CN101458323A - Dynamic node positioning method - Google Patents
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- CN101458323A CN101458323A CNA2009100760013A CN200910076001A CN101458323A CN 101458323 A CN101458323 A CN 101458323A CN A2009100760013 A CNA2009100760013 A CN A2009100760013A CN 200910076001 A CN200910076001 A CN 200910076001A CN 101458323 A CN101458323 A CN 101458323A
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Abstract
The invention relates to a dynamic node positioning method. The method comprises the following steps: unknown node collects and stores T moment anchor node information; the anchor node information comprises the coordinate of an anchor node; the type of the anchor node is judged, when the anchor node is a two-hop anchor node, sample points are selected from a T-1 moment sample collection; when the anchor node is a one-hop anchor node, the unknown node measures and records the signal strength value of each one-hop node; the number of the one-jump anchor nodes is judged, when the number of the one-hop anchor nodes is equal to 1, the sample points are selected from the sample collection of T-1 moment; when the number of the one-hop anchor nodes is more than 1, the sampling area of the sample point is defined according to the coordinates and the signal strength values of all one-hop anchor nodes; a plurality of sample points are selected randomly from the sampling area as the sample collection of T moment; and finally, the sample points of the sampling collection are filtered. The method has the advantages of less iteration, less calculation amount, less node energy consumption and energy saving.
Description
Technical field
The present invention relates to the localization method of sensor node in a kind of wireless sensor network, particularly a kind of dynamic node positioning method.
Background technology
Along with the develop rapidly of the communication technology, embedded computing technique, microprocessing and sensing technology and increasingly mature, wireless sensor network (WirelessSensor Networks is called for short WSN) with perception, computing power and communication capacity begins to be subjected to extensive concern.Concerning great majority are used, only combine positional information, the data that sensor obtains just are of practical significance.In addition, the self poisoning of node can also be applied to the research of wireless sensor network protocols, for example designs based on the method for routing of node location information to improve router efficiency etc.Therefore node self poisoning problem is one of important problems in the wireless sensor network.According to location mechanism, the localization method of existing wireless sensor network can be divided into two big classes: based on the localization method of range finding (range-based) technology and the localization method of non-distance measuring (range-free).Need information such as distance between measured node or angle based on the localization method (as TOA, AOA, TDOA etc.) of ranging technology, as computing node positions such as trilateration, triangulations.Though this method can obtain more accurate location, the hardware facility of network has been proposed higher requirement, in position fixing process, need to produce simultaneously a large amount of calculating and communication overhead.The localization method of non-distance measuring (as Centroid, DV-Hop, APIT etc.) need not distance and angle information, only realizes the location of node according to network connectivty etc.Though this method has the advantage of aspects such as low cost, low power consumption, only be applicable to the node locating of static wireless sensor network.
For the node locating problem of dynamic radio sensor network, prior art has proposed a kind of Monte Carlo localization method (Monte Carloloca lization is called for short MCL).The Monte Carlo localization method mainly comprises three parts: initial phase, forecast period and filtration stage, initial phase is to select M sample point in whole network range at random, forecast period is according to motion model forecast sample point the next position, filtration stage is to filter sample according to observation information, if remaining legal sample number is less than predefined hits, then carry out the resampling operation.Studies show that, though the Monte Carlo localization method has high orientation precision, but since this method for the frequency in sampling that obtains effective sample too much and the sampling accuracy rate very low, make that this method exists that iterations is many, calculated amount greatly, defective such as node energy consumption is big.
Summary of the invention
The purpose of this invention is to provide a kind of dynamic node positioning method, have advantages such as iterations is few, calculated amount is little, node energy consumption is little, energy-conservation.
To achieve these goals, the invention provides a kind of dynamic node positioning method, comprising:
Step 1, unknown node collection and storage T be anchor node information constantly, and described anchor node information comprises the coordinate of anchor node;
The type of step 2, judgement anchor node, when anchor node was a jumping anchor node, execution in step 3 when anchor node is two jumping anchor nodes, was chosen sample point, execution in step 7 from T-1 sample set constantly;
The signal strength values of each jumping anchor node is measured and write down to step 3, unknown node;
Step 4, judge that one jumps the quantity of anchor node, when a quantity of jumping anchor node greater than 1 the time, execution in step 5 when a quantity of jumping anchor node equals 1, is chosen sample point, execution in step 7 from T-1 sample set constantly;
Step 5, one jump the coordinate of anchor nodes and the sample area that signal strength values is determined sample point according to all, described sample area be the reflection unknown node with all jumping anchor nodes between the zone of distance relation;
Step 6, in the described sample area several sample points of picked at random as T sample set constantly;
Step 7, the sample point in the described sample set is carried out filtration treatment, the effective sample point that retain sample is concentrated.
