CN103476117A - Radio frequency-assisted method and device for positioning nodes in wireless sensor network - Google Patents
Radio frequency-assisted method and device for positioning nodes in wireless sensor network Download PDFInfo
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Abstract
The invention relates to a radio frequency-assisted method and device for positioning nodes in a wireless sensor network, and belongs to the crossing field of embedded development and wireless communication. According to the radio frequency-assisted method and device, a wireless sensing node with a 433MHz radio frequency module is used for realizing time synchronization between anchor nodes firstly; after the time synchronization is completed, unknown nodes transmit distance information to the anchor nodes through a 2.4GHz module based on an IEEE802.15.4 protocol; finally, positioning is completed by solving an equation set of time difference of arrival. According to the radio frequency-assisted method and device for the positioning nodes in the wireless sensor network, only the time synchronization between the anchor nodes is needed, time synchronization between all the nodes in the wireless sensor network is not needed, therefore, the power consumption of the whole network is reduced, the service life of the whole network is prolonged, and the programming complexity is lowered; the operation of a system is not affected when the unknown nodes in the network disappear and new unknown nodes are added into the network, so that the robustness and extendibility of the network are improved.
Description
Technical field
The present invention relates to node positioning method and device in a kind of radio sensing network based on RF-assisted, belong to the crossing domain of embedded development and radio communication.
Background technology
Radio sensing network (Wireless Sensor Network, WSN) research is started in phase late 1990s, by being deployed in cheap microsensor nodes a large amount of in monitored area, form, the network system of the self-organizing of the multi-hop formed by communication, its objective is the information of perceived object in perception collaboratively, acquisition and processing network's coverage area.Due to the huge applications value of sensor network, it has caused the very big concern of military service, industrial quarters and the academia of world many countries. wireless sensor network is finished the work by the mutual cooperation between node.Therefore can be applied to many fields, as: before arriving region of war, army sheds a large amount of sensor senses enemy's actions to it, and return data information.Therefore sensor network system can be widely used in many fields such as national defence, military affairs, safety, environmental monitoring, traffic administration, health care.
Time synchronization technique is as the important method of a class in wireless sensor network positioning.The time synchronization protocol of sensor network wherein (Time-synchronization Protocol For Sensor Networks, TPSN) algorithm is a kind of similar network time protocol (Network Time Protocol, NTP), its objective is the time synchronized that transducer whole network interior nodes is provided.While using the TPSN algorithm, need to comprise an anchor node and the extraneous clock source of acquisition time as whole network system of communicating by letter in whole network, each node has an ID simultaneously, then by unknown node classification (anchor node is 0 grade), each node carries out time synchronized with the node of upper level, finally complete and the root node time synchronized, node at the same level between time synchronized adopt RBS algorithm (sender-recipient's synchronization mechanism).Carry out time synchronized by each node with the node of upper level and need to consume more multipotency; In addition, the TPSN algorithm adds fashionable at new node, needs the initialization level to find the stage, has reduced the robustness of algorithm.
Summary of the invention
Technical problem to be solved by this invention is to overcome in existing location technology need to realize deficiency synchronous between all nodes and add the fashionable impact on the algorithm robustness at new node, and node positioning method and device in a kind of radio sensing network based on RF-assisted is provided.
Technical scheme of the present invention is: at first node positioning method in a kind of radio sensing network based on RF-assisted adopts with the wireless sensing node of 433MHz radio-frequency module and realizes the time synchronized between anchor node; After deadline is synchronous, unknown node is the anchor node that is transferred to by range information by the 2.4GHz module based on IEEE 802.15.4 agreement; Finally by the equation group that solves the difference time of advent, complete location; The concrete steps of described localization method are as follows:
A, according to coordinate (
x i ,
y i ) dispose at least three anchor nodes in whole network,
i=1,2,
m,
mthe number that means anchor node;
B, first anchor node are by time synchronizing signal record of 433MHz radio-frequency module emission constantly
t 1;
C, when second anchor node receives signal, send a 433MHz radiofrequency signal;
D, when first anchor node receives the radiofrequency signal that second anchor node send, record is constantly
t 2, according to formula
calculate time offset
θ, first anchor node sends and comprises by the 433MHz radio-frequency module again
with
t 3the signal of time information: other anchor node in network except first anchor node receives and comprises
θwith
t 3during the signal of time information, adjust the moment of self
t=
s 1,
i /(3 * 10
8m/s)+
θ+
t 3, complete and first anchor node between time synchronized; Wherein
s 1,2represent the distance between first anchor node and second anchor node,
s 1,
i represent first anchor node and
idistance between individual anchor node,
i=1,2,
m,
mthe number that means anchor node;
E, after having completed time synchronized, the 2.4GHz radio-frequency module of first anchor node by based on the IEEE802.15.4 standard sends an initial signal;
F, in network each unknown node after receiving initial signal, the information of utilizing the mode of time-sharing multiplex to transmit to comprise self ID by the 2.4GHz radio-frequency module to
mindividual anchor node;
G,
mindividual anchor node is by each unknown node of the memory stores ID in processor module and each unknown node
jarrive respectively each anchor node
ithe moment
t j,
i ; Wherein
j=1,2,
n,
nthe number that means unknown node;
i=1,2,
m,
mthe number that means anchor node;
H, other except first anchor node
meach unknown node ID that-1 anchor node is preserved self and each unknown node arrive respectively the moment of each anchor node
t j,
i send to first anchor node;
I, first anchor node arrive respectively the moment of each anchor node according to each unknown node ID and each unknown node
t j,
i obtain formula (1), and choose the coordinate that two prescription journeys are asked for each unknown node from formula (1):
In formula: (
x j , Y
j) mean
jthe coordinate of individual unknown node; (
x 1,
y 1) mean the coordinate of first anchor node; (
x i ,
y i ) mean
ithe coordinate of individual anchor node;
j=1,2,
n,
nthe number that means unknown node;
i=2,
m,
mthe number that means anchor node.
The number of described anchor node be three and more than, wherein unknown node is at least simultaneously in the communication range in three anchor nodes.
By
mthe network that individual anchor node builds, and each unknown node simultaneously in
min the communication range of individual anchor node, can arrive respectively according to each unknown node ID and each unknown node the due in of each anchor node so
t j,
i obtain
m-1 equation, thus the coordinate that two equations wherein calculate each unknown node chosen; Wherein
j=1,2,
n,
nthe number that means unknown node;
i=1,2,
m,
mthe number that means anchor node.
Described positioner is comprised of anchor node 1 and unknown node 2; Described anchor node 1 comprises power module I 11,2.4GHz radio-frequency module I 12, processor module I 13,433MHz radio-frequency module 14, wherein processor module I 13 is connected with 2.4GHz radio-frequency module I 12 by the SPI interface, by general purpose I/O interface simulation SPI interface function, with 433MHz radio-frequency module 14, is connected; Described unknown node 2 comprises power module II 21,2.4GHz radio-frequency module II 22, processor module II 23, and wherein processor module II 23 is connected with 2.4GHz radio-frequency module II 22 by the SPI interface.
The voltage stabilizing circuit that power module in described anchor node 1 and unknown node 2 is used 2 joint 1.5v dry cells and uses the voltage stabilizing chip to form is powered for modules.
The invention has the beneficial effects as follows:
1, the present invention only need realize the time synchronized between anchor node, does not need to realize the synchronous of time between all nodes in network, makes thus the power consumption of whole network reduce, and has extended the useful life of whole network, has reduced the complexity of programming.
2, the present invention has in the network unknown joint to disappear and adding of new unknown node fashionablely can not affect system works, has improved thus robustness and the extensibility of network.
The accompanying drawing explanation
The structure that Fig. 1 is anchor node described in the present invention connects block diagram;
The structure that Fig. 2 is unknown node described in the present invention connects block diagram;
Fig. 3 is wireless sensor network node distribution block diagram in the present invention;
The circuit diagram that Fig. 4 is power module in the present invention;
Fig. 5 is the circuit diagram that in the present invention, processor module is connected with modules;
In figure, each label is: 1 is that anchor node, 11 is that power module I, 12 is that 2.4GHz radio-frequency module I, 13 is that processor module I, 14 is that 433MHz radio-frequency module, 2 is that unknown node, 21 is that power module II, 22 is that 2.4GHz radio-frequency module II, 23 is the processor module II.
Embodiment
Embodiment 1: as Figure 1-5, and the node-classification in a kind of radio sensing network based on RF-assisted in node positioning method and device: formed by anchor node 1 and unknown node 2; Described anchor node 1 comprises power module I 11,2.4GHz radio-frequency module I 12, processor module I 13,433MHz radio-frequency module 14; Described unknown node 2 comprises power module II 21,2.4GHz radio-frequency module II 22, processor module II 23.
1, power module design: power module is used 2 joint 1.5v dry cells to provide power supply for above-mentioned all modules.Use the shortcoming of the spread of voltage occurred for power supply, designed the voltage stabilizing circuit that uses the REG1117 chip to form and provide the energy for modules.
2, processor module design: the processor of anchor node need to connect the radio-frequency module of 2.4GHz radio-frequency module and 433MHz, processor uses the ATMEGAL128L chip of 16, the ATMEGAL128L chip is used the SPI interface to be connected with the 2.4GHz radio-frequency module, uses general purpose I/O interface simulation SPI interface function to be connected with the 433MHz radio-frequency module; The unknown node processor uses the ATMEGAL128L chip equally, and the 2.4GHz radio-frequency module is connected with the ATMEGAL128L chip by the SPI interface.
Wherein, the processor module in described unknown node 2 is provided with jtag interface, sensor interface, and the processor module in described anchor node 1 also is provided with the serial port module of the data for read anchor node 1 processor by host computer on the basis of unknown node 2; Wherein sensor interface is used the single pin of 1.25mm by the I/O Interface Expanding of the PA0～PA3 of processor chips out, serial port module is comprised of serial port chip and peripheral circuit that (jtag interface is used the 2.54mm double-row needle that the jtag interface of the IEEE1149.1 consensus standard of ATMEGAL128 chip support is expanded out, in order to complete, nonvolatile memory, fuse bit are programmed, and debugging emulation; Sensor interface is used the single pin of 1.25mm by the I/O Interface Expanding of the PA0～PA3 of ATMEGAL128 chip out, in order to be connected with the transducer that gathers different physical messages; Serial port chip in serial port module is the MAX3232 chip).
3,2.4GHz radio-frequency module design: the 2.4GHz radio-frequency module is by the cc2420 chip, and peripheral circuit and reversed F-typed plate carry antenna and form, and mainly complete the transfer of data between node.During transmission: processor module is written to the id information data of this node in the register of cc2420 by the SPI interface, cc2420 delivers to the id information data in the transmit buffer of 128Bit, according to the IEEE802.15.4 standard, frequency expansion sequence by the chips of 32 will send to the DