CN101285878A - Wireless sensor network perpendicular intersection positioning algorithm - Google Patents
Wireless sensor network perpendicular intersection positioning algorithm Download PDFInfo
- Publication number
- CN101285878A CN101285878A CNA2008100165511A CN200810016551A CN101285878A CN 101285878 A CN101285878 A CN 101285878A CN A2008100165511 A CNA2008100165511 A CN A2008100165511A CN 200810016551 A CN200810016551 A CN 200810016551A CN 101285878 A CN101285878 A CN 101285878A
- Authority
- CN
- China
- Prior art keywords
- node
- mobile beacon
- empty
- signal
- triangle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
A perpendicularly-crossed positioning algorithm of a wireless sensor network is used in a wireless sensor network of limited power and random distribution. The algorithm is on the premise of a mobile beacon with known self position, wherein the mobile beacon keeps broadcasting signal and current self position on a movement path line; a node records a point of highest signal intensity through comparing signal intensity, and calculates the position of the node by a geometry method according to the two points of highest signal intensity obtained from every two adjacent sides. The perpendicularly-crossed positioning algorithm requests that the path lines of the mobile beacon are two sides of an equilateral triangle and that the side length of the triangle is equal to the transmission radius R of the mobile beacon. The algorithm can accurately calculate the position of the node through using just one mobile beacon, thereby improving system extensibility and usability and reducing hardware requirement to save cost.
Description
Technical field
The present invention relates to a kind of perpendicular intersection positioning algorithm of wireless sensor network.
Background technology
A kind of special Ad-hoc network that wireless sensor network (WSNs) is made up of by the form of self-organization many sensor nodes, each sensor node is made up of data acquisition module, data processing and control module, communication module and supply module etc., may comprise other parts relevant in addition, such as positioning system, power system etc. with application.By means of built-in various sensor, can measure temperature, humidity, air pressure, chemistry and physical phenomenon.Because wireless sensor network has boundless application prospect in fields such as military affairs, medical science, environmental protection, is subjected to the attention of numerous national scientific research institutions.
The self poisoning of sensor node is the basis that sensor network is used.Many application such as the route of for example target monitoring and tracking, position-based information, intelligent transportation, logistics management all require network node to know the position of self in advance, and utilize positional information to finish application requirements in communication and cooperating process.If there is not positional information, the data that sensor node is gathered almost do not have using value.So in the application of wireless sensor network, the location of node becomes crucial problem.Location aware usually need with pre-configured plan, GPS use or other technologies are cost.The position cost that cheap sensor network is measured all nodes by GPS or other similar techniques is too high, is inappropriate.It is unpractical attempting to dispose the network of being made up of a large amount of low price sensor nodes fast.Because its importance and singularity, the sensor node location is active research field very in recent years, and has proposed a lot of solutions.
The location of node need infer by the distance of estimating neighbor node, and location algorithm the most basic most important problem is to judge that those can utilize beacon to calculate distance between the sensor node of position.Beacon is the node that those positions can be learnt in current calculating (adopt GPS or manually be provided with etc.), and other node is called non-beaconing nodes.Because the needed beacon quantity in location is big, price is expensive, accuracy is low and energy consumption is high, studying some new localization methods based on mobile beacon becomes and presses for.
Beaconing nodes can obtain self-position by certain measure (as have a GPS device or manually be provided with etc.).If in sensing range each other, the distance between sensor node and the beacon can obtain by directly measuring, otherwise utilizes the distance between certain approximate data estimation sensor node and beacon.But the shortcoming of this method is the path of mobile beacon not to define.With regard to bearing accuracy, the path of mobile beacon directly influences the performance of these methods.
Locate the most frequently used most economical method and utilize mobile beacon intensity indication (RSSI) exactly.The strength of transmitted signals of known sending node, receiving node is according to the signal intensity of receiving, calculate the propagation loss of signal, utilize theory and empirical model that loss is converted into distance, utilize existed algorithms to calculate the position of node again, the error of Chan Shenging is bigger like this, and locating accuracy is had certain influence.Chinese patent CN101155198 discloses a kind of wireless sensor network node locating method based on ultra broadband, with the communication media of ultra broadband as wireless sensor node, by normal data packet transceive record node between the wireless signal strength indicated value, adopt nonmetric multidimensional scaling technology directly to utilize internodal wireless signal strength indicated value to position.Wherein location algorithm was divided into for three megastages: bunch being that the local relative coordinate figure positioning stage of unit, local figure merge into overall relative coordinate figure stage and the relative coordinate figure translate phase to absolute coordinates figure.But this invention need be communication media with the ultra broadband, and the merging of local figure and overall relative coordinate are converted to absolute coordinates and easily cause certain error, and algorithm is complicated.
Especially at present, under the policy that country prospers the nation with science and education instructed, along with the needs of China's economy and scientific research activity, scientific research research in ocean more and more highlighted its importance.In marine environment, because the complicacy of oceanographic condition and the difficulty of enforcement node waterborne have caused sensor node positioning accuracy request on the ocean higher.How to simplify the sensor location algorithm, and implement difficulty and economy, become the important directions of research.
Summary of the invention
Technical matters to be solved by this invention is to solve the location of the sensor node of stochastic distribution in the wireless sensor network and overcome in the traditional algorithm problems such as positioning error is bigger.The invention provides the perpendicular intersection positioning algorithm at a kind of wireless senser networking, it is to be prerequisite with a mobile beacon of knowing self-position, and sensor node receives beacon signal and also utilize the geometry method to calculate the position at place separately.The present invention with a mobile beacon just can the accurate Calculation egress the position, therefore improved the extensibility and the availability of system, and reduced requirement for hardware, provide cost savings.
The present invention is achieved by the following technical solutions, and method concrete steps of the present invention are as follows:
Step 1: the plane at all node places in the whole network is divided into a plurality of empty equilateral triangles with some circuits, and it is the track of mobile beacon in whole network that every circuit couples together, and line width is the height of empty equilateral triangle.
Step 2: mobile beacon moves along a path, and continuous broadcast singal, and the node in the mobile beacon spread scope will judge oneself to belong to which empty triangle, and calculates self-position.
Step 3: mobile beacon moves to another circuit along its path from a circuit, till all nodes are all located in network.
Above step is done some explanation: each bar path of mobile beacon is the formation that join end to end of two real limits of the empty equilateral triangle that equates of several length of sides, when mobile beacon is gone to the network edge place, move to the summit of another empty equilateral triangle and change next bar path over to perpendicular to the empty limit of empty equilateral triangle.The length of side of empty equilateral triangle equals the propagation radius R of mobile beacon, can guarantee that like this node in the triangle is shorter than the distance to other vertex of a triangle to the distance on its summit, the node in the empty triangle receives from the signal intensity sum on its three summits recently is eager to excel from the signal intensity sum on other empty Atria summit.
In each empty triangle, the workflow of mobile beacon is as follows:
(1) sends commencing signal and starting position at each place, summit;
(2) move and constantly broadcast positioning signal and current location;
(3) judging whether to arrive flex point, is then to send end signal, otherwise carries out (2);
(4) judging whether node no-fix in addition, be then to carry out (1), otherwise finishes the location.
Node locating process specific as follows:
(1) node is intercepted the wait commencing signal, judges whether to receive commencing signal, if receive, carries out (2), otherwise continues to intercept;
(2) receive commencing signal, and the signal intensity of writing down the starting position and receiving;
(3) intercept broadcasting from mobile beacon, and the signal intensity that receives of contrast
(4) judge that the signal intensity receive is whether strong than before signal, if than before signal strong, the current location and the signal intensity of record mobile beacon, otherwise carry out (3);
(5) judge whether to receive end signal,, otherwise carry out (3) if receive then carry out (6).
When (6) receiving two pairs of commencing signals and end signal (i.e. three signals that send on continuous summit) continuously, just in the empty triangle that oneself is positioned at these three summits formations as if node.
(7) make straight-line segment perpendicular to limit, 2 places respectively at two some places that obtain highest signal strength, the intersection point of two vertical lines promptly is the node position.
In estimating the node location process, following three kinds of situations can appear:
(1) node has only received an end signal, but does not receive commencing signal before this, and it will not do any calculating.
(2) node has only received a commencing signal, but does not receive end signal after sufficiently long delay, and it also will not do any computing.
(3) node receives commencing signal and the termination signal more than two pairs, and this just needs the node section of declaring oneself in which empty triangle.Detailed process is as follows:
When 1. node is received two pairs of commencing signals and end signal (i.e. three signals that send on continuous summit),, and calculate the signal intensity sum on these three continuous summits just in the empty triangle that oneself is positioned at these three summits formations;
2. this node receives two pairs of commencing signals and end signal again, then calculates the signal intensity sum on these three continuous summits, and with 1. in the signal intensity sum that obtains make comparisons, then this node locating in the bigger empty triangle of signal intensity sum.
In situation (3), also there are two special cases:
One is that node does not obtain the empty triangle of highest signal strength at the fringe node of two circuits, but the signal intensity sum of calculating in two empty triangles is identical, so just can come calculating location with any empty triangle.
Another is that node is on empty vertex of a triangle.If it is commencing signal that node obtains to obtain twice, one of strongest signal strength in identical position, another is an end signal, and then empty vertex of a triangle is exactly the position at node place, and then no matter what signal it receives, and it all need not do any calculating again.
Advantage of the present invention is:
1, only with a mobile beacon node just can the accurate Calculation egress the position, improve the extensibility and the availability of system, and reduction is to the requirement of hardware, the saving cost.
2, only compare the size of received signal intensity, do not need the received signal intensity-conversion is become distance, calculate the position, avoided the error of bringing because of conversion with method of geometry.
3, only need move,, can avoid because of positioning error that node motion is brought through the position that one-time positioning just can get egress along a mobile path, special in location at marine floating sensor node.
4, algorithm is simple, and calculated amount is little.
Description of drawings
Fig. 1 algorithm examples synoptic diagram that intersects vertically;
Fig. 2 perpendicular intersection positioning algorithm process flow diagram: (a) mobile beacon process flow diagram, (b) unknown node positioning flow figure;
Fig. 3 massive wireless sensor configuration schematic diagram;
The physical location of Fig. 4 node and the position versus figure behind the perpendicular intersection positioning algorithm location.
Embodiment
Below in conjunction with accompanying drawing enforcement of the present invention is done as detailed below:
With reference to Fig. 1, an example of the sensor network that provides among Fig. 1 illustrates perpendicular intersection positioning algorithm, and after sensor network configured, mobile beacon moved in network, and broadcast beacon signals periodically.The position at mobile beacon place when having comprised broadcasting in the beacon signal.After receiving beacon signal, sensor node will know that mobile beacon is just somewhere nigh.Solid line among Fig. 1 is exactly the path of mobile beacon, with its direction of motion of arrow points.Mobile beacon starts from a P
1, terminate in a P
3, some P
2It is the flex point of mobile beacon.The propagation radius of mobile beacon is R, dotted line P
1P
3Path P with mobile beacon
1P
2P
3Constitute an empty equilateral triangle, the length of side equals the propagation radius of mobile beacon.Node N (X, position fixing process Y) is as follows:
Step 1: mobile beacon is from a P
1(X
1, Y
1) begin to move broadcasting commencing signal and own current location P
1(X
1, Y
1);
Step 2: unknown node receives commencing signal, and it is with regard to mark starting point P
1(X
1, Y
1) and signal intensity, and then intercept broadcasting from mobile beacon, and the signal intensity that receives of contrast, to have only when the signal before the signal intensity ratio is strong, it just writes down the position of mobile beacon;
Step 3: as mobile beacon point of arrival P
2(X
2, Y
2) time, it will broadcast stop signal and current location P
2(X
2, Y
2);
Step 4: when receiving stop signal, node will stop to monitor, and writes down the stop position P of mobile beacon
2(X
2, Y
2);
Step 5: when mobile beacon from P
1(X
1, Y
1) move to P
2(X
2, Y
2), node will relatively draw the point of strongest signal strength, and mobile beacon is designated as A (X ', Y ') in the position of this point;
Step 6: mobile beacon is from a P
2(X
2, Y
2) begin to move, it broadcasts commencing signal and current location P
2(X
2, Y
2);
Step 7: node receives commencing signal, writes down starting point P
2(X
2, Y
2) and signal intensity, it continues to intercept the broadcasting from mobile beacon then, and the signal intensity that relatively receives is up to receiving stop signal;
Step 8: as point of arrival P
3(X
3, Y
3), mobile beacon is just broadcasted stop signal and current location P
3(X
3, Y
3).
Step 9: node will stop to intercept, and writes down mobile beacon position P
3(X
3, Y
3).
