CN111432328B - Node positioning method, device and storage medium of wireless sensor network - Google Patents
Node positioning method, device and storage medium of wireless sensor network Download PDFInfo
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- CN111432328B CN111432328B CN201811591070.3A CN201811591070A CN111432328B CN 111432328 B CN111432328 B CN 111432328B CN 201811591070 A CN201811591070 A CN 201811591070A CN 111432328 B CN111432328 B CN 111432328B
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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
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- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/08—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location
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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
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Abstract
The invention relates to a node positioning method, a node positioning device and a storage medium of a wireless sensor network, wherein the method comprises the following steps: forming the N anchor nodes into at least one isosceles triangle area; acquiring an area where an unknown node is located, and recording anchor nodes corresponding to a top angle and two bottom angles of the area as a first anchor node, a second anchor node and a third anchor node in sequence; controlling the second anchor node to move towards the first anchor node until the signal strength of the second anchor node received by the first anchor node is equal to the signal strength of the first anchor node received by the unknown node, and controlling the third anchor node to move towards the first anchor node until the signal strength of the third anchor node received by the first anchor node is equal to the signal strength of the third anchor node received by the unknown node; and acquiring the coordinate of the unknown node according to the distance between the first anchor node and the second anchor node, the second distance between the anchor node and the third anchor node, the coordinate of the first anchor node and the coordinate of the third anchor node, so as to realize the accurate positioning of the unknown node.
Description
Technical Field
The present invention relates to the field of node location technologies, and in particular, to a node location method and apparatus for a wireless sensor network, and a computer-readable storage medium.
Background
When a large-scale transformer substation is maintained, inspection personnel or installation personnel are generally required to operate in an environment with equipment running normally, and therefore, the safety of related personnel is guaranteed to be particularly important. The situations that related personnel are not in place for patrol, do not enter a specified area or break through a dangerous area by mistake, and patrol personnel entering a working area are not monitoring and monitoring well can damage the power operation safety and endanger the personal safety, so that disastrous loss and damage are brought.
The construction of the smart power grid is the inevitable trend of power grid technology development, and the realization of accurate positioning of electrical equipment and inspection personnel is an important part of the smart power grid. Through the positioning of the inspection personnel and the electrical equipment, firstly, the positions of all the inspection personnel can be displayed on an electronic map in real time, and the quantity and real-time distribution condition of the personnel can be dynamically mastered; secondly, when emergency help is required, the place where the inspection personnel to be searched is located is quickly positioned so as to ensure the safety of the inspection personnel; thirdly, sending out warnings to the inspection personnel who can not inspect according to the specified track and the inspection personnel who enter the forbidden area; and fourthly, recording all positioning information to track and playback the moving route of the inspection personnel, mastering the detailed moving route and time of the inspection personnel, and reporting the inspection number, the inspection completeness of the inspection personnel and equipment which are not inspected in real time. Meanwhile, in the face of popularization of future intelligent robot routing inspection, the positioning system is more important.
In the related art, a positioning technology for performing non-ranging based on anchor nodes with a certain geometric figure is provided, and the technology can realize positioning of unknown nodes, but because the positioning method is rough, when the communication radius of the anchor nodes is large, the positioning error is obvious, and the problem of inaccurate positioning exists.
Disclosure of Invention
Based on this, it is necessary to provide a node positioning method, device and computer readable storage medium for a wireless sensor network to solve the problem of inaccurate positioning existing in non-ranging positioning technology in the related art.
A node positioning method of a wireless sensor network comprises the following steps:
setting N anchor nodes in a wireless sensor network area, and enabling the N anchor nodes to form at least one isosceles triangle area, wherein N is an integer greater than or equal to 3;
obtaining an isosceles triangle area where an unknown node is located, and recording anchor nodes corresponding to the vertex angle and the base angle of the isosceles triangle area as first anchor nodes and second anchor nodes and third anchor nodes;
controlling the second anchor node to move towards the first anchor node until the first signal strength of the second anchor node received by the first anchor node is equal to the second signal strength of the first anchor node received by the unknown node, and controlling the third anchor node to move towards the first anchor node until the third signal strength of the third anchor node received by the first anchor node is equal to the fourth signal strength of the third anchor node received by the unknown node;
acquiring a first distance between a first anchor node and a second anchor node after movement, a second distance between the first anchor node and a third anchor node after movement, a coordinate of the first anchor node and a coordinate of the third anchor node after movement;
and acquiring the coordinate of the unknown node according to the first distance, the second distance, the coordinate of the first anchor node and the coordinate of the third anchor node after movement.
