CN102869090B - AUV (autonomous underwater vehicle)-assisted based underwater wireless sensor network positioning method - Google Patents
AUV (autonomous underwater vehicle)-assisted based underwater wireless sensor network positioning method Download PDFInfo
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- CN102869090B CN102869090B CN201210330635.9A CN201210330635A CN102869090B CN 102869090 B CN102869090 B CN 102869090B CN 201210330635 A CN201210330635 A CN 201210330635A CN 102869090 B CN102869090 B CN 102869090B
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Abstract
The invention discloses an AUV (autonomous underwater vehicle)-assisted based underwater wireless sensor network positioning method. The method disclosed by the invention comprises the following steps: firstly, carrying out primary positioning on an unknown node by using a centroiding algorithm; estimating the positioning accuracy of the unknown node according to the number of beacon nodes around the unknown node, the distribution of the beacon nodes and the distance between each beacon node and the unknown node; screening out a plurality of nodes with a low positioning accuracy; and carrying out secondary positioning on the nodes by using an AUV. The method disclosed by the invention is less in calculation and communication consumption, and can fully use the AUV to improve the positioning accuracy of nodes and reduce the positioning errors, therefore, the method is applicable to the positioning of the unknown nodes of underwater wireless sensor networks.
Description
Technical field
The present invention relates to a kind of wireless sensor network locating method, particularly relate to a kind of underwater wireless sensor network localization method, utilize AUV to assist to realize the accurate location of unknown node in network.
Background technology
Underwater environment is comparatively complicated, and location is subject to the restriction of each side, and many ground wireless sensor network location technologies are not suitable under water.Common underwater wireless sensor network location algorithm mainly contains the location algorithm based on buoy, based on the location algorithm of AUV, USP(distributed Underwater Sensor Positioning framework) location algorithm, SBRAL (Surface-Based Reflection Anchor-free Localization) location algorithm, SLMP (Scalable Localization scheme with Mobility Prediction) location algorithm, ASP (Ad-hoc Position System) navigation system and the location algorithm etc. based on magnetometer under water.
The buoy node that can swim on the water surface that GPS device is housed is comprised in the location algorithm based on intelligent buoy, these buoy nodes obtain self coordinate accurately by GPS, other nodes by with at least three buoy node communications, calculate the coordinate of self, the method is only applicable to small-scale UWSN.The graduate location algorithm proposed on this basis afterwards, comprises three kinds of nodes: buoy node, beaconing nodes and unknown node in navigation system.Beaconing nodes first utilizes buoy node to obtain self coordinate, and unknown node by communicating with beaconing nodes, utilizes similar trilateration to position again, thus decrease the traffic, be applicable to extensive navigation system, but this location algorithm uses iterative algorithm, can produce accumulated error.
USP location algorithm utilizes shadow casting technique that underwater 3 D location is converted into two-dimensional localization.In this localization method, the deep exploitation pressure sensor of node obtains, by three not on same straight line beaconing nodes project to plane residing for unknown node, then utilize similar trilateration to calculate the coordinate of unknown node.But USP algorithm Signal Coverage Percentage and node degree of communication have much relations, and a large amount of candidate location information of this algorithm generation can increase the storage burden of node.
The people such as Lloyd Emokpae propose the location algorithm without beaconing nodes based on water-reflected.First SBRAL location algorithm sets up the communication link of a water surface reflection, then a relative coordinate system is set up, each node obtains the information of other nodes by changing the angle transmitted, using the crosspoint of pip in water surface grid as with reference to node, trilateration is utilized to calculate node location.This algorithm has been broken away from for location scene and the dependence of fixed beacon node, but SBRAL positioning precision to be subject to water surface ripples frequency influence larger.
In SLMP location algorithm, location is divided into beaconing nodes to locate and ordinary node location, beaconing nodes utilizes buoy node first to position, ordinary node is located according to beaconing nodes again, each node, according to the Move Mode of the history coordinate data prediction of own node oneself, estimates present position coordinates according to mobility model and coordinate in the past.Utilize the introducing of mobility model can reduce traffic consumption, simplify the position fixing process of node, but position error affects obviously by node density, forecast model, arranging etc. of the value of information.