Step 10: node can contrast from P
2(X
2, Y
2) to P
3(X
3, Y
3) the strongest point of signal intensity in the mobile beacon track in the process, mobile beacon is designated as B (X ", Y ") in the position of this point.
Step 11: utilize formula
With
Calculate node position N (X, Y).
With reference to Fig. 3, Fig. 3 is the massive wireless sensor configuration schematic diagram; For large-scale sensor network, location node wherein needs following three steps:
Step 1: the plane at all node places in the whole network is divided into a plurality of empty equilateral triangles with some circuits, and it is the track of mobile beacon in whole network that every circuit couples together, and line width is the height of empty equilateral triangle.
Step 2: mobile beacon moves along a path, and continuous broadcast singal, and the node in the mobile beacon spread scope will judge oneself to belong to which empty triangle, and calculates self-position.
Step 3: mobile beacon moves to another circuit along its path from a circuit, till all nodes are all located in network.
Lift several special cases now.First is node N
1Receive from (P
1, P
2), (P
2, P
3), (P
3, P
4) three pairs of start node and end node.Node knows that the signal of its reception is from four some P
1, P
2, P
3And P
4Because the empty triangle of all of configuring area all is an equilateral triangle, node N
1The distance of empty triangular apex must be than short to other vertex of a triangle to self place, i.e. N
1Node in the empty triangle at place receives from the signal intensity sum on its three summits recently is eager to excel from the signal intensity sum on other empty Atria summit.So P
2, P
3, P
4Be empty vertex of a triangle, node N then
1Use (P
2, P
3), (P
3, P
4) information come calculating location.
Second is the N of Fig. 3
2At mobile beacon path 2, node estimates oneself to belong to empty triangle P
5P
6P
7, but for mobile beacon track 3, with empty leg-of-mutton method under the above judgement, it estimates to belong to empty triangle P itself
8P
9P
10In this example, it is the signal intensity sum on three summits in two empty triangles relatively, finds out stronger one of signal intensity sum: P
8P
9P
10=max{P
5+ P
6+ P
7, P
8+ P
9+ P
10, so, node N
2Belong to empty triangle P
8P
9P
10
The 3rd example is the edge of node at two circuits, as the N of Fig. 3
3Node does not obtain the empty triangle of highest signal strength, but two signal intensities with identical, so just can come calculating location with any empty triangle.N in other words
3Can be by the arbitrary empty triangle P under it
8P
9P
10Or P
9P
10P
11Come calculating location.
The 4th example is that node is in empty vertex of a triangle, as the N of Fig. 3
4If node is estimated own to empty vertex of a triangle P
10, no matter it receives any signal, and it all need not do any calculating again.
The present invention will be further described now to lift an instantiation:
With reference to the experiment of 4, one perpendicular intersection positioning algorithms of figure, node is the TelosB node, and mobile beacon is an artificial TelosB node that moves.Random arrangement 9 nodes and a mobile beacon, mobile beacon is that move on 30 meters leg-of-mutton both sides of equilateral void in the length of side, translational speed is 0.1m/s, broadcasting frequency is per second 1 time.The comparing result of the position after having provided the physical location of node among the figure and having located through perpendicular intersection positioning algorithm, maximum estimation error 0.1m in the theoretical precision of perpendicular intersection positioning algorithm and the experiment matches, all nodes need obtain two points of maximum signal indicated value on each limit, utilize the coordinate of these two points then, calculate the node position.
Concrete implementation result: (1) only with a mobile beacon node just can the accurate Calculation egress the position, improved the extensibility and the availability of system, reduced requirement to hardware, provide cost savings.(2) size of a comparison received signal intensity does not need the received signal intensity-conversion is become distance, calculates the position with method of geometry, has avoided the error of bringing because of conversion.(3) Ding Wei accuracy height only needs move along a mobile path, through the position that one-time positioning just can get egress, can avoid because of positioning error that node motion is brought, and is special in the location at marine floating sensor node.(4) algorithm is simple, helps popularizing of algorithm.
Claims (8)
1, a kind of perpendicular intersection positioning algorithm of wireless sensor network is characterized in that: its concrete steps are as follows:
Step 1: the plane at all node places in the whole network is divided into a plurality of empty equilateral triangles with some circuits, and it is the track of mobile beacon in whole network that every circuit couples together, and line width is the height of empty equilateral triangle.
Step 2: mobile beacon moves along a path, and continuous broadcast singal, and the node in the mobile beacon spread scope will judge oneself to belong to which empty triangle, and calculates self-position.
Step 3: mobile beacon moves to another circuit along its path from a circuit, till all nodes are all located in network.
2, perpendicular intersection positioning algorithm according to claim 1 is characterized in that: in each empty triangle, the workflow of mobile beacon is as follows:
(1) mobile beacon sends commencing signal and starting position at each place, summit;
(2) mobile beacon moves and constantly broadcasts positioning signal and current location;
(3) mobile beacon judges whether to arrive flex point, is then to send end signal, otherwise carries out (2);
(4) judging whether node no-fix in addition, be then to carry out (1), otherwise finishes the location.
3, perpendicular intersection positioning algorithm according to claim 1 is characterized in that: node locating process specific as follows:
(1) node is intercepted the wait commencing signal, judges whether to receive commencing signal, if receive, carries out (2), otherwise continues to intercept;
(2) receive commencing signal, and the signal intensity of writing down the starting position and receiving;
(3) intercept broadcasting from mobile beacon, and the signal intensity that receives of contrast
(4) judge that the signal intensity receive is whether strong than before signal, if than before signal strong, the current location and the signal intensity of record mobile beacon, otherwise carry out (3);
(5) judge whether to receive end signal,, otherwise carry out (3) if receive then carry out (6).
When (6) receiving two pairs of commencing signals and end signal (i.e. three signals that send on continuous summit) continuously, just in the empty triangle that oneself is positioned at these three summits formations as if node.
(7) make straight-line segment perpendicular to limit, 2 places respectively at two some places that obtain highest signal strength, the intersection point of two vertical lines promptly is the node position.
4, perpendicular intersection positioning algorithm according to claim 2, it is characterized in that: this algorithm uses a mobile beacon just can obtain the position of all nodes of wireless sensor network, and mobile beacon is known the exact position of oneself by equipment such as GPS or manual control.
5, perpendicular intersection positioning algorithm according to claim 3 is characterized in that: this algorithm does not need to know the range information between mobile beacon and the node, and it adopts two vertical lines to intersect the geometry method computing node position of find intersection.
6, perpendicular intersection positioning algorithm according to claim 2, it is characterized in that: each path of mobile beacon is the formation that join end to end of two real limits of the empty equilateral triangle that equates of several length of sides, when mobile beacon is gone to the network edge place, move to the summit of another empty equilateral triangle and change next bar path over to perpendicular to the empty limit of empty equilateral triangle.
7, the empty triangle in the perpendicular intersection positioning algorithm according to claim 6 is characterized in that: it is that equilateral triangle and its length of side equal mobile beacon propagation radius R.
8, the empty triangle in the perpendicular intersection positioning algorithm according to claim 7, it is characterized in that: it can guarantee that the node in the triangle is shorter than the distance to other vertex of a triangle to the distance on its summit, and the node in the empty triangle receives from the signal intensity sum on its three summits recently is eager to excel from the signal intensity sum on other empty Atria summit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100165511A CN101285878B (en) | 2008-06-04 | 2008-06-04 | Wireless sensor network perpendicular intersection positioning algorithm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100165511A CN101285878B (en) | 2008-06-04 | 2008-06-04 | Wireless sensor network perpendicular intersection positioning algorithm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101285878A true CN101285878A (en) | 2008-10-15 |
| CN101285878B CN101285878B (en) | 2011-09-07 |
