CN103108281A - Real-time positioning method of maritime search-and-rescue target based on wireless sensor network - Google Patents
Real-time positioning method of maritime search-and-rescue target based on wireless sensor network Download PDFInfo
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Abstract
The invention discloses a real-time positioning method of a maritime search-and-rescue target based on wireless sensor network. The real-time positioning method includes the steps of: 1, presetting sensor nodes on a plurality of survival devices and search-and-rescue targets, wherein the sensor nodes form a wireless sensor network through communication protocol, determining the sensor nodes on the survival devices as anchor nodes and determining the sensor nodes on the search-and-rescue targets as unknown nodes, 2, picking three anchoring nodes, namely, the first anchoring node, the second anchoring node and the third anchoring node, and initializing the sensors of each anchoring node. The real-time positioning method adopts the principle that strength of received signal indicates ranging, provides an improved triangle centroid positioning algorithm, and uses micro electro mechanical system technology to help to track the positions of the search-and-rescue targets in real-time after initial position information is obtained, and thus accurate position information is obtained.
Description
Technical field
The present invention relates to a kind of maritime search and rescue localization method, particularly a kind of maritime search and rescue target real-time location method based on wireless sensor network.
Background technology
Along with the development of global shipping business, marine ships quantity constantly increases, and vessel motion has been subject to safely increasing challenge, and casualty has generation frequently, in case accident occurs, primary is to search and rescue the floating marine personnel, ensures the safety of its lives and properties.Traditional rescue method is mainly to set out to search and rescue in a large number boats and ships, helicopter etc. to carry out inch-by-inch search, so not only wastes a large amount of manpower and materials, and searches and rescues poor effect.Although have at present the technology such as radar, machine vision to be applied in maritime search and rescue, but still can't change the passive situation that waits for rescue of search and rescue target.Search and rescue are divided into searches and succours two links, and searches and determine that the positional information of search and rescue target is the key of relief success or failure.
Several location technologies that are applied to the maritime search and rescue target have been arranged at present.Architecture: transmit and receive signal by a large amount of coastal base stations, receive that distress alerting can carry out tracing and positioning to single cellphone subscriber's signal by technical Analysis afterwards.The travelling carriage satellite fix: at present, cell-phone function is increasingly sophisticated, and a lot of smart mobile phones all possess the GPS positioning function, can position its location via satellite.SART: when in a single day ship marine accident occurs, the navigation radar of searching and rescuing on ship or aircraft sends request signal, after SART receives, just immediately to the spatial emission SOS, and Rescue Radar receives SOS, just demonstrate the very easily mark of identification on radar screen, just can find rapidly the survivor.Search and rescue technology and device based on the perils of the sea that machine vision strengthens: formed the auxiliary search and rescue system of highly integrated machine vision, realized round-the-clock, multitask search ship in distress, lifeboat/raft and persons falling in water; Capture the sea and mainly relied on for a long time human eye vision to observe to search the difficult problem of target in danger, for maritime search and rescue provide new solution in the location fast, helped the in time wrecked target of discovery of rescue worker.Front two kinds of requirements are nearer apart from the bank, and distance does not just have the covering of signal and base station, can't position; Then two kinds, distress personnel still is in the passive state that waits for rescue, and can't realize initiatively showing the position.
Wireless sensor network (Wireless Sensor Networks, WSNs) by a large amount of low costs, low-power consumption, have the network that the sensor node of perception, computing capability, wireless communication ability forms.Wireless sensor network has under abominable and dynamic environment that survival ability is strong, accuracy and the various features such as reliability is high, self organization ability is strong and extensibility is strong, so the wireless sensor network location technology is applied to maritime search and rescue environmental suitability is preferably arranged.
Summary of the invention
The purpose of this invention is to provide a kind of maritime search and rescue target real-time location method based on wireless sensor network, the method has merged the advantage based on range finding location and non-range finding location technology, the signal strength signal intensity of taking to receive is indicated range measurement principle, then a kind of improved triangle barycenter location algorithm is proposed, after obtaining initial position message, utilize micro electro mechanical system (MEMS) technology to assist real-time tracking is carried out in the position of searching and rescuing target, thereby try to achieve more accurate positional information.Algorithm computational process complexity is lower, need not iteration, has reduced the consumption of holistic cost and energy.
