CN101477187B - Three-dimensional space wireless sensor network non-range positioning system and method thereof - Google Patents
Three-dimensional space wireless sensor network non-range positioning system and method thereof Download PDFInfo
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- CN101477187B CN101477187B CN2009100138487A CN200910013848A CN101477187B CN 101477187 B CN101477187 B CN 101477187B CN 2009100138487 A CN2009100138487 A CN 2009100138487A CN 200910013848 A CN200910013848 A CN 200910013848A CN 101477187 B CN101477187 B CN 101477187B
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Abstract
The invention relates to a system and a method for positioning nonmeasured distance of a wireless sensor network in a three-dimensional space. The system comprises a sensor node and an anchor node; the sensor node is provided with a microprocessor; the microprocessor is connected with a Zigbee radio-frequency communication module, a memorizer, a power module and a sensor acquisition module respectively through a bus and a data wire; the microprocessor is provided with an expanded serial port, a clock circuit, and a resetting circuit which are connected with the microprocessor; and the anchor node is provided with a microprocessor and a GPS positioning device, a GPS antenna, the memorizer and a power supply connected with the microprocessor. The method receives beaconing information from the anchor node by the sensor node, carries out the positioning of the nonmesured distance of the wireless sensor network in the three-dimensional space, does not need any information exchange between the wireless sensor nodes, reduces communication expense, does not need to measure the information of distance between nodes, does not need to add extra distance measuring equipment, reduces cost, adopts simple and effective algorithm, reduces calculation amount, and is easy to realize.
Description
(1) technical field:
The present invention relates to wireless sensor network node self poisoning technical field, specifically is a kind of and three-dimensional space wireless sensor network positioning system and node positioning method range-independence.
(2) background technology:
At present increasing at the research of wireless sensor network, such network is in aspect widespread uses such as disaster relief and rescue, target following, medical assistances.In these were used, what we at first will know when incident took place was the spot of incident.Therefore, wireless sensor network at first should provide the position of sensor node, and the information that is not so collected can be meaningless.
Existing localization method can be divided into based on the location algorithm (TOA, TDOA, AOA, RSSI etc.) of range finding and the location algorithm of non-range finding, and wherein, TOA, TDOA, AOA method need be settled extra hardware unit on sensor node, have increased expense; RSSI then is vulnerable to the interference of noise and barrier, and bearing accuracy is not high.Therefore based on the location algorithm of range finding and be not suitable for low-power consumption, application cheaply.Because it is enough that use great majority power consumption and cost factor and rough grade location, non-range finding targeting scheme receives much concern.
Most sensor node positioning methods adopt centralized approach more, and this need be provided with a Centroid, finishes location Calculation by this node, and this causes the communication overhead of this node to increase, and too early consumption is finished electric energy, causes communication disruption.
Many location algorithms based on range finding have realized the location in the three dimensions, and concerning non-location algorithm, mostly also are based on two dimensional surface.In actual applications, often in the environment of three dimensions, landform more complicated, as hills, mountain region etc., the algorithm in the two dimensional surface has a lot of problems to node distribution in application.Therefore, node locating algorithm is very necessary in the three dimensions.
Patent documentation " a kind of system and method that wireless sensor network is carried out three-dimensional quick location " (number of patent application 200710076505.6) discloses a kind of system and method that wireless sensor network is carried out three-dimensional quick location.Document is introduced mobile anchor node, during the location, and mobile anchor node periodic broadcast self-position information, and pass through the area to be targeted along straight line path; Sensor node receives locating information, selects the locating information of signal strength values maximum, stores position coordinates wherein, and stores the coordinate information in all the other arbitrary positional informations; Judge whether that enough position coordinateses are used to calculate self-position; Utilize geometric relationship, calculate self-position.
There is following shortcoming in the wireless sensor network locating method that document is introduced: mobile anchor node need be contained on the aircraft carrier, needs to consume extra energy; Aircraft is difficult to accurate control in strict accordance with rectilinear flight; The movability of anchor node can influence the transmission of wireless signal, produces scrambling, influences bearing accuracy.
(3) summary of the invention:
The objective of the invention is to overcome power consumption and the bearing accuracy problem that mobile anchor node brings, can be applied to various three-dimensional environments location, as forest fire early warning, hills etc., the localization method of wireless sensor network node in a kind of three dimensions is provided, utilize fixed anchor nodes, adopt mode distributed, non-range finding to locate.
Technical scheme of the present invention is achieved in that
A kind of three-dimensional space wireless sensor network non-range positioning system, comprise sensor node and anchor node, it is characterized in that, sensor node is provided with microprocessor (MCU), microprocessor through bus and data line are connected with Zigbee radio-frequency communication module, storer, power module, sensor acquisition module respectively, microprocessor has coupled peripheral support circuit, i.e. serial ports expansion, general-purpose interface, clock circuit, reset circuit; Anchor node is provided with microprocessor and coupled GPS locating device, gps antenna, storer, power supply.
Described sensor is temperature, humidity, pressure and light sensor or wherein a kind of.
Wherein, all calculating in the sensor node is relatively finished by microprocessor (MCU); Described Zigbee radio-frequency communication module is used for received signal and stores useful beacon message into described storer;
In localization method of the present invention, anchor node obtains the positional information of self by the mode of placing in advance or GPS locatees, and the location begins with anchor node broadcasting self beacon message, and beacon message comprises ID, the position (X of anchor node, Y, Z), power level L and extra spread scope (R
L-1, R
L).
What sensor node was done is the beacon message of monitoring from anchor node, and useful information is deposited in the information table.Self-align according to the information in the information table then.A sensor node will listen to a plurality of identical beacon messages, when this quantity surpasses beacon decision threshold (BJT), judges that just this beacon message is for true.Anchor node is according to different power level, after having broadcasted self beacon message, sensor node might judge that several beacon messages from same anchor node are true, at this moment, get minimum that of power level and finally be defined as correct information, and it is deposited in the information table from this anchor node.Adopt multistage emissive power, can expand the coverage of anchor node, consequently reduced and located required anchor node number, reduce cost, and improve bearing accuracy.At positioning stage, sensor node reads the information in the information table and calculates self-position, between sensor node without any need for message exchange.Therefore the topological structure of sensor node does not influence bearing accuracy.
Positioning stage, sensor node sends Location Request, and anchor node is opened the GPS locating device, determines self-position, and the periodic broadcasting of beginning self beacon message; Sensor node is monitored beacon message, judges that whether beacon message surpasses predetermined value, deposits useful information in information table; Reading information table, is that rectangular coordinate system in space is set up at the center with the barycenter of all anchor nodes of being listened to, finishes the 3D grid initialization; Anchor node can be voted by all grids, determines the maximum possible area of space at sensor place; At last with the barycenter in this three-dimensional zone as node coordinate undetermined, thereby realized three-dimensional location.
The present invention has adopted a kind of 3D region based on the grid ballot to represent mode.The cubical length of side is called grid resolution α in the grid, needs before the location to set.Each sensor node all has this gridding information, and initial in the location, to this grid initialization, anchor node has identical weight 1, and even an anchor node is judged certain sub-box in its effective coverage range, then will throw a ticket to this cube grid.Behind the poll closing, the ticket value of sub-box is big more, and illustrating just has many more anchor nodes to admit it in effective coverage range, and last who gets the most votes's grid has constituted effective coverage range.Get the estimated position of the barycenter of effective coverage range as sensor node.
A kind of three-dimensional space wireless sensor network non-range localization method, step is as follows:
1, at specific region placement sensor node, can lay at random, needn't know the geographical location information of sensor in advance;
2, after deployment finished, anchor node was in accepting state, is used to detect the positioning request information from sensor node, and sensor node is in dormant state;
3, sensor node to be positioned sends positioning request information;
4, anchor node broadcast beacon information, comprise anchor node ID, position (X, Y, Z), power level L and extra spread scope (R
L-1, R
L);
5, sensor node to be positioned receives beacon message and stores useful information to information table;
6, read information table, and carry out the initialization of three dimensions independence grid, set up coordinate system;
7, carry out the ballot of cube grid zone,, then will throw a ticket this cube if an anchor node is judged certain sub-box in its effective coverage range;
If the grid gained vote is then got the location estimation of this regional barycenter as sensor node to be positioned greater than location estimation decision threshold DT in the 8 maximum possible locating areas, otherwise, step 3 returned;
9, get the estimated position of sensor node to be positioned, finish the location.
Be provided with beacon decision threshold BJT in the step 5, wireless sensor node judges that whether beacon message from same anchor node is greater than BJT, if judge that then beacon message is true; Otherwise abandon this information.
In the step 5, anchor node has been broadcasted after self beacon message, and from the many beacon messages from same anchor node, sensor node is chosen the correct beacon message of the minimum conduct of power level, and deposits information table.
Step 7 specifically may further comprise the steps in the said method, and sensor node is according to the anchor node beacon message that receives, and judges that self is whether in the effective coverage range of a certain anchor node.If in coverage, then judge the distance of each stereoscopic grid successively, if in its coverage, then this stereoscopic grid is thrown a ticket to this anchor node; Otherwise do not vote.
After step 7, each stereoscopic grid all can have a gained vote value.The big more explanation anchor node of gained vote value is big more to this regional degree of recognition, and sensor node is also just big more in this regional possibility.
The invention provides and a kind of wireless sensor network is carried out the system of distributed, non-range finding location, comprise GPS locating device, anchor node, wireless sensor node.Wherein, described GPS locating device is arranged on the anchor node, is used to receive gps satellite signal, determines the current location information of anchor node.During the location, the just periodic broadcasting self-position beacon message that anchor node is done.
Described sensor node receives the beacon message from anchor node.Judge that whether beacon message surpasses predetermined value, deposits useful information in information table; Barycenter with all anchor nodes of being listened to is that rectangular coordinate system in space is set up at the center, finishes the grid initialization; Voted in the net region; Judge whether to obtain the beacon message that self-position is calculated in enough being used to, calculate the self-position coordinate.
Adopt said system, utilize the beacon message of anchor node to carry out location estimation, need not the distance between measured node; Adopt power control techniques, reduce the anchor node number effectively, reduced the network cost of system; Adopt distributed computing method, sensor node calculates voluntarily, has overcome the shortcoming of centralized calculating section node highly energy-consuming; Without any need for communication, the variation of network topology structure does not influence bearing accuracy between the sensor node, therefore network topology structure is had robustness preferably; Adopted the initialization of area of space independence grid, the initialization area of having dwindled node has improved efficient; By systematic parameter location decision threshold coefficient s is set, can eliminate the adverse effect that the radio signal propagation scrambling is brought effectively; Sensor node is only communicated by letter with anchor node, need not mutual communication between the node, has reduced communication overhead, and has not needed extra range finder module, saves cost and energy consumption.Be suitable for various three-dimensional geographical environments, as hills, mountain region etc.
(4) description of drawings
Fig. 1 is the sensor node hardware structure diagram;
Fig. 2 is a location of the present invention synoptic diagram;
Fig. 3 is a method of work process flow diagram of the present invention.
Wherein: 1, microprocessor (MCU), 2, storer, 3, the ADC module, 4, the sensor acquisition module, 5, power module, 6, the Zigbee radio-frequency communication module, 7, reset circuit, 8, clock circuit, 9, serial ports expansion, 10, general-purpose interface.
(5) embodiment
The present invention will be further described below in conjunction with drawings and Examples, but be not limited thereto.
Embodiment:
System embodiment of the present invention as shown in Figure 1, comprise sensor node and anchor node, it is characterized in that, sensor node is provided with microprocessor (MCU) 1, microprocessor 14 connects with Zigbee radio-frequency communication module 6, storer 2, power module 5, sensor acquisition module respectively mutually by bus and data line, microprocessor 1 has coupled peripheral support circuit, i.e. serial ports expansion 9, general-purpose interface 10, clock circuit 8, reset circuit 7; Anchor node is provided with microprocessor and coupled GPS locating device, gps antenna, storer, power supply.
Described sensor is a temperature sensor.
The present invention solves is distributed three-dimensional fix problem with range-independence.The model of this problem is as follows: in advance sensor node cloth is put into the appointed area, the sensor node that lays at random can't be known the position of self in advance, the anchor node that is equipped with the GPS module can be determined himself position via satellite, and unknown node realizes the location of self by the beacon message that receives anchor node.
As shown in Figure 2, the invention provides and a kind of wireless sensor network is carried out the system of Distributed localization, comprise GPS locating device, anchor node, sensor node.Wherein, described GPS locating device is arranged on the anchor node, is used to receive gps satellite signal, determines the current location information of anchor node.During the location, the just periodic broadcasting self-position beacon message that anchor node is done.
Described sensor node receives the beacon message from anchor node.Judge that whether beacon message surpasses predetermined value, deposits useful information in information table; Barycenter with all anchor nodes of being listened to is that rectangular coordinate system in space is set up at the center, finishes the grid initialization; Voted in the net region; Judge whether to obtain the beacon message that self-position is calculated in enough being used to, calculate the self-position coordinate.Characteristics of the present invention are periodically to broadcast self beacon message by the anchor node that is mounted with the GPS device, after sensor node receives beacon message, choose useful information and storage, carry out independent grid initialization then, set up space coordinates, sensor node stores the positional information of all grids; Anchor node can be voted to all grids, determines the maximum possible area of space at sensor place, with the barycenter in this three-dimensional zone as node coordinate undetermined, thereby realized three-dimensional location.
In the system of the present invention, anchor node must assemble the GPS locating device and sufficient electric weight is arranged.Non-positioning time anchor node be in accepting state, sensor node is in dormant state, saves electric weight; In the position fixing process, sensor node must be in accepting state, and anchor node is in the periodic broadcast state.
And, the invention provides and a kind of wireless sensor network is carried out three-dimensional distributed, non-distance-measuring and positioning method.Specifically as shown in Figure 3.
The invention provides an example of wireless sensor network location, concrete steps are as follows:
1, at specific region placement sensor node, can lay at random, needn't know the geographical location information of sensor in advance;
2, after deployment finished, anchor node was in accepting state, is used to detect the positioning request information from sensor node, and sensor node is in dormant state;
3, sensor node sends Location Request;
4, anchor node receives positioning request information, and starts the GPS locating device, obtains the positional information of self, begins periodic broadcast self beacon message then;
5, sensor node to be positioned receives beacon message, and the storage useful information is to information table;
6, read information table, and carry out the initialization of three dimensions independence grid, set up coordinate system;
7, carry out the ballot of cube grid zone,, then will throw a ticket this cube if an anchor node is judged certain sub-box in its effective coverage range;
If the grid gained vote is then got the location estimation of this regional barycenter as node to be positioned greater than location estimation decision threshold DT in the 8 maximum possible locating areas; Otherwise, return step 3;
9, get the estimated position of sensor node to be positioned, empty the information table of sensor node, finish the location.
Described method, wherein, step 4 specifically comprises: anchor node has the different emissive power of N level, in position fixing process, the beacon message of every grade of emissive power broadcasting M time.
Described method, wherein, step 5 specifically may further comprise the steps: sensor node to be positioned is created the beacon message table respectively, and the information table content comprises the anchor node quantity AH that listens to, the beacon message of neighbours' anchor node.
Be provided with beacon decision threshold BJT in the step 5, wireless sensor node judges that whether beacon message from same anchor node is greater than BJT, if judge that then beacon message is true; Otherwise abandon this information.
In the step 5, anchor node has been broadcasted after self beacon message, and from the many beacon messages from same anchor node, sensor node is chosen the correct beacon message of the minimum conduct of power level, and deposits information table.
Described method, wherein, step 6 is specially: with the barycenter (X of all anchor node regions of listening to
0, Y
0) as center O, be transverse axis X with the parallel of crossing center O, be longitudinal axis Y with the warp of crossing center O, be the Z axle with the straight line of crossing O perpendicular to the XY plane, set up rectangular coordinate system in space, then (x, y, z)/| x-x
0|＜2R, | y-y
0|＜2R, | z-z
0| carry out stereoscopic grid in the＜2R} scope and divide and independent grid initialization.
Described method, wherein, step 7 specifically may further comprise the steps, and sensor node is according to the anchor node beacon message that receives, and judges that self is whether in the effective coverage range of a certain anchor node.If in coverage, then judge the distance of each stereoscopic grid successively, if in its coverage, then this stereoscopic grid is thrown a ticket to this anchor node; Otherwise do not vote.
After step 7, each stereoscopic grid all can have a gained vote value.The big more explanation anchor node of gained vote value is big more to this regional degree of recognition, and sensor node is also just big more in this regional possibility.
Described method, wherein, step 8 is specially, systematic parameter S=DT/AH is set, and DT is a ticket value decision threshold, and AH is the anchor node quantity that listens to, when gained vote value during greater than DT, then keep this zone, the barycenter in the whole zone that will obtain is as the location estimation of unknown node at last.Otherwise will retransmit Location Request.Coordinate Calculation undetermined is specific as follows:
The coordinate of supposing the grid in the maximum possible zone of sensor node record is respectively: G
1: (x
1, y
1, z
1), G
2: (x
2, y
2, z
2), G
3: (x
3, y
3, z
3) ... G
n: (x
n, y
n, z
n), then the coordinate of node to be positioned is:
Described method can effectively be eliminated the adverse effect that the radio signal propagation scrambling is brought.
Claims (3)
1. three-dimensional space wireless sensor network non-range localization method, step is as follows:
1., at specific region placement sensor node, can lay at random, needn't know the geographical location information of sensor in advance;
2., dispose finish after, anchor node is in accepting state, is used to detect the positioning request information from sensor node, sensor node is in dormant state;
3., sensor node to be positioned sends positioning request information;
4., anchor node broadcast beacon information, comprise anchor node ID, position (X, Y, Z), power level L and extra spread scope (R
L-1, R
L);
5., sensor node to be positioned receives beacon message and stores useful information to information table;
6., read information table, and carry out the initialization of three dimensions independence grid, set up coordinate system; 6. step is specially: with the barycenter (X of all anchor node regions of listening to
0, Y
0) as center O, be transverse axis X with the parallel of crossing center O, be longitudinal axis Y with the warp of crossing center O, be the Z axle with the straight line of crossing O perpendicular to the XY plane, set up rectangular coordinate system in space, this moment, centre coordinate was (X
0, Y
0, Z
0), then (x, y, z)/| x-x
0|＜2R, | y-y
0|＜2R, | z-z
0| carry out stereoscopic grid in the＜2R} scope and divide and independent grid initialization;
7., carry out the zone ballot of cube grid, if an anchor node is judged certain sub-box in its effective coverage range, then will throw a ticket to this cube;
If 8. the grid gained vote is then got the location estimation of this regional barycenter as sensor node to be positioned greater than location estimation decision threshold DT in the maximum possible locating area, otherwise, step returned 3.;
9., the estimated position of getting sensor node to be positioned, finish the location.
2. a kind of system that is used for the described localization method of claim 1, comprise sensor node and anchor node, it is characterized in that, sensor node is provided with microprocessor, microprocessor through bus and data line are connected with Zigbee radio-frequency communication module, storer, power module, sensor acquisition module respectively, microprocessor has coupled peripheral support circuit, i.e. serial ports expansion, general-purpose interface, clock circuit, reset circuit; Anchor node is provided with microprocessor and coupled GPS locating device, gps antenna, storer, power supply.
3. a kind of system as claimed in claim 2 is characterized in that, described sensor is a kind of or wherein several combination in temperature, humidity, pressure, air-sensitive and the light sensor.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101772013B (en) * | 2010-01-26 | 2012-05-23 | 哈尔滨工程大学 | Voting mechanism based WSN anti-attack node positioning method |
| CN102014147B (en) * | 2010-07-09 | 2013-05-08 | 北京哈工大计算机网络与信息安全技术研究中心 | Positioning system in Internet of things as well as deploying method and device thereof |
| CN101945475B (en) * | 2010-09-27 | 2012-12-19 | 交通信息通信技术研究发展中心 | Mobile phone positioning device based on ship movement base station and single-ship positioning method thereof |
| CN102098780B (en) * | 2010-12-14 | 2013-12-11 | 北京智慧图科技发展有限责任公司 | Positioning method and device |
| CN103096462B (en) * | 2012-12-21 | 2015-03-04 | 太原理工大学 | Non-ranging node locating method of wireless sensor network |
| CN104159292A (en) * | 2013-05-14 | 2014-11-19 | 山东交通学院 | Three-dimensional wireless sensing network positioning method based on virtual center node |
| CN103517338B (en) * | 2013-10-17 | 2016-05-25 | 山东省计算中心 | Towards the localization method of the employing mobile anchor node of 3-D wireless Sensor Network |
| CN104135342A (en) * | 2014-08-08 | 2014-11-05 | 张力 | Method of coding nodes in wireless micro-power routing-free automatic remote communication technology of fixed nodes and implementing communication transmission through coding |
| CN105744589B (en) * | 2016-04-15 | 2023-06-20 | 华南理工大学 | Improved DV-Hop-based wireless sensor network node positioning device and method |
| CN109429169A (en) * | 2017-08-21 | 2019-03-05 | 西安中兴新软件有限责任公司 | A kind of method, apparatus that realizing wireless location and narrowband internet-of-things terminal |
| CN107765216B (en) * | 2017-08-29 | 2019-10-25 | 宁波大学 | Target position and timing parameter combined estimation method in unsynchronized wireless networks |
| CN113490272B (en) * | 2021-09-08 | 2021-12-28 | 中铁工程服务有限公司 | UWB positioning-based safe hoisting early warning method, system and medium |
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| CN101184328A (en) * | 2007-04-18 | 2008-05-21 | 中国科学院上海微系统与信息技术研究所 | Wireless sensing network node locating method |
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