Family
ID=40058183
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008100165511A Expired - Fee Related CN101285878B (en) | 2008-06-04 | 2008-06-04 | Wireless sensor network perpendicular intersection positioning algorithm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101285878B (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101986758A (en) * | 2010-11-10 | 2011-03-16 | 河海大学常州校区 | Method for positioning wireless sensor network |
| CN102209331A (en) * | 2011-05-31 | 2011-10-05 | 河海大学常州校区 | Node positioning method of irregular transmission model in wireless sensor network |
| CN102608567A (en) * | 2012-01-19 | 2012-07-25 | 中国人民解放军第三军医大学野战外科研究所 | Method for positioning soldier on battlefield on basis of mobile beacon of unmanned aerial vehicle |
| CN102685883A (en) * | 2011-03-18 | 2012-09-19 | 中国科学院深圳先进技术研究院 | Positioning method of sensor network nodes |
| CN103607769A (en) * | 2013-10-28 | 2014-02-26 | 杭州电子科技大学 | Asynchronous positioning method based on mobile anchor node |
| CN104219763A (en) * | 2014-10-13 | 2014-12-17 | 青岛安然物联网科技有限公司 | Wireless positioning substation and working method thereof |
| CN106332280A (en) * | 2016-10-26 | 2017-01-11 | 河海大学常州校区 | Single-movement beacon node auxiliary positioning method based on energy efficiency in WSNs |
| CN106646413A (en) * | 2016-11-22 | 2017-05-10 | 中国人民解放军陆军军官学院 | Radar networking vertical line crossing integration positioning method and error calculating method thereof |
| CN107770861A (en) * | 2017-07-04 | 2018-03-06 | 同济大学 | A kind of sensing node localization method based on mobile anchor node R SSI |
| CN108270872A (en) * | 2018-01-31 | 2018-07-10 | 上海势航网络科技有限公司 | Positioning track triangle hangs down away from vacuating method |
| WO2018127209A1 (en) * | 2017-01-09 | 2018-07-12 | 苏州宝时得电动工具有限公司 | Autonomous moving device, and positioning system, positioning method and control method therefor |
| CN109669173A (en) * | 2019-01-08 | 2019-04-23 | 南京航空航天大学 | A kind of ground target localization method relatively strong and weak based on unmanned plane and signal |
| CN110456308A (en) * | 2019-07-08 | 2019-11-15 | 广西工业职业技术学院 | A kind of three dimension location method for fast searching |
| CN111432328A (en) * | 2018-12-20 | 2020-07-17 | 广州电力设计院有限公司 | Node positioning method, device and storage medium of wireless sensor network |
| CN113709664A (en) * | 2021-08-25 | 2021-11-26 | 北京京诚瑞达电气工程技术有限公司 | Three-point positioning method and device based on signal intensity |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101179846B (en) * | 2007-07-13 | 2011-07-06 | 江苏大学 | Single anchor node based low-energy consumption wireless sensor network node locating method |
| CN101126805A (en) * | 2007-09-26 | 2008-02-20 | 清华大学 | Tri-dimensional node positioning method and system based on sphere |
-
2008
- 2008-06-04 CN CN2008100165511A patent/CN101285878B/en not_active Expired - Fee Related
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101986758B (en) * | 2010-11-10 | 2013-05-15 | 河海大学常州校区 | Method for positioning wireless sensor network |
| CN101986758A (en) * | 2010-11-10 | 2011-03-16 | 河海大学常州校区 | Method for positioning wireless sensor network |
| CN102685883B (en) * | 2011-03-18 | 2015-04-15 | 中国科学院深圳先进技术研究院 | Positioning method of sensor network nodes |
| CN102685883A (en) * | 2011-03-18 | 2012-09-19 | 中国科学院深圳先进技术研究院 | Positioning method of sensor network nodes |
| CN102209331A (en) * | 2011-05-31 | 2011-10-05 | 河海大学常州校区 | Node positioning method of irregular transmission model in wireless sensor network |
| CN102608567A (en) * | 2012-01-19 | 2012-07-25 | 中国人民解放军第三军医大学野战外科研究所 | Method for positioning soldier on battlefield on basis of mobile beacon of unmanned aerial vehicle |
| CN103607769A (en) * | 2013-10-28 | 2014-02-26 | 杭州电子科技大学 | Asynchronous positioning method based on mobile anchor node |
| CN104219763B (en) * | 2014-10-13 | 2017-08-25 | 青岛安然物联网科技有限公司 | A kind of wireless location substation and its method of work |
| CN104219763A (en) * | 2014-10-13 | 2014-12-17 | 青岛安然物联网科技有限公司 | Wireless positioning substation and working method thereof |
| CN106332280A (en) * | 2016-10-26 | 2017-01-11 | 河海大学常州校区 | Single-movement beacon node auxiliary positioning method based on energy efficiency in WSNs |
| CN106332280B (en) * | 2016-10-26 | 2019-06-14 | 河海大学常州校区 | Single mobile beacon node assisted location method in WSNs based on energy efficient |
| CN106646413A (en) * | 2016-11-22 | 2017-05-10 | 中国人民解放军陆军军官学院 | Radar networking vertical line crossing integration positioning method and error calculating method thereof |
| WO2018127209A1 (en) * | 2017-01-09 | 2018-07-12 | 苏州宝时得电动工具有限公司 | Autonomous moving device, and positioning system, positioning method and control method therefor |
| CN107770861A (en) * | 2017-07-04 | 2018-03-06 | 同济大学 | A kind of sensing node localization method based on mobile anchor node R SSI |
| CN108270872A (en) * | 2018-01-31 | 2018-07-10 | 上海势航网络科技有限公司 | Positioning track triangle hangs down away from vacuating method |
| CN108270872B (en) * | 2018-01-31 | 2020-11-06 | 上海势航网络科技有限公司 | Positioning track triangular vertical distance thinning method |
| CN111432328A (en) * | 2018-12-20 | 2020-07-17 | 广州电力设计院有限公司 | Node positioning method, device and storage medium of wireless sensor network |
| CN111432328B (en) * | 2018-12-20 | 2021-10-08 | 广州电力设计院有限公司 | Node positioning method, device and storage medium of wireless sensor network |
| CN109669173A (en) * | 2019-01-08 | 2019-04-23 | 南京航空航天大学 | A kind of ground target localization method relatively strong and weak based on unmanned plane and signal |
| CN110456308A (en) * | 2019-07-08 | 2019-11-15 | 广西工业职业技术学院 | A kind of three dimension location method for fast searching |
| CN113709664A (en) * | 2021-08-25 | 2021-11-26 | 北京京诚瑞达电气工程技术有限公司 | Three-point positioning method and device based on signal intensity |
| CN113709664B (en) * | 2021-08-25 | 2023-08-15 | 北京京诚瑞达电气工程技术有限公司 | Three-point positioning method and device based on signal intensity |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101285878B (en) | 2011-09-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101285878B (en) | Wireless sensor network perpendicular intersection positioning algorithm | |
| CN102348282A (en) | Real-time location method based on ZigBee network | |
| CN103889055A (en) | Wireless sensor network node positioning method based on mobile anchor nodes and device | |
| CN101778472B (en) | Distributed panel-point positioning method for wireless sensor network | |
| CN103428275A (en) | Indoor object activity routine tracking method based on WSN | |
| CN102253367A (en) | Ultrasonic wave based indoor three-dimensional positioning system and method | |
| WO2013179195A1 (en) | Method, apparatus, and computer program product for high accuracy location determination | |
| CN102209379B (en) | RSSI-based method for positioning wireless sensor network node | |
| CN102621522B (en) | Method for positioning underwater wireless sensor network | |
| CN102364983B (en) | RSSI (Received Signal Strength Indicator) ranging based WLS (WebLogic Server) node self-positioning method in wireless sensor network | |
| CN102215564A (en) | Method and system for positioning wireless sensor network | |
| Nagaraju et al. | Mobility assisted localization for mission critical Wireless Sensor Network applications using hybrid area exploration approach | |
| CN106332280A (en) | Single-movement beacon node auxiliary positioning method based on energy efficiency in WSNs | |
| CN103313390B (en) | A kind of WSN localization method based on double-movement beacon | |
| CN104159292A (en) | Three-dimensional wireless sensing network positioning method based on virtual center node | |
| Klogo et al. | Energy constraints of localization techniques in wireless sensor networks (WSN): A survey | |
| CN116980834B (en) | Low-power consumption control method and system for Bluetooth beacon | |
| CN214040064U (en) | Indoor positioning system of electron price tag | |
| Liu et al. | Research and analysis of indoor positioning technology | |
| CN203225891U (en) | Real-time positioning base station equipment and system | |
| Jian-guo et al. | An improved range-based localization algorithm in wireless sensor network | |
| CN205622886U (en) | Wireless sensor network node positioner based on improved generation DV -Hop | |
| Cheng et al. | Position location techniques in wireless sensor networks using reference node algorithm | |
| Srivastava et al. | A review on localization approach in 2 dimensional Wireless sensor network (WSN) | |
| Zhang et al. | Energy-efficient localization for mobile sensor networks based on RSS and historical information |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110907 Termination date: 20180604 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |