CN102638762B - Node positioning and topology updating method in group mobile communication system - Google Patents
Node positioning and topology updating method in group mobile communication system Download PDFInfo
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Abstract
The invention discloses a node positioning and topology updating method in a group mobile communication system. The node positioning and topology updating method comprises the steps of intra-group credible node registration, adjacent visual range node orientation computation and maximum energy priority topology creation, wherein the step of intra-group trusted node registration is used for guaranteeing the credibility of intra-group wireless communication, unregistered node computers are deemed to be illegal nodes and intra-group warning information is sent out; the step of adjacent visual range node orientation computation is used for computing inter-node distance data and orientation information through phase difference and covering radius; and the step of maximum energy priority topology creation is used for creating an maintaining a topological path by using a maximum energy priority method and finally all nodes obtain all maximum estimated position information of the group mobile communication system through routing negotiation. The node positioning and topology updating method in the group mobile communication system takes an important effect on node topology link setup, position updating and cooperative communication in team military searching movement, team advancing and retreating movement management, tunnel movement groups.
Description
Technical field
The present invention relates to the node locating in group mobile communication system and topological data update method, belong to mobile communication technology field.
Background technology
At present be main status is carried out to the position of single GPS terminal with GPS technology to the location technology of mobile node in mobile communications, because the time delay of GPS location is longer, and mainly rely on high altitude satellite, bridge to be blocked, the None-identified of tunnel and hidden advance; Wireless sensor node in wireless sense network (WSN) is mostly in static position, in net, wireless sensor node topology information is by carrying out data estimation with the common factor of the maximum radius of energy budget, therefore, in motility and accuracy, be short of all very much.
Due to when group's mobile communication system is applied, certain group is usually required to complete group movement and the interior intercommunication positional information of group, and transmit a small amount of significant data, in whole group movement, each node all keeps moving with head point the consistent direction of motion, or turning movement etc. is carried out in the instruction of part of nodes accepting header point.Sometimes because this group's confidentiality needs, do not open GPS location or only have head point machine to have GPS location and correspondence with foreign country function, this just requires that one can carry out covert communications between group internal, and can mutually establish positional information accurately between the group internal of motion, and transmit low volume data information, therefore need to introduce wireless radio-frequency.
About the selection to wireless radio-frequency, wireless communication technology in the market mainly contains the product of WLAN (wireless local area network) WiFi, bluetooth and some application specific standards (as Adhoc net etc.).Some major companies for exploiting market and application, also in active research with formulate some new wireless networking communications technical standards such as ultra-wideband communications UWB and WiMax etc.
Bluetooth (bluetooth) is a kind of short-distance wireless communication technology specification first proposed by Ericsson in 1994, and it uses wireless connections to substitute widely used wired connection.Bluetooth technology designs near radio transfer of data specially, and its effective propagation path is 10 ~ 100 meters (commercialization radio-frequency module distance is about 15 meters), and transmission rate is 1Mbps.Formally be published to now from Bluetooth technology, always by high, the manufacturer's supporting dynamics of chip price not, the puzzlement of the problem such as transmission range restriction and poor anti jamming capability, do not obtain expect large-scale application, therefore its communication chip and development equipment price relatively high.Be mainly used in the field that wireless headset etc. does not need very high-transmission bandwidth at present, and interoperability aspect also has problems.
WiFi (Wireless Fidelity Wireless Fidelity), under the support energetically of Intel, dominates the market rapidly by means of Centrino processor; Adopt IEEE802.l1b standard, use 2.4GHz direct sequence spread spectrum, maximum data transfer rate is 11Mbps, and according to signal power, transfer rate can be adjusted to 5.5Mbps, 2Mbps and 1Mbps bandwidth.The automatic adjustment in broadband, has effectively ensured stability and the reliability of network.When adopting up-to-date 802.118, speed can reach 54Mbps, is wireless network transmissions agreement most widely used at present, and when WiFi is more suitable for work, the radio communication occasion of fixed position, complicated to the wireless communication network pattern in motion.
UWB(Ultra WindBand ultra-wideband) be a kind of following short distance broad band wireless transmission technology.Owing to not adopting the carrier modulation technique in usual wireless receiving and dispatching, therefore it does not need mixing, filtration and radio frequency/intermediate frequency modular converter, achieves low cost, low-power consumption and high bandwidth performance.From Qian Youliang great technology camp competitive technologyL standard, communication distance 5 ~ 10m(operating distance of expection is a large bottleneck), speed even up to 1Gbps, can be very suitable for the large-capacity data transmission between domestic consumer electronic product, current business-like wireless module negligible amounts.
As the WiMax of radio communication next-generation technology, be envisaged as a wireless MAN access technology, in transmission range and speed, all surpass WiFi, the highest access rate is 70Mbps, and Signal transmissions radius can reach 50km.Because WiMax technical patent obtained by the U.S., therefore using the wireless radio frequency modules of WiMax patent and terminal by paying the patent fee of great number, having very large restriction to the marketization.Following table compares from several direction wireless radio-frequency.
Thus, according to transmission rate size, energy consumption height, networking networking feature, radio scan range size, wireless module cost performance, ZigBee technology is with its low-power consumption, low cost, short time-delay, high power capacity and exempt from agreement patent fee, selecting ZigBee technology as the wireless communication means of Node station, is the Main Basis of interior joint machine wireless radio frequency modules type selecting of the present invention.
Summary of the invention
Technical problem to be solved by this invention is defect for background technology and deficiency, propose a kind of newly be adapted within the scope of 3km, Node station quantity is under the group mobility scene between 2 ~ 26 (optimal number), the node locating in group's mobile communication system and topological data update method.
The present invention for solving the problems of the technologies described above, by the following technical solutions:
Node locating in one population mobile communication system and topological update method, comprising: trusted node registration step, adjacent sighting distance node orientation calculation procedure, the preferential topological establishment step of ceiling capacity in group; Specific as follows:
Trusted node registration step in A, group, specific as follows:
Steps A 1, all Node station devices in group's mobile communication system are concentrated in wireless signal coverage, then initializing set is carried out to the function of Node station device; All Node station devices all have two radio-frequency (RF) receiving and transmission module;
Steps A 2, in all Node station devices, set Node station as host node machine, other Node station as group members;
Steps A 3, by group members Node station to host node machine send key request, host node machine receive request and random selecting cipher key scheme, then multicast sends to each group members Node station, and each group members Node station carries out confirmation of receipt;
B, adjacent sighting distance node orientation calculation procedure, specific as follows:
B1, when between A Node station and adjacent B Node station, sighting distance is unobstructed, the step of range finding and location is as follows:
Step B1.1, simultaneously send distance measurement request signal to adjacent B Node station respectively by two radio-frequency modules of A Node station, namely the first radio-frequency module of A Node station sends distance measurement request signal respectively to two radio-frequency modules of adjacent B Node station, and the second radio-frequency module of A Node station sends distance measurement request signal respectively to two radio-frequency modules of adjacent B Node station simultaneously;
Two radio-frequency modules of step B1.2, adjacent B Node station are respectively simultaneously to two radio-frequency module inverse signals and the radiation radius information thereof of A Node station, namely the first radio-frequency module of B Node station is respectively to two radio-frequency module inverse signals of A Node station and radiation radius information thereof, and the second radio-frequency module of B Node station is two radio-frequency module inverse signals of A Node station and radiation radius information thereof respectively;
Step B1.3, calculate the distance L1 between A Node station and adjacent B Node station by the delay inequality and radiation radius information two radio-frequency modules of A Node station being received to the inverse signal of the first radio-frequency module of B Node station, and this radio-frequency module of B Node station is relative to the azimuth angle alpha 1 of A Node station;
Step B1.4, calculate the distance L2 between A Node station and adjacent B Node station by the delay inequality and radiation radius information two radio-frequency modules of A Node station being received to the inverse signal of the second radio-frequency module of B Node station, and this radio-frequency module of B Node station is relative to the azimuth angle alpha 2 of A Node station;
If when the error between step B1.5 L1 and L2 is less than 10%, then assert that between A Node station and B Node station, sighting distance is unobstructed; Azimuth information then using L1 and α 1 as the distance between A Node station and B Node station; Otherwise, when the error between L1 and L2 is more than or equal to 10%, go to B2 step;
B2, when between A Node station and adjacent B Node station, blocking appears in sighting distance, take ambiguous location estimation algorithm position and find range, step is as follows:
Step B2.1, A Node station are calculated (L1, α 1) and (L2, α 2) by step B1 method;
Step B2.2, B Node station are calculated (L1 ', α 3) and (L2 ', α 4) by step B1 method;
