CN102665272B - Wireless sensor network positioning method and system based on seed node selection - Google Patents
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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, particularly relate to a kind of wireless sensor network locating method and system.
Background technology
Wireless sensor network (Wireless Sensor Network, WSN) be the wireless network that the transducer of a large amount of static or movement is formed in the mode of self-organizing and multi-hop, its objective is that perception collaboratively, collection, process and transmission network cover the monitoring information of perceptive object in geographic area, and be reported to user.
Wireless sensor network is a kind of brand-new Information acquisi-tion technology, can Real-Time Monitoring, perception and the various environment of collection or detected object information, there is the features such as flexibility, fault-tolerance, high perception, low expense and fast layout, be widely used in the fields such as national defense and military, environmental monitoring and forecast, health care, space exploration.
A lot of application-specific in wireless sensor network all depend on the geographical location information of sensor node or target object.Where sensor node must be just described in detail in or region there occurs particular event by clear and definite self-position, realizes the location to external object and tracking.
Existing wireless sensor network locating method generally utilizes the intensity level of radio signal to position, there is the problem that positioning precision is low, and positioning precision will be improved, the simplest wireless sensor node localization method is exactly for the node in wireless sensor network all installs GPS position indicator, but due in practical application, the quantity being deployed in the wireless sensor node in a wireless sensor network is very huge, so such a process increases the equipment complexity of wireless sensor node, significantly increase and utilize wireless sensor network to carry out the cost of monitoring.Therefore, method and the related system of hi-Fix is realized under also not having a kind of prerequisite not increasing wireless sensor node equipment complexity at present.
Therefore, for above-mentioned technical problem, be necessary to provide one to have structure improved wireless sensor network locating method and system, to overcome above-mentioned defect.
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, for realizing under the prerequisite not increasing wireless sensor node equipment complexity, improving the positioning precision of wireless sensor network.
For achieving the above object, the invention provides following technical scheme:
Based on the wireless sensor network locating method that seed node is selected, described wireless sensor network comprises the known node to be positioned in order to the anchor node and Location-Unknown that send wireless signal in position, and it comprises:
1) wireless signal received according to node to be positioned and radio signal attenuation model, obtain described node to be positioned and send described wireless signal anchor node between the first distance, described wireless signal comprises the position coordinates of anchor node and the transmitting power of described wireless signal;
2) from the anchor node corresponding with the wireless signal that described node to be positioned receives, select the anchor node of predetermined number to construct the anchor node combination of predetermined number;
3) choose the anchor node sub-portfolio in anchor node combination, and then the combination of each anchor knot is calculated, thus filter out satisfactory anchor node composition target anchor nodes subgroup;
4) the final position coordinate of described node to be positioned is calculated according to the position coordinates of anchor node in described target anchor nodes sub-portfolio.
Preferably, in above-mentioned wireless sensor network locating method, also comprise before described step 1): control anchor node and send wireless signal to described node to be positioned.
Preferably, in above-mentioned wireless sensor network locating method, described step 3) specifically comprises:
31) when containing N number of anchor node in described anchor node combination, in selecting described anchor node to combine, every N-k anchor node is set to an anchor node sub-portfolio, and wherein k is the preset value being less than N, chooses M combination;
32) according to the position coordinates of described anchor node and the first distance of described anchor node and described node to be positioned, the initial position co-ordinates of the described to be positioned node corresponding with described each anchor node sub-portfolio is obtained, total total M;
33) according to the initial position co-ordinates of the node described to be positioned in each anchor node sub-portfolio corresponding to each anchor node, the second distance of described node to be positioned and each anchor node is calculated;
34) calculate and the deviate of the first distance corresponding to each anchor node in described each anchor node sub-portfolio with second distance, and the representative deviate that the median of getting deviate combines as each anchor node described;
35) the described minimum value representing deviate is used to obtain power, and replace the minimum coordinate calculated by anchor node sub-portfolio of table deviate as tentative estimated coordinates, then this coordinate is used again to obtain the second distance of described node undetermined and all anchor nodes, and the deviate calculated between the first distance of corresponding anchor node, deviate corresponding to each anchor node is judged whether within allowed band by power, if do not exist, cast out the data of this anchor node, if, then retain this anchor node data;
36) a new anchor node sub-portfolio is set according to retained anchor node quantity, and makes this anchor node sub-portfolio perform step 32).
