CN102740454A - Wireless sensor network node positioning method based on small number of anchor nodes - Google Patents

Wireless sensor network node positioning method based on small number of anchor nodes Download PDF

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Publication number
CN102740454A
CN102740454A CN2011100996095A CN201110099609A CN102740454A CN 102740454 A CN102740454 A CN 102740454A CN 2011100996095 A CN2011100996095 A CN 2011100996095A CN 201110099609 A CN201110099609 A CN 201110099609A CN 102740454 A CN102740454 A CN 102740454A
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China
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node
wireless sensor
nodes
sensor network
anchor
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CN2011100996095A
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Chinese (zh)
Inventor
张伟
陈玥玮
张艳鹤
沈焱鑫
朱程峰
季大夫
汪梅
黄环奔
陆建中
金建芳
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Jiaxing University
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Jiaxing University
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Priority to CN2011100996095A priority Critical patent/CN102740454A/en
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02DCLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00Reducing energy consumption in communication networks
    • Y02D30/70Reducing energy consumption in communication networks in wireless communication networks

Abstract

The invention relates to a wireless sensor network node positioning method based on a small number of anchor nodes. Four anchor nodes are taken as reference nodes, the position of each of the measured nodes in a coordinate system according to the distances among any three anchor nodes based on the distance measuring properties of RSSI (received signal strength indication) can be obtained, and four groups of data can be further obtained. The final positions of the measured nodes can be obtained by utilizing a method for calculating weighted centroid. The whole positioning algorithm completely adopts geometric operation, loop iteration is not required, the rapidity is very great, and the advantages of the wireless sensor network node positioning method for positioning mobile nodes are very obvious; and simultaneously, the requirements on hardware are not high, additional communication cost is not required among the nodes during the whole positioning process, and the wireless sensor network node positioning method can be better suitable for requirements of low cost and low power consumption of WSNs (wireless sensor networks) and further has higher use values.

Description

Wireless sensor network node locating method based on a small amount of anchor node
Technical field
The present invention relates to a kind of network node locating method, relate in particular to a kind of wireless sensor network node locating method, realize low cost, low-power consumption and location based on a small amount of anchor node.
Background technology
In sensor network; Positional information is most important to the monitoring of sensor network; Position that incident takes place or the node location that obtains information are the important informations that is comprised in the sensor node supervisory messages, do not have the supervisory messages of positional information often meaningless.Therefore, confirm that position that incident takes place or the node location that obtains message are one of basic functions of sensor network.
In sensor network, location algorithm is divided into based on the location algorithm of distance and the location algorithm of range-independence usually.Location algorithm general using based on range finding measures the mutual distance of node or angle information is realized position calculation; Main method has: utilize time difference (TOA) that signal reaches, utilize time difference (TDOA) that two kinds of unlike signals arrive, utilize angle (AOA) and utilize the degree of decay (RSSI) of wireless signal; Wherein, TOA, TDOA and AOA method all need rely on a large amount of costlinesses and catabiotic hardware.Though and the RSSI method need not to add additional hardware, rule of thumb formula calculates two internodal distances and has bigger error.
Summary of the invention
In order to overcome cost height in location in the wireless sensor network, power consumption is big, the defective that precision is low, and the present invention provides a kind of wireless sensor network node locating method based on a small amount of anchor node, realizes low cost, low-power consumption and location.
The technical scheme that the present invention adopts is following:
A kind of wireless sensor network node locating method based on a small amount of anchor node, step is following:
1) at wireless sensor network 4 anchor nodes is set, also is loaded with the gps signal receiving system on the described anchor node.
2) described anchor node periodically sends beacon message (comprising identifying information and self-position information); Described tested node is after receiving each beacon message; Carry out smothing filtering, and convert the RSSI value into distance value through the radio signal propagation path loss model.
3) distance value is sorted from small to large be r A, r B, r CAnd r D, through A, B, C point obtain the coordinate estimation that E is ordered Obtain the coordinate estimation that E is ordered through A, C, D Obtain the coordinate estimation that E is ordered through A, B, D Obtain the coordinate estimation that E is ordered through B, C, D Participate in 3 anchor nodes in each location and ask reciprocal, obtain weighted factor, calculate tested node E (x through weighted factor apart from sum E, y E) the position, computing formula is following:
x E = x E 1 r A + r B + r C + x E 2 r A + r B + r D + x E 3 r A + r C + r D + x E 4 r B + r C + r D 1 r A + r B + r C + 1 r A + r B + r D + 1 r A + r C + r D + 1 r B + r C + r D y E = y E 1 r A + r B + r C + y E 2 r A + r B + r D + y E 3 r A + r C + r D + y E 4 r B + r C + r D 1 r A + r B + r C + 1 r A + r B + r D + 1 r A + r C + r D + 1 r B + r C + r D
The coordinate of four anchor nodes is made as A (x respectively A, y A), B (x B, y B), C (x C, y C), D (x D, y D), tested node E (x E, y E) be respectively r to the distance of anchor node A, r B, r C, r D
The present invention, the gateway node of wireless sensor network links to each other with PC through USB interface.
The present invention, the tested node of wireless sensor network has data acquisition, the function of wireless transmit and reception, transmitting power remains stable and consistent when transmitting.
Wireless sensor network anchor node, tested node all are to be the wireless sensor node module of core with the CC2431 single-chip microcomputer, and anchor node can be stablized the wireless sensor node of receiving gps signal again.Gateway node is communicated by letter with PC through the USB interface that comprises any serial ports commentaries on classics USB interface and any agreement.
The transmission beacon message in anchor node cycle comprises ID and self-position information.Tested node carries out smothing filtering after receiving each beacon message, and converts the RSSI value into distance value through the radio signal propagation path loss model.
In the process of RSSI value range finding, adopt the thought of weighting, promptly in every group of elements of a fix, introduce weighted factor.Weighted factor for participate in 3 radius of a circles in each location and inverse.The distance value that records is sorted from small to large, 4 anchor nodes are positioned, need get rid of non-intersect or mutually disjoint situation when every group of circle of participating in locating selected.Any 3 anchor nodes are positioned, obtain the coordinate of tested node is estimated.Other gets other three kinds of combinations, and the coordinate that obtains other 3 kinds of tested nodes is estimated.Coordinate is estimated to try to achieve node coordinate to be measured through the weighted mass center algorithm.
The beneficial effect that the present invention realizes:
A kind of wireless sensor network node locating method of the present invention based on a small amount of anchor node.
Description of drawings
Fig. 1 is the systematic schematic diagram that the present invention is based on the wireless sensor network node locating method of a small amount of anchor node;
Fig. 2 is the sketch map that the present invention is based on the wireless sensor network node locating method of a small amount of anchor node.
Embodiment
Below describe technical scheme of the present invention in detail.The embodiment of the invention only supplies to explain concrete grammar, and its scale of this method does not receive the restriction of embodiment.
Embodiment
1) wireless sensor network has 4 anchor nodes, is loaded with the gps signal receiving system on the anchor node.
2) the tested node of wireless sensor network has data acquisition, the function of wireless transmit and reception.
3) anchor node also receives tested node signal when receiving each road signal route.
4) gateway node of wireless sensor network links to each other with PC through USB interface.
Transmitting power remained stable and consistent when 5) tested node transmitted.
6) each joint of wireless sensor network utilizes solar cell or storage battery power supply.
As shown in Figure 1, the five-pointed star node is represented anchor node, and their dispersed and distributed is regional in node locating.Circle is represented tested node.Wireless sensor network anchor node, tested node all are to be the wireless sensor node module of core with the CC2431 single-chip microcomputer, and anchor node can be stablized the wireless sensor node of receiving gps signal again.The transmission beacon message in anchor node cycle comprises ID and self-position information.Tested node carries out smothing filtering after receiving each beacon message, and converts the RSSI value into distance value through the radio signal propagation path loss model.Method value of adjusting the distance through weighted mass center is calculated, and obtains the position of tested node.Positional information is sent to the anchor node place, and anchor node sends to gateway node with the position of all tested nodes in the region, and gateway node is communicated by letter with PC through the USB interface that comprises any serial ports commentaries on classics USB interface and any agreement.
As shown in Figure 2, A (x A, y A), B (x B, y B), C (x C, y C), D (x D, y D) for participating in four anchor nodes of location, tested node E (x E, y E) be respectively r to the distance of anchor node A, r B, r C, r DDistance value is sorted from small to large, 4 anchor nodes are positioned,, then replace previous node till satisfying positioning requirements with the node of back if non-intersect or mutually disjoint situation occurs.Pass through A; B; The C point obtain that E orders coordinate is estimated through A, C, D obtain that E order coordinate is estimated through A, B, D obtain that E order coordinate is estimated through B, C, D obtain that E order coordinate is estimated participates in locating 3 anchor nodes at every turn and ask inverse apart from sum, obtain weighted factor.Coordinate is estimated to try to achieve node E (x to be measured through the weighted mass center algorithm E, y E) coordinate.

Claims (1)

1. wireless sensor network node locating method based on a small amount of anchor node, step is following:
1) at wireless sensor network 4 anchor nodes is set, also is loaded with the gps signal receiving system on the described anchor node;
2) described anchor node periodically sends beacon message, and described tested node carries out smothing filtering after receiving each beacon message, and converts the RSSI value into distance value through the radio signal propagation path loss model.
3) distance value is sorted from small to large be r A, r B, r C, r D, 4 anchor nodes are positioned; Through A, B, C point obtain the coordinate estimation that E is ordered Obtain the coordinate estimation that E is ordered through A, C, D Obtain the coordinate estimation that E is ordered through A, B, D Obtain the coordinate estimation that E is ordered through B, C, D Participate in 3 anchor nodes in each location and ask reciprocal, obtain weighted factor, calculate tested node E (x through weighted factor apart from sum E, y E) the position, computing formula is following:
x E = x E 1 r A + r B + r C + x E 2 r A + r B + r D + x E 3 r A + r C + r D + x E 4 r B + r C + r D 1 r A + r B + r C + 1 r A + r B + r D + 1 r A + r C + r D + 1 r B + r C + r D y E = y E 1 r A + r B + r C + y E 2 r A + r B + r D + y E 3 r A + r C + r D + y E 4 r B + r C + r D 1 r A + r B + r C + 1 r A + r B + r D + 1 r A + r C + r D + 1 r B + r C + r D .
CN2011100996095A 2011-04-15 2011-04-15 Wireless sensor network node positioning method based on small number of anchor nodes Pending CN102740454A (en)

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CN102970748A (en) * 2012-11-08 2013-03-13 林子怀 Wireless personnel area location method
CN103108281A (en) * 2012-12-29 2013-05-15 上海海事大学 Real-time positioning method of maritime search-and-rescue target based on wireless sensor network
CN103152824A (en) * 2013-03-06 2013-06-12 中国电子科技集团公司第二十八研究所 Positioning method of node in wireless sensor network
CN105871486A (en) * 2015-01-20 2016-08-17 中国科学院上海高等研究院 Channel model construction method and simulation method for wireless sensor network
CN106658643A (en) * 2016-12-08 2017-05-10 南京航空航天大学 RSSI based valid anchor node selecting method
CN108696820A (en) * 2018-05-23 2018-10-23 苏州博联科技有限公司 Indoor orientation method based on iBeacon ranging technologies
CN108848474A (en) * 2018-06-05 2018-11-20 太原理工大学 The localization method of the not conllinear unknown sensor node of wireless sensor network
CN109901109A (en) * 2019-04-17 2019-06-18 北京邮电大学 A kind of method, terminal and system for realizing time service based on latency measurement of eating dishes without rice or wine

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Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102970748A (en) * 2012-11-08 2013-03-13 林子怀 Wireless personnel area location method
CN103108281A (en) * 2012-12-29 2013-05-15 上海海事大学 Real-time positioning method of maritime search-and-rescue target based on wireless sensor network
CN103152824A (en) * 2013-03-06 2013-06-12 中国电子科技集团公司第二十八研究所 Positioning method of node in wireless sensor network
CN103152824B (en) * 2013-03-06 2015-06-17 中国电子科技集团公司第二十八研究所 Positioning method of node in wireless sensor network
CN105871486A (en) * 2015-01-20 2016-08-17 中国科学院上海高等研究院 Channel model construction method and simulation method for wireless sensor network
CN105871486B (en) * 2015-01-20 2018-01-30 中国科学院上海高等研究院 The channel model construction method and emulation mode of wireless sensor network
CN106658643A (en) * 2016-12-08 2017-05-10 南京航空航天大学 RSSI based valid anchor node selecting method
CN106658643B (en) * 2016-12-08 2020-02-14 南京航空航天大学 RSSI-based effective anchor node selection method
CN108696820A (en) * 2018-05-23 2018-10-23 苏州博联科技有限公司 Indoor orientation method based on iBeacon ranging technologies
CN108848474A (en) * 2018-06-05 2018-11-20 太原理工大学 The localization method of the not conllinear unknown sensor node of wireless sensor network
CN108848474B (en) * 2018-06-05 2020-10-30 太原理工大学 Method for positioning non-collinear unknown sensor node of wireless sensor network
CN109901109A (en) * 2019-04-17 2019-06-18 北京邮电大学 A kind of method, terminal and system for realizing time service based on latency measurement of eating dishes without rice or wine
CN109901109B (en) * 2019-04-17 2021-07-23 北京邮电大学 Method, terminal and system for realizing time service based on air interface time delay measurement

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