Also comprise after the described step 7:
Step 8, judge effective sample point in the described sample set quantity whether less than predefined hits, be execution in step 6 then, otherwise execution in step 9;
Step 9, estimation T be the coordinate of unknown node constantly.
Described step 9 comprises: calculate the mean value of all sample point coordinates in the sample set, as the coordinate of T moment unknown node.
Described step 7 comprises:
Determine that according to all coordinates of jumping anchor node first restricted area of unknown node comprises in the described step 71: the region of determining all unknown node according to all coordinates of jumping anchor node, the region of described unknown node is to be that the center of circle, radius are the border circular areas of R with a coordinate of jumping anchor node, and wherein R is the communication radius of unknown node; Calculate the overlapping region of the region of all unknown node, as first restricted area of unknown node.
Determine that according to all two coordinates of jumping anchor node second restricted area of unknown node comprises in the described step 71: the region of determining all unknown node according to all two coordinates of jumping anchor node, the region of described unknown node is to be that the center of circle, radius are the annular region between the circle of R and the circle that radius is 2R with two coordinates of jumping anchor nodes, and wherein R is the communication radius of unknown node; Calculate the overlapping region of the region of all unknown node, as second restricted area of unknown node.
On the technique scheme basis, described step 5 comprises:
The present invention proposes a kind of dynamic node positioning method, determine sample area by a signal strength values of jumping anchor node, effectively increased the accuracy rate that sample point is sampled at initial phase and forecast period, reduced the frequency in sampling that obtains effective sample point, realized reducing iterations, reducing the purpose that node energy consumes, made the present invention have advantages such as calculated amount is little, energy-conservation.Compare with prior art Monte Carlo dynamic positioning method, the signal strength values of the anchor node that the present invention listens in initial phase and forecast period utilization is determined the sample area of sample point, make unknown node in the sample set of a certain moment generation of forecast period, more effective sample point be arranged, reduced the number of the invalid sample point that filtration stage need get rid of, thereby saved unknown node because of energy that repeatedly iteration consumed.The present invention need not to add the accurate location that any new hardware can be realized node in the dynamic radio sensor network, has broad application prospects.
Description of drawings
Fig. 1 is the process flow diagram of dynamic node positioning method of the present invention;
Fig. 2 determines the synoptic diagram of unknown node and two anchor node distance relations for the present invention;
Fig. 3 determines the process flow diagram of the sample area of sample point for the present invention;
Fig. 4 determines the synoptic diagram of the sample area of sample point for the present invention;
Fig. 5 jumps the synoptic diagram that anchor node is determined the unknown node region for the present invention according to one;
Fig. 6 jumps the synoptic diagram that anchor node is determined the unknown node region for the present invention according to two;
Fig. 7 carries out the process flow diagram of filtration treatment to the sample point in the sample set for the present invention;
Fig. 8 determines the synoptic diagram of first restricted area of unknown node for the present invention;
Fig. 9 determines the synoptic diagram of second restricted area of unknown node for the present invention.
Embodiment
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Fig. 1 is the process flow diagram of dynamic node positioning method of the present invention, comprising:
Step 1, unknown node collection and storage T be anchor node information constantly, and described anchor node information comprises the coordinate of anchor node;
The type of step 2, judgement anchor node, when anchor node was a jumping anchor node, execution in step 3 when anchor node is two jumping anchor nodes, was chosen sample point, execution in step 7 from T-1 sample set constantly;
The signal strength values of each jumping anchor node is measured and write down to step 3, unknown node;
Step 4, judge that one jumps the quantity of anchor node, when a quantity of jumping anchor node greater than 1 the time, execution in step 5 when a quantity of jumping anchor node equals 1, is chosen sample point, execution in step 7 from T-1 sample set constantly;
Step 5, one jump the coordinate of anchor nodes and the sample area that signal strength values is determined sample point according to all, described sample area be the reflection unknown node with all jumping anchor nodes between the zone of distance relation;
Step 6, in the described sample area several sample points of picked at random as T sample set constantly;
Step 7, the sample point in the described sample set is carried out filtration treatment, the effective sample point that retain sample is concentrated.
