CN101004448A - Convex programming positioning method of triangle filtering of wireless sensor network - Google Patents
Convex programming positioning method of triangle filtering of wireless sensor network Download PDFInfo
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Abstract
A network triangular filtering convex plan positioning method of radio transducer includes broadcast-sending information containing itself information by anchor node, receiving said information by unknown node, calculating crossed region of circle using received each anchor node as circle center and communication radius as radius when information of above two anchor nodes is received by unknown node, making position positioning on unknown node according to whether crossed region of said circle in triangle formed by received anchor node is received by unknown node or not.
Description
Technical field
The present invention relates to a kind of localization method of wireless communication field, relate in particular to a kind of convex programming positioning method of triangle filtering of wireless sensor network.
Background technology
In recent years, along with MEMS (micro electro mechanical system) (micro-electro-mechanism system, abbreviation MEMS), the development of technology such as integrated circuit, radio communication, sensor and digital and electronic, production low cost, low-power consumption, multi-functional micro radio sensing device become possibility, and wireless senser has functions such as radio communication, data acquisition and processing (DAP), cooperative cooperating.
Wireless sensor network (wireless sensor network, be called for short WSN) thus be by the network structure of a large amount of wireless sensers to the target area composition is set, each wireless senser is called a node among the WSN.The node of WSN can specifically be provided with or be randomly dispersed in the target area, for example: zone that some mankind are not suitable for entering or hostile area, these zones generally are to shed wireless senser by aircraft, so the position of each wireless sensor node all is at random and unknown.In many application, the data that wireless sensor node collected must be just meaningful in conjunction with its positional information in measurement coordinate system, if do not know the pairing geographic position of data, data will lose meaning.Therefore, it is the essential condition that WSN uses that node carries out self poisoning exactly, and the location of WSN node self externally target location and tracking and improve aspects such as router efficiency and play a role.Therefore, the self poisoning of realization node has great importance to WSN.
Obtaining node self poisoning information can utilize GPS (Global Positionsystem is called for short GPS) to realize.But, for all nodes gps receiver is installed and is subjected to effects limit such as price, volume, power consumption and extensibility, exist some difficulties, even can't realize in some occasion.Therefore, need a kind of method that realizes WSN node self poisoning, utilize the node of a small amount of known location in the sensor network to obtain the positional information of the node of other unknown positions.In the prior art, the node of known location is called anchor node; The node of unknown position is called unknown node; The maximum distance that anchor node can be communicated by letter is called communication radius.Anchor node is set up local coordinate system according to self-position, and unknown node calculates own relative position in the local coordinate system of anchor node according to anchor node, thereby can know its positional information.
Existing wireless sensor network node self positioning method mainly contains two kinds: based on the localization method of ranging technology and the localization method of non-distance measuring.Calculate node location based on the localization method of ranging technology distance or the angle information by point-to-point between measured node, the precision of this method is higher, but the hardware facility to network is also had relatively high expectations, and the location based on ranging technology need repeatedly be measured usually, refinement circulates, when obtaining relative accurate localization result, can produce a large amount of calculating and communication overhead, so,, be not suitable for low-power consumption, application cheaply though this method is higher in bearing accuracy.The localization method of non-distance measuring need not distance and angle information, only can realize the location of node according to information such as network connectivties.
The localization method of non-distance measuring is at cost, aspects such as power consumption have very big advantage, can be applied to most of fields, a kind of convex programming localization method that is is arranged in the localization method of non-distance measuring, mainly be according to the wireless range with node of communicating to connect between unknown node and the anchor node, calculate the zone that unknown node may exist, as shown in Figure 3, unknown node is with anchor node A0, A1, in the circle of the communication radius that A2 forms, be intersecting area D1, then with the barycenter of the minimum rectangle of intersecting area position as unknown node, the convex programming localization method may exist the barycenter of the minimum rectangle in zone that unknown node is located with unknown node, do not need to measure between points distance and angle, localization method is simple and cost is lower, but precision is not high relatively, position that estimates and the deviation between the actual position, promptly positioning error is bigger.
