CN102665272A - Wireless sensor network positioning method and system based on seed node selection - Google Patents
Wireless sensor network positioning method and system based on seed node selection Download PDFInfo
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Abstract
The invention relates to a wireless sensor network positioning method based on seed node selection, comprising: that first distances between a to-be-positioned node and anchor nodes are acquired; that an anchor node sub-set is selected from the anchor nodes, and coordinates of the to-be-positioned node and second distances between the to-be-positioned node and every anchor node in the anchor node sub-set are calculated according to a positioning coordinate of the anchor nodes and first distances between each anchor node in the anchor node sub-set and the to-be-positioned node; that deviation medians of the first distances and the second distances are calculated, and a minimum value of the medians and a corresponding coordinate of the to-be-positioned node are collected, wherein the coordinate of the to-be-positioned node is calculated from an anchor node set corresponding to the minimum value; that anchor nodes satisfying requirements are selected to compose a target anchor node sub-set; and that a final position coordinate of the to-be-positioned node is calculated. By carrying out calculation on each anchor node sub-set, the method selects the anchor node sub-set with the minimum deviation and rejects measuring data with large errors, thereby effectively improving accuracy of positioning of the to-be-positioned node.
Description
Technical field
The present invention relates to wireless communication field, relate in particular to a kind of wireless sensor network locating method and system.
Background technology
Wireless sensor network (Wireless Sensor Network; WSN) wireless network that to be a large amount of static or mobile transducer constitute with the mode of self-organizing and multi-hop; Its objective is that cooperation ground perception, collection, processing and transmission network cover the monitoring information of perceptive object in the geographic area, and report to the user.
Wireless sensor network is that a kind of brand-new information is obtained and treatment technology; The information of various environment of monitoring in real time, perception and collection or detected object; Have characteristics such as flexibility, fault-tolerance, high perception, low expense and quick layout, be widely used in fields such as national defense and military, environmental monitoring and forecast, health care, space exploration.
A lot of application-specific in the wireless sensor network all depend on the geographical location information of sensor node or target object.Where sensor node must clear and definite self-position just can be described in detail in or particular event has taken place in the zone, realizes location and tracking to external object.
Existing wireless sensor network locating method generally utilizes the intensity level of radio signal to position; There is the low problem of positioning accuracy; And to improve positioning accuracy; The simplest wireless sensor node localization method is exactly for the node in the wireless sensor network GPS position indicator to be installed all, but because in the practical application, the quantity that is deployed in a wireless sensor node in the wireless sensor network is very huge; So this method has increased the equipment complexity of wireless sensor node, increased the cost that utilizes wireless sensor network to monitor greatly.Therefore, also there be not a kind of method and related system of under the prerequisite that does not increase the wireless sensor node equipment complexity, realizing hi-Fix at present.
Therefore, to above-mentioned technical problem, be necessary to provide a kind of have structure improved wireless sensor network locating method and system, to overcome above-mentioned defective.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of wireless sensor network locating method and system, be used to be implemented under the prerequisite that does not increase the wireless sensor node equipment complexity, improve the positioning accuracy of wireless sensor network.
For realizing above-mentioned purpose, the present invention provides following technical scheme:
An a kind of wireless sensor network locating method of selecting based on kind of child node, comprise in the said wireless sensor network location aware in order to the anchor node that sends wireless signal and the node to be positioned of position the unknown, it comprises:
1) wireless signal and the wireless signal attenuation model that receive according to node to be positioned; Obtain said node to be positioned and send first distance between the anchor node of said wireless signal, said wireless signal comprises the transmitting power of the position coordinates and the said wireless signal of anchor node;
2) from the corresponding anchor node of wireless signal that receives with said node to be positioned, select of the anchor node combination of the anchor node of predetermined number with the structure predetermined number;
3) anchor node of choosing in the anchor node combination makes up, and then each anchor knot combination is calculated, and forms target anchor node group thereby filter out satisfactory anchor node;
4) calculate the final position coordinate of said node to be positioned according to the position coordinates of anchor node in the combination of said target anchor node.
