CN109819515A - A kind of wireless sensor network node locating method and device - Google Patents
A kind of wireless sensor network node locating method and device Download PDFInfo
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- CN109819515A CN109819515A CN201910046200.3A CN201910046200A CN109819515A CN 109819515 A CN109819515 A CN 109819515A CN 201910046200 A CN201910046200 A CN 201910046200A CN 109819515 A CN109819515 A CN 109819515A
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Abstract
The invention discloses a kind of localization method of wireless sensor network node and devices, pass through the localization method based on DV-Hop, obtain the minimum hop count between unknown node and beaconing nodes, and the average jump of the beaconing nodes nearest apart from unknown node away from, and according to the minimum hop count and average jump away from one group of equation group of building, the estimated location information of unknown node is obtained, and extracts the optimal location information of egress using judgment criterion, wireless sensor network node is accurately positioned.
Description
Technical field
The present invention relates to a kind of localization method of wireless sensor network node and devices, belong to wireless sensor network and answer
Use technical field.
Background technique
Wireless sensor network (Wireless Sensor Networks, WSNs) is by a large amount of microsensor node
The multi-hop that is built into, can self-organizing Local Area Network.These sensor nodes are broadcasted sowing by aircraft or are manually deployed in monitoring region,
It perceives cooperatively, acquire and handle specific data in network coverage area, and set by Base communications such as internet, satellites
It applies and transfers data to user terminal.Location information is most important to the monitoring activity of WSNs, as environmental monitoring, battlefield monitoring and
It requires to determine that event occurs position or obtains the node location of information in the application systems such as wild animal tracking.
Node locating algorithm is the beaconing nodes according to known position information, not by the communication estimation between other nodes
Know the position of node.WSNs positioning basic principle is the position according to the positional information calculation node to be positioned of a small amount of beaconing nodes
It sets.Existing location algorithm is broadly divided into two classes: based on ranging (range-based) and being based on non-ranging (range-
free).It is positioned based on ranging localization algorithm by actual range between measuring node, it is higher to hardware requirement；And based on non-
Ranging localization algorithm obtains range information according to information indirects such as network connectivity and relevances, and positioning accuracy is relatively poor.
Summary of the invention
The purpose of the present invention is to provide a kind of localization method of wireless sensor network node and devices, existing to solve
One of caused above-mentioned defects or defect in technology.
In order to achieve the above objectives, the present invention adopts the following technical solutions realization:
In a first aspect, the method includes such as the present invention provides a kind of localization method of wireless sensor network node
Lower step:
According to DV-Hop localization method, the minimum hop count between unknown node and beaconing nodes is obtained, and apart from unknown section
The average jump of the nearest beaconing nodes of point away from；
According to the minimum hop count, average jump away from acquisition unknown node and minimum hop count meet setting hop count threshold requirement
The distance between beaconing nodes, and construct Euclidean distance equation group；
It successively selects the equation in Euclidean distance equation group as preferred equation, and does subtraction, building one with remaining equation
The new equation group of group；
New equation group is solved, the estimated location information of one group of unknown node is obtained；
The coordinate information of unknown node is extracted from estimated location information according to judgment criterion.
The judgment criterion are as follows:Wherein, (x,
It y) is the optimum coordinates information of unknown node, m is the number for the beaconing nodes that minimum hop count meets setting hop count threshold requirement, m
>=3, (xj,yj) coordinate of unknown node that obtains when being using j-th of equation as preferred equation, (xk,yk) expire for minimum hop count
The coordinate of k-th of beaconing nodes of foot setting hop count threshold requirement, dkMeet setting hop count threshold for unknown node and minimum hop count
It is worth desired the distance between k-th of beaconing nodes.
The average jump for obtaining beaconing nodes nearest apart from unknown node away from method include the following steps:
According to Euclidean distance equation, the distance between any two beaconing nodes are obtained；
According to the distance between beaconing nodes and hop count, calculate the average jump of two beaconing nodes away from；
Record first that unknown node obtains it is average jump away from.
The distance between described beaconing nodes for obtaining unknown node and minimum hop count satisfaction setting hop count threshold requirement
Method includes:
The minimum hop count extracted between i-th of unknown node meets hikThe minimum hop count of k-th of beaconing nodes of≤T is believed
Breath；
dik=Hopsize × hik
Wherein, T is setting hop count threshold value；Hopsize is the average jump of the nearest beaconing nodes of i-th of unknown node of distance
Away from；hikFor the minimum hop count between k-th of beaconing nodes and i-th of unknown node, dikNot for kth beaconing nodes and i-th
Know the distance between node.