Summary of the invention
It is big to the present invention is directed to existing convex programming localization method positioning error, and the problem that precision is not high provides a kind of wireless sensor network locating method of non-distance measuring, improves bearing accuracy to reduce positioning error.
To achieve these goals, the invention provides a kind of convex programming positioning method of triangle filtering of wireless sensor network, comprising: the anchor node broadcast transmission comprises the information of self-position; Unknown node receives the information that anchor node sends; When unknown node received the information of two above anchor nodes, calculating with each anchor node that receives was the center of circle, and communication radius is the intersecting area of the circle of radius; According to unknown node whether in the triangle that the anchor node that receives is formed and the intersecting area of described circle unknown node is carried out location positioning: judge in the triangle of any three anchor nodes composition whether unknown node is receiving, if unknown node is not in the triangle that any three anchor nodes are formed, then with the barycenter of the minimum rectangle of the intersecting area that the comprises described circle position as unknown node; Otherwise the leg-of-mutton intersecting area that any three anchor nodes that calculate the unknown node place are formed is with the barycenter of the minimum rectangle of the intersecting area that comprises leg-of-mutton intersecting area and the described circle position as unknown node.
In the technique scheme, whether described unknown node is specially in the triangle that the anchor node that receives is formed: if the neighbor node of unknown node with respect to unknown node simultaneously away from or near forming leg-of-mutton anchor node, unknown node is included in the described triangle, otherwise is not included in the described triangle.
The present invention proposes a kind of convex programming positioning method of triangle filtering of wireless sensor network, with each anchor node that receives is the center of circle, communication radius is that the intersecting area of the circle of radius calculates the zone that unknown node may exist, and thereby the triangle of further introducing the anchor node composition filters the zone that node can not exist, dwindle the scope that unknown node may exist, thereby improved bearing accuracy greatly.
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Description of drawings
Fig. 1 is the process flow diagram of convex programming positioning method of triangle filtering of wireless sensor network of the present invention;
Fig. 2 receives the synoptic diagram of anchor node information for unknown node of the present invention;
Fig. 3 is the center of circle for the present invention calculates with the anchor node that receives, and communication radius is the embodiment synoptic diagram of intersecting area of the circle of radius;
The leg-of-mutton intersecting area that Fig. 4 forms at the anchor node that receives according to unknown node for the present invention and the intersecting area of described circle carry out the embodiment synoptic diagram of location positioning to unknown node;
Fig. 5 judges the whether theoretical foundation synoptic diagram in the triangle that anchor node is formed of unknown node for the present invention;
Fig. 6 judges the whether specific implementation method synoptic diagram in the triangle that anchor node is formed of unknown node for the present invention;
Fig. 7 is a wireless sensor network locating method preferred embodiment process flow diagram of the present invention.
Embodiment
For convenience of description, below: each wireless senser among the WSN is called a node among the WSN, and node is divided into anchor node and unknown node; The node of known location is called anchor node, and anchor node is to set in advance in a certain position, adopt GPS or additive method to learn the node of the position that it is concrete; The node of unknown position is called unknown node, is need be positioned to determine the node of position; The maximum distance that anchor node can be communicated by letter is called communication radius; In the communication radius of an anchor node, but the node of direct communication is called neighbor node mutually.Anchor node is set up local coordinate system according to self-position, and unknown node calculates its relative position in local coordinate system according to anchor node, thereby can determine the position of unknown node.To be the center of circle with anchor node Ai, communication radius be that the circle of radius is called round Ai (wherein, i=0,1,2,3.....).
Fig. 1 is a process flow diagram of the present invention.As shown in Figure 1, the present invention includes: the anchor node broadcast transmission comprises the information of self-position; Unknown node receives the information that anchor node sends; When unknown node received the information of two above anchor nodes, calculating with each anchor node that receives was the center of circle, and communication radius is the intersecting area of the circle of radius; According to unknown node whether in the triangle that the anchor node that receives is formed and the intersecting area of described circle unknown node is carried out location positioning: judge in the triangle of any three anchor nodes composition whether unknown node is receiving, if unknown node is not in the triangle that any three anchor nodes are formed, then with the barycenter of the minimum rectangle of the intersecting area that the comprises described circle position as unknown node; Otherwise the leg-of-mutton intersecting area that any three anchor nodes that calculate the unknown node place are formed is with the barycenter of the minimum rectangle of the intersecting area that comprises leg-of-mutton intersecting area and the described circle position as unknown node.
The present invention is directed to wireless sensor network, so all unknown node repeat above-mentioned position fixing process, determining the position of each unknown node, thereby know the position of each node of whole network, each node can be handled and analyze the data of its collection.
Now the present invention will be described in conjunction with Fig. 2 to Fig. 6.
Fig. 2 receives the synoptic diagram of anchor node information for unknown node of the present invention.As shown in Figure 2, unknown node N
0If can receive certain anchor node A
0Information, show that so this unknown node is being that the center of circle, communication radius are in the circle of radius with this anchor node.As shown in Figure 2, if unknown node receives the information of n anchor node, then this unknown node is that the center of circle, communication radius are in the circle of radius at this n with the anchor node, i.e. the intersecting area of n circle.
Among the present invention, when unknown node received the information of two above anchor nodes, calculating with each anchor node that receives was the center of circle, and communication radius is the intersecting area of the circle of radius.Fig. 3 is the embodiment synoptic diagram of above-mentioned steps.Present embodiment is an example to receive three anchor nodes of A0, A1 and A2, is the center of circle with A0, A1 and A2 respectively, and communication radius is that radius is drawn circle A0, A1 and A2, calculates the intersecting area of three circles, and shadow region as shown in Figure 3 is round intersecting area D1.
The present invention proposes a kind of convex programming positioning method of triangle filtering of wireless sensor network, with each anchor node that receives is the center of circle, communication radius is that the intersecting area of the circle of radius calculates the zone that unknown node may exist, and thereby the triangle of further introducing the anchor node composition filters the zone that node can not exist, dwindle the scope that unknown node may exist, thereby improved bearing accuracy greatly.
Among the present invention, according to unknown node whether in the triangle that the anchor node that receives is formed and the intersecting area of circle unknown node carried out location positioning be specially: in the triangle that the anchor node that unknown node is not receiving is formed, then with the barycenter of the minimum rectangle of the intersecting area that comprises described circle position as unknown node; Otherwise calculate the leg-of-mutton intersecting area that the anchor node comprise unknown node is formed, with the barycenter of the minimum rectangle that comprises round intersecting area and leg-of-mutton intersecting area position as unknown node.
The concrete course of work is:
(1) if the triangle that any three anchor nodes are formed in the N that receives anchor node does not comprise unknown node, then with the barycenter of the minimum rectangle of the intersecting area of the circle that comprises N anchor node position as unknown node.
(2) if having Q to comprise unknown node in the triangle of the N that receives any three anchor nodes composition of anchor node, calculate described Q leg-of-mutton intersecting area, calculate the intersecting area and the individual leg-of-mutton intersecting area of described Q of the circle of N anchor node, with the barycenter of the minimum rectangle that comprises round intersecting area and leg-of-mutton intersecting area position as unknown node.
Fig. 4 is the embodiment synoptic diagram of above-mentioned steps.Fig. 4 is an example to receive three anchor nodes of A0, A1 and A2:
1. if the triangle △ A0A1A2 that forms of these three anchor nodes does not comprise unknown node, so with the barycenter 01 of the minimum rectangle of the intersecting area D1 that comprises round A0, circle A1 and circle A2 as anchor point, as shown in Figure 3.At this moment, unknown node obtains the location, and this method finishes.
2. because receive three anchor nodes, so N=3, three anchor nodes can be formed a triangle, so if this triangle has comprised unknown node, Q=1 then, described leg-of-mutton zone is D2, be triangle △ A0A1A2 shown in Figure 4, calculate the intersecting area D3 of D1 and D2, the zone of picture oblique line promptly shown in Figure 4, with the barycenter 02 of the minimum rectangle that comprises D3 as anchor point, as shown in Figure 4, at this moment, unknown node obtains the location, and this method finishes.
The zone that existing convex programming localization method adopts the intersecting area (for example D1 among Fig. 3) of circle may exist as unknown node, the present invention further introduces the triangle (for example D2 among Fig. 4) that anchor node is formed, and will comprise the zone of the zone (for example D3 among Fig. 4) of round intersecting area and leg-of-mutton intersecting area as the unknown node existence.As seen from Figure 4, D3 dwindles greatly than the scope of D1, has filtered the zone that node can not exist, and has dwindled the scope that unknown node may exist, thereby has improved bearing accuracy greatly.
In this method, whether described unknown node is specially in the triangle that the anchor node that receives is formed: if the neighbor node of unknown node simultaneously away from or near forming leg-of-mutton anchor node, unknown node is included in the described triangle, otherwise is not included in the described triangle.
Fig. 5 judges the whether theoretical foundation synoptic diagram in the triangle that anchor node is formed of unknown node for the present invention.As shown in Figure 5, anchor node A, B, C form triangle △ ABC, if there is a direction, make unknown node M along this direction simultaneously away from or near A, B, C, unknown node M is positioned at outside the triangle △ ABC that anchor node forms so; Otherwise, be positioned at △ ABC.
Fig. 6 judges the whether specific implementation method synoptic diagram in the triangle that anchor node is formed of unknown node for the present invention.Specific implementation method is: utilize in the wireless sensor network nodal point separation anchor node far away more, the weak more nature of radio propagation of received signal intensity judge and anchor node between the distance of distance.By message exchange between neighbor node, imitate node motion, thereby judge unknown node whether in triangle, if the neighbor node of a unknown node M not with respect to M simultaneously away from or close three anchor node A, B, C, M is just in △ ABC so; Otherwise M is outside △ ABC.Shown in Fig. 6 (a), node M by with neighbor node 1 exchange message, know if move to node 1, will be away from anchor node B and C, but can be near anchor node A; Node M and neighbor node 2,3,4 communicate by letter and deterministic process similar, determine that finally M is positioned at △ ABC.Shown in Fig. 6 (b), node M by with neighbor node 1 exchange message, know if move to neighbor node 1, will be simultaneously away from anchor node A, B, C, so judgement M is not in △ ABC.
Fig. 7 is a wireless sensor network locating method preferred embodiment process flow diagram of the present invention.Fig. 7 and above-mentioned principle of work are similar, and flow process is refinement more, and something in common repeats no more.
1. the anchor node broadcast transmission comprises the information of self-position;
2. unknown node receives the information that anchor node sends;
3. unknown node is judged the anchor node number that receives
3.1 when unknown node does not receive the information of any one anchor node, carry out 4;
3.2 when unknown node receives the information of an anchor node,, carry out 4 with position, the position of this anchor node as unknown node;
When 3.3 unknown node receives the information of two anchor nodes, calculating is the center of circle with two anchor nodes that receive, communication radius is the intersecting area of the circle of radius, with the barycenter of the minimum rectangle of the intersecting area that comprises two circles position as unknown node, carries out 4;
3.4 when unknown node received more than two anchor node information, calculating with each anchor node that receives was the center of circle, communication radius is the intersecting area of the circle of radius;
3.4.1 judge that unknown node is whether in the triangle that any three anchor nodes that receive are formed, if carry out 3.4.2, otherwise carry out 3.4.3;
3.4.2 calculate M the leg-of-mutton intersecting area at unknown node place,, carry out 4 with the barycenter of the minimum rectangle of the intersecting area that comprises M leg-of-mutton intersecting area and described circle position as unknown node;
3.4.3, carry out 4 with the barycenter of the minimum rectangle of the intersecting area that comprises described circle position as unknown node;
4. finish the location.
In sum, the present invention proposes a kind of localization method of wireless senser, on the basis of convex programming location, introduced the triangle that anchor node constitutes, further filter the zone that unknown node can not exist, dwindled the orientation range of unknown node, thereby improve bearing accuracy greatly, can effectively solve the problem that original method of convex programming positioning error is big, precision is low.
It should be noted last that, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not break away from the spirit and scope of technical solution of the present invention.
Claims (6)
1. convex programming positioning method of triangle filtering of wireless sensor network comprises:
The anchor node broadcast transmission comprises the information of self-position;
Unknown node receives the information that anchor node sends;
When unknown node received the information of two above anchor nodes, calculating with each anchor node that receives was the center of circle, and communication radius is the intersecting area of the circle of radius;
According to unknown node whether in the triangle that any three anchor nodes that receive are formed and the intersecting area of described circle unknown node is positioned: judge in the triangle of any three anchor nodes composition whether unknown node is receiving, if unknown node is not in the triangle that any three anchor nodes are formed, then with the barycenter of the minimum rectangle of the intersecting area that the comprises described circle position as unknown node; Otherwise the leg-of-mutton intersecting area that any three anchor nodes that calculate the unknown node place are formed is with the barycenter of the minimum rectangle of the intersecting area that comprises leg-of-mutton intersecting area and the described circle position as unknown node.
2. convex programming positioning method of triangle filtering of wireless sensor network according to claim 1 is characterized in that, describedly judges that whether unknown node is specially in the triangle that any three anchor nodes that receive are formed:
If the neighbor node of unknown node with respect to unknown node simultaneously away from or near forming leg-of-mutton anchor node, unknown node is outside described triangle; Otherwise unknown node is in described triangle.
3. convex programming positioning method of triangle filtering of wireless sensor network according to claim 1 is characterized in that, whether described unknown node is specially in the triangle that any three anchor nodes that receive are formed:
If unknown node along certain direction simultaneously away from or near forming leg-of-mutton anchor node, unknown node is outside the triangle that anchor node is formed; Otherwise unknown node is in described triangle.
4. according to claim 1,2 or 3 described convex programming positioning method of triangle filtering of wireless sensor network, it is characterized in that, when described unknown node receives the information of two above anchor nodes, calculating is the center of circle with each anchor node that receives, and communication radius is that the intersecting area of the circle of radius is specially:
With each anchor node that receives is the center of circle, and the communication radius of each anchor node is that radius is drawn circle;
Calculate the intersecting area of above-mentioned each circle, described intersecting area is the lap of each circle, promptly in each circle.
5. according to claim 1,2 or 3 described convex programming positioning method of triangle filtering of wireless sensor network, it is characterized in that, also comprise:
When unknown node receives the information of an anchor node, with position, the position of this anchor node as unknown node.
6. according to claim 1,2 or 3 described convex programming positioning method of triangle filtering of wireless sensor network, it is characterized in that, also comprise:
When unknown node received the information of two anchor nodes, two anchor nodes that calculate to receive were the center of circle, and communication radius is the intersecting area of the circle of radius, with the barycenter of the minimum rectangle of the intersecting area that comprises two circles position as unknown node.
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| CN105760988A (en) * | 2016-02-01 | 2016-07-13 | 武汉易瑞信息技术股份有限公司 | Timing method and system based on wireless location |
| CN109565781A (en) * | 2016-08-08 | 2019-04-02 | 索尼公司 | Positioning device, method, mobile node and wireless telecom equipment |
| CN109471062A (en) * | 2018-11-14 | 2019-03-15 | 深圳美图创新科技有限公司 | Localization method, positioning device and positioning system |
| CN112034494A (en) * | 2020-09-14 | 2020-12-04 | 航科院中宇（北京）新技术发展有限公司 | System and method for calculating navigation point precision in aircraft flight navigation data |
| CN112034494B (en) * | 2020-09-14 | 2023-09-22 | 航科院中宇（北京）新技术发展有限公司 | System and method for calculating navigation point precision in aircraft flight navigation data |
| CN113219450A (en) * | 2021-04-29 | 2021-08-06 | 深圳市恒天伟焱科技股份有限公司 | Ranging positioning method, ranging device and readable storage medium |
| CN113219450B (en) * | 2021-04-29 | 2024-04-19 | 深圳市恒天伟焱科技股份有限公司 | Ranging positioning method, ranging device and readable storage medium |
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