Along with the development of wireless sensor network technology, node can obtain the signal strength values (RSSI) of anchor node broadcast singal easily.For this reason, the present invention proposes a kind of technical scheme of utilizing the sample area of this signal strength values restriction sample point, determine the distance relation of unknown node and anchor node by the signal strength values of anchor node.Radio signal propagation has following characteristic usually: acceptance point is near more from transmit leg, and the signal intensity that records is strong more; Acceptance point is far away more from transmit leg, and the signal intensity that records is weak more.Fig. 2 determines that for the present invention the synoptic diagram of unknown node and two anchor node distance relations, anchor node wherein are one and jump anchor node.As shown in Figure 2, can obtain two perpendicular bisectors between the anchor node according to the coordinate of the first anchor node A and the second anchor node B, promptly straight line L3 is the perpendicular bisector between the first anchor node A and the second anchor node B, and straight line L3 is divided into two zones with plane domain.According to the perpendicular bisector theorem as can be known, the any 1 o'clock distance to the first anchor node A and the second anchor node B on the straight line L3 equates, in straight line L3 one side (as the right side) zone any 1 o'clock to the distance of the second anchor node B less than distance to the first anchor node A, in straight line L3 opposite side (as the left side) zone any 1 o'clock to the distance of the first anchor node A less than distance to the second anchor node B.Therefore straight line L3 two zones that plane domain is divided uniquely in the reflecting regional arbitrarily a bit with the distance relation of the first anchor node A and the second anchor node B.If a some P is all arranged in each zone, some P is PA to the distance of the first anchor node A, and some P is PB to the distance of the second anchor node B, and then two zones have following characteristic:
Zone one: PA〉PB; Zone two: PB〉PA.
The signal strength values of supposing the signal arrival unknown node N of first anchor node A broadcasting is RSSI
A, the signal strength values that the signal of second anchor node B broadcasting arrives unknown node N is RSSI
B, and RSSI
A＜RSSI
BThen according to the characteristic of radio signal propagation, the distance relation that can infer N to two anchor node of unknown node is: unknown node N to the first anchor node A apart from NA unknown node N to the second anchor node B apart from NB, according to the distance relation of N to two anchor node of unknown node and the characteristic in aforementioned two zones, can finally infer the zone at unknown node N place.Among Fig. 2, the zone at unknown node N place is the right side of straight line L3.In like manner, suppose that unknown node can listen to a n jumping anchor node, can do a perpendicular bisector between per two one jumping anchor nodes, a n jumping anchor node can be made n (n-1)/2 perpendicular bisector altogether, to be divided into a plurality of zones to plane domain, it is three kinds that these zones are divided into: point, line segment, polygon, the quantity of point are n
4/ 8-n
3/ 4-n
2/ 8+n/4, the quantity of line is n
4/ 8-n
3/ 4+n
2/ 4, the quantity of face is n
4/ 8-n
3/ 4+3n
2/ 8-n/4+1, each polygon have the characteristic of distance relation between above-mentioned reflection unknown node and the anchor node equally.
Specific to the present invention, during the moment, the unknown node collection is storage anchor node information also at T, and anchor node comprises that one jumps anchor node and two jumping anchor nodes, and anchor node information comprises that one jumps the coordinate of anchor node and the coordinate of two jumping anchor nodes.Unknown node is judged the type of anchor node, when judging anchor node is two when jumping anchor nodes, then chooses several sample points from T-1 sample set constantly, and the sample point in the sample set is carried out filtration treatment, remove the invalid sample point in the sample set, the effective sample point that retain sample is concentrated.When judging anchor node is one when jumping anchor node, and unknown node is measured and write down each and one jumps the signal strength values of anchor node, and judges that further one jumps the quantity of anchor node.When a quantity of jumping anchor node equals 1, then from T-1 sample set constantly, choose several sample points, the sample point in the sample set is carried out filtration treatment, remove the invalid sample point in the sample set, the effective sample point that retain sample is concentrated.When a quantity of jumping anchor node greater than 1 the time, according to the coordinate of all jumping anchor nodes and the sample area that signal strength values is determined sample point, this sample area is the zone of distance relation between reflection unknown node and all the jumping anchor nodes, afterwards in this sample area a picked at random M sample point as T sample set constantly, sample point in the sample set is carried out filtration treatment, remove the invalid sample point in the sample set, the effective sample point that retain sample is concentrated.Because the present invention utilizes a signal strength values of jumping anchor node to determine sample area, therefore effectively increased the accuracy rate of sample point sampling.
Fig. 3 determines the process flow diagram of the sample area of sample point for the present invention.In technical scheme shown in Figure 1, step 5 comprises:
Fig. 4 determines the synoptic diagram of the sample area of sample point for the present invention, and jumping anchor nodes with three one is example.At first determine distance relation between unknown node and the anchor node according to the signal strength values of anchor node.The signal strength values of supposing the signal arrival unknown node N of first anchor node A broadcasting is RSSI
A, the signal strength values that the signal of second anchor node B broadcasting arrives unknown node N is RSSI
B, the signal strength values that the signal of the 3rd anchor node C broadcasting arrives unknown node N is RSSI
C, and RSSI
A＜RSSI
C＜RSSI
BThen, can infer that the distance relation of N to three anchor node of unknown node is according to the characteristic of radio signal propagation: unknown node N to the first anchor node A apart from NA unknown node N to the three anchor node C apart from NC unknown node N to the second anchor node B apart from NB.
According to the coordinate of anchor node, a plurality of zones with range performance are set then by the perpendicular bisector between the anchor node.As shown in Figure 4, coordinate according to the first anchor node A, the second anchor node B and the 3rd anchor node C can obtain three perpendicular bisectors between the anchor node, straight line L1 is the perpendicular bisector between the second anchor node B and the 3rd anchor node C, straight line L2 is the perpendicular bisector between the first anchor node A and the 3rd anchor node C, straight line L3 is the perpendicular bisector between the first anchor node A and the second anchor node B, straight line L1, straight line L2 and straight line L3 intersect on one point, and plane domain is divided into six zones.According to the perpendicular bisector theorem as can be known, the any 1 o'clock distance to the second anchor node B and the 3rd anchor node C on the straight line L1 equates, in straight line L1 one side (as the right side) zone any 1 o'clock to the distance of the second anchor node B greater than distance to the 3rd anchor node C, in straight line L1 opposite side (as the left side) zone any 1 o'clock to the distance of the second anchor node B less than distance to the 3rd anchor node C; In like manner, any 1 o'clock distance to the first anchor node A and the 3rd anchor node C on the straight line L2 equates that any 1 o'clock distance to the first anchor node A and the second anchor node B on the straight line L3 equates.Therefore straight line L1, straight line L2 and straight line L3 six zones that plane domain is divided uniquely in the reflecting regional arbitrarily a bit with the distance relation of the first anchor node A, the second anchor node B and the 3rd anchor node C.If a some P is all arranged in each zone, some P is PA to the distance of the first anchor node A, and some P is PB to the distance of the second anchor node B, and the distance of some P to the three anchor node C is PC, and then six zones have following characteristic:
Zone one: PA〉PB〉PC; Zone two: PA〉PC〉PB; Zone three: PB〉PC〉PA;
Zone four: PB〉PA〉PC; Zone five: PC〉PA〉PB; Zone six: PC〉PB〉PA.
At last, distance relation according to N to three anchor node of unknown node, in six zones with range performance, select the zone that can reflect distance relation between unknown node and three anchor nodes, and should the zone as the sample area X1 (shadow region among Fig. 4) of sample point.
After obtaining T sample set constantly, the present invention carries out filtration treatment as filtercondition to the sample point in the sample set according to the region of unknown node, to obtain the effective sample point.The communication range of supposing unknown node is the center of circle for the coordinate with unknown node, is the border circular areas of radius with the communication radius R of unknown node.Fig. 5 jumps the synoptic diagram that anchor node is determined the unknown node region for the present invention according to one.As shown in Figure 5,, unknown node N can't obtain the information of two jumping anchor nodes if can only listening to the information of a jumping anchor node A1, illustrate that one jumps and should satisfy d＜R apart from d between anchor node A1 and unknown node N, then the region of unknown node N is that the coordinate with this jumping anchor node A1 is the center of circle, is the zone that circular D1 was comprised of radius with the communication radius R of unknown node.Fig. 6 jumps the synoptic diagram that anchor node is determined the unknown node region for the present invention according to two.As shown in Figure 6,, unknown node N can't obtain the information of a jumping anchor node if can only listening to the information of two jumping anchor node A2, illustrate that two jump and should satisfy R＜d＜2R apart from d between anchor node A2 and unknown node N, then unknown node N region is that the coordinate with this two jumpings anchor node A2 is that the center of circle, radius are the annular region (being that radius is greater than R but less than the annular region of 2R) between the circular D1 of R and the circular D2 that radius is 2R.
Fig. 7 carries out the process flow diagram of filtration treatment to the sample point in the sample set for the present invention.In technical scheme shown in Figure 1, step 7 comprises:
Fig. 8 determines the synoptic diagram of first restricted area of unknown node for the present invention, and jumping anchor nodes with three one is example.As shown in Figure 8, suppose that the first anchor node A, the second anchor node B and the 3rd anchor node C are that one of unknown node N jumps anchor node, because unknown node N can obtain three one coordinates of jumping anchor node, so unknown node N can determine the region of unknown node N with respect to each jumping anchor node according to each coordinate of jumping anchor node.Particularly, first region of unknown node N is that the coordinate with the first anchor node A is the center of circle, and radius is the border circular areas of R; Second region of unknown node N is that the coordinate with the second anchor node B is the center of circle, and radius is the border circular areas of R; The 3rd region of unknown node N is that the coordinate with the 3rd anchor node C is the center of circle, and radius is the border circular areas of R.After having determined three regions of unknown node N, just can calculate the overlapping region of three regions, and with the first restricted area Y1 (in Fig. 8 shadow region) of this overlapping region as unknown node.
Fig. 9 determines the synoptic diagram of second restricted area of unknown node for the present invention, and jumping anchor nodes with three two is example.As shown in Figure 9, suppose that the first anchor node A, the second anchor node B and the 3rd anchor node C are that two of unknown node N jumps anchor node, because unknown node N can obtain three two coordinates of jumping anchor node, so unknown node N can determine the region of unknown node N with respect to each two jumping anchor node according to each two coordinate of jumping anchor node.Particularly, first region of unknown node N is that the coordinate with the first anchor node A is the center of circle, and radius is the annular region between the circle of R and the circle that radius is 2R; Second region of unknown node N is that the coordinate with the second anchor node B is the center of circle, and radius is the annular region between the circle of R and the circle that radius is 2R; The 3rd region of unknown node N is that the coordinate with the 3rd anchor node C is the center of circle, and radius is the annular region between the circle of R and the circle that radius is 2R.After having determined three regions of unknown node N, just can calculate the overlapping region of three regions, and with this overlapping region as the sample point second sample area Y2 (shadow region among Fig. 9).
Technique scheme describes in detail in a quantity of jumping anchor node and jumps the quantity of anchor node greater than the processing procedure of determining the unknown node restricted area at 1 o'clock according to the coordinate of anchor node greater than 1, two, in the practical application, can not guarantee each constantly unknown node can both obtain more than two one and jump anchor node or two information of jumping anchor nodes more than two.Therefore, on the technique scheme basis, dynamic node positioning method of the present invention also comprises the technical scheme when a quantity of jumping anchor node equals 1, two quantity of jumping anchor nodes and equals 1.Particularly, when a quantity of jumping anchor node equals 1, illustrate that one jumps anchor node in the communication zone of unknown node, therefore the present invention can determine first restricted area of unknown node according to this coordinate of jumping anchor node, and this first restricted area is to be the center of circle, to be the border circular areas of radius with the communication radius R of unknown node with this coordinate of jumping anchor node.When two quantity of jumping anchor node equal 1, illustrate that two jump anchor node in the annular region of unknown node, therefore the present invention can determine second restricted area of unknown node according to this two coordinate of jumping anchor node, and this second restricted area is to be that the center of circle, radius are the annular region between the circle of R and the circle that radius is 2R with this two coordinate of jumping anchor node.
This shows that the process that the present invention carries out filtration treatment to the sample point in the sample set is a unknown node according to jumping the process that information that anchor node and two jumping anchor nodes obtain removes the invalid sample point of prediction error from own one.Wherein one jump anchor node and be meant the anchor node that unknown node can directly listen to, two jump that anchor nodes are meant that unknown node can not directly listen to but anchor node that their a hop neighbor node can listen to.After utilizing one to jump information acquisition first restricted area and second restricted area of anchor node and two jumping anchor nodes, the invalid sample point of prediction error is to be positioned at this first restricted area and second restricted area sample point in addition, filter out by the sample point that these are ineligible, just can make to keep effective sample point in the sample set.
On aforementioned techniques scheme basis, dynamic node positioning method of the present invention also comprises resampling and localization step.Particularly, after the sample point in the sample set is carried out filtration treatment, if the number of samples in the sample set is less than predefined hits, to repeat so to sample and filter two stages, promptly re-execute step 6 (in sample area, choosing several sample points), till the number of sample point satisfies the sample set capacity.According to the coordinate of all sample point estimation T moment unknown node in the sample set, finish dynamic node positioning method of the present invention at last.In the practical application, can adopt several different methods to utilize the coordinate of the coordinate estimation unknown node of all sample points in the sample set, the present invention adopts the coordinate of the mean value of all sample point coordinates in the calculating sample set as T moment unknown node.
From technique scheme as can be seen, because the present invention utilizes a signal strength values of jumping anchor node to determine sample area, effectively increased the accuracy rate that sample point is sampled at initial phase and forecast period, utilize the restricted area of anchor node information acquisition to remove invalid sample point simultaneously, guaranteed the accuracy rate of sample point sampling, therefore reduced the frequency in sampling that obtains effective sample point, realized reducing iterations, reducing the purpose that node energy consumes, made the present invention have advantages such as calculated amount is little, energy-conservation.
Concrete treatment scheme below by dynamic node positioning method of the present invention further specifies technical scheme of the present invention.The time of hypothesis is separated into a plurality of time quantums, unknown node all can be reorientated self-position at each time quantum, the present invention is by determining sample area at initial phase and forecast period adding restrictive condition, with the accuracy rate of effective increase sample point sampling.At first, the jumping anchor node or two that unknown node acquisition T self can listen to is constantly jumped the information of anchor nodes, and these anchor node information comprise that at least one jumps the coordinate of anchor node or two jumping anchor nodes.Because unknown node stochastic distribution and communication range are limited, can not guarantee that each moment unknown node can both obtain one and jump the information of anchor node or two jumping anchor nodes, so in the practical application, can divide following situation to position processing.
(1) unknown node can listen to one and jump anchor node, and a quantity of jumping anchor node is 1
This situation explanation one is jumped and should be satisfied d＜R apart from d between anchor node and unknown node, and wherein R is the communication radius of unknown node.To current time is initialization constantly, i.e. T=0, the sample area of then estimating sample point is for being the center of circle, being the border circular areas of radius with R with this coordinate of jumping anchor node, afterwards in this sample area a picked at random M sample point as the sample set of predicted position.At T〉0 moment, then choose sample point according to T-1 sample set constantly.According to a coordinate of jumping anchor node the sample point in the sample set is carried out filtration treatment afterwards, estimate the coordinate of unknown node at last according to the mean value of effective sample point coordinate in the sample set.
(2) unknown node can listen to one and jump anchor node, and one jumps the quantity of anchor node greater than 1
When a quantity of jumping anchor node greater than 1 the time, earlier determine distance relation between unknown node and the anchor node according to the signal strength values of anchor node, the back is according to the coordinate of anchor node, by the perpendicular bisector between the anchor node a plurality of zones with range performance are set, last distance relation according to unknown node to three anchor node, in a plurality of zones with range performance, select the zone that to reflect distance relation between unknown node and the anchor node, and as the sample area of sample point, subsequently in this sample area a picked at random M sample point as the sample set of predicted position.According to a coordinate of jumping anchor node the sample point in the sample set is carried out filtration treatment afterwards, estimate the coordinate of unknown node at last according to the mean value of effective sample point coordinate in the sample set.
(3) unknown node can't listen to one and jumps anchor node but can obtain two information of jumping anchor nodes
This situation explanation two is jumped and should be satisfied R＜d＜2R apart from d between anchor nodes and unknown node.To current time is the initialization moment, be T=0, the sample area of then estimating sample point is for being the center of circle with this two coordinate of jumping anchor node, and radius is the circular annular region between the circle of R and 2R, afterwards in this sample area a picked at random M sample point as the sample set of predicted position.At T〉0 moment, then choose sample point according to T-1 sample set constantly.According to two coordinates of jumping anchor node the sample point in the sample set is carried out filtration treatment, estimate the coordinate of unknown node at last according to the mean value of effective sample point coordinate in the sample set.
(4) unknown node both can't listen to one and jump the information that anchor node also can't obtain two jumping anchor nodes
For current time is initialization constantly, i.e. T=0, unknown node will be in the network distributed areas picked at random M sample point as the sample set of forecast period.At T〉0 moment, then choose sample point according to T-1 sample set constantly.
One of ordinary skill in the art will appreciate that: all or part of step that realizes said method embodiment can be finished by the relevant hardware of programmed instruction, aforesaid program can be stored in the computer read/write memory medium, this program is carried out the step that comprises said method embodiment when carrying out; And aforesaid storage medium comprises: various media that can be program code stored such as ROM, RAM, magnetic disc or CD.
It should be noted that at last: 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 (7)
1. a dynamic node positioning method is characterized in that, comprising:
Step 1, unknown node collection and storage T be anchor node information constantly, and described anchor node information comprises the coordinate of anchor node;
The type of step 2, judgement anchor node, when anchor node was a jumping anchor node, execution in step 3 when anchor node is two jumping anchor nodes, was chosen sample point, execution in step 7 from T-1 sample set constantly;
The signal strength values of each jumping anchor node is measured and write down to step 3, unknown node;
Step 4, judge that one jumps the quantity of anchor node, when a quantity of jumping anchor node greater than 1 the time, execution in step 5 when a quantity of jumping anchor node equals 1, is chosen sample point, execution in step 7 from T-1 sample set constantly;
Step 5, one jump the coordinate of anchor nodes and the sample area that signal strength values is determined sample point according to all, described sample area be the reflection unknown node with all jumping anchor nodes between the zone of distance relation;
Step 6, in the described sample area several sample points of picked at random as T sample set constantly;
Step 7, the sample point in the described sample set is carried out filtration treatment, the effective sample point that retain sample is concentrated.
2. dynamic node positioning method according to claim 1 is characterized in that, also comprises after the described step 7:
Step 8, judge effective sample point in the described sample set quantity whether less than predefined hits, be execution in step 6 then, otherwise execution in step 9;
Step 9, estimation T be the coordinate of unknown node constantly.
3. dynamic node positioning method according to claim 2 is characterized in that, described step 9 comprises: calculate the mean value of all sample point coordinates in the sample set, as the coordinate of T moment unknown node.
4. dynamic node positioning method according to claim 1 is characterized in that, described step 7 comprises:
Step 71, determine first restricted area of unknown node, determine second restricted area of unknown node according to all two coordinates of jumping anchor nodes according to all coordinates of jumping anchor nodes;
Step 72, the sample point in the described sample set is carried out filtration treatment, remove the sample point that is positioned in the sample set beyond described first restricted area and second restricted area, the effective sample point that retain sample is concentrated.
5. dynamic node positioning method according to claim 4, it is characterized in that, determine that according to all coordinates of jumping anchor node first restricted area of unknown node comprises in the described step 71: the region of determining all unknown node according to all coordinates of jumping anchor node, the region of described unknown node is to be that the center of circle, radius are the border circular areas of R with a coordinate of jumping anchor node, and wherein R is the communication radius of unknown node; Calculate the overlapping region of the region of all unknown node, as first restricted area of unknown node.
6. dynamic node positioning method according to claim 4, it is characterized in that, determine that according to all two coordinates of jumping anchor node second restricted area of unknown node comprises in the described step 71: the region of determining all unknown node according to all two coordinates of jumping anchor node, the region of described unknown node is to be that the center of circle, radius are the annular region between the circle of R and the circle that radius is 2R with two coordinates of jumping anchor nodes, and wherein R is the communication radius of unknown node; Calculate the overlapping region of the region of all unknown node, as second restricted area of unknown node.
7. according to the described dynamic node positioning method of arbitrary claim in the claim 1～6, it is characterized in that described step 5 comprises:
Step 51, determine distance relation between unknown node and all jumping anchor nodes according to all signal strength values of jumping anchor nodes;
Step 52, according to all coordinates of jumping anchor nodes, by the perpendicular bisector between the anchor node a plurality of zones with range performance are set;
Step 53, the distance relation of jumping between the anchor node according to unknown node and all are selected the zone of distance relation between reflection unknown node and all jumping anchor nodes, as the sample area of sample point in described a plurality of zones with range performance.
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