Step B2.3, B Node station transmit range message (L1 ', α 3) and (L2 ', α 4) to A Node station;
Step B2.4, A Node station utilize described in step B2.1 and step B2.3 four groups of data messages to build minimum quadrilateral area, and the catercorner length estimating minimum quadrangle is as the distance between A Node station and B Node station; Get (α 1+ α 2)/2 as the azimuth of B Node station relative to A Node station simultaneously;
The preferential topological establishment step of C, ceiling capacity, specific as follows:
In step C1, group's mobile communication system, any one Node station adopts step B to after the positioning distance measuring process of adjacent neighbor node machine, the Node station selecting energy maximum sets up connecting relation with it, and this energy maximum node machine not yet sets up straight chain relation with other Node station; If the maximum Node station response of selected energy has accepted the request of other Node station, then send to the Node station that energy takes second place the request of establishing the link;
If what certain Node station of step C2 sent establish the link, request is refused by all neighbor node machines, then this Node station completes increase linking request at random in maximum front 3 Node station of energy;
The Node station of step C3, direct connection adds in other direct connection routing iinformations to self routing table, and the information near energy maximum node machine in other direct connection links of only adding during interpolation, as routing forwarding point, ensures to there will not be route loop thus;
Step C4, each Node station store will forward routing iinformation, and in group, all Node station form the routing tree of an open loop, and the topological link with this routing tree in group carries out data retransmission.
The present invention adopts above technical scheme compared with prior art, has following technique effect:
1, for ensureing the confidence level of radio communication in group when group's interior nodes machine is registered, unregistered Node station is considered to illegal node, will send alert message in group; And registration step can Stochastic choice key code book, only identify cipher key number when group moves and adopts cipher key communication, although non-credit node obtains cipher key number without key code book, correct message cannot be decoded.
2, adjacent sighting distance node orientation computational methods are used for calculating euclidean distance between node pair data and azimuth information by phase difference and covering radius, because this kind of algorithm computational accuracy is high, therefore stationkeeping ability is located considerably beyond GPS, and the computed position precision of conventional wireless Sensor Network (WSN).
3, the preferential topological method for building up of ceiling capacity sets up acyclic topological tree to nodes all in group, a reliable topological tree will be set up and safeguard to each node, unicast data will be sent to specified node by via node in topological tree, and broadcast data will travel through topological tree; The distance between node can be caused to change in group's motion process, the preferential topology of ceiling capacity is set up method and will be safeguarded and upgrade optimum topological link.
4, ambiguous location estimation algorithm is used in group movement process, block because relatively large barrier is provisional and cause topological link down, thus cause the node interrupts of original topological straight chain, thus again searched by the node of nearest chain rupture Nodes and set up new topological tree, and by topological tree by the up-to-date azran information broadcasting of chain rupture node that records to group member.
In sum, the present invention utilizes intelligentized Node station device to form group's mobile communication system, establish the route topological link of group mobility inside, the Node station of intelligence measures distance and the orientation of neighbor node, and by routing broadcast to all group's interior nodes, group's each control message sent of moving process and feedback message can be undertaken reporting or broadcasting by the route of dynamic change, provide splendid resolution policy to the middle efficient communication of advancing of solution future population team.
Accompanying drawing explanation
Fig. 1 is the module map of the Node station device of the two wireless transceiver of band.
Fig. 2 is the operating diagram of group mobile communication system.
Fig. 3 is the mapping relations figure of Zigbee protocol stack and ICP/IP protocol stack.
Trusted node registration process when Fig. 4 is group's mobile initialization.
Fig. 5 is the directed schematic diagram of range finding of adjacent node machine.
Fig. 6 is the range finding directed schematic diagram of the small-scale obstacle thing when blocking Node station.
Fig. 7 adopts the preferential topological link setup schematic diagram of ceiling capacity in mobile group an of group.
Fig. 8 is the directed schematic diagram of range finding that large obstacle blocks Node station.
Fig. 9 rebuilds routing link transmission " loss " node location information schematic diagram.
Figure 10 is the flow chart of the preferential topological method for building up of ceiling capacity.
Embodiment
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:
The scene that the present invention is suitable for comprises group's mobile communication system of 2 ~ 26 Node station compositions, single node machine covers in 100 meters of distances that (Node station strengthening transmitting power can reach 3Km, but energy consumption declines very fast), in the circumference that diameter is 100 meters, Node station quantity, in 2 ~ 26, need not locate the range measurement of group's mobile communication system inside each other between member, the location, direction of (satellite communication minimal time delay is at 270ms) by the satellite GPS that time delay is larger.As group member is quantitatively upgraded between 50 ~ 100, location updating time delay will reach about 1s, and positioning precision also can decline relatively.The operation principle of Node station positioning distance measuring is to adjacent energy maximum node machine, the same less radio-frequency received by Double RF module is calculated phase difference and obtains direction finding and ranging data, the topology of node is set up and is adopted vector energy Circle-Analysis, each node constantly generates and safeguards route forwarding table, is forwarded establish tree-like acyclic topological link by message; The topology information of isolated node machine is set up and the forwarding of unique adjacent node can be set up route, to the node by large obstacle temporary dam by knowing that the information of nodes of locations carries out ambiguous location estimation algorithm acquisition optimum topology and positional information.
Node station device hardware composition in the present invention as shown in Figure 1, comprises the battery feed circuit be connected with charging circuit, digital compass module, adopt Zigbee protocol radio-frequency (RF) receiving and transmission module A and B, memory cell, switch arrays a pair, loud speaker/ear arteries and veins interface, TFT liquid crystal display module.Wherein said power circuit is used for power supply, compass module provides north-south orientation data accurately by I2C interface to MCU, described radio-frequency (RF) receiving and transmission module A is connected with B and MCU symmetry, and the distance H between the antenna of two radio-frequency modules is fixed value is 0.16 meter, described TFT liquid crystal display module is connected with MCU.
Wherein, MCU adopts MSP430F model single-chip microcomputer, it all normally can work between extremely low operating voltage 1.8 ~ 3.6V, under activation Active pattern, operating current is 280uA only, there are 3 clock signals MSP430 single-chip microcomputer inside, and it has abundant peripheral interface, comprises standard serial port, SPI interface, I
2c interface etc.
MCU module is the core of Node station device, control flow mainly comprises apparatus for initializing, data are processed and calculates, give wireless radio frequency modules A and B and carry out transmission probing signal, also to process the data message that wireless radio frequency modules A and B receives simultaneously, and store data on SRAM according to after the calculation process of data, notify that LCD MODULE carries out renewal group positional information simultaneously, can by put outside loud speaker or by ear arteries and veins interface notification group member warning information to group's abnormal conditions.
The transceiver module of less radio-frequency Zigbee protocol is the sensitive detection feelers of two of Node station of the present invention, on printing PCB circuit, have employed CC2430 chip and add that peripheral circuit forms jointly, CC2430 is real System on Chip/SoC (SOC) CMOS solution.This solution can improve performance and the 2.4GHz ISM wave band met based on Zigbee is applied low cost, the requirement of low-power consumption.It is in conjunction with high-performance 2.4GHz DSSS (direct sequence spread spectrum) radio-frequency (RF) transceiver core and small and exquisite efficient 8051 controllers of technical grade, CC2430 is owing to being that wireless SOC designs, its inside has been integrated with a large amount of necessary circuit, adopts less peripheral circuit namely to realize the transmission-receiving function of signal.
The composition of table 1Zigbee wireless channel
Node station device have employed one pole unbalanced antenna, in order to optimize wireless receiving sensitivity behaviour, employs balun, and balun may operate in and uses the independent inductor of low cost and the occasion of capacitor.
Fig. 2 is the scene of typical group's mobile communication system work, namely A is had, B, C, the group that D tetra-Node station form jointly, wherein A is head point machine, this group is direction motion northeastward under the leading of A, each Node station all can know accurate location and the liquid crystal display of other Node station, and adjust respective movement locus according to the direction of motion of head point machine, wherein C Node station was blocked by barrier in some motion moment, and its more specific location information and associated disorders thing size information will be estimated and be presented in LCDs.
Due to the group internal communication characteristic of group communication system, i.e. member's internal authorization communication feature, and the maximum feature of radio communication disperses broadcast-type, therefore all wireless signal overlay areas all can indicate traditional ICP/IP protocol stack and the corresponding relation of Zigbee protocol stack by Fig. 3, the wherein wireless collision Access Layer of data link layer and Zigbee protocol, the IEEE802.15.4 standard adopted, and the network layer of encryption can prevent the invasion Node station legal person that disguises oneself as from entering group.
14 physical layer basic parameters and 35 media access control layer basic parameters are defined in IEEE 802.15.4, be total up to 49, in IEEE 802.15.4, define two kinds of devices: global function device (FFD) and simplify function element (RFD).To full-function device, require that it supports 49 all basic parameters.And to simplifying function element, only require that when minimal configuration it supports 38 basic parameters.The acquisition of these basic parameters is that Node station device carries out the most important foundation of data calculating to the wireless signal received.
The present invention mainly introduces node locating based on this group of mobile communication system and topological update method, comprise the concrete methods of realizing of group's mobile communication of above-mentioned employing Node station device composition, mainly comprise: trusted node register method in group, adjacent node orientation computational methods, the preferential topological method for building up of ceiling capacity, ambiguous location estimation algorithm and collaborative message delivery method etc.Main method specific implementation step is as follows:
Trusted node register method in A initialization and group:
The initialization of A1 group member:
The Node station device of A1.1 some concentrates in the wireless signal coverage within diameter 5m, carries out initializing set by user to the function of Node station.
A1.2 group member setup of attribute, comprises the setting of head point machine, and the group leader in user's designated group mobile communication system, by arranging switch, is set to Master pattern; Other group members Node station be set to Slave pattern; Each member can revise the address of oneself personalization, and such as " John " or " Mary ", by the identification of the user in liquid crystal display.
The setting of other attributes of A1.3 Node station, for ensureing the disguise in group mobility, or saves energy adopts least energy mode of operation, each Node station can be arranged to single wireless radio frequency modules operational mode, whether voice message pattern, whether whether liquid crystal display mode, start compass mode etc.
A2, trusted node registration process:
A2.1 trusted node registration process, as shown in Figure 4, the head point machine being set to Master pattern is broadcasted, and the Node station receiving message replys acknowledge message, with the machine ID in acknowledge message.
A2.2 Node station sends key request, and head point machine receives, random selecting cipher key scheme, and multicast (the Node station ID according to receiving) sends to Node station, only sends cipher key number and key code book, replys acknowledge message after Node station correctly receives.
A2.3 head point machine can send clean culture instruction, switches Master identity to specified node machine, and after handover success, head point machine carries out multicast and sends notice message.
A2.4 head point machine can send multicast instruction, presets Vice Master identity to specified node machine, is confirmed by specified node machine.
A2.5 head point machine can send clean culture instruction to specified node machine, and command node machine changes speed, direction etc.; Node station also can send clean culture or multicast message to group.
B adjacent sighting distance node orientation computational methods:
Node station orientation range finding in the unobstructed scope of B1 sighting distance, as shown in Figure 5:
B1.1 node A and B all meets wireless signal and covers mutually, and accessible in sighting distance, meets some cycles, and two radio-frequency module radio frequencies 1 of node A and radio frequency 2, send distance measurement request signal to adjacent node B.
B1.2 node A receives the radiation radius information (radius of a circle determined by present energy incidentally in confirmation signal) of the radio frequency 3 of Node station B, confirmation signal that radio frequency 4 sends respectively and B respectively.
B1.3 can calculate the distance between A and B by information such as the radiation radius of the delay inequality of signal received two radio-frequency modules of A and the B returned, the priority of return time delay can be used for direction of measurement angle information, and get D (3,1) and the center angle of D (4.1) as the direction of Node station B, by D (3,1) be issued to the processing delay that D (4,1) return time deducts fixing Node station B, be multiplied by light velocity 3*10
8which orientation of accurate distance L2 and B at A can be calculated.
The data message of the orientation of the B of storage and positional information and current acquisition compares by B1.4A, and if any renewal, then multicast sends to all members of group.
B2 the small-scale obstacle thing blocks range finding orientation during Node station, as shown in Figure 6.
Short time can there is barrier in B2.1, theoretical according to electromagnetic wave diffraction, electromagnetism wave energy diffraction crosses the barrier close to own wavelength between group's moving movement process interior joint.
Only receive B signal around B2.2 Node station A, when using B1(B1.1 ~ B1.4) L1 and L2 that draw of method between error reach more than 10%, judge to have occurred the small-scale obstacle thing between A and B.
B2.2 carries out direction finding and ranging by two radio frequency points of Node station respectively to Diffraction Point M and N point, physics D (M can be calculated, N) approximate size, error range is 0.3 meter, due to D (M, N) length obviously exceedes Node station radio-frequency antenna distance H, be then judged to be barrier further but not Node station B.
The same B node of B2.3 carries out orientation range finding by step B2.2, obtains the node A distance and bearing angular data relative to Node B, i.e. L1 ', L2 ', L3 ', L4 ' i.e. the azimuth of correspondence;
Two length be connected in B2.4B sensor selection problem (L1 ', L2 ', L3 ', L4 ') and minimum data pass to Node station A, as the L1 ' in Fig. 6 and L2 ';
B2.5A Node station selects two length connected in (L1, L2, L3, L4) and minimum data equally, as the L1 in Fig. 6, L2 and corresponding azimuth, adds the data obtained in step B2.4, the minimum quadrangle of common composition;
B2.6 by the quadrangle L1 built, L2, L1 ', L2 ' and azimuth angle alpha 1 and α 2 data, can calculate out quadrangle catercorner length, as the distance between A Node station and B Node station, formula is as follows:
And B carries out fuzzy estimate relative to the azimuth of A with (α 1+ α 2)/2.
B3 large obstacle blocks location and the distance-finding method of scene lower node:
B3.1 method 1: when large obstacle blocks, default node is lost, temporarily maintained original data, until this movement locus surmounts large obstacle again access group communication within 5 seconds.
B3.2 method 2: for exceeding 5 seconds and also without obtaining the information of up-to-date access, to indirect calculation be taked and be forwarded by message to obtain, the azimuth-range information obtained by the topological link transmission nearest node set up, carries out ambiguous location estimation algorithm (see D), thus upgrades group's positional information.
The preferential topology of C ceiling capacity is set up and maintaining method, entirety as shown in Figure 10:
C1 group interior nodes needs the routing tree of a maintenance open loop, namely must set up a spanning tree without loop back path (Spanning Tree), and each Node station stores will forward routing iinformation.
C2 is as shown in Fig. 7-(a), certain group mobile group comprises (A ~ J) totally 10 movement nodes, any one node is by after the positioning distance measuring process to all adjacent neighbor node machines, select energy maximum and not yet set up the node of straight chain relation with other nodes, send link setup request, after receiving the confirmation response, set up connecting relation, add mutually counter-party information and enter local routing table.As A and B signal in Fig. 7, A, B, C have the covering radius R of different size according to the difference of instant energy
a, R
b, R
c, wherein A covers maximum, therefore A-B link setup.
If refused after sending link setup request in C3 C2, or do not receive acknowledge message in timing, this node temporarily becomes isolated node, as G, J in Fig. 7-(a).
C4 isolated node continues to select to send " link setup request " to the isolated node taken second place from trend energy, thus as far as possible by all isolated node composition bright spot chains.
If the link setup request that certain node of C5 sends is refused (worst situation) by all neighbours' isolated nodes, then complete " chain request " in random front 3 nodes maximum at energy, as the G in Fig. 7-(b) adds H-I, J adds E-F.
The straight chain of the C6 sensor selection problem nearest (namely energy is maximum) of straight chain, in other the other side's straight chain routing iinformations to self routing table.
C7 only adds information near energy maximum node in other direct connection links as routing forwarding point when adding, and this newly-increased route does not exist in current routing table, repeats step C6, ensure that thus and there will not be route loop, as Fig. 7-(c).
D ambiguous location estimation algorithm:
Large obstacle can be brought in environment in D1 group movement to block, cause the situation that between the nearlyer Node station of partial distance, signal is lost completely, the route causing ceiling capacity precedence method to set up thus is interrupted and ranging localization failure.
D2 can give tacit consent to original position as display data after of short duration 5 seconds, the renewal of period wait latest position data.
The D3.1 node that is blocked restarts ceiling capacity precedence method and adds nearest topological chain, and obtains directed ranging information accurately by nearest unobstructed node.
D3.2 as shown in Figure 8, by the transmission by Node station B, know azimuth and the distance of Node station C, carry out the apparent azimuth angle and distance that fuzzy location algorithm estimates C thus by Node station A.
If D4.1 group advances with some speed V, as shown in Fig. 9-(a), large obstacle has been there is between moving process interior joint, not only completely obscures the ceiling capacity principle between node F and I, and having cut off the route chain originally jointly safeguarded by F and I, I has moved to the position of I from original I ' position, notified to be cut remaining link nodes H and G by I, perform ceiling capacity topology link constructing method by H-G etc., and find D to re-establish topological link by H.
Orientation and the range information of D4.2, node I are measured by H, and multicast to other nodes, as shown in the direction of arrow in Fig. 9-(b) by new route chain.
Without loss of generality, ranging information is updated to all group's interior nodes by topological circuit hop-by-hop to D4.3, and each node shows up-to-date group positional information.
E works in coordination with message delivery method:
E1, can transmit various message in group mobility process, and message is set up by C1 ~ C4 and the routing tree safeguarded transmits.
E2 message categories comprises, and advances, and accelerates, direction, slows down, close, scatters, inquiry password, expressly, and ciphertext communication etc. message.
The form of E3 message is by the machine ID(1 byte)+cipher key number/instruction type (1 byte)+command content (elongated) forms, different data length forms is defined to different instruction, represent expressly when wherein cipher key number is 0, be 1,2, show the dissimilar key code book encryption of selecting when 3, the different value as >3 represents different instruction types, and command content is variable according to different instruction Type Length.
The test of group's mobile communication system shows, at 2 ~ 26 Node station, group range is (sighting distance is unobstructed) within 100 meters, translational speed at 5 kilometers/hour (walking speed about 1.5 meter per seconds) to 20 kilometers/hour (marchings speed), location, direction worst error is 1 degree, range error is 2 meters to the maximum, and the positioning information update time is 150 milliseconds.
The test of group's mobile communication system shows, at group member 50 ~ 100 Node station, the positioning information update time will be increased to 500 milliseconds ~ 1 second.
The test of group's mobile communication system shows, be arranged on 2 ~ 26 Node station of fleet member, adjacent node machine ultimate range is 100 meters, head node machine movement velocity is under 100 kilometers/hour of scenes, range direction position error is 0, range error orientates 5 meters as, and the positioned update time is 2 seconds to the maximum (team's head is to tail of the queue passing time).
Thus, the invention solves under group's mobile context, better positioning distance measuring information can be got, especially to the disguised group such as tunnel, bridge fast moving communication system, there is higher practical value, if be the composition configuration GPS module in group's mobile communication system, the tip orientation range of gps system on ground will be expanded greatly, there is the army and the people's multipurpose be worth, ceiling capacity link setup method in invention, the node location computing method in different motion scene is that group mobility communication system provides good solution.
Claims (1)
1. the node locating in a population mobile communication system and topological update method, is characterized in that, comprising: trusted node registration step, adjacent sighting distance node orientation calculation procedure, the preferential topological establishment step of ceiling capacity in group; Specific as follows:
Trusted node registration step in A, group, specific as follows:
Steps A 1, all Node station devices in group's mobile communication system are concentrated in wireless signal coverage, then initializing set is carried out to the function of Node station device; All Node station devices all have two radio-frequency (RF) receiving and transmission module;
Steps A 2, in all Node station devices, set Node station as host node machine, other Node station as group members;
Steps A 3, by group members Node station to host node machine send key request, host node machine receive request and random selecting cipher key scheme, then multicast sends to each group members Node station, and each group members Node station carries out confirmation of receipt;
B, adjacent sighting distance node orientation calculation procedure, specific as follows:
B1, when between A Node station and adjacent B Node station, sighting distance is unobstructed, the step of range finding and location is as follows:
Step B1.1, simultaneously send distance measurement request signal to adjacent B Node station respectively by two radio-frequency modules of A Node station, namely the first radio-frequency module of A Node station sends distance measurement request signal respectively to two radio-frequency modules of adjacent B Node station, and the second radio-frequency module of A Node station sends distance measurement request signal respectively to two radio-frequency modules of adjacent B Node station simultaneously;
