CN113543021B - Multi-hop positioning method for anti-anomaly estimation - Google Patents
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Abstract
The invention provides a multi-hop positioning scheme capable of effectively resisting abnormal estimation in a complex network environment. The scheme of the invention can be conveniently embedded into the position estimation stage of various classical multi-hop positioning methods, firstly, a rectangular area covering a node to be positioned is obtained by adopting a Bounding-Box algorithm, and whether the estimation result is abnormal or not is judged according to whether the estimation result of the classical multi-hop positioning is in the rectangular area or not; when the estimated position of the node to be positioned is found to be outside the rectangular area, immediately setting an abnormal estimated position to have a new anchor node; secondly, the anchor node and the virtual anchor node obtain a smaller rectangular area containing the node to be positioned with the help of a Bounding-Box algorithm; then, on the basis of a smaller rectangular area, a weighting function is designed according to the scheme of the invention, and the weight is adjusted according to different distances from the anchor node to the node to be positioned; and finally, solving the position of the final node to be positioned by using a weighted Bounding-Box method with the help of a weight function.
Description
Technical Field
The invention relates to an anti-abnormal estimation multi-hop positioning scheme, which is particularly suitable for being used in a complex environment and belongs to the field of wireless network technology application.
Background
Location information of network devices in a network is often one of the prerequisites for developing network applications such as routing, topology control, boundary discovery, etc. The communication range of the network device is limited by the device energy, when the distance between two pairs of devices is larger than the maximum communication range, the two pairs of devices use other relay devices to forward information to realize communication, and this communication mode is called multi-hop communication. The multi-hop distance between the node to be positioned and the anchor node is estimated, and then the position of the node to be positioned is estimated by adopting multi-edge estimation, which is called multi-hop positioning.
The positioning result of multi-hop positioning is susceptible to estimation errors between the node to be positioned and the anchor node. When network equipment is distributed in a complex environment, network topology is irregular due to the problems of obstacles, node power loss and the like. In an irregular network, anchor nodes used for position estimation are easily distributed in a strip area, so that the anchor nodes are in-line or approximately in-line. Inevitable estimation errors among nodes can greatly amplify the estimation errors of the nodes to be positioned when the anchor nodes are collinear or approximately collinear, so that abnormal estimation errors are caused.
DV-hop, LAEP and ARFL methods are typical multi-hop positioning methods that have been widely used for positioning services in a regular network environment. When the device node is arranged in a complex environment, the positioning accuracy obtained by applying the classical positioning method is sharply reduced, so that the application is limited. The multi-hop positioning scheme for resisting abnormal estimation provided by the invention corrects the abnormal estimation only by calculation with low complexity, so that the multi-hop positioning is suitable for application scenes of complex environments.
Disclosure of Invention
The invention provides a multi-hop positioning scheme for anti-anchor abnormal estimation, which better solves the problem of abnormal estimation results caused by distance estimation errors, collinear anchor nodes and approximately collinear multi-hop positioning, and enables a classical multi-hop positioning method to be applied under a complex scene after slightly increasing the steps of detection and correction.
The invention adopts the following technical scheme:
1. in a complex scene, a classic multi-hop positioning is adopted to obtain a preliminary estimated position of a node to be positioned.
2. And determining whether the estimated position is abnormal or not by judging whether the initial estimated position of the node to be positioned is in the range or not by adopting the rectangular range acquired by the Bounding-Box.
3. And (3) through the detection of the step 2, if the estimated position of the node to be positioned is found to be abnormal, assuming that a new anchor node exists in the estimated position obtained in the step 1, and naming the new anchor node as a virtual anchor node. And simultaneously calculating the distance from the virtual anchor node to the nearest anchor node, and enabling the distance to be the estimated distance from the virtual anchor node to the node to be positioned.
4. And re-running the Bounding-Box algorithm by combining the virtual anchor node, thereby obtaining a smaller rectangular area covering the to-be-positioned.
5. Four corners of the region are acquired in step 4, and the distances from the four corners to the respective anchor nodes (including the virtual anchor nodes) are calculated. The distance and the distance from the anchor node (including the virtual anchor node) to the node to be positioned are combined with each other to form a weight function.
6. And 5, by utilizing the weight function designed in the step 5 and combining a Bounding-Box algorithm, giving a small weight to an anchor node far away from the node to be positioned and a large weight to an anchor node close to the node to be positioned, so that the estimated position of the node to be positioned is closer to the real position.
Advantageous effects
The invention is characterized in that a plurality of existing classical multi-hop positioning methods which are not suitable for operation in complex environments are made available. On the basis of a classical multi-hop positioning method, firstly, the estimated position of a node to be positioned is judged abnormally; then, an abnormal estimation position is utilized, a virtual anchor node is assumed to exist in the abnormal estimation position, and meanwhile, the distance from the virtual anchor node to the nearest anchor node is made to be the estimation distance from the virtual anchor node to the node to be positioned; then, the virtual anchor node is applied to the running process of a Bounding-Box algorithm, a smaller rectangular region containing a node to be positioned is obtained, and a weighting function is obtained on the basis of the sub-region; and finally, obtaining an estimated position close to the real position of the node to be positioned with the help of the weighting function. By the method, more accurate estimation results can be obtained in a complex environment.
Drawings
In order to more clearly illustrate the embodiments of the present invention, reference will now be made briefly to the accompanying drawings, which are used to illustrate the embodiments:
fig. 1 is a flow chart of the operation of a multi-hop positioning scheme for anti-anomaly estimation.
FIG. 2 is a schematic diagram of the Bounding-Box operation effect; the method is a schematic diagram of adopting the Bounding-Box to obtain the area covering the node to be positioned under the condition of distance estimation error.
Fig. 3 is a schematic diagram of a smaller coverage area containing a node to be positioned, which is obtained by combining a virtual anchor node with a Bounding-Box algorithm.
FIG. 4 is a comparison of the results of a classical multi-hop positioning algorithm run with the help of the present invention in a C-network; in embodiment 1 of the present invention, the device nodes are distributed in a complex network topology environment, that is, a C-topology, and the operation results of the classical DV-hop, peep, and ARFL algorithms and the operation result graph of the DV-hop, peep, and ARFL algorithms after the present invention is applied are adopted. Wherein: (a) the equipment nodes are randomly distributed in a C-shaped network topology; (b) DV-hop calculation result, RMS 120.3; (c) with the help of the present invention, the DV-hop calculation result, RMS — 27.22; (d) the LAEP calculation result, RMS 256.42; (e) the result of the LAEP calculation with the aid of the present invention, RMS 16.67; (f) ARFL calculation result, RMS 57.48; (g) with the aid of the invention, ARFL calculation results, RMS-46.1.
Fig. 5 is a comparison of the results of a classical multi-hop positioning algorithm run with the help of the invention in a sigmoid network; in embodiment 1 of the present invention, the device nodes are distributed in a complex network topology environment, that is, an S-shaped topology, and the operation results of the classical DV-hop, peep, and ARFL algorithms and the operation result graph of the DV-hop, peep, and ARFL algorithms after the present invention is applied are adopted. Wherein: (a) the device nodes are randomly distributed in an S-shaped network topology; (b) DV-hop calculation result, RMS 103.58; (c) with the help of the present invention, the DV-hop calculation result, RMS 39.63; (d) the LAEP calculation result, RMS 333.7; (e) with the aid of the present invention, the result of the LAEP calculation, RMS ═ 22.2; (f) ARFL calculation result, RMS 67.26; (g) with the aid of the invention, ARFL calculation results, RMS 42.41.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The multi-hop positioning method for anti-anomaly estimation comprises the following steps, as shown in fig. 1:
step 1: preliminarily estimating the position of a node to be positioned by using a classical multi-hop positioning method;
the step 1 of obtaining the estimated position of the original multi-hop positioning node to be positioned specifically includes:
suppose there are n nodes in a complex network, where the first m are anchor nodes a of known locations, whose locations are:
ca＝(xa,ya),a＝1,…,m (1)
the rest n-m nodes are nodes to be positioned. Performing classical multi-hop positioning algorithms (e.g. using a multi-hop algorithm)
DV-hop：D.Niculescu and B.Nath.DV Based Positioning in Ad Hoc Networks[J].Telecommunication Systems,2003,22(1-4):267-280.；
LAEP：Yun W,Wang X,Wang D,Agrawal,D.P.Range-Free Localization Using Expected Hop Progress in Wireless Sensor Networks[J].IEEE Transactions on Parallel&Distributed Systems,2009,20(10):1540-1552.；
ARFL: obtaining the estimated position of the node u to be positioned, namely the estimated position of the node u to be positioned after Zaidi S, Assaf AE, Affes S, et al
Errors in the estimated distance between the anchor node and the node to be located are inevitable. Furthermore, particularly in complex network topologies, anchor nodes are susceptible to being placed in a number of narrow and long regions, rendering them collinear or nearly collinear. The occurrence of the two results easily and obviously amplifies position estimation errors, so that the estimated position of the node to be positioned is seriously deviated from the actual position.
Step 2: judging the estimated position by adopting a Bounding-Box algorithm (simple S N, science S.distributed localization in wireless ad hoc networks [ R ]. Technical Report UCB/ERL,2002,2:1-13.), judging whether the estimated position of the node to be positioned is in a rectangular area set by the Bounding-Box, if so, performing abnormal estimation, otherwise, outputting the estimated position;
in the step 2, after the estimated position of the node to be positioned is obtained in the step 1, a Bounding-Box algorithm is adopted to evaluate whether the estimated position is at a proper position. u the proper estimated position should be located at,
wherein, the first and the second end of the pipe are connected with each other,
is the estimated distance from the node u to be positioned to the anchor node a。
And if the estimated position is not in the range of the formula (3), the position estimation is abnormal, otherwise, the estimated position is output as the final position of the node to be positioned.
And step 3: if abnormal estimation occurs, the abnormal estimation position is set as a new anchor node (virtual anchor node) position, and the distance from the virtual anchor node to the nearest anchor node is set as the estimated distance from the virtual anchor node to the node to be positioned;
in step 3, the estimated position of the node u to be positioned is found through step 2
If the estimated position is not within the coverage range of the formula (3), the estimated position is set as a new anchor node (virtual anchor node) around the node u to be positioned, namely
And finding out the anchor node na nearest to the virtual anchor node and making the distance between the anchor node na and the virtual anchor node
The estimated distance from the node u to be positioned to the virtual anchor node va.
And 4, step 4: after introducing the virtual anchor node, obtaining a smaller rectangular area containing the node to be determined by cooperating with a Bounding-Box algorithm;
in the step 4, the virtual anchor node obtained in the step 3 is introduced, the Bounding-Box algorithm is operated again, and a smaller area range containing the node to be positioned is obtained, namely the estimated position of the node to be positioned is positioned
And 5: calculating the distance from four corners of the rectangular region to surrounding anchor nodes, and then constructing a weight function with the estimated distance from the corresponding anchor node to the node to be positioned;
in said step 5, a weight function is constructed, i.e.
Wherein the content of the first and second substances,
representing the distance from the anchor node (virtual anchor node) to the four corners of the region obtained by the formula (4);
representing the estimated distance of the anchor node (virtual anchor node) to the node u to be located.
Step 6: and (5) combining a Bounding-Box algorithm to obtain a final positioning result with the help of the weight function constructed in the step 5.
In the step 6, the weighted estimated position, that is, the weighted estimated position, is obtained by using the weight function in the step 5 and combining the estimated position obtained by the Bounding-Box algorithm in the step 4
Equation (6) obtains the estimated position as the corrected position output where the position estimation abnormality occurs.
The method according to the invention is described in detail below with reference to figures 2 and 3,
the estimated position of the node to be positioned is obtained by adopting a classical multi-hop positioning algorithm (such as DV-hop, LAEP and ARFL), and the estimated position of the node to be positioned is far deviated from the real position of the node to be positioned due to the complex network environment. As shown in FIG. 2, a1,a2,a3The three anchor nodes have real distances to the node u to be positioned as a dotted line in the graph, the estimated distance is a solid line in the graph, and the difference between the solid line and the dotted line means a distance estimation error. Due to the complex network environment, the estimated position of the node to be positioned (u in the figure)o) Far from its true position. The dashed rectangular area in fig. 2 is obtained using the Bounding-Box algorithm. (in this example, the estimated position u of the node to be located is estimated using the Bounding-Box algorithmoMaking a judgment to be determinedWhether the estimated position of the bit node is in the rectangular area set by Bounding-Box or not, and if the estimated position of the bit node is outside the rectangular area, abnormal estimation occurs, as shown in fig. 2 uoAnd (4) abnormal estimation occurs outside the rectangular area set by the Bounding-Box. )
If abnormal estimation occurs, the abnormal estimation position is set as a new anchor node (virtual anchor node) position, and the distance from the virtual anchor node to the nearest anchor node is set as the estimated distance from the virtual anchor node to the node to be positioned; specifically in fig. 2:
will uoAfter the virtual anchor node is upgraded, the nearest anchor node is selected and u is orderedoTo the nearest anchor node a3Is a distance u to uoThe estimated distance of (2). As shown in fig. 3, after the virtual anchor node is included, the Bounding-Box algorithm is executed again, so that a smaller rectangular area (solid line rectangle) covering the node u to be located can be obtained.
As shown in fig. 3, in the Bounding-Box acquisition rectangular region, the true position of the node u to be located is more biased toward the anchor node with a longer distance. Therefore, the invention designs a weight function by utilizing the distance from the four corners to each anchor node (including the virtual anchor node) and the estimated distance from the anchor node to the node to be positioned. The estimated position is adjusted by a weight function.
The advantages of the invention are illustrated below with reference to examples:
example 1:
in the wireless multi-hop network application, the topology of the wireless network is irregular due to the power loss of the nodes or the existence of obstacles and the like (the example of the present invention takes C-shaped and S-shaped networks as examples, as shown in fig. 4 and 5). There are n device nodes in an irregular network, the first m device nodes being anchor nodes whose locations are known a priori. The length and width of the irregular network is 300 × 300, in this example, n is 300, m is 30, and the maximum communication radius r of the device is 35. Fig. 4a and 5a are communicated C-shaped and S-shaped network topological graphs, wherein a square is an anchor node, and a solid circle is a node to be positioned. When the distance between the device nodes is smaller than or equal to r, a connecting line exists between the device nodes, otherwise, the device nodes communicate through the relay node.
In step 1, the position of a node to be positioned is preliminarily estimated by adopting classical multi-hop positioning, and DV-hop, LAEP and ARFL algorithms are respectively used in C-shaped and S-shaped irregular networks in figures 4b, d and f and figures 5b, d and f. In the positioning result graph, triangles represent the estimated positions of the nodes to be positioned, connecting lines between the triangles and a solid circle (the real positions of the nodes to be positioned) represent estimation errors, and the longer the length of the connecting lines, the larger the errors are, and the smaller the errors are otherwise. In order to facilitate the evaluation of the positioning accuracy, the invention also adopts root mean Square error (RMS) to quantify the positioning error, and the RMS formula is expressed as:
wherein (x)u,yu) And
respectively, the true position and the estimated position of the node to be positioned.
According to this embodiment, the RMS values of DV-hop, LAEP and ARFL algorithms in a C-shaped irregular network are respectively: 120.3, 256.42, and 57.48; whereas in sigmoid networks the RMS values of the DV-hop, LAEP and ARFL algorithms are: 103.58, 333.7, and 67.26. On the basis of DV-hop, LAEP and ARFL algorithms, the method greatly promotes the positioning accuracy, and in a C-shaped network, the method promotes the accuracy of the DV-hop, LAEP and ARFL algorithms to 27.22, 16.67 and 46.1; in the S-shaped network, the invention improves the precision of DV-hop, LAEP and ARFL algorithms to 39.63, 22.2 and 42.41. It is clear from both the illustration and the evaluation index RMS that the present invention greatly facilitates positioning accuracy.
The above description is only a preferred embodiment of the present invention, and the scope of the present invention is not limited to the above embodiment, but equivalent modifications or changes made by those skilled in the art according to the disclosure of the present invention should be included in the scope of the present invention as set forth in the appended claims.
Claims (1)
1. An anti-anomaly estimated multi-hop positioning method, characterized in that the method comprises the following steps:
step 1: preliminarily estimating the position of a node to be positioned by using a classical multi-hop positioning method;
assuming presence in a complex network
A node, wherein
Anchor node of known position
Their positions are:
the rest of
Each node is a node to be positioned; obtaining a node to be positioned after executing a classical multi-hop positioning algorithm
Estimate position, i.e.
The error of the estimated distance between the anchor node and the node to be positioned is inevitable; furthermore, anchor nodes are susceptible to being placed in narrow and long areas, especially in complex networks, rendering them collinear or nearly collinear; due to the occurrence of the two, position estimation errors are easily and obviously amplified, so that the estimated position of the node to be positioned is seriously deviated from the actual position, and abnormal estimation occurs;
step 2: judging the estimated position of the node to be positioned by adopting a Bounding-Box algorithm, judging whether the estimated position of the node to be positioned is in a rectangular area set by the Bounding-Box,
after obtaining the estimated position of the node to be positioned, adopting a Bounding-Box algorithm to evaluate whether the estimated position is at a proper position;
the proper estimated position should be located at,
wherein the content of the first and second substances,
is a node to be positioned
To anchor node
The estimated distance of (2);
if the estimated position is not in the range of the formula (3), the position estimation is abnormal, otherwise, the estimated position is output as the final position of the node to be positioned;
and step 3: if the abnormal estimation occurs, the abnormal estimation position is set as a new anchor node, namely a virtual anchor node position, and the distance from the virtual anchor node to the nearest anchor node is set as the estimated distance from the virtual anchor node to the node to be positioned;
the node to be positioned is discovered through the step 2
Is estimated to be the position
If the node is not in the coverage range of the formula (3), immediately setting the estimated position as the node to be positioned
Surrounding new anchor nodes, i.e. virtual anchor nodes, i.e.
And finding out the anchor node nearest to the virtual anchor node
Distance between them
For a node to be positioned
To virtual anchor node
The estimated distance of (2);
and 4, step 4: after introducing the virtual anchor node, obtaining a smaller rectangular area containing the node to be determined by cooperating with a Bounding-Box algorithm;
and running the Bounding-Box algorithm again to obtain a smaller area range containing the node to be positioned, namely the estimated position of the node to be positioned is positioned
And 5: calculating the distance from four corners of the rectangular region to surrounding anchor nodes, and then constructing a weight function with the estimated distance from the corresponding anchor node to the node to be positioned;
build a weight function, i.e.
Wherein the content of the first and second substances,
representing the distance from the anchor node, namely the virtual anchor node, to the four corners of the region obtained by the formula (4);
representing an anchor node, i.e. a virtual anchor node, to a node to be positioned
The estimated distance of (2);
step 6: with the help of the weight function constructed in the step 5, combining the Bounding-Box algorithm to obtain a final positioning result,
the weight function in the step 5 is adopted, and coordinates of four corners of the rectangular area obtained by combining the Bounding-Box algorithm in the step 4 are combined
Obtaining a weighted estimate of the position of the node to be positioned, i.e.
(6)
Equation (6) obtains the estimated position as the corrected position output where the position estimation abnormality occurs.
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| CN112469117A (en) * | 2020-10-30 | 2021-03-09 | 南京邮电大学 | Improved DV-hop positioning method for irregular wireless sensor network |
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| CN106707235A (en) * | 2017-03-08 | 2017-05-24 | 南京信息工程大学 | Indoor range finding positioning method based on improved traceless Kalman filtering |
| CN110557819A (en) * | 2019-09-18 | 2019-12-10 | 南京邮电大学 | low-power-consumption high-precision wireless multi-hop positioning method |
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