CN102761963A - Method for correcting positioning position of network node of wireless sensor by using elasticity thought - Google Patents
Method for correcting positioning position of network node of wireless sensor by using elasticity thought Download PDFInfo
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- CN102761963A CN102761963A CN2012102192721A CN201210219272A CN102761963A CN 102761963 A CN102761963 A CN 102761963A CN 2012102192721 A CN2012102192721 A CN 2012102192721A CN 201210219272 A CN201210219272 A CN 201210219272A CN 102761963 A CN102761963 A CN 102761963A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000006073 displacement reaction Methods 0.000 claims abstract description 18
- 238000012163 sequencing technique Methods 0.000 claims abstract description 4
- 230000009191 jumping Effects 0.000 claims description 17
- 230000000694 effects Effects 0.000 claims description 6
- 238000009966 trimming Methods 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract 3
- 241000282326 Felis catus Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
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Abstract
The invention discloses a method for correcting a positioning position of a network node of a wireless sensor by using elasticity thought. The method comprises the following steps of: (1) sequencing nodes of each wireless sensor network by taking a hop count of each anchor node as a standard; (2) sequentially calculating forces of the nodes and displacing in sequence according to a sequence obtained in the step (1) by using a distance measurement result among the nodes; and (3) repeatedly executing the step (2) until a value of the displacement of each node in a certain repeating process is less than a certain range. The method for correcting the positioning position of the network node of the wireless sensor by using the elasticity thought provided by the invention has large displacement amplitude in each turn and rapidness of convergence, and can be suitable for distance measurement error and original positioning error within a large range. Even if the distance measurement error and the original positioning error are very large, the invention can still obtain a more ideal positioning result through correction.
Description
Technical field
The present invention relates to a kind of method of utilizing the thought correcting wireless sensor network nodes position location of elastic force; Under the positioning result of the position that obtains being inaccurate; With the abstract size that becomes elastic force of internodal distance relation, and carry out the correction of positioning result.
Background technology
The geographical location information of node is significant to wireless sensor network.The geographical method for routing of some excellent performances needs the coordinate information of node to carry out route; In the sensor network node perceived to information have only with the positional information at node place and be used in combination, could to perception data analyze and the variation of environment of knowing this region with unusual.
In recent years, the location way of many wireless sensor networks can both solve the orientation problem of node, yet the result of location has improved space, and the present invention has proposed the pervasive of oneself to the location just and improved one's methods under this prerequisite.
Summary of the invention
Goal of the invention: in order to overcome the deficiency that exists in the prior art; The present invention provides a kind of method of utilizing the thought correcting wireless sensor network nodes position location of elastic force; With range finding distance between present node position and close node as importing; Cooperate the anchor node in the network that has provided, realize the purpose of correcting wireless sensor network nodes position location.
Technical scheme: for realizing above-mentioned purpose, the technical scheme that the present invention adopts is:
A kind of method of utilizing the thought correcting wireless sensor network nodes position location of elastic force comprises the steps:
(1) be that benchmark is the node sequencing in each wireless sensor network with jumping figure to each anchor node.Few more apart from the anchor node jumping figure, ordering is forward more in this sequence;
(2) use internodal range finding result, according to the ordering that obtains in the step (1), the calculating of successively node the being carried out power line displacement of going forward side by side.Suffered this power of each node has the node of ranging data from all and this node; Each node of having an effect is the difference of range finding distance between this 2 node with the current location distance to the size of the power of this stressed node; Unit replaces with parasang; Can be negative value, wherein negative value is a pulling force, on the occasion of being repulsion.The distance of carrying out displacement be all nodes of having an effect of current location to the size of the vector of the power of stressed node, the parasang of unit for being used with joint efforts.Calculating and displacement to the power of node are carried out continuously;
(3) repeating step (2), in certain repeats the displacement size of each node all less than certain limit till.This scope can be decided in its sole discretion according to location condition, also can be a very little amount.
Beneficial effect: the method for utilizing the thought correcting wireless sensor network nodes position location of elastic force provided by the invention; Every displacement amplitude of taking turns is big; Convergence rapidly; Can adapt to range error and initial alignment error significantly, even range error and initial alignment error are all very big, the present invention also can obtain comparatively ideal positioning result through correction.
Description of drawings
The modal displacement sequential schematic of Fig. 1 for sorting according to anchor node;
Fig. 2 is the mutual stressed sketch map of node.
Embodiment
Below in conjunction with accompanying drawing the present invention is done explanation further.
A kind of method of utilizing the thought correcting wireless sensor network nodes position location of elastic force comprises the steps:
(1) be that benchmark is the node sequencing in each wireless sensor network with jumping figure to each anchor node.Few more apart from the anchor node jumping figure, ordering is forward more in this sequence.
In this example, anchor node is a node of having known node location in the network.To the jumping figure of anchor node promptly this node arrive the minimum via node number (comprising anchor node itself) that must experience in anchor node way.Like illustration 1, the five-pointed star node is a cat node among this figure, and other four jiaos of star nodes are ordinary node to be positioned; Connectedness through wireless sensor network can be made its connected graph, wherein, and 1; 2,3 nodes can directly arrive anchor node, and its jumping figure to anchor node is 1; With these three nodes can directly be communicated with 4,5,6,7, No. 8 nodes arrive anchor node 0 to be needed through these three nodes, jumping figure need add 1 on these three node jumping figure bases, be 2; In like manner, 9,10,11,12 node jumping figures are 3; 13, No. 14 the node jumping figure is 4.In this case, the ordering of these ordinary nodes is: 1,2,3,4,5,6,7,8,9,10,11,12,13,14.Under the identical situation of jumping figure, order can be any.If a plurality of anchor nodes are arranged, this node is registered as jumping figure minimum in each anchor node jumping figure to the jumping figure of anchor node.
(2) use internodal range finding result, according to the ordering that obtains in the step (1), the calculating of successively node the being carried out power line displacement of going forward side by side.Suffered this power of each node has the node of ranging data from all and this node; As shown in Figure 2; Each have an effect node to the size of the power of this stressed node for this to the difference of range finding distance between node with the current location distance, unit replaces with parasang, can be negative value; Wherein negative value is a pulling force, on the occasion of being repulsion.All nodes of having an effect were to the vector of the power of this node, the parasang of unit for being used with joint efforts when the vector that this node carries out displacement was in the position for this node is current.Calculating and displacement to the power of node are carried out continuously.
(3) repeating step (2), in certain repeats the displacement size of each node all less than certain limit till.This scope can be decided in its sole discretion according to location condition, also can be a very little amount.
In sum; The method of utilizing the thought correcting wireless sensor network nodes position location of elastic force provided by the invention; Under the positioning result of the position that obtains being inaccurate, cooperate the anchor node in the network that has provided as input with range finding distance between present node position and close node; With the abstract size that becomes elastic force of internodal distance relation, and carry out the correction of positioning result.Wherein, every displacement amplitude of taking turns is big, and convergence can adapt to range error and initial alignment error significantly rapidly, even range error and initial alignment error are all very big, the present invention also can obtain comparatively ideal positioning result through correction.
Though the present invention discloses as above with preferred embodiment, so it is not in order to limit the present invention.Have common knowledge the knowledgeable in the technical field under the present invention, do not breaking away from the spirit and scope of the present invention, when doing various changes and retouching.Therefore, protection scope of the present invention is as the criterion when looking claims person of defining.
Claims (4)
1. method of utilizing the thought correcting wireless sensor network nodes position location of elastic force, it is characterized in that: said method comprises the steps:
(1) be that benchmark is the node sequencing in each wireless sensor network with jumping figure to each anchor node,
Few more apart from the anchor node jumping figure, ordering is forward more in this sequence;
(2) through after measuring with some distance measuring equipments of transducer itself; Known all can measuring distance node (comprising general node and anchor node) to distance (having error); Use these range findings result; According to the ordering that obtains in the step (1), the calculating of successively node the being carried out power line displacement of going forward side by side;
(3) repeating step (2), in certain repeats the displacement size of each node all less than certain limit till,
This scope can be decided in its sole discretion according to location condition, also can be a very little amount.
2. the method for utilizing the thought correcting wireless sensor network nodes position location of elastic force according to claim 1 is characterized in that: few more apart from the anchor node jumping figure in the step (1), ordering is forward more in this sequence.
3. the method for utilizing the thought correcting wireless sensor network nodes position location of elastic force according to claim 1, it is characterized in that: in the step (2), the account form of nodal force is following:
Suffered this power of each node has the node of ranging data from all and this node; Each have an effect node to the size of the power of this stressed node for this to the difference (as illustration 1 shown in) of range finding distance between node with the current location distance; Unit replaces with parasang; Can be negative value, wherein negative value is a pulling force, on the occasion of being repulsion;
The distance of carrying out displacement be all nodes of having an effect of current location to the size of the vector of the power of stressed node, the parasang of unit for being used with joint efforts;
5.Calculating and displacement to the power of node are carried out continuously.
4. the method for utilizing the thought correcting wireless sensor network nodes position location of elastic force according to claim 1; It is characterized in that: in the step (3); The displacement amplitude that trimming process is finished can be decided in its sole discretion according to location condition, also can be a very little amount.
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| CN2012102192721A CN102761963A (en) | 2012-06-29 | 2012-06-29 | Method for correcting positioning position of network node of wireless sensor by using elasticity thought |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20090065403A (en) * | 2007-12-17 | 2009-06-22 | 한국전자통신연구원 | A positioning estimation method of mobile node in wireless sensor networks |
| CN102438310A (en) * | 2011-09-23 | 2012-05-02 | 华东理工大学 | Wireless sensor network positioning method based on trust rating |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20090065403A (en) * | 2007-12-17 | 2009-06-22 | 한국전자통신연구원 | A positioning estimation method of mobile node in wireless sensor networks |
| CN102438310A (en) * | 2011-09-23 | 2012-05-02 | 华东理工大学 | Wireless sensor network positioning method based on trust rating |
Non-Patent Citations (2)
| Title |
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| 官鲁斌等: "基于弹力的无线Ad-Hoc网络节点定位方法", 《软件学报》 * |
| 袁正午等: "基于虚拟力的无线传感器网络多跳定位算法", 《重庆邮电大学学报（自然科学版）》 * |
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Application publication date: 20121031 |