CN101212780A - Method and system for ascertaining relative position of network node - Google Patents
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Abstract
The invention discloses a method for identifying a relative position of network nodes. The method comprises the steps as follows: network nodes obtain a relative distance between the network nodes and other network nodes; the information concerning relative distance between the network nodes is interacted; the relative position between the network nodes can be identified based on the relative distance between the network nodes. The invention discloses a system for identifying the relative position of the network nodes. By measuring the relative distance between the network nodes, the relative position between network nodes can be identified. The technique of the invention requires no extra hardware and reference information about node positions, thus reducing network hardware burden and networking difficulty.
Description
Technical field
The present invention relates to the location technology of node in the network, relate in particular to a kind of method and system of definite network node relative position.
Background technology
MANET (Mobile Ad Hoc Networks, mobile self-grouping network) is a kind of wireless multi-hop network that does not have the base station, has that height dynamic topological structure, node move arbitrarily, point-to-point from establishment, self-organizing, from management function.Mobile self-grouping network is that with the fundamental difference of conventional cellular techniques communicating by letter between the mobile node is not have static infrastructure, for example carries out under the condition of support such as base station or router.System supports dynamic-configuration and dynamic flow, and the all-network agreement all is distributed.Because the tissue and the control of this class network also do not rely on some important node, so allow that node breaks down, deviated from network or add network.That is to say that each mobile node can arbitrarily move according to oneself needs in whole network, and need not consider how to safeguard and the communicating to connect of other entities.Therefore possessing News Search, location and recovery concatenation ability is the basic demand that this class network is achieved.Also just because of these reasons, the design of MANET realizes very difficult.
The distributed wireless multihop network that ad-hoc network is made up of one group of node with routing function does not rely on any default network infrastructure.Because the transmission range of node is limited in the ad-hoc network, source node needs the auxiliary of other nodes, so Routing Protocol is an indispensable part in the ad-hoc network usually when destination node sends data.Node can obtain annexation between the node and link property in the network by route exploration, and then definite route.
Along with the development of location technology, node can directly utilize geographical location information, improves the routing performance of ad-hoc network, avoids simple inundation as making node when seeking route; Utilize the positional information of adjacent node and destination node, improve the efficient of path finding.In utilizing the Routing Protocol of geographical location information, for specific node, the position of some agreement hypothesis goal node and adjacent all hop nodes all is known, and some agreement supposes that also the position of double bounce adjacent node also is known.Wherein typical routing algorithm has: greedy route, the orientation of the LAR of position-based auxiliary route agreement (Location Aided outing, position auxiliary route), position-based information Routing Protocol floods and layering route etc.Utilize the Routing Protocol of geographical location information, its prerequisite is how to obtain and utilize node location information, usually algorithm is that hypothesis is according to certain location information system, as GPS (Global Positioning System, global navigation satellite and navigation system), each node in the network can obtain own current position information (coordinate representation), as DREAM (Distance Routing Effect Algorithm forMobility, far-end router efficiency moving algorithm).Utilize the Routing Protocol of geographical location information, improved the performance of Routing Protocol from different aspects, but how to obtain geographical location information accurately, how reducing the expense of obtaining positional information also is the key issue that requires study.
Where network node must clear and definite self-position just can be described in detail in or particular event has taken place in the zone, realizes location and tracking to external object.And node location information can also be used to improve router efficiency, for network provides NameSpace, to the covering quality of deployer's reporting ent, realizes the load balancing of network and the self-configuring of network topology.In the mountain forest fire prevention, the transducer of breaking out of fire place will be reported out the position that catches fire accurately, in time takes action, and could stop fire spread.And manually dispose and the restriction that gps receiver all can be subjected to problems such as cost, power consumption, autgmentability is installed for the all-network node.
To obtain the common mode of geographical location information be to utilize special-purpose navigation system to node in the prior art, as GPS.The basic principle of GPS is TOA (Times of Arrival, the time of advent), by measuring-signal propagation time measuring distance.GPS is the most ripe and really practical global position system of present technology, possesses that comprehensive space provides the real-time three-dimensional navigation and the ability of location in sea, land and sky.By linking to each other with a GPS receiver, mobile node can obtain current geographical location information.For example at GLCOL (GPS-less Low Cost OutdoorLocalization, the low-cost outdoor location of weak GPS) and LSBE (Localization SchemeBased on Events, positioning principle based on incident) in the algorithm, all be to suppose that wherein some node obtains positional information by GPS.The LSBE algorithm is to utilize the XM in WSANs (WirelessSensor and Actor Networks, wireless senser/actor network) to solve orientation problem.XM can obtain real-time positional information by GPS, so just can be used as the reference point in the network, utilize the position that to determine a point in the plane geometry to need three reference points at least, just can determine the position of node in the network by three XM.But present most mobile node does not possess the condition that adopts GPS to obtain geographical location information, and comparatively speaking, no matter is at aspects such as cost, volume and power supplys, and all there is more problem in the method that adopts GPS to obtain geographical location information.
In addition, in WSANs or Ad Hoc Network, also have many about The Location, as APIT (Approximate Point-In-Triangulation Test, the internal point triangulation that approaches) and DVBS (DV Based Positioning in Ad Hoc Networks, in the ad-hoc network based on the localization method of distance vector).
Wherein, the APIT algorithm is used for the positional information that obtains to be similar to, the theoretical foundation of its algorithm is PIT (Perfect Point-In-Triangulation Test Theory, desirable internal point principle of triangulation): if there is a direction, along this direction M point can be simultaneously away from or near A, B, C, M is positioned at outside the △ ABC so; Otherwise M is positioned at △ ABC.Wherein A, B, C are anchor node (anchor).In the APIT algorithm, optional three the adjacent anchor nodes of destination node are tested oneself and whether are arranged in the triangle of being formed.Use different anchor nodes combination retests up to all combinations of limit or reach required positioning accuracy.Calculate all leg-of-mutton common factor barycenter that comprise destination node at last, and with the position of this point as destination node.
The DVBS algorithm is based on terrestrial reference node (landmark), and the similar method of employing and APIT is estimated the position of node.
Research method such as APIT and DVBS is for location node, all need additionally to increase the known node position, and the anchor node of assisting the unknown node location, node not only will spend lot of energy removes to transmit inundation for all anchor nodes locating information, also need a large amount of memory spaces to go to preserve the locator data of all anchor nodes, but also need stronger computing capability, and this has increased the hardware burden of network, and the deployment of anchor node also can influence locating accuracy in the network simultaneously.
Summary of the invention
The problem to be solved in the present invention provides a kind of method and system of definite network node relative position, to solve the defective of determining the network node positional information in the prior art by the reference node positional information.
The embodiment of the invention has proposed a kind of method of definite network node relative position, may further comprise the steps:
Network node obtains the relative distance between himself and other network nodes;
The information of mutual described relative distance between network node;
Determine relative position between described network node according to the relative distance between described network node.
Further embodiment of this invention has proposed the system of definite network node relative position, and described system comprises:
The power Transmit-Receive Unit, being used for network node transmits the network node transmit a signal to other and receives received signal to its transmission from other network node, described transmission signal comprises the transmitted power that transmits the network node that sends signal, and described received signal comprises the received power of the network node that transmits received signal;
The relative distance acquiring unit is used for obtaining relative distance between network node according to described transmitted power and described received power;
The relative position computing unit is used for according to the relative distance between network node, and determines angle between network node according to the triangle theorem, further determines the relative position of network node.
Compared with prior art, the present invention has the following advantages:
The present invention adopts the method for the relative distance between the Measurement Network node to determine relative position between network node, adopt technical solution of the present invention not need to increase under the additional hardware condition, do not need the known reference node location information, thereby alleviate the hardware burden of network, reduce the networking difficulty.
Description of drawings
Fig. 1 is the method first embodiment flow chart of a kind of definite network node relative position of the present invention;
Fig. 2 is the method second embodiment flow chart that the present invention determines the network node relative position;
Fig. 3 is the concrete network structure that the present invention uses;
Fig. 4 is to be the relative position of all-network node in the one jumping scope of center with network node N1 during the present invention uses;
Fig. 5 is method the 3rd embodiment flow chart that the present invention determines the network node relative position;
Fig. 6 is the system embodiment structured flowchart of a kind of definite network node relative position of the present invention;
Fig. 7 is the another kind of system embodiment structured flowchart of determining the network node relative position of the present invention.
Embodiment
The method embodiment of a kind of definite network node relative position of the present invention as shown in Figure 1, may further comprise the steps:
Step S101, network node obtain the relative distance between himself and other network nodes.
At first, network node receives the signal of other network nodes to its transmission, comprises the information of the received power of other network nodes in the signal; Then, obtain relative distance between network node according to received power.Wherein, the relative distance that obtains between network node according to received power specifically comprises: the corresponding relation that sets in advance relative distance between received power and network node; Determine the relative distance of network node according to received power and corresponding relation.Or, obtain the path loss that signal transmits between network node according to received power; Obtain relative distance between network node by path loss, wherein, the path loss that obtains signal transmission between network node according to received power specifically comprises: the information of carrying the network node transmitting power in the signal; Utilize transmitting power to deduct received power, obtain the path loss between network node.
The information of mutual relative distance between step S102, network node.The relative distance that comprises the adjacent network node of network node by the acquisition of the interacting message between network node.
Step S103, determine relative position between network node according to the relative distance between network node.Utilize the relative distance of triangle theorem and network node to determine angle between network node; According to the relative distance of network node and the relative position between triangle angle acquisition network node.
The present invention determines another embodiment of method of network node relative position, as shown in Figure 2, may further comprise the steps:
S201, to establish a network node be source network node, and other network node is a target network node, at first empties the source network node tabulation.
S202, source network node comprise in this message that to other target network node broadcast polling message source network node sends the performance number of this apply for information.
S203, target network node return acknowledge character message ACK to source network node, and this message comprises the performance number information that destination node receives; Wherein, source network node receives only and sends all ACK response messages of returning in the regular hour behind the apply for information, surpasses the ACK message that setting-up time returns and discards.
S204, judge this target network node whether in tabulation, if, step S205 then changeed; Otherwise this target network node is added in the tabulation, and change step S205.
S205, judge whether acknowledge character signal ACK finishes,, then change step S206 if finish; Otherwise, change step S203.
S206, the internodal relative distance of employing channel loss model assessment.Under supposition transmission channel model condition, any two internodal forward decay are basic identical with reverse attenuation, and in a communication process of link layer, acute variation can not take place in fading channel, source network node deducts received power by transmitting power, obtain path loss, utilize the free space propagation loss model to determine the relative distance of source node and each destination node respectively again; In like manner, utilize said method also can determine relative distance between each destination node.Obtain network node relative distance table between any two by exchange distance between adjacent node then.
S207, judge whether exchange message finishes,, then change step S208 if finish; Otherwise change step S206.
S208, according to the relative position of each network node in the network node relative distance table computing network node listing between any two; For example, for source network node and first target network node and second target network node, because the distance of distance, source node and second target network node of the source node and first target network node and the distance of first destination node and second target network node are known, utilize the cosine law, under the situation of known three length of sides, determine the angle on three limits, obtain the relative position on three summits, promptly determine first destination node and second destination node position with respect to source node.
Whether S209, judgement calculating finish, and if not, then change step S208.
Wherein, the method of the internodal relative distance of estimation can also adopt the signal strength scale appraising model among the step S206: suppose that the all-network node in ad-hoc network all uses equal power to carry out network node link detection condition, sets up the mapping table of a received power and relative distance in each network node.In the inquiry response messages of the apply for information of step S202 and step S203, do not need to increase the parameter of expression power, only need calculate the arrival power of apply for information at destination node, arrival power in source node calculating inquiry response messages obtains internodal relative distance according to the received power of setting up in advance and the mapping relations of relative distance then.
Being example with the network of Fig. 3 is specifically described the implementation method of above-mentioned specific embodiment.With source network node N1 is the center of circle, and N2-N7 is respectively the target network node in the network node N1 one jumping scope.By in certain scope, in a jumping, the relative distance information of switching network node, obtaining one through computing is the radar map at center with N1, relative distance is expressed as concentric circles, as shown in phantom in Figure 3.
Network node N1 at first empties its node listing, broadcasts query (inquiry) signal then.N1 is by broadcasting network nodal information in the ACK INFORMATION DISCOVERY one jumping scope of returning in a period of time of back, and promptly N2, N3, N4, N5, N7 and N8 are the neighbor networks node of N1.And it is poor to obtain the relative power of network node in the jumping scope by the ACK information that the N2-N7 network node returns.
Adopt distance between channel loss model assessment network node.Because distance is very short between network node, during especially near sighting distance, power loss can be approximated to be the propagated loss of free space, adopts the free space channel model, can adopt the different channels model in the different practical applications, as two footpath models, Okumura model etc.According to this model, can be by the loss formula of electric wave at free space:
LS(dB)＝32.45+201gf(MHz)+201gd(km) (1)
Obtain when emission signal frequency is 900MHz, the corresponding relation of path loss and relative distance is as shown in table 1:
Table 1:
| Loss dB | 31.5 | 37.5 | 41 | 43.5 | 45.5 | 47.1 | 48.4 | 49.6 | 51.5 | … |
| Relative distance m | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 10 | … |
The corresponding relation of N1 look-up table 1 is provided with table 2.Table 2 for according to transmit and the difference of target network node received signal power obtains and other network nodes between distance table.
Table 2:
| NID | N2 | N3 | N4 | N5 | N7 | N8 |
| Distance | L12 | L13 | L14 | L15 | L17 | L18 |
Obtain the principle of table 2 according to above-mentioned source network node N1, N2-N7 also can obtain separately the distance table with other network nodes.Wherein, N1 by with a jumping scope in network node N2-N7 exchange distance table information to obtain distance table as shown in table 3:
Table 3:
Is L21 as N2 with respect to the distance of N1, and N2 is L23 with respect to the distance of N3, and N2 is L26 with respect to the distance of N6, and this has hinted that also the neighbor networks node of N2 is N1, N3 and N6, and the rest may be inferred for other data.
Then, calculate each network node relative position.At first, N1 chooses a neighbor networks node N2 wantonly, then, selection be N2 also be the neighbor networks node N3 of N1.In the triangle that with network node N1, N2 and N3 is the summit composition, the length of side L23 on known three limits, L13 and L12, pass through the cosine law:
Obtain the angle that N2, N1 and N3 constitute
Thereby, determine node N2, N3 position with respect to N1.Equally, be two summits with N1 and N2 or N1 and N3, be another set of vertices triangularity with any one network node again, can determine this network node relative position again.Then, based on straight line by N1 and N2 or the straight line by N1 and N3, obtain the relative position of next network node.Based on straight line by N1 and N3, selection be N3 also be the neighbor networks node of N1, select N8 (position of N2 is determined), by top method, can obtain
The rest may be inferred, can obtain
With
Promptly determined the relative position of all neighbor networks nodes in the N1 one jumping scope.The relative angle information that table 4 obtains for N1.
Table 4:
Determine with node N1 to be the relative position of all-network node in the one jumping scope of center by table 4 at last, final result as shown in Figure 4.
The invention described above is determined method second embodiment of network node relative position, convert by distance calculation between source network node and the target network node and triangle relation, can finally determine the relative position of network node, but need mutual a large amount of relative distance information simultaneously between source network node and the target network node, wherein also comprise a large amount of repetitions even invalid information, cause the waste of interface-free resources, also give and determine that the network node relative position brings certain time-delay.For improving the problems referred to above, the present invention discloses a kind of method the 3rd embodiment of definite network node relative position, as shown in Figure 5, may further comprise the steps:
S501, source network node obtain the target network node tabulation in the preset range, and by calculating the range information of source network node and each target network node.
This step and the invention described above second embodiment are basic identical, at first determine that at need setting one in the network node of relative position is source network node, and other network node is a target network node.Source network node is to target network node broadcast polling message, and carries the performance number of transmission in message.Target network node returns acknowledge character message ACK to source network node, and carries the performance number information that receives in return messages.Wherein, source network node receives only and sends all ACK response messages of returning in the regular hour behind the apply for information, directly abandons surpassing the ACK message that setting-up time returns.By the setting of this time, source network node promptly can obtain particular range, tabulates with interior adjacent target network node as a jumping scope.Simultaneously, it is poor that the performance number information that source network node returns according to those target network nodes can obtain each self-corresponding relative power, further adopts the channel loss model can estimate distance between source network node and each target network node.
S502, source network node create the triangle relation tabulation, and select an adjacent target network node, are the summit with source network node and selected target network node, obtain with preset range in the angular position relation that constitutes of other network nodes.
Store the network node information in the jumping scope in the source network node, for to need between network node avoiding in the similar second embodiment of the invention mutual bulk redundancy, invalid range information, among this embodiment, source network node can be created the tabulation of triangle relation, is used to store the triangle relation between the follow-up network node that obtains by calculating.Then, source network node continues to choose an adjacent target network node and together as two summits of triangle to be calculated.After determining these two summits, the range information of other network nodes during selected target network node promptly need obtain and tabulate, though for adjacent with this network node not the network node in target network node tabulation then need not to calculate distance, thereby avoid invalid information interaction.In this selected target network node is finished preset range after the obtaining of other all target network node range informations, because source network node has obtained the distance of itself and each target network node among the step S501, therefore can draw by the triangle cosine law and comprise source network node and selected target network node all leg-of-mutton relative position relations as two summits in the preset range, the angular position relation of acquisition continues to be stored in the source network node with tabular form.
S503, source network node travel through target network node, and selected successively each target network node carries out above-mentioned steps S502, and tabulation judges to calculate whether repeat according to triangle relation, if repeat then skip calculating, otherwise add in the triangle relation tabulation.
It is the angular position relation on summit with the network node that step S502 can only obtain what satisfy specified conditions, for obtaining the relative position relation of all-network node in the preset range, source network node also must travel through target network node, and the triangle relation that wherein all adjacent target network nodes carry out described in step S502 is calculated.For avoiding redundant information interaction, source network node can be judged angular position relation to be calculated according to the triangle relation tabulation of storage, if calculate the calculating that repeats then skip this angular position relation, otherwise after calculating is finished, this angular position relation is added in the tabulation.
S504, judge whether the traversal of target network node is finished,, otherwise change the traversal that step S503 proceeds target network node if then change step S505.
S505, finish to calculate, and the relative position relation of all-network node in the preset range is determined in tabulation according to triangle relation.
Source network node is after finishing the all-network node traversal in the target network node tabulation, promptly having obtained preset range interior is all angular position information on summit with the source network node, calculates the relative position information that can obtain all-network node in this preset range by simple geometric.As shown in Figure 4, with N1, N2, four network nodes of N3, N7 is example, after the information of obtaining triangle △ N1N2N3, △ N1N2N7 and △ N1N3N7 respectively, the relative position relation of N1, N2, N3, four network nodes of N7 promptly can lock, the rest may be inferred, can determine the relative position relation of all target network nodes of preset range.
The invention described above is determined method the 3rd embodiment of network node relative position, source network node is judged with the list of target nodes information calculations of adjusting the distance respectively, with the triangle relation tabulation angular position relation calculating of network node is judged, avoid the information interaction between the network node redundancy and invalid content to occur, saved interface-free resources and determined the time that the network node relative position needs.Since above-mentioned tabulation, distance and angular position information obtain the information interaction that still belongs between the node, so this embodiment do not break away from spirit of the present invention, must be covered by in protection scope of the present invention.
The present invention determines an embodiment of the system of network node relative position, as shown in Figure 6, comprising: power Transmit-Receive Unit 110, relative distance acquiring unit 120, relative position computing unit 130, relative distance list cell 140 and interactive unit 150.Wherein, power Transmit-Receive Unit 110 is used for network node and transmits the network node transmit a signal to other and receive received signal to its transmission from other network node, send signal and comprise the transmitted power that transmits the network node that sends signal, received signal comprises the received power of the network node that transmits received signal; Relative distance acquiring unit 120 is used for obtaining relative distance between network node according to transmitted power and received power; Relative position computing unit 130 is used for according to the relative distance between network node, and determines angle between network node according to the triangle theorem, further determines the relative position of network node; Relative distance list cell 140 is used for relative distance between the storage networking node; Interactive unit 150 is used for information mutual of relative distance between network node.
Above-mentioned relative distance acquiring unit 120 further comprises: power ratio is than subelement 121 and computation subunit 122.Wherein, power ratio is used for obtaining path loss according to the transmitting power of network node and the difference of received power than subelement 121, and this transmitted power and received power can obtain by the power of request message between the detection network node or response message; Computation subunit 122 is used for obtaining relative distance between network node according to path loss, for example can obtain relative distance between network node by free space channel model, two footpath models or Okumura model mode.
The present invention determines another embodiment of system of network node relative position, and as shown in Figure 7, except relative distance acquiring unit among relative distance acquiring unit 220 and Fig. 6 120 was different, other cellular construction was identical with Fig. 6, repeats no more.Wherein, relative distance acquiring unit 220 further comprises relation list subelement 221 and computation subunit 222, and relation list subelement 221 is used to store the corresponding relation of relative distance between received power and network node; Computation subunit 222 is used for obtaining relative distance between network node according to corresponding relation.
The above only is a preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (11)
1. the method for a definite network node relative position is characterized in that, may further comprise the steps:
Network node obtains the relative distance between himself and other network nodes;
The information of mutual described relative distance between network node;
Determine relative position between described network node according to the relative distance between described network node.
2. determine the method for network node relative position according to claim 1, it is characterized in that described network node obtains and also comprises step before the relative distance between himself and other network nodes:
Described network node receives the signal of other network nodes to its transmission, comprises the information of the received power of other network nodes in the described signal;
Obtain relative distance between network node according to described received power.
3. as the method for definite network node relative position as described in the claim 2, it is characterized in that the relative distance that obtains between network node according to described received power specifically comprises:
Set in advance the corresponding relation of relative distance between received power and network node;
Determine the relative distance of described network node according to described received power and described corresponding relation.
4. as the method for definite network node relative position as described in the claim 2, it is characterized in that, obtain according to described received power that relative distance specifically comprises between network node:
Obtain the path loss of signal transmission between network node according to described received power;
Obtain relative distance between network node by described path loss.
5. as the method for definite network node relative position as described in the claim 4, it is characterized in that the path loss that obtains signal transmission between network node according to described received power specifically comprises:
Carry the information of network node transmitting power in the information of described received power;
Utilize described transmitting power to deduct described received power, obtain the path loss between network node.
6. as the method for definite network node relative position as described in claim 2 or 3, it is characterized in that, determine that according to described relative distance the relative position between network node specifically comprises:
Utilize the relative distance of triangle theorem and network node to determine triangle angle between network node;
Obtain relative position between described network node according to the relative distance of described network node and described triangle angle.
7. the system of a definite network node relative position is characterized in that, described system comprises:
The power Transmit-Receive Unit, being used for network node transmits the network node transmit a signal to other and receives received signal to its transmission from other network node, described transmission signal comprises the transmitted power that transmits the network node that sends signal, and described received signal comprises the received power of the network node that transmits received signal;
The relative distance acquiring unit is used for obtaining relative distance between network node according to described transmitted power and described received power;
The relative position computing unit is used for according to the relative distance between network node, and determines angle between network node according to the triangle theorem, further determines the relative position of network node.
8. the system of definite network node relative position as claimed in claim 7 is characterized in that, described relative distance acquiring unit further comprises:
Power ratio is used for obtaining path loss according to the transmitting power of network node and the difference of received power than subelement; Or
The relation list subelement is used to store the corresponding relation of relative distance between received power and network node;
Computation subunit is used for obtaining relative distance between network node according to described path loss or described corresponding relation.
9. the system of definite network node relative position as claimed in claim 7 is characterized in that, described system also comprises the relative distance list cell, is used for relative distance between the storage networking node.
10. as the system of claim 7 or 8 or 9 described definite network node relative positions, it is characterized in that described system also comprises interactive unit, be used for information mutual of relative distance between network node.
11. the system as definite network node relative position as described in the claim 7 is characterized in that, described transmitted power and received power obtain by detecting the request message between network node or the power of response message.
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