CN101986758A - Method for positioning wireless sensor network - Google Patents
Method for positioning wireless sensor network Download PDFInfo
- Publication number
- CN101986758A CN101986758A CN2010105384866A CN201010538486A CN101986758A CN 101986758 A CN101986758 A CN 101986758A CN 2010105384866 A CN2010105384866 A CN 2010105384866A CN 201010538486 A CN201010538486 A CN 201010538486A CN 101986758 A CN101986758 A CN 101986758A
- Authority
- CN
- China
- Prior art keywords
- node
- mobile anchor
- anchor node
- wireless sensor
- sensor network
- 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)
Abstract
The invention relates to a method for positioning a wireless sensor network. The method comprises the following steps: an unknown node receives a message which is broadcast and transmitted by a mobile anchor node and contains position of the node; a two-dimensional rectangular coordinate system is established for the region of the wireless sensor network to determine a mobile path of the mobile anchor node; the mobile anchor node moves a certain distance every period T; a beacon signal is broadcast in a circle with a communication radius r by using the position of the mobile anchor node, wherein the beacon signal comprises the position message of the mobile anchor node at the moment and the time at the moment; the moving path of the mobile anchor node is a regular triangle, wherein the side length of the regular triangle is d, and d equals to r; the unknown node constantly monitors and receives the beacon messages, and receives three beacon messages broadcast by the mobile anchor node; and if positions of the three beacon messages form a regular triangle, and the unknown node is positioned in the regular triangle, the position message of the unknown node can be acquired by a trilateration survey method. The method has the advantages of high positioning accuracy and low networking cost, and is not easily influenced by environmental factors.
Description
Technical field
The present invention relates to a kind of localization method of wireless communication field, relate in particular to a kind of wireless sensor network locating method.
Background technology
In recent years, development along with MEMS (micro electro mechanical system), radio communication and Digital Electronic Technique, wireless sensor network (wireless sensor networks, WSN) obtained using widely in Military Application and field such as civilian, it combines with the RFID technology, has also obtained application achievements preferably in fields such as logistics.
Positional information has great important to the application of WSN, and the position that incident takes place or the position of information source are the important component parts that sensor network transmits data, thereby the WSN location technology becomes a big focus of research.At present, scholars have proposed a lot of location algorithms about WSN, mainly be divided into two big classes: based on anchor node and non-WSN node locating algorithm based on anchor node, anchor node is exactly the node that can obtain self-position in advance, usually adopt gps system or artificial in advance the layout are installed on node, location algorithm based on anchor node remains node with the anchor node location, but not based on the relative position of the main computing node of node locating algorithm of anchor node, generate the relative position map of a WSN node, bring very big restriction for the application of WSN, but, in node locating algorithm based on anchor node, the use of GPS has increased the cost of WSN node, and the characteristics that this and WSN use are not inconsistent; In this case, can only on some transportable sensor nodes, equip GPS, this method has very high Practical significance: only equip GPS on some nodes, not only too much do not increase cost, and than the higher positioning accuracy of algorithm acquisition of not using anchor node, mobile node can use mobile robot platform, and energy is unrestricted, in order to improve positioning accuracy and location efficiency, the path planning of mobile anchor node becomes the basic problem of research.
When transducer is spread to sensitive zones (region of interest, ROI) after in, mobile anchor node begins to walk in them, simultaneously with certain transmitting power broadcast message packet, the coordinate that contains this anchor node in the information packet, the sensor node of (in the beacon signal transmission range) can receive the bootstrap information bag near the anchor node node, each node is all measured received signal intensity index (received signal strength indication when receiving bag, be called for short RSSI) and calculate the distance of anchor node, according to subsidiary beacon position in the distance value of anchor node and bootstrap information bag
Each node calculates the constraints of self-position, when obtaining 3 above bootstrap information bags, each node can calculate the coordinate of self by trilateration, carry out the sensor node location based on mobile anchor node and have some tangible advantages: at first, reduce the anchor node quantity that needs in a large number, thereby reduced cost; Secondly, because anchor node negligible amounts (ideally only needing 1 beacon), therefore, the user can control the mobile route of anchor node, the position (abbreviation transmitting site) of broadcasting anchor node packet, thereby improves location efficiency and improve locating effect.
Through existing literature search is found that pertinent literature is as follows:
1, the article " Path Planning for Mobile Anchor Node in Localization for Wireless Sensor Networks " on " Journal of Computer Research and Development " in 2009, delivered such as Hongjun Li, studied the path planning problem of mobile anchor node, graph theory has been incorporated into the wireless sensor network node navigation system.Wireless sensor network is regarded as the node non-directed graph of a connection, and path planning problem is converted into map generalization tree and traversal problem, has proposed breadth-first and has recalled the formula greedy algorithm.But the mobile route that this algorithmic rule is come out can not guarantee all unknown node and receive anchor node information, thereby the location coverage rate is not high.
2, in the article " Localization in Wireless Sensor Networks Using a Mobile Anchor Node " on " IEEE/ASME International Conference on Advanced Intelligent Mechatronics " in 2008, delivered such as Zhen HU mobile node with spiral path movement, broadcast its positional information every one-period, after unknown node was received positional information more than 3, the mean value of getting these positions was the estimated position of unknown node.This algorithm efficiently solves the problem that node can't be located on same straight line, but this path can't cover sensitive zones efficiently, occurs the beacon coverage hole easily, thereby has reduced positioning accuracy.
3, in the article " Sensor Position Determination with Flying Anchors in Three-Dimensional Wireless Sensor Networks " that ChaiHo Ou etc. delivers a kind of novel Range-Free localization method has been proposed on " IEEE Transactions on Mobile Computing " in 2008, this method is based on " perpendicular bisector of string passes through the center of circle " this character in the elementary geometry, move and periodically broadcast its current location with the flight anchor node that has GPS at sensitive zones, unknown node is according to Rules of Geometry and its position of these information calculations.This algorithm forms two and intersects circle behind the anchor node that obtains more than 4, and the point that the center of circle of these two crossing circles of process and the round straight line that intersects vertically intersect is the estimated position of unknown node.The method has been made certain innovation and contribution in links such as the distance of measuring anchor node and unknown node, calculating unknown node coordinates, but does not all relate to mobile anchor node Path selection problem.
4, the article " Static path planning for mobile beacons to localize sensor networks " delivered on " IEEE PERCOMW " in 2007 such as Rui Huang proposes to make mobile anchor node according to S shape path movement, the information of the reception mobile node in the unknown node cycle of sensitive zones, thus its positional information calculated.Though the path of this algorithm mobile node is shorter, and saved the energy consumption of node accordingly, do not occurred owing to receiving the situation that enough information causes locating at the node at edge.
5, analyzed mobile node in the article " Path planning of mobile landmarks for localization in wireless sensor networks " that Koutsonilas D etc. delivers along path that change in coordinate axis direction moves on " Computer Communication " in 2007, its pluses and minuses have been compared, though wherein Scan method movable length is the shortest, it can cause information that unknown node receives on same straight line and can't locate it.
Summary of the invention
The objective of the invention is: a kind of positioning accuracy height is provided, is not subject to Effect of Environmental and the low wireless sensor network locating method of network cost.
In order to achieve the above object, technical scheme of the present invention is: a kind of wireless sensor network locating method, and its innovative point is: its step comprises:
A, mobile anchor node broadcast transmission comprise the information of self-position;
B, unknown node receive the information that mobile anchor node sends;
C, two-dimentional rectangular coordinate system is set up in the wireless sensor network zone, one or several unknown node distribute in two-dimentional rectangular coordinate system, determine the mobile route of mobile anchor node, mobile anchor node moves a certain distance every period T, and with mobile anchor node this moment the position be the center of circle, communication radius is
Round broadcast beacon signals, comprise the positional information of this mobile anchor node of moment and the time in this moment in the beacon signal, the path that mobile anchor node moves is an equilateral triangle, the length of side of equilateral triangle is
, and
D, unknown node are constantly monitored and are accepted beacon message, receive three beacon messages of mobile anchor node broadcasting, if equilateral triangle is formed in the position of these three beacon messages, and unknown node is positioned at equilateral triangle, then, obtain the positional information of unknown node by trilateration; If unknown node is positioned at the boundary in wireless sensor network zone, the set of locations that unknown node receives three beacon messages becomes obtuse triangle or for right-angled triangle or be all the other triangles, and unknown node is positioned at obtuse triangle or for right-angled triangle or for all the other triangles, then, obtain the positional information of unknown node with the mean value of three beacon message coordinates receiving position as unknown node.
In above-mentioned wireless sensor network locating method, distance adopts the received signal intensity method to measure between described mobile anchor node and unknown node.
In above-mentioned wireless sensor network locating method, the communication radius of described mobile anchor node
Concrete establishing method be:
Set up target function and constraint function, and set communication radius
Scope,
The target function of setting up is
,
The constraint function of setting up is
Be integer, and
Round numbers,
The communication radius of setting
Scope be
,
Wherein:
Be the length in wireless sensor network zone,
Be the width in wireless sensor network zone,
Be the power consumption of every transmission of emitter or the bit of recruiting unit,
For emission amplifier with the every bit unit of transfer square metre energy that is consumed,
Be the energy of the whenever mobile 1m consumption of mobile anchor node,
Then, calculate the communication radius that satisfies above-mentioned condition by computer
Value.
In above-mentioned wireless sensor network locating method, described mobile anchor node has the GPS positioner, reference node as the location unknown node, the unknown node broadcasting of mobile anchor node around it comprises the beacon message packet of its positional information and self ID, and the communication range of mobile anchor node is a radius
Circle.
Compared with prior art, the good effect that the present invention had is:
(1) do not need extra communication overhead in the position fixing process, only can finish the location by received signal intensity, and mobile anchor node is according to the equilateral triangle path movement, the running fix precision is the highest;
(2) to the node density of network without limits, no matter be,, thereby favorable expansibility arranged, be difficult for affected by environment not influence of positioning accuracy at dense network or in sparse network;
(3) the present invention only needs a mobile anchor node, can know the positional information of all unknown node in the wireless sensor network zone, has reduced the cost of network.
The communication range of mobile anchor node is circular, tallies with the actual situation, be easy in actual environment, implement, and the positioning accuracy height.
Description of drawings
Fig. 1 is the flow chart of wireless sensor network locating method of the present invention;
Fig. 2 calculates the schematic diagram of unknown node for the equilateral triangle localization method;
Fig. 3 is unknown node random distribution figure;
Fig. 4 is a mobile anchor node location schematic diagram;
Fig. 5 is the schematic diagram of mobile anchor node mobile route and emission packets of information position.
Embodiment
The present invention is described in further detail below in conjunction with drawings and Examples.
Shown in Fig. 1,2,3,4,5, a kind of wireless sensor network locating method, its step comprises:
A, mobile anchor node broadcast transmission comprise the information of self-position;
B, unknown node receive the information that mobile anchor node sends;
C, two-dimentional rectangular coordinate system is set up in the wireless sensor network zone, one or several unknown node distribute in two-dimentional rectangular coordinate system, determine the mobile route of mobile anchor node, mobile anchor node moves a certain distance every period T, and with mobile anchor node this moment the position be the center of circle, communication radius is
Round broadcast beacon signals, comprise the positional information of this mobile anchor node of moment and the time in this moment in the beacon signal, the path that mobile anchor node moves is an equilateral triangle, the length of side of equilateral triangle is
, and
D, unknown node are constantly monitored and are accepted beacon message, receive three beacon messages of mobile anchor node broadcasting, if equilateral triangle is formed in the position of these three beacon messages, and unknown node is positioned at equilateral triangle, then, obtain the positional information of unknown node by trilateration; If unknown node is positioned at the boundary in wireless sensor network zone, the set of locations that unknown node receives three beacon messages becomes obtuse triangle or for right-angled triangle or be all the other triangles, and unknown node is positioned at obtuse triangle or for right-angled triangle or for all the other triangles, then, obtain the positional information of unknown node with the mean value of three beacon message coordinates receiving position as unknown node.
In above-mentioned wireless sensor network locating method, distance adopts the received signal intensity method to measure between described mobile anchor node and unknown node.
In above-mentioned wireless sensor network locating method, the communication radius of described mobile anchor node
Concrete establishing method be:
Set up target function and constraint function, and set communication radius
Scope,
The target function of setting up is
,
The constraint function of setting up is
Be integer, and
Round numbers,
The communication radius of setting
Scope be
,
Wherein:
Be the length in wireless sensor network zone,
Be the energy of the whenever mobile 1m consumption of mobile anchor node,
Then, calculate the communication radius that satisfies above-mentioned condition by computer
Value.
In above-mentioned wireless sensor network locating method, described mobile anchor node has the GPS positioner, reference node as the location unknown node, the unknown node broadcasting of mobile anchor node around it comprises the beacon message packet of its positional information and self ID, and the communication range of mobile anchor node is a radius
Circle.
All unknown node are random distribution (as shown in Figure 3) in the wireless sensor network zone in the present embodiment, and mobile anchor node carries out initialization to wireless sensor network and moves anchor node and begin to move (as shown in Figure 4) from the origin of coordinates.
The concrete course of work of wireless sensor network locating method of the present invention is:
As shown in Figure 1, the mobile anchor node information that comprises self-position according to the path movement and the broadcast transmission of equilateral triangle;
By calculate mobile anchor node as can be known position error be:
, when
The time, the error band of location
Reaching minimum is
, promptly three packets of information consist of equilateral triangle, wherein
Be the range measurement error,
,
,
Angle between the length of side, thus the mobile route of mobile anchor node is defined as equilateral triangle as can be known; Owing to be when the position of three beacon messages of mobile anchor node emission constitutes the length of side
Equilateral triangle, sensor network does not have the region area maximum that leak covers, so mobile anchor node is according to the equilateral triangle path movement of predesignating among the present invention, and the equilateral triangle length of side of formation is
Wherein, the communication radius of mobile anchor node
Be predefined value, the length in assumed wireless sensor network zone
For
, width
For
, then the area in wireless sensor network zone is
, the scope of setting communication radius
For
And constraints
Be integer, and
Round numbers,
,
,
,
,
,
Then make
,
As shown in Figure 1, unknown node receives the information that mobile anchor node sends, and wherein, mobile anchor node moves a certain distance every period T, and with mobile anchor node this moment the position be the center of circle, communication radius is
Round broadcast beacon signals, comprise the positional information of this mobile anchor node of moment and the time in this moment in the beacon signal; As shown in Figure 5, mobile anchor node whenever moves
Distance promptly launch a packets of information, wherein
It is the communication radius of mobile anchor node.
As shown in Figure 1, the continuous monitoring reception beacon message of unknown node, receive three beacon messages after, these three beacon messages should be equilateral triangle, calculating receives the distance of each anchor node to unknown node, according to trilateration, obtains the positional information of unknown node.
As shown in Figure 5, if unknown node
The triangle that three beacon messages that receive are formed is an equilateral triangle, and the position of three beacon messages be (
), unknown node then
Can calculate the position of this unknown node according to these three beacon messages that receive by trilateration, promptly pass through formula
, the coordinate of acquisition unknown node
If unknown node
Be fringe node, the position of three beacon messages that receive for (
), unknown node then
Go out the position of this unknown node according to the coordinate mean value calculation of these three beacon messages that receive, promptly according to formula
, obtain the coordinate of this unknown node
The present invention has advantage simple and reliable and that positioning accuracy is high, only use a location that the mobile anchor node has just been realized the sensor unknown node, reduced the requirement to hardware, saved network cost, according to the optimization of region strategy, can be optimized irregular area, make the positioning accuracy optimum, extensibility is strong, the mobile anchor node adopts the mobile route of positive triangle, mobile route is short, so that unknown node positioning accuracy height is with a wide range of applications.
Claims (4)
1. wireless sensor network locating method, it is characterized in that: its step comprises:
A, mobile anchor node broadcast transmission comprise the information of self-position;
B, unknown node receive the information that mobile anchor node sends;
C, two-dimentional rectangular coordinate system is set up in the wireless sensor network zone, one or several unknown node distribute in two-dimentional rectangular coordinate system, determine the mobile route of mobile anchor node, mobile anchor node moves a certain distance every period T, and with mobile anchor node this moment the position be the center of circle, communication radius is
Round broadcast beacon signals, comprise the positional information of this mobile anchor node of moment and the time in this moment in the beacon signal, the path that mobile anchor node moves is an equilateral triangle, the length of side of equilateral triangle is
, and
D, unknown node are constantly monitored and are accepted beacon message, receive three beacon messages of mobile anchor node broadcasting, if equilateral triangle is formed in the position of these three beacon messages, and unknown node is positioned at equilateral triangle, then, obtain the positional information of unknown node by trilateration; If unknown node is positioned at the boundary in wireless sensor network zone, the set of locations that unknown node receives three beacon messages becomes obtuse triangle or for right-angled triangle or be all the other triangles, and unknown node is positioned at obtuse triangle or for right-angled triangle or for all the other triangles, then, obtain the positional information of unknown node with the mean value of three beacon message coordinates receiving position as unknown node.
2. wireless sensor network locating method according to claim 1 is characterized in that: distance adopts the received signal intensity method to measure between described mobile anchor node and unknown node.
3. wireless sensor network locating method according to claim 1 is characterized in that: the communication radius of described mobile anchor node
Concrete establishing method be:
Set up target function and constraint function, and set communication radius
Scope,
The target function of setting up is
,
The constraint function of setting up is
Be integer, and
Round numbers,
The communication radius of setting
Scope be
,
Wherein:
Be the length in wireless sensor network zone,
Be the power consumption of every transmission of emitter or the bit of recruiting unit,
For emission amplifier with the every bit unit of transfer square metre energy that is consumed,
Be the energy of the whenever mobile 1m consumption of mobile anchor node,
Then, calculate the communication radius that satisfies above-mentioned condition by computer
Value.
4. wireless sensor network locating method according to claim 1, it is characterized in that: described mobile anchor node has the GPS positioner, reference node as the location unknown node, the unknown node broadcasting of mobile anchor node around it comprises the beacon message packet of its positional information and self ID, and the communication range of mobile anchor node is a radius
Circle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010538486 CN101986758B (en) | 2010-11-10 | 2010-11-10 | Method for positioning wireless sensor network |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010538486 CN101986758B (en) | 2010-11-10 | 2010-11-10 | Method for positioning wireless sensor network |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101986758A true CN101986758A (en) | 2011-03-16 |
| CN101986758B CN101986758B (en) | 2013-05-15 |
Family
ID=43711054
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010538486 Expired - Fee Related CN101986758B (en) | 2010-11-10 | 2010-11-10 | Method for positioning wireless sensor network |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101986758B (en) |
Cited By (33)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN102291818A (en) * | 2011-07-29 | 2011-12-21 | 电子科技大学 | Pseudo-three-dimensional positioning method for wireless sensor network based on terrain information |
| CN102595594A (en) * | 2012-02-22 | 2012-07-18 | 江苏大学 | Wireless sensor network node positioning method based on node distribution density |
| 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 |
| CN102932256A (en) * | 2012-10-31 | 2013-02-13 | 中国矿业大学(北京) | Positioning and routing method based on DV-Hop (Distance Vector-Hop) positioning mechanism |
| CN103024897A (en) * | 2012-11-26 | 2013-04-03 | 中山大学 | Wireless sensor network environment adaptive ring overlapped positioning algorithm based on received signal strength indicator (RSSI) |
| CN103067962A (en) * | 2012-12-20 | 2013-04-24 | 浙江工业大学 | Drifting detection method of distributed beacon nodes in wireless sensor network |
| CN103068040A (en) * | 2012-12-28 | 2013-04-24 | 中国人民解放军信息工程大学 | Method, relevant device and system of location and navigation of wireless sensor network nodes |
| CN103327607A (en) * | 2013-06-28 | 2013-09-25 | 河海大学常州校区 | Method for planning moving path of multi-anchor-node set of wireless sensor network |
| CN103607726A (en) * | 2013-11-25 | 2014-02-26 | 河海大学常州校区 | Regular-hexagon-based mobile anchor node path planning method in wireless sensor network |
| CN103796306A (en) * | 2014-02-17 | 2014-05-14 | 山东省计算中心 | Method for locating wireless sensor network nodes with multiple mobility anchor nodes |
| CN103889055A (en) * | 2014-04-14 | 2014-06-25 | 北京工业大学 | Wireless sensor network node positioning method based on mobile anchor nodes and device |
| WO2014101099A1 (en) * | 2012-12-28 | 2014-07-03 | Intel Corporation | Trilateration processing of abnormal location data |
| CN103945528A (en) * | 2014-04-10 | 2014-07-23 | 西安电子科技大学 | Single target locating method in wireless sensor network |
| CN105049488A (en) * | 2015-06-18 | 2015-11-11 | 瑞驰博方（北京）科技有限公司 | Data center asset intelligence management system |
| CN105764028A (en) * | 2016-01-25 | 2016-07-13 | 河南牧业经济学院 | Wireless sensor network node positioning method |
| WO2016188164A1 (en) * | 2015-10-21 | 2016-12-01 | 中兴通讯股份有限公司 | Method and device for implementing site location |
| 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 |
| CN106899934A (en) * | 2016-12-23 | 2017-06-27 | 浙江宇视科技有限公司 | A kind of guidance method and server of target device position |
| CN106982152A (en) * | 2017-04-18 | 2017-07-25 | 千寻位置网络有限公司 | Broadcast the sampling monitoring method of service state |
| WO2017181690A1 (en) * | 2016-04-22 | 2017-10-26 | 中兴通讯股份有限公司 | Indoor navigation method and apparatus |
| CN107734450A (en) * | 2017-11-17 | 2018-02-23 | 深圳市舜宝科技有限公司 | A kind of indoor bluetooth localization method and system |
| CN108112002A (en) * | 2017-12-28 | 2018-06-01 | 成都三朵云科技有限公司 | A kind of localization method and system applied to public security fire-fighting environment |
| CN108289282A (en) * | 2017-12-28 | 2018-07-17 | 广州泽祺信息科技有限公司 | A kind of indoor orientation method of degree of precision |
| CN109471062A (en) * | 2018-11-14 | 2019-03-15 | 深圳美图创新科技有限公司 | Localization method, positioning device and positioning system |
| 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 |
| CN109889976A (en) * | 2019-02-18 | 2019-06-14 | 南京邮电大学 | One kind being based on circular wireless sensor network mobile anchor node path planing method |
| CN110366227A (en) * | 2019-07-04 | 2019-10-22 | 太原理工大学 | A kind of anycast's method for routing of wireless sensor network |
| CN111132014A (en) * | 2019-12-31 | 2020-05-08 | 南京烽火星空通信发展有限公司 | Wireless sensor network node positioning method based on unmanned aerial vehicle mobile beacon |
| CN111347417A (en) * | 2018-12-24 | 2020-06-30 | 深圳市优必选科技有限公司 | Position calibration method and device of UWB positioning equipment and robot |
| CN113253200A (en) * | 2021-04-27 | 2021-08-13 | 中国人民解放军91388部队 | Regular triangle motion path-based RSSI (received signal strength indicator) value positioning method for mobile anchor node |
| CN116233864A (en) * | 2023-05-08 | 2023-06-06 | 安元科技股份有限公司 | Deployment method and system for meeting error expectation by Bluetooth beacon personnel positioning |
| CN116593961A (en) * | 2023-01-10 | 2023-08-15 | 广州世炬网络科技有限公司 | Positioning method and device of mobile terminal |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101004448A (en) * | 2007-01-18 | 2007-07-25 | 北京航空航天大学 | Convex programming positioning method of triangle filtering of wireless sensor network |
| CN101179846A (en) * | 2007-07-13 | 2008-05-14 | 江苏大学 | Single anchor node based low-energy consumption wireless sensor network node locating method |
| CN101285878A (en) * | 2008-06-04 | 2008-10-15 | 中国海洋大学 | Wireless sensor network perpendicular intersection positioning algorithm |
| CN101378593A (en) * | 2008-05-06 | 2009-03-04 | 中国科学技术大学苏州研究院 | Method for stably locating wireless sensing network node base on RSSI |
-
2010
- 2010-11-10 CN CN 201010538486 patent/CN101986758B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101004448A (en) * | 2007-01-18 | 2007-07-25 | 北京航空航天大学 | Convex programming positioning method of triangle filtering of wireless sensor network |
| CN101179846A (en) * | 2007-07-13 | 2008-05-14 | 江苏大学 | Single anchor node based low-energy consumption wireless sensor network node locating method |
| CN101378593A (en) * | 2008-05-06 | 2009-03-04 | 中国科学技术大学苏州研究院 | Method for stably locating wireless sensing network node base on RSSI |
| CN101285878A (en) * | 2008-06-04 | 2008-10-15 | 中国海洋大学 | Wireless sensor network perpendicular intersection positioning algorithm |
Cited By (54)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| 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 |
| CN102291818A (en) * | 2011-07-29 | 2011-12-21 | 电子科技大学 | Pseudo-three-dimensional positioning method for wireless sensor network based on terrain information |
| CN102595594A (en) * | 2012-02-22 | 2012-07-18 | 江苏大学 | Wireless sensor network node positioning method based on node distribution density |
| CN102932256A (en) * | 2012-10-31 | 2013-02-13 | 中国矿业大学(北京) | Positioning and routing method based on DV-Hop (Distance Vector-Hop) positioning mechanism |
| CN103024897A (en) * | 2012-11-26 | 2013-04-03 | 中山大学 | Wireless sensor network environment adaptive ring overlapped positioning algorithm based on received signal strength indicator (RSSI) |
| CN103067962A (en) * | 2012-12-20 | 2013-04-24 | 浙江工业大学 | Drifting detection method of distributed beacon nodes in wireless sensor network |
| CN103067962B (en) * | 2012-12-20 | 2015-04-22 | 浙江工业大学 | Drifting detection method of distributed beacon nodes in wireless sensor network |
| CN103068040A (en) * | 2012-12-28 | 2013-04-24 | 中国人民解放军信息工程大学 | Method, relevant device and system of location and navigation of wireless sensor network nodes |
| CN104813721B (en) * | 2012-12-28 | 2018-11-30 | 英特尔公司 | The trilateration of abnormal position data is handled |
| US9504000B2 (en) | 2012-12-28 | 2016-11-22 | Intel Corporation | Trilateration processing of abnormal location data |
| CN103068040B (en) * | 2012-12-28 | 2016-03-02 | 中国人民解放军信息工程大学 | A kind of wireless sensing net node location, air navigation aid and relevant apparatus, system |
| WO2014101099A1 (en) * | 2012-12-28 | 2014-07-03 | Intel Corporation | Trilateration processing of abnormal location data |
| CN104813721A (en) * | 2012-12-28 | 2015-07-29 | 英特尔公司 | Trilateration processing of abnormal location data |
| CN103327607A (en) * | 2013-06-28 | 2013-09-25 | 河海大学常州校区 | Method for planning moving path of multi-anchor-node set of wireless sensor network |
| CN103327607B (en) * | 2013-06-28 | 2016-06-29 | 赵忠厚 | Wireless sensor network many anchor nodes group mobile route planing method |
| CN103607726B (en) * | 2013-11-25 | 2016-08-31 | 河海大学常州校区 | Based on orthohexagonal mobile anchor node path planing method in wireless sensor network |
| CN103607726A (en) * | 2013-11-25 | 2014-02-26 | 河海大学常州校区 | Regular-hexagon-based mobile anchor node path planning method in wireless sensor network |
| CN103796306A (en) * | 2014-02-17 | 2014-05-14 | 山东省计算中心 | Method for locating wireless sensor network nodes with multiple mobility anchor nodes |
| CN103796306B (en) * | 2014-02-17 | 2017-02-15 | 山东省计算中心 | Method for locating wireless sensor network nodes with multiple mobility anchor nodes |
| CN103945528B (en) * | 2014-04-10 | 2017-10-24 | 西安电子科技大学 | Single goal localization method in wireless sensor network |
| CN103945528A (en) * | 2014-04-10 | 2014-07-23 | 西安电子科技大学 | Single target locating method in wireless sensor network |
| CN103889055A (en) * | 2014-04-14 | 2014-06-25 | 北京工业大学 | Wireless sensor network node positioning method based on mobile anchor nodes and device |
| CN103889055B (en) * | 2014-04-14 | 2017-11-24 | 北京工业大学 | Wireless sensor network node locating method and device based on mobile anchor node |
| CN105049488A (en) * | 2015-06-18 | 2015-11-11 | 瑞驰博方（北京）科技有限公司 | Data center asset intelligence management system |
| CN105049488B (en) * | 2015-06-18 | 2018-11-02 | 瑞驰博方（北京）科技有限公司 | A kind of data center's assets intelligent management system |
| WO2016188164A1 (en) * | 2015-10-21 | 2016-12-01 | 中兴通讯股份有限公司 | Method and device for implementing site location |
| CN105764028A (en) * | 2016-01-25 | 2016-07-13 | 河南牧业经济学院 | Wireless sensor network node positioning method |
| WO2017181690A1 (en) * | 2016-04-22 | 2017-10-26 | 中兴通讯股份有限公司 | Indoor navigation method and apparatus |
| 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 |
| 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 |
| CN106899934A (en) * | 2016-12-23 | 2017-06-27 | 浙江宇视科技有限公司 | A kind of guidance method and server of target device position |
| CN106982152A (en) * | 2017-04-18 | 2017-07-25 | 千寻位置网络有限公司 | Broadcast the sampling monitoring method of service state |
| CN106982152B (en) * | 2017-04-18 | 2019-05-07 | 千寻位置网络有限公司 | Broadcast the sampling monitoring method of service state |
| CN107734450A (en) * | 2017-11-17 | 2018-02-23 | 深圳市舜宝科技有限公司 | A kind of indoor bluetooth localization method and system |
| CN108112002A (en) * | 2017-12-28 | 2018-06-01 | 成都三朵云科技有限公司 | A kind of localization method and system applied to public security fire-fighting environment |
| CN108289282B (en) * | 2017-12-28 | 2020-11-24 | 广州华创物联科技股份有限公司 | High-precision indoor positioning method |
| CN108289282A (en) * | 2017-12-28 | 2018-07-17 | 广州泽祺信息科技有限公司 | A kind of indoor orientation method of degree of precision |
| CN109471062A (en) * | 2018-11-14 | 2019-03-15 | 深圳美图创新科技有限公司 | Localization method, positioning device and positioning system |
| CN111347417A (en) * | 2018-12-24 | 2020-06-30 | 深圳市优必选科技有限公司 | Position calibration method and device of UWB positioning equipment and robot |
| CN111347417B (en) * | 2018-12-24 | 2022-05-10 | 深圳市优必选科技有限公司 | Position calibration method and device of UWB positioning equipment and robot |
| 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 |
| CN109889976A (en) * | 2019-02-18 | 2019-06-14 | 南京邮电大学 | One kind being based on circular wireless sensor network mobile anchor node path planing method |
| CN109889976B (en) * | 2019-02-18 | 2022-03-01 | 南京邮电大学 | Wireless sensor network mobile anchor node path planning method based on circle |
| CN110366227A (en) * | 2019-07-04 | 2019-10-22 | 太原理工大学 | A kind of anycast's method for routing of wireless sensor network |
| CN110366227B (en) * | 2019-07-04 | 2022-07-12 | 太原理工大学 | Anycast routing method of wireless sensor network |
| CN111132014A (en) * | 2019-12-31 | 2020-05-08 | 南京烽火星空通信发展有限公司 | Wireless sensor network node positioning method based on unmanned aerial vehicle mobile beacon |
| CN113253200A (en) * | 2021-04-27 | 2021-08-13 | 中国人民解放军91388部队 | Regular triangle motion path-based RSSI (received signal strength indicator) value positioning method for mobile anchor node |
| CN113253200B (en) * | 2021-04-27 | 2024-05-14 | 中国人民解放军91388部队 | Mobile anchor node RSSI value positioning method based on regular triangle motion path |
| CN116593961A (en) * | 2023-01-10 | 2023-08-15 | 广州世炬网络科技有限公司 | Positioning method and device of mobile terminal |
| CN116593961B (en) * | 2023-01-10 | 2024-03-01 | 广东世炬网络科技有限公司 | Positioning method and device of mobile terminal |
| CN116233864A (en) * | 2023-05-08 | 2023-06-06 | 安元科技股份有限公司 | Deployment method and system for meeting error expectation by Bluetooth beacon personnel positioning |
| CN116233864B (en) * | 2023-05-08 | 2023-08-08 | 安元科技股份有限公司 | Deployment method and system for meeting error expectation by Bluetooth beacon personnel positioning |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101986758B (en) | 2013-05-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101986758B (en) | Method for positioning wireless sensor network | |
| Boukerche et al. | Localization systems for wireless sensor networks | |
| Cui et al. | Four-mobile-beacon assisted localization in three-dimensional wireless sensor networks | |
| KR20080035956A (en) | System and method of deciding the realtime location of mobile station using a rfid and method of setting up wireless repeater therefor | |
| CN103607726A (en) | Regular-hexagon-based mobile anchor node path planning method in wireless sensor network | |
| Ahn et al. | Simulation of a RSSI-based indoor localization system using wireless sensor network | |
| CN105353341A (en) | Wireless sensor network positioning method based on unmanned autonomous aircraft | |
| Zhang et al. | An optimal roadside unit placement method for vanet localization | |
| Chaurasia et al. | Analysis of range-based localization schemes in wireless sensor networks: A statistical approach | |
| Zhang et al. | An efficient node localization approach with RSSI for randomly deployed wireless sensor networks | |
| Shi et al. | A 3D node localization scheme for wireless sensor networks | |
| Ren et al. | Improved extended Kalman filter based on fuzzy adaptation for SLAM in underground tunnels | |
| Rus et al. | LoRa communication and geolocation system for sensors network | |
| CN103630876A (en) | RSSI (received signal strength indicator) based ZigBee node positioning method | |
| CN203416427U (en) | Ad hoc network positioning system based on ZigBee technology | |
| Klogo et al. | Energy constraints of localization techniques in wireless sensor networks (WSN): A survey | |
| Cui et al. | Three-mobile-beacon assisted weighted centroid localization method in wireless sensor networks | |
| Lakafosis et al. | From single-to multihop: The status of wireless localization | |
| Singh et al. | Optimized localization by mobile anchors in wireless sensor network by particle swarm optimization | |
| Halder et al. | Mobility-assisted localization techniques in wireless sensor networks: Issues, challenges and approaches | |
| CN109387808A (en) | A kind of method and device positioning tested point | |
| Miles et al. | Use of radio propagation maps in a single moving beacon assisted localization in MANETs | |
| Sabale et al. | An analysis of path planning mechanisms in wireless sensor networks | |
| Gottapu et al. | Wireless sensor network localization in 3D using steerable anchors' antennas | |
| Sivakumar et al. | Cuckoo search with mobile anchor positioning (CS-MAP) algorithm for error minimization in wireless sensor networks |
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 | ||
| ASS | Succession or assignment of patent right |
Owner name: JIANGSU BOYUE INTERNET OF THINGS TECHNOLOGY CO., L Free format text: FORMER OWNER: CHANGZHOU CAMPUS, HOHAI UNIVERSITY Effective date: 20140303 |
|
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 213022 CHANGZHOU, JIANGSU PROVINCE TO: 226301 NANTONG, JIANGSU PROVINCE |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20140303 Address after: 226301, 1 large science and technology parks, Nantong hi tech Zone, Nantong, Jiangsu Patentee after: JIANGSU BOYUE INTERNET OF THINGS TECHNOLOGY Co.,Ltd. Address before: 213022 Jiangsu, North District, Changzhou Jin Ling North Road, No. 200 Patentee before: CHANGZHOU CAMPUS OF HOHAI University |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130515 Termination date: 20191110 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |