CN102186245A - Method for accurately positioning mobile terminal of transformer station wireless sensor network - Google Patents

Method for accurately positioning mobile terminal of transformer station wireless sensor network Download PDF

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CN102186245A
CN102186245A CN2011101575178A CN201110157517A CN102186245A CN 102186245 A CN102186245 A CN 102186245A CN 2011101575178 A CN2011101575178 A CN 2011101575178A CN 201110157517 A CN201110157517 A CN 201110157517A CN 102186245 A CN102186245 A CN 102186245A
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stationary nodes
portable terminal
mobile terminal
node
wireless sensor
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詹毅
闫斌
周小佳
张龙飞
庄瑞玺
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CHENGDU SIHAN TECHNOLOGY Co Ltd
University of Electronic Science and Technology of China
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CHENGDU SIHAN TECHNOLOGY Co Ltd
University of Electronic Science and Technology of China
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Abstract

本发明公开了一种变电站无线传感器网络移动终端精确定位的方法，它包括以下步骤：（1）初始化节点数组NodeID、节点数计数器Index和参与移动节点位置计算的固定节点个数PacketNumber；（2）固定节点接收到移动终端发出的强度指示RSSI信号后，根据RSSI信号的强弱计算该固定节点与移动终端的距离，并发送给前置机；（3）前置机判断RSSI登记是由哪个固定节点发送的，并将该固定节点编号存入节点数组NodeID中；（4）当Index等于自定义的PacketNumber时，转入数据处理程序，计算移动终端当前的坐标。本发明大大减少了数据处理的工作量，而且还具有计算精确以及运行稳定等优点。

Figure 201110157517

The invention discloses a method for precise positioning of a mobile terminal in a substation wireless sensor network, which includes the following steps: (1) initializing the node array NodeID, the node number counter Index and the fixed node number PacketNumber participating in the calculation of the mobile node position; (2) After receiving the intensity indicating RSSI signal sent by the mobile terminal, the fixed node calculates the distance between the fixed node and the mobile terminal according to the strength of the RSSI signal, and sends it to the front-end processor; (3) the front-end processor judges which fixed RSSI registration is from (4) When the Index is equal to the custom PacketNumber, transfer to the data processing program to calculate the current coordinates of the mobile terminal. The invention greatly reduces the workload of data processing, and also has the advantages of accurate calculation, stable operation and the like.

Figure 201110157517

Description

变电站无线传感器网络移动终端精确定位的方法A method for precise positioning of mobile terminals in substation wireless sensor networks

技术领域technical field

本发明涉及一种变电站无线传感器网络移动终端精确定位的方法。The invention relates to a method for precise positioning of a mobile terminal of a substation wireless sensor network.

背景技术Background technique

变电站属于高危工作区域，如果管理不到位，稍不注意就可能发生事故。在当前以人为本的号召下，变电站的各项工作都将人身安全放在了第一位。然而，除了操作规程、安全条约等规章制度限制外，还没有一套切实可行的主动报警的安全保障手段，因而，如果操作人员操作失误、判断失误，或惰性、随意性、巡视误入间隔等,都可能直接或间接导致事故的发生，使人身安全受到威胁的同时使经济利益也受到损失。Substation is a high-risk work area. If the management is not in place, accidents may occur if you don't pay attention. Under the current people-oriented call, all work in the substation puts personal safety first. However, in addition to operating procedures, safety treaties and other rules and regulations, there is no practical and feasible means of safety protection for active alarms. , may directly or indirectly lead to the occurrence of accidents, so that personal safety is threatened while economic interests are also lost.

现在国内的绝大多数变电站都没有针对工作人员的监控和报警系统，虽然有的变电站装备了摄像头，起到了一定的监督作用，但是，摄像头存在一些监控上的“死角”；视频信息的传输存在延时，不能实现实时监控；每个摄像头只能监控指定区域范围内的工作人员情况，不能形成一个连续的监控模式；同时其布线和安装工序复杂，成本较高，只适合在小型的变电站。总体来说，传统的变电站安全管理系统易出现监控盲区，不能实现及时报警。At present, most substations in China do not have monitoring and alarm systems for staff. Although some substations are equipped with cameras, which play a certain role in supervision, the cameras have some "dead spots" in monitoring; the transmission of video information exists. Time delay, real-time monitoring cannot be realized; each camera can only monitor the situation of the staff within the designated area, and cannot form a continuous monitoring mode; at the same time, its wiring and installation process is complicated and the cost is high, so it is only suitable for small substations. Generally speaking, the traditional substation safety management system is prone to monitoring blind spots and cannot realize timely alarm.

传统的配电网故障定位系统所用的定位方法一般是通过所有固定节点所收集的移动终端MSSI数据来综合计算移动终端的坐标位置，由于RSSI信号强度指示是一个随外界条件的变化变化很大的随机值，大大降低了故障检测系统的稳定性，这种传统方法工作量很大、计算不够精确而且容易导致出错，工作效率明显不能满足目前对配电网系统安全性能的要求。The positioning method used in the traditional distribution network fault location system generally calculates the coordinate position of the mobile terminal comprehensively through the mobile terminal MSSI data collected by all fixed nodes, because the RSSI signal strength indicator is a variable that varies greatly with external conditions Random values greatly reduce the stability of the fault detection system. This traditional method has a large workload, is not accurate enough in calculation, and is prone to errors. The work efficiency obviously cannot meet the current requirements for the safety performance of the distribution network system.

发明内容Contents of the invention

本发明的目的在于解决现有变电站无线传感器网络移动终端定位方法的不足，提供一种新型的变电站无线传感器网络移动终端精确定位的方法，克服传统定位方法数据处理工作量大、计算不精确以及经常导致变电站作业系统出错和崩溃等缺点。The purpose of the present invention is to solve the deficiencies of the existing mobile terminal positioning method for substation wireless sensor network, provide a new type of precise positioning method for substation wireless sensor network mobile terminal, overcome the traditional positioning method with large data processing workload, inaccurate calculation and frequent Causes defects such as errors and crashes in the substation operating system.

本发明的目的是通过以下技术方案来实现的：变电站无线传感器网络移动终端精确定位的方法，包括若干移动终端和固定节点组成的无线传感器网络，以及由无线传感器网络、前置机和后台监控主机组成的变电站安全作业管理系统，无线传感器网络中移动终端的定位方法包括以下步骤：The object of the present invention is achieved through the following technical solutions: a method for precise positioning of a mobile terminal in a substation wireless sensor network, including a wireless sensor network composed of several mobile terminals and fixed nodes, and a wireless sensor network, a front-end computer and a background monitoring host The composed substation safety operation management system, the positioning method of the mobile terminal in the wireless sensor network includes the following steps:

（1）初始化节点数组NodeID、节点数计数器Index和参与移动节点位置计算的固定节点个数PacketNumber；(1) Initialize the node array NodeID, the node number counter Index and the fixed number of nodes PacketNumber involved in the calculation of the mobile node position;

（2）任意固定节点接收到移动终端发出的接收信号强度指示RSSI信号后，根据RSSI信号的强弱计算该固定节点与移动终端的距离，并向前置机登记该固定节点的状态及与移动终端的距离；(2) After any fixed node receives the RSSI signal sent by the mobile terminal, it calculates the distance between the fixed node and the mobile terminal according to the strength of the RSSI signal, and registers the status of the fixed node and the relationship with the mobile terminal to the front-end processor. terminal distance;

（3）前置机判断RSSI登记是由哪个固定节点发送的，并将该固定节点编号存入节点数组NodeID中；(3) The front-end processor judges which fixed node sends the RSSI registration, and stores the fixed node number in the node array NodeID;

（4）节点数计数器Index加1；(4) Add 1 to the node number counter Index;

（5）当Index等于自定义的PacketNumber时，转入数据处理程序，计算移动终端当前的坐标，否则前置机继续接收固定节点RSSI登记；(5) When the Index is equal to the self-defined PacketNumber, transfer to the data processing program to calculate the current coordinates of the mobile terminal, otherwise the front-end processor continues to receive the RSSI registration of the fixed node;

（6）前置机将移动终端的当前坐标位置报告给监控主机，监控主机判断移动终端的当前坐标位置是否处于预先划分的危险区域，如果处于危险区域，则报警；(6) The front-end processor reports the current coordinate position of the mobile terminal to the monitoring host, and the monitoring host judges whether the current coordinate position of the mobile terminal is in a pre-defined dangerous area, and if it is in a dangerous area, it will alarm;

其中，所述的数据处理程序包括以下步骤：Wherein, the data processing procedure includes the following steps:

（1）对NodeID中的数据进行数据分类，即判断PacketNumber个登记分别来自哪些固定节点，对固定节点的个数NodeNumber进行计数；(1) Classify the data in NodeID, that is, judge which fixed nodes the PacketNumber registrations come from, and count the number of fixed nodes, NodeNumber;

（2）根据NodeNumber的不同，采用不同的方法计算移动终端的坐标：(2) Depending on the NodeNumber, different methods are used to calculate the coordinates of the mobile terminal:

当NodeNumber=1时，计算移动终端当前坐标位于某个固定节点处；When NodeNumber=1, calculate that the current coordinates of the mobile terminal are located at a fixed node;

当NodeNumber=2时，计算移动终端当前坐标位于某两个固定节点的中心处；When NodeNumber=2, calculate that the current coordinates of the mobile terminal are located at the center of two fixed nodes;

当NodeNumber=3，三个固定节点的坐标分别为(x                                                

Figure 353634DEST_PATH_IMAGE001
，y)、(x
Figure 2011101575178100002DEST_PATH_IMAGE002
,y
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)、( x
Figure 2011101575178100002DEST_PATH_IMAGE003
,y
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)，移动终端与三个固定节点的距离分别为、
Figure 197776DEST_PATH_IMAGE005
、
Figure 2011101575178100002DEST_PATH_IMAGE006
，则有When NodeNumber=3, the coordinates of the three fixed nodes are (x
Figure 353634DEST_PATH_IMAGE001
,y ), (x
Figure 2011101575178100002DEST_PATH_IMAGE002
,y
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), (x
Figure 2011101575178100002DEST_PATH_IMAGE003
,y
Figure 914562DEST_PATH_IMAGE003
), the distances between the mobile terminal and the three fixed nodes are ,
Figure 197776DEST_PATH_IMAGE005
,
Figure 2011101575178100002DEST_PATH_IMAGE006
, then there is

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=
Figure 2011101575178100002DEST_PATH_IMAGE008
Figure 506846DEST_PATH_IMAGE009
；
Figure 20239DEST_PATH_IMAGE007
=
Figure 2011101575178100002DEST_PATH_IMAGE008
Figure 506846DEST_PATH_IMAGE009
;

当NodeNumber=n时，n个固定节点的坐标分别为(x

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，y)、( x
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,y
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)、……、(x
Figure 2011101575178100002DEST_PATH_IMAGE010
,y
Figure 328171DEST_PATH_IMAGE010
)，移动终端与n个固定节点的距离分别为d
Figure 851557DEST_PATH_IMAGE001
、d、d
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、……、d
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，则有When NodeNumber=n, the coordinates of n fixed nodes are (x
Figure 705746DEST_PATH_IMAGE001
,y ), (x
Figure 367989DEST_PATH_IMAGE002
,y
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),..., (x
Figure 2011101575178100002DEST_PATH_IMAGE010
,y
Figure 328171DEST_PATH_IMAGE010
), the distances between the mobile terminal and n fixed nodes are d
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、d 、d
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,...,d
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, then there is

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Figure 910463DEST_PATH_IMAGE011

设它的线性方程为AX=b，其中：Let its linear equation be AX=b, where:

A=

Figure 2011101575178100002DEST_PATH_IMAGE012
b=
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A=
Figure 2011101575178100002DEST_PATH_IMAGE012
b=
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则该移动终端的坐标为：Then the coordinates of the mobile terminal are:

Figure 2011101575178100002DEST_PATH_IMAGE014
=
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。
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=
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.

本发明的有益效果是：在所取的参考固定节点数目不同的情况下，采取不同的移动终端坐标算法，使得本发明的无线传感器网络移动终端定位方法大大减少了数据处理的工作量，而且还具有计算和定位精确以及系统运行稳定等优点。The beneficial effects of the present invention are: in the case of different numbers of reference fixed nodes, different mobile terminal coordinate algorithms are adopted, so that the wireless sensor network mobile terminal positioning method of the present invention greatly reduces the workload of data processing, and also It has the advantages of accurate calculation and positioning and stable system operation.

附图说明Description of drawings

图1为本发明定位方法流程图Fig. 1 is the flow chart of positioning method of the present invention

图2为本发明数据处理程序流程图Fig. 2 is the flow chart of data processing procedure of the present invention

图3为本发明变电站安全作业管理系统结构方框图。Fig. 3 is a structural block diagram of the substation safety operation management system of the present invention.

具体实施方式Detailed ways

下面结合附图进一步描述本发明的技术方案：如图1和图3所示，变电站无线传感器网络移动终端精确定位的方法，包括若干移动终端和固定节点组成的无线传感器网络，以及由无线传感器网络、前置机和后台监控主机组成的变电站安全作业管理系统，其特征在于：无线传感器网络中移动终端的定位方法包括以下步骤：The technical solution of the present invention is further described below in conjunction with the accompanying drawings: as shown in Figure 1 and Figure 3, the method for precise positioning of mobile terminals in substation wireless sensor networks includes a wireless sensor network composed of several mobile terminals and fixed nodes, and a wireless sensor network composed of 1. A substation safety operation management system composed of a front-end processor and a background monitoring host, characterized in that the positioning method of a mobile terminal in a wireless sensor network includes the following steps:

（1）初始化节点数组NodeID、节点数计数器Index和参与移动节点位置计算的固定节点个数PacketNumber；(1) Initialize the node array NodeID, the node number counter Index and the fixed number of nodes PacketNumber involved in the calculation of the mobile node position;

（2）任意固定节点接收到移动终端发出的接收信号强度指示RSSI信号后，根据RSSI信号的强弱计算该固定节点与移动终端的距离，并向前置机登记该固定节点的状态及与移动终端的距离；(2) After any fixed node receives the RSSI signal sent by the mobile terminal, it calculates the distance between the fixed node and the mobile terminal according to the strength of the RSSI signal, and registers the status of the fixed node and the relationship with the mobile terminal to the front-end processor. terminal distance;

（3）前置机判断RSSI登记是由哪个固定节点发送的，并将该固定节点编号存入节点数组NodeID中；(3) The front-end processor judges which fixed node sends the RSSI registration, and stores the fixed node number in the node array NodeID;

（4）节点数计数器Index加1；(4) Add 1 to the node count counter Index;

（5）当Index等于自定义的PacketNumber时，转入数据处理程序，计算移动终端当前的坐标，否则前置机继续接收固定节点RSSI登记；(5) When the Index is equal to the self-defined PacketNumber, transfer to the data processing program to calculate the current coordinates of the mobile terminal, otherwise the front-end processor continues to receive the RSSI registration of the fixed node;

（6）前置机将移动终端的当前坐标位置报告给监控主机，监控主机判断移动终端的当前坐标位置是否处于预先划分的危险区域，如果处于危险区域，则报警；(6) The front-end processor reports the current coordinate position of the mobile terminal to the monitoring host, and the monitoring host judges whether the current coordinate position of the mobile terminal is in a pre-defined dangerous area, and if it is in a dangerous area, it will alarm;

其中，如图2所示，所述的数据处理程序包括以下步骤：Wherein, as shown in Figure 2, the described data processing procedure comprises the following steps:

（1）对NodeID中的数据进行数据分类，即判断PacketNumber个登记分别来自哪些固定节点，对固定节点的个数NodeNumber进行计数；(1) Classify the data in NodeID, that is, judge which fixed nodes the PacketNumber registrations come from, and count the number of fixed nodes, NodeNumber;

（2）根据NodeNumber的不同，采用不同的方法计算移动终端的坐标：(2) Depending on the NodeNumber, different methods are used to calculate the coordinates of the mobile terminal:

当NodeNumber=1时，计算移动终端当前坐标位于某个固定节点处；When NodeNumber=1, calculate that the current coordinates of the mobile terminal are located at a fixed node;

当NodeNumber=2时，计算移动终端当前坐标位于某两个固定节点的中心处；When NodeNumber=2, calculate that the current coordinates of the mobile terminal are located at the center of two fixed nodes;

当NodeNumber=3，三个固定节点的坐标分别为(x

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，y)、(x,y
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)、( x
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,y
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)，移动终端与三个固定节点的距离分别为
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、
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、
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，则有When NodeNumber=3, the coordinates of the three fixed nodes are (x
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,y ), (x ,y
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), (x
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,y
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), the distances between the mobile terminal and the three fixed nodes are
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,
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,
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, then there is

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=
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；
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=
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;

当NodeNumber=n时，n个固定节点的坐标分别为(x

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，y)、( x,y
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)、……、(x
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,y
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)，移动终端与n个固定节点的距离分别为d
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、d
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、d
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、……、d
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，则有When NodeNumber=n, the coordinates of n fixed nodes are (x
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,y ), (x ,y
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),..., (x
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,y
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), the distances between the mobile terminal and n fixed nodes are d
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、d
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、d
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,...,d
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, then there is

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Figure 610041DEST_PATH_IMAGE011

设它的线性方程为AX=b，其中：Let its linear equation be AX=b, where:

A=

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b=
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A=
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b=
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则该移动终端的坐标为：Then the coordinates of the mobile terminal are:

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=
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。
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=
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.

通常实际项目情况下，最多只有两个固定节点参与移动终端坐标位置的计算，即采用前两种算法进行计算。Usually, in actual projects, at most only two fixed nodes participate in the calculation of the coordinate position of the mobile terminal, that is, the first two algorithms are used for calculation.

由于RSSI表示的是固定节点相对于移动终端的接收信号强度，属于能量值范畴，当固定节点相对于移动终端距离较远时其能量值必然较小，反之较大。通过比较RSSI的大小，首先可以从直观上衡量出移动终端相对于固定节点之间的距离远近，但是由于能量值不稳定，受外界影响较大，所以采集到的RSSI值并不能很准确地反映出移动终端的当前位置。因此算法在设计上，通过一个较为粗略的RSSI比较方法来确定移动终端所处的范围。比如，当移动终端距离固定节点10米以上时，固定节点接收到的RSSI处于某一个范围；当移动终端距离固定节点0-5米的范围时，RSSI又处于另外一个范围，即算法在设计上通过设定一定的阈值，来粗略的衡量移动终端距离固定节点的距离，从而判断移动终端处于固定节点的某一区域范围内，通过几个不同的固定节点的相互比较，从而判断移动终端的大致位置。Since RSSI represents the received signal strength of the fixed node relative to the mobile terminal, which belongs to the category of energy value, when the distance between the fixed node and the mobile terminal is far away, its energy value must be smaller, and vice versa. By comparing the size of RSSI, we can intuitively measure the distance between the mobile terminal and the fixed node. However, because the energy value is unstable and greatly affected by the outside world, the collected RSSI value cannot accurately reflect the to display the current location of the mobile terminal. Therefore, in the design of the algorithm, a relatively rough RSSI comparison method is used to determine the range of the mobile terminal. For example, when the mobile terminal is more than 10 meters away from the fixed node, the RSSI received by the fixed node is in a certain range; when the mobile terminal is 0-5 meters away from the fixed node, the RSSI is in another range, that is, the algorithm is designed By setting a certain threshold, the distance between the mobile terminal and the fixed node is roughly measured, so as to judge that the mobile terminal is within a certain area of the fixed node, and by comparing several different fixed nodes, the approximate distance of the mobile terminal is judged. Location.

移动终端的发射范围假设为10米左右，则处于10米范围内的固定节点能接收到它发射出来的能量信号，其他较远距离处的固定节点则接收不到它发出来的能量，当三个固定节点接收到能量信号时，通过计算三个固定节点所组成的三角形的质心，则计算出移动终端的大致位置。Assuming that the transmission range of the mobile terminal is about 10 meters, the fixed nodes within the range of 10 meters can receive the energy signal emitted by it, and the fixed nodes at other distances cannot receive the energy emitted by it. When a fixed node receives the energy signal, the approximate position of the mobile terminal is calculated by calculating the centroid of the triangle formed by the three fixed nodes.

Claims (1)

1. the pinpoint method of transformer station's wireless sensor network portable terminal, comprise the wireless sensor network that some portable terminals and stationary nodes are formed, and the substation safety job management system of forming by wireless sensor network, front end processor and background monitoring main frame, it is characterized in that: mobile terminal positioning method may further comprise the steps in the wireless sensor network:
(1) the stationary nodes number PacketNumber of initialization node array NodeID, node counter Index and the calculating of participation positions of mobile nodes;
(2) after arbitrarily stationary nodes receives the received signal intensity indication RSSI signal that portable terminal sends, calculate the distance of this stationary nodes and portable terminal according to the power of RSSI signal, and to front end processor register this stationary nodes state and with the distance of portable terminal;
(3) front end processor judges the RSSI registration by which stationary nodes is sent, and this stationary nodes numbering is deposited among the node array NodeID;
(4) node counter Index adds 1;
(5) when Index equals self-defining PacketNumber, change data processor over to, calculate the current coordinate of portable terminal, otherwise front end processor continues to receive stationary nodes RSSI registration;
(6) front end processor reports to monitoring host computer with the current coordinate position of portable terminal, and monitoring host computer judges whether the current coordinate position of portable terminal is in the deathtrap of dividing in advance, if be in the deathtrap, then reports to the police;
Wherein, described data processor may further comprise the steps:
(1) data among the NodeID is carried out data qualification, judge that promptly PacketNumber registration respectively from which stationary nodes, count the number NodeNumber of stationary nodes;
(2), adopt diverse ways to calculate the coordinate of portable terminal according to the difference of NodeNumber:
When NodeNumber=1, calculate the current coordinate of portable terminal and be positioned at certain stationary nodes place;
When NodeNumber=2, calculate the center that the current coordinate of portable terminal is positioned at certain two stationary nodes;
Work as NodeNumber=3, the coordinate of three stationary nodes is respectively (x , y
Figure 455456DEST_PATH_IMAGE001
), (x
Figure 372596DEST_PATH_IMAGE002
, y
Figure 621175DEST_PATH_IMAGE002
), (x
Figure 16384DEST_PATH_IMAGE004
, y
Figure 830757DEST_PATH_IMAGE004
), the distance of portable terminal and three stationary nodes is respectively
Figure 2011101575178100001DEST_PATH_IMAGE005
,
Figure 371328DEST_PATH_IMAGE006
,
Figure 2011101575178100001DEST_PATH_IMAGE007
, then have
Figure 638362DEST_PATH_IMAGE008
=
Figure 2011101575178100001DEST_PATH_IMAGE009
Figure 306103DEST_PATH_IMAGE010
；
When NodeNumber=n, the coordinate of n stationary nodes is respectively (x
Figure 974982DEST_PATH_IMAGE001
, y
Figure 968346DEST_PATH_IMAGE001
), (x
Figure 191517DEST_PATH_IMAGE002
, y
Figure 928529DEST_PATH_IMAGE002
) ..., (x
Figure 2011101575178100001DEST_PATH_IMAGE011
, y
Figure 451914DEST_PATH_IMAGE011
), the distance of a portable terminal and n stationary nodes is respectively d
Figure 350600DEST_PATH_IMAGE001
, d
Figure 592225DEST_PATH_IMAGE002
, d
Figure 867349DEST_PATH_IMAGE004
..., d
Figure 510820DEST_PATH_IMAGE011
, then have
Figure 62630DEST_PATH_IMAGE012
If its linear equation is AX=b, wherein:
A=
Figure 2011101575178100001DEST_PATH_IMAGE013
b=
Figure 791552DEST_PATH_IMAGE014
Then the coordinate of this portable terminal is:
Figure 2011101575178100001DEST_PATH_IMAGE015
=
Figure 339208DEST_PATH_IMAGE016
。
CN2011101575178A 2011-06-13 2011-06-13 Method for accurately positioning mobile terminal of transformer station wireless sensor network Pending CN102186245A (en)

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102883434A (en) * 2012-10-31 2013-01-16 河南省电力公司电力科学研究院 System for positioning and navigating mobile terminal in transformer substation
CN102883434B (en) * 2012-10-31 2015-05-06 河南省电力公司电力科学研究院 System for positioning and navigating mobile terminal in transformer substation
CN104113910A (en) * 2013-04-21 2014-10-22 国际商业机器公司 Positioning System In A Wireless Communication Network
CN104113910B (en) * 2013-04-21 2018-04-20 格芯公司 Alignment system in cordless communication network
CN103825944A (en) * 2014-02-25 2014-05-28 黄河科技学院 Transformer substation safety management system based on Internet of things
CN103825944B (en) * 2014-02-25 2017-06-16 黄河科技学院 A kind of substation safety management system based on Internet of Things
CN104507082A (en) * 2014-12-16 2015-04-08 南京邮电大学 Wireless sensor network positioning security method based on Hash bidirectional authentication
CN107087258A (en) * 2017-04-17 2017-08-22 电子科技大学 A positioning method for wireless sensor network

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Application publication date: 20110914