CN103220781A - Method and system of locating wireless sensor network static target - Google Patents
Method and system of locating wireless sensor network static target Download PDFInfo
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Abstract
The invention provides a method and a system of locating a wireless sensor network static target. Through broadcast message packets of a target node period, a sensing node receiving the target message packets sends a received signal strength value, sensing node coordinates and other information to an upper computer. The upper computer calculates the average received signal strength value of each sensing node in a locating period, and calculates a target locating coordinate value according to the average received signal strength value of the sensing node and the node coordinates. When the upper computer judges that the target locating positions of continuous N locating periods are contained in a circular area with a specific radius, the upper computer calculates the average locating coordinate of the target locating coordinates of the N locating periods, and adopts the average locating coordinate as a static target locating result. The method and the system of locating the wireless sensor network static target have the advantages of avoiding the phenomenon that a static target locating position is unstable under the condition of complex turbulent environment, and being capable of outputting a stable and reliable target locating result for a user.
Description
Technical field
The present invention relates to static target localization method and system, relate in particular to wireless sensor network static target localization method and system.
Background technology
Usually having related substanceses such as large number quipments, raw material, product need manage and dispatch in fields such as industrial production, and wherein a lot of materials can be deposited at a period of time internal fixation.In the face of a large amount of all kinds of materials, how to detect the deposit position of every material easily and accurately, will directly determine asset management efficient and level.The wireless sensor network target location technology is applied to asset management, can bring into play its low cost, dispose flexible, be convenient to many advantages such as maintenance, become current wireless sensor network target location technology important application direction.Yet; the target localization result can be subjected to complicated factor influences such as multipath effect, various barrier interference usually under the industrial production environment; even make target under static state its position location also always drift about indefinite; stability and reliability are relatively poor, export the static target position location accurately and reliably for the location system and bring difficulty.
Summary of the invention
In order to solve the problems of the prior art, the invention provides a kind of wireless sensor network static target localization method.
The invention provides a kind of wireless sensor network static target localization method, comprise the steps:
A. destination node periodic broadcasting single target message bag;
B. target message bag of the every broadcasting of destination node, the signal strength values that all receive the sensing node measurement receiving target message bag of target message bag is sent to host computer with the sensing node packet that records received signal intensity level, sensing node coordinate information through gateway node and transmission intermediary;
C. judge in the locating periodically whether host computer receives the sensing node packet of a full M broadcast cycle, if carry out the D step so, otherwise carry out the A step; Specifying a continuous N destination node broadcast cycle is a locating periodically, and wherein M is more than or equal to 1;
D. host computer calculates interior each sensing node of same locating periodically and records the average received signal strength value;
E. host computer utilizes the interior sensing node of same locating periodically to record average received signal strength value and sensing node coordinate Calculation target localization coordinate figure;
F. the host computer judgement has been experienced the locating periodically number whether more than or equal to set point N, if, carry out the G step so, otherwise carry out the A step, wherein N is more than or equal to 2;
G. host computer judges that whether the target localization position of a N continuous locating periodically is positioned at the appointment radius is the border circular areas of R, if carry out the H step so, otherwise carry out the A step;
H. host computer is according to the average elements of a fix of target localization coordinate Calculation of a N continuous locating periodically, and should the average elements of a fix as the static target positioning result.
As a further improvement on the present invention, described sensing node forms the multi-hop transmission network by Radio Link from group.
As a further improvement on the present invention, described transmission intermediary type comprises Serial Port Line, Ethernet, WiFi, GPRS or 3G.
As a further improvement on the present invention, in described step H, host computer shows final definite position, static target location and stores.
As a further improvement on the present invention, in described step H, after host computer is determined the static target position location, this position as the position location under the current goal inactive state, and is positioned calculating no longer continuously.
The invention also discloses a kind of wireless sensor network static target navigation system, comprising:
Destination node: be used for periodic broadcasting single target message bag;
Sensing node: be used for target message bag of the every broadcasting of destination node, the signal strength values that all receive the sensing node measurement receiving target message bag of target message bag is sent to host computer with the sensing node packet that records received signal intensity level, sensing node coordinate through gateway node and transmission intermediary;
Gateway node: gateway node connects sensing node network and transmission intermediary, and it is in charge of sensing node on the one hand and forms network, receives the sensing node packet simultaneously, and through transmission intermediary packet is forwarded to host computer;
Transmission intermediary: transmission intermediary is responsible for the data packet transmission that sensing node is sent through gateway node is arrived host computer, mainly plays and extends transmission distance, and the effect of reliable and stable transfer of data is provided;
Host computer: be used to compile the sensing node metrical information and carry out target localization calculating, be used in locating periodically, calculating each sensing node and record the average received signal strength value, host computer utilizes the average received signal strength value and the sensing node coordinate Calculation target localization coordinate figure of sensing node in the same locating periodically, host computer judges that whether the target localization position of a N continuous locating periodically is positioned at the appointment radius is the border circular areas of R, if, host computer is according to the average elements of a fix of target localization coordinate Calculation of a N continuous locating periodically so, and should the average elements of a fix as the static target positioning result.
As a further improvement on the present invention, described destination node is installed or is carried by anchored object; Described sensing node is disposed four at least in destination node packet range of receiving.
As a further improvement on the present invention, described sensing node forms the multi-hop transmission network by Radio Link from group, and described transmission intermediary type comprises Serial Port Line, Ethernet, WiFi, GPRS or 3G.
The invention has the beneficial effects as follows: the present invention avoids drift indefinite phenomenon in static target position location under the complicated bumpy weather, can export reliable and stable target localization result for the user.
Description of drawings
Fig. 1 is a wireless sensor network static target localization method flow chart of the present invention.
Fig. 2 is that wireless sensor network static target positioning systems of the present invention is unified the embodiment schematic diagram.
Fig. 3 is a wireless sensor network static target of the present invention location sequential chart.
Fig. 4 is the information processing schematic diagram of wireless sensor network static target of the present invention location.
Fig. 5 received signal intensity level measurement result that is sensing node of the present invention under the destination node different distance.
Fig. 6 is a different locating periodically target localization position distribution schematic diagram of the present invention.
Embodiment
As shown in Figure 1, the invention discloses a kind of wireless sensor network static target localization method, comprise the steps: in step S1, destination node periodic broadcasting single target message bag; In step S2, target message bag of the every broadcasting of destination node, the signal strength values (the received signal intensity level also can abbreviate RSSI as) that all receive the sensing node measurement receiving target message bag of target message bag is sent to host computer with the sensing node packet that records received signal intensity level, sensing node coordinate information through gateway node and transmission intermediary; In step S3, judge whether host computer receives the sensing node packet of a full M broadcast cycle in locating periodically, if carry out the S4 step so, otherwise carry out the S1 step; Specifying a continuous N destination node broadcast cycle is a locating periodically, and wherein M is more than or equal to 1; In step S4, host computer calculates interior each sensing node of same locating periodically and records the average received signal strength value; In step S5, host computer utilizes the interior sensing node of same locating periodically to record average received signal strength value and sensing node coordinate Calculation target localization coordinate figure; In step S6, the host computer judgement has been experienced the locating periodically number whether more than or equal to set point N, if, carry out the S7 step so, otherwise carry out the S1 step, wherein N is more than or equal to 2; In step S7, host computer judges that whether the target localization position of a N continuous locating periodically is positioned at the appointment radius is the border circular areas of R, if carry out the S8 step so, otherwise carry out the S1 step; In step S8, host computer is according to the average elements of a fix of target localization coordinate Calculation of a N continuous locating periodically, and should the average elements of a fix as the static target positioning result.
