CN112055304A - Optimal positioning method for two circle intersection points of unknown sensor nodes of wireless sensor network - Google Patents

Optimal positioning method for two circle intersection points of unknown sensor nodes of wireless sensor network Download PDF

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CN112055304A
CN112055304A CN202010886795.6A CN202010886795A CN112055304A CN 112055304 A CN112055304 A CN 112055304A CN 202010886795 A CN202010886795 A CN 202010886795A CN 112055304 A CN112055304 A CN 112055304A
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beacon
unknown sensor
nodes
distance
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乔学工
李芳�
李旭
富立琪
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Taiyuan University of Technology
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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
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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Abstract

The invention relates to a wireless sensor network positioning technology, in particular to a method for optimally positioning two circular intersections of unknown sensor nodes of a wireless sensor network, which is mainly used for acquiring accurate position information of the unknown sensor nodes of the wireless sensor network. The problems of low positioning accuracy and complex algorithm of the conventional positioning algorithm based on distance measurement are solved. The method of the invention firstly uses the signal intensity value received between the nodes to be converted into the distance value between the nodes, and uses the known position coordinates of any 2 beacon nodes A, B around the unknown sensor node to calculate two possible coordinates P of the unknown sensor node1、P2And selecting in k coordinates, and finally determining the coordinates of the unknown sensor nodes to finish positioning. The method reduces the complexity of the algorithm and reduces the energy consumption of the nodesAnd the life cycle of the node is prolonged.

Description

Optimal positioning method for two circle intersection points of unknown sensor nodes of wireless sensor network
Technical Field
The invention relates to the technical field of sensor positioning, in particular to a method for optimally positioning two circular intersections of unknown sensor nodes of a wireless sensor network.
Background
In recent years, the technology of the internet of things continuously obtains new achievements, and the wireless sensor network serving as one of the bottom important technologies of the internet of things has become a research hotspot when being applied to the fields of national defense and military, environmental monitoring, traffic management, medical treatment and health, manufacturing industry, disaster resistance and emergency rescue and the like. The accurate position information obtained through the positioning algorithm is an important content of the wireless sensor network.
The positioning algorithm is divided into a non-ranging-based positioning algorithm and a ranging-based positioning algorithm. The positioning accuracy of the ranging-based positioning algorithm is higher than that of the non-ranging-based positioning algorithm. Some algorithms related to ranging-based positioning algorithms include trilateral positioning algorithms, trilateral centroid positioning algorithms, particle swarm positioning algorithms, and the like. These existing algorithms have low positioning accuracy, such as centroid positioning algorithm, and the algorithms are too complex because of a large number of iterative operations, such as particle swarm positioning algorithm.
Disclosure of Invention
The invention provides a method for optimally positioning two circular intersections of unknown sensor nodes of a wireless sensor network, aiming at solving the problems of low positioning accuracy and complex algorithm of the conventional positioning algorithm based on distance measurement.
The technical scheme adopted by the invention for solving the technical problems is as follows: a method for preferably positioning an intersection point of two circles of an unknown sensor node of a wireless sensor network is constructed, and comprises the following steps:
the unknown sensor node P receives signals of beacon nodes which can be received around, and converts the received signal strength value into a distance value between the unknown sensor node and the corresponding beacon node;
collecting coordinates of any two beacon nodes A and B, and calculating the distance between the beacon nodes A and B and the distance between an unknown sensor node and the beacon nodes A and B;
judging whether the unknown sensor node P is collinear with the beacon nodes A and B, and if so, calculating the coordinate of the unknown sensor node P according to the coordinates of the beacon nodes A and B;
if not collinear, setting the node P1、P2To be composed ofThe beacon node A, B is a circle center, and the distance between the beacon node A, B and the unknown sensor node P is a radius to form a two-circle intersection point, so that the unknown sensor node P is the node P1、P2One of the computing nodes P1、P2Coordinates;
determining the coordinate value of the unknown sensor node P:
judging whether the other beacons except the beacons A and B are all positioned on the connection line of the beacons A and B:
if all the beacon nodes are not on the connection line of the beacon nodes A and B, any beacon node C' which is positioned outside the connection line of the beacon nodes A and B is selected, and the unknown sensor nodes P and the unknown nodes P are calculated1And node P2The distance from the beacon node C' is,
when the distance between the unknown sensor node P and the beacon node C' and the node P1The absolute value of the distance difference of the distance from the beacon node C 'is smaller than the distance from the unknown sensor node P to the beacon node C' and the node P2Absolute value of distance difference of distance to the beacon node C', P1Is the coordinate of the unknown sensor node P, otherwise P2The coordinates of (a) are the coordinates of the unknown sensor node P;
if all the beacon nodes are positioned on the connecting line of the beacon nodes A and B, selecting a beacon node C, calculating a & lt BCP in a triangular CBP (communication based protocol), and calculating a & lt BCP in the triangular CBP1Middle calculation of ≈ BCP1，∠P1CP＝∠BCP-∠BCP1，
In the triangle PCP1And triangular PCP2In the method, unknown sensor nodes P and nodes P are calculated1And node P2When the distance between the node P and the unknown sensor node P is not known1Is less than the unknown sensor node P and the node P2At a distance of, node P1The coordinates of (1) are the coordinates of the unknown sensor node P, otherwise the node P2The coordinates of (2) are the coordinates of the unknown sensor node P;
setting the number of the beacon nodes of the unknown sensor node P receiving signals as m, wherein m is more than 2, and setting the beacon nodes at any 2 positions as a group, wherein in any groupThe two beacon nodes of (a) and (B); a total of k sets of beacon nodes are obtained, wherein,
Figure BDA0002655801620000021
setting the coordinates of e unknown sensor nodes P as the selection node P according to the calculated coordinates of k unknown sensor nodes P1The coordinates of f unknown sensor nodes P are selected nodes P2If f is k-e, then:
if the selected unknown sensor node P is the node P1Comparing the coordinates of e unknown sensor nodes P, and calculating the distance from each beacon node to the unknown sensor nodes P and the distance from each beacon node to the unknown sensor nodes P1The coordinate corresponding to the minimum value of the distance difference is used as the coordinate of the unknown sensor node P;
if the selected unknown sensor node P is the node P2Comparing the coordinates of the f unknown sensor nodes P, and calculating the distance from each beacon node to the unknown sensor nodes P and the distance from each beacon node to the nodes P2The coordinate corresponding to the minimum value of the distance difference is used as the coordinate of the unknown sensor node P.
Wherein, in the step of judging whether the unknown sensor node P is collinear with the beacon nodes A and B,
coordinates A (x) of the beacon A, B are setA,yA)、B(xB,yB) Calculating the distance L between the beacon node A and the beacon node BAB(ii) a The unknown sensor node P receives signals of surrounding receivable beacons, the received signal strength value is converted into a distance value between the unknown sensor node and the corresponding beacon, and the distance between the unknown sensor node P and the beacon A, B is recorded as LAPAnd LPB；
When L isAB＝LAP+LPBOr LAB＝|LAP-LPBIf the two points are collinear, the three points are judged to be collinear,
LAB＝LAP+LPBat times, unknown sensor nodes P are located between the beacons A, B,the coordinates of the unknown sensor node P are
Figure BDA0002655801620000031
Figure BDA0002655801620000032
LAB＝LAP-LPBWhen the unknown sensor node P is positioned at the extension line of the beacon node A, B, the coordinate of the unknown sensor node P is
Figure BDA0002655801620000041
Figure BDA0002655801620000042
LAB＝LPB-LAPWhen the unknown sensor node P is positioned at the extension line of the beacon node B, A, the coordinate of the unknown sensor node P is
Figure BDA0002655801620000043
Figure BDA0002655801620000044
When the unknown sensor node P is not collinear with the beacon node A, B, the node P1Node P2Coordinates are respectively P1(xP1,yP1)、P2(xP2,yP2)；
Then there is
Figure BDA0002655801620000045
Figure BDA0002655801620000046
Solving node P according to formula1Node P2The coordinates of (a).
Wherein, if all the beacon nodes are on the connection line of the beacon nodes A and B, each beacon node is connected to the node P1And node P2Is equal, and one beacon node C, node P is selected1Node P2Symmetrical about the straight line CB, using vector subtraction,
Figure BDA0002655801620000047
the distance from the unknown sensor node P to the beacon node C is recorded as LCPAccording to node P1Node P2Coordinate determination beacon C, B and node P1Is a distance of
Figure BDA0002655801620000048
And
Figure BDA0002655801620000049
c and node P2Is a distance of
Figure BDA00026558016200000410
In the case of a triangular CBP, the,
LBP 2＝LCB 2+LCP 2-2·LCB·LCP·cos∠BCP
therefore, it is not only easy to use
Figure BDA0002655801620000051
In the triangle CBP1In (1),
Figure BDA0002655801620000052
therefore, it is not only easy to use
Figure BDA0002655801620000053
Node P1Node P2Symmetrical about a straight line CB, then
∠P2CB＝∠BCP1，∠P1CP＝∠BCP-∠BCP1
In the triangle PCP1In (1),
Figure BDA0002655801620000054
is unknown sensor node P to node P1Is a vector of the beacon node C to the unknown sensor node P
Figure BDA0002655801620000055
With beacon node C to node P1Vector of (2)
Figure BDA0002655801620000056
Modulo of the vector difference of (a);
in the triangle PCP2In (1),
Figure BDA0002655801620000057
is unknown sensor node P to node P2I.e. the vector of the beacon C to the unknown sensor node P
Figure BDA0002655801620000058
With beacon node C to node P2Vector of (2)
Figure BDA0002655801620000059
Modulo of the vector difference of (a); then there is a change in the number of,
Figure BDA00026558016200000510
Figure BDA00026558016200000511
Figure BDA00026558016200000512
Figure BDA00026558016200000513
to obtain
Figure BDA00026558016200000514
And
Figure BDA00026558016200000515
when in use
Figure BDA00026558016200000516
Time, node P1The coordinates of (1) are the coordinates of the unknown sensor node P, otherwise the node P2The coordinates of (2) are the coordinates of the unknown sensor node P;
when the rest of the beacons are not all on the connection line of the beacons A and B, any beacon C' which is out of the connection line of the beacons A and B is selected, namely
Figure BDA00026558016200000517
Computing
Figure BDA00026558016200000518
And
Figure BDA00026558016200000519
up to
Figure BDA00026558016200000520
When, when
Figure BDA00026558016200000521
When is, P1Is thatKnowing the coordinates of the sensor node P, otherwise P2The coordinates of (2) are the coordinates of the unknown sensor node P; wherein, the distance from the unknown sensor node P to the beacon node C' is recorded as LC′PAccording to node P1Node P2Coordinate solving beacon node C' and node P1Is a distance of
Figure BDA0002655801620000061
C' and node P2Is a distance of
Figure BDA0002655801620000062
Wherein, each group of k groups of beacon nodes calculates the coordinates of an unknown sensor node P, and the coordinates of k unknown sensor nodes P are obtained in total, and are expressed as:
Figure BDA0002655801620000063
wherein e is more than or equal to 0 and less than or equal to k, and f is more than or equal to 0 and less than or equal to k-e;
if the unknown sensor node P is determined, the node P is selected1Comparing e d (i, P)1) Value of (3), node P corresponding to the minimum value1As an unknown sensor node P; if the node P is selected2Comparing f numbers of d (i, P)2) Value of (3), node P corresponding to the minimum value2As an unknown sensor node P; wherein d (i, P)1) Indicating the distance from the ith beacon node to the unknown sensor node P and the distance from the ith beacon node to the node P1Distance difference of d (i, P)2) Indicating the distance from the ith beacon node to the unknown sensor node P and the distance from the ith beacon node to the node P2The distance difference of (a).
Different from the prior art, the optimal positioning method for the intersection point of two circles of the unknown sensor node of the wireless sensor network firstly converts the signal intensity value received between the nodes into the distance value between the nodes, and calculates two possible coordinates of the unknown sensor node P by using the known position coordinates of any 2 beacon nodes A, B around the unknown sensor node: node (C)Point P1Node P2And judging the node coordinates of the unknown sensor to finally determine the node coordinates of the unknown sensor to finish positioning. The method of the invention reduces the complexity of the algorithm, reduces the energy consumption of the node and prolongs the life cycle of the node.
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The invention will be further described with reference to the accompanying drawings and examples, in which:
fig. 1 is a schematic diagram of a method for preferentially positioning two circle intersections of unknown sensor nodes in a wireless sensor network according to the present invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
Referring to fig. 1, the invention provides a method for preferentially positioning an intersection point of two circles of an unknown sensor node of a wireless sensor network, which comprises the following steps:
the unknown sensor node P receives signals of beacon nodes which can be received around, and converts the received signal strength value into a distance value between the unknown sensor node and the corresponding beacon node;
collecting coordinates of any two beacon nodes A and B, and calculating the distance between the beacon nodes A and B and the distance between an unknown sensor node and the beacon nodes A and B;
judging whether the unknown sensor node P is collinear with the beacon nodes A and B, and if so, calculating the coordinate of the unknown sensor node P according to the coordinates of the beacon nodes A and B;
if not collinear, setting the node P1、P2The unknown sensor node P is the node P if the intersection point of two circles is formed by taking the distance between the beacon node A, B and the unknown sensor node P as the radius and taking the beacon node A, B as the center of the circle1、P2One of the computing nodes P1、P2Coordinates;
determining the coordinate value of the unknown sensor node P:
judging whether the other beacons except the beacons A and B are all positioned on the connection line of the beacons A and B:
if all the beacon nodes are not on the connection line of the beacon nodes A and B, any beacon node C' which is positioned outside the connection line of the beacon nodes A and B is selected, and the unknown sensor nodes P and the unknown nodes P are calculated1And node P2The distance from the beacon node C' is,
when the distance between the unknown sensor node P and the beacon node C' and the node P1The absolute value of the distance difference of the distance from the beacon node C 'is smaller than the distance from the unknown sensor node P to the beacon node C' and the node P2Absolute value of distance difference of distance to the beacon node C', P1Is the coordinate of the unknown sensor node P, otherwise P2The coordinates of (a) are the coordinates of the unknown sensor node P;
if all the beacon nodes are positioned on the connecting line of the beacon nodes A and B, selecting a beacon node C, calculating a & lt BCP in a triangular CBP (communication based protocol), and calculating a & lt BCP in the triangular CBP1Middle calculation of ≈ BCP1，∠P1CP＝∠BCP-∠BCP1，
In the triangle PCP1And triangular PCP2In the method, unknown sensor nodes P and nodes P are calculated1And node P2When the distance between the node P and the unknown sensor node P is not known1Is less than the unknown sensor node P and the node P2At a distance of, node P1The coordinates of (1) are the coordinates of the unknown sensor node P, otherwise the node P2The coordinates of (2) are the coordinates of the unknown sensor node P;
setting the number of the beacon nodes of the unknown sensor node P receiving signals as m, wherein m is more than 2, the beacon nodes at any 2 positions are taken as a group, and two beacon nodes in any group are represented by A and B; a total of k sets of beacon nodes are obtained, wherein,
Figure BDA0002655801620000081
setting the coordinates of e unknown sensor nodes P as the selection node P according to the calculated coordinates of k unknown sensor nodes P1The coordinates of f unknown sensor nodes P are selected nodes P2If f is k-e, then:
if the selected unknown sensor node P is the node P1Comparing the coordinates of e unknown sensor nodes P, and calculating the distance from each beacon node to the unknown sensor nodes P and the distance from each beacon node to the unknown sensor nodes P1The coordinate with the minimum distance difference is used as the coordinate of the unknown sensor node P;
if the selected unknown sensor node P is the node P2Comparing the coordinates of the f unknown sensor nodes P, and calculating the distance from each beacon node to the unknown sensor nodes P and the distance from each beacon node to the nodes P2The distance difference of the distance of (1), and the coordinate at which the distance difference is the smallest is taken as the coordinate of the unknown sensor node P.
The positioning method of the unknown sensor node of the wireless sensor network provided by the invention is realized by the following steps:
s1: the unknown sensor node P receives signals of surrounding beacon nodes and converts the strength value of the received signals into a distance value between the unknown sensor node and the beacon nodes;
s2: setting the number of beacons which can receive signals by the unknown sensor node P to be m, wherein m is greater than 2, the beacons at any 2 positions are taken as a group, k groups are provided in total, and two beacons in any group are represented by A, B;
s3: coordinates A (x) of two beacons A, B in either group are collectedA,yA)，B(xB,yB) (ii) a Calculating the distance L between the beacon node A and the beacon node BAB(ii) a The distance from the beacon node a to the unknown sensor node P obtained in step S1 is denoted as LAPAnd the distance between the unknown sensor node P and the beacon node B is recorded as LPB；
S4: judging whether the three points of the unknown sensor node P, the beacon node A and the beacon node B are collinear: when L isAB＝LAP+LPBOr LAB＝|LAP-LPBIf the two points are collinear, the three points are judged to be collinear,
LAB＝LAP+LPBtime, unknown sensor node P bitBetween the beacons A, B, the unknown sensor node P has coordinates of
Figure BDA0002655801620000091
Figure BDA0002655801620000092
LAB＝LAP-LPBWhen the unknown sensor node P is positioned at the extension line of the beacon node A, B, the coordinate of the unknown sensor node P is
Figure BDA0002655801620000093
Figure BDA0002655801620000094
LAB＝LPB-LAPWhen the unknown sensor node P is positioned at the extension line of the beacon node B, A, the coordinate of the unknown sensor node P is
Figure BDA0002655801620000095
Figure BDA0002655801620000096
When L isAB≠LAP+LPBOr LAB≠|LAP-LPBWhen the nodes are not collinear, the node P is judged1、P2Is centered around the beacon A, B and is denoted by LAP、LBPThe unknown sensor node P is the node P which is the intersection point of two circles formed by the radius1Node P2One of the two sets a node P1At a position clockwise of the line A to B, node P2At a position counterclockwise of the line A to B, node P1Node P2Coordinates are respectively P1(xP1,yP1)、P2(xP2,yP2)；
S5: solving according to the following system of equations
Figure BDA0002655801620000108
Figure BDA0002655801620000109
Node P can be obtained1Node P2Coordinates;
s6: unknown sensor node P coordinate value selection
(1) If all the beacon nodes are on the connection line of the beacon nodes A and B, the distances from the beacon nodes to two possible nodes are equal, and one of the beacon nodes C and the beacon node P is selected1Node P2Symmetrical about a straight line CB, i.e.
Figure BDA0002655801620000101
At this time, the vector subtraction is adopted,
Figure BDA0002655801620000102
the distance from the unknown sensor node P to the beacon node C is recorded as LCPAccording to node P1Node P2The coordinates can be found out from the beacon C, B and the node P1Is a distance of
Figure BDA0002655801620000103
And
Figure BDA0002655801620000104
c and node P2Is a distance of
Figure BDA0002655801620000105
In the case of a triangular CBP, the,
LBP 2＝LCB 2+LCP 2-2·LCB·LCP·cos∠BCP，
therefore, it is not only easy to use
Figure BDA0002655801620000106
In the triangle CBP1In (1),
Figure BDA0002655801620000107
therefore, it is not only easy to use
Figure BDA0002655801620000111
Node P1And a node P2Is symmetrical about the straight line CB, then ≈ P2CB＝∠BCP1，∠P1CP＝∠BCP-∠BCP1；
In the triangle PCP1In (1),
Figure BDA0002655801620000112
is unknown sensor node P to node P1I.e. the vector of the beacon C to the unknown sensor node P
Figure BDA0002655801620000113
With beacon node C to node P1Vector of (2)
Figure BDA0002655801620000114
Modulo of vector difference of (2), in triangular PCP2In (1),
Figure BDA0002655801620000115
is a point unknown sensor node P to node P2I.e. the vector of the beacon C to the unknown sensor node P
Figure BDA0002655801620000116
With beacon node C to node P2Vector of (2)
Figure BDA0002655801620000117
The modulus of the vector difference of (a),
Figure BDA0002655801620000118
Figure BDA0002655801620000119
Figure BDA00026558016200001110
Figure BDA00026558016200001111
to obtain
Figure BDA00026558016200001112
And
Figure BDA00026558016200001113
up to
Figure BDA00026558016200001114
When in use
Figure BDA00026558016200001115
Time, node P1The coordinates of (1) are the coordinates of the unknown sensor node P, otherwise the node P2The coordinates of (2) are the coordinates of the unknown sensor node P;
(2) if all the beacons are not on the connection line of the beacons A and B, any beacon C' outside the connection line of the beacons A and B is selected, namely
Figure BDA00026558016200001116
Computing
Figure BDA00026558016200001117
And
Figure BDA00026558016200001118
up to
Figure BDA00026558016200001119
When, when
Figure BDA00026558016200001120
Time, node P1The coordinates of (1) are the coordinates of the unknown sensor node P, otherwise the node P2The coordinates of (2) are the coordinates of the unknown sensor node P; wherein, the distance from the unknown sensor node P to the beacon node C' is recorded as LC′PAccording to node P1Node P2The coordinates can be obtained from the beacon node C' and the node P1Is a distance of
Figure BDA0002655801620000121
C' and node P2Is a distance of
Figure BDA0002655801620000122
S7: coordinate finalization
Each of the k sets of beacons, using steps S3-S6, obtains the coordinates of an unknown sensor node P, thus obtaining the coordinates of k unknown sensor nodes P in total
Figure BDA0002655801620000123
Figure BDA0002655801620000124
Wherein e is more than or equal to 0 and less than or equal to k, and f is more than or equal to 0 and less than or equal to k-e.
If the node P is selected1Comparing e d (i, P)1) The coordinate corresponding to the minimum value is the coordinate of the unknown sensor node P; if the node P is selected2Comparing f numbers of d (i, P)2) Is/are as followsThe coordinate corresponding to the minimum value is the coordinate of the unknown sensor node P, wherein d (i, P)1) Indicating the distance from the ith beacon to the point P and the distance from the ith beacon to the point P1Distance difference of points, d (i, P)2) Indicating the distance from the ith beacon to the point P and the distance from the ith beacon to the point P2The distance difference of the points.
The method of the invention firstly uses the signal intensity value received between the nodes to be converted into the distance value between the nodes, and uses the known position coordinates of any 2 beacon nodes A, B around the unknown sensor node to solve two possible nodes P of the unknown sensor node1Node P2And selecting in k coordinates, and finally determining the coordinates of the unknown sensor nodes to finish positioning. The method of the invention reduces the complexity of the algorithm, reduces the energy consumption of the node and prolongs the life cycle of the node.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (5)

1. A method for preferentially positioning two circle intersections of unknown sensor nodes in a wireless sensor network is characterized by comprising the following steps:
the unknown sensor node P receives signals of beacon nodes which can be received around, and converts the received signal strength value into a distance value between the unknown sensor node and the corresponding beacon node;
collecting coordinates of any two beacon nodes A and B, and calculating the distance between the beacon nodes A and B and the distance between an unknown sensor node and the beacon nodes A and B;
judging whether the unknown sensor node P is collinear with the beacon nodes A and B, and if so, calculating the coordinate of the unknown sensor node P according to the coordinates of the beacon nodes A and B;
if not collinear, setting the node P1、P2The unknown sensor node P is the node P if the intersection point of two circles is formed by taking the distance between the beacon node A, B and the unknown sensor node P as the radius and taking the beacon node A, B as the center of the circle1、P2One of the computing nodes P1、P2Coordinates;
determining the coordinate value of the unknown sensor node P:
judging whether the other beacons except the beacons A and B are all positioned on the connection line of the beacons A and B:
if all the beacon nodes are not on the connection line of the beacon nodes A and B, any beacon node C' which is positioned outside the connection line of the beacon nodes A and B is selected, and the unknown sensor nodes P and the unknown nodes P are calculated1And node P2The distance from the beacon node C' is,
when the distance between the unknown sensor node P and the beacon node C' and the node P1The absolute value of the distance difference of the distance from the beacon node C 'is smaller than the distance from the unknown sensor node P to the beacon node C' and the node P2Absolute value of distance difference of distance to the beacon node C', P1Is the coordinate of the unknown sensor node P, otherwise P2The coordinates of (a) are the coordinates of the unknown sensor node P;
if all the beacon nodes are positioned on the connecting line of the beacon nodes A and B, selecting a beacon node C, calculating a & lt BCP in a triangular CBP (communication based protocol), and calculating a & lt BCP in the triangular CBP1Middle calculation of ≈ BCP1，∠P1CP＝∠BCP-∠BCP1，
In the triangle PCP1And triangular PCP2In the method, unknown sensor nodes P and nodes P are calculated1And node P2When the distance between the node P and the unknown sensor node P is not known1Is less than the unknown sensor node P and the node P2At a distance of, node P1The coordinates of (1) are the coordinates of the unknown sensor node P, otherwise the node P2The coordinates of (2) are the coordinates of the unknown sensor node P;
setting the number of the beacon nodes of the unknown sensor node P receiving signals as mM is more than 2, beacon nodes at any 2 positions are taken as a group, and two beacon nodes in any group are represented by A and B; a total of k sets of beacon nodes are obtained, wherein,
Figure FDA0002655801610000021
setting the coordinates of e unknown sensor nodes P as the selection node P according to the calculated coordinates of k unknown sensor nodes P1The coordinates of f unknown sensor nodes P are selected nodes P2If f is k-e, then:
if the selected unknown sensor node P is the node P1Comparing the coordinates of e unknown sensor nodes P, and calculating the distance from each beacon node to the unknown sensor nodes P and the distance from each beacon node to the unknown sensor nodes P1The coordinate corresponding to the minimum value of the distance difference is used as the coordinate of the unknown sensor node P;
if the selected unknown sensor node P is the node P2Comparing the coordinates of the f unknown sensor nodes P, and calculating the distance from each beacon node to the unknown sensor nodes P and the distance from each beacon node to the nodes P2The coordinate corresponding to the minimum value of the distance difference is used as the coordinate of the unknown sensor node P.
2. The method for preferentially locating the intersection point of two circles of an unknown sensor node of a wireless sensor network according to claim 1, wherein in the step of judging whether the unknown sensor node P is collinear with the beacon nodes A and B,
coordinates A (x) of the beacon A, B are setA,yA)、B(xB,yB) Calculating the distance L between the beacon node A and the beacon node BAB(ii) a The unknown sensor node P receives signals of surrounding receivable beacons, the received signal strength value is converted into a distance value between the unknown sensor node and the corresponding beacon, and the distance between the unknown sensor node P and the beacon A, B is recorded as LAPAnd LPB；
When L isAB＝LAP+LPBOr LAB＝|LAP-LPBIf the two points are collinear, the three points are judged to be collinear,
LAB＝LAP+LPBwhen the unknown sensor nodes P are located between the beacon nodes A, B, the coordinates of the unknown sensor nodes P are
Figure FDA0002655801610000031
Figure FDA0002655801610000032
LAB＝LAP-LPBWhen the unknown sensor node P is positioned at the extension line of the beacon node A, B, the coordinate of the unknown sensor node P is
Figure FDA0002655801610000033
Figure FDA0002655801610000034
LAB＝LPB-LAPWhen the unknown sensor node P is positioned at the extension line of the beacon node B, A, the coordinate of the unknown sensor node P is
Figure FDA0002655801610000038
Figure FDA0002655801610000035
3. The wireless sensor network unknown sensor node two-circle intersection point preferred positioning method according to claim 1Method, characterized in that when the unknown sensor node P is not co-linear with the beacon A, B, the node P1Node P2Coordinates are respectively P1(xP1,yP1)、P2(xP2,yP2)；
Then there is
Figure FDA0002655801610000036
Figure FDA0002655801610000037
Solving node P according to formula1Node P2The coordinates of (a).
4. The method for preferentially locating the intersection point of two circles of unknown sensor nodes in the wireless sensor network according to claim 1, wherein if all the beacon nodes are located on the connection line of the beacon nodes A and B, each beacon node is connected to the node P1And node P2Is equal, and one beacon node C, node P is selected1Node P2Symmetrical about the straight line CB, using vector subtraction,
Figure FDA0002655801610000041
the distance from the unknown sensor node P to the beacon node C is recorded as LCPAccording to node P1Node P2Coordinate determination beacon C, B and node P1Is a distance of
Figure FDA0002655801610000042
And
Figure FDA0002655801610000043
c and node P2Is a distance of
Figure FDA0002655801610000044
In the case of a triangular CBP, the,
LBP 2＝LCB 2+LCP 2-2·LCB·LCP·cos∠BCP
therefore, it is not only easy to use
Figure FDA0002655801610000045
In the triangle CBP1In (1),
Figure FDA00026558016100000414
therefore, it is not only easy to use
Figure FDA0002655801610000046
Node P1Node P2Symmetrical about a straight line CB, then
∠P2CB＝∠BCP1，∠P1CP＝∠BCP-∠BCP1
In the triangle PCP1In (1),
Figure FDA0002655801610000047
is unknown sensor node P to node P1Is a vector of the beacon node C to the unknown sensor node P
Figure FDA0002655801610000048
With beacon node C to node P1Vector of (2)
Figure FDA0002655801610000049
Modulo of the vector difference of (a);
in the triangle PCP2In (1),
Figure FDA00026558016100000410
is unknown sensor node P to node P2I.e. the vector of the beacon C to the unknown sensor node P
Figure FDA00026558016100000411
With beacon node C to node P2Vector of (2)
Figure FDA00026558016100000412
Modulo of the vector difference of (a); then there is a change in the number of,
Figure FDA00026558016100000413
Figure FDA0002655801610000051
Figure FDA0002655801610000052
Figure FDA0002655801610000053
to obtain
Figure FDA0002655801610000054
And
Figure FDA0002655801610000055
when in use
Figure FDA0002655801610000056
Time, node P1The coordinates of (1) are the coordinates of the unknown sensor node P, otherwise the node P2The coordinates of (2) are the coordinates of the unknown sensor node P;
when the rest of the beacons are not all on the connection line of the beacons A and B, any beacon C' which is out of the connection line of the beacons A and B is selected, namely
Figure FDA0002655801610000057
Computing
Figure FDA0002655801610000058
And
Figure FDA0002655801610000059
up to
Figure FDA00026558016100000510
When, when
Figure FDA00026558016100000511
When is, P1The coordinates of (1) are the coordinates of the unknown sensor node P, otherwise P2The coordinates of (2) are the coordinates of the unknown sensor node P; wherein, the distance from the unknown sensor node P to the beacon node C' is recorded as LC′PAccording to node P1Node P2Coordinate solving beacon node C' and node P1Is a distance of
Figure FDA00026558016100000512
C' and node P2Is a distance of
Figure FDA00026558016100000513
5. The method for preferentially positioning the intersection point of two circles of unknown sensor nodes of the wireless sensor network according to claim 1, wherein each of k groups of beacon nodes calculates the coordinates of one unknown sensor node P, and the coordinates of k unknown sensor nodes P are obtained in total and are expressed as:
Figure FDA00026558016100000514
wherein e is more than or equal to 0 and less than or equal to k, and f is more than or equal to 0 and less than or equal to k-e; if the unknown sensor node P is determined, the node P is selected1Comparing e d (i, P)1) Value of (3), node P corresponding to the minimum value1As an unknown sensor node P; if the node P is selected2Comparing f numbers of d (i, P)2) Value of (3), node P corresponding to the minimum value2As an unknown sensor node P; wherein d (i, P)1) Indicating the distance from the ith beacon node to the unknown sensor node P and the distance from the ith beacon node to the node P1Distance difference of d (i, P)2) Indicating the distance from the ith beacon node to the unknown sensor node P and the distance from the ith beacon node to the node P2The distance difference of (a).
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