Two radio-frequency modules of step B1.2, adjacent B Node station are respectively simultaneously to two radio-frequency module inverse signals and the radiation radius information thereof of A Node station, namely the first radio-frequency module of B Node station is respectively to two radio-frequency module inverse signals of A Node station and radiation radius information thereof, and the second radio-frequency module of B Node station is respectively to two radio-frequency module inverse signals of A Node station and radiation radius information thereof;
Step B1.3, calculate the distance L1 between A Node station and adjacent B Node station by the delay inequality and radiation radius information two radio-frequency modules of A Node station being received to the inverse signal of the first radio-frequency module of B Node station, and this radio-frequency module of B Node station is relative to the azimuth of A Node station
;
Step B1.4, calculate the distance L2 between A Node station and adjacent B Node station by the delay inequality and radiation radius information two radio-frequency modules of A Node station being received to the inverse signal of the second radio-frequency module of B Node station, and this radio-frequency module of B Node station is relative to the azimuth of A Node station
;
If when the error between step B1.5 L1 and L2 is less than 10%, then assert that between A Node station and B Node station, sighting distance is unobstructed; Then with L1 and
as the azimuth information of the distance between A Node station and B Node station; Otherwise, when the error between L1 and L2 is more than or equal to 10%, go to B2 step;
B2, when between A Node station and adjacent B Node station, sighting distance occurs that the small-scale obstacle thing blocks, take ambiguous location estimation algorithm position and find range, step is as follows:
Step B2.1, A Node station by step B1 method calculate (L1,
) and (L2,
);
Step B2.2, B Node station by step B1 method calculate (L1 ',
1 ') and (L2 ',
2 ');
Step B2.3, B Node station to A Node station transmit range message (L1 ',
1 ') and (L2 ',
2 ');
Step B2.4, A Node station utilize described in step B2.1 and step B2.3 four groups of data messages to build minimum quadrilateral area, and the catercorner length estimating minimum quadrangle is as the distance between A Node station and B Node station; Get simultaneously
as the azimuth of B Node station relative to A Node station;
B3, between A Node station and adjacent B Node station, sighting distance occurs that large obstacle blocks location and the distance-finding method of scene lower node:
B3.1 method 1: when large obstacle blocks, default node is lost, temporarily maintained original data, until this joint movements track surmounts large obstacle again access group communication within 5 seconds;
B3.2 method 2: for exceeding 5 seconds and also without obtaining the information of up-to-date access, to indirect calculation be taked and be forwarded by message to obtain, the azimuth-range information obtained by the topological link transmission nearest node set up, carries out ambiguous location estimation algorithm, thus upgrades group's positional information;
The preferential topological establishment step of C, ceiling capacity, specific as follows:
In step C1, group's mobile communication system, any one Node station adopts step B to after the positioning distance measuring process of adjacent neighbor node machine, the Node station selecting energy maximum sets up connecting relation with it, and this energy maximum node machine not yet sets up straight chain relation with other Node station; If the maximum Node station response of selected energy has accepted the request of other Node station, then send to the Node station that energy takes second place the request of establishing the link;
If what certain Node station of step C2 sent establish the link, request is refused by all neighbor node machines, then this Node station completes increase linking request at random in maximum front 3 Node station of energy;
The Node station of step C3, direct connection adds in other direct connection routing iinformations to self routing table, only add the information near energy maximum node machine in other direct connection links during interpolation and using this energy maximum node machine as routing forwarding point, ensure thus to there will not be route loop;
Step C4, each Node station store and forward routing iinformation, and in group, all Node station form the routing tree of an open loop, and the topological link with this routing tree in group carries out data retransmission.
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| CN104734372B (en) * | 2015-03-16 | 2017-02-22 | 河海大学常州校区 | Energy adaptive charging method combined with geographical location routing in WRSNs |
| US10033760B2 (en) | 2016-05-27 | 2018-07-24 | Apple Inc. | Secure wireless ranging |
| CN106358149B (en) * | 2016-08-22 | 2021-03-23 | 温州大学 | Dynamic particle swarm monitoring method based on wireless network ranging |
| CN109429169A (en) * | 2017-08-21 | 2019-03-05 | 西安中兴新软件有限责任公司 | A kind of method, apparatus that realizing wireless location and narrowband internet-of-things terminal |
| CN109560944B (en) * | 2017-09-25 | 2020-06-16 | 中国科学院声学研究所 | Network node organization method supporting dynamic root node bidirectional switching |
| CN111292538B (en) * | 2020-02-07 | 2021-02-26 | 北京大学 | Malicious user detection method based on residual mean value in vehicle cooperation dynamic tracking |
| CN115550238B (en) * | 2022-08-30 | 2024-01-05 | 中盈优创资讯科技有限公司 | Topology realization method, device and equipment based on wireless network and IPV6 |
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