CN102164409A - Multiple mobile node location update mechanism (LUM) for wireless sensor network tracking system - Google Patents
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Abstract
The invention discloses a multiple mobile node location update mechanism (LUM) for a wireless sensor network tracking system. The LUM is characterized in that the wireless sensor network tracking system comprises a plurality of anchor nodes of which the own physical position information is known, and a plurality of mobile nodes, wherein the anchor nodes periodically send signal detection packets, the mobile nodes calculate RSSI (received signal strength indicator) information or Hop-Count information according to the received signal detection packets to realize the location of the mobile nodes, and the mobile nodes are provided with election clocks. The LUM comprises the steps as follows: (1) when the election clock of one mobile node is triggered, the mobile node is determined to be an agent node; (2) the mobile mode continuously monitors the RSSI information of the surrounding nodes, and the received RSSI information is smoothened through a similar Flip-Flop filtration method; and (3) the agent node sets a judgment clock, an adding threshold value and a leaving threshold value, if the RSSI information of the mobile nodes exceeds the adding threshold value, the mobile nodes are registered on the agent node; and if the RSSI information of the mobile nodes is smaller than the leaving threshold value, the mobile nodes leave the agent node through an Opportunistic Sending Mechanism (OSM).
Description
Technical field
The invention belongs to radio sensing network tracking system multiple mobile node field of locating technology, be specifically related to a kind of radio sensing network tracking system multiple mobile node positioned update householder method.
Background technology
Because the real-time position information of moving target can be provided,, also be one of to use the most widely in the wireless sensor network so tracing system is widely used in fields such as medical treatment, military affairs and environmental monitoring.Following the tracks of in the application based on the mobile object of radio sensing network or personnel's location, this type systematic comprises the anchor node and the mobile node of some usually.Wherein anchor node is the node of known self physical location information in the system, is arranged in given position in advance, and it is static that these nodes keep in system usually.Anchor node periodically sends the acquisition of signal bag, mobile node then calculates received signal intensity indication (Received Signal Strength Indicator according to the detection packet that receives, RSSI) information or jumping figure (Hop-Count) information, and utilize these information to position, positioning result is sent to server by the multi-hop route, realizes the real-time update that mobile node is located by server.
In recent years, the researcher has proposed a plurality of about solving the algorithm and the system of tracer technique.Classical system comprises that the Cricket system is (referring to N.B.Priyantha, A.Chakraborty, and H.Balakri-shnan. " The Cricket location-support system ", MobiCom ' 00,2000), the RADAR system is (referring to P.Bahl and V.N.Padmanabhan. " RADAR:An In-Building RF-Based User Location and Tracking System ", INFOCOM ' 00,2000) etc.In the Cricket system, anchor node is broadcast radio and ultrasonic signal simultaneously.Thereby unknown mobile node can estimate its distance to anchor node by the difference time of advent of calculating these two kinds of signals after receiving signal.If unknown node receives this type of information of 3 anchor nodes, just it can calculate the position of self by trilateration and three-point fox method.The RADAR system is the radio signal strength information of a plurality of positions in the gathering system running environment in advance.In each cycle, mobile node only need be broadcasted an information, the signal strength information that each anchor node record is collected.Thereby server end mates the position that can judge mobile node with these signal strength informations and the empirical value of collecting in advance.In these solutions, each mobile node all needs periodically to report its positional information, and then has realized the management to mobile node in the tracking system.
Yet in above-mentioned implementation method, the message complexity of network is directly proportional with mobile node number in the network.Along with the increase of network size, too high message complexity will greatly reduce every performance of wireless network, as packet loss, energy consumption etc.For example in one three network of jumping, packet loss raises with the increase of mobile node number; In the time of in a large amount of mobile nodes accumulates in a jumping scope, packet loss is with even more serious.And the message that high packet loss causes re-transmission can further increase network service load and energy consumption usually, and the present invention therefore.
Summary of the invention
The object of the invention is to provide a kind of radio sensing network tracking system multiple mobile node positioned update householder method (Location Update Mechanism, high packet loss, the excessive problems such as energy consumption that cause of network service load when LUM), having solved in the prior art multiple mobile node positioned update.
In order to solve these problems of the prior art, technical scheme provided by the invention is:
A kind of radio sensing network tracking system multiple mobile node positioned update householder method, it is characterized in that described radio sensing network tracking system comprises anchor node and several mobile nodes of several known self physical location informations, described anchor node periodically sends the acquisition of signal bag, the location that described mobile node calculates RSSI information or jumping figure information realization mobile node according to the acquisition of signal bag that receives, described mobile node is provided with the election contest clock; Said method comprising the steps of:
(1) when mobile node election contest clock triggered, this mobile node was confirmed as agent node;
(2) the RSSI information of node, the RSSI information that receives by class Flip-Flop filter method smoothing processing then around mobile node is constantly intercepted and collected;
(3) agent node is provided with and judges clock, has that mobile node adds and the banded threshold value of the threshold value when leaving, and when the RSSI of mobile node information reaches when adding threshold value, mobile node is registered on agent node; When the RSSI of mobile node information reaches when leaving threshold value, (Opportunistic Sending Mechanism OSM) leaves the processing of agent node by the chance sending method.
Preferably, described method step (3) chance sending method (Opportunistic Sending Mechanism OSM) may further comprise the steps:
(I) break away from node and send message with probability P;
(II) when judging that clock is triggered, statistics is nullified the mobile node number that breaks away from;
(III) count according to abscission joint, judge that current network state is that the minority node leaves or most node leaves; Current network state is a minority node when leaving, and the mobile node that leaves becomes isolated node; Otherwise the mobile node that leaves will become both candidate nodes;
(IV) election contest of both candidate nodes replacement clock is selected new agent node.
Preferably, described method step (2) class Flip-Flop filter method comprises that the RSSI value with mobile node requires smoothly to estimate to handle according to stability or flexibility according to (1) formula:
E(t)＝ω＊E(t-1)+(1-ω)＊O(t)；(1)
Wherein, the current t of E (t) the expression level and smooth estimated value of RSSI constantly; E (t-1) representative last one is the level and smooth estimated value of RSSI of t-1 constantly; O (t) is a t observed value constantly; ω is a weight;
When the differing greatly continuously of stable smoothing processing result, select the RSSI value of flexibility requirement smoothing processing for use.
Described flexibility and stability requirement can be decided by the value of ω; ω=0.1 shows the flexibility of its smoothing processing generally speaking; ω=0.9 shows the stability of its smoothing processing; The continuous m of difference (preferred 3) the individual cycle of the RSSI value that obtains when stability requirement illustrates that its stability is not enough during greater than 3dBm or less than-3dBm, then selects the RSSI value of ω=0.1 for use, recomputates the RSSI value of ω=0.9.
The positions of mobile nodes that the invention provides in a kind of radio sensing network tracking system based on RSSI upgrades auxiliary mechanism, wherein mobile node (or object) is collected the RSSI information of closing on anchor node, select agent node by class Flip-Flop filter and two kinds of preliminary treatment mechanism of banded threshold value then, realize leaving the processing of agent node by OSM mechanism at last.This method is upgraded for the position of mobile node provides a kind of high-efficiency method.
Specifically comprise: the smoothing processing of the selection of agent node, RSSI signal and the adding of mobile node and the processing of leaving agent node.
The RSSI that the mobile node registration utilizes class Flip-Flop filter that mobile node is collected carries out smoothing processing.
Be provided with and add threshold value and leave two parameters of threshold value (banded threshold value).When the RSSI signal that receives surpasses the adding threshold value, just become the member of this agent node; When the RSSI signal that receives when leaving threshold value, just leave this agent node.
Carry out mobile node and leave when acting on behalf of, preestablish one and judge clock I
1The mobile node that leaves sends message with probability P; As clock I
1During triggering, the statistics abscission joint is counted; Count according to abscission joint, judge current network state, the decision current network is that the minority node leaves (situation 1) or most node leaves (situation 2); Step 5: if situation 1, mobile node becomes isolated node; Otherwise mobile node becomes the candidate node, need reselect new agent node.
With respect to scheme of the prior art, advantage of the present invention is:
Technical solution of the present invention is not directly utilized original unreliable RSSI information, but by class Flip-Flop filter the RSSI signal is carried out preliminary treatment, designs banded threshold value then and realizes adding or leaving agent node.Mobile node does not need periodically to send its (location) information to server in the technical solution of the present invention, but by the management of agent node realization to mobile node, thereby greatly reduced the internet message complexity.
The present invention is particularly suitable for intensive moving target and uses with tracking in the location that indoor and outdoor moves, as clerk's orientation management system, Prison staff real-time management system and miner under-well work tracing system etc.This shows that the present invention has expanded the space for the technological progress of this area, implementation result is good.
The present invention is a kind of to locate to follow the tracks of and upgrades auxiliary mechanism based on the positions of mobile nodes of RSSI in using, mobile node is constantly intercepted the RSSI information of node on every side, by class Flip-Flop filter the RSSI signal is carried out smoothing processing then, register near agent node, realize information updating by the agency; When acting on behalf of, nullify, realized leaving the processing of agent node by OSM mechanism.Thereby effectively reduce message complexity and energy consumption in the network, improve the validity of locating and tracking system.For realizing providing a kind of effective method to the positions of mobile nodes renewal of wireless network.
Description of drawings
Below in conjunction with drawings and Examples the present invention is further described:
Fig. 1 is the main line flow chart by radio sensing network tracking system multiple mobile node location householder method;
Fig. 2 is packet loss and a mobile node density relationship in the prior art
Fig. 3 is that the RSSI value compared after the original RSSI and the embodiment of the invention were carried out smoothing processing;
Fig. 4 is the relation of RSSI and distance;
Fig. 5 is the banded threshold value preliminary treatment of an embodiment of the invention mechanism;
When positioning for the embodiment of the invention and additive method, Fig. 6 concerns between message count and the moving ratio;
Energy consumption and moving ratio concerned when Fig. 7 positioned for the embodiment of the invention and additive method.
Embodiment
Below in conjunction with specific embodiment such scheme is described further.Should be understood that these embodiment are used to the present invention is described and are not limited to limit the scope of the invention.The implementation condition that adopts among the embodiment can be done further adjustment according to the condition of concrete producer, and not marked implementation condition is generally the condition in the normal experiment.
Embodiment
As Fig. 1, present embodiment based on the radio sensing network tracking system comprise anchor node and several mobile nodes of several known self physical location informations, described anchor node periodically sends the acquisition of signal bag, and described mobile node calculates the location of RSSI information or jumping figure information realization mobile node according to the acquisition of signal bag that receives.Mobile node is provided with the election contest clock; Agent node is provided with to be judged clock, has that mobile node adds and the banded threshold value of the threshold value when leaving.
By radio sensing network tracking system multiple mobile node positioned update householder method, said method comprising the steps of:
(1) when mobile node election contest clock triggered, this mobile node was confirmed as agent node;
(2) the RSSI information of node, the RSSI information that receives by class Flip-Flop filter method smoothing processing then around mobile node is constantly intercepted and collected;
(3) agent node is provided with and judges clock, has that mobile node adds and the banded threshold value of the threshold value when leaving, and when the RSSI of mobile node information reaches when adding threshold value, mobile node is registered on agent node; When the RSSI of mobile node information reaches when leaving threshold value, (Opportunistic Sending Mechanism OSM) leaves the processing of agent node by the chance sending method.
Step (3) chance sending method (Opportunistic Sending Mechanism OSM) may further comprise the steps:
(I) break away from node and send message with probability P;
(II) when judging that clock is triggered, statistics is nullified the mobile node number that breaks away from;
(III) count according to abscission joint, judge that current network state is that the minority node leaves or most node leaves; Current network state is a minority node when leaving, and the mobile node that leaves becomes isolated node; Otherwise the mobile node that leaves will become both candidate nodes;
(IV) election contest of both candidate nodes replacement clock is selected new agent node.
Concrete, at first the election of part mobile node is called agent node; Mobile node is according to the RSSI signal of collecting then, just can realize effective management to mobile node comprising that specifically management is managed and left in the adding (or registration) of mobile node by agent node.
Specifically, when initial, all mobile nodes all are in isolated state, and node is provided with an election contest clock.When the election contest clock triggered, this node announced oneself to become agent node and broadcasting elected message (Msg_Type_Win, Winner_ID, OldDG_ID), other node can write down on every side the agent node information that exists after listening to this type of message, and carries out operation such as registration.
Next, mobile node decides to agent node according to the RSSI information that receives and registers.But because radio frequency (RF) signal exists attenuating effect and multipath to disturb in communication process, caused the fluctuation of RSSI signal bigger, need carry out smoothing processing it.Fig. 2 has shown the RSSI test result on the MicaZ platform.For stability and the reliability that improves node administration, list of references of the present invention [Minkyong Kim, Brian Noble, " Mobile network estimation ", Mobicom ' 01,2001] propose class Flip-Flop filter signal strength signal intensity is carried out preliminary treatment.
Class Flip-Flop filter is to be formed by two EWMA combination of filters.The information that the EWMA filter is usually used in smoothly being caused by noise fluctuates, and its expression formula is as follows:
E(t)＝ω＊E(t-1)+(1-ω)＊O(t)；(1)
Wherein, the current t of E (t) the expression level and smooth estimated value of RSSI constantly; E (t-1) representative last one is the level and smooth estimated value of RSSI of t-1 constantly; O (t) is a t observed value constantly; ω is a weight.The smooth effect of EWMA filter under different ω as shown in Figure 3, as known in the figure, different ω can both be smoothly slight RSSI fluctuation (Section 1).But the EWMA with less weights can not eliminate the unusual part of RSSI value (Section 2), and big weights exist the bigger problem of delay (Section 3).In order to reach rational smooth effect and delay simultaneously, the present invention proposes the class Flip-Flop filter that uses two EWMA.Class Flip-Flop filter by two independently the EWMA filter form.Wherein the EWMA1 filter is sensitive, and weights are 0.1; Another EWMA2 filter is stable, and weights are 0.9.Generally speaking, the present invention gets the value of EWMA2 as level and smooth result.But when the continuous m of difference (preferred 3) individual cycle of the value of the value of EWMA1 and EWMA2 during greater than 3dBm or less than-3dBm, the value that the present invention gets EWMA1 is level and smooth result and the output result who restarts to calculate EWMA2.Class Flip-Flop filter guarantees that by the switching of two EWMA filters estimated value has smoothness and less delay preferably like this.
After class Flip-Flop smoothing processing, the present invention can obtain metastable RSSI value.Fig. 4 has shown the relation between RSSI value and the distance, can find that the RSSI value exists
Be approximated to inverse relation with distance in the scope.At D
αIn the distance range of (about 3m), just be enough to judge roughly distance between member node and the agent node by the RSSI value.Therefore, the present invention select one less than
(preferred-value 64dBm) is acted on behalf of the threshold value of member's set as adding.If the RSSI value from agent node has surpassed this threshold value, node adds member's set of this agency.Yet follow the trail of in the scene in reality, although utilized class Flip-Flop filter, near threshold value mobile node since jitter still can add continually or leave agent node, thereby cause the increase of message complexity and act on behalf of the member and gather instability.Fig. 5 has shown a unstable agency's scene.
Gather in order to make up a stable member that acts on behalf of, the present invention proposes a kind of banded threshold method that adds threshold value and leave threshold value of distinguishing.
(preferred-64dBm) and
(preferably-67dBm) be respectively the threshold value that adds and leave the agency
If the RSSI value from agent node has surpassed
Mobile node just adds this and acts on behalf of member's set; Similarly, if the RSSI value less than
Mobile node just leaves this agency.Having formed a width like this is
Buffering bring the frequent adding that prevents to act on behalf of the member and leave.Like this, can reduce node effectively adds continually and leaves the agency.
Next will introduce mobile node and leave management when acting on behalf of.In moving process, if do not have node near the former agent node, it will be degenerated to isolated node so.Equally, when some isolated nodes were assembled within limits, new agent node will occur.The frequent variations of agent node state can greatly increase the message complexity.Therefore, the present invention needs high-efficiency method to come the state of maintenance proxy.Generally speaking, when detecting agent node, a member lost efficacy
The time, it leaves this agency becomes isolated node, its agency of concurrent message informing.In this process, two kinds of typical situations may take place: the fraction member leaves agent node (situation 1) or most of member leaves agent node (situation 2).Obviously, very effective according to ordinary circumstance disposition 1, if but most of member leaves agent node, and this method can cause size of message sharply to increase.For this reason, (Opportunistic Sen ding Mechanism OSM) distinguishes both of these case to the invention provides the chance transmit mechanism.At first definition breaks away from the notion of node.
When a member node detect from the RSSI value of its agency's message less than
The time, it just becomes this agency's disengaging node.The step of chance transmit mechanism OSM is described below:
Step 1:, be provided with one and judge clock I when finding it oneself is when breaking away from node
1
Step 2: break away from node through one section little random delay (as judging clock I
1 
) (DG_ID Msg_Type_Inf) shows its state by notification message of probability P method broadcasting afterwards.DG_ID represents to break away from node and leaves the agent node ID of ownership before.Realize the broadcasting of probability P method, each breaks away from node from set
Positive integer RP at random of middle generation.Message of the disengaging node broadcasts of first triggering of clock (DG_ID, Msg_Type_RP, RP).When other abscission joint point is received this message, relatively in the message and oneself RP.If different, then stop local clock I
1Such probability that breaks away from node transmission message is P.
Step 3: judging clock I
1Before the triggering, break away from node and intercept and use N
IMThe notification message that record sends from the node in the same member's of agency set.
Step 4: as clock I
1During triggering, if
Be no more than r
N, situation 1 takes place; Otherwise situation 2 takes place.Wherein, N is a size of acting on behalf of member's set, r
NIt is the constant between 0.5 to 1.The selection relative complex of probability P.Might as well suppose in a update cycle, to have x mobile node to leave, N 〉=1, so, N
IM=xP.If
OSM estimate of situation 1 takes place,
In order can correctly to distinguish, must guarantee
Set up.To sum up, can obtain the selection formula of P:
Step 5: if situation 1 takes place, mobile node just leaves the agency becomes isolated node.If situation 2 takes place, just need to select new agent node.Each breaks away from node and enters candidate state, and election contest clock 12 is set, and it defines as equation (4).
T represents a update cycle, RSSI
MAXThe maximum of the RSSI that expression receives, thus the minimum election contest clock cycle can be obtained near the node of these node center positions, become new agent node thereby have higher priority.
At last, present embodiment prototype system is tested.The test program of present embodiment is based on TinyOS 1.1.10 system, utilizes the application program of NesC language development on the MicaZ platform, and wherein the RF energy level is made as TXPOWER_MIN.Experiment is carried out in Building three, the human-oriented building of Suzhou Institute for Advanced Study, USTC, has used the MicaZ node of 38 Crossbow companies in the experiment, and wherein 6 as anchor node, and 1 links to each other with server by serial ports as the base station, and 32 are used as mobile node.In experiment, upgrade the energy that positional information consumed in order only to compare tracing system, the present invention does not use concrete location algorithm in system.To the information from base node, node does not position processing, but is inserted into updating message, directly passes to server as the position voucher.Like this, the energy consumption of node just is equal to the required energy of renewal positional information.
Be the performance of checking navigation system localization method of the present invention, (meter is done: LUM) done detailed experiment at traditional tracing system, optimization tracing system and the present invention respectively on the MicaZ platform in the present invention.
(Traditional Tracking System, TTS): separate between each mobile node in traditional personnel's tracing system, each mobile node sends a location update message in each update cycle to the tradition tracing system at least.
(Optimized Tracking System, OTS): in fact, this method can improve the performance of TTS method to optimize tracing system.If the position of a node does not change at last one-period, renewal there is no need.Thereby so can optimize the TTS tracing system (OTS) that is optimized.In OTS, node can compare the position of current location and last one-period before sending any information, just can send updating message when having only the position to change.
Moving ratio is the node proportion that is moved in the removable node.In ensuing performance evaluation, the present invention has studied message number and energy consumption that three kinds of methods of TTS, OTS and LUM produce respectively under different moving ratios.
1) message number: Fig. 6 has shown total message count that removable node produces under the different moving ratio situations.The updating location information frequency is 0.5 message/second.To each moving ratio, the present invention continues to have tested 10 hours separately to three algorithms.
Experimental result demonstration LUM compares with TTS, OTS and has a clear superiority in.In TTS, removable node is the static or mobile message that all needs periodically to send, so the TTS performance is the poorest.And OTS better performances in low moving ratio, but when moving ratio increased, the mobile acceptance with interference message of node caused many removable nodes that remain static all to need periodically to report its positional information.Obviously, OTS is very responsive to moving ratio.And performance is all good under two kinds of situations of LUM.Under low moving ratio, apparent.Under high moving ratio, though node move also message transmission between can interfering nodes because distance is very near, it issues the RSSI value influence of message of member node to agent node very little, changes not quite so the member of agent node gathers.Slowly the message count that increases is because the position change of agent node and removable node leave original agent node (from an agent node to another agent node) causes.Therefore LUM is very stable to different moving ratios.According to experimental result of the present invention, LUM and OTS compare the message count of decreased average 67% and 45% with TTS.
2) energy consumption: in experimentation, the present invention has write down the change in voltage of each the removable node before and after the experiment.Because the initial condition difference of each experiment, the present invention is that basic result to OTS and LUM does normalized with TTS.Fig. 7 has shown the change in voltage of three kinds of algorithms under four kinds of moving ratios (10%, 20%, 30% and 40%).The present invention is that example is analyzed the performance under the low moving ratio with moving ratio 10%.All node energies consume in 4% among the LUM; OTS has 80% node energy consumption in 6%; TTS has 40% node energy consumption in 9%.The present invention can use the representative of moving ratio 40% as high moving ratio.All node energy consumptions are in 6% among the LUM; 80% node energy consumption is in 9% among the OTS; 40% node energy consumption is in 9% among the TTS.Obviously, message is having more outstanding performance than OTS and TTS aspect the energy consumption so LUM is owing to send still less.According to whole experimental data, relative TTS of LUM and OTS have saved 70% and 48% respectively aspect energy consumption.
The present invention is wireless sensor network (Wireless Sensor Network, WSN) Kai Fa the efficient position update mechanism based on TinyOS.Wherein, the Mica series node that the node type of the support platform of this agreement is produced for CrossBow company, as Mica2, MicaZ etc., the MIB510 plate that the base station adopts CrossBow company to produce.This invention provides a kind of effective method for mobile node upgrades its positional information.
In sum, after adopting the present invention, mobile node is constantly intercepted the RSSI information of node on every side, realizes the node administration in the locating and tracking system by agent way then, thereby effectively reduce message complexity and energy consumption in the network, the life cycle that prolongs whole network.For realizing providing a kind of effective method to the mobile node management of wireless network.This shows that the present invention has substantive technical characterstic and significant technological progress, its application prospect is boundless.
Above-mentioned example only is explanation technical conceive of the present invention and characteristics, and its purpose is to allow the people who is familiar with this technology can understand content of the present invention and enforcement according to this, can not limit protection scope of the present invention with this.All equivalent transformations that spirit is done according to the present invention or modification all should be encompassed within protection scope of the present invention.
Claims (3)
1. radio sensing network tracking system multiple mobile node positioned update householder method, it is characterized in that described radio sensing network tracking system comprises anchor node and several mobile nodes of several known self physical location informations, described anchor node periodically sends the acquisition of signal bag, described mobile node calculates the positioned update that RSSI information realizes mobile node according to the acquisition of signal bag that receives, and described mobile node is provided with the election contest clock; Said method comprising the steps of:
(1) when mobile node election contest clock triggered, this mobile node was confirmed as agent node;
(2) the RSSI information of node, the RSSI information that receives by class Flip-Flop filter method smoothing processing then around mobile node is constantly intercepted and collected;
(3) agent node is provided with and judges clock, has that mobile node adds and the banded threshold value of the threshold value when leaving; When the RSSI of mobile node information surpassed the adding threshold value, mobile node was registered on agent node; When the RSSI of mobile node information reaches when leaving threshold value, (Opportunistic Sending Mechanism OSM) leaves the processing of agent node by the chance sending method.
2. method according to claim 1, it is characterized in that described method step (3) chance sending method (Opportunistic Sending Mechanism OSM) may further comprise the steps:
(I) break away from node and send message with probability P;
(II) when judging that clock is triggered, statistics is nullified the mobile node number that breaks away from;
(III) count according to abscission joint, judge that current network state is that the minority node leaves or most node leaves; When current network state is a minority node when leaving, the mobile node that leaves becomes isolated node; Otherwise the mobile node that leaves will become both candidate nodes;
(IV) election contest of both candidate nodes replacement clock is selected new agent node.
3. method according to claim 1 is characterized in that described method step (2) class Flip-Flop filter method comprises that the RSSI value with mobile node requires smoothly to estimate to handle according to stability or flexibility according to (1) formula:
E(t)=?ω*E(t-1)+(1-ω)?*O(t)； （1）
Wherein, the current t of E (t) the expression level and smooth estimated value of RSSI constantly; E (t-1) representative last one is the level and smooth estimated value of RSSI of t-1 constantly; O (t) is a t observed value constantly; ω is a weight;
When the differing greatly continuously of stable smoothing processing result, select the RSSI value of flexibility requirement smoothing processing for use.
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| 徐学永等: "无线传感器网络追踪系统中的一种高效位置更新机制", 《计算机研究与发展》 * |
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| CN106576225B (en) * | 2014-08-28 | 2019-11-12 | 高通股份有限公司 | The selective crowdsourcing of location dependent data |
| CN105068043A (en) * | 2015-06-24 | 2015-11-18 | 浙江工业大学 | Wireless sensor network node and mobile robot simultaneous positioning method |
| CN105158732A (en) * | 2015-06-24 | 2015-12-16 | 浙江工业大学 | Mobile robot self-localization method assisted by wireless sensor network |
| CN106535292A (en) * | 2016-10-10 | 2017-03-22 | 上海斐讯数据通信技术有限公司 | Method, system and access point for sending beacon frame |
| CN106535292B (en) * | 2016-10-10 | 2020-02-04 | 上海斐讯数据通信技术有限公司 | Method, system and access point for sending beacon frame |
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