Preferably, in above-mentioned wireless sensor network locating method, also comprise before the said step 1): the control anchor node sends wireless signal to said node to be positioned.
Preferably, in above-mentioned wireless sensor network locating method, said step 3) specifically comprises:
31) in the combination of said anchor node, contain N anchor node, select in the said anchor node combination every N-k anchor node to be set to that an anchor node is sub to be made up, wherein k is the preset value less than N, chooses M combination;
32), obtain to make up the initial position coordinate of corresponding said node to be positioned, always total M with said each anchor node according to the position coordinates of said anchor node and first distance of said anchor node and said node to be positioned;
33), calculate the second distance of said node to be positioned and each anchor node according to the initial position coordinate of the pairing said node to be positioned of each anchor node in each anchor node combination;
34) calculate with said each anchor node combination in the deviate of pairing first distance of each anchor node and second distance, and get the representative deviate of the median of deviate as said each anchor node combination;
35) use the minimum value of said representative deviate to obtain power; And the coordinate that the minimum anchor node combination of replacement table deviate is obtained is as tentative estimated coordinates; Use this coordinate to obtain the second distance of said node undetermined and all anchor nodes once more then, and calculate the deviate between first distance with corresponding anchor node, judge that through power the pairing deviate of each anchor node is whether within allowed band; If do not exist; Cast out the data of this anchor node, if, this anchor node data then kept;
36) according to the anchor node quantity that is kept a new anchor node combination is set, and makes this anchor node combination execution in step 32).
Preferably; In above-mentioned wireless sensor network locating method; Said wireless signal attenuation model is:
wherein; P by the respective anchors node the transmitting power of emission wireless signal; Q is the radio signal power of the received respective anchors node of node to be positioned, and d is first distance of node to be positioned and respective anchors node, and a is the signal attenuation factor.
For realizing above-mentioned purpose, the present invention also provides following technical scheme:
A kind of wireless sensor network positioning system of selecting based on kind of child node, said wireless sensor network comprise the unknown node to be positioned of anchor node and position in order to send wireless signal of location aware, and it comprises:
First computing module is used for the wireless signal and the wireless signal attenuation model that receive according to node to be positioned, obtains first distance between the anchor node of said node to be positioned and the said wireless signal of transmission;
Anchor node composite construction module is used to select anchor node, and structure contains the anchor node combination of predetermined number;
Target anchor node combination acquisition module; Be used for according to the combination of said anchor node composite construction anchor node; And the median of deviate of calculating the combination of each anchor node is as the representative deviate of this anchor node combination; Obtain minimum representative deviate and power, and select to represent the son of deviation minimum to make up the tentative estimated coordinates of being obtained of coordinate conduct, calculate the deviate of each anchor node; The right to use judges whether to keep the data of known anchor node for foundation, thereby obtains the target anchor node combination of the anchor node composition of deviate in allowed band of all anchor nodes;
Second computing module is used for the final position coordinate according to the said node to be positioned of the sub-combination calculation of said anchor node.
Preferably, in above-mentioned wireless sensor network positioning system, said target anchor node combination acquisition module comprises:
The unit is set, is used to be provided with the anchor node combination that contains the predetermined number anchor node;
Initial position coordinate Calculation unit is used for reaching and corresponding first distance of each anchor node according to the position coordinates of said anchor node, obtains the corresponding initial position coordinate of each anchor node in said node to be positioned and said each anchor node combination;
The second distance computing unit is used for the position coordinates that obtains according to initial position coordinate Calculation unit, calculates the second distance that obtains said node to be positioned and each anchor node;
Deviate median acquiring unit is used to calculate coordinate that each anchor node combination obtained and said each anchor node corresponding first median apart from the deviate of, second distance;
Tentative estimated coordinates acquiring unit, minimum anchor node of median of choosing deviate makes up the tentative estimated coordinates of being obtained of coordinate conduct;
Final deviate acquiring unit uses the tentative pairing second distance of estimated coordinates, calculates the deviate between first distance with corresponding anchor node;
Judging unit is used to judge that said each anchor node deviate is whether in allowed band.
Can find out that from technique scheme the wireless sensor network locating method and the system selected based on kind of child node of the embodiment of the invention consider in the wireless sensor network in the process of confirming node location to be positioned, to comprise the bigger measurement data of error; Therefore; In position fixing process, after the wireless signal of launching according to anchor node calculates the distance between said node to be positioned and each anchor node, be divided into the combination of a plurality of anchor nodes; And then to each anchor knot combination is calculated; Thereby filter out the minimum anchor node combination of deviate, and can reject the bigger measurement data of error effectively, and then effectively improve accuracy said node locating to be positioned; And; Said method is on the basis of original radio network device, to realize, on wireless sensor node, does not increase additional apparatus, has reduced the use cost of radio net.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art; To do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below; Obviously, the accompanying drawing relevant of the present invention in describing below only is some embodiments of the present invention, for those of ordinary skills; Under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the wireless sensor network locating method flow chart of the embodiment of the invention;
Fig. 2 is the sketch map of the wireless sensor network positioning system of the embodiment of the invention;
Fig. 3 is the sketch map of the target anchor node combination acquisition module in the wireless sensor network positioning system of the embodiment of the invention;
Fig. 4 is the present invention when working as r=0.2, asks the error of 20 node coordinates undetermined;
Fig. 5 is the present invention when working as r=0.1, asks the error of 20 node coordinates undetermined;
Fig. 6 is the present invention when working as r=0.06, asks the error of 20 node coordinates undetermined;
Fig. 7 is the present invention when working as r=0.02, asks the error of 20 node coordinates undetermined.
Embodiment
The invention discloses a kind of wireless sensor network locating method and navigation system of selecting based on kind of child node; After the wireless signal that this localization method and navigation system are launched according to anchor node calculates the distance between said node to be positioned and each anchor node; Be divided into the combination of a plurality of anchor node; And then to each anchor knot combination is calculated; Thereby filter out the minimum anchor node combination of deviate, and can reject the bigger measurement data of error effectively, and then effectively improve accuracy said node locating to be positioned; There is problem when utilizing prior art to calculate node to be positioned than mistake through using this localization method and navigation system, can solving.
To combine the accompanying drawing in the embodiment of the invention below, the technical scheme in the embodiment of the invention is carried out detailed description, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, the every other embodiment that those of ordinary skills are obtained under the prerequisite of not making creative work belongs to the scope that the present invention protects.
As shown in Figure 1, wireless sensor network comprises the unknown node to be positioned of anchor node and position in order to send wireless signal of location aware, and the wireless sensor network locating method of selecting based on kind of child node provided by the invention comprises:
S1: the wireless signal and the wireless signal attenuation model that receive according to node to be positioned obtain first distance between the anchor node of said node to be positioned and the said wireless signal of transmission;
S2: from the corresponding anchor node of wireless signal that receives with said node to be positioned, select of the anchor node combination of the anchor node of predetermined number with the structure predetermined number;
S3: choose the anchor node combination in the anchor node combination, and then each anchor knot combination is calculated, form the combination of target anchor node thereby filter out satisfactory anchor node;
S4: the final position coordinate that calculates said node to be positioned according to the position coordinates of anchor node in the combination of said target anchor node.
In above-mentioned steps S1, wireless signal comprises the transmitting power of the position coordinates and the said wireless signal of anchor node.
In above-mentioned steps S1, the formula of wireless signal attenuation model is:
Wherein, p by the respective anchors node the transmitting power of emission wireless signal, q is the radio signal power of the received respective anchors node of node to be positioned, d is the distance of node to be positioned and respective anchors node, a is the signal attenuation factor.In practical application, the value of a is different with environmental change, and a is set to 2 generally speaking, but according to the application scenarios of reality, also can select other values as the signal attenuation factor.
In above-mentioned steps S2, under complex electromagnetic environments influence, when said anchor node when said node to be positioned sends wireless signal; Owing to receive the influence of environment, and reasons such as the multipath fadings of signal, shadow fading, be not that the wireless signal that sends of all anchor nodes can both be received by node to be positioned; What said node to be positioned received is the wireless signal that a part of anchor node sends, therefore, and when the combination of structure anchor node; The anchor node of choosing can be by the anchor node that node to be positioned received for the wireless signal of its transmission, simultaneously, and for the positioning result that makes node to be positioned can be more accurate; The anchor node of choosing in the combination of said anchor node be distributed in as far as possible said node to be positioned around, in order to avoid the anchor node of choosing concentrates on a zone, thereby influence result of calculation; Simultaneously; The said anchor node of choosing is distributed in the suitable distance, in order to avoid the said node to be positioned of distance is too far away, causes the excessive attenuation of wireless signal in transmission course.
Above-mentioned steps S3 more specifically say for: choose the anchor node combination in the anchor node combination; And according to each anchor node and first distance of said node to be positioned and the position coordinates of each anchor node in each anchor node combination; Calculate the coordinate of node to be positioned, calculate node to be positioned and the pairing second distance of said each anchor node and corresponding first distance and the deviate of second distance, and the median of getting deviate is as the sub representative deviate that makes up of said each anchor node with this coordinate; Use the minimum value of said representative deviate to obtain power; And the coordinate that the minimum anchor node combination of replacement table deviate is obtained uses this coordinate to obtain the second distance of said node undetermined and all anchor nodes once more as tentative estimated coordinates then, and calculate with corresponding anchor node first apart between deviate; Judge that through power the pairing deviate of each anchor node is whether within allowed band; If do not exist, cast out the data of this anchor node, if; Then keep this anchor node data, select satisfactory anchor node to form the combination of target anchor node.
In above-mentioned steps S4, calculate the final position coordinate time of said node to be positioned according to the position coordinates of anchor node in the combination of said target anchor node, the account form of use can adopt the mode of least square method, or takes other modes.
Further, in the practical position process, before above-mentioned steps S1, also comprise: the control anchor node sends wireless signal to said node to be positioned.
Above-mentioned steps S3 specifically comprises:
S31: in the combination of said anchor node, contain N anchor node, select in the said anchor node combination every N-k anchor node to be set to that an anchor node is sub to be made up, wherein k is the preset value less than N, chooses M combination;
S32:, obtain to make up the initial position coordinate of corresponding said node to be positioned, always total M with said each anchor node according to the position coordinates of said anchor node and first distance of said anchor node and said node to be positioned;
S33:, calculate the second distance of said node to be positioned and each anchor node according to the initial position coordinate of the pairing said node to be positioned of each anchor node in each anchor node combination;
S34: calculate with said each anchor node combination in the deviate of pairing first distance of each anchor node and second distance, and get the representative deviate of the median of deviate as said each anchor node combination;
S35: use the minimum value of said representative deviate to obtain power; And the coordinate that the minimum anchor node combination of replacement table deviate is obtained is as tentative estimated coordinates; Use this coordinate to obtain the second distance of said node undetermined and all anchor nodes once more then, and calculate the deviate between first distance with corresponding anchor node, judge that through power the pairing deviate of each anchor node is whether within allowed band; If do not exist; Cast out the data of this anchor node, if, this anchor node data then kept;
But only produce a target location coordinate S36: according to the anchor node quantity that is kept the combination of new anchor node is set, and makes this anchor node combination execution in step 32).
In above-mentioned steps S31, suppose in the combination of said anchor node that it is that corresponding first distance of said anchor node of e exists than mistake with actual value that percentage is arranged; P＞=0.99 can obtain according to probability P and obtain that one group of first distance conforms to actual range or the value of error hour M and k, and every k anchor node is set to the combination of anchor node, if item will be existed in the combination of anchor node; Conform to actual value with corresponding first distance of said anchor node or error less; Therefore, through the mode of anchor node combination is set, can weed out misdata; In addition, wherein the value of k can be for more than or equal to 3 preset value;
In above-mentioned steps S32, in the process of the position coordinates that calculates said node to be positioned, can adopt the mode of least square method to calculate, but also can adopt other modes.
Above-mentioned steps S34 is specially: calculate the deviate of representing each anchor node combination, obtain first distance of the anchor node corresponding with initial coordinate values and the deviate of second distance, wherein first distance is represented with d; If second distance representes with D, and get wherein median, represent the poor of said first distance and second distance with r as the representative deviate of the corresponding anchor node combination of this coordinate figure; Can get said representative deviate is R=med r; Certainly, also can choose other modes and calculate said deviate, for example; Set said deviate and be the absolute value of said first distance and the difference of said second distance, the application does not do qualification.
Above-mentioned steps S35 is specially: select the minimum pairing node coordinate undetermined of anchor node combination of said representative deviate R as tentative estimated coordinates; Get minimum representative deviate R and obtain power w; Use tentative estimated coordinates to obtain the second distance with each anchor node, obtain the deviate of the deviate of first corresponding distance and second distance as final anchor node separately, and according to weigh and parameters u (intensity according to noise is decided; The big more value of noise intensity is more little) judge that aforementioned deviate is whether in allowed band; If do not exist, cast out this anchor node data, if; Keep and form the combination of target anchor node, use least square method or additive method to obtain final node coordinate undetermined.
Below in conjunction with concrete embodiment scheme provided by the present invention is described in detail.
In 100m * 100m monitored area, a plurality of sensor node deployments are in the monitored area, and wherein, s1-s16 is 16 anchor nodes, and these 16 anchor nodes are set to an anchor node combination, are used for follow-up location of treating location node, and us is 1 node to be positioned.The position coordinates of supposing 16 anchor nodes in the anchor node combination is respectively s1 (0,0), s2 (0,10), and s3 (0,20), s4 (0,30), s5 (10; 0), s6 (10,10), s7 (10,20), s8 (10,30), s9 (20,0); S10 (20,10), s11 (20,20), s12 (20,30), s13 (30,0); S14 (30,10), s15 (30,20), s16 (30,30), and suppose that node location coordinate to be positioned is us (15,15).
16 anchor nodes in the said anchor node combination are periodically launched wireless signal, comprise the position coordinates of anchor node in the said wireless signal, are respectively above-mentioned position coordinates s1-s16, and wireless signal transmission power p.Said node to be positioned receives the radio transmission signal of anchor node, then, according to the wireless signal attenuation model, calculates first between anchor node and the node us to be positioned apart from d, wherein, and according to wireless signal attenuation model formula:
Wherein, p by the respective anchors node the transmitting power of emission wireless signal, q is the radio signal power of the received respective anchors node of node to be positioned, d is the distance of node to be positioned and respective anchors node, a is the signal attenuation factor.In practical application, the value of a is different with environmental change.
In this test, decay factor a is made as 2, therefore, is followed successively by through calculating first distance that can obtain node us to be positioned and 16 anchor nodes respectively: d1=22.0407, d2=16.0244; D3=16.4001, d4=21.5766, d5=16.3589, d6=7.7486, d7=7.4429; D8=15.4861, d9=15.9667, d10=7.3526, d11=7.5234, d12=15.9372; D13=21.2987, d14=16.4274, d15=15.8655, d16=20.7826.
At least need three groups of data at this point in explanation location; So we choose 3 anchor nodes at least as one group at this, in this experiment, choose 4 anchor nodes as one group; This is node that we get to occur and lean on too closely and the probability that can not obtain the situation of node coordinate undetermined in order to reduce; This just requires in our anchor node, to have at least 4 data correct or that error is very little, but in reality, considers the computing capability and the algorithm accuracy that requires of anchor node, and we can not calculate all possibly making up; But we must have the data error of at least one node combination less again; Only in this way just can obtain the little node coordinate undetermined of error, we can be so that be combined into the little probability of error greater than 99% at least one groups of nodes, and we just must consider to choose the sub-number of combinations M of suitable anchor node.
In this experiment, choose M=20, so just can stand 30% pollution rate (the bigger shared ratio of error in the anchor node); Wherein noise is followed Gaussian distribution, supposes wherein to have 4 misdatas, i.e. the bigger data of error; And when supposing said misdata position d4, d8, d12,, from 16 anchor nodes, select 4 anchor nodes at random as the combination of anchor node according to said method; Choose 20 groups altogether; Theoretically, these 20 groups the insides have at least one group of data all be correct probability greater than 99.5%, just having one group in 20 groups, not have the probability of d4, d8, these four data of d12 be greater than 99.5%.The situation that is provided with in once of 16 anchor nodes described in experiment combination can see table, and to each above-mentioned anchor node combination, utilizes the method for least square method to calculate the initial position coordinate of node to be positioned respectively, then can obtain the result like following table:
Can know by last table; The tentative estimated coordinates of node coordinate conduct undetermined that the 8th group representative deviate minimum then selects this group to be obtained; Be (15.3717,15.2254), obtain the second distance of node undetermined and known anchor node with this coordinate once more; And calculate the deviate da between the second distance and first distance, the result is following:
| Anchor node number | S1 | S2 | S3 | S4 | S5 | S6 |
| |da|/10^4 | 0.4050 | 0.2112 | 0.3040 | 0.4558 | 0.2137 | 0.2546 |
| Anchor node number | S7 | S8 | S9 | S10 | S11 | S12 |
| |da|/10^4 | 0.2560 | 0.6347 | 0.0534 | 0.3722 | 0.8737 | 0.4546 |
| Anchor node number | S13 | S14 | S15 | S16 | ? | ? |
| |da|/10^4 | 0.1847 | 0.8938 | 0.4777 | 0.0086 | ? | ? |
Pass through the 8th group representative error U8 again; We can use formula: S0=1.4826* (1+5/14) * ((U) ^2) ^0.5 and the numerical value of selecting parameter r; Again through judging || da|/S0|＜r obtains the power of each anchor node, and the power of this anchor node is 1 to principle in order to set up then as if inequality, otherwise is 0.We select r=0.02 (value chosen of r under different environment is different, when noise is big, must choose less value, could guarantee that system's grace can judge more accurately that the anchor node of mistake data are arranged) at this, through the power of calculating each anchor node are:
| Node number | S1 | S2 | S3 | S4 | S5 | S6 | | S8 |
| Power | ||||||||
| 0 | 1 | 1 | 0 | 1 | 1 | 1 | 0 | |
| Node number | S9 | S10 | S11 | S12 | S13 | S14 | S15 | S16 |
| Power | 1 | |
0 | 0 | 1 | 0 | 0 | 1 |
[0082]Then choose weights and be 1 anchor node and be combined into the combination of target anchor node, obtaining final band through this combination, decide the node coordinate value be (15.4382,15.2405).
Then, we look at the influence of different r values to system through experiment.We are through choosing r=0.2 respectively, and r=0.1, r=0.06, r=0.02 ask node coordinate undetermined 20 times, and what difference is the error of the node undetermined that obtains have.
Above four figure be respectively r=0.2, r=0.1, r=0.06; During r=0.02, ask the resulting error amount of node coordinate undetermined 20 times, the error of the tentative estimated coordinates value that the point on the lines 100 (solid line) is represented to obtain; Point on the lines 200 (dotted line) is represented the error of coordinate value finally obtained, and we can find out from top picture, generally reducing along with the r value; Point on the lines 200 is near more from the x axle, and error is more little, so obtain to draw a conclusion:
Under the certain situation of noise size, r value I more but is that the r value is more little good more obtaining more accurate and stable node coordinate undetermined; When the r value has got hour; The situation with deciding node can occur can not get, this is that the scope of the deviate of permission is just too small because when the r value is very little; Cause the little anchor node of some error also to be rejected, so the value of r is wanted suitably by power.
As shown in Figure 2, the wireless sensor network positioning system of selecting based on kind of child node provided by the invention comprises:
S11: first computing module, be used for the wireless signal and the wireless signal attenuation model that receive according to node to be positioned, obtain first distance between the anchor node of said node to be positioned and the said wireless signal of transmission;
S12: anchor node composite construction module, be used to select anchor node, and structure contains the anchor node combination of predetermined number;
S13: target anchor node combination acquisition module; Be used for according to the combination of said anchor node composite construction anchor node; And the median of deviate of calculating the combination of each anchor node is as the representative deviate of this anchor node combination; Obtain minimum representative deviate and power, and select to represent the son of deviation minimum to make up the tentative estimated coordinates of being obtained of coordinate conduct, calculate the deviate of each anchor node; The right to use judges whether to keep the data of known anchor node for foundation, thereby obtains the target anchor node combination of the anchor node composition of deviate in allowed band of all anchor nodes;
S14: second computing module is used for the final position coordinate according to the said node to be positioned of the sub-combination calculation of said anchor node.
As shown in Figure 3, above-mentioned target anchor node combination acquisition module S13 also comprises:
S131: the unit is set, is used to be provided with the anchor node combination that contains the predetermined number anchor node;
S132: initial position coordinate Calculation unit; Be used for reaching and corresponding first distance of each anchor node, obtain the corresponding initial position coordinate of each anchor node in said node to be positioned and said each anchor node combination according to the position coordinates of said anchor node;
S133: the second distance computing unit, be used for the position coordinates that obtains according to initial position coordinate Calculation unit, calculate the second distance that obtains said node to be positioned and each anchor node;
S134: deviate median acquiring unit is used to calculate coordinate that each anchor node combination obtained and said each anchor node corresponding first median apart from the deviate of, second distance;
S135: tentative estimated coordinates acquiring unit, minimum anchor node of median of choosing deviate makes up the tentative estimated coordinates of being obtained of coordinate conduct;
S136: final deviate acquiring unit, use the tentative pairing second distance of estimated coordinates, calculate the deviate between first distance with corresponding anchor node;
S137: judging unit is used to judge that said each anchor node deviate is whether in allowed band.
The wireless sensor network locating method and the system selected based on kind of child node of the embodiment of the invention; Consider in the wireless sensor network in the process of confirming node location to be positioned, to comprise the bigger measurement data of error, therefore, in position fixing process; After the wireless signal of launching according to anchor node calculates the distance between said node to be positioned and each anchor node; Be divided into the combination of a plurality of anchor node, and then each anchor knot combination is calculated, thereby filter out the minimum anchor node combination of deviate; And can reject the bigger measurement data of error effectively; And then effectively improve the accuracy to said node locating to be positioned, and said method is on the basis of original radio network device, to realize; On wireless sensor node, do not increase additional apparatus, reduced the use cost of radio net.
To those skilled in the art, obviously the invention is not restricted to the details of above-mentioned example embodiment, and under the situation that does not deviate from spirit of the present invention or essential characteristic, can realize the present invention with other concrete form.Therefore; No matter from which point; All should regard embodiment as exemplary; And be nonrestrictive, scope of the present invention is limited accompanying claims rather than above-mentioned explanation, therefore is intended to the implication of the equivalents that drops on claim and all changes in the scope are included in the present invention.Should any Reference numeral in the claim be regarded as limit related claim.
In addition; Describing according to execution mode though should be appreciated that this specification, is not that each execution mode only comprises an independently technical scheme; This narrating mode of specification only is for clarity sake; Those skilled in the art should make specification as a whole, and the technical scheme among each embodiment also can form other execution modes that it will be appreciated by those skilled in the art that through appropriate combination.
Claims (6)
1. wireless sensor network locating method of selecting based on kind of child node, comprise in the said wireless sensor network location aware in order to the anchor node that sends wireless signal and the node to be positioned of position the unknown, it is characterized in that: comprising:
1) wireless signal and the wireless signal attenuation model that receive according to node to be positioned; Obtain said node to be positioned and send first distance between the anchor node of said wireless signal, said wireless signal comprises the transmitting power of the position coordinates and the said wireless signal of anchor node;
2) from the corresponding anchor node of wireless signal that receives with said node to be positioned, select of the anchor node combination of the anchor node of predetermined number with the structure predetermined number;
3) anchor node of choosing in the anchor node combination makes up, and then each anchor knot combination is calculated, and forms target anchor node group thereby filter out satisfactory anchor node;
4) calculate the final position coordinate of said node to be positioned according to the position coordinates of anchor node in the combination of said target anchor node.