In one embodiment, obtaining a first distance between a first anchor node and a moved second anchor node comprises:
calculating according to the first signal intensity and a preset signal intensity model to obtain a first distance;
obtaining a second distance between the first anchor node and the moved third anchor node, including:
and calculating to obtain a second distance according to the third signal intensity and a preset signal intensity model.
In one embodiment, the preset signal strength model is expressed by the following formula:
wherein d isijIs an anchor node AiAnd anchor node AjDistance between, δ0＝10*lgPr(d0)，δ0Is a propagation distance of d0Signal received power of time, d0For a short reference distance, Pr(d0) Is a propagation distance of d0Time anchor node AiReceived anchor node AjThe strength of the signal of (a) is,
is a propagation distance of dijTime anchor node AiReceived anchor node AjSignal intensity of (d), muσρ is a loss factor for the signal strength correction value.
In one embodiment, obtaining coordinates of the moved third anchor node includes:
acquiring the coordinate of a third anchor node before moving and a third distance between the third anchor node and the first anchor node before moving;
and calculating to obtain the coordinate of the third anchor node after the movement in an equal proportion mode according to the coordinate of the third anchor node before the movement, the third distance, the second distance and the coordinate of the first anchor node.
In one embodiment, obtaining the coordinates of the unknown node according to the first distance, the second distance, the coordinates of the first anchor node, and the coordinates of the moved third anchor node includes:
and calculating to obtain the coordinates of the unknown node by adopting a distance formula according to the first distance, the second distance, the coordinates of the first anchor node and the coordinates of the moved third anchor node.
In one embodiment, when N is an integer greater than or equal to 4, setting N anchor nodes in the wireless sensor network area, and making the N anchor nodes form at least one isosceles triangle area, includes:
selecting one anchor node from the N anchor nodes as a central anchor node, wherein the communication distances of the N anchor nodes are the same;
and controlling the rest N-1 anchor nodes to be uniformly distributed on a circumference which takes the center anchor node as the circle center and takes the communication distance as the radius, wherein every two adjacent anchor nodes on the circumference and the center anchor node form an isosceles triangle area.
In one embodiment, acquiring an isosceles triangle area where the unknown node is located includes:
and determining the isosceles triangle area where the unknown node is located according to the signal strength of the remaining N-1 anchor nodes received by the unknown node.
In one embodiment, before obtaining the isosceles triangle area where the unknown node is located, the method further includes:
when the number of the unknown nodes is one, directly controlling the N anchor nodes to move to the unknown nodes until the unknown nodes are positioned in a communication area formed by the N anchor nodes;
and when the number of the unknown nodes is multiple, controlling the N anchor nodes to move towards the unknown nodes until the number of the anchor nodes in one half of the communication area is the maximum.
A node location apparatus of a wireless sensor network, comprising:
the wireless sensor network comprises a setting unit, a processing unit and a control unit, wherein the setting unit is used for setting N anchor nodes in a wireless sensor network area and enabling the N anchor nodes to form at least one isosceles triangle area, and N is an integer greater than or equal to 3;
the first acquisition unit is used for acquiring an isosceles triangle area where the unknown node is located, and recording anchor nodes corresponding to the vertex angle of the isosceles triangle area as first anchor nodes and recording anchor nodes corresponding to the base angle as second anchor nodes and third anchor nodes;
a moving unit, configured to control the second anchor node to move to the first anchor node until a first signal strength of the second anchor node received by the first anchor node is equal to a second signal strength of the first anchor node received by the unknown node, and control the third anchor node to move to the first anchor node until a third signal strength of the third anchor node received by the first anchor node is equal to a fourth signal strength of the third anchor node received by the unknown node;
a second obtaining unit, configured to obtain a first distance between the first anchor node and the second anchor node after the movement, a second distance between the first anchor node and the third anchor node after the movement, a coordinate of the first anchor node, and a coordinate of the third anchor node after the movement;
and the third acquisition unit is used for acquiring the coordinates of the unknown node according to the first distance, the second distance, the coordinates of the first anchor node and the coordinates of the third anchor node after movement.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method.
The node positioning method, the device and the computer readable storage medium of the wireless sensor network are characterized in that N anchor nodes are arranged in a wireless sensor network area, the N anchor nodes form at least one isosceles triangle area, then the isosceles triangle area where an unknown node is located is obtained, the anchor nodes corresponding to the vertex angles of the isosceles triangle area are marked as first anchor nodes, the anchor nodes corresponding to the base angles are marked as second anchor nodes and third anchor nodes, then the second anchor nodes are controlled to move towards the first anchor nodes until the first signal strength of the second anchor nodes received by the first anchor nodes is equal to the second signal strength of the first anchor nodes received by the unknown node, and the third anchor nodes are controlled to move towards the first anchor nodes until the third signal strength of the third anchor nodes received by the first anchor nodes is equal to the fourth signal strength of the third anchor nodes received by the unknown node, and then acquiring a first distance between the first anchor node and the second anchor node after the movement, a second distance between the first anchor node and the third anchor node after the movement, the coordinate of the first anchor node and the coordinate of the third anchor node after the movement, and acquiring the coordinate of the unknown node according to the first distance, the second distance, the coordinate of the first anchor node and the coordinate of the third anchor node after the movement. Therefore, the accurate positioning of the unknown node can be realized through a distance measurement positioning mode, and the positioning mode is simpler.
Drawings
FIG. 1 is a flow diagram of a method for node location in a wireless sensor network in one embodiment;
FIG. 2a is a schematic deployment diagram of an anchor node in one embodiment;
FIG. 2b is a schematic deployment diagram of an anchor node in another embodiment;
FIG. 3 is a schematic diagram of a location of an unknown node in one embodiment;
FIG. 4 is a flow diagram illustrating coordinate acquisition of a third anchor node after movement in one embodiment;
FIG. 5 is a flow diagram of the deployment of N anchor nodes to form at least one isosceles triangle area in one embodiment;
FIG. 6 is a schematic deployment diagram of 17 anchor nodes in one embodiment;
fig. 7 is a block diagram of a node location device of a wireless sensor network in one embodiment.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present invention is capable of modification in various respects, all without departing from the spirit and scope of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
Fig. 1 is a flowchart of a node location method of a wireless sensor network in an embodiment, and as shown in fig. 1, the node location method of the wireless sensor network includes:
step 102, setting N anchor nodes in a wireless sensor network area, and enabling the N anchor nodes to form at least one isosceles triangle area, wherein N is an integer greater than or equal to 3.
In particular, when it is necessary to target a fieldWhen the large-scale substation is used for positioning management, a corresponding wireless sensor network area can be arranged in the site, and a certain number of sensor nodes can be deployed in the area to serve as anchor nodes, for example, N anchor nodes can be deployed, and the N anchor nodes form at least one isosceles triangle area. Wherein, each anchor node has a unique identification code ID which is respectively marked as Mi(i ═ 1,2, …,17), and the communication distance, i.e. the communication radius, of each anchor node is consistent, denoted as R, the anchor node can interact with other anchor nodes in the communication area formed by the communication radius.
For example, when N is 3, by pairing three anchor nodes M1、M2And M3Can form an isosceles triangle area with the three anchor nodes as the vertexes, as shown in fig. 2 a; as another example, when N is 5, by comparing the five anchor nodes M1、M2、M3、M4And M5Can form 3 isosceles triangle areas as shown on the left side of fig. 2b, or can form 4 isosceles triangle areas as shown on the right side of fig. 2 b. The number of the specific anchor nodes to be deployed and how to deploy the specific anchor nodes to form at least one isosceles triangle area can be selected according to actual conditions, and preferably, the anchor nodes are deployed in the deployment mode shown on the right side of fig. 2b, so that more isosceles triangle areas can be obtained under the same number of anchor nodes, and the deployment is convenient due to the fact that rules can be followed.
After deployment of the N anchor nodes is completed, the N anchor nodes can be initialized, the initialization comprises initializing information packets of the anchor nodes, and then each anchor node is controlled to broadcast the information packets of the anchor nodes to the wireless sensor network area, wherein the information packets comprise identification numbers (ID) of the anchor nodes and two-dimensional coordinates (x) of the anchor nodesi,yi) And the unknown node n passively receives the information packet sent by the anchor node.
And step 104, acquiring an isosceles triangle area where the unknown node is located, and recording anchor nodes corresponding to the vertex angle and the base angle of the isosceles triangle area as first anchor nodes and second anchor nodes and third anchor nodes.
Specifically, assuming that the currently unknown node n is located in the isosceles triangle area 3 shown on the right side of fig. 2b, for convenience of description, the anchor node M corresponding to the vertex angle of the isosceles triangle area 3 may be referred to as an anchor node M1Is denoted as a first anchor node A1And the anchor node M corresponding to the base angle4Is denoted as a second anchor node A2And an anchor node M corresponding to the base angle5Is denoted as a third anchor node A3As shown in particular in fig. 3.
And 106, controlling the second anchor node to move towards the first anchor node until the first signal strength of the second anchor node received by the first anchor node is equal to the second signal strength of the first anchor node received by the unknown node, and controlling the third anchor node to move towards the first anchor node until the third signal strength of the third anchor node received by the first anchor node is equal to the fourth signal strength of the third anchor node received by the unknown node.
Specifically, referring to FIG. 3, the second anchor node A may be controlled first2Along a first anchor node A1And a second anchor node A2At a straight line towards the first anchor point A1Move until the first anchor node A1Received second anchor node A2Is equal to the first anchor node a received by the unknown node n1Second signal strength of
Controlling the second anchor node A2The movement is stopped. Wherein, if the moved second anchor node is recorded as A'2Then the first signal strength is the first anchor node A1Received post-movement second anchor node A'2Signal strength of (D) is recorded as
Namely when
Then, the second anchor node A is controlled2The movement is stopped.
Then, the third anchor node A is controlled3Along the first anchorNode A1And a third anchor node A3At a straight line towards the first anchor point A1Move until the first anchor node A1Received third anchor node A3Is equal to the third anchor node a received by the unknown node n3Controls the third anchor node a3The movement is stopped. Wherein, if the moved third anchor node is recorded as A'3Then the third signal strength is the first anchor node a1Received post-movement third anchor node A'3Signal strength of (D) is recorded as
The fourth signal strength is the third anchor node A 'after the movement received by the unknown node n'3Signal strength of (D) is recorded as
Namely when
Then, the third anchor node A is controlled3The movement is stopped.
It will be appreciated that the second anchor node a may also be controlled simultaneously2And a third anchor node A3To the first anchor node A respectively1Move until
And is
In practical application, a corresponding speed infrared sensor can be arranged in each anchor node, and the second anchor node A is adjusted through the speed infrared sensor2And a third anchor node A3To ensure as much as possible the moving speed of
And is
Thereby improving the accuracy of unknown node n positioning.
And 108, acquiring a first distance between the first anchor node and the second anchor node after the movement, a second distance between the first anchor node and the third anchor node after the movement, the coordinate of the first anchor node and the coordinate of the third anchor node after the movement.
In one embodiment, obtaining a first distance between a first anchor node and a moved second anchor node comprises: calculating according to the first signal intensity and a preset signal intensity model to obtain a first distance; obtaining a second distance between the first anchor node and the moved third anchor node, including: and calculating to obtain a second distance according to the third signal intensity and a preset signal intensity model.
In one embodiment, the preset signal strength model may be expressed by the following formula:
wherein d isijIs an anchor node AiAnd anchor node AjDistance between, δ0＝10*lgPr(d0)，δ0Is a propagation distance of d0Signal received power of time, d0For a short reference distance, Pr(d0) Is a propagation distance of d0Time anchor node AiReceived anchor node AjThe strength of the signal of (a) is,
is a propagation distance of dijTime anchor node AiReceived anchor node AjSignal intensity of (d), muσρ is a loss factor for the signal strength correction value.
In particular, in a detection environment, the propagation of signal strength can be affected by a variety of factors, and modeling the signal propagation process can yield the following model:
wherein, P (d)ij) Is a propagation distance of dijTime anchor node AiReceived anchor node AjSignal strength of (P)r(d0) Is a propagation distance of d0Time anchor node AiReceived anchor node AjThe signal strength of (a) and p is a loss coefficient, which is related to the building material and structure of the environment where the system is located, and can be set according to the actual situation, and μσIs a signal strength modification value satisfying a mean of 0 and a variance of μ2Gaussian distribution of d0For the near reference distance, which can be set according to the environment in which the system is located, dijIs an anchor node AiAnd anchor node AjThe distance between them.
The relationship between the signal strength and the anchor node distance is shown in the following equation (3):
wherein the content of the first and second substances,
is a propagation distance of dijTime anchor node AiReceived anchor node AjSignal strength of, delta0＝10*lgPr(d0)，δ0Is a propagation distance of d0The signal receiving power of the time can be specifically determined according to the near-ground reference distance d0And (4) obtaining by measurement.
Then, the anchor node a can be obtained according to the above equations (2) and (3)iAnd anchor node AjA distance d betweenijSpecifically, as shown in the above formula (1).
As can be seen from equation (1), to obtain the distance between two anchor nodes, only the signal strength between the two anchor nodes is known, and therefore, the first signal strength obtained in step 106 can be used
Substituting the formula (1) to calculate and obtain a first anchor node A1And a mobile secondary anchor node A'2A first distance between them
Third signal strength to be obtained
Substituting the formula (1) to calculate and obtain a first anchor node A1And the mobile third anchor node A'3A second distance between them
In one embodiment, as shown in fig. 4, obtaining coordinates of the moved third anchor node includes:
step 402, obtaining coordinates of a third anchor node before moving and a third distance between the third anchor node and the first anchor node before moving.
