CN102573055B - Method for locating nodes in wireless sensor network - Google Patents
Method for locating nodes in wireless sensor network Download PDFInfo
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- CN102573055B CN102573055B CN201110397348.5A CN201110397348A CN102573055B CN 102573055 B CN102573055 B CN 102573055B CN 201110397348 A CN201110397348 A CN 201110397348A CN 102573055 B CN102573055 B CN 102573055B
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Abstract
The invention provides a method and a system for locating nodes in a wireless sensor network. The method comprises the following steps: step 1, a plurality of anchor nodes in a to-be-located node communication region are confirmed; step 2, the plurality of anchor nodes send first-time locating test signals respectively; and the network environment impact factor of a certain anchor node is estimated according to an error between a tested distance and a theoretical distance of the anchor node and other anchor nodes; step 3, each anchor node sends second-time locating test signals with the network environment impact factor; and step 4, the to-be-located nodes receive the locating test signals of each anchor node and choose an anchor node with a small network environment impact factor at the current moment so as to be located. According to the method and the system for locating nodes in the wireless sensor network, the impact of the network environment on RSSI (received signal strength indicator) value of anchor nodes is estimated at first, and the anchor node with a least network environment impact at the current moment are chosen for locating the to-be-located nodes to reduce locating error and further improve the locating accuracy of network nodes.
Description
Technical field
The present invention relates to the node locating technique field of radio sensing network, relate in particular to a kind of node positioning method based on signal strength signal intensity of radio sensing network.
Prior art
Location algorithm in radio sensing network be generally divided into location algorithm based on distance and with the location algorithm of range-independence.Location algorithm based on distance is mainly by the actual range between measured node or azimuth information, then with trilateration, triangulation or Maximum Likelihood Estimation Method, comes computing node position.The location algorithm of range-independence is mainly to utilize connectedness, relative position or specific agreement estimated distance between node to come computing node position.In the location algorithm based on distance, mainly pass through (TOA) the method time of advent, the time of advent poor (TDOA), arrive method measured node spacing or the orientation such as angle (AOA) method and received signal strength indicator (RSSI) method.Based on the time of advent (TOA) method, the time of advent poor (TDOA) with arrive the existing localization methods such as angle (AOA) method, when obtaining relatively high position precision, also bring the problem of comparison in equipment complexity.
In localization method based on RSSI, the RADAR system of Microsoft's exploitation is a typical example, this system utilization is according to the signal strength signal intensity of a plurality of nodes of disposing in monitored area, empirical model and two kinds of models of theoretical model of utilizing signal to propagate carry out measured node distance, to obtain node location information.Consider the monitoring application in the special places such as road, tunnel, pipeline and circuit, some researchers are converted into the telemetry based on RSSI value the straight line location algorithm of one dimension from two-dimentional plane positioning algorithm, simplified algorithm complex, have improved positioning precision.RADAR system and one dimension straight line location algorithm are all directly to adopt RSSI value find range and locate, and do not consider variation and the error of the RSSI value that the weak randomness of network environment and signal causes, and also revise.
In the localization method based on RSSI value, consider that communication distance is shorter, signal is weak less, and RSSI value error is less, the anchor node that the general employing of anchor node is shorter with node estimated distance to be positioned.Particularly when anchor node is selected, if only consider the impact of communication distance length on signal strength signal intensity, and the shortest anchor node of simple selection and node estimated distance to be positioned positions, when the randomness of network environment and while having influence on the randomness of signal strength signal intensity, the variation of identical signal strength values, the measure error that two the short nodes of adjusting the distance bring is larger on the contrary.And then bring larger position error.
Summary of the invention
Technology to be solved by this invention is to provide the node positioning method based on signal strength signal intensity and system in a kind of radio sensing network, it is the impact size on each anchor node RSSI value by estimation network environment, select current time to be subject to the anchor node that network environment influence is little, treating location node positions, reduce position error, and then improve the precision of network node location.
In order to solve the problems of the technologies described above, the present invention has adopted following technical scheme:
A node positioning method based on signal strength signal intensity in radio sensing network, comprises the steps:
Step 2, a plurality of anchor node send respectively assignment test signal for the first time, according to the measuring distance between certain anchor node and other anchor nodes and the error between theoretical, estimate the network environment influence factor of this anchor node;
Step 3, each anchor node send the signal of assignment test for the second time that carries the described network environment influence factor;
Step 4, wait upon location node and receive after the assignment test signal of each anchor node, select the little anchor node of the current time network environment influence factor, thereby position.
Further, the location in described step 4 comprises: calculate the measuring distance control oneself with the little anchor node of this network environment influence factor, utilize triangulation, calculate the coordinate of controlling oneself, position.
When further, anchor node sends respectively assignment test signal for the first time in described step 2, also receive the assignment test signal of the transmission of other anchor nodes.
Further, in described step 2, estimate this anchor node the network environment influence factor method specifically:
Step 21, determine the theoretical between certain anchor node and other anchor nodes:
Between step 22, anchor node, mutually send assignment test signal, obtain the measuring distance between certain anchor node and other anchor nodes:
Step 23, according to the error of described measuring distance and theoretical, calculate respectively the factor of influence between a certain anchor node and other anchor nodes:
The network environment influence factor of step 24, this anchor node is the value after described factor of influence is averaging.
The present invention also provides simultaneously, and the node positioning system based on signal strength signal intensity in a kind of radio sensing network, comprising:
Be arranged in a plurality of anchor nodes of waiing upon location node communication zone;
Factor of influence estimation module, the signal of assignment test for the first time sending respectively according to a plurality of anchor nodes, obtains measuring distance between certain anchor node and other anchor nodes and the error between theoretical, estimates the network environment influence factor of this anchor node;
Test signal sending module, sends the signal of assignment test for the second time that carries the described network environment influence factor for each anchor node;
Locating module, for receiving after the assignment test signal of each anchor node waiing upon location node, selects the little anchor node of the current time network environment influence factor, thereby positions.
The impact size of the first estimation network environment of the present invention on each anchor node RSSI value, selects current time to be subject to the anchor node that network environment influence is little, treats location node and positions, and reduces position error, and then improves the precision of network node location.
Accompanying drawing explanation
Fig. 1 is signal strength signal intensity range finding figure of the present invention
Fig. 2 is that secondary assignment test signal of the present invention sends schematic diagram
Embodiment
In order to understand better technical scheme of the present invention, below in conjunction with accompanying drawing, with a specific embodiment, describe the present invention in detail:
In a typical radio sensing network, there are a small amount of oriented node (being called anchor node) and a large amount of nodes to be positioned.Anchor node, can be to oneself carrying out accurate position coordinates by methods such as specific deployments or GPS, and node to be positioned is the Location-Unknown to oneself, must, by obtain the coordinate of oneself by localization method with a plurality of anchor nodes, be called self-align process.Localization method of the present invention comprises the steps:
1, suppose, in the communication zone of node to be positioned, have a plurality of anchor nodes, as shown in Figure 1: node x is node to be positioned, node A, B, C, D are anchor node.
2,, in a position fixing process, anchor node sends secondary assignment test signal altogether.The secondary process of transmitting of anchor node assignment test signal as shown in Figure 2.In Fig. 2, S1 and S2 represent that respectively anchor node sends the assignment test signal period for the first time and for the second time.At S1 in the time, anchor node sends assignment test signal for the first time, receive the assignment test signal of other anchor nodes simultaneously, and estimate the network environment influence factor of current time network environment to own sending and receiving signal strength signal intensity, the estimation procedure of this network environment influence factor specifically describes hereinafter.At S2, in the time, each anchor node sends assignment test signal for the second time, and this carries the current time network environment influence factor in assignment test signal for the second time;
3, node to be positioned is received after the signal of assignment test for the second time of transmission of each anchor node, select the little anchor node of the current time network environment influence factor, then calculate measuring distances own and these anchor nodes, utilize triangulation, the coordinate that calculates oneself, positions.
The described network environment influence factor refers to according to the measuring distance between certain anchor node and other anchor nodes and the error between theoretical, estimates the impact of the signal RSSI value that in the short time, network environment receives this anchor node.The algorithm for estimating of the described network environment influence factor is as follows: further, in described step 2, estimate this anchor node the network environment influence factor method specifically:
First, determine the theoretical between certain anchor node and other anchor nodes:
Secondly, mutually send assignment test signal between anchor node, obtain the measuring distance between certain anchor node and other anchor nodes:
Again, according to the error of described measuring distance and theoretical, calculate respectively the factor of influence between a certain anchor node and other anchor nodes:
Finally, the network environment influence factor of this anchor node is the value after described factor of influence is averaging.
In this specific embodiment, as shown in Figure 1:
1), suppose in node communication to be positioned region, just in time have four anchor node A, B, C, D, the anchor node A of take so estimates that current time network environment describes as example the factor of influence of anchor node sending and receiving signal strength signal intensity, and its excess-three anchor node BCD estimation current time network environment to the factor of influence of anchor node sending and receiving signal strength signal intensity and anchor node category-A seemingly.The theoretical (distance of calculating by coordinate) of supposing anchor node A and its excess-three anchor node is respectively AB0, AC0, AD0;
In the first round, send in assignment test signal process, anchor node A obtains being respectively AB1, AC1, AD1 with the measuring distance of its excess-three anchor node;
First, the network environment influence factor of calculating between anchor node A and its excess-three anchor node is respectively:
The factor of influence xAB=of AB ((AB1-AB0)/(AB0)) ^2;
The factor of influence xAC=of AC ((AC1-AC0)/(AC0)) ^2;
The factor of influence xAD=of AD ((AD1-AD0)/(AD0)) ^2;
Anchor node A current time network environment is xA=(xAB+xAC+xAD)/3 to the factor of influence of anchor node sending and receiving signal strength signal intensity;
2), for anchor node B and D, owing to only having two anchor nodes (anchor node A and C) in its communication range, final factor of influence is for to be averaging with the factor of influence of two anchor nodes.If the current time network environment of anchor node B is xB=(xBA+xBC)/2 to the factor of influence of anchor node sending and receiving signal strength signal intensity.
XBA=((BA1-BA0)/(BA0)) ^2 wherein;
xBC＝((BC1-BC0)/(BC0))^2；
BA0, BC0 is respectively the theoretical between anchor node B and anchor node A and C, BA1, BC1 is respectively the measuring distance that anchor node B and anchor node A and C obtain in the first round sends assignment test signal process.
Meanwhile, the present invention also provides the node positioning system based on signal strength signal intensity in a kind of radio sensing network, comprising:
Be arranged in a plurality of anchor nodes of waiing upon location node communication zone;
Factor of influence estimation module, the signal of assignment test for the first time sending respectively according to a plurality of anchor nodes, obtains measuring distance between certain anchor node and other anchor nodes and the error between theoretical, estimates the network environment influence factor of this anchor node;
Test signal sending module, sends the signal of assignment test for the second time that carries the described network environment influence factor for each anchor node;
Assignment test signal receiving module, for receiving the assignment test signal of the transmission of other anchor nodes.
Locating module, for receiving after the assignment test signal of each anchor node waiing upon location node, selects the little anchor node of the current time network environment influence factor, thereby positions.
In sum, the present invention positions owing to selecting the influenced little anchor node of signal RSSI value to treat location node in when location, thereby can obtain the distance between node to be positioned and anchor node more accurately, the positioning precision of raising node.
Claims (5)
1. the node positioning method based on signal strength signal intensity in radio sensing network, is characterized in that, comprises the steps:
Step 1, determine a plurality of anchor nodes in node communication to be positioned region;
Step 2, a plurality of anchor node send respectively assignment test signal for the first time, according to the measuring distance between certain anchor node and other anchor nodes and the error between theoretical, estimate the network environment influence factor of this anchor node;
Step 3, each anchor node send the signal of assignment test for the second time that carries the described network environment influence factor;
Step 4, node to be positioned are received after the assignment test signal of each anchor node, select the little anchor node of the current time network environment influence factor, thereby position;
Wherein, in step 2, estimate this anchor node the network environment influence factor method specifically:
Step 21, determine the theoretical between certain anchor node and other anchor nodes;
Between step 22, anchor node, mutually send assignment test signal, obtain the measuring distance between certain anchor node and other anchor nodes;
Step 23, according to the error of described measuring distance and theoretical, calculate respectively the factor of influence between a certain anchor node and other anchor nodes;
The network environment influence factor of step 24, this anchor node is the value after described factor of influence is averaging;
Wherein in step 23, the computational methods of the factor of influence between a certain anchor node and other anchor nodes are: the factor of influence between anchor node A and anchor node B is: and xAB=((AB1-AB0)/(AB0)) ^2; Wherein, described AB1 is the measuring distance between anchor node A and anchor node B, and AB0 is the theoretical between anchor node A and anchor node B.
2. the node positioning method based on signal strength signal intensity in radio sensing network according to claim 1, it is characterized in that, location in described step 4 comprises: calculate the measuring distance control oneself with the little anchor node of this network environment influence factor, utilize triangulation, the coordinate that calculating is controlled oneself, positions.
3. the node positioning method based on signal strength signal intensity in radio sensing network according to claim 1, it is characterized in that, when anchor node sends respectively assignment test signal for the first time in described step 2, also receive the assignment test signal of the transmission of other anchor nodes.
4. the node positioning system based on signal strength signal intensity in radio sensing network, comprising:
Be arranged in a plurality of anchor nodes in node communication to be positioned region;
Factor of influence estimation module, the signal of assignment test for the first time sending respectively according to a plurality of anchor nodes, obtains measuring distance between certain anchor node and other anchor nodes and the error between theoretical, estimates the network environment influence factor of this anchor node;
Test signal sending module, sends the signal of assignment test for the second time that carries the described network environment influence factor for each anchor node;
Locating module, for receiving at node to be positioned after the assignment test signal of each anchor node, selects the little anchor node of the current time network environment influence factor, thereby positions,
Wherein, factor of influence estimation module, for determining the theoretical between certain anchor node and other anchor nodes; Between anchor node, mutually send assignment test signal, obtain the measuring distance between certain anchor node and other anchor nodes, according to the error of described measuring distance and theoretical, calculate respectively the factor of influence between a certain anchor node and other anchor nodes, and the network environment influence factor of this anchor node is the value after described factor of influence is averaging, wherein, the computational methods of the factor of influence between a certain anchor node and other anchor nodes are: the factor of influence between anchor node A and anchor node B is: and xAB=((AB1-AB0)/(AB0)) ^2; Wherein, described AB1 is the measuring distance between anchor node A and anchor node B, and AB0 is the theoretical between anchor node A and anchor node B.
5. the node positioning system based on signal strength signal intensity in radio sensing network according to claim 4, is characterized in that, also comprises an assignment test signal receiving module, for receiving the assignment test signal of the transmission of other anchor nodes.
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| CN104023390A (en) * | 2014-05-14 | 2014-09-03 | 浙江工业大学 | WSN node positioning method based on combination of PSO and UKF |
| CN104796983B (en) * | 2015-04-29 | 2019-03-22 | 中国电力科学研究院 | It is a kind of based on location method online in wireless substation and its system |
| DE102015214826A1 (en) * | 2015-08-04 | 2017-02-09 | Robert Bosch Gmbh | Method and system for locating a vehicle within a parking space |
| JP7080811B2 (en) * | 2015-09-11 | 2022-06-06 | グーグル エルエルシー | Reinforcement learning neural network training |
| CN110850367A (en) * | 2019-11-14 | 2020-02-28 | 南京邮电大学 | Method for measuring air refractive index and crystal oscillator actual frequency in positioning system and applying method to distance measurement |
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