Second aspect, the present invention provides a kind of wireless sensor network node positioning device, described device includes:
First obtains module: for obtaining the most jete between unknown node and beaconing nodes according to DV-Hop localization method
Number, and the beaconing nodes nearest apart from unknown node average jump away from；
First building module: it is used for according to the minimum hop count, average jump away from acquisition unknown node and minimum hop count meet
The distance between the beaconing nodes of hop count threshold requirement are set, and construct Euclidean distance equation group；
Second building module: for successively selecting the equation in Euclidean distance equation group as preferred equation, and and remaining
Equation does subtraction, constructs one group of new equation group；
Second acquisition module: for solving new equation group, the estimated location information of one group of unknown node is obtained；
First judgment module: for obtaining the coordinate information of unknown node according to judgment criterion.
Further, the first acquisition module includes for obtaining unknown node and letter according to DV-Hop localization method
The third of minimum hop count between mark node obtain module, for obtain the average jumps of the beaconing nodes nearest apart from unknown node away from
The 4th obtain module.
Further, the 4th acquisition module includes: for obtaining any two beacon section according to Euclidean distance equation
The distance of the distance between point obtains module；For calculating two beaconing nodes according to the distance between beaconing nodes and hop count
Average jump away from average jump away from obtain module；First for recording unknown node acquisition average jump away from the first record mould
Block.
The first building module include for according to the minimum hop count, average jump away from obtaining unknown node and minimum
Hop count meets the 5th acquisition module of the distance between beaconing nodes of setting hop count threshold requirement, for constructing Euclidean distance side
The equation group of journey group constructs module.
To sum up, the localization method and device of wireless sensor network node provided by the invention, by based on DV-Hop's
Localization method, the minimum hop count between acquisition unknown node and beaconing nodes, and the beaconing nodes nearest apart from unknown node
It is average to jump away from and obtaining the estimated location letter of unknown node away from one group of equation group of building according to the minimum hop count and average jump
Breath, and using the precise position information of judgment criterion extraction egress, wireless sensor network node provided by the invention is determined
Position method and device, has the advantages that positioning accuracy is high.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the wireless sensor network node locating method provided according to embodiments of the present invention；
Fig. 2 is a kind of monitoring Area Node distribution schematic diagram provided according to embodiments of the present invention；
Fig. 3 is that the node of the wireless network node positioning and DV-Hop positioning mode acquisition provided according to embodiments of the present invention is fixed
The error comparison diagram of position.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
As shown in Figure 1, a kind of localization method of wireless sensor network node provided in an embodiment of the present invention, the method
Include the following steps:
Step 1: using DV-Hop localization method, obtain minimum hop count and distance between unknown node and beaconing nodes
The average jump of the nearest beaconing nodes of unknown node away from:
Beaconing nodes in step 11:WSNs contain the coordinate information of the beaconing nodes to neighbor node broadcast, and
With the hop count information between the node of reception signal；
Step 12: the hop count information is initialized as 1；
Step 13: receiving node records hop count, and ignores the biggish data packet of hop count from same beaconing nodes, described
It include the coordinate information of beaconing nodes in data packet, and the hop count information between the node of reception signal；
Step 14: the data packet that receiving node will acquire is transmitted to neighbor node, while jumping figure value adds 1, includes unknown section
Other nodes including point are available to the minimum hop count of beaconing nodes and the coordinate information of beaconing nodes；
Step 15: calculating the Euclidean distance d between first of beaconing nodes and k-th of beaconing nodeslk:
Wherein, (xl,yl), (xk,yk) it is respectively beaconing nodes l, the known coordinate information of k；
Step 16: calculating the average jump of first of beaconing nodes away from Hopsizel:
The average jump of beaconing nodes is away from the Average hop distance of i.e. beaconing nodes；
Wherein, hlkFor first of the beaconing nodes obtained referring to step 11 to step 14 and between k-th of beaconing nodes most
Small hop count；
Step 17: beaconing nodes to neighbor node broadcast its it is average jump away from, each unknown node only record by step 15 to
First average jump that step 16 obtains is equivalent to each unknown node acquisition beacon section nearest apart from unknown node away from information
Point average jump away from.
Step 2: building Euclidean distance equation group:
Step 21: setting hop count threshold value T calculates i-th of unknown node and minimum hop count meets threshold condition hik≤ T's
The distance between k-th of beaconing nodes dik:
dik=Hopsize × hik
Wherein, hikFor the minimum hop count between k-th of the beaconing nodes obtained according to step 1 and i-th of unknown node,
Hopsize be the nearest beaconing nodes of i-th of unknown node of distance for being obtained according to step 1 average jump away from；
Step 22: according to the location information for the beaconing nodes that step 1 obtains, and the unknown node obtained according to step 21
At a distance between the beaconing nodes that minimum hop count meets setting hop count threshold requirement, the European of beaconing nodes and unknown node is constructed
Range equation group:
Wherein, (x, y) is the coordinate of unknown node, (x1,y1)、(x2,y2)……(xm,ym) it is that minimum hop count meets as walked
The coordinate for the 1st, 2 ... m beaconing nodes that given threshold described in rapid 21 requires, m >=3, d1、 d2……dmFor unknown node
At a distance between the beaconing nodes that minimum hop count meets setting hop count threshold requirement.
Step 3: one group of new equation group of building, and the new equation group of this group is solved, obtain estimating for one group of unknown node
Count location information:
Step 31: successively select the equation in the Euclidean distance equation group obtained by step 2 as preferred equation, and and its
Remaining equation does subtraction, constructs one group of new equation group:
It is a with remaining (m-1) using j-th of equation as preferred equation by wherein by taking jth (1≤j≤m) a equation as an example
Equation does subtraction, and the new equation group of building is as follows:
Step 32: solve the one group of new equation group obtained by step 31:
By wherein by taking jth (1≤j≤m) a equation as an example, using j-th of equation as preferred equation, the new equation of building
The method for solving of group includes the following steps:
So j-th of estimated location of unknown node i are as follows:
Xj=(Aj TAj)-1Aj Tbj
According to step 31 and step 32, the m new solution of equations solved, m estimation of as i-th node
Location information.
Step 4: the optimum coordinates information of unknown node is extracted from estimated location information according to judgment criterion:
The judgment criterion are as follows:
Wherein, m is the number for the beaconing nodes that minimum hop count meets setting hop count threshold requirement, m >=3, (xj,yj) be with
The coordinate of the unknown node obtained when j-th of equation is as preferred equation, (xk, yk) it is that minimum hop count meets setting hop count threshold value
It is required that k-th of beaconing nodes coordinate, dkMeet k-th of letter of setting hop count threshold requirement for unknown node and minimum hop count
Mark the distance between node.
Step 5: at identical conditions, the coordinate letter of the unknown node of whole network is obtained referring to step 1 to step 4
Breath.
The embodiment of the invention also provides a kind of wireless sensor network node positioning device, described device can be used in reality
A kind of existing localization method of wireless sensor network node above-mentioned, described device include:
First obtains module: for obtaining the most jete between unknown node and beaconing nodes according to DV-Hop localization method
Number, and the beaconing nodes nearest apart from unknown node average jump away from；The first acquisition module includes for according to DV-
Hop localization method, the third for obtaining the minimum hop count between unknown node and beaconing nodes obtain module, for obtaining apart from unknown
The average jump of the nearest beaconing nodes of node away from the 4th obtain module；
The 4th acquisition module includes: for obtaining between any two beaconing nodes according to Euclidean distance equation
The distance of distance obtains module；For calculating the average jump of two beaconing nodes according to the distance between beaconing nodes and hop count
Away from average jump away from obtain module；First for recording unknown node acquisition average jump away from the first logging modle；
First building module: it is used for according to the minimum hop count, average jump away from acquisition unknown node and minimum hop count meet
The distance between the beaconing nodes of hop count threshold requirement are set, and construct Euclidean distance equation group；The first building module packet
Include for according to the minimum hop count, average jump away from obtaining unknown node and minimum hop count meets setting hop count threshold requirement
The 5th acquisition module, the equation group for constructing Euclidean distance equation group of the distance between beaconing nodes construct module.
Second building module: for successively selecting the equation in Euclidean distance equation group as preferred equation, and and remaining
Equation does subtraction, constructs one group of new equation group；
Second acquisition module: for solving new equation group, the estimated location information of one group of unknown node is obtained；
First judgment module: for obtaining the coordinate information of unknown node according to judgment criterion.
Monitoring Area Node distribution schematic diagram according to Fig.2, wherein " o " indicates unknown node, " * " indicates beacon section
Point；Using the positioning device of the wireless sensor network node, referring to step 1 to the wireless sensor network described in step 5
The localization method of node positions the node in the Node distribution schematic diagram of such as Fig. 2, including 240 random distributions
Node, the node communication radius value are 200 meters, set hop count threshold value T=4, obtain the location information of unknown node；In order to disappear
Except random error obtains the location information of the unknown node in 240 nodes of 100 groups of random distributions, meter using the above method
The position error of the unknown node location information obtained is calculated, and position error is averaging, obtains the location information of unknown node
Position error；
Fig. 3 is the wireless network node positioning provided according to embodiments of the present invention and the section according to the acquisition of DV-Hop positioning mode
The error comparison diagram of point location, according to comparing result, referring to the average positioning of the location information of the unknown node of the invention obtained
Error lower than the average localization error of the location information of the unknown node obtained according to DV-Hop positioning mode 47%, positioning is averaged
Error is lower to represent that positioning accuracy is higher, i.e., provides the localization method and device of wireless sensor network node using the present invention
The location information of the nodes of locations of acquisition has the advantages that positioning accuracy is high.
Finally, it should be noted that the above is only a preferred embodiment of the present invention, the present invention is applicable in but is not limited to
The monitoring Area Node of 240 random distributions as shown in Figure 2 is positioned, other distributions and node number are applied also for
The positioning of unknown node, it is noted that for the ordinary person of the art, do not departing from the technology of the present invention principle
Under the premise of, several improvement and deformations can also be made, and those modifications and variations should also be regarded as the protection scope of the present invention.
Claims (8)
1. a kind of wireless sensor network node locating method, which is characterized in that described method includes following steps:
According to DV-Hop localization method, the minimum hop count between unknown node and beaconing nodes is obtained, and most apart from unknown node
The average jump of close beaconing nodes away from；
According to the minimum hop count, average jump away from acquisition unknown node and minimum hop count meet the letter for setting hop count threshold requirement
The distance between node is marked, and constructs Euclidean distance equation group；
It successively selects the equation in Euclidean distance equation group as preferred equation, and does subtraction with remaining equation, one group of building is new
Equation group；
New equation group is solved, the estimated location information of one group of unknown node is obtained；
The coordinate information of unknown node is extracted from estimated location information according to judgment criterion.
2. wireless sensor network node locating method according to claim 1, which is characterized in that the judgment criterion
Are as follows:
Wherein, (x, y) is the optimum coordinates information of unknown node, and m is the beacon that minimum hop count meets setting hop count threshold requirement
The number of node, m >=3, (xj,yj) coordinate of unknown node that obtains when being using j-th of equation as preferred equation, (xk,yk)
Meet the coordinate of k-th of beaconing nodes of setting hop count threshold requirement, d for minimum hop countkIt is full for unknown node and minimum hop count
The distance between k-th of beaconing nodes of foot setting hop count threshold requirement.
3. wireless sensor network node locating method according to claim 1, which is characterized in that obtain apart from unknown section
The average jump of the nearest beaconing nodes of point away from method include the following steps:
According to Euclidean distance equation, the distance between any two beaconing nodes are obtained；
According to the distance between beaconing nodes and hop count, calculate the average jump of two beaconing nodes away from；
Record first that unknown node obtains it is average jump away from.
4. wireless sensor network node locating method according to claim 1, which is characterized in that obtain unknown node and
The method that minimum hop count meets the distance between beaconing nodes of setting hop count threshold requirement includes:
The minimum hop count extracted between i-th of unknown node meets hikThe minimum hop count information of k-th of beaconing nodes of≤T；
dik=Hopsize × hik
Wherein, T is setting hop count threshold value；Hopsize be the nearest beaconing nodes of i-th of unknown node of distance average jump away from；
hikFor the minimum hop count between k-th of beaconing nodes and i-th of unknown node, dikFor k-th of beaconing nodes and i-th of unknown section
Distance between point.
5. a kind of wireless sensor network node positioning device, which is characterized in that described device includes:
First obtains module: for obtaining the minimum hop count between unknown node and beaconing nodes according to DV-Hop localization method, with
And the average jump of the beaconing nodes nearest apart from unknown node away from；
First constructs module: being used for according to the minimum hop count, average jump away from acquisition unknown node and minimum hop count satisfaction are set
The distance between the beaconing nodes of hop count threshold requirement, and construct Euclidean distance equation group；
Second building module: for successively selecting the equation in Euclidean distance equation group as preferred equation, and with remaining equation
Subtraction is done, one group of new equation group is constructed；
Second acquisition module: for solving new equation group, the estimated location information of one group of unknown node is obtained；
First judgment module: for obtaining the coordinate information of unknown node according to judgment criterion.
6. wireless sensor network node positioning device according to claim 5, which is characterized in that described first obtains mould
Block includes for according to DV-Hop localization method, the third for obtaining the minimum hop count between unknown node and beaconing nodes to obtain mould
Block, for obtain the average jumps of the beaconing nodes nearest apart from unknown node away from the 4th obtain module.
7. wireless sensor network node positioning device according to claim 6, which is characterized in that the described 4th obtains mould
Block includes:
Distance obtains module: for obtaining the distance between any two beaconing nodes according to Euclidean distance equation；
It is average to jump away from acquisition module: for calculating being averaged for two beaconing nodes according to the distance between beaconing nodes and hop count
Jump away from；
First logging modle: first for recording unknown node acquisition average jump away from.
8. wireless sensor network node positioning device according to claim 5, which is characterized in that the first building module packet
Include for according to the minimum hop count, average jump away from obtaining unknown node and minimum hop count meets setting hop count threshold requirement
The 5th acquisition module, the equation group for constructing Euclidean distance equation group of the distance between beaconing nodes construct module.
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| CN112188615A (en) * | 2020-09-30 | 2021-01-05 | 上海海事大学 | Wireless sensor network positioning method |
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Application publication date: 20190528 |