CN102984797A - Wireless ad hoc network node positioning method and wireless ad hoc network node positioning system - Google Patents
Wireless ad hoc network node positioning method and wireless ad hoc network node positioning system Download PDFInfo
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Abstract
According to a wireless ad hoc network node positioning method and a wireless ad hoc network node positioning system, known positions of part nodes and distances between the nodes are utilized to infer the positions of remaining nodes so that service based on the positions is enabled to be possible, and the performance of an ad hoc network is improved. The wireless ad hoc network node positioning system is composed of a datum node and an unknown node (see the attached drawing). The datum node comprises a self positioning module, a module for calculating the distance between adjacent nodes, and an information interaction module, wherein the self positioning module is used for obtaining a self position by utilization of a satellite, a global positioning system (GPS) and the like; the module for calculating the distance between the adjacent nodes is used for calculating distances between all nodes according to wireless signal intensity; and the information interaction module executes a node position inference algorithm to infer the positions, which can be determined, of nodes to be detected by utilization of collected position information and distance information between the nodes (see the attached drawing). The unknown node comprises a module for calculating the distance between adjacent nodes, and an information interaction module, and the functions of the module for calculating the distance between the adjacent nodes, and the information interaction module are the same as the functions of the modules in the datum node. A judgment calculation module can be located in the datum node or the unknown node, and is used for transmitting inferring results, namely position information of the nodes to be detected, to corresponding nodes, and the positions of the nodes to be detected can be determined.
Description
Technical field
The present invention relates to the wireless sensor network field, utilize known location and the internodal distance of subnetwork node, infer the position that all the other nodes.The first accurate location of each node in the clear and definite MANET, in order to location-based service is provided, and, utilize the positional information of node, can effectively improve the performance of MANET.
Background technology
Have in many sector applications, need to provide location-based service to the user, these services depend on the user and know own current geographical position.For example the passenger on the airport wants to find from the nearest hotel of own current location; Soldier on the battlefield wonders own current geographical position.GPS is a kind of widely used navigation system, yet GPS is mainly used under the outdoor environment, and for factors such as cost, energy savings, GPS is not suitable selection in many situations.
The characteristics such as MANET is the provisional autonomous system of one group of multi-hop that forms with the portable terminal of wireless transmitter, and that its network node has is low in energy consumption, volume is little, computing capability is poor and memory capacity is little.MANET is before providing location-based service to the user, at first need to make each node that consists of network to obtain the position of oneself, the positional information of node can also be used for designing more high performance MANET procotol except location-based service can be provided.Therefore no matter be the performance that strengthens MANET be purpose, or take the application of widening MANET as starting point, all be necessary to make each node in the network to know the position of oneself.
The node location that this patent is introduced is inferred the problem method, its basic principle is: at first a part of node in the network utilizes the method such as GPS to obtain the position of himself, then calculate distance between each node according to wireless signal strength, determine successively again the position of all the other nodes according to distance.Therefore, address this problem, network need to possess following prerequisite:
1) node in the network can intercom mutually by wireless medium, that is to say, network must be communicated with.This also is the primary condition that MANET exists.
2) a part of node in the network has the ability of knowing himself position, for example utilizes the GPS location or has set in advance fixing position etc.In other words, the position of the part of nodes in the network is known.Our positioning algorithm need to from the node of these location awares, be inferred the position that all the other nodes.
3) each node in the network has the ability of calculating the distance between own and the neighbors according to the reception of wireless signals intensitometer.
For above prerequisite with equation expression out, defined formula symbol at first.If arbitrary node n in the network
i(0≤i＜N; N is the node number) the absolute position be p
i, it can utilize the neighbors n that receives
jThe wireless signal strength that sends calculate between the two apart from di
, jA part of node in the network can be known the position of oneself in advance, is referred to as datum node; All the other nodes can not be known the absolute position of oneself in advance, are referred to as node to be measured.If node to be measured has M, be expressed as respectively n
o, n
1..., n
M-1Then datum node can be expressed as respectively n
M..., n
N-1
In addition, at node n
i, n
jBetween distance as far as can't still using d under the situation of direct communication (both are not adjacent nodes)
I, jExpression distance between the two, we are d
I, jBe defined as:
Wherein, d
Max+Be defined as more than or equal to d
MaxValue, be calculated as follows: d
Max+=max (| P
i-P
j|, d
Max).
Utilize previously defined symbol, can infer that the problem re is as follows to node location: the absolute position of known reference node is p
i(M≤i＜N), require sharp calculate internodal apart from d
I, j(0≤i, j＜N) infer the position p that node to be measured
i(0≤i＜M).
Summary of the invention
Purpose of the present invention is exactly in order to make each node that consists of ad-hoc network obtain the position of oneself, in order to provide location-based service to the user, to provide the node location in a kind of wireless self-networking to infer algorithm.
MANET can represent that with a non-directed graph model G (V, E) wherein: V is the finite aggregate of node; E is the finite aggregate in radio chains roadside, and each node in the network distributes an address designator n that the whole network is unique
i(0≤i＜N; N is the node number).Each node has identical maximum transmission distance d according to the transmission of wireless signals model
MaxIf node n
iWith node n
j(i ≠ j and 0≤i, j＜N) can direct communications, then have a undirected radio chains roadside between the two, claim node n
iWith node n
jNeighbors each other, this moment, distance between the two was inevitable less than maximum transmission distance, namely had: d
I, j＜d
Max
The technical solution used in the present invention is as follows:
Node location is inferred problem, its basic principle is: at first a part of node in the network utilizes the method such as GPS to obtain the position of himself, then calculate distance between each node according to wireless signal strength, determine successively again the position of all the other nodes according to distance.Therefore, native system comprises two category nodes, datum node and unknown node.Therefore in MANET, formed by datum node module and unknown node module.
The datum node module comprises the self poisoning module, calculates and adjacent node spacing module and information interaction module.Wherein, the self poisoning module refers to utilize satellite, and GPS etc. obtain the position of self; Calculate and the adjacent node spacing module is to calculate distance between each node according to wireless signal strength; The positional information that the utilization of information interaction module is collected and internodal range information, the XM positioning algorithm is inferred the position that all confirmable nodes to be measured in position.
The unknown node module comprises to be calculated and adjacent node spacing module and information interaction module, and its function is identical with functions of modules in the datum node.
The judgement computing module can be in datum node or the unknown node, estimation result, namely the positional information of all confirmable nodes to be measured in position is sent respectively to corresponding node.
The core of described wireless self-organizing network nodes navigation system is the judgement computing module, and it is that its performance has played vital effect to the location of node according to the key component that receives the information calculations node location.In node location supposition process, there are several problems should be noted that.The one, the selection problem of judgement node can adopt different selection strategies under the different network condition.The 2nd, information between nonneighbor node transmits problem, and the Routing Protocol that can utilize network self to support transmits, such as DSDV[8] etc. Routing for On-Demand Protocol in MANET.The 3rd, the mobility problem of network node.In these cases, the judgement computing module can re-execute positioning algorithm by receiving the new range information that each interdependent node sends, and calculates the position of mobile node.
Judging module utilizes positioning algorithm to calculate the position of all confirmable nodes to be measured in position according to the position of known datum node and the distance between each node.Estimate at first roughly the position of node to be measured, then adopt gradient descent method to carry out position correction, the computed position that all determines whether node to be measured according to certain decision rule after each the correction is enough near its actual position, and if so, then algorithm finishes; Otherwise continue to carry out.Detailed process is:
1. the initial position of given all the confirmable nodes to be measured in position of information interaction module.
(1) a Boolean variable b is set for each node
i(0≤i＜N) is as the position initialization sign of this node.Have all nodes to be measured this moment: b
i=false (0≤i＜M); All datum nodes are had: b
i=true (M≤i＜N).
(2) for any b
iThe node n to be measured of=false
iIf there are two or more node n
j(j ≠ i) satisfy: d
I, j＜d
MaxAnd b
j=true then can determine its initial position, claims that this node is " position is confirmable ".n
iInitial position press
Determine, then n is set
iPosition initialization be masked as very, even b
i=true.Q in the formula
iBe node set Q
i={ j|d
I, j＜d
MaxAnd b
j=true}, q
iBe set Q
iNumber of elements, and q is arranged
i〉=2.
(3) repeatedly carried out for (2) step, until exist without any the confirmable node to be measured in position.And if the execution in (2) step has stopped, but still there is the node to be measured of not determining initial position, illustrates that then the position of these nodes to be measured can't be inferred, claim that these nodes are " position can't be determined ".
2. after the 1st step was finished, the confirmable node to be measured in all positions is all given initial position.Revise the position of these nodes this moment immediately.Concrete modification method is as follows.
(1) each node n to be measured
i(the position p of 0≤i＜M)
i(correction of 0≤i＜M) is calculated with following formula:
Wherein, l
I, j, v
I, j, L, K is respectively apart from l
I, j=| p
i-p
j|, unit vector v
I, j=(p
i-p
j)/l
I, j, node set L={j|d
I, j＜d
MaxAnd K={j|d
I, j=d
Max+.α is for revising step-length, and span is 0＜α＜1, and the step-length value is larger, and then the speed of convergence is faster, thus can usefulness correction number of times still less so that computed position approaching to reality position.We will show that step-length gets the impact that different values is carried out algorithm with concrete legend and algorithm execution result the back.
(2) each node n to be measured
i(the position p of 0≤i＜M)
i(0≤i＜M) increases correction amount
iRevise, i.e. p
i=p
i+ Δ
i
(3) repeatedly carry out (1) step and (2) step, until the length of the correction of all nodes to be measured (correction is a vector) | Δ
i| all less than till a certain appointment constant.This moment, we thought that the computed position of these nodes to be measured is enough near their actual position.Positioning algorithm finishes.
Description of drawings
For the present invention being understood easily and realizing that by describing with reference to the accompanying drawings, similar Reference numeral refers to same in all each views or intimate parts in the accompanying drawing now.These accompanying drawings and following detailed description are included in and form the part of specification together, with these embodiment of further signal and explain various principle and advantages, wherein:
Fig. 1 is wireless self-organizing network nodes navigation system model, and described system comprises datum node module and unknown node module.Wherein, the datum node module comprises self poisoning module, calculating and adjacent node spacing module and information interaction module, the unknown node module comprises to be calculated and adjacent node spacing module and information interaction module, and the judgement computing module can be in the datum node, also can be in the unknown node.The function of the information interaction module in datum node module and unknown node module is the same, utilizes positional information and the internodal range information collected, and the XM positioning algorithm is inferred the position that all confirmable nodes to be measured in position.The judgement computing module is the key component of this system model, can be in datum node or the unknown node, according to the position of known datum node and the distance between each node, utilize positioning algorithm to calculate the position of all confirmable nodes to be measured in position, namely the positional information of all confirmable nodes to be measured in position is sent respectively to corresponding node.
Fig. 2 is the key modules judgement computing module among the present invention, and described judgement computing module comprises initial position, correction node location and the definite node location that calculates all nodes to be measured.The first step is to calculate the initial position of all nodes to be measured, and sign of given each node is distinguished datum node and unknown node with this first.Whether the unknown of then determining this node in unknown node can be determined.Second step is on the basis of the first step, the position of the unknown node that obtained is revised repeatedly, until meet the requirements.The 3rd step was on the basis of first two steps, when the revision value of the position of unknown node meets the requirements, determined the position of this node.
Fig. 3 is the MANET legend.In this MANET legend, node S0, S1, S2 are three datum nodes, node n0, and n1 ..., n10 is node to be measured.All nodes have identical maximum communication distance.Each internodal line represents the radio chains roadside that exists between node, and any two to have each other the node of line be neighbors.In this legend, at first each datum node is known the position of oneself, and datum node S0, S1, S2 obtain first the position of oneself among the figure.Second step, all nodes calculate distance own and adjacent node according to received signal strength.The 3rd step, select n1 as the judgement node, all the other all nodes are passed to n1 to the range information between own and the neighbors, and datum node is also passed to n1 to the positional information of self.In the 3rd step, whether judgement node n1 utilizes the position of the information decision node that receives can determine.Among Fig. 1, except n5, all the other nodes to be measured all are the confirmable nodes to be measured in position.At last, by inferring algorithm, judgement node n1 notice their particular locations separately of other nodes to be measured except n5.
Fig. 4 is the result after the judgement computing module is finished all node initial positions to be measured of calculating.Fig. 4 is the initial position of given all nodes to be measured after algorithm executed for the 1st step.Wherein, solid line circle is the actual position of each node; Dashed circle is the current computed position of the confirmable node in each position.The position of node n5 can't be inferred, because it is a node that the position can't be determined, ignores.As can be seen from Figure 2, the current computed position of each node to be measured and actual position gap are very large.Therefore, algorithm need to continue to carry out next step, and the computed position of each node to be measured is revised.
Fig. 5 revises step-length 0.1, repeatedly revises the result after 50 times.The computed position of each node to be measured is shown in the dashed circle among the figure separately.
Fig. 6 revises step-length 0.4, repeatedly revises the result after 50 times.The computed position of each node to be measured is shown in the dashed circle among the figure separately.
Fig. 7 revises step-length 0.8, repeatedly revises the result after 50 times.The computed position of each node to be measured is shown in the dashed circle among the figure separately.
From Fig. 5, Fig. 6, Fig. 7 can find out that larger correction step-length can make the computed position of each node to be measured approach faster its actual position, and computed position and physical location have overlapped substantially among Fig. 7.The below is respectively Fig. 5, Fig. 6, the computed position of each node to be measured (except the n5) and the mean deviation distance between its actual position and peak excursion distance among Fig. 7.Among Fig. 5: the mean deviation distance is 8.95796, and the peak excursion distance is the computed position of node n6 and the offset distance of actual position, is 15.5007; Among Fig. 6: the mean deviation distance is 1.15957, and the peak excursion distance is the computed position of node n2 and the offset distance of actual position, is 2.00671; Among Fig. 7: the mean deviation distance is 0.0605595, and the peak excursion distance is the computed position of node n2 and the offset distance between the actual position, is 0.0846829.
Fig. 8 is the maximum of correction length and the relation between the position peak excursion distance.Because the positioning algorithm of this paper can't be known the actual position of node to be measured in actual applications, therefore, algorithm determines whether that by the length of judging correction the computed position of node to be measured is enough near its actual position.Algorithm dictates is inferred algorithm in case the length of the position correction amount of all nodes to be measured, stops executing location immediately all less than the constant of an appointment.In order to verify the reasonability of this judgment criterion, we adopt step-length 0.1,0.4,0.8 executing location to infer algorithm, and repeatedly carrying out data sampling in the executing location makeover process, two kinds of data of sampling are respectively the maximum of each node regulation amount length to be measured, the computed position of each node to be measured and the peak excursion distance between its actual position.Fig. 8 has drawn curve by two kinds of sampled datas, and wherein the maximum of correction length is done abscissa, and the maximum position offset distance is done ordinate.It is substantially proportional between two kinds of data to can visually see, and has illustrated that algorithm finishes the reasonability of judgment criterion.Simultaneously, the offset distance between node computed position to be measured and actual position has verified also that along with the execution of algorithm trends towards infinitesimal gradually the node location of this paper is inferred algorithm complexity.
Embodiment
Described wireless self-organizing network nodes localization method and system are comprised of datum node and unknown node.Wherein, datum node can utilize the locating module of self to obtain self-position, and unknown node can only obtain distance with other nodes by calculating with the adjacent node module.
With reference to figure 1, described wireless self-organizing network nodes localization method and system are by datum node and unknown node.Wherein, datum node comprises self poisoning module, calculating and adjacent node spacing module and information interaction module: the self poisoning module refers to utilize satellite, and GPS etc. obtain the position of self; Calculate and the adjacent node spacing module is to calculate distance between each node according to wireless signal strength; The positional information that the utilization of information interaction module is collected and internodal range information, the XM positioning algorithm is inferred the position that all confirmable nodes to be measured in position.Unknown node comprises to be calculated and adjacent node spacing module and information interaction module, and its function is identical with functions of modules in the datum node.The judgement computing module can be in datum node or the unknown node, estimation result, namely the positional information of all confirmable nodes to be measured in position is sent respectively to corresponding node.
With reference to figure 2, the nucleus module of described wireless self-organizing network nodes localization method and system judgement computing module.This judgement computing module is divided into three parts, calculates the initial position of node to be measured, revises node location and definite node location.The below does the operation principle of this judgement computing module and specifies:
1. the initial position of given all the confirmable nodes to be measured in position of information interaction module.
(1) a Boolean variable b is set for each node
i(0≤i＜N) is as the position initialization sign of this node.Have all nodes to be measured this moment: b
i=false (0≤i＜M); All datum nodes are had: b
i=true (M≤i＜N).
(2) for any b
iThe node n to be measured of=false
iIf there are two or more node n
j(j ≠ i) satisfy: d
I, j＜d
MaxAnd b
j=true then can determine its initial position, claims that this node is " position is confirmable ".n
iInitial position press
Determine, then n is set
iPosition initialization be masked as very, even b
i=true.Q in the formula
iBe node set Q
i={ j|d
I, j＜d
MaxAnd b
j=true}, q
iBe set Q
iNumber of elements, and q is arranged
i〉=2.
(3) repeatedly carried out for (2) step, until exist without any the confirmable node to be measured in position.And if the execution in (2) step has stopped, but still there is the node to be measured of not determining initial position, illustrates that then the position of these nodes to be measured can't be inferred, claim that these nodes are " position can't be determined ".
2. after the 1st step was finished, the confirmable node to be measured in all positions is all given initial position.Revise the position of these nodes this moment immediately.Concrete modification method is as follows.
(1) each node n to be measured
i(the position p of 0≤i＜M)
i(correction of 0≤i＜M) is calculated with following formula:
Wherein, l
I, j, v
I, j, L, K is respectively apart from l
I, j=
|p
i-p
j| unit vector v
I, j=(p
i-p
j)/l
I, j, node set L={j|d
I, j＜d
MaxAnd K={j|d
I, j=d
Max+.α is for revising step-length, and span is 0＜α＜1, and the step-length value is larger, and then the speed of convergence is faster, thus can usefulness correction number of times still less so that computed position approaching to reality position.We will show that step-length gets the impact that different values is carried out algorithm with concrete legend and algorithm execution result the back.
(2) each node n to be measured
i(the position p of 0≤i＜M)
i(0≤i＜M) increases correction amount
iRevise, i.e. p
i=p
i+ Δ
i
(3) repeatedly carry out (1) step and (2) step, until the length of the correction of all nodes to be measured (correction is a vector) | Δ i| is less than a certain appointment constant.This moment, we thought that the computed position of these nodes to be measured is enough near their actual position.Positioning algorithm finishes.
Because judgement computing module of the present invention can't be known the actual position of node to be measured in actual applications, therefore, module determines whether that by the length of judging correction the computed position of node to be measured is enough near its actual position.The module regulation is inferred in case the length of the position correction amount of all nodes to be measured, stops executing location immediately all less than the constant of an appointment.In order to verify the reasonability of this judgment criterion, we adopt step-length 0.1,0.4,0.8 to carry out position estimating, and repeatedly carrying out data sampling in the executing location makeover process, two kinds of data of sampling are respectively the maximum of each node regulation amount length to be measured, the computed position of each node to be measured and the peak excursion distance between its actual position.Two kinds of sampled datas have been drawn curve, and wherein the maximum of correction length is done abscissa, and the maximum position offset distance is done ordinate.It is substantially proportional between two kinds of data to can visually see, and has illustrated that position estimating finishes the reasonability of judgment criterion.Simultaneously, the offset distance between node computed position to be measured and actual position has also been verified the validity that node location of the present invention is inferred along with the execution of position estimating trends towards infinitesimal gradually.
Along with the development of ad hoc network in recent years, many services of being used widely in legacy network have begun to provide in MANET.Wherein relatively be fit to the service that is based on the position of the COS of MANET characteristics, such as target localization and tracking.Location-based service is provided, and the node in the MANET at first will be known the position of oneself, and, utilize the positional information of node, can effectively improve the performance of MANET.Wireless self-organizing network nodes localization method and system that this patent is introduced utilize known location and the internodal distance of part of nodes, infer the position that all the other nodes.By example calculation, verified the algorithm complexity that adopts in this patent.
Claims (5)
1. a wireless self-organizing network nodes navigation system is comprised of datum node module and unknown node module.Position by node in the datum node module and internodal distance can be inferred the node location that in the unknown node module.
2. a kind of wireless self-organizing network nodes navigation system as claimed in claim 1, it is characterized in that: described datum node module comprises the self poisoning module, calculates and adjacent node spacing module and information interaction module.The unknown node module comprises to be calculated and adjacent node spacing module and information interaction module.The judgement computing module can be in datum node or the unknown node.
3. a kind of wireless self-organizing network nodes navigation system as claimed in claim 2, it is characterized in that: in datum node, the self poisoning module refers to utilize satellite, and GPS etc. obtain the position of self; Calculate and the adjacent node spacing module is to calculate distance between each node according to wireless signal strength; The positional information that the utilization of information interaction module is collected and internodal range information, the XM positioning algorithm is inferred the position that all confirmable nodes to be measured in position.
4. a kind of wireless self-organizing network nodes navigation system as claimed in claim 2 is characterized in that: in unknown node, calculate and adjacent node spacing module and information interaction module, its function is identical with functions of modules in the datum node.The judgement computing module can be in datum node or the unknown node, estimation result, namely the positional information of all confirmable nodes to be measured in position is sent respectively to corresponding node.
5. a kind of wireless self-organizing network nodes navigation system as claimed in claim 4, it is characterized in that: judging module utilizes positioning algorithm to calculate the position of all confirmable nodes to be measured in position according to the position of known datum node and the distance between each node.Estimate at first roughly the position of node to be measured, then adopt gradient descent method to carry out position correction, the computed position that all determines whether node to be measured according to certain decision rule after each the correction is enough near its actual position, and if so, then algorithm finishes; Otherwise continue to carry out.
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