the receiving station in TDOA algorithm, unknown node coordinate is set as TDOA calculation
Target position in method；
Step (8-2): the Nonlinear System of Equations of unknown node coordinate (x, y) is calculated by formula (3)；
ri 2=(xi-x)2+(yi-y)2=ki-2xix-2yiy+x2+y2 (3)
In formula (3), (x, y) is unknown node coordinate, (xi,yi) it is anchor node position coordinates, riFor unknown node and anchor node position
Distance between setting,kiIndicate the sum of square of anchor node cross, ordinate；
Step (8-3): the Nonlinear System of Equations of unknown node coordinate (x, y) is linearized by formula (4)；
Gaza=h (4)
In formula (4),xi,1=xi-x1, yi,1=yi-y1, ri,1
=ri-r1,zp=[x, y]T, (xi,yi) it is anchor node position coordinates, riFor unknown node with
Distance between anchor node position；
Step (8-4): introducing noise error, and as i=1, convolution (3) and formula (5) calculate unknown node coordinate (x, y)；
Z in formula (5)p=[x, y]T, Φ '=[φ ' φ 'T]=4B'cov (za) B', Φ is error matrix,φ=cBn+0.5c2N, B'=diag { x-x1,y-y1,r1, n=[n2,1,n3,1,...nM,1], ni,jFor noise
Error, c are propagation velocity of electromagnetic wave, za,1=x+e1, za,2=y+e2, za,3=r1+e3, e1、e2、e3For zaEvaluated error, (x,
It y) is unknown node coordinate, (xi,yi) it is anchor node position coordinates, riFor unknown node between anchor node position at a distance from.
9. a kind of localization method of wireless sensor network according to claim 1, it is characterised in that: the step
(6) weight W is included ini, correct unknown node position coordinates the step of it is as follows:
The weight W that step (9-1): being calculated as reduction range error by formula (6) and setsi；
In formula (6), WiFor the weight of each anchor node, NCiThe minimum cosine of an angle of triangle composed by each anchor node set
Value, NCjFor the minimum cosine of an angle value of triangle composed by other anchor node set；
Step (9-2): the revised coordinate Position of unknown node (x, y) after weight is added is calculated by formula (7)；
In formula (7), Position is the revised coordinate of unknown node (x, y) being added after weight, and X is by xiThe matrix of composition,
Y is by yiThe matrix of composition, W are by WiThe matrix of composition.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110493717A (en) * | 2019-08-22 | 2019-11-22 | 郑州轻工业学院 | A kind of non-ranging node fusion and positioning method suitable for concave domain |
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