In order to realize above purpose, the present invention is achieved by the following technical solutions:
A kind of maritime search and rescue target real-time location method based on wireless sensor network is characterized in, comprises:
Step 1, at several equipment and search and rescue pre-installation sensor node on target of seeking survival, described sensor node forms wireless sensor network by communications protocol, sensor node on the equipment of seeking survival is defined as anchor node, and the sensor node of searching and rescuing target is defined as unknown node;
Step 2, choose three anchor nodes, be respectively the first anchor node, the second anchor node, the 3rd anchor node, and with the sensor initializing of each anchor node;
Step 3, measure respectively the first anchor node, the second anchor node, the 3rd anchor node to the distance of unknown node by the signal strength signal intensity indication range measurement principle that receives, take the first anchor node as the center of circle, the first anchor node of measuring is that radius is drawn circle to the distance of unknown node, take the second anchor node as the center of circle, the second anchor node of measuring is that radius is drawn circle to the distance of unknown node, take the 3rd anchor node as the center of circle, the 3rd anchor node of measuring is that radius is drawn circle to the distance of unknown node;
Whether three circles that step 4, judgement draw are overlapping in twos, jump to next step if three circles intersect in twos; If not, turn back to step 2;
Step 5, calculate the coordinate of unknown node;
Step 6, the MEMS (micro electro mechanical system) real-time tracking unknown node of passing through.
Also comprise following steps between described step 5 and step 6: the coordinate that calculates unknown node by the weighted value method.
The present invention compared with prior art has the following advantages:
A kind of maritime search and rescue target real-time location method based on wireless sensor network of the present invention, the method has merged the advantage based on range finding location and non-range finding location technology, the signal strength signal intensity of taking to receive is indicated range measurement principle, then a kind of improved triangle barycenter location algorithm is proposed, after obtaining initial position message, utilize micro electro mechanical system (MEMS) technology to assist real-time tracking is carried out in the position of searching and rescuing target, thereby try to achieve more accurate positional information.Algorithm computational process complexity is lower, need not iteration, has reduced the consumption of holistic cost and energy.
Description of drawings
Fig. 1 is a kind of maritime search and rescue target real-time location method illustraton of model based on wireless sensor network of the present invention;
Fig. 2 is that the present invention is a kind of based on three circle overlapping region schematic diagrames in the maritime search and rescue target real-time location method of wireless sensor network;
Fig. 3 is a kind of maritime search and rescue target real-time location method intermediate cam barycenter location algorithm schematic diagram based on wireless sensor network of the present invention;
Fig. 4 is that the search and rescue target position information based on speed, direction monitoring provided by the invention is optimized schematic diagram.
Embodiment
Below in conjunction with accompanying drawing, by describing a better specific embodiment in detail, the present invention is further elaborated.
A kind of maritime search and rescue target real-time location method based on wireless sensor network comprises:
Step 1 is the pre-installation sensor node on boats and ships, lifeboat raft, life vest and lifebuoy etc. are sought survival equipment and search and rescue target, described sensor node forms wireless sensor network by communications protocol (Zigbee protocol), sensor node on the equipment of seeking survival is defined as anchor node, and the sensor node of searching and rescuing target is defined as unknown node D;
Step 2, choose three anchor nodes, be respectively the first anchor node A, the second anchor node B, the 3rd anchor node C, and with the sensor initializing of each anchor node;
Step 3, measure respectively by signal strength signal intensity indication (Received Signal Strength Indication the is called for short RSSI) range measurement principle that receives the distance that the first anchor node A, the second anchor node B, the 3rd anchor node C arrive unknown node D, take the first anchor node A as the center of circle, the first anchor node A that measures is to the distance of unknown node D
For radius is drawn circle, take the second anchor node B as the center of circle, the second anchor node B that measures is to the distance of unknown node D
For radius is drawn circle, take the 3rd anchor node C as the center of circle, the 3rd anchor node C that measures is to the distance of unknown node D
For radius is drawn circle;
The RSSI value is the numerical value of electromagnetic wave energy size in the current medium of indication.When wireless signal is propagated in air, affected by all factors, signal strength signal intensity can decay along with the increase of propagation distance, and the variation of signal strength signal intensity has certain functional relationship model with distance, and generally sensor node is easy to configure the module of measured signal intensity.Known transmit power is measured received power at receiving node, calculates propagation loss, uses theory or experience signal propagation model that propagation loss is converted into distance, mainly uses the RF signal, is the distance measuring method of a kind of low-power, cheapness.Because its error fecund is born in the factors such as reflection, multipath transmisstion, non line of sight, so the RSSI telemetry is used following propagation path loss model usually:
In formula,
=1 m is reference distance,
Through distance
After loss;
It is actual range;
It is the loss that anchor node arrives unknown node;
That mean value is zero shadowing factor;
Be path loss index, the environmental characteristic around depending on.Following formula is found the solution and can be got:
In fact, in the maritime search and rescue applied environment of reality, due to the abominable of environment and height dynamic, use which kind of path loss model all can produce range error, the anchor node that converses is to the distance of unknown node
The distance that normally is not equal to point-to-point transmission reality.Draw according to above-mentioned RSSI range measurement principle, the distance of the first anchor node A and unknown node D is
, the distance of the second anchor node B and unknown node D
, the distance of the 3rd anchor node C and unknown node D is
With A, B, C are the center of circle respectively,
,
,
Draw circle for radius, can obtain the overlapping region in figure.
Whether three circles that step 4, judgement draw are overlapping in twos, jump to next step if three circles intersect in twos; If not, turn back to step 2;
Step 5, calculate the coordinate of unknown node D by the triangle centroid algorithm, namely calculate the coordinate on leg-of-mutton three summits of overlapping region, unknown node D is namely this mass center of triangle, as shown in Figure 2, E, F, G are triangular apex, the E point coordinates (
Computational methods as follows:
In like manner, can get F, the coordinate of G
, the coordinate of therefore obtaining unknown node according to triangle barycenter solution formula is
After calculating the position of unknown node D, 1 means connect into the internet to share to more rescue worker via satellite;
Step 6, the MEMS (micro electro mechanical system) real-time tracking unknown node of passing through,
Micro-electromechanical system (MEMS) (Micro Electro Mechanical Systems) but be that batch machining is made, integrate that micro mechanism, microsensor, miniature actuator and signal are processed and microdevice or the system of control circuit etc.MEMS organically combines electronic technology and mechanical property, and it can realize the function of the aspects such as physics, chemistry, biology simultaneously.The volume that an important feature of MEMS technology is exactly device is very little, maximum does not have over 1 centimetre yet, be even only several microns, thickness is just less, therefore relatively be fit to be applied to floating marine personnel device in life vest and carry, and not affecting integrality and the performance of life vest.
By MEMS technology Integrated Accelerometer and gyroscope in unknown node, be used for monitoring unknown node and locating the motion state of a period of time afterwards, such as kinematic parameters such as speed and directions, so just can realize the real-time tracking unknown node by one-time positioning, and need not to consume the plenty of time and cost is located repeatedly.As shown in Figure 4, M is the position that elapsed time T unknown node D drift arrives, and speed is v, and the angle of DM and reference axis is
, so the coordinate of M is:
Also comprise following steps between described step 5 and step 6: the coordinate that calculates unknown node (D) by the weighted value method.