The invention also discloses a kind of wireless sensor network static target navigation system, comprising:
Destination node: be used for periodic broadcasting single target message bag;
Sensing node: be used for target message bag of the every broadcasting of destination node, the signal strength values that all receive the sensing node measurement receiving target message bag of target message bag is sent to host computer with the sensing node packet that records received signal intensity level, sensing node coordinate through gateway node and transmission intermediary;
Gateway node: gateway node connects sensing node network and transmission intermediary, and it is in charge of sensing node on the one hand and forms network, receives the sensing node packet simultaneously, and through transmission intermediary packet is forwarded to host computer;
Transmission intermediary: transmission intermediary is responsible for the data packet transmission that sensing node is sent through gateway node is arrived host computer, mainly plays and extends transmission distance, and the effect of reliable and stable transfer of data is provided;
Host computer: be used to compile the sensing node metrical information and carry out target localization calculating, be used in locating periodically, calculating each sensing node and record the average received signal strength value, host computer utilizes the average received signal strength value and the sensing node coordinate Calculation target localization coordinate figure of sensing node in the same locating periodically, host computer judges that whether the target localization position of a N continuous locating periodically is positioned at the appointment radius is the border circular areas of R, if, host computer is according to the average elements of a fix of target localization coordinate Calculation of a N continuous locating periodically so, and should the average elements of a fix as the static target positioning result.
Described destination node is installed or is carried by anchored object; Described sensing node is disposed four at least in destination node packet range of receiving.
Described sensing node forms the multi-hop transmission network by Radio Link from group, and described transmission intermediary type comprises Serial Port Line, Ethernet, WiFi, GPRS or 3G.
The present invention is made up of the wireless sensing node that is deployed in locating area (sensing node), the destination node, host computer and the application software thereof that are installed on the static anchored object.The wireless sensing node of disposing forms the multi-hop transmission network by Radio Link from group.The staff is left the related substances of needs management in locating area, installation targets node on material, and destination node is broadcasted single message bag by the certain hour gap periods.Message bag of the every broadcasting of destination node, the signal strength values that all receive the sensing node measurement receiving target message bag of destination node message bag is sent to host computer with the sensing node packet that records received signal intensity level, sensing node coordinate information through gateway node and transmission intermediary.In the destination node broadcast cycle, host computer will receive the packet that a plurality of sensing nodes are sent.Specifying the individual destination node broadcast cycle of continuous N (M is more than or equal to 1) is a locating periodically, host computer receives that each sensing node is at a continuous N packet that the destination node broadcast cycle is sent, obtain each sensing node average received signal strength value in the locating periodically, utilize sensing node average received signal strength value and target localization coordinate figure of sensing node coordinate Calculation in the same locating periodically, whether the target localization position of judging the individual locating periodically of N continuous (N is more than or equal to 2) then is positioned at that to specify radius be the border circular areas of R.If do not satisfy this condition, then repeat data packet transceive and positioning calculation process that said process begins next locating periodically, after obtaining the target localization coordinate figure of a new locating periodically, repeat to judge that whether a N continuous locating periodically target localization position is positioned at the appointment radius is the border circular areas of R.By that analogy, later find that up to certain locating periodically it is in the border circular areas of R that the target localization position of a N continuous locating periodically all is included in the appointment radius, host computer procedure stops to accept packet and location Calculation, ask for the average coordinates value of the target localization coordinate of a N continuous locating periodically, and should average elements of a fix value show as the static target positioning result and store.
As shown in Figure 2, be applied as example with logistics management, black circle represents to be deployed in the sensing node of warehouse surroundings wall in the warehouse, and these nodes form sensor network by the Radio Link self-organizing.Suppose and staticly in the warehouse placed some counters, soft dot represents to be installed in the destination node on the counter.Destination node is according to user-defined time span periodic broadcasting single target message bag.Receive the sensing node measurement received signal intensity level of target message bag, will record the received signal intensity level
The packet of sensing node coordinate information is sent to the host computer of administrative center through gateway node and transmission intermediaries such as Serial Port Line, Ethernet, WiFi, GPRS or 3G.The application layer software of host computer operation receives and stores the packet that each broadcast cycle of each sensing node is sent continuously, and extracts the received signal intensity level and the sensing node coordinate of packet record.Utilize the received signal intensity level and the sensing node coordinate of sensing node packet record that destination node is positioned, and then determine the deposit position of counter in the warehouse, so that the staff carries out effective management and dispatching to counter.
In wireless sensor network static target localization method of the present invention, whole position fixing process is made up of some locating periodicallies (total locating periodically number is more than or equal to N), and each locating periodically comprises the broadcast cycle of specifying number (M).In each broadcast cycle, target message bag of destination node broadcasting, every sensing node of this destination node message bag of receiving is measured the received signal intensity level immediately, and the sensing node packet that will record received signal intensity level, sensing node coordinate information is sent to host computer through gateway node and transmission intermediary.After host computer is received the packet that each sensing node sends in this destination node current broadcast cycle, judge whether to receive the packet of M the broadcast cycle that current locating periodically comprises.If do not accepted as yet, begin to receive the packet of the next broadcast cycle that current locating periodically comprises; If accepted, for improving the accuracy of sensing node received signal intensity level, host computer calculates M each sensing node average received signal strength value that broadcast cycle received in the current locating periodically, and according to target localization coordinate figures of information calculations such as each sensing node average received signal strength value, sensing node coordinates.Then, host computer judges that whether elapsed locating periodically number is more than or equal to set point N.If do not satisfy this condition as yet, begin the position fixing process of next locating periodically; If satisfied this condition, host computer judges whether the target localization position of a N continuous locating periodically is included in the border circular areas of specifying radius.If these position locations are not included in this border circular areas entirely, show target localization result and unstable, then continue the position fixing process of next locating periodically.Specify in the border circular areas if these position locations all are included in, illustrate that a N continuous locating periodically target localization result is comparatively stable, this moment, host computer was asked for the average coordinates of the N continuous time elements of a fix as exquisite target localization result.
As shown in Figure 3, visual representation goes out related notions such as broadcast cycle, locating periodically among the figure.Each broadcast cycle internal object node is all broadcasted a target message bag, receives that the sensing node of target message bag sends to host computer with the sensing node packet of recorder signal strength values and node coordinate information immediately.Each locating periodically internal object node is broadcasted M target message bag successively, after host computer is received the packet that each sensing node sends in the locating periodically, calculate each sensing node average received signal strength value and find the solution the target localization coordinate, begin the 2nd locating periodically subsequently and repeat said process.After having experienced N locating periodically, host computer begins to judge whether a N continuous position location is included in the border circular areas of specifying radius.Here the target localization position of supposing the top n locating periodically is not included in the appointment radius circular zone entirely, then continues beginning (N+1) individual locating periodically.Here supposition is after host computer is finished (N+1) inferior location Calculation, the target localization position of judging a N continuous locating periodically is included in the appointment radius circular zone entirely, then host computer is asked the average coordinates of a N continuous position location coordinate, with the averaging of income coordinate as the static target elements of a fix of determining.
As shown in Figure 4, top transverse axis express time axle, an axle high scale is represented the destination node broadcast cycle, each sensing node of symbolic representation below every graduation mark in the munnion sends to the received signal intensity data of host computer in the broadcast cycle that graduation mark is represented.For example, k broadcast cycle sensing node of the symbolic representation S in the munnion under k (k 〉=1) the bar graduation mark
i(x
i, y
i) (i=1,2 ..., L) send to the received signal intensity level of host computer
A group of received signal strength data that is constituted
From first broadcast cycle, stipulate that here per four broadcast cycle are a locating periodically, then host computer will be received following four group of received signal strength datas in the individual locating periodically of j (j 〉=1):
Based on these received signal intensity datas, host computer calculates sensing node S by following formula
i(i=1,2 ..., L) in the average received signal strength value of j locating periodically:
Host computer utilizes location algorithm can calculate the target localization coordinate according to these average received signal strength values.The target localization algorithm kind that can Gong select for use is a lot, adopts least-squares algorithm to illustrate it here.Suppose that received signal strength retrogression model adopts following logarithmic model:
r=A+10·η·lgd
Wherein, r represents received signal strength model value; D represents the distance of sensing node to destination node; A is a constant; η represents decay factor.According to j locating periodically sensing node S
i(i=1,2 ..., average received signal strength value L)
Obtain the target localization coordinate that calculate j location by finding the solution following optimization problem
From first locating periodically, after each locating periodically of host computer is received four new group of received signal strength datas, will calculate one group of new target localization coordinate figure.In order to judge whether stablize the target localization position that each locating periodically draws, and host computer judges whether the position location that N continuous time target localization obtains is included in the border circular areas of specifying radius.Here regulation N equals 3, after promptly host computer is finished first three time target localization, begins to judge whether continuous three target localization positions can be included in the border circular areas of specifying radius.As Fig. 4 example, host computer is at first judged first three time target localization coordinate
Whether satisfy the condition that comprises, after discovery does not satisfy condition, obtain the elements of a fix No. the 4th time through the 4th locating periodically
And judge nearly No. three elements of a fix
Whether satisfy the condition that comprises, after same discovery does not satisfy condition, obtain the elements of a fix No. the 5th time through the 5th locating periodically
Found that nearly No. three elements of a fix
Satisfy and to comprise condition, this just illustrates that continuous three positioning results are relatively stable, and then the average coordinates value of asking for nearly No. three elements of a fix by following formula is as the final target localization coordinate figure (x that determines
T, y
T)
As shown in Figure 5, stain is represented sensing node received signal intensity data under the certain distance among the figure, and curve is a received signal strength retrogression model curve.Because the influence of complicated factors such as multipath effect, barrier interference, sensing node repeats to record received signal intensity data random distribution in the certain limit about received signal strength model value under the destination node same distance.Even the target location immobilizes, the randomness of received signal intensity level will directly influence the static target positioning accuracy usually, and make positioning result shortcoming stability.The average curve of the dotted line received signal strength measurement that is sensing node under the destination node same distance among the figure, as seen, the average received signal strength value is compared most of received signal strength measurements to the deviation of received signal strength model value and is obviously reduced under the same distance.In order to reduce of the influence of received signal intensity random data to positioning result, the thought that patent of the present invention adopts repeatedly duplicate measurements received signal intensity and averages in the static target location, also promptly in each locating periodically, obtain the repeatedly received signal strength measurement of each sensing node at static target, reduce the random element that the received signal intensity data comprises by asking for each sensing node average received signal strength value, and then improve the static target positioning accuracy of each locating periodically.
As shown in Figure 6, location point T represents the static target physical location, location point T
i' (i=1,2 ..., 6) and the target localization position that obtains of continuous 6 locating periodicallies of expression.Obviously, 6 target localization positions shown in Fig. 6 (a) can not all be included in the border circular areas that radius is R, the offset distance of these 6 relative target physical locations in target localization position is bigger than the distance of 6 target localization offsets shown in Fig. 6 (b), and to specify radius be in the border circular areas of R and 6 target localization positions shown in Fig. 6 (b) all are included in.This shows that 6 target localization results shown in Fig. 6 (a) show relatively poor stability because of being subjected to complex environment factor considerable influence; 6 target localization results are then more stable relatively shown in Fig. 6 (b), and its random element that comprises relatively still less.If judge whether the target localization position of continuous 6 locating periodicallies is included in the border circular areas, then situation does not obviously satisfy decision condition shown in Fig. 6 (a), so will continue in new locating periodically, to obtain new position location and judge, when situation shown in Fig. 6 (b) occurring, host computer is asked for and is satisfied the definite static target position location of average coordinates position T ' conduct that border circular areas comprises continuous 6 target location coordinate of condition, so just can further subdue the random element that the target localization position comprises, improve target location accuracy.
One aspect of the present invention is utilized sensing node repeatedly the received signal intensity level and the averaged of measurement target node signal, reduce the noise contribution that sensing node received signal intensity data comprises, thereby reduce of the influence of received signal strength measurement noise target location accuracy; On the other hand, judge the stability and the reliability of current goal positioning result based on the continuous tightness degree of target localization position several times.If target localization position tightness is undesirable several times continuously, illustrate that the current goal positioning result is subjected to such environmental effects bigger, its reliability is relatively poor, navigation system this moment export target positioning result not, but carry out target localization again and repeat to judge continuously position location tightness several times, find constantly continuously that up to certain target localization position tightness reaches requirement several times, illustrate that current positioning result is diminished by such environmental effects, positioning result is reliable relatively, at this moment the target localization position that the centroid position of the satisfactory continuous target localization position several times of tightness is finally exported as navigation system.
The present invention avoids drift indefinite phenomenon in static target position location under the complicated bumpy weather, can export reliable and stable target localization result for the user.
In the present invention, by asking for the average received signal strength value, improve navigation system antijamming capability and positioning accuracy; Repeatedly whether be included in the judgement of border circular areas in the resetting position by target, for the static target position application provides reliable and stable positioning result.
Above content be in conjunction with concrete preferred implementation to further describing that the present invention did, can not assert that concrete enforcement of the present invention is confined to these explanations.For the general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, can also make some simple deduction or replace, all should be considered as belonging to protection scope of the present invention.
Claims (8)
1. a wireless sensor network static target localization method is characterized in that, comprises the steps:
A. destination node periodic broadcasting single target message bag;
B. target message bag of the every broadcasting of destination node, the signal strength values that all receive the sensing node measurement receiving target message bag of target message bag is sent to host computer with the sensing node packet that records received signal intensity level, sensing node coordinate information through gateway node and transmission intermediary;
C. judge in the locating periodically whether host computer receives the sensing node packet of a full M broadcast cycle, if carry out the D step so, otherwise carry out the A step; Specifying a continuous N destination node broadcast cycle is a locating periodically, and M is more than or equal to 1;
D. host computer calculates interior each sensing node of same locating periodically and records the average received signal strength value;
E. host computer utilizes the interior sensing node of same locating periodically to record average received signal strength value and sensing node coordinate Calculation target localization coordinate figure;
F. the host computer judgement has been experienced the locating periodically number whether more than or equal to set point N, if, carry out the G step so, otherwise carry out the A step, wherein N is more than or equal to 2;
G. host computer judges that whether the target localization position of a N continuous locating periodically is positioned at the appointment radius is the border circular areas of R, if carry out the H step so, otherwise carry out the A step;
H. host computer is according to the average elements of a fix of target localization coordinate Calculation of a N continuous locating periodically, and should the average elements of a fix as the static target positioning result.
2. wireless sensor network static target localization method according to claim 1 is characterized in that: described sensing node forms the multi-hop transmission network by Radio Link from group.
3. wireless sensor network static target localization method according to claim 1 is characterized in that: described transmission intermediary type comprises Serial Port Line, Ethernet, WiFi, GPRS or 3G.
4. wireless sensor network static target localization method according to claim 1 is characterized in that: in described step H, host computer shows final definite position, static target location and stores.
5. wireless sensor network static target localization method according to claim 1, it is characterized in that: in described step H, after host computer is determined the static target position location, this position as the position location under the current goal inactive state, and is positioned calculating no longer continuously.
6. a wireless sensor network static target navigation system is characterized in that, comprising:
Destination node: be used for periodic broadcasting single target message bag;
Sensing node: be used for target message bag of the every broadcasting of destination node, the signal strength values that all receive the sensing node measurement receiving target message bag of target message bag is sent to host computer with the sensing node packet that records received signal intensity level, sensing node coordinate through gateway node and transmission intermediary;
Gateway node: gateway node connects sensing node network and transmission intermediary, and it is in charge of sensing node on the one hand and forms network, receives the sensing node packet simultaneously, and through transmission intermediary packet is forwarded to host computer;
Transmission intermediary: transmission intermediary is responsible for the data packet transmission that sensing node is sent through gateway node is arrived host computer, mainly plays and extends transmission distance, and the effect of reliable and stable transfer of data is provided;
Host computer: be used to compile the sensing node metrical information and carry out target localization calculating, be used in locating periodically, calculating each sensing node and record the average received signal strength value, host computer utilizes the average received signal strength value and the sensing node coordinate Calculation target localization coordinate figure of sensing node in the same locating periodically, host computer judges that whether the target localization position of a N continuous locating periodically is positioned at the appointment radius is the border circular areas of R, if, host computer is according to the average elements of a fix of target localization coordinate Calculation of a N continuous locating periodically so, and should the average elements of a fix as the static target positioning result.
7. wireless sensor network static target navigation system according to claim 6 is characterized in that: described destination node is installed or is carried by anchored object; Described sensing node is disposed four at least in destination node packet range of receiving.
8. wireless sensor network static target navigation system according to claim 6, it is characterized in that: described sensing node forms the multi-hop transmission network by Radio Link from group, and described transmission intermediary type comprises Serial Port Line, Ethernet, WiFi, GPRS or 3G.
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