CN103220778B - A kind of mobile node order switching method based on wireless sensor network and implement device - Google Patents
A kind of mobile node order switching method based on wireless sensor network and implement device Download PDFInfo
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- CN103220778B CN103220778B CN201310076427.5A CN201310076427A CN103220778B CN 103220778 B CN103220778 B CN 103220778B CN 201310076427 A CN201310076427 A CN 201310076427A CN 103220778 B CN103220778 B CN 103220778B
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Abstract
Based on mobile node order switching method and the implement device of wireless sensor network, relate to wireless sensor network in multiple mobile node Cooperation controlling field.The invention solves the problem of the low and poor stability of the formation molding rate of the order switching method of existing mobile node of wireless sensor network.In the present invention, the position coordinates of each mobile node to self positions, the deflection angle of distance between self and host node and host node and the direct of travel from node is gone out from node calculate, the formation expected matrix of mobile node subsequent time passes through to broadcast in wireless network at telegon by host computer, from mobile node to current self direct of travel and deflection angle adjust, complete evolution, device of the present invention is made up of a formation control unit and N number of mobile node, formation control unit realizes the control to mobile node direct of travel and speed by wireless transmission, realize evolution.The present invention is applicable to multiple mobile node Cooperation controlling field.
Description
Technical field
The present invention relates to wireless sensor network in multiple mobile node Cooperation controlling field.
Background technology
Wireless sensor network (wireless sensor network, WSN) information is merged to three processes of process mutually from getting transmission, it is the product that multiple fields technology combines, the feature such as strong with its adaptivity, broad covered area, layout are convenient, flexible is widely used in environmental monitoring, health care, national defense and military, space exploration and anti-terrorism and the field such as combats a natural disaster, as a new technology of current era, receive increasing concern.
Formation control between robot is the common cooperation problem of the class in multi-robot system research field, has become the direction that in multi-robot system research one is very active.In recent years, the evolution between robot controls to seem further extensive in the application in the fields such as military surveillance, aircraft formation flight, search, space exploration, the removal of mines.For a multi-robot cooperation system, multirobot is formed and keeps certain formation (as triangle, rhombus, straight line etc.), and appropriate conversion is done to formation there is many advantages in the process run, but the order switching method of the mobile node of existing wireless sensor network is easy to the impact being subject to outside environmental elements, cause that the formation molding rate of mobile node is low, the poor stability of formation.
Summary of the invention
The object of the invention is the problem of the low and poor stability of the formation molding rate of the order switching method in order to solve existing mobile node of wireless sensor network, providing a kind of mobile node order switching method based on wireless sensor network and implement device.
A kind of mobile node order switching method based on wireless sensor network of the present invention,
It is first by N number of mobile node and M beaconing nodes composition wireless network, and N number of mobile node forms a mobile node and forms into columns, N be more than or equal to 1 integer; M be more than or equal to 4 integer; Form into columns one of them mobile node selected as host node at this mobile node, other node be this host node from node; In the wireless network, each mobile node can real-time reception to the position reference from least 4 beaconing nodes;
Inscribe when K, the initial value of K is 1; Concrete steps based on the mobile node order switching method of wireless sensor network are:
Step one, each mobile node are positioned by the position coordinates of beaconing nodes to self, and the position coordinates of self is broadcasted by host node in wireless network;
Step 2, receive the positional information of host node broadcast from node, calculate from the distance l between node and host node and host node and the deflection angle from node direct of travel according to the position coordinates of self that step one obtains
from node by the distance l that obtains and deflection angle
information broadcasting go out;
In step 3, the broadcast message adopting host node in telegon receiving step one and step 2 after the broadcast message of node, by the positional information of each mobile node, each from the distance l between node and host node and host node and each deflection angle from node direct of travel
send to host computer;
Step 4, host computer are each from the distance l between node and host node and host node and each deflection angle from node direct of travel according to what receive
this mobile node is formed into columns and carries out position tracking, and the value of K is added 1, and by the formation expected matrix Sd in K+1 moment by broadcasting in wireless network at telegon;
Described formation expected matrix Sd comprises desired distance l
dand expected angle
Step 5, mobile node form into columns in each node receive the formation expected matrix Sd that host computer sends, respectively from node by inscribe during K from the desired distance l the distance l between node and host node and this expected matrix Sd
dcompare; Simultaneously from node by the host node inscribed during K and each deflection angle from node direct of travel
with expected angle
compare; Select this desired distance from node according to nearby principle and expect deflection angle;
Step 6, to adopt from node
double-closed-loop control method, according to step 5 select should from desired distance of node with expect that deflection angle adjust the direct of travel of self and speed, until after the distance reaching expectation from node and deflection angle, be adjusted to and be synchronized with the movement with host node;
The mobile node evolution of inscribing when completing K+1, returns step one, carries out the mobile node evolution of subsequent time.
The device realizing the above-mentioned mobile node order switching method based on wireless sensor network comprises formation control unit, N number of mobile node and M beaconing nodes; Formation control unit, N number of mobile node and M beaconing nodes are distributed in wireless network;
Formation control unit comprises host computer, is embedded with the telegon of wireless communication module and control end antenna; The control signal output of described host computer connects the control signal input being embedded with the telegon of wireless communication module, the end of the wireless signal output connection control end antenna of tuner;
Each mobile node comprises node side antenna, A/D converter, filter amplifier, magnetoresistive transducer, the core controller being embedded with wireless communication module and motor driver;
The magnetic resistance collection signal output of magnetoresistive transducer connects the signal input part of filter amplifier, the filtered signal output of filter amplifier (6) connects the input end of analog signal of A/D converter, the digital signal output end of A/D converter connects the digital signal input end being embedded with the core controller of wireless communication module, and the control signal output being embedded with the core controller of wireless communication module connects the control signal input of motor driver; The end of node side antenna (4) is connected with the wireless signal input of the core controller being embedded with wireless communication module.
The present invention adopts the localization method based on received signal strength, by
double-closed-loop control method controls current formation, and ensure that mobile node is in operation the stability of formation, the present invention compared with the conventional method formation molding rate improves 30%.Meanwhile, energy ezpenditure of the present invention is low, with low cost and be easy to realize.
Accompanying drawing explanation
Fig. 1 is wireless positioning network schematic diagram when comprising a mobile node and eight beaconing nodes, and in figure, "○" represents beaconing nodes, and " " represents mobile node;
Fig. 2 is the schematic diagram that mobile node of the present invention formation is transformed into rhombus queue;
Fig. 3 is the structural representation of device of the present invention.
Embodiment
Embodiment one, composition graphs 1 illustrate present embodiment, a kind of mobile node order switching method based on wireless sensor network described in present embodiment, it is first by N number of mobile node and M beaconing nodes composition wireless network, N number of mobile node forms mobile node and forms into columns, N be more than or equal to 1 integer; M be more than or equal to 4 integer; Form into columns one of them mobile node selected as host node at this mobile node, other node be this host node from node; In the wireless network, each mobile node can real-time reception to the position reference from least 4 beaconing nodes;
Inscribe when K, the initial value of K is 1; Concrete steps based on the mobile node order switching method of wireless sensor network are:
Step one, each mobile node are positioned by the position coordinates of beaconing nodes to self, and the position coordinates of self is broadcasted by host node in wireless network;
Step 2, receive the positional information of host node broadcast from node, calculate from the distance l between node and host node and host node and the deflection angle from node direct of travel according to the position coordinates of self that step one obtains
from node by the distance l that obtains and deflection angle
information broadcasting go out;
In step 3, the broadcast message adopting host node in telegon receiving step one and step 2 after the broadcast message of node, by the positional information of each mobile node, each from the distance l between node and host node and host node and each deflection angle from node direct of travel
send to host computer;
Step 4, host computer are each from the distance l between node and host node and host node and each deflection angle from node direct of travel according to what receive
this mobile node is formed into columns and carries out position tracking, and the value of K is added 1, and by the formation expected matrix Sd in K+1 moment by broadcasting in wireless network at telegon;
Described formation expected matrix Sd comprises desired distance l
dand expected angle
Step 5, mobile node form into columns in each node receive the formation expected matrix Sd that host computer sends, respectively from node by inscribe during K from the desired distance l the distance l between node and host node and this expected matrix Sd
dcompare; Simultaneously from node by the host node inscribed during K and each deflection angle from node direct of travel
with expected angle
compare; Select this desired distance from node according to nearby principle and expect deflection angle;
Step 6, to adopt from node
double-closed-loop control method, according to step 5 select should from desired distance of node with expect that deflection angle adjust the direct of travel of self and speed, until after the distance reaching expectation from node and deflection angle, be adjusted to and be synchronized with the movement with host node;
The mobile node evolution of inscribing when completing K+1, returns step one, carries out the mobile node evolution of subsequent time.
Method described in present embodiment replaces the transmission of a large amount of transducers and the information of carrying out with wireless sensor network, complete and the evolution of multiple mobile node is controlled, the complexity of circuit design is significantly reduced, and the calculating of distance realizes all in the algorithm, the impact being subject to outside environmental elements is little.
Embodiment two, below in conjunction with Fig. 2, present embodiment is described, present embodiment is further illustrating a kind of mobile node order switching method based on wireless sensor network described in execution mode one, and the concrete steps that in step one, each mobile node is positioned by the position coordinates of beaconing nodes to self are:
The request signal of steps A, mobile node to be positioned broadcast beacon node location coordinate in wireless network;
Step B, beaconing nodes receive the request broadcast singal of mobile node to be positioned, calculate the intensity level RSSI of the request broadcast singal received, and the intensity level RSSI and the positional information of self that calculate the broadcast singal obtained are sent to mobile node to be positioned;
Step C, mobile node to be positioned judge whether the quantity of beaconing nodes broadcast singal received is less than 4 after receiving the positional information of beaconing nodes and the intensity level RSSI of broadcast singal that beaconing nodes sends; If judged result is yes, then the broadcast signal strength value RSSI received reality carries out sequence from large to small, obtains the sequencing information of broadcast signal strength value RSSI; If judged result is no, then select the broadcast signal strength value RSSI of n beaconing nodes by mode from large to small, obtain the sequencing information of broadcast signal strength value RSSI; N be more than or equal to 4 integer;
The information of the broadcast signal strength value RSSI that step D, employing core controller obtain according to step C, search location is carried out to mobile node to be positioned, determine the position coordinates of mobile node, and the position coordinates determined is sent to mobile node to be positioned, complete the location of this mobile node.Embodiment three, present embodiment are further illustrating a kind of mobile node order switching method based on wireless sensor network described in execution mode two, and step B calculates the intensity level RSSI of the request broadcast singal received by formula:
RSSI＝-(10·N·log
10D+A)
Obtain, in formula,
N is propagation constant, represents the path loss exponent in signals transmission;
D represents the distance between mobile node and beaconing nodes;
When A represents apart from node 1m to be positioned, the signal strength values received, unit is that dBm, A value is arranged between 30.0 to 50.0, precision 0.5m.
As can be seen from above-mentioned formula, along with the increase of the distance of transmitting terminal and receiving terminal, received signal strength value reduces thereupon.
Embodiment four, present embodiment are further illustrating a kind of mobile node order switching method based on wireless sensor network described in execution mode one, the concrete form of the formation expected matrix Sd described in step 4:
In formula,
represent that m from the deflection angle between node and host node, l
dmrepresent that m from the relative distance between node and host node.When evolution order is rhombus, formation expected matrix S
diaconcrete form be:
Concrete formation as shown in Figure 2.
Embodiment five, composition graphs 3 illustrate present embodiment, described in present embodiment is the implement device of the mobile node order switching method based on wireless sensor network described in embodiment one, and it comprises formation control unit, N number of mobile node and M beaconing nodes; Formation control unit, N number of mobile node and M beaconing nodes are distributed in wireless network;
Formation control unit comprises host computer 1, is embedded with the telegon 2 of wireless communication module and control end antenna 3; The control signal output of described host computer 1 connects the control signal input being embedded with the telegon 2 of wireless communication module, the end of the wireless signal output connection control end antenna 3 of tuner 2;
Each mobile node comprises node side antenna 4, A/D converter 5, filter amplifier 6, magnetoresistive transducer 7, the core controller 8 being embedded with wireless communication module and motor driver 9;
The magnetic resistance collection signal output of magnetoresistive transducer 7 connects the signal input part of filter amplifier 6, the filtered signal output of filter amplifier 6 connects the input end of analog signal of A/D converter 5, the digital signal output end of A/D converter 5 connects the digital signal input end being embedded with the core controller 8 of wireless communication module, and the control signal output being embedded with the core controller 8 of wireless communication module connects the control signal input of motor driver 9; The end of node side antenna (4) is connected with the wireless signal input of the core controller 8 being embedded with wireless communication module.
Embodiment six, present embodiment are to the further illustrating of implement device of the realization described in embodiment six based on the mobile node order switching method of wireless sensor network, and the core controller 8 being embedded with wireless communication module adopts model to be the chip microcontroller of CC2431.
The core controller of mobile node is CC2431, its inner integrated positioning monitoring hardware core, by the precision of the hard-wired positioning precision of this position monitor far above satellite fix, the present invention is based on improvement navigator-follower (Leader-Follower) method and
control methods completes the conversion of formation and the control of formation stability, Leader-Follower method after improvement significantly reduces the task amount of host node, the task of originally belonging to Leader is averagely allocated to each Follower perform, thus decrease the decision-making time of Leader, accelerate the speed that formation is formed, pass through simultaneously
closed loop controller sets about from angle and distance two aspects the stability revising and adjust to ensure formation to formation.In the conversion of formation and the keep-process of formation, respectively from mobile node Follower all with host node Leader for reference point carries out the conversion of pose.After mobile node receives the conversion order of formation, the pose adjusting self forms new formation, as: rhombus queue, triangle queue etc.Mobile node is after the positional information obtaining impact point, the information that can provide by beaconing nodes is advanced with certain formation, magnetoresistive transducer detects the course angle of mobile node, the duty ratio of the pwm control signal of output is changed after core controller process, the pose of adjustment mobile node, thus realize evolution and formation maintenance.
Claims (6)
1., based on a mobile node order switching method for wireless sensor network, it is characterized in that,
It is first by N number of mobile node and M beaconing nodes composition wireless network, and N number of mobile node forms a mobile node and forms into columns, N be more than or equal to 1 integer; M be more than or equal to 4 integer; Form into columns one of them mobile node selected as host node at this mobile node, other node be this host node from node; In the wireless network, each mobile node can real-time reception to the position reference from least 4 beaconing nodes;
Inscribe when K, the initial value of K is 1; Concrete steps based on the mobile node order switching method of wireless sensor network are:
Step one, each mobile node are positioned by the position coordinates of beaconing nodes to self, and the position coordinates of self is broadcasted by host node in wireless network;
Step 2, receive the positional information of host node broadcast from node, calculate from the distance l between node and host node and host node and the deflection angle from node direct of travel according to the position coordinates of self that step one obtains
from node by the distance l that obtains and deflection angle
information broadcasting go out;
In step 3, the broadcast message adopting host node in telegon receiving step one and step 2 after the broadcast message of node, by the positional information of each mobile node, each from the distance l between node and host node and host node and each deflection angle from node direct of travel
send to host computer;
Step 4, host computer are each from the distance l between node and host node and host node and each deflection angle from node direct of travel according to what receive
this mobile node is formed into columns and carries out position tracking, and the value of K is added 1, and by the formation expected matrix Sd in K+1 moment by broadcasting in wireless network at telegon;
Described formation expected matrix Sd comprises desired distance l
dand expected angle
Step 5, mobile node form into columns in each node receive the formation expected matrix Sd that host computer sends, respectively from node by inscribe during K from the desired distance l the distance l between node and host node and this expected matrix Sd
dcompare; Simultaneously from node by the host node inscribed during K and each deflection angle from node direct of travel
with expected angle
compare; Select this desired distance from node according to nearby principle and expect deflection angle;
Step 6, to adopt from node
double-closed-loop control method, according to step 5 select should from desired distance of node with expect that deflection angle adjust the direct of travel of self and speed, until after the distance reaching expectation from node and deflection angle, be adjusted to and be synchronized with the movement with host node;
The mobile node evolution of inscribing when completing K+1, returns step one, carries out the mobile node evolution of subsequent time.