Melike Erol proposes based on the location algorithm from mobile node, utilize an AUV(Autonomous underwater vehicle, Autonomous Underwater Vehicle) help node locating, floating by receiving gps signal acquisition self-position coordinate when AUV floating state, then move along pre-set route under water, AUV can calculate self coordinate according to mobile alignment, the broadcast message grouping when AUV moves in node deployment region, node obtain after receiving information block AUV coordinate and and AUV between distance, self coordinate is calculated according to trilateration after receiving at least four groupings.This algorithm does not need beaconing nodes, good Signal Coverage Percentage can be obtained when AUV broadcast grouped frequency is higher, but positioning precision affects larger by the motion track of AUV, in addition position fixing process interior joint needs the wake-up packet of monitoring AUV transmission and sends request bag to AUV, adds energy ezpenditure and the communication overhead of node.On this basis, the people such as Hanjiang Luo propose LDB(Localization with Directional Beacons) location algorithm, AUV installs the transceiver of a directivity, send the sound wave of taper, the accuracy that distance calculates can be improved, location Calculation only needs two AUV message bags, the message that node only needs reception AUV to send, do not need to send a request message, decrease energy and the expense communicated, but this algorithm is only suitable for along during rectilinear movement at AUV, and interior joint position, location can produce uncertainty.
Summary of the invention
Technical problem to be solved by this invention is the deficiency overcoming existing underwater wireless sensor network localization method, a kind of underwater wireless sensor network localization method of assisting based on AUV is provided, first beaconing nodes is utilized to carry out Primary Location, then AUV is utilized to assist again to locate, to improve positioning precision.
The present invention is concrete by the following technical solutions:
Based on the underwater wireless sensor network localization method that AUV assists, in described underwater wireless sensor network
Be provided with multiple beaconing nodes, comprise the following steps:
Steps A, each beaconing nodes send the beacon message comprising self coordinate information; Unknown node, according to the beaconing nodes coordinate in received beacon message, utilizes centroid algorithm tentatively to determine the position coordinates of self;
Step B, the secondary utilizing AUV assistance to carry out unknown node are located, specifically in accordance with the following methods:
Step B1, be that initial point sets up rectangular coordinate system in space with unknown node, the communication range of this unknown node is divided into 8 regions, the corresponding region of each octant, adds up the quantity of beaconing nodes in each region;
Step B2, at least one AUV is moved to the minimum region of anchor node number, and the distance of itself and unknown node equals the mean value that this unknown node communicates with each beaconing nodes spacing in scope;
Step B3, using AUV as new beaconing nodes, centroid algorithm is utilized to redefine the coordinate of unknown node.
When utilizing beaconing nodes to carry out the first location of unknown node, the accuracy of location is subject to the number of beaconing nodes around unknown node, these several respects of distance impact of the distribution of beaconing nodes and beaconing nodes distance unknown node is larger, because beaconing nodes distribution situation is different, part unknown node setting accuracy is there will be higher during first location, do not need to carry out follow-up AUV to assist to relocate, for this reason, can according to the number of beaconing nodes around unknown node, the distance of the distribution of beaconing nodes and beaconing nodes distance unknown node is estimated unknown node positioning precision, filter out some nodes that node locating precision is lower, AUV is utilized to assist these nodes to carry out second time location, such method calculates less with the consumption that communicates, can make full use of AUV helps node to improve positioning precision, reduce position error.The present invention adopts following optimal technical scheme further:
As mentioned above based on the underwater wireless sensor network localization method that AUV assists, before utilizing AUV to assist positioning precision minimum in step B
kthe unknown node that individual or positioning precision is less than a predetermined threshold value carries out secondary location, unknown node
ipositioning precision
according to following formulae discovery:
In formula,
for unknown node
ithe quantity of beaconing nodes in communication range;
for unknown node
icommunicate with the mean value of each beaconing nodes spacing in scope;
for unknown node
icommunicate with the variance of each beaconing nodes spacing in scope;
for unknown node
ibeaconing nodes distribution variance in communication range, its expression formula is
, with unknown node
ifor initial point sets up rectangular coordinate system in space, by unknown node
icommunication range be divided into 8 regions, the corresponding region of each octant,
be the mean value of anchor node number in 8 regions,
be
janchor node number in individual region;
α,
β,
ε,
θ∈ (0,1], be weight parameter.
This method first utilizes centroid algorithm to carry out one-time positioning to unknown node, estimate the positioning precision of this unknown node apart from the distance of unknown node according to the number of beaconing nodes around unknown node, the distribution of beaconing nodes and beaconing nodes, filter out some nodes that node locating precision is lower, AUV is utilized to assist these nodes to carry out second time location, such method calculates less with the consumption that communicates, can make full use of AUV helps node to improve positioning precision, reduce position error, be applicable to the location of underwater wireless sensor network unknown node.
Accompanying drawing explanation
Fig. 1 is beacon message packet configuration schematic diagram of the present invention;
Fig. 2 is that node messages grouped record of the present invention represents intention;
Fig. 3 is beaconing nodes distribution schematic diagram in unknown node communication range;
Fig. 4 is for adding after AUV beaconing nodes distribution schematic diagram in unknown node communication range.
Embodiment
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in detail:
The present invention first utilizes centroid algorithm to carry out one-time positioning to unknown node, then estimate the positioning precision of this unknown node apart from the distance of unknown node according to the number of beaconing nodes around unknown node, the distribution of beaconing nodes and beaconing nodes, filter out some nodes that node locating precision is lower, utilize AUV to assist these nodes to carry out second time location.AUV is UUV(underwater unmanned vehicle) in a kind of form, it combines the task controller of artificial intelligence, depth device, computer software, transducer and advanced technology.Different AUV systems has different Design and Features to divide, and common AUV system comprises following components: Power Supply Monitoring and management system, environmental detecting system, detection system for obstacle, navigation system, planning and control system, dynamical system, communication system and task management system etc.AUV can utilize equipment of itself to realize locating accurately, and such as, AUV can be floated to the water surface, the gps antenna installed by self receives gps signal, obtains AUV water surface site, then obtains upright position by pressure sensor, thus realize the accurate location of AUV.
Localization method of the present invention specifically comprises the following steps:
Step 1, beaconing nodes send beacon message grouping with maximum transmitting power, and in this embodiment, the structure of message grouping as shown in Figure 1: comprise the information such as beaconing nodes ID mark, beaconing nodes coordinate and transmitting time.
Step 2, unknown node set up the record sheet of a beacon message, record the message grouping of the beaconing nodes transmission received, specific as follows:
Record sheet in step 2-1, setting unknown node, as shown in Figure 2, record sheet comprises beaconing nodes ID to its structure, beaconing nodes coordinate, beacon message packet delivery time, and message is divided into groups the time of advent, node degree of communication, the distance of beaconing nodes distance unknown node;
After step 2-2, unknown node receive beacon message, relatively whether include the message grouping of this beaconing nodes in record sheet, if have, then replace former beacon message, otherwise, directly add record sheet as new entry, and degree of communication numerical value (the beaconing nodes number namely in unknown node communication range) is added 1.
Step 3, unknown node, according to the coordinate of beaconing nodes each in record sheet, utilizes centroid algorithm to carry out location Calculation first:
;
;
Wherein,
x i ,
y i ,
z i for unknown node
ithree-dimensional coordinate,
x j ,
y j ,
z j for unknown node
iin communication range
jthe coordinate of individual beaconing nodes;
Step 4, self coordinate of unknown node record, and calculate the positioning precision of self, specifically comprise the steps:
Step 4-1, each unknown node are poor for the time of advent according to information block in record sheet, use acoustic communication to calculate in its communication range the
jindividual beaconing nodes is apart from the distance of this unknown node
d j :
d j =(
t 2 -T 1)
* V, wherein
vfor sound wave is in water transmission speed,
t 2for beacon message time of advent,
t 1for beacon message transmitting time;
Step 4-2, distance according to each beaconing nodes distance unknown node in record sheet, calculate beaconing nodes distance unknown node
iaverage distance
d i=
, wherein
n i for node
ibeaconing nodes number in communication range, the variance of distance
b i =
, variance is less, and show that the range difference of all beaconing nodes distance unknown node is apart from less, location is more accurate like this;
Step 4-3, with unknown node
ifor initial point sets up rectangular coordinate system in space, space is divided into eight regions, be mapped as eight octants in rectangular coordinate system in space, beaconing nodes distributes as shown in Figure 3 within this space, adds up the number of beaconing nodes in each octant in beacon record sheet, is denoted as respectively
m 1,
m 2,
m 3,
m 4,
m 5,
m 6,
m 7,
m 8; Add up the number of beaconing nodes in each octant, can following methods be adopted: calculate beaconing nodes coordinate and unknown node
icoordinate difference (the △ that first time utilizes centroid algorithm to estimate
x,△
y, △
z), according to △
x, △
y, △
zsymbol, judge which region beaconing nodes belongs to, corresponding region beaconing nodes number added 1, such as △
x, △
y, △
zall be greater than zero, then beaconing nodes is in the first octant, by beaconing nodes number in the first octant
m 1add 1;
Step 4-4, calculate the average of beaconing nodes in above-mentioned eight regions
e i=
, and the distribution situation of beaconing nodes is represented by the number variance of beaconing nodes, variance is calculated as
r i=
, the distribution of variance less expression beaconing nodes is more even;
Step 4-5, utilize following formulae discovery unknown node
ipositioning precision
l i :
L i =N i α /(
D i β ×
B i ε ×
R i θ )
Wherein,
α,
β,
ε,
θrepresent weight, in different applied environments, each factor is different to the influence degree of positioning precision, can arrange their value according to actual conditions,
α,
β,
ε,
θ∈ (0,1].Positioning precision is larger, represents that the location of node is more accurate.
Step 5, by the positioning precision of unknown node according to from small to large order arrangement, before selecting
kthe unknown node that individual positioning precision is minimum; Or utilize the location accuracy threshold preset to filter out the less unknown node of positioning precision.