Introduce the thought of weighting in above-mentioned location algorithm, be leg-of-mutton each apex coordinate and introduce the weighting weight.Anchor node in the present invention mainly is divided into four classes: ship in distress, rescue boat raft, search and rescue helicopter reach and shed at random transducer.According to the various anchor nodes difference of the in stable condition situation under adverse circumstances at sea, give its different weighting weight to distinguish the relative weighting relation between various anchor nodes.Ship in distress is lash ship, and it is nearer that distance is searched and rescued target, stable working state, so the weights of ship in distress are
The rescue boat raft is self-contained, and operating state is better, so the weights of rescue boat raft are
Search and rescue the motor-driven better performances of helicopter, the weights of therefore searching and rescuing helicopter are
Shed at random transducer and move with stormy waves, operating state is stable not, and the weights of therefore shedding at random transducer are
, concrete weighted value is decided by the abominable degree of offshore applications environment at that time and has uniqueness, wherein
,
,
,
Satisfy following relationship:
The present embodiment is ignored
Namely
, the first anchor node A is ship in distress, and the second anchor node B is the rescue boat raft, and the 3rd anchor node C is for searching and rescuing helicopter, and take the E point as example, E is intersected and is got by B circle and C circle, so its weights are
Certainly, if A, B, C are respectively the anchor nodes of other kinds, also the rest may be inferred.Can obtain unknown node D point coordinates according to this principle at last:
In sum, a kind of maritime search and rescue target real-time location method based on wireless sensor network of the present invention, the method has merged the advantage based on range finding location and non-range finding location technology, the signal strength signal intensity of taking to receive is indicated range measurement principle, then a kind of improved triangle barycenter location algorithm is proposed, after obtaining initial position message, utilize micro electro mechanical system (MEMS) technology to assist real-time tracking is carried out in the position of searching and rescuing target, thereby try to achieve more accurate positional information.Algorithm computational process complexity is lower, need not iteration, has reduced the consumption of holistic cost and energy.。
Although content of the present invention has been done detailed introduction by above preferred embodiment, will be appreciated that above-mentioned description should not be considered to limitation of the present invention.After those skilled in the art have read foregoing, for multiple modification of the present invention with to substitute will be all apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (2)
1. the maritime search and rescue target real-time location method based on wireless sensor network, is characterized in that, comprises:
Step 1, at several equipment and search and rescue pre-installation sensor node on target of seeking survival, described sensor node forms wireless sensor network by communications protocol, sensor node on the equipment of seeking survival is defined as anchor node, and the sensor node of searching and rescuing target is defined as unknown node (D);
Step 2, choose three anchor nodes, be respectively the first anchor node (A), the second anchor node (B), the 3rd anchor node (C), and with the sensor initializing of each anchor node;
Step 3, measure respectively the first anchor node (A), the second anchor node (B), the 3rd anchor node (C) to the distance of unknown node (D) by the signal strength signal intensity indication range measurement principle that receives, take the first anchor node (A) as the center of circle, the first anchor node (A) of measuring to the distance of unknown node (D) (
) draw circle for radius, take the second anchor node (B) as the center of circle, the second anchor node (B) of measuring arrive unknown node (D) distance (
) draw circle for radius, take the 3rd anchor node (C) as the center of circle, the 3rd anchor node (C) of measuring arrive unknown node (D) distance (
) be that the radius picture is round;
Whether three circles that step 4, judgement draw are overlapping in twos, jump to next step if three circles intersect in twos; If not, turn back to step 2;
Step 5, calculate the coordinate of unknown node (D);
Step 6, the MEMS (micro electro mechanical system) real-time tracking unknown node of passing through.
2. the maritime search and rescue target real-time location method based on wireless sensor network as claimed in claim 1, is characterized in that, also comprises following steps between described step 5 and step 6: the coordinate that calculates unknown node (D) by the weighted value method.
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| CN107396302A (en) * | 2017-06-16 | 2017-11-24 | 深圳市盛路物联通讯技术有限公司 | Internet of Things localization method, apparatus and system |
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| CN110174857A (en) * | 2019-04-04 | 2019-08-27 | 安徽天帆智能科技有限责任公司 | A kind of electronic lifeboat freely falling body booting |
| CN113242598A (en) * | 2021-07-09 | 2021-08-10 | 北京信息科技大学 | Trilateral positioning method, device and system |
| CN113242598B (en) * | 2021-07-09 | 2021-10-26 | 北京信息科技大学 | Trilateral positioning method, device and system |
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