2. a kind of mobile node order switching method based on wireless sensor network according to claim 1, it is characterized in that, the concrete steps that in step one, each mobile node is positioned by the position coordinates of beaconing nodes to self are:
The request signal of steps A, mobile node to be positioned broadcast beacon node location coordinate in wireless network;
Step B, beaconing nodes receive the request broadcast singal of mobile node to be positioned, calculate the intensity level RSSI of the request broadcast singal received, and the intensity level RSSI and the positional information of self that calculate the broadcast singal obtained are sent to mobile node to be positioned;
Step C, mobile node to be positioned judge whether the quantity of beaconing nodes broadcast singal received is less than 4 after receiving the positional information of beaconing nodes and the intensity level RSSI of broadcast singal that beaconing nodes sends; If judged result is yes, then the broadcast signal strength value RSSI received reality carries out sequence from large to small, obtains the sequencing information of broadcast signal strength value RSSI; If judged result is no, then select the broadcast signal strength value RSSI of n beaconing nodes by mode from large to small, obtain the sequencing information of broadcast signal strength value RSSI; N be more than or equal to 4 integer;
The information of the broadcast signal strength value RSSI that step D, employing core controller obtain according to step C, search location is carried out to mobile node to be positioned, determine the position coordinates of mobile node, and the position coordinates determined is sent to mobile node to be positioned, complete the location of this mobile node.
3. a kind of mobile node order switching method based on wireless sensor network according to claim 2, is characterized in that, step B calculates the intensity level RSSI of the request broadcast singal received by formula:
RSSI＝-(10·N·log
10D+A)
Obtain, in formula,
N is propagation constant, represents the path loss exponent in signals transmission;
D represents the distance between mobile node and beaconing nodes;
When A represents apart from node 1m to be positioned, the signal strength values received, unit is dBm.
4. a kind of mobile node order switching method based on wireless sensor network according to claim 1, is characterized in that, the concrete form of the formation expected matrix Sd described in step 4:
In formula,
represent that m from the deflection angle between node and host node, l
dmrepresent that m from the relative distance between node and host node.
5. the implement device of a kind of mobile node order switching method based on wireless sensor network according to claim 1, is characterized in that, it comprises formation control unit, N number of mobile node and M beaconing nodes; Formation control unit, N number of mobile node and M beaconing nodes are distributed in wireless network;
Formation control unit comprises host computer (1), is embedded with the telegon (2) of wireless communication module and control end antenna (3); The control signal output of described host computer (1) connects the control signal input being embedded with the telegon (2) of wireless communication module, the end of wireless signal output connection control end antenna (3) of tuner (2);
Each mobile node comprises node side antenna (4), A/D converter (5), filter amplifier (6), magnetoresistive transducer (7), the core controller (8) being embedded with wireless communication module and motor driver (9);
The magnetic resistance collection signal output of magnetoresistive transducer (7) connects the signal input part of filter amplifier (6), the filtered signal output of filter amplifier (6) connects the input end of analog signal of A/D converter (5), the digital signal output end of A/D converter (5) connects the digital signal input end being embedded with the core controller (8) of wireless communication module, and the control signal output being embedded with the core controller (8) of wireless communication module connects the control signal input of motor driver (9); The end of node side antenna (4) is connected with the wireless signal input of the core controller (8) being embedded with wireless communication module.
6. the implement device of a kind of mobile node order switching method based on wireless sensor network according to claim 5, is characterized in that the core controller (8) being embedded with wireless communication module adopts model to be the chip microcontroller of CC2431.
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| CN103412564B (en) * | 2013-07-26 | 2016-02-03 | 中国科学院计算技术研究所 | A kind of unmanned systems distributed consensus formation control method and system thereof |
| CN104950884B (en) * | 2015-06-03 | 2017-09-22 | 浙江理工大学 | A kind of Biomimetic Fish cooperative control method towards a wide range of water quality monitoring |
| CN108628294A (en) * | 2017-03-20 | 2018-10-09 | 北京军石科技有限公司 | A kind of autonomous cooperative control system of multirobot target and its control method |
| CN110609554B (en) * | 2019-09-17 | 2023-01-17 | 重庆特斯联智慧科技股份有限公司 | Robot movement control method and device |
| CN111082878B (en) * | 2019-11-15 | 2021-03-26 | 电子科技大学 | Target tracking method based on underwater mobile wireless sensor network |
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