Step 6, the unknown node lower to the positioning precision filtered out, move at least one AUV in its communication range, and required AUV quantity can be determined according to required positioning precision, requires that positioning precision is higher, then arrange more AUV; Specifically comprise the steps:
Step 6-1, select the region of beaconing nodes minimum number in institute zoning centered by unknown node;
Step 6-2, AUV is moved to this region, the distance of distance unknown node is that in this unknown node communication range, all beaconing nodes are apart from the average distance place of this unknown node, and namely AUV moves to unknown node is the centre of sphere, radius is
d i 's
the optional position of spherical area.
Step 7, using AUV as new beaconing nodes (adding the beaconing nodes spatial distribution after an AUV as shown in Figure 4), assist unknown node utilize centroid algorithm to reorientate:
;
;
Wherein,
x i ',
y i ',
z i 'for unknown node
ithe coordinate of reorientating,
x a ,
y a ,
z a it is the coordinate of set AUV.
Claims (4)
1., based on the underwater wireless sensor network localization method that AUV assists, be provided with multiple beaconing nodes in described underwater wireless sensor network, it is characterized in that, comprise the following steps:
Steps A, each beaconing nodes send the beacon message comprising self coordinate information; Unknown node, according to the beaconing nodes coordinate in received beacon message, utilizes centroid algorithm tentatively to determine the position coordinates of self;
Step B, the secondary utilizing Autonomous Underwater Vehicle AUV assistance to carry out unknown node are located, specifically in accordance with the following methods:
Step B1, be that initial point sets up rectangular coordinate system in space with unknown node, the communication range of this unknown node is divided into 8 regions, the corresponding region of each octant, adds up the quantity of beaconing nodes in each region;
Step B2, at least one AUV is moved to the minimum region of anchor node number, and the distance of itself and unknown node equals the mean value that this unknown node communicates with each beaconing nodes spacing in scope;
Step B3, using AUV as new beaconing nodes, centroid algorithm is utilized to redefine the coordinate of unknown node.
2. as claimed in claim 1 based on the underwater wireless sensor network localization method that AUV assists, it is characterized in that, before utilizing AUV to assist positioning precision minimum in step B
kthe unknown node that individual or positioning precision is less than a predetermined threshold value carries out secondary location, unknown node
ipositioning precision
according to following formulae discovery:
In formula,
for unknown node
ithe quantity of beaconing nodes in communication range;
for unknown node
icommunicate with the mean value of each beaconing nodes spacing in scope;
for unknown node
icommunicate with the variance of each beaconing nodes spacing in scope;
for unknown node
ibeaconing nodes distribution variance in communication range, its expression formula is
, with unknown node
ifor initial point sets up rectangular coordinate system in space, by unknown node
icommunication range be divided into 8 regions, the corresponding region of each octant,
be the mean value of anchor node number in 8 regions,
be
janchor node number in individual region;
α,
β,
ε,
θ∈ (0,1], be weight parameter.
3. as claimed in claim 1 based on the underwater wireless sensor network localization method that AUV assists, it is characterized in that, described beacon message comprises beaconing nodes ID mark, beaconing nodes coordinate and transmitting time.
4. as claimed in claim 1 based on the underwater wireless sensor network localization method that AUV assists, it is characterized in that, the spacing of described unknown node and beaconing nodes obtains in accordance with the following methods: unknown node is poor for the time of advent according to beacon message, use acoustic communication calculates, specifically according to following formula
d j =(
T 2 -T 1)
*V
In formula,
d j represent that unknown node communicates with the in scope
jindividual beaconing nodes spacing,
t 1,
t 2be respectively
jindividual beaconing nodes send transmitting time, the time of advent of beacon message,
vfor sound wave is in water transmission speed.
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| US9955303B2 (en) | 2015-07-21 | 2018-04-24 | IP Funding Group, LLC | Determining relative position with a BLE beacon |
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| CN107276684B (en) * | 2017-07-19 | 2020-10-09 | 河海大学常州校区 | AUV position prediction-based data collection method in underwater sensor network |
| CN108414982A (en) * | 2018-05-29 | 2018-08-17 | 中国科学院声学研究所 | A kind of communication buoy and its networking for hydrolocation |
| CN109257692B (en) * | 2018-07-28 | 2020-11-13 | 青岛科技大学 | Mobile anchor node assisted underwater wireless sensor network positioning method |
| CN109905846B (en) * | 2019-02-18 | 2020-09-15 | 天津城建大学 | Underwater wireless sensor network positioning method based on autonomous underwater vehicle |
| CN111641921A (en) * | 2020-05-22 | 2020-09-08 | 深圳市三旺通信股份有限公司 | UWB-based pipe gallery positioning method, terminal equipment and storage medium |
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