CN102014147A - Positioning system in Internet of things as well as deploying method and device thereof - Google Patents

Positioning system in Internet of things as well as deploying method and device thereof Download PDF

Info

Publication number
CN102014147A
CN102014147A CN2010102286895A CN201010228689A CN102014147A CN 102014147 A CN102014147 A CN 102014147A CN 2010102286895 A CN2010102286895 A CN 2010102286895A CN 201010228689 A CN201010228689 A CN 201010228689A CN 102014147 A CN102014147 A CN 102014147A
Authority
CN
China
Prior art keywords
electronic
coverage
edge
landmark
centrality
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
Application number
CN2010102286895A
Other languages
Chinese (zh)
Other versions
CN102014147B (en
Inventor
殷丽华
方滨兴
贾焰
陈娟
韩伟红
李爱平
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Hetian Huizhi Information Technology Co Ltd
Beijing Computer Network And Information Security Research Center Of Harbin Institute Of Technology
National University of Defense Technology
Original Assignee
Beijing Hetian Huizhi Information Technology Co Ltd
Beijing Computer Network And Information Security Research Center Of Harbin Institute Of Technology
National University of Defense Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Beijing Hetian Huizhi Information Technology Co Ltd, Beijing Computer Network And Information Security Research Center Of Harbin Institute Of Technology, National University of Defense Technology filed Critical Beijing Hetian Huizhi Information Technology Co Ltd
Priority to CN 201010228689 priority Critical patent/CN102014147B/en
Publication of CN102014147A publication Critical patent/CN102014147A/en
Application granted granted Critical
Publication of CN102014147B publication Critical patent/CN102014147B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Navigation (AREA)

Abstract

本发明公开了一种物联网中的定位系统及其部署方法和装置。所述方法包括,确定电子地标的覆盖度;根据电子地标的覆盖度确定电子地标的部署密度;根据电子地标的部署密度对电子地标进行部署。本发明还公开了一种装置,包括覆盖度确定模块,用于确定电子地标的覆盖度;部署密度确定模块,用于根据电子地标的覆盖度确定电子地标的部署密度;部署模块,用于根据电子地标的部署密度对电子地标进行部署。本发明还公开了一种定位系统,包括:无线网关、地标管理服务器及根据上述方法部署的电子地标节点。本发明针对物联网中物品数量巨大、流通领域广泛、位置变更频繁等特点,构建了一个全球范围内的物品定位系统,实现全球范围内物品的高精度、低成本定位。

Figure 201010228689

The invention discloses a positioning system in the Internet of Things and its deployment method and device. The method includes determining the coverage of the electronic landmarks; determining the deployment density of the electronic landmarks according to the coverage of the electronic landmarks; and deploying the electronic landmarks according to the deployment density of the electronic landmarks. The invention also discloses a device, which includes a coverage determination module for determining the coverage of electronic landmarks; a deployment density determination module for determining the deployment density of electronic landmarks according to the coverage of electronic landmarks; a deployment module for determining the deployment density of electronic landmarks according to the coverage of electronic landmarks The deployment density of electronic landmarks is used to deploy electronic landmarks. The invention also discloses a positioning system, comprising: a wireless gateway, a landmark management server and an electronic landmark node deployed according to the above method. Aiming at the characteristics of huge number of items in the Internet of Things, wide circulation fields, and frequent location changes, the present invention constructs a global item positioning system to realize high-precision and low-cost positioning of items worldwide.

Figure 201010228689

Description

物联网中的定位系统及其部署方法和装置 Positioning system in internet of things and deployment method and device thereof

技术领域technical field

本发明涉及物联网技术领域,特别涉及一种物联网中的定位系统及其部署方法和装置。The present invention relates to the technical field of the Internet of Things, in particular to a positioning system in the Internet of Things and its deployment method and device.

背景技术Background technique

物联网是通过射频识别、红外感应器、全球定位系统、激光扫描器等信息传感设备,借助已有的有线、无线通信协议,将任何物品与互联网连接起来,进行信息交换和通讯,以实现智能化识别、定位、跟踪、监控和管理的一种网络。目前,物联网已在智能交通、环境监测、物流追踪与定位等领域得到广泛的应用,然而,所有的这些应用均离不开物品地理位置信息的支持,所以如何对物品定位,获取物品地理位置信息已成为物联网研究的重要方向。The Internet of Things uses information sensing equipment such as radio frequency identification, infrared sensors, global positioning systems, and laser scanners to connect any item with the Internet for information exchange and communication with the help of existing wired and wireless communication protocols. A network for intelligent identification, positioning, tracking, monitoring and management. At present, the Internet of Things has been widely used in the fields of intelligent transportation, environmental monitoring, logistics tracking and positioning, etc. However, all these applications are inseparable from the support of the geographic location information of the item, so how to locate the item and obtain the geographic location of the item Information has become an important direction of IoT research.

现有技术中已有一些与物品定位的相关研究,然而这些研究集中于物品的定位算法。此外,物品的定位仅仅限于行业内部并不具有规模性,物联网的应用只有具备了规模,才能使大量物品信息的共享和使用成为可能。In the prior art, there have been some researches related to item positioning, but these studies focus on item positioning algorithms. In addition, the positioning of items is limited to the industry and does not have a large scale. Only when the application of the Internet of Things has a scale can the sharing and use of a large amount of item information become possible.

在实现本发明的过程中,发明人发现现有技术至少存在以下问题:In the process of realizing the present invention, the inventor finds that there are at least the following problems in the prior art:

针对物联网中物品数量巨大、流通领域广泛、位置变更频繁等特点,需要构建一个全球范围内的物品定位系统,实现全球范围内物品的高精度、低成本定位。In view of the characteristics of the huge number of items in the Internet of Things, wide circulation areas, and frequent location changes, it is necessary to build a global item positioning system to achieve high-precision and low-cost positioning of items worldwide.

发明内容Contents of the invention

为了构建一个全球范围内的物品定位系统,实现全球范围内物品的高精度、低成本定位,本发明实施例提供了一种物联网中的定位系统的部署方法,所述方法包括:In order to build a global item positioning system and realize high-precision and low-cost positioning of items worldwide, an embodiment of the present invention provides a deployment method of a positioning system in the Internet of Things, and the method includes:

确定电子地标的覆盖度;Determine coverage of electronic landmarks;

根据所述电子地标的覆盖度确定所述电子地标的部署密度;determining the deployment density of the electronic landmarks according to the coverage of the electronic landmarks;

根据所述电子地标的部署密度对所述电子地标进行部署。The electronic landmarks are deployed according to the deployment density of the electronic landmarks.

本发明实施例还提供了一种物联网中的定位系统的部署装置,所述装置包括:The embodiment of the present invention also provides a device for deploying a positioning system in the Internet of Things, and the device includes:

覆盖度确定模块,用于确定电子地标的覆盖度;a coverage determination module, configured to determine the coverage of the electronic landmark;

部署密度确定模块,用于根据所述电子地标的覆盖度确定所述电子地标的部署密度;a deployment density determination module, configured to determine the deployment density of the electronic landmarks according to the coverage of the electronic landmarks;

部署模块,用于根据所述电子地标的部署密度对所述电子地标进行部署。A deployment module, configured to deploy the electronic landmarks according to the deployment density of the electronic landmarks.

本发明实施例还提供了一种物联网中的定位系统,其特征在于,所述系统包括:无线网关、地标管理服务器及根据上述方法部署的电子地标节点。An embodiment of the present invention also provides a positioning system in the Internet of Things, wherein the system includes: a wireless gateway, a landmark management server, and an electronic landmark node deployed according to the above method.

本发明实施例提供的技术方案带来的有益效果是:通过确定电子地标的覆盖度;根据该电子地标的覆盖度确定电子地标的部署密度最终实现对物联网中的定位系统的部署,进而实现了全球范围内物品的高精度、低成本定位。The beneficial effect brought by the technical solution provided by the embodiment of the present invention is: by determining the coverage of the electronic landmark; determining the deployment density of the electronic landmark according to the coverage of the electronic landmark, finally realizing the deployment of the positioning system in the Internet of Things, and then realizing It enables high-precision, low-cost positioning of items around the world.

附图说明Description of drawings

图1是本发明实施例1中提供的方法流程图;Fig. 1 is the method flowchart provided in the embodiment 1 of the present invention;

图2是本发明实施例2中提供的方法流程图;Fig. 2 is a flow chart of the method provided in Embodiment 2 of the present invention;

图3是本发明实施例3中提供的方法流程图;Fig. 3 is a flow chart of the method provided in Embodiment 3 of the present invention;

图4是本发明实施例4中根据权值确定电子地标的覆盖度的方法流程图;Fig. 4 is a flow chart of a method for determining coverage of electronic landmarks according to weights in Embodiment 4 of the present invention;

图5是本发明实施例5中提供的装置的结构示意图;Figure 5 is a schematic structural view of the device provided in Embodiment 5 of the present invention;

具体实施方式Detailed ways

为使本发明的目的、技术方案和优点更加清楚,下面将结合附图对本发明实施方式作进一步地详细描述。In order to make the object, technical solution and advantages of the present invention clearer, the implementation manner of the present invention will be further described in detail below in conjunction with the accompanying drawings.

实施例1Example 1

如图1所示,本发明提供了一种物联网中的定位系统的部署方法,该方法包括以下步骤:As shown in Figure 1, the present invention provides a deployment method of a positioning system in the Internet of Things, the method comprising the following steps:

S101:确定电子地标的覆盖度;S101: Determine the coverage of the electronic landmark;

S102:根据电子地标的覆盖度确定电子地标的部署密度;S102: Determine the deployment density of the electronic landmarks according to the coverage of the electronic landmarks;

S103:根据电子地标的部署密度对电子地标进行部署。S103: Deploy the electronic landmarks according to the deployment density of the electronic landmarks.

本实施例提供的方法,通过确定电子地标的覆盖度;根据该电子地标覆盖度确定电子地标的部署密度最终实现对物联网中的定位系统的部署,进而实现了全球范围内物品的高精度、低成本定位。The method provided in this embodiment, by determining the coverage of electronic landmarks; determining the deployment density of electronic landmarks according to the coverage of electronic landmarks, finally realizes the deployment of positioning systems in the Internet of Things, thereby realizing high-precision, Low cost positioning.

本发明提供了一种物联网中的定位系统的部署装置,该装置包括:The present invention provides a device for deploying a positioning system in the Internet of Things, the device comprising:

覆盖度确定模块,用于确定电子地标的覆盖度;a coverage determination module, configured to determine the coverage of the electronic landmark;

部署密度确定模块,用于根据所述电子地标的覆盖度确定所述电子地标的部署密度;a deployment density determination module, configured to determine the deployment density of the electronic landmarks according to the coverage of the electronic landmarks;

部署模块,用于根据所述电子地标的部署密度对所述电子地标进行部署。A deployment module, configured to deploy the electronic landmarks according to the deployment density of the electronic landmarks.

本发明提供了一种物联网中的定位系统,该系统包括:无线网关、地标管理服务器及根据上述方法部署的电子地标节点。地标管理服务器为室内地标管理服务器,该电子地标节点为室内电子地标节点;或地标管理服务器为室外地标管理服务器,该电子地标节点为室外电子地标节点。The present invention provides a positioning system in the Internet of Things, which includes: a wireless gateway, a landmark management server and electronic landmark nodes deployed according to the above method. The landmark management server is an indoor landmark management server, and the electronic landmark node is an indoor electronic landmark node; or the landmark management server is an outdoor landmark management server, and the electronic landmark node is an outdoor electronic landmark node.

实施例2Example 2

如图2所示,以物联网中的室内定位系统为例,室内物联网中的定位系统由不同组织、机构以及个人在室内部署的室内电子地标节点、无线网关和室内地标管理服务器组成。室内电子地标为存储地标信息即该电子地标所在地理位置的信息,且具有无线通信能力的智能终端。室内电子地标节点每隔一段时间向其通信范围内的区域发送地标信息,物品能够根据来自不同地标的地标信息计算其自身位置。室内电子地标以一定密度部署于室内以实现对室内区域的多重地标信息覆盖,即室内的任意位置均能够接收到来自多个电子地标发送的地标信息。物品在接收到来自不同室内电子地标的地标信息后,可通过已有的定位算法如TOA(Time of Arriving,到达时间算法)、TDOA(Time Difference OfArrival,到达时间差算法)进行自身位置的定位,优选的,该物品接收到的来自不同室内电子地标的地标信息至少为三个。室内电子地标通过无线网关与室内地标管理服务器进行通信。优选的,室内电子地标可与手机、识读器等其他无线终端组成ad hoc(多跳移动无线网络)网络,在电子地标与无线网关距离较远时,可通过其所在ad hoc网络中的手机、识读器与无线网关连接,从而增进了室内电子地标与无线网关的连接效果。室内地标管理服务器接收来自室内电子地标的信息,及时发现并报告故障的电子地标节点,维护室内电子地标系统的正常运行。As shown in Figure 2, taking the indoor positioning system in the Internet of Things as an example, the positioning system in the indoor Internet of Things is composed of indoor electronic landmark nodes, wireless gateways and indoor landmark management servers deployed indoors by different organizations, institutions and individuals. The indoor electronic landmark is an intelligent terminal that stores landmark information, that is, the geographic location information of the electronic landmark, and has wireless communication capabilities. The indoor electronic landmark node sends landmark information to the area within its communication range at regular intervals, and the item can calculate its own position according to the landmark information from different landmarks. Indoor electronic landmarks are deployed indoors at a certain density to achieve multiple landmark information coverage in indoor areas, that is, any location in the room can receive landmark information sent from multiple electronic landmarks. After the item receives landmark information from different indoor electronic landmarks, it can locate its own position through existing positioning algorithms such as TOA (Time of Arriving, Time of Arrival Algorithm), TDOA (Time Difference Of Arrival, Time Difference of Arrival Algorithm), preferably Yes, the item receives at least three landmark information from different indoor electronic landmarks. The indoor electronic landmark communicates with the indoor landmark management server through the wireless gateway. Preferably, the indoor electronic landmark can form an ad hoc (multi-hop mobile wireless network) network with other wireless terminals such as mobile phones and readers. When the electronic landmark is far away from the wireless gateway, the mobile phone in its ad hoc network can , The reader is connected to the wireless gateway, thereby improving the connection effect between the indoor electronic landmark and the wireless gateway. The indoor landmark management server receives information from indoor electronic landmarks, discovers and reports faulty electronic landmark nodes in time, and maintains the normal operation of the indoor electronic landmark system.

该室内物联网中的定位系统的部署方法具体包括:The deployment method of the positioning system in the indoor Internet of Things specifically includes:

S201:确定电子地标的覆盖度;S201: Determine the coverage of the electronic landmark;

具体的,对于室内的任意位置P0,P0均能被h个不同的地标信号覆盖,则h为电子地标的覆盖度。其中,地标的通信半径为R0。若将室内的任意位置P0抽象为一个点,则以点P0为圆心,R0为半径的圆内应当至少部署有h个电子地标,优选的电子地标的覆盖度h大于等于3。Specifically, for any indoor position P 0 , P 0 can be covered by h different landmark signals, and h is the coverage of the electronic landmark. Wherein, the communication radius of the landmark is R 0 . If any indoor position P 0 is abstracted as a point, then at least h electronic landmarks should be deployed in a circle with point P 0 as the center and R 0 as the radius, and the preferred coverage h of electronic landmarks is greater than or equal to 3.

S202:根据

Figure BSA00000194008600041
确定电子地标的部署密度;S202: According to
Figure BSA00000194008600041
Determine the deployment density of electronic landmarks;

其中,R0为电子地标的通信半径,h为电子地标的覆盖度,n0为电子地标的部署密度。具体地,若电子地标均匀部署,电子地标的部署密度为n0个/平方米,则

Figure BSA00000194008600042
Figure BSA00000194008600043
因此,满足h重覆盖的室内电子地标系统,电子地标的部署密度向上取整,至少为个/平方米。Among them, R 0 is the communication radius of the electronic landmark, h is the coverage of the electronic landmark, and n 0 is the deployment density of the electronic landmark. Specifically, if the electronic landmarks are evenly deployed, and the deployment density of the electronic landmarks is n 0 per square meter, then
Figure BSA00000194008600042
Right now
Figure BSA00000194008600043
Therefore, for an indoor electronic landmark system that satisfies h-fold coverage, the deployment density of electronic landmarks is rounded up, at least piece/square meter.

S203:根据电子地标的部署密度对电子地标进行部署。S203: Deploy the electronic landmarks according to the deployment density of the electronic landmarks.

具体的,根据定位系统中不同区域的物品流通量调整电子地标的部署密度。由于地标信号是以电子地标为圆心的圆形覆盖,且实物距离电子地标越远,信号越弱,因此,对于实物流通数量较大的区域,为了保证实物均能接收到较强的地标信号,需要部署较多的电子地标以增强地标的信号强度。此外,对于实物流通数量较大的区域,需要更精确的物品位置信息,才能在大量的实物中更加准确地定位实物,而这需要地标信号的多重覆盖。因此,h值可根据实物的流通数量取不同的值,如普通家庭,优选的h=3即可满足实物定位的要求,对于实物流通数量较大的工厂或商场,h可取较大的值,满足大量物品定位的需求。Specifically, the deployment density of electronic landmarks is adjusted according to the circulation of goods in different areas in the positioning system. Since the landmark signal is covered by a circle centered on the electronic landmark, and the farther the physical object is from the electronic landmark, the weaker the signal is. Therefore, for areas with a large number of physical circulation, in order to ensure that all physical objects can receive stronger landmark signals, More electronic landmarks need to be deployed to enhance the signal strength of the landmarks. In addition, for areas with a large amount of physical circulation, more accurate item location information is required to more accurately locate the physical object among a large number of physical objects, which requires multiple coverage of landmark signals. Therefore, the value of h can take different values according to the quantity of physical objects in circulation. For example, for ordinary households, the preferred h=3 can meet the requirements of physical location. For factories or shopping malls with a large amount of physical circulation, h can take a larger value. Meet the needs of a large number of item positioning.

本实施例根据室内物品的流通量,设置电子地标的部署密度,实现对室内区域的多重电子地标信息覆盖。因此,室内的物品能够以较高的精度计算自身的位置信息。In this embodiment, the deployment density of electronic landmarks is set according to the circulation of indoor items, so as to realize the coverage of multiple electronic landmark information in indoor areas. Therefore, the items in the room can calculate their position information with high precision.

实施例3Example 3

如图3所示,以物联网中的室外定位系统为例,物联网中的室外定位系统由室外电子地标节点及公共地标管理服务器组成。室外电子地标为存储地标信息即该电子地标所在地理位置的信息,且具有无线通信能力的智能终端。室外电子地标节点每隔一段时间向通信半径内的区域发送地标信息,物品能够根据接收到的来自不同地标的地标信息计算自身位置。在城市中,室外物品的流通区域主要为道路,因此,室外电子地标以一定密度布置在城市的道路两侧实现对道路内任意位置的多重地标信息覆盖即道路内的任意位置均能接收到来自多个电子地标的地标信息。物品在接收到来自不同室外电子地标的地标信息后,可通过已有的定位算法如TOA、TDOA进行自身位置的定位,其中,该物品接收到的来自不同室外电子地标的地标信息至少为三个。室外电子地标通过无线网关与公共地标管理服务器进行通信。优选的,室外电子地标可与手机、识读器等其他无线终端组成ad hoc网络,在电子地标与无线网关距离较远时,可通过其所在ad hoc网络中的手机、识读器与无线网关连接,从而增进了室外电子地标与无线网关的连接效果。每隔一段时间,室外电子地标向公共地标管理服务器报告其工作状态。公共地标管理服务器接收来自室外电子地标的信息、及时发现并报告故障的电子地标节点,维护室外电子地标系统的正常运行。As shown in Figure 3, taking the outdoor positioning system in the Internet of Things as an example, the outdoor positioning system in the Internet of Things is composed of outdoor electronic landmark nodes and public landmark management servers. An outdoor electronic landmark is an intelligent terminal that stores landmark information, that is, the geographic location information of the electronic landmark, and has wireless communication capabilities. The outdoor electronic landmark node sends landmark information to the area within the communication radius at regular intervals, and the item can calculate its own position according to the received landmark information from different landmarks. In cities, the circulation area of outdoor items is mainly roads. Therefore, outdoor electronic landmarks are arranged at a certain density on both sides of the roads in the city to achieve multiple landmark information coverage for any position in the road, that is, any position in the road can receive information from Landmark information of multiple electronic landmarks. After the item receives landmark information from different outdoor electronic landmarks, it can locate its own position through existing positioning algorithms such as TOA and TDOA. Among them, the landmark information received by the item from different outdoor electronic landmarks is at least three . The outdoor electronic landmark communicates with the public landmark management server through the wireless gateway. Preferably, the outdoor electronic landmark can form an ad hoc network with other wireless terminals such as mobile phones and readers. connection, thereby improving the connection effect between the outdoor electronic landmark and the wireless gateway. Every once in a while, the outdoor electronic landmark reports its working status to the public landmark management server. The public landmark management server receives information from outdoor electronic landmarks, discovers and reports faulty electronic landmark nodes in time, and maintains the normal operation of the outdoor electronic landmark system.

若将定位系统中的道路抽象为边,道路的起点、终点以及转折点抽象为顶点,由边和顶点组成一个无向图G(V,E),其中,V表示图中顶点的集合,E表示图中边的集合,N为图中顶点的个数,则如图2所示,该物联网中的室外定位系统的部署方法具体包括:If the road in the positioning system is abstracted as an edge, the starting point, end point and turning point of the road are abstracted as vertices, an undirected graph G(V, E) is composed of edges and vertices, where V represents the set of vertices in the graph, and E represents The set of edges in the figure, N is the number of vertices in the figure, as shown in Figure 2, the deployment method of the outdoor positioning system in the Internet of Things specifically includes:

S301:确定定位系统中道路的权值,根据权值确定电子地标的覆盖度;S301: Determine the weight of the road in the positioning system, and determine the coverage of the electronic landmark according to the weight;

其中,确定定位系统中道路的权值具体包括:根据

Figure BSA00000194008600051
确定定位系统中道路的权值,eij表示顶点i和j之间边的长度,wij为长度为eij的边的权值,
Figure BSA00000194008600053
为边eij的度中心性,
Figure BSA00000194008600054
为边eij的邻近中心性,
Figure BSA00000194008600055
为边eij的介数中心性,
Figure BSA00000194008600056
为边eij的聚集中心性,
Figure BSA00000194008600057
为边eij的直线中心性,
Figure BSA00000194008600058
为边eij的信息中心性。Among them, determining the weight value of the road in the positioning system specifically includes: according to
Figure BSA00000194008600051
Determine the weight of the road in the positioning system, e ij represents the length of the edge between vertices i and j, w ij is the weight of the edge whose length is e ij ,
Figure BSA00000194008600053
is the degree centrality of edge e ij ,
Figure BSA00000194008600054
is the proximity centrality of edge e ij ,
Figure BSA00000194008600055
is the betweenness centrality of edge e ij ,
Figure BSA00000194008600056
is the aggregation centrality of edge e ij ,
Figure BSA00000194008600057
is the straight-line centrality of side e ij ,
Figure BSA00000194008600058
is the information centrality of edge e ij .

边eij的度中心性

Figure BSA00000194008600059
定义为
Figure BSA000001940086000510
用于表示边eij实际具有的邻边数,即eij两顶点所连接的边数之和与eij可能具有的邻边数的比值。边的度中心性越大,说明图中较多的边可直接与该边相连,因此,该边在整个图中处于较为中心的位置。例如,边eij的两个顶点为i和j,
Figure BSA000001940086000511
表示顶点i所连接的边数,
Figure BSA000001940086000512
表示顶点j所连接的边数,
Figure BSA000001940086000513
(eik+ejk)表示边eij的两个顶点所实际连接的边数和。而在理想情况下,边eij最多可以连接2(N-2)条边,即顶点i可连接(N-2)条边,顶点j也可连接(N-2)条边,因为顶点i或j可以与图中除去i和j的N-2个顶点相连接。这个公式是不考虑边eij的,因为
Figure BSA00000194008600061
中没有考虑边eij,2(N-2)中也没有考虑边eij,所有的边在计算度中心性时都不考虑自身的边,则对所有的边都是公平的。Degree centrality of edge e ij
Figure BSA00000194008600059
defined as
Figure BSA000001940086000510
It is used to indicate the number of adjacent sides that edge e ij actually has, that is, the ratio of the sum of the number of sides connected by two vertices of e ij to the number of possible adjacent sides that e ij may have. The greater the degree centrality of an edge, the more edges in the graph can be directly connected to the edge, so the edge is in a relatively central position in the entire graph. For example, the two vertices of edge e ij are i and j,
Figure BSA000001940086000511
Indicates the number of edges connected to vertex i,
Figure BSA000001940086000512
Indicates the number of edges connected to vertex j,
Figure BSA000001940086000513
(e ik +e jk ) represents the sum of the number of edges actually connected by the two vertices of edge e ij . In an ideal situation, edge e ij can connect up to 2 (N-2) edges, that is, vertex i can connect (N-2) edges, and vertex j can also connect (N-2) edges, because vertex i Or j can be connected with N-2 vertices except i and j in the graph. This formula does not consider the side e ij , because
Figure BSA00000194008600061
The edge e ij is not considered in , and the edge e ij is not considered in 2(N-2). All edges do not consider their own edges when calculating degree centrality, so it is fair to all edges.

边eij的邻近中心性

Figure BSA00000194008600062
定义为
Figure BSA00000194008600063
表示网络的总边数与边eij到网络中其它边的最短距离之和的比值。其中,两条边的最短距离定义为从一条边到另一条边所要经过的最少的边数,若两条边相邻,则这两条边的的最短距离为2,
Figure BSA00000194008600064
表示边eij与边epq的最短距离。边的邻近中心性越大,说明该边与其它边的最短距离越小,即从网络中的任意位置到达该边越方便,因此,该边在整个网络中处于较为中心的位置,其中,两条边的最短距离定义为从一条边到另一条边所要经过的最少的边数,若两条边相邻,则这两条边的的最短距离为2,
Figure BSA00000194008600065
表示边eij与边epq的最短距离,表示边eij与网络中所有其他边的最短距离之和。Proximity centrality of edge e ij
Figure BSA00000194008600062
defined as
Figure BSA00000194008600063
Indicates the ratio of the total number of edges in the network to the sum of the shortest distances from edge e ij to other edges in the network. Among them, the shortest distance between two sides is defined as the minimum number of sides to pass from one side to another side. If two sides are adjacent, the shortest distance between these two sides is 2.
Figure BSA00000194008600064
Indicates the shortest distance between edge e ij and edge e pq . The greater the proximity centrality of an edge, the smaller the shortest distance between this edge and other edges, that is, the more convenient it is to reach this edge from any position in the network. Therefore, this edge is in a relatively central position in the entire network, and the two The shortest distance between two sides is defined as the minimum number of sides to pass from one side to another side. If two sides are adjacent, the shortest distance between these two sides is 2.
Figure BSA00000194008600065
Indicates the shortest distance between side e ij and side e pq , Indicates the sum of the shortest distances between edge e ij and all other edges in the network.

边eij的介数中心性

Figure BSA00000194008600067
定义为表示边eij出现在所有节点间的最短路径上的概率。其中,npq表示顶点p与q之间的最短路径数,mpq(eij)表示顶点p与q之间的最短路径中经过边eij的最短路径数。边的介数中心性越大,表示该边存在于较多的最短路径中,因此承载的实物流量也较大,该边处于较为中心的位置,npq表示顶点p与q之间的最短路径数。例如,网络中有1,2,3,4四个顶点,那么从1到4的最短路径数可能有多条,比如从1直接到4,也可能从2直接到4。mpq(eij)表示顶点p与q之间的最短路径中经过边eij的最短路径数,例如p与q之间有多条最短路径,但可能有些经过边eij,有些不经过边eij。mpq(eij)/npq表示p与q之间的最短路径中经过边eij的概率。
Figure BSA00000194008600069
网络中任意一对顶点间的最短路径经过边eij的概率之和。然而,网络中共有N(N-1)/2对顶点,因此
Figure BSA000001940086000610
除以N(N-1)/2表示网络中平均每对顶点的最短路径经过边eij的概率。Betweenness centrality of edge e ij
Figure BSA00000194008600067
defined as Indicates the probability that edge e ij appears on the shortest path between all nodes. Among them, n pq represents the number of shortest paths between vertices p and q, and m pq (e ij ) represents the number of shortest paths passing through edge e ij among the shortest paths between vertices p and q. The greater the betweenness centrality of an edge, it means that the edge exists in more shortest paths, so the material flow it carries is also larger, and the edge is in a relatively central position, and n pq represents the shortest path between vertices p and q number. For example, if there are four vertices 1, 2, 3, and 4 in the network, there may be multiple shortest paths from 1 to 4, such as from 1 to 4 directly, or from 2 to 4 directly. m pq (e ij ) indicates the number of shortest paths passing through edge e ij in the shortest path between vertices p and q, for example, there are multiple shortest paths between p and q, but some may pass through edge e ij and some may not pass through edge e ij . m pq (e ij )/n pq represents the probability of passing through edge e ij in the shortest path between p and q.
Figure BSA00000194008600069
The sum of the probabilities that the shortest path between any pair of vertices in the network passes through the edge e ij . However, there are N(N-1)/2 pairs of vertices in the network, so
Figure BSA000001940086000610
Dividing by N(N-1)/2 represents the probability that the shortest path of each pair of vertices in the network passes through the edge e ij .

边eij的聚集中心性

Figure BSA000001940086000611
定义为
Figure BSA000001940086000612
表示顶点i和j所有邻节点间实际存在的边数与可能具有的最大边数的比值。其中,kij表示顶点i与顶点j具有的邻节点的总数,ENij表示顶点i与j的邻节点间存在的边数。边的聚集中心性越大,表示顶点i和j的所有邻节点彼此相连的概率较低,因此,需要较多的邻边直接连接到该边,以保证城市路网的连通性,所以,该边处于较为中心的位置;若某个顶点s与顶点i间有边,则s为i的邻节点。kij表示顶点i与顶点j具有的邻节点的总数,kij个邻节点互联,最多具有kij(kij-1)/2条边,ENij表示顶点i与j的邻节点间实际存在的边数。
Figure BSA00000194008600071
表示顶点i和j所有邻节点间实际存在的边数ENij与可能具有的最大边数kij(kij-1)/2的比值。Aggregation centrality of edge e ij
Figure BSA000001940086000611
defined as
Figure BSA000001940086000612
Indicates the ratio of the actual number of edges between all adjacent nodes of vertices i and j to the maximum possible number of edges. Among them, k ij represents the total number of adjacent nodes of vertex i and vertex j, and EN ij represents the number of edges existing between the adjacent nodes of vertex i and j. The greater the aggregation centrality of an edge, the lower the probability that all adjacent nodes of vertices i and j are connected to each other. Therefore, more adjacent edges need to be directly connected to this edge to ensure the connectivity of the urban road network. Therefore, the The edge is in a relatively central position; if there is an edge between a vertex s and a vertex i, then s is a neighboring node of i. k ij represents the total number of neighbor nodes between vertex i and vertex j, k ij neighbor nodes are interconnected, and there are at most k ij (k ij -1)/2 edges, EN ij represents the actual existence between the neighbor nodes of vertex i and j the number of sides.
Figure BSA00000194008600071
Indicates the ratio of the actual number of edges EN ij between all adjacent nodes of vertices i and j to the maximum possible number of edges k ij (k ij -1)/2.

边eij的直线中心性

Figure BSA00000194008600072
定义为
Figure BSA00000194008600073
表示顶点i与j到达网络中其他顶点的欧式距离与顶点i与j到达网络中其他顶点的最短路径的长度之比。其中,表示顶点i与k沿直线的欧氏距离,欧式距离表示两顶点间的直线距离,lik表示顶点i与k的最短路径长度,当路是直的时候,其路径长度为两顶点的欧式距离,当路是弯的时候,则计算路径长度了。边的直线中心性表示了边上的两顶点到达其他顶点的最短路径偏离直线的程度。边的直线中心性越大,表示到达该边越为快速、便利,因此该边的地理位置越为重要。具体的,
Figure BSA00000194008600075
表示顶点i到达网络中其他N-1个顶点的欧式距离与顶点i到达网络中其他N-1个顶点的最短路径的长度之比,对他们求和。
Figure BSA00000194008600076
良示顶点j到达网络中其他N-1个顶点的欧式距离与顶点j到达网络中其他N-1个顶点的最短路径的长度之比,对他们求和。之所以除以2(N-1),是因为对上述这两个和求平均值,因为
Figure BSA00000194008600077
是N-1个比值相加,
Figure BSA00000194008600078
也是N-1个比值相加除以N-1,即得到均值。Straight line centrality of edge e ij
Figure BSA00000194008600072
defined as
Figure BSA00000194008600073
Indicates the ratio of the Euclidean distance between vertices i and j to reach other vertices in the network and the length of the shortest path between vertices i and j to reach other vertices in the network. in, Represents the Euclidean distance between vertices i and k along the straight line, Euclidean distance represents the straight-line distance between two vertices, l ik represents the shortest path length between vertices i and k, when the road is straight, its path length is the Euclidean distance between two vertices , when the road is curved, the path length is calculated. The straight-line centrality of an edge indicates the degree to which the shortest paths from two vertices on an edge to other vertices deviate from a straight line. The greater the linear centrality of an edge, the faster and more convenient it is to reach the edge, so the geographical location of the edge is more important. specific,
Figure BSA00000194008600075
Indicates the ratio of the Euclidean distance from vertex i to other N-1 vertices in the network to the length of the shortest path from vertex i to other N-1 vertices in the network, and sums them.
Figure BSA00000194008600076
Show the ratio of the Euclidean distance from vertex j to other N-1 vertices in the network and the length of the shortest path from vertex j to other N-1 vertices in the network, and sum them. The reason for dividing by 2(N-1) is because the above two sums are averaged, because
Figure BSA00000194008600077
is the addition of N-1 ratios,
Figure BSA00000194008600078
It is also the sum of N-1 ratios and divided by N-1, which is the mean value.

边eij的信息中心性

Figure BSA00000194008600079
定义为
Figure BSA000001940086000710
表示删除边eij后,图中所有边的直线中心性的变化。其中,
Figure BSA000001940086000711
G’表示删除边eij后的图,若删除边eij后,顶点p与q间不可达,则定义
Figure BSA000001940086000712
边的信息中心性越大,则表示删除该边后,会造成不可达的顶点对较多或顶点间的最短路径长度增加较多,导致路网不完全连接或延时较长,因此,该边在整个路网中较为重要。
Figure BSA000001940086000713
表示顶点p与q间的欧式距离,lpq表示顶点p与q的最短路径长度,
Figure BSA000001940086000714
表示网络中任意两个顶点间的欧式距离与这两个顶点间的最短路径的长度之比,对他们求和。因为共对N(N-1)/2对顶点求和,所以除以N(N-1)/2,得到任意两个顶点间的欧式距离与这两个顶点间的最短路径的长度之比的均值。E[G]-E[G’]表示网络中删除边eij后,任意两个顶点间的欧式距离与这两个顶点间的最短路径的长度之比的均值的变化,即减少了多少,除以E[G]表示变化率,即在E[G]的基础上减少了多少。Information centrality of edge e ij
Figure BSA00000194008600079
defined as
Figure BSA000001940086000710
Indicates the change of the straight line centrality of all edges in the graph after deleting edge e ij . in,
Figure BSA000001940086000711
G' represents the graph after deleting the edge e ij , if after deleting the edge e ij , the vertex p and q are not reachable, then define
Figure BSA000001940086000712
The greater the information centrality of an edge, it means that after deleting the edge, there will be more unreachable vertex pairs or the length of the shortest path between vertices will increase more, resulting in incomplete connection of the road network or longer delay. Therefore, the Edges are more important in the entire road network.
Figure BSA000001940086000713
Indicates the Euclidean distance between vertices p and q, l pq indicates the shortest path length between vertices p and q,
Figure BSA000001940086000714
Indicates the ratio of the Euclidean distance between any two vertices in the network to the length of the shortest path between these two vertices, and sums them. Because a total of N(N-1)/2 pairs of vertices are summed, divide by N(N-1)/2 to get the ratio of the Euclidean distance between any two vertices to the length of the shortest path between these two vertices mean value. E[G]-E[G'] indicates the change in the mean value of the ratio of the Euclidean distance between any two vertices to the length of the shortest path between the two vertices after deleting the edge e ij in the network, that is, how much it has decreased, Divided by E[G] to indicate the rate of change, that is, how much is reduced on the basis of E[G].

其中,如图4所述,根据权值确定电子地标的覆盖度具体包括以下步骤:Wherein, as shown in Figure 4, determining the coverage of the electronic landmark according to the weight specifically includes the following steps:

S3011:确定定位系统中权值最大边的覆盖度H(emax);S3011: Determine the coverage H(e max ) of the side with the maximum weight in the positioning system;

具体的,emax为权值最大的边,emax的覆盖度为H(emax),预设H(emax)为3,根据S302的方法计算电子地标的部署密度,并在边emax对应的道路Roadmax上部署电子地标节点,实现对该边的H(emax)重覆盖;Specifically, e max is the edge with the largest weight, the coverage of e max is H(e max ), and the preset H(e max ) is 3. According to the method of S302, the deployment density of electronic landmarks is calculated, and on the edge e max Deploy electronic landmark nodes on the corresponding road Road max to realize H(e max ) re-coverage of the side;

S3012:在道路Roadmax中部署实物并测试H(emax)重覆盖的地标系统是否能够满足实物定位的需求。若能,则执行S3015,否则执行S3013;S3012: Deploy physical objects on Road max and test whether the H(e max ) re-covered landmark system can meet the requirements of physical location. If yes, execute S3015, otherwise execute S3013;

S3013:H(emax)←H(emax)+1,即在预设H(emax)值的基础上加一,根据S302的方法在该道路上部署电子地标节点,实现对道路的H(emax)重覆盖;S3013: H(e max )←H(e max )+1, that is, add one to the preset value of H(e max ), deploy an electronic landmark node on the road according to the method of S302, and realize the H(e max ) of the road (e max ) heavy coverage;

S3014:测试H(emax)←H(emax)+1时,地标系统是否可以满足实物定位的需求,如果可以,则执行S3015;如果不可以,则执行S3013.,通过反复的测试,直至确定出权值最大道路的最佳覆盖度H(emax);S3014: When testing H(e max )←H(e max )+1, whether the landmark system can meet the requirements of physical positioning, if yes, execute S3015; if not, execute S3013, through repeated tests until Determine the optimal coverage H(e max ) of the road with the maximum weight;

S3015:对于任意的边,若eij≠0,则计算边eij的覆盖度H(eij)=(H(emax)wij)/wmax。其中,wmax为道路Roadmax对应边的权值,即道路中的最大权值,H(emax)为权值最大道路的覆盖度,wij为以i为起点j为终点或j为起点i为终点的道路的权值,H(eij)为以i为起点j为终点或j为起点i为终点的道路的电子地标的覆盖度。具体的,按照边的权值决定部署电子地标的密度,即边权值越大,部署密度越大,边权值越小,部署密度越小,部署电子地标的密度与边权值同比增长。S3015: For any edge, if e ij ≠0, calculate the coverage H(e ij )=(H(e max )w ij ) / w max of edge e ij . Among them, w max is the weight value of the side corresponding to Road max , that is, the maximum weight value in the road, H(e max ) is the coverage degree of the road with the largest weight value, w ij is the starting point i is the end point or j is the starting point i is the weight of the road at the end point, H(e ij ) is the electronic landmark coverage of the road with i as the starting point and j as the end point or j as the starting point and i as the end point. Specifically, the density of deploying electronic landmarks is determined according to the edge weights, that is, the larger the edge weights, the greater the deployment density, and the smaller the edge weights, the lower the deployment density, and the density of deploying electronic landmarks increases year-on-year with the edge weights.

S302:确定电子地标的通信半径R1和道路的宽度L,根据

Figure BSA00000194008600081
确定电子地标的部署密度,其中(R1>L/2),n为电子地标的部署密度;S302: Determine the communication radius R1 of the electronic landmark and the width L of the road, according to
Figure BSA00000194008600081
Determine the deployment density of the electronic landmarks, where (R 1 > L/2), n is the deployment density of the electronic landmarks;

例如,若圆O与道路两侧的交点分别为C1、C2、C3、C4,则|C1C2|间与|C3C4|间至少部署H(eij)个电子地标节点。其中,|C1C2|表示在道路一侧,C1与C2间的路段长度,|C3C4|表示在道路另一侧,C3与C4间的路段长度。设P1到C1与C2所在道路的距离为r,则P1到C3与C4所在道路的距离为L-r,因此,

Figure BSA00000194008600082
因此,
Figure BSA00000194008600084
由于0≤r≤L,可以通过求导计算得出当r=0时,|C1C2|+|C3C4|取最小值,最小值为
Figure BSA00000194008600085
因此,
Figure BSA00000194008600087
即在道路的两侧部署电子地标的密度向上取整,为
Figure BSA00000194008600088
For example, if the intersection points of circle O and both sides of the road are C 1 , C 2 , C 3 , and C 4 respectively, then at least H(e ij ) electrons are deployed between |C 1 C 2 | and |C 3 C 4 | landmark node. Among them, |C 1 C 2 | indicates the length of the section between C 1 and C 2 on one side of the road, and |C 3 C 4 | indicates the length of the section between C 3 and C 4 on the other side of the road. Suppose the distance from P 1 to C 1 and the road where C 2 is located is r, then the distance from P 1 to C 3 and the road where C 4 is located is Lr, therefore,
Figure BSA00000194008600082
therefore,
Figure BSA00000194008600084
Since 0≤r≤L, it can be calculated by derivation that when r=0, |C 1 C 2 |+|C 3 C 4 | takes the minimum value, and the minimum value is
Figure BSA00000194008600085
therefore,
Figure BSA00000194008600087
That is, the density of electronic landmarks deployed on both sides of the road is rounded up, which is
Figure BSA00000194008600088

S303:根据电子地标的部署密度,实现对电子地标进行部署。S303: Realize deploying the electronic landmarks according to the deployment density of the electronic landmarks.

本实例提供的电子地标部署方法,根据城市中路网的结构,计算道路在城市中的中心性,对于不同中心性的道路以不同的密度部署电子地标,能够满足物品在不同道路上的定位需求。因此,多重覆盖的室外电子地标部署方法能够使得物品以较高的精度计算自身位置信息。The electronic landmark deployment method provided in this example calculates the centrality of roads in the city according to the structure of the road network in the city, and deploys electronic landmarks at different densities for roads with different centralities, which can meet the positioning requirements of objects on different roads. Therefore, the multi-coverage outdoor electronic landmark deployment method can enable items to calculate their own position information with high precision.

实施例4Example 4

如图5所示,本实施例提供了一种物联网中的定位系统的部署装置,该装置包括:As shown in FIG. 5, this embodiment provides a device for deploying a positioning system in the Internet of Things, which includes:

覆盖度确定模块401,用于确定电子地标的覆盖度;A coverage determination module 401, configured to determine the coverage of the electronic landmark;

其中,当系统中各区域物品流通量均衡时,优选的,电子地标的覆盖度大于等于3;Wherein, when the circulation of goods in each area of the system is balanced, preferably, the coverage of the electronic landmark is greater than or equal to 3;

当系统中各区域物品流通量不均衡时,覆盖度确定模块401还包括:When the circulation of goods in each area of the system is unbalanced, the coverage determination module 401 also includes:

权值确定单元4011,用于确定定位系统中道路的权值;A weight determination unit 4011, configured to determine the weight of the road in the positioning system;

具体的,权值确定单元4011具体用于:根据

Figure BSA00000194008600091
确定定位系统中道路的权值,其中将定位系统中的道路抽象为边,道路的起点、终点以及转折点抽象为顶点,由边和顶点组成一个无向图,N为图中顶点的个数,eij表示顶点i和j之间边的长度,wij为长度为eij的边的权值,
Figure BSA00000194008600092
Figure BSA00000194008600093
为边eij的度中心性,为边eij的邻近中心性,
Figure BSA00000194008600095
为边eij的介数中心性,为边eij的聚集中心性,
Figure BSA00000194008600097
为边eij的直线中心性,
Figure BSA00000194008600098
为边eij的信息中心性。Specifically, the weight determination unit 4011 is specifically configured to: according to
Figure BSA00000194008600091
Determine the weight of the road in the positioning system, where the road in the positioning system is abstracted as an edge, the starting point, end point and turning point of the road are abstracted as vertices, an undirected graph is composed of edges and vertices, N is the number of vertices in the graph, e ij represents the length of the edge between vertices i and j, w ij is the weight of the edge whose length is e ij ,
Figure BSA00000194008600092
Figure BSA00000194008600093
is the degree centrality of edge e ij , is the proximity centrality of edge e ij ,
Figure BSA00000194008600095
is the betweenness centrality of edge e ij , is the aggregation centrality of edge e ij ,
Figure BSA00000194008600097
is the straight-line centrality of side e ij ,
Figure BSA00000194008600098
is the information centrality of edge e ij .

其中,权值确定单元4011具体包括:Wherein, the weight determination unit 4011 specifically includes:

度中心性子单元40111,用于根据

Figure BSA00000194008600099
确定边eij的度中心性;degree centrality subunit 40111 for
Figure BSA00000194008600099
Determine the degree centrality of the edge e ij ;

邻近中心性子单元40112,用于根据

Figure BSA000001940086000910
确定边eij的邻近中心性;Proximity centrality subunit 40112 for
Figure BSA000001940086000910
Determine the proximity centrality of edges e ij ;

介数中心性子单元40113,用于根据

Figure BSA000001940086000911
确定边eij的介数中心性;betweenness centrality subunit 40113 for use according to
Figure BSA000001940086000911
Determine the betweenness centrality of edges e ij ;

聚集中心性子单元40114,用于根据确定边eij的聚集中心性;Aggregation centrality subunit 40114, for according to Determine the aggregation centrality of edges e ij ;

直线中心性子单元40115,用于根据

Figure BSA000001940086000913
边eij的直线中心性,其中,
Figure BSA000001940086000914
表示顶点i与k之间的直线距离,lik表示顶点i与k的最短路径长度;Straight line centrality subunit 40115 for use according to
Figure BSA000001940086000913
The straight line centrality of edge e ij , where,
Figure BSA000001940086000914
Represents the straight-line distance between vertices i and k, l ik represents the shortest path length between vertices i and k;

信息中心性子单元40116,用于根据

Figure BSA00000194008600101
确定边eij的信息中心性,其中,
Figure BSA00000194008600102
G′表示删除边eij后的无向图,
Figure BSA00000194008600103
表示顶点p与q之间的直线距离,lpq表示顶点p与q之间的最短路径长度。Information centrality subunit 40116 for
Figure BSA00000194008600101
Determine the information centrality of edges e ij , where,
Figure BSA00000194008600102
G′ represents the undirected graph after deleting the edge e ij ,
Figure BSA00000194008600103
Indicates the straight-line distance between vertices p and q, and l pq indicates the shortest path length between vertices p and q.

覆盖度确定单元4012,用于根据权值,确定电子地标的覆盖度。The coverage determination unit 4012 is configured to determine the coverage of the electronic landmark according to the weight.

具体的,覆盖度确定单元具体包括:Specifically, the coverage determination unit specifically includes:

最大道路的覆盖度确定子单元40121,用于确定定位系统中权值最大道路的覆盖度,H(emax);The maximum road coverage determination subunit 40121 is used to determine the coverage of the road with the maximum weight in the positioning system, H(e max );

电子地标的覆盖度确定子单元40122,用于根据H(eij)=(H(emax)wij)/wmax确定电子地标的覆盖度;其中,wmax为最大权值,H(emax)为权值最大道路的覆盖度,wij为以i为起点j为终点或j为起点i为终点的道路的权值,H(eij)为以i为起点j为终点或j为起点i为终点的道路的电子地标的覆盖度。The electronic landmark coverage determination subunit 40122 is used to determine the electronic landmark coverage according to H(e ij )=(H(e max )w ij )/w max ; wherein, w max is the maximum weight, H(e max ) is the coverage of the road with the largest weight, w ij is the weight of the road starting from i and ending at j or j as the starting point and i is the end point, H(e ij ) is the road starting from i and ending at j or j is Coverage of the electronic landmarks of the road whose starting point i is the ending point.

部署密度确定模块402,用于根据电子地标的覆盖度确定电子地标的部署密度;A deployment density determination module 402, configured to determine the deployment density of the electronic landmarks according to the coverage of the electronic landmarks;

其中,当系统中各区域物品流通量均衡时,部署密度确定模块402具体用于:根据

Figure BSA00000194008600104
确定所述电子地标的部署密度;其中,R0为电子地标的通信半径,h为电子地标的覆盖度,n0为电子地标的部署密度。Among them, when the circulation of goods in each area in the system is balanced, the deployment density determination module 402 is specifically used to: according to
Figure BSA00000194008600104
Determine the deployment density of the electronic landmarks; wherein, R 0 is the communication radius of the electronic landmarks, h is the coverage of the electronic landmarks, and n 0 is the deployment density of the electronic landmarks.

当系统中各区域物品流通量均衡时,部署密度确定模块402,具体包括:When the circulation of goods in each area of the system is balanced, the deployment density determination module 402 specifically includes:

参数确定单元4021,用于确定电子地标的通信半径R1和道路的宽度L。The parameter determining unit 4021 is configured to determine the communication radius R 1 of the electronic landmark and the width L of the road.

电子地标的部署密度确定单元4022,用于根据

Figure BSA00000194008600105
确定电子地标的部署密度,其中(R1>L/2),n为电子地标的部署密度。The deployment density determination unit 4022 of the electronic landmark is used for
Figure BSA00000194008600105
Determine the deployment density of the electronic landmarks, where (R 1 >L/2), n is the deployment density of the electronic landmarks.

部署模块403,用于根据电子地标的部署密度对电子地标进行部署。The deployment module 403 is configured to deploy the electronic landmarks according to the deployment density of the electronic landmarks.

本实施例提供的部署装置,通过确定电子地标的覆盖度,根据电子地标的覆盖度确定电子地标的部署密度;最终实现对物联网中的定位系统的部署,进而实现了全球范围内物品的高精度、低成本定位。The deployment device provided in this embodiment determines the deployment density of the electronic landmarks according to the coverage of the electronic landmarks by determining the coverage of the electronic landmarks; finally realizes the deployment of the positioning system in the Internet of Things, and then realizes the high-speed distribution of items worldwide. Accurate, low-cost positioning.

本实例提供的部署装置,根据系统中物品的流通量对电子地标进行部署,满足了系统不同流通量的区域,对物品进行定位的需求,实现了电子地标对系统的多重覆盖,,从而能够使得物品以较高的精度计算自身位置信息。The deployment device provided in this example deploys electronic landmarks according to the circulation of items in the system, which meets the needs of positioning items in areas with different circulation in the system, and realizes multiple coverage of the system by electronic landmarks, thus enabling The item calculates its own position information with high precision.

本实施例提供的系统,与方法实施例属于同一构思,其具体实现过程详见方法实施例,这里不再赘述。The system provided in this embodiment belongs to the same idea as the method embodiment, and its specific implementation process is detailed in the method embodiment, and will not be repeated here.

本实施例提供的系统,通过确定电子地标的覆盖度;根据该电子地标覆盖度确定电子地标的部署密度最终实现对物联网中的定位系统的部署,进而实现了全球范围内物品的高精度、低成本定位,同时,该系统能够自我监控并维护地标系统的正常运行,同时,物品只需配有廉价的电子标签即可通过室内或室外的电子地标系统完成自身的实时定位。The system provided in this embodiment, by determining the coverage of electronic landmarks; determining the deployment density of electronic landmarks according to the coverage of electronic landmarks, finally realizes the deployment of positioning systems in the Internet of Things, thereby realizing high-precision, Low-cost positioning. At the same time, the system can self-monitor and maintain the normal operation of the landmark system. At the same time, items only need to be equipped with cheap electronic tags to complete their real-time positioning through indoor or outdoor electronic landmark systems.

以上实施例提供的技术方案中的全部或部分内容可以通过软件编程实现,其软件程序存储在可读取的存储介质中,存储介质例如:计算机中的硬盘、光盘或软盘。All or part of the technical solutions provided by the above embodiments can be realized by software programming, and the software program is stored in a readable storage medium, such as a hard disk, an optical disk or a floppy disk in a computer.

以上所述仅为本发明的较佳实施例,并不用以限制本发明,凡在本发明的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.

Claims (20)

1.一种物联网中的定位系统的部署方法,其特征在于,所述方法包括:1. A deployment method of a positioning system in the Internet of Things, characterized in that the method comprises: 确定电子地标的覆盖度;Determine coverage of electronic landmarks; 根据所述电子地标的覆盖度确定所述电子地标的部署密度;determining the deployment density of the electronic landmarks according to the coverage of the electronic landmarks; 根据所述电子地标的部署密度对所述电子地标进行部署。The electronic landmarks are deployed according to the deployment density of the electronic landmarks. 2.根据权利要求1所述方法,其特征在于,所述根据所述电子地标覆盖度确定所述电子地标的部署密度具体包括:2. The method according to claim 1, wherein the determining the deployment density of the electronic landmarks according to the coverage of the electronic landmarks specifically comprises: 根据
Figure FSA00000194008500011
确定所述电子地标的部署密度;
according to
Figure FSA00000194008500011
determining a deployment density of the electronic landmarks;
其中,R0为电子地标的通信半径,h为电子地标的覆盖度,n0为电子地标的部署密度。Among them, R 0 is the communication radius of the electronic landmark, h is the coverage of the electronic landmark, and n 0 is the deployment density of the electronic landmark.
3.根据权利要求1或2所述方法,其特征在于,所述电子地标的覆盖度大于等于3。3. The method according to claim 1 or 2, wherein the coverage of the electronic landmark is greater than or equal to 3. 4.根据权利要求1或2所述方法,其特征在于,所述方法还包括:4. according to the described method of claim 1 or 2, it is characterized in that, described method also comprises: 根据所述定位系统中不同区域的物品流通量调整所述电子地标的部署密度。The deployment density of the electronic landmarks is adjusted according to the circulation of goods in different areas in the positioning system. 5.根据权利要求1所述方法,其特征在于,所述确定电子地标的覆盖度具体包括:5. The method according to claim 1, wherein said determining the coverage of the electronic landmark specifically comprises: 确定定位系统中道路的权值;Determine the weight of the road in the positioning system; 根据所述权值,确定电子地标的覆盖度。According to the weight, the coverage of the electronic landmark is determined. 6.根据权利要求5所述方法,其特征在于,所述确定定位系统中道路的权值具体包括:6. The method according to claim 5, wherein the determining the weight of the road in the positioning system specifically comprises: 根据
Figure FSA00000194008500012
确定定位系统中道路的权值,其中将定位系统中的道路抽象为边,所述道路的起点、终点以及转折点抽象为顶点,由所述边和所述顶点组成一个无向图,N为图中所述顶点的个数,eij表示顶点i和j之间边的长度,wij为长度为eij的边的权值,σpq为系统中所有道路的各个中心度的的邻近中心性,
Figure FSA00000194008500022
为边eij的介数中心性,
Figure FSA00000194008500023
为边eij的聚集中心性,
Figure FSA00000194008500024
为边eij的直线中心性,
Figure FSA00000194008500025
为边eij的信息中心性。
according to
Figure FSA00000194008500012
Determine the weight of the road in the positioning system, wherein the road in the positioning system is abstracted as an edge, the starting point, end point and turning point of the road are abstracted as vertices, an undirected graph is formed by the edges and the vertices, and N is a graph The number of vertices described in , e ij represents the length of the edge between vertices i and j, w ij is the weight of the edge with length e ij , σ pq is the centrality of all roads in the system The proximity centrality of
Figure FSA00000194008500022
is the betweenness centrality of edge e ij ,
Figure FSA00000194008500023
is the aggregation centrality of edge e ij ,
Figure FSA00000194008500024
is the straight-line centrality of side e ij ,
Figure FSA00000194008500025
is the information centrality of edge e ij .
7.根据权利要求6所述方法,其特征在于,所述
Figure FSA00000194008500026
为边eij的度中心性,为边eij的邻近中心性,
Figure FSA00000194008500028
为边eij的介数中心性,为边eij的聚集中心性,
Figure FSA000001940085000210
为边eij的直线中心性,
Figure FSA000001940085000211
为边eij的信息中心性具体为:
7. The method according to claim 6, wherein the
Figure FSA00000194008500026
is the degree centrality of edge e ij , is the proximity centrality of edge e ij ,
Figure FSA00000194008500028
is the betweenness centrality of edge e ij , is the aggregation centrality of edge e ij ,
Figure FSA000001940085000210
is the straight-line centrality of side e ij ,
Figure FSA000001940085000211
The information centrality of edge e ij is specifically:
Figure FSA000001940085000212
心性,mpq(eij)表示顶点p与q之间的最短路径中经过边eij的最短路径数;
Figure FSA000001940085000212
Centrality, m pq (e ij ) indicates the number of shortest paths passing through edge e ij in the shortest path between vertices p and q;
根据
Figure FSA000001940085000213
确定边eij的聚集中心性,ENij表示顶点i与j的邻节点间存在的边数;
according to
Figure FSA000001940085000213
Determine the aggregation centrality of edge e ij , EN ij represents the number of edges existing between the adjacent nodes of vertex i and j;
根据
Figure FSA000001940085000214
确定边eij的直线中心性,其中,表示顶点i与k之间的直线距离,lik表示顶点i与k的最短路径长度;
according to
Figure FSA000001940085000214
Determine the straight line centrality of edge e ij , where, Represents the straight-line distance between vertices i and k, l ik represents the shortest path length between vertices i and k;
根据确定边eij的信息中心性,其中,
Figure FSA000001940085000217
表示任意两个顶点间的欧式距离与这两个顶点间的最短路径的长度之比的均值,G′表示删除边eij后的无向图,E[G′]表示删除边eij后无向图中任意两个顶点间的欧式距离与这两个顶点间的最短路径的长度之比的均值,表示顶点p与q之间的直线距离,lpq表示顶点p与q之间的最短路径长度。
according to Determine the information centrality of edges e ij , where,
Figure FSA000001940085000217
Indicates the mean value of the ratio of the Euclidean distance between any two vertices to the length of the shortest path between these two vertices, G' represents the undirected graph after deleting the edge e ij , E[G'] represents the undirected graph after deleting the edge e ij The mean value of the ratio of the Euclidean distance between any two vertices in the directed graph to the length of the shortest path between these two vertices, Indicates the straight-line distance between vertices p and q, and l pq indicates the shortest path length between vertices p and q.
8.根据权利要求5所述方法,其特征在于,所述根据所述权值,确定电子地标的覆盖度包括:8. The method according to claim 5, wherein, according to the weight, determining the coverage of the electronic landmark comprises: 确定所述定位系统中权值最大道路的覆盖度,H(emax);Determining the coverage of the road with the maximum weight in the positioning system, H(e max ); 根据H(eij)=(H(emax)wij)/wmax确定所述电子地标的覆盖度;Determine the coverage of the electronic landmark according to H(e ij )=(H(e max )w ij )/w max ; 其中,wmax为最大权值,H(emax)为权值最大道路的覆盖度,wij为以i为起点j为终点或j为起点i为终点的道路的权值,H(eij)为以i为起点j为终点或j为起点i为终点的道路的所述电子地标的覆盖度。Among them, w max is the maximum weight, H(e max ) is the coverage of the road with the maximum weight, w ij is the weight of the road with i as the starting point and j as the end point or j as the starting point and i as the end point, H(e ij ) is the coverage of the electronic landmark on the road with i as the starting point and j as the end point or j as the starting point and i as the end point. 9.根据权利要求8所述方法,其特征在于,所述根据电子地标的覆盖度确定所述电子地标的部署密度包括:9. The method according to claim 8, wherein the determining the deployment density of the electronic landmarks according to the coverage of the electronic landmarks comprises: 确定所述电子地标的通信半径R1和所述道路的宽度L;determining the communication radius R1 of the electronic landmark and the width L of the road; 根据
Figure FSA00000194008500031
确定所述电子地标的部署密度,其中(R1>L/2),n为所述电子地标的部署密度。
according to
Figure FSA00000194008500031
Determining the deployment density of the electronic landmarks, where (R 1 >L/2), n is the deployment density of the electronic landmarks.
10.一种物联网中的定位系统的部署装置,其特征在于,所述装置包括:10. A device for deploying a positioning system in the Internet of Things, characterized in that the device comprises: 覆盖度确定模块,用于确定电子地标的覆盖度;a coverage determination module, configured to determine the coverage of the electronic landmark; 部署密度确定模块,用于根据所述电子地标的覆盖度确定所述电子地标的部署密度;a deployment density determination module, configured to determine the deployment density of the electronic landmarks according to the coverage of the electronic landmarks; 部署模块,用于根据所述电子地标的部署密度对所述电子地标进行部署。A deployment module, configured to deploy the electronic landmarks according to the deployment density of the electronic landmarks. 11.根据权利要求10所述装置,其特征在于,所述部署密度确定模块具体用于:11. The device according to claim 10, wherein the deployment density determination module is specifically used for: 根据
Figure FSA00000194008500032
确定所述电子地标的部署密度;
according to
Figure FSA00000194008500032
determining a deployment density of the electronic landmarks;
其中,R0为电子地标的通信半径,h为电子地标的覆盖度,n0为电子地标的部署密度。Among them, R 0 is the communication radius of the electronic landmark, h is the coverage of the electronic landmark, and n 0 is the deployment density of the electronic landmark.
12.根据权利要求10或11所述装置,其特征在于,所述电子地标的覆盖度大于等于3。12. The device according to claim 10 or 11, wherein the coverage of the electronic landmark is greater than or equal to 3. 13.根据权利要求10或11所述装置,其特征在于,所述装置还包括:13. The device according to claim 10 or 11, wherein the device further comprises: 调整模块,用于根据所述定位系统中不同区域的物品流通量调整所述电子地标的部署密度。An adjustment module, configured to adjust the deployment density of the electronic landmarks according to the circulation of goods in different areas in the positioning system. 14.根据权利要求10所述装置,其特征在于,所述覆盖度确定模块具体包括:14. The device according to claim 10, wherein the coverage determination module specifically comprises: 权值确定单元,用于确定定位系统中道路的权值;a weight determination unit, configured to determine the weight of the road in the positioning system; 覆盖度确定单元,用于根据所述权值,确定电子地标的覆盖度。The coverage determination unit is configured to determine the coverage of the electronic landmark according to the weight. 15.根据权利要求14所述装置,其特征在于,所述权值确定单元具体用于:15. The device according to claim 14, wherein the weight determination unit is specifically configured to: 根据
Figure FSA00000194008500041
确定定位系统中道路的权值,其中将定位系统中的道路抽象为边,所述道路的起点、终点以及转折点抽象为顶点,由所述边和所述顶点组成一个无向图,N为图中所述顶点的个数,eij表示顶点i和j之间边的长度,wij为长度为eij的边的权值,σpq为系统中所有道路的各个中心度的
Figure FSA00000194008500042
eij的邻近中心性,
Figure FSA00000194008500043
为边eij的介数中心性,
Figure FSA00000194008500044
为边eij的聚集中心性,为边eij的直线中心性,
Figure FSA00000194008500046
为边eij的信息中心性。
according to
Figure FSA00000194008500041
Determine the weight of the road in the positioning system, wherein the road in the positioning system is abstracted as an edge, the starting point, end point and turning point of the road are abstracted as vertices, an undirected graph is formed by the edges and the vertices, and N is a graph The number of vertices described in , e ij represents the length of the edge between vertices i and j, w ij is the weight of the edge with length e ij , σ pq is the centrality of all roads in the system
Figure FSA00000194008500042
Proximity centrality of e ij ,
Figure FSA00000194008500043
is the betweenness centrality of edge e ij ,
Figure FSA00000194008500044
is the aggregation centrality of edge e ij , is the straight-line centrality of side e ij ,
Figure FSA00000194008500046
is the information centrality of edge e ij .
16.根据权利要求15所述装置,其特征在于,所述权值确定单元具体包括:16. The device according to claim 15, wherein the weight determining unit specifically comprises: 度中心性子单元,用于根据
Figure FSA00000194008500047
确定所述边eij的度中心性;
degree centrality subunit for
Figure FSA00000194008500047
determining the degree centrality of said edge e ij ;
Figure FSA00000194008500048
中心性,mpq(eij)表示顶点p与q之间的最短路径中经过边eij的最短路径数;
Figure FSA00000194008500048
Centrality, m pq (e ij ) indicates the number of shortest paths passing through edge e ij in the shortest path between vertices p and q;
聚集中心性子单元,用于根据确定边eij的聚集中心性,ENij表示顶点i与j的邻节点间存在的边数;Aggregate centrality subunits for Determine the aggregation centrality of edge e ij , EN ij represents the number of edges existing between the adjacent nodes of vertex i and j; 直线中心性子单元,用于根据
Figure FSA000001940085000410
确定边eij的直线中心性,其中,
Figure FSA000001940085000411
表示顶点i与k之间的直线距离,lik表示顶点i与k的最短路径长度;
The line centrality subunit is used according to
Figure FSA000001940085000410
Determine the straight line centrality of edge e ij , where,
Figure FSA000001940085000411
Represents the straight-line distance between vertices i and k, l ik represents the shortest path length between vertices i and k;
信息中心性子单元,用于根据
Figure FSA000001940085000412
确定边eij的信息中心性,其中,
Figure FSA000001940085000413
表示任意两个顶点间的欧式距离与这两个顶点间的最短路径的长度之比的均值,G′表示删除边eij后的无向图,E[G′]表示删除边eij后无向图中任意两个顶点间的欧式距离与这两个顶点间的最短路径的长度之比的均值,
Figure FSA000001940085000414
表示顶点p与q之间的直线距离,lpq表示顶点p与q之间的最短路径长度。
Information centrality sub-unit, used according to
Figure FSA000001940085000412
Determine the information centrality of edges e ij , where,
Figure FSA000001940085000413
Indicates the mean value of the ratio of the Euclidean distance between any two vertices to the length of the shortest path between these two vertices, G' represents the undirected graph after deleting the edge e ij , E[G'] represents the undirected graph after deleting the edge e ij The mean value of the ratio of the Euclidean distance between any two vertices in the directed graph to the length of the shortest path between these two vertices,
Figure FSA000001940085000414
Indicates the straight-line distance between vertices p and q, and l pq indicates the shortest path length between vertices p and q.
17.根据权利要求14所述方法,其特征在于,所述覆盖度确定单元具体包括:17. The method according to claim 14, wherein the coverage determining unit specifically comprises: 最大道路的覆盖度确定子单元,用于确定所述定位系统中权值最大道路的覆盖度,H(emax);The coverage determination subunit of the maximum road is used to determine the coverage of the road with the maximum weight in the positioning system, H(e max ); 电子地标的覆盖度确定子单元,用于根据H(eij)=(H(emax)wij)/wmax确定所述电子地标的覆盖度;The coverage determination subunit of the electronic landmark is used to determine the coverage of the electronic landmark according to H(e ij )=(H(e max )w ij )/w max ; 其中,wmax为最大权值,H(emax)为权值最大道路的覆盖度,wij为以i为起点j为终点或j为起点i为终点的道路的权值,H(eij)为以i为起点j为终点或j为起点i为终点的道路的所述电子地标的覆盖度。Among them, w max is the maximum weight, H(e max ) is the coverage of the road with the maximum weight, w ij is the weight of the road with i as the starting point and j as the end point or j as the starting point and i as the end point, H(e ij ) is the coverage of the electronic landmark on the road with i as the starting point and j as the end point or j as the starting point and i as the end point. 18.根据权利要求17所述装置,其特征在于,所述部署密度确定模块具体包括:18. The device according to claim 17, wherein the deployment density determination module specifically comprises: 参数确定单元,用于确定所述电子地标的通信半径R1和所述道路的宽度L;a parameter determination unit, configured to determine the communication radius R1 of the electronic landmark and the width L of the road; 电子地标的部署密度确定单元,用于根据
Figure FSA00000194008500051
确定所述电子地标的部署密度,其中(R1>L/2),n为所述电子地标的部署密度。
Deployment density of electronic landmarks determines the unit for use according to
Figure FSA00000194008500051
Determining the deployment density of the electronic landmarks, where (R 1 >L/2), n is the deployment density of the electronic landmarks.
19.一种物联网中的定位系统,其特征在于,所述系统包括:无线网关、地标管理服务器及根据权利要求1所述方法部署的电子地标节点。19. A positioning system in the Internet of Things, characterized in that the system comprises: a wireless gateway, a landmark management server, and an electronic landmark node deployed according to the method of claim 1. 20.根据权利要求19所述系统,其特征在于,所述地标管理服务器为室内地标管理服务器,所述电子地标节点为室内电子地标节点;或所述地标管理服务器为室外地标管理服务器,所述电子地标节点为室外电子地标节点。20. The system according to claim 19, wherein the landmark management server is an indoor landmark management server, and the electronic landmark node is an indoor electronic landmark node; or the landmark management server is an outdoor landmark management server, and the The electronic landmark node is an outdoor electronic landmark node.
CN 201010228689 2010-07-09 2010-07-09 Positioning system in internet of things and deployment method and device thereof Active CN102014147B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201010228689 CN102014147B (en) 2010-07-09 2010-07-09 Positioning system in internet of things and deployment method and device thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201010228689 CN102014147B (en) 2010-07-09 2010-07-09 Positioning system in internet of things and deployment method and device thereof

Publications (2)

Publication Number Publication Date
CN102014147A true CN102014147A (en) 2011-04-13
CN102014147B CN102014147B (en) 2013-05-08

Family

ID=43844156

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 201010228689 Active CN102014147B (en) 2010-07-09 2010-07-09 Positioning system in internet of things and deployment method and device thereof

Country Status (1)

Country Link
CN (1) CN102014147B (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103079214A (en) * 2012-12-16 2013-05-01 北京泛联至诚科技有限公司 Internet of Things communication relay node deployment method based on road and crossing distribution and density
CN107643508A (en) * 2017-08-25 2018-01-30 重庆慧联无限科技有限公司 Indoor locating system
CN107659910A (en) * 2017-08-25 2018-02-02 重庆慧联无限科技有限公司 The indoor locating system of compatible sensors node
CN107835241A (en) * 2017-11-02 2018-03-23 辽宁工业大学 A kind of secret protection region construction method in road network environment under Continuous Nearest Neighbors Inquiry
CN115018845A (en) * 2022-08-09 2022-09-06 聊城市泓润能源科技有限公司 Method for detecting quality of lubricating oil abrasive particles

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101477187A (en) * 2009-01-15 2009-07-08 山东大学 Three-dimensional space wireless sensor network non-range positioning system and method thereof
CN101754206A (en) * 2009-12-25 2010-06-23 中国科学技术大学苏州研究院 Multi-dimensional en-route filtering method of wireless sensor network

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101477187A (en) * 2009-01-15 2009-07-08 山东大学 Three-dimensional space wireless sensor network non-range positioning system and method thereof
CN101754206A (en) * 2009-12-25 2010-06-23 中国科学技术大学苏州研究院 Multi-dimensional en-route filtering method of wireless sensor network

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
温俊等: "无线传感器网络中保证覆盖的最少节点部署", 《国防科技大学学报》 *

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103079214A (en) * 2012-12-16 2013-05-01 北京泛联至诚科技有限公司 Internet of Things communication relay node deployment method based on road and crossing distribution and density
CN107643508A (en) * 2017-08-25 2018-01-30 重庆慧联无限科技有限公司 Indoor locating system
CN107659910A (en) * 2017-08-25 2018-02-02 重庆慧联无限科技有限公司 The indoor locating system of compatible sensors node
CN107835241A (en) * 2017-11-02 2018-03-23 辽宁工业大学 A kind of secret protection region construction method in road network environment under Continuous Nearest Neighbors Inquiry
CN107835241B (en) * 2017-11-02 2021-05-07 辽宁工业大学 Privacy protection area construction method under continuous neighbor query in road network environment
CN115018845A (en) * 2022-08-09 2022-09-06 聊城市泓润能源科技有限公司 Method for detecting quality of lubricating oil abrasive particles
CN115018845B (en) * 2022-08-09 2022-10-25 聊城市泓润能源科技有限公司 Method for detecting quality of lubricating oil abrasive particles

Also Published As

Publication number Publication date
CN102014147B (en) 2013-05-08

Similar Documents

Publication Publication Date Title
Wu et al. A novel range-free localization based on regulated neighborhood distance for wireless ad hoc and sensor networks
Paul et al. Localization in wireless sensor networks: A survey on algorithms, measurement techniques, applications and challenges
Singh et al. Implementation of a PSO based improved localization algorithm for wireless sensor networks
Messous et al. Improvement of DV-Hop localization algorithm for randomly deployed wireless sensor networks
Nemer et al. Performance evaluation of range-free localization algorithms for wireless sensor networks
Hu et al. An improvement of DV-Hop localization algorithm for wireless sensor networks
CN103096459B (en) Method of locating user equipment and locating server
CN102014147B (en) Positioning system in internet of things and deployment method and device thereof
Deng et al. Energy balanced dispatch of mobile edge nodes for confident information coverage hole repairing in IoT
Gupta et al. An improved DV-maxHop localization algorithm for wireless sensor networks
Adnan et al. Efficient and accurate sensor network localization
Lee et al. Pascal’s triangle-based range-free localization for anisotropic wireless networks
Chen et al. Indoor pedestrian tracking with sparse RSS fingerprints
Keerthana et al. Enhancing the robustness and security against various attacks in a scale: Free network
CN109587626A (en) Wireless sensor network neighbor node method for estimating distance towards concave domain
CN104735777A (en) Method for unknown node to achieve self-positioning by utilizing multi-hop anchor neighbors
Wan et al. Improved DV-hop localization algorithm based on weighted least squares cycle optimization in anisotropic networks
Khan et al. Distributed localization algorithm for wireless sensor networks using range lookup and subregion stitching
Kashniyal et al. Wireless sensor networks localization using progressive isomap
Chehri et al. Geo-location with wireless sensor networks using non-linear optimization
Yao et al. A distributed range-free correction vector based localization refinement algorithm
Hu et al. NRAP: Nearest reliable anchors-based wireless positioning for irregular multi-hop networks
Bhatia et al. A survey on localization in internet of things: Techniques, approaches, technologies and challenges
De A distributed algorithm for localization error detection-correction, use in in-network faulty reading detection: applicability in long-thin wireless sensor networks
Nallanthighal et al. Improved Grid‐Scan Localization Algorithm for 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