2. wireless sensor network locating method according to claim 1 is characterized in that: also comprise before the step 1): the control anchor node sends wireless signal to said node to be positioned.
3. wireless sensor network locating method according to claim 1, it is characterized in that: step 3) specifically comprises:
31) in the combination of said anchor node, contain N anchor node, select in the said anchor node combination every N-k anchor node to be set to that an anchor node is sub to be made up, wherein k is the preset value less than N, chooses M combination;
32), obtain to make up the initial position coordinate of corresponding said node to be positioned, always total M with said each anchor node according to the position coordinates of said anchor node and first distance of said anchor node and said node to be positioned;
33), calculate the second distance of said node to be positioned and each anchor node according to the initial position coordinate of the pairing said node to be positioned of each anchor node in each anchor node combination;
34) calculate with said each anchor node combination in the deviate of pairing first distance of each anchor node and second distance, and get the representative deviate of the median of deviate as said each anchor node combination;
35) use the minimum value of said representative deviate to obtain power; And the coordinate that the minimum anchor node combination of replacement table deviate is obtained is as tentative estimated coordinates; Use this coordinate to obtain the second distance of said node undetermined and all anchor nodes once more then, and calculate the deviate between first distance with corresponding anchor node, judge that through power the pairing deviate of each anchor node is whether within allowed band; If do not exist; Cast out the data of this anchor node, if, this anchor node data then kept;
36) according to the anchor node quantity that is kept a new anchor node combination is set, and makes this anchor node combination execution in step 32).
4. wireless sensor network locating method according to claim 1; It is characterized in that: said wireless signal attenuation model is:
wherein; P by the respective anchors node the transmitting power of emission wireless signal; Q is the radio signal power of the received respective anchors node of node to be positioned; D is first distance of node to be positioned and respective anchors node, and a is the signal attenuation factor.
5. wireless sensor network positioning system of selecting based on kind of child node, said wireless sensor network comprise location aware in order to the anchor node that sends wireless signal and the node to be positioned of position the unknown, it is characterized in that: comprising:
First computing module is used for the wireless signal and the wireless signal attenuation model that receive according to node to be positioned, obtains first distance between the anchor node of said node to be positioned and the said wireless signal of transmission;
Anchor node composite construction module is used to select anchor node, and structure contains the anchor node combination of predetermined number;
Target anchor node combination acquisition module; Be used for according to the combination of said anchor node composite construction anchor node; And the median of deviate of calculating the combination of each anchor node is as the representative deviate of this anchor node combination; Obtain minimum representative deviate and power, and select to represent the son of deviation minimum to make up the tentative estimated coordinates of being obtained of coordinate conduct, calculate the deviate of each anchor node; The right to use judges whether to keep the data of known anchor node for foundation, thereby obtains the target anchor node combination of the anchor node composition of deviate in allowed band of all anchor nodes;
Second computing module is used for the final position coordinate according to the said node to be positioned of the sub-combination calculation of said anchor node.
6. wireless sensor network positioning system according to claim 5 is characterized in that: said target anchor node combination acquisition module comprises:
The unit is set, is used to be provided with the anchor node combination that contains the predetermined number anchor node;
Initial position coordinate Calculation unit is used for reaching and corresponding first distance of each anchor node according to the position coordinates of said anchor node, obtains the corresponding initial position coordinate of each anchor node in said node to be positioned and said each anchor node combination;
The second distance computing unit is used for the position coordinates that obtains according to initial position coordinate Calculation unit, calculates the second distance that obtains said node to be positioned and each anchor node;
Deviate median acquiring unit is used to calculate coordinate that each anchor node combination obtained and said each anchor node corresponding first median apart from the deviate of, second distance;
Tentative estimated coordinates acquiring unit, minimum anchor node of median of choosing deviate makes up the tentative estimated coordinates of being obtained of coordinate conduct;
Final deviate acquiring unit uses the tentative pairing second distance of estimated coordinates, calculates the deviate between first distance with corresponding anchor node;
Judging unit is used to judge that said each anchor node deviate is whether in allowed band.
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