Specifically, after initialization for the N anchor nodes is completed, the position coordinates of each anchor node are known, so the third anchor node a before movement3Is known.
For the third anchor node A before movement3And a first anchor node A1A third distance between them
May be based on the first anchor node A1Received third anchor node A3Signal strength of
Obtained by calculation of the above formula (1). It can be understood that, when deploying the N anchor nodes, the third anchor node a before moving may also be deployed based on the communication distances R of the N anchor nodes (the communication distances of the N anchor nodes are the same)3And a first anchor node A1Third distance therebetween
Equal to the communication distance R.
And step 404, calculating and obtaining the coordinate of the third anchor node after moving in an equal proportion mode according to the coordinate of the third anchor node before moving, the third distance, the second distance and the coordinate of the first anchor node.
Specifically, after initialization for the N anchor nodes is completed, the position coordinates of each anchor node are known, so the first anchor node a before movement1Is known.
Third anchor node A before obtaining mobility3Coordinate of (2), third distance
Second distance
And a first anchor node A1After the coordinates of the first anchor node A 'are obtained through calculation in an equal proportion mode'3The coordinates of (a). In one embodiment, the third anchor node A 'after movement can be obtained by calculation according to the following formula'3The coordinates of (a):
wherein the content of the first and second substances,
is the third anchor node A 'after movement'3Is determined by the coordinate of (a) in the space,
for the third anchor node A before movement3Is determined by the coordinate of (a) in the space,
is a first anchor node A1The coordinates of (a).
And step 110, acquiring the coordinate of the unknown node according to the first distance, the second distance, the coordinate of the first anchor node and the coordinate of the moved third anchor node.
Specifically, the first distance is obtained by the above-mentioned method
Second distance
First anchor node A1Coordinates of (2)
And a mobile third Anchor node A'3Coordinates of (2)
Thereafter, the coordinates of the unknown node n may be obtained based on the obtained distance and coordinate calculation.
In one embodiment, obtaining the coordinates of the unknown node according to the first distance, the second distance, the coordinates of the first anchor node, and the coordinates of the moved third anchor node includes: and calculating to obtain the coordinates of the unknown node by adopting a distance formula according to the first distance, the second distance, the coordinates of the first anchor node and the coordinates of the moved third anchor node.
Specifically, the coordinates of the unknown node n may be denoted as (x)n,yn) Then the first anchor node A can be obtained according to the distance calculation formula1Distance from unknown node n
And a mobile third anchor node A'3Distance from unknown node n
And due to the first distance
Equal to the first anchor node A1A distance from an unknown node n, and a second distance
Is equal to the mobile rear third anchor node A'3And the distance from the unknown node n, the following system of equations can be obtained:
then, the coordinate (x) of the unknown node n can be obtained by analyzing the equation group (5)n,yn) Therefore, the unknown node n is accurately positioned, and compared with a non-ranging mode, the positioning accuracy is greatly improved, the positioning mode is simple, and the method is easy to realize.
In one embodiment, as shown in fig. 5, when N is an integer greater than or equal to 4, setting N anchor nodes in the wireless sensor network area, and making the N anchor nodes form at least one isosceles triangle area, includes:
step 502, selecting one anchor node from the N anchor nodes as a central anchor node, wherein the communication distances of the N anchor nodes are the same.
And step 504, controlling the remaining N-1 anchor nodes to be uniformly distributed on a circumference which takes the center anchor node as the circle center and takes the communication distance as the radius, wherein every two adjacent anchor nodes on the circumference and the center anchor node form an isosceles triangle area.
For convenience of description, the number of anchor nodes is 17 (i.e., N is 17) in the following description, where each anchor node has a unique ID, which is respectively denoted as Mi(i ═ 1,2, …,17), and the anchor node M received by unknown node niSignal strength of (D) is recorded as RSSIi(i＝1,2,…,17)。
Specifically, one anchor node may be selected from 17 anchor nodes as a central anchor node, such as the anchor node M1As a central anchor node, recording and storing the coordinates thereof, and then controlling the central anchor node M1To the remaining 16 anchor nodes M2To M17Broadcasting a packet including location coordinates of the anchor nodes such that the remaining 16 anchor nodes are receivingTo node M from a central anchor1After the packet (S), the position of the packet itself is adjusted to form a communication area S as shown in fig. 6. The communication area S is a circular area with a center of a circle as a center anchor node M1The radius is the communication radius of anchor node (the communication radius of 17 anchor nodes is the same) and the remaining 16 anchor nodes are evenly distributed, so that 16 fan-shaped small areas can be formed, and each fan-shaped small area is an isosceles triangle area, i.e. 16 isosceles triangle areas can be formed, which are respectively recorded as: m1M2M3、M1M3M4、…、M1MiMi+1、…、M1M16M17And M1M17M2Wherein i is more than or equal to 2 and less than or equal to 16.
Further, in an embodiment, acquiring an isosceles triangle area where the unknown node is located includes: and determining the isosceles triangle area where the unknown node is located according to the signal strength of the remaining N-1 anchor nodes received by the unknown node.
Specifically, as shown in fig. 6, after the 16 isosceles triangle areas are formed by deploying 17 anchor nodes, the remaining 16 anchor nodes are also controlled to broadcast their own information packets, and then the RSSI of the transmission signals from the remaining 16 anchor nodes received by the unknown node n is used as the signal strength of the transmission signalsiTo determine the position of the unknown node n in the communication area S, i.e. the isosceles triangle area where the unknown node n is located.
For example, when RSSI2≥RSSI10And RSSI6≥RSSI14In time, there are:
when RSSI2≥RSSI10And RSSI6<RSSI14In time, there are:
when RSSI2<RSSI10And RSSI6≥RSSI14In time, there are:
when RSSI2<RSSI10And RSSI6<RSSI14In time, there are:
therefore, the isosceles triangle area where the unknown node n is located can be determined.
It is understood that when the N anchor nodes are deployed in other manners, the isosceles triangle area where the N anchor nodes are located may also be determined based on the signal strength of the anchor nodes received by the unknown nodes. For example, when deployed in the manner shown on the left side of fig. 2b, the isosceles triangle area where the unknown node is located can be determined based on the signal strength, and details thereof will not be described here.
Further, in an embodiment, before obtaining the isosceles triangle area where the unknown node is located, the method further includes: when the number of the unknown nodes is one, directly controlling the N anchor nodes to move to the unknown nodes until the unknown nodes are positioned in a communication area formed by the N anchor nodes; and when the number of the unknown nodes is multiple, controlling the N anchor nodes to move towards the unknown nodes until the number of the anchor nodes in one half of the communication area is the maximum.
Specifically, in practical applications, since the location of the unknown node N is random, and the communication area formed by the N anchor nodes is limited, that is, the detection area is larger than the communication area, so that there may be a case where the unknown node N is not located within the communication area, at this time, the N anchor nodes may be controlled to move to the unknown node N, that is, the communication area is controlled to move to the unknown node N, so that the unknown node N is located within the communication area, so as to locate the unknown node N. Meanwhile, the number of the unknown nodes N is also uncertain, sometimes the number of the unknown nodes N is one, sometimes the number of the unknown nodes N is multiple, for one situation, the N anchor nodes are directly controlled to move towards the unknown node N, and for multiple situations, the N anchor nodes can move towards the direction with the multiple number of the unknown nodes, so that under the condition that the anchor nodes are sparsely and unevenly distributed, the moving positions of the anchor nodes are greatly reduced.
When controlling the N anchor nodes to move, that is, controlling the communication area to move, a horizontal movement manner is adopted, for example, an area with a large number of N unknown nodes moves forward, backward, leftward or rightward until the number of unknown nodes in a half area of the communication area is the maximum. In practical applications, it can be determined whether the unknown node n is in the communication area through the signal strength, for example, as shown in fig. 6 when the RSSI1When the number n is more than or equal to 0, the unknown node n is in the communication area; when RSSI1<0, unknown node n is not in the communication area, wherein RSSI1Central anchor node M received for unknown node n1The signal strength of (c).
Since the initial position of each anchor node is known, even if the position coordinates of the N anchor nodes change due to the movement of the N anchor nodes to the unknown node N, the initial position can be obtained from the rules such as the movement speed and the movement shape of the anchor node. Wherein, when N anchor nodes move, the anchor node M can be moved first1Then the rest N-1 anchor nodes are adopted as the anchor node M1The same moving mode is used for moving, so that the relative positions of the N anchor nodes are not disordered, and the correct positioning of unknown nodes is ensured.
According to the node positioning method of the wireless sensor network, when the unknown node is judged not to be in the communication area formed by the N anchor nodes according to the signal strength, the N anchor nodes are controlled to integrally and regularly move so that the unknown node is in the communication area formed by the N anchor nodes, then the specific position of the unknown node in the communication area is further determined according to the signal strength, and finally the coordinate calculation is carried out on the unknown node by utilizing the geometric characteristics, so that the accurate positioning of the unknown node is realized. Moreover, the whole positioning process is simple, easy to realize and suitable for the scenes with severe environment, such as transformer substations and the like.
It should be understood that although the various steps in the flow charts of fig. 1-5 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1-5 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 7, there is provided a node location apparatus 100 of a wireless sensor network, including: a setting unit 110, a first acquiring unit 120, a moving unit 130, a second acquiring unit 140, a second acquiring unit 150, and a third acquiring unit 160.
The setting unit 110 is configured to set N anchor nodes in a wireless sensor network region, and enable the N anchor nodes to form at least one isosceles triangle region, where N is an integer greater than or equal to 3.
The first obtaining unit 120 is configured to obtain an isosceles triangle area where the unknown node is located, and record anchor nodes corresponding to vertex angles of the isosceles triangle area as first anchor nodes, and record anchor nodes corresponding to base angles as second anchor nodes and third anchor nodes.
The moving unit 130 is configured to control the second anchor node to move to the first anchor node until the first signal strength of the second anchor node received by the first anchor node is equal to the second signal strength of the first anchor node received by the unknown node, and control the third anchor node to move to the first anchor node until the third signal strength of the third anchor node received by the first anchor node is equal to the fourth signal strength of the third anchor node received by the unknown node.
The second obtaining unit 140 is configured to obtain a first distance between the first anchor node and the second anchor node after the movement, a second distance between the first anchor node and the third anchor node after the movement, a coordinate of the first anchor node, and a coordinate of the third anchor node after the movement;
the third obtaining unit 150 is configured to obtain the coordinates of the unknown node according to the first distance, the second distance, the coordinates of the first anchor node, and the coordinates of the moved third anchor node.
For specific limitations of the node location apparatus 100 of the wireless sensor network, reference may be made to the above limitations of the node location apparatus method of the wireless sensor network, which are not described herein again. The units in the node location device 100 of the wireless sensor network may be implemented in whole or in part by software, hardware, and a combination thereof. The units can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the units.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the above-mentioned method.
The node positioning method, the device and the computer readable storage medium of the wireless sensor network are characterized in that N anchor nodes are arranged in a wireless sensor network area, the N anchor nodes form at least one isosceles triangle area, then the isosceles triangle area where an unknown node is located is obtained, the anchor nodes corresponding to the vertex angles of the isosceles triangle area are marked as first anchor nodes, the anchor nodes corresponding to the base angles are marked as second anchor nodes and third anchor nodes, then the second anchor nodes are controlled to move towards the first anchor nodes until the first signal strength of the second anchor nodes received by the first anchor nodes is equal to the second signal strength of the first anchor nodes received by the unknown node, and the third anchor nodes are controlled to move towards the first anchor nodes until the third signal strength of the third anchor nodes received by the first anchor nodes is equal to the fourth signal strength of the third anchor nodes received by the unknown node, and then acquiring a first distance between the first anchor node and the second anchor node after the movement, a second distance between the first anchor node and the third anchor node after the movement, the coordinate of the first anchor node and the coordinate of the third anchor node after the movement, and acquiring the coordinate of the unknown node according to the first distance, the second distance, the coordinate of the first anchor node and the coordinate of the third anchor node after the movement. Therefore, the accurate positioning of the unknown node can be realized through a distance measurement positioning mode, and the positioning mode is simpler.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A node positioning method of a wireless sensor network is characterized in that the node positioning method comprises the following steps:
setting N anchor nodes in a wireless sensor network area, and enabling the N anchor nodes to form at least one isosceles triangle area, wherein N is an integer greater than or equal to 3;
obtaining an isosceles triangle area where an unknown node is located, and recording anchor nodes corresponding to the vertex angle and the base angle of the isosceles triangle area as first anchor nodes and second anchor nodes and third anchor nodes;
controlling the second anchor node to move towards the first anchor node along a straight line where the first anchor node and the second anchor node are located until a first signal strength of the second anchor node received by the first anchor node is equal to a second signal strength of the first anchor node received by the unknown node, and controlling the third anchor node to move towards the first anchor node along a straight line where the first anchor node and the third anchor node are located until a third signal strength of the third anchor node received by the first anchor node is equal to a fourth signal strength of the third anchor node received by the unknown node;
acquiring a first distance between the first anchor node and the second anchor node after movement, a second distance between the first anchor node and the third anchor node after movement, coordinates of the first anchor node and coordinates of the third anchor node after movement;
wherein the obtaining coordinates of the moved third anchor node includes:
acquiring the coordinate of the third anchor node before moving and a third distance between the third anchor node and the first anchor node before moving;
calculating to obtain the coordinate of the third anchor node after the movement in an equal proportion mode according to the coordinate of the third anchor node before the movement, the third distance, the second distance and the coordinate of the first anchor node;
acquiring the coordinate of the unknown node according to the first distance, the second distance, the coordinate of the first anchor node and the coordinate of the third anchor node after movement, and calculating by adopting a distance formula to acquire the coordinate of the unknown node;
and the distance between the first anchor node and the unknown node is equal to the first distance, and the distance between the third anchor node and the unknown node after movement is equal to the second distance.
2. The node location method of claim 1, wherein the obtaining the first distance between the first anchor node and the second anchor node after the moving comprises:
calculating to obtain the first distance according to the first signal intensity and a preset signal intensity model;
the obtaining a second distance between the first anchor node and the third anchor node after the movement includes:
and calculating to obtain the second distance according to the third signal intensity and the preset signal intensity model.
3. The node location method of claim 2, wherein the predetermined signal strength model is expressed by the following formula:
wherein the content of the first and second substances,
as anchor node
And anchor node
The distance between the two or more of the two or more,
，
is a propagation distance of
The received power of the signal at the time of the transmission,
in order to refer to the distance to the ground closely,
is a propagation distance of
The anchor node
The received anchor node
The strength of the signal of (a) is,
is a propagation distance of
The anchor node
The received anchor node
The strength of the signal of (a) is,
in order to correct the value of the signal strength,
is the loss factor.
4. The node positioning method according to any one of claims 1 to 3, wherein when N is an integer greater than or equal to 4, the setting N anchor nodes in the wireless sensor network area and making the N anchor nodes form at least one isosceles triangle area comprises:
selecting one anchor node from the N anchor nodes as a central anchor node, wherein the communication distances of the N anchor nodes are the same;
and controlling the rest N-1 anchor nodes to be uniformly distributed on a circumference which takes the center anchor node as the circle center and the communication distance as the radius, wherein every two adjacent anchor nodes on the circumference and the center anchor node form one isosceles triangle area.
5. The node positioning method according to claim 4, wherein the obtaining an isosceles triangle area where the unknown node is located comprises:
and determining the isosceles triangle area where the unknown node is located according to the signal strength of the remaining N-1 anchor nodes received by the unknown node.
6. The node positioning method according to claim 4, before obtaining the isosceles triangle area where the unknown node is located, further comprising:
when the number of the unknown nodes is one, directly controlling the N anchor nodes to move to the unknown nodes until the unknown nodes are in a communication area formed by the N anchor nodes;
when the number of the unknown nodes is multiple, the N anchor nodes are controlled to move towards the unknown nodes until the number of the anchor nodes in one half of the communication area is the maximum.
7. A node positioning apparatus of a wireless sensor network, the node positioning apparatus comprising:
the wireless sensor network comprises a setting unit, a processing unit and a control unit, wherein the setting unit is used for setting N anchor nodes in a wireless sensor network area and enabling the N anchor nodes to form at least one isosceles triangle area, and N is an integer greater than or equal to 3;
the first acquisition unit is used for acquiring an isosceles triangle area where the unknown node is located, and recording anchor nodes corresponding to the vertex angle of the isosceles triangle area as first anchor nodes and recording anchor nodes corresponding to the base angle as second anchor nodes and third anchor nodes;
a moving unit, configured to control the second anchor node to move towards the first anchor node along a straight line where the first anchor node and the second anchor node are located until a first signal strength of the second anchor node received by the first anchor node is equal to a second signal strength of the first anchor node received by the unknown node, and control the third anchor node to move towards the first anchor node along a straight line where the first anchor node and the third anchor node are located until a third signal strength of the third anchor node received by the first anchor node is equal to a fourth signal strength of the third anchor node received by the unknown node;
a second obtaining unit, configured to obtain a first distance between the first anchor node and the second anchor node after the movement, a second distance between the first anchor node and the third anchor node after the movement, a coordinate of the first anchor node, and a coordinate of the third anchor node after the movement;
wherein the obtaining coordinates of the moved third anchor node includes:
acquiring the coordinate of the third anchor node before moving and a third distance between the third anchor node and the first anchor node before moving;
calculating to obtain the coordinate of the third anchor node after the movement in an equal proportion mode according to the coordinate of the third anchor node before the movement, the third distance, the second distance and the coordinate of the first anchor node;
a third obtaining unit, configured to obtain a coordinate of the unknown node according to the first distance, the second distance, the coordinate of the first anchor node, and the coordinate of the third anchor node after movement, and obtain the coordinate of the unknown node by using a distance formula;
and the distance between the first anchor node and the unknown node is equal to the first distance, and the distance between the third anchor node and the unknown node after movement is equal to the second distance.
8. The node positioning apparatus according to claim 7, wherein the second obtaining unit is further configured to calculate and obtain the first distance according to the first signal strength and a preset signal strength model; and calculating to obtain the second distance according to the third signal intensity and the preset signal intensity model.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 6.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
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