Preferably, in above-mentioned wireless sensor network locating method, described radio signal attenuation model is:
wherein, p is the radio signal power of the transmitting power of respective anchors node institute wireless signal emission, the respective anchors node of q received by node to be positioned, and d is the first distance of node to be positioned and respective anchors node, and a is the signal attenuation factor.
For achieving the above object, the present invention also provides following technical scheme:
Based on the wireless sensor network positioning system that seed node is selected, described wireless sensor network comprises the known node to be positioned in order to the anchor node and Location-Unknown that send wireless signal in position, and it comprises:
First computing module, for the wireless signal that receives according to node to be positioned and radio signal attenuation model, obtain described node to be positioned and send described wireless signal anchor node between the first distance;
Anchor node composite construction module, for selecting anchor node, and the anchor node of structure containing predetermined number combines;
Target anchor nodes sub-portfolio acquisition module, for according to described anchor node composite construction anchor node sub-portfolio, and calculate the representative deviate of median as this anchor node sub-portfolio of the deviate of each anchor node sub-portfolio, obtain minimum representative deviate and power, and select to represent coordinate calculated by the minimum sub-portfolio of deviation as tentative estimated coordinates, calculate the deviate of each anchor node, the right to use is the data according to judging whether to retain known anchor node, thus obtain the target anchor nodes sub-portfolio of the anchor node composition of deviate in allowed band of all anchor node,
Second computing module, for calculating the final position coordinate of described node to be positioned according to described anchor node sub-portfolio.
Preferably, in above-mentioned wireless sensor network positioning system, described target anchor nodes sub-portfolio acquisition module comprises:
Setting unit, for arranging the anchor node sub-portfolio containing predetermined number anchor node;
Initial position co-ordinates computing unit, for according to the position coordinates of described anchor node and first distance corresponding with each anchor node, obtain described node to be positioned corresponding with each anchor node in described each anchor node sub-portfolio initial position co-ordinates;
Second distance computing unit, for the position coordinates obtained according to initial position co-ordinates computing unit, calculates the second distance obtaining described node to be positioned and each anchor node;
Deviate median acquiring unit, for calculating the median of deviate of coordinate calculated by each anchor node sub-portfolio first distance corresponding with each anchor node described, second distance;
Tentative estimated coordinates acquiring unit, chooses the minimum coordinate calculated by anchor node sub-portfolio of the median of deviate as tentative estimated coordinates;
Final deviate acquiring unit, uses the second distance corresponding to tentative estimated coordinates, calculates the deviate between the first distance of corresponding anchor node;
Judging unit, for judging described each anchor node deviate whether in allowed band.
As can be seen from technique scheme, the wireless sensor network locating method based on seed node selection of the embodiment of the present invention and system, consider in wireless sensor network in the process determining node location to be positioned, comprise the larger measurement data of error, therefore, in position fixing process, after the wireless signal launched according to anchor node calculates the distance between described node to be positioned and each anchor node, be divided into multiple anchor node sub-portfolio, and then the combination of each anchor knot is calculated, thus filter out the minimum anchor node sub-portfolio of deviate, and effectively can reject the larger measurement data of error, and then the accuracy effectively improved described node locating to be positioned, and, described method realizes on the basis of original radio network device, on wireless sensor node, do not increase extra equipment, reduce the use cost of radio net.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing for the present invention in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the wireless sensor network locating method flow chart of the embodiment of the present invention;
Fig. 2 is the schematic diagram of the wireless sensor network positioning system of the embodiment of the present invention;
Fig. 3 is the schematic diagram of the target anchor nodes sub-portfolio acquisition module in the wireless sensor network positioning system of the embodiment of the present 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 based on seed node selection and navigation system, after this localization method and navigation system calculate the distance between described node to be positioned and each anchor node according to the wireless signal that anchor node is launched, be divided into multiple anchor node sub-portfolio, and then the combination of each anchor knot is calculated, thus filter out the minimum anchor node sub-portfolio of deviate, and effectively can reject the larger measurement data of error, and then the accuracy effectively improved described node locating to be positioned, by using this localization method and navigation system, the problem existed when utilizing prior art to calculate node to be positioned compared with big error can be solved.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be described in detail the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under the prerequisite not making creative work, all belongs to the scope of protection of the invention.
As shown in Figure 1, wireless sensor network comprises the known node to be positioned in order to the anchor node and Location-Unknown that send wireless signal in position, and the wireless sensor network locating method selected based on seed node provided by the invention, comprising:
S1: the wireless signal received according to node to be positioned and radio signal attenuation model, obtain described node to be positioned and send described wireless signal anchor node between the first distance;
S2: from the anchor node corresponding with the wireless signal that described node to be positioned receives, selects the anchor node of predetermined number to construct the anchor node combination of predetermined number;
S3: choose the anchor node sub-portfolio in anchor node combination, and then the combination of each anchor knot is calculated, thus filter out satisfactory anchor node composition target anchor nodes sub-portfolio;
S4: the final position coordinate calculating described node to be positioned according to the position coordinates of anchor node in described target anchor nodes sub-portfolio.
In above-mentioned steps S1, wireless signal comprises the position coordinates of anchor node and the transmitting power of described wireless signal.
In above-mentioned steps S1, the formula of radio signal attenuation model is:
Wherein, p is the radio signal power of the transmitting power of respective anchors node institute wireless signal emission, the respective anchors node of q received by node to be positioned, and d is the distance of node to be positioned and respective anchors node, and a is the signal attenuation factor.In actual applications, the value of a is different with environmental change, generally a is set to 2, but according to the application scenarios of reality, other values also can be selected as the signal attenuation factor.
In above-mentioned steps S2, under the electromagnetic environmental impact of complexity, when described anchor node sends wireless signal to described node to be positioned, owing to being subject to the impact of environment, and the multipath fading of signal, the reasons such as shadow fading, and the wireless signal that not all anchor node sends can be received by node to be positioned, the wireless signal that just a part of anchor node that described node to be positioned receives sends, therefore, when constructing anchor node combination, the anchor node chosen for its wireless signal sent can the anchor node that receives by node to be positioned, simultaneously, in order to enable the positioning result of node to be positioned more accurate, the anchor node chosen in described anchor node combination is distributed in the surrounding of described node to be positioned as far as possible, in order to avoid the anchor node chosen concentrates on a region, thus affect result of calculation, simultaneously, the described anchor node chosen is distributed in a suitable distance, in order to avoid too far away apart from described node to be positioned, cause the excessive attenuation of wireless signal in transmitting procedure.
Above-mentioned steps S3 is more specifically: choose the anchor node sub-portfolio in anchor node combination, and according to the first distance of each anchor node in each anchor node sub-portfolio and described node to be positioned and the position coordinates of each anchor node, calculate the coordinate of node to be positioned, the deviate of node to be positioned and the second distance corresponding to described each anchor node and the first corresponding Distance geometry second distance is calculated with this coordinate, and get the representative deviate of median as each anchor node sub-portfolio described of deviate, the described minimum value representing deviate is used to obtain power, and replace the minimum coordinate calculated by anchor node sub-portfolio of table deviate as tentative estimated coordinates, then this coordinate is used again to obtain the second distance of described node undetermined and all anchor nodes, and the deviate calculated between the first distance of corresponding anchor node, deviate corresponding to each anchor node is judged whether within allowed band by power, if do not exist, cast out the data of this anchor node, if, then retain this anchor node data, satisfactory anchor node is selected to form target anchor nodes sub-portfolio.
In above-mentioned steps S4, when calculating the final position coordinate of described node to be positioned according to the position coordinates of anchor node in described target anchor nodes sub-portfolio, the account form of use can adopt the mode of least square method, or takes other modes.
Further, in the position fixing process of reality, before above-mentioned steps S1, also comprise: control anchor node and send wireless signal to described node to be positioned.
Above-mentioned steps S3 specifically comprises:
S31: when containing N number of anchor node in described anchor node combination, in selecting described anchor node to combine, every N-k anchor node is set to an anchor node sub-portfolio, and wherein k is the preset value being less than N, chooses M combination;
S32: according to the position coordinates of described anchor node and the first distance of described anchor node and described node to be positioned, obtains the initial position co-ordinates of the described to be positioned node corresponding with described each anchor node sub-portfolio, total total M;
S33: according to the initial position co-ordinates of the node described to be positioned in each anchor node sub-portfolio corresponding to each anchor node, calculate the second distance of described node to be positioned and each anchor node;
S34: calculate and the deviate of the first distance corresponding to each anchor node in described each anchor node sub-portfolio with second distance, and the representative deviate that the median of getting deviate combines as each anchor node described;
S35: use the described minimum value representing deviate to obtain power, and replace the minimum coordinate calculated by anchor node sub-portfolio of table deviate as tentative estimated coordinates, then this coordinate is used again to obtain the second distance of described node undetermined and all anchor nodes, and the deviate calculated between the first distance of corresponding anchor node, deviate corresponding to each anchor node is judged whether within allowed band by power, if do not exist, cast out the data of this anchor node, if, then retain this anchor node data;
S36: a new anchor node sub-portfolio is set according to retained anchor node quantity, and make this anchor node sub-portfolio perform step 32), but only produce a target location coordinate.
In above-mentioned steps S31, suppose in the combination of described anchor node, percentage is had to be that corresponding the first distance of the described anchor node of e exists comparatively big error with actual value, can obtain according to probability P and obtain one group of first distance and to conform to actual range or the value of error hour M and k, and every k anchor node is set to an anchor node sub-portfolio, if make P>=0.99, will exist in an anchor node sub-portfolio, first distance corresponding with described anchor node conform to actual value or error less, therefore, by arranging the mode of anchor node sub-portfolio, misdata can be weeded out, in addition, wherein the value of k can for the preset value being more than or equal to 3,
In above-mentioned steps S32, in the process of position coordinates calculating described node to be positioned, the mode of least square method can be adopted calculate, but also can adopt other modes.
Above-mentioned steps S34 is specially: calculate the deviate representing each anchor node sub-portfolio, obtain the first distance of the anchor node corresponding with initial coordinate values and the deviate of second distance, wherein the first distance d represents, if second distance D represents, and get the median wherein representative deviate as anchor node sub-portfolio corresponding to this coordinate figure, the difference of described first distance and second distance is represented with r, can get the described deviate that represents is R=med r, certainly, also other modes can be chosen to calculate described deviate, such as, setting described deviate is described first distance and the absolute value of the difference of described second distance, the application does not limit.
Above-mentioned steps S35 is specially: select describedly to represent node coordinate undetermined corresponding to the minimum anchor node sub-portfolio of deviate R as tentative estimated coordinates, get minimum representative deviate R and obtain power w, tentative estimated coordinates is used to obtain the second distance with each anchor node, obtain the deviate of deviate as final respective anchor node of the first corresponding Distance geometry second distance, and determine according to the intensity of noise according to power and parameter u(, the larger value of noise intensity is less) judge said deviations value whether in allowed band, if do not exist, cast out this anchor node data, if, retain and form target anchor nodes sub-portfolio, least square method or additive method is used to obtain final node coordinate undetermined.
Below in conjunction with specific embodiment, scheme provided by the present invention is described in detail.
In 100m × 100m monitored area, multiple sensor node deployment is in monitored area, and wherein, s1-s16 is 16 anchor nodes, and these 16 anchor nodes are set to an anchor node combination, for follow-up location for the treatment of location node, us is 1 node to be positioned.Suppose that the position coordinates of 16 anchor nodes in anchor node combination is respectively s1(0,0), s2(0,10), s3(0,20), s4(0,30), s5(10,0) and, s6(10,10), s7(10,20), s8(10,30) and, s9(20,0), s10(20,10), s11 (20,20), s12(20,30), s13(30,0), s14(30,10) and, s15(30,20), s16(30,30), and suppose that node location coordinate to be positioned is us(15,15).
16 periodic wireless signal emissions of anchor node in described anchor node combination, described wireless signal comprises the position coordinates of anchor node, is respectively above-mentioned position coordinates s1-s16, and wireless signal transmission power p.Described node to be positioned receives the radio transit signal of anchor node, then, according to radio signal attenuation model, calculates the first distance d between anchor node and node us to be positioned, wherein, according to radio signal attenuation model formation:
Wherein, p is the radio signal power of the transmitting power of respective anchors node institute wireless signal emission, the respective anchors node of q received by node to be positioned, and d is the distance of node to be positioned and respective anchors node, and a is the signal attenuation factor.In actual applications, the value of a is different with environmental change.
In this test, decay factor a is set to 2, therefore, is followed successively by: d1=22.0407 by calculating first distance that can obtain node us and 16 anchor node to be positioned respectively, 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.
Illustrate that one, location point at least needs three groups of data at this, so we at least choose 3 anchor nodes as one group at this, in this experiment, choose 4 anchor nodes as one group, this occurs that node that we get leans on too near and can not obtain the probability of the situation of node coordinate undetermined to reduce, this just requires to have at least 4 data correct or error is very little in our anchor node, but consider the computing capability of anchor node and the accuracy of required algorithm in practice, we can not calculate all may combining, but we must have again the data error of at least one combination of nodes less, only in this way just can obtain the little node coordinate undetermined of error, we can make to obtain at least one combination of nodes is that the probability that error is little is greater than 99%, we just must consider to choose suitable anchor node sub-portfolio number M.
In this experiment, choose M=20, so just can stand the pollution rate (the shared ratio that anchor node medial error is larger) of 30%, wherein noise follows Gaussian Profile, suppose wherein there are 4 misdata, namely the data that error is larger, and suppose described misdata position d4, d8, during d12, according to said method, from 16 anchor nodes, Stochastic choice 4 anchor nodes are as anchor node sub-portfolio, altogether choose 20 groups, theoretically, one group of data is had at least to be all that correct probability is greater than 99.5% inside these 20 groups, namely one group is had to there is not d4 in 20 groups, d8, the probability of these four data of d12 is greater than 99.5%.Can see table at the once facilities of 16 anchor node sub-portfolios described in experiment, to above-mentioned each anchor node sub-portfolio, utilize the method for least square method to calculate the initial position co-ordinates of node to be positioned respectively, then can obtain the result as following table:
As seen from the above table, the representative deviate of the 8th group is minimum, selects node coordinate undetermined calculated by this group as tentative estimated coordinates, for (15.3717,15.2254), the second distance of node undetermined and known anchor node is again obtained with this coordinate, and the deviate da calculated between second distance and the first distance, result is as follows:
| 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 |
Again by the Representative errors U8 of the 8th group, we can use formula: S0=1.4826*(1+5/14) numerical value of * ((U) ^2) ^0.5 and Selection parameter r, again by judging || da|/S0|<r obtains the power of each anchor node, set up if principle is inequality, the power of this anchor node is 1, otherwise is 0.At this, we select the r=0.02(r value chosen in different environments different, and must choose less value when noise is large, guarantee system grace can judge the anchor node data having big error more accurately), by calculating the power of each anchor node be:
| Node number | S1 | S2 | S3 | S4 | S5 | S6 | S7 | S8 |
| Power | 0 | 1 | 1 | 0 | 1 | 1 | 1 | 0 |
| Node number | S9 | S10 | S11 | S12 | S13 | S14 | S15 | S16 |
| Power | 1 | S | 0 | 0 | 1 | 0 | 0 | 1 |
Then choose weights be 1 anchor node be combined into target anchor nodes sub-portfolio, by this combination obtain final band determine node coordinate value be (15.4382,15.2405).
Then, we look at that different r values is on the impact of system by experiment.As shown in Figures 4 to 7, we are by choosing r=0.2 respectively, and r=0.1, r=0.06, r=0.02 ask 20 node coordinates undetermined, and what difference is the error of the node undetermined obtained have.
Four figure are respectively r=0.2 above, when r=0.1, r=0.06, r=0.02, ask the error amount that 20 node coordinates undetermined obtain, lines 100(solid line) on point represent the error of the tentative estimated coordinates value obtained, lines 200(dotted line) on point represent the error of coordinate value finally obtained, as can be seen from picture above we, generally along with the reduction of r value, point on lines 200 from x-axis more close to, error is less, so obtain drawing a conclusion:
When noise size is certain, r value is less can obtain more accurate and stable node coordinate undetermined, but whether r value is the smaller the better, when r value has got hour, there will be situation about can not get with determining node, this is because when r value is very little, the scope of the deviate of permission is just too small, the little anchor node of some error is caused also to be weighed to eliminating, so the value of r is wanted suitably.
As shown in Figure 2, the wireless sensor network positioning system selected based on seed node provided by the invention, comprising:
S11: the first computing module, for the wireless signal that receives according to node to be positioned and radio signal attenuation model, obtain described node to be positioned and send described wireless signal anchor node between the first distance;
S12: anchor node composite construction module, for selecting anchor node, and the anchor node of structure containing predetermined number combines;
S13: target anchor nodes sub-portfolio acquisition module, for according to described anchor node composite construction anchor node sub-portfolio, and calculate the representative deviate of median as this anchor node sub-portfolio of the deviate of each anchor node sub-portfolio, obtain minimum representative deviate and power, and select to represent coordinate calculated by the minimum sub-portfolio of deviation as tentative estimated coordinates, calculate the deviate of each anchor node, the right to use is the data according to judging whether to retain known anchor node, thus obtain the target anchor nodes sub-portfolio of the anchor node composition of deviate in allowed band of all anchor node,
S14: the second computing module, for calculating the final position coordinate of described node to be positioned according to described anchor node sub-portfolio.
As shown in Figure 3, above-mentioned target anchor nodes sub-portfolio acquisition module S13 also comprises:
S131: setting unit, for arranging the anchor node sub-portfolio containing predetermined number anchor node;
S132: initial position co-ordinates computing unit, for according to the position coordinates of described anchor node and first distance corresponding with each anchor node, obtain described node to be positioned corresponding with each anchor node in described each anchor node sub-portfolio initial position co-ordinates;
S133: second distance computing unit, for the position coordinates obtained according to initial position co-ordinates computing unit, calculates the second distance obtaining described node to be positioned and each anchor node;
S134: deviate median acquiring unit, for calculating the median of deviate of coordinate calculated by each anchor node sub-portfolio first distance corresponding with each anchor node described, second distance;
S135: tentative estimated coordinates acquiring unit, chooses the minimum coordinate calculated by anchor node sub-portfolio of the median of deviate as tentative estimated coordinates;
S136: final deviate acquiring unit, uses the second distance corresponding to tentative estimated coordinates, calculates the deviate between the first distance of corresponding anchor node;
S137: judging unit, for judging described each anchor node deviate whether in allowed band.
The wireless sensor network locating method based on seed node selection of the embodiment of the present invention and system, consider in wireless sensor network in the process determining node location to be positioned, comprise the larger measurement data of error, therefore, in position fixing process, after the wireless signal launched according to anchor node calculates the distance between described node to be positioned and each anchor node, be divided into multiple anchor node sub-portfolio, and then the combination of each anchor knot is calculated, thus filter out the minimum anchor node sub-portfolio of deviate, and effectively can reject the larger measurement data of error, and then the accuracy effectively improved described node locating to be positioned, and, described method realizes on the basis of original radio network device, on wireless sensor node, do not increase extra equipment, reduce the use cost of radio net.
To those skilled in the art, obviously the invention is not restricted to the details of above-mentioned one exemplary embodiment, and when not deviating from spirit of the present invention or essential characteristic, the present invention can be realized in other specific forms.Therefore, no matter from which point, all should embodiment be regarded as exemplary, and be nonrestrictive, scope of the present invention is limited by claims instead of above-mentioned explanation, and all changes be therefore intended in the implication of the equivalency by dropping on claim and scope are included in the present invention.Any Reference numeral in claim should be considered as the claim involved by limiting.
In addition, be to be understood that, although this specification is described according to execution mode, but not each execution mode only comprises an independently technical scheme, this narrating mode of specification is only for clarity sake, those skilled in the art should by specification integrally, and the technical scheme in each embodiment also through appropriately combined, can form other execution modes that it will be appreciated by those skilled in the art that.
Claims (2)
1., based on the wireless sensor network locating method that seed node is selected, described wireless sensor network comprises the known node to be positioned in order to the anchor node and Location-Unknown that send wireless signal in position, comprises the following steps:
1) wireless signal received according to node to be positioned and radio signal attenuation model, obtain described node to be positioned and send described wireless signal anchor node between the first distance, described wireless signal comprises the position coordinates of anchor node and the transmitting power of described wireless signal;
2) from the anchor node corresponding with the wireless signal that described node to be positioned receives, select the anchor node of predetermined number to construct the anchor node combination of predetermined number;
3) choose the anchor node sub-portfolio in anchor node combination, and then the combination of each anchor knot is calculated, thus filter out satisfactory anchor node composition target anchor nodes subgroup;
4) calculate the final position coordinate of described node to be positioned according to the position coordinates of anchor node in described target anchor nodes sub-portfolio, it is characterized in that:
Step 3) specifically comprise:
31) when containing N number of anchor node in described anchor node combination, in selecting described anchor node to combine, every N-k anchor node is set to an anchor node sub-portfolio, and wherein k is the preset value being less than N, chooses M combination;
32) according to the position coordinates of described anchor node and the first distance of described anchor node and described node to be positioned, the initial position co-ordinates of the to be positioned node corresponding with each anchor node sub-portfolio is obtained, total total M;
33) according to the initial position co-ordinates of the node described to be positioned in each anchor node sub-portfolio corresponding to each anchor node, the second distance of described node to be positioned and each anchor node is calculated;
34) calculate and the deviate of the first distance corresponding to each anchor node in described each anchor node sub-portfolio with second distance, and the representative deviate that the median of getting deviate combines as each anchor node described;
35) the described minimum value representing deviate is used to obtain power, and replace the minimum coordinate calculated by anchor node sub-portfolio of table deviate as tentative estimated coordinates, then this coordinate is used again to obtain the second distance of described node undetermined and all anchor nodes, and the deviate calculated between the first distance of corresponding anchor node, deviate corresponding to each anchor node is judged whether within allowed band by power, if do not exist, cast out the data of this anchor node, if, then retain this anchor node data;
36) a new anchor node sub-portfolio is set according to retained anchor node quantity, and makes this anchor node sub-portfolio perform step 32).
2., based on the wireless sensor network positioning system that seed node is selected, described wireless sensor network comprises the known node to be positioned in order to the anchor node and Location-Unknown that send wireless signal in position, it is characterized in that: comprising:
First computing module, for the wireless signal that receives according to node to be positioned and radio signal attenuation model, obtain described node to be positioned and send described wireless signal anchor node between the first distance;
Anchor node composite construction module, for selecting anchor node, and the anchor node of structure containing predetermined number combines;
Target anchor nodes sub-portfolio acquisition module, for according to described anchor node composite construction anchor node sub-portfolio, and calculate the representative deviate of median as this anchor node sub-portfolio of the deviate of each anchor node sub-portfolio, obtain minimum representative deviate and power, and select to represent coordinate calculated by the minimum sub-portfolio of deviation as tentative estimated coordinates, calculate the deviate of each anchor node, the right to use is the data according to judging whether to retain known anchor node, thus obtain the target anchor nodes sub-portfolio of the anchor node composition of deviate in allowed band of all anchor node, second computing module, for calculating the final position coordinate of described node to be positioned according to described anchor node sub-portfolio,
Wherein, described target anchor nodes sub-portfolio acquisition module comprises:
Setting unit, for arranging the anchor node sub-portfolio containing predetermined number anchor node;
Initial position co-ordinates computing unit, for according to the position coordinates of described anchor node and first distance corresponding with each anchor node, obtain described node to be positioned corresponding with each anchor node in described each anchor node sub-portfolio initial position co-ordinates;
Second distance computing unit, for the position coordinates obtained according to initial position co-ordinates computing unit, calculates the second distance obtaining described node to be positioned and each anchor node;
Deviate median acquiring unit, for calculating the median of deviate of coordinate calculated by each anchor node sub-portfolio first distance corresponding with each anchor node described, second distance;
Tentative estimated coordinates acquiring unit, chooses the minimum coordinate calculated by anchor node sub-portfolio of the median of deviate as tentative estimated coordinates;
Final deviate acquiring unit, uses the second distance corresponding to tentative estimated coordinates, calculates the deviate between the first distance of corresponding anchor node;
Judging unit, for judging described each anchor node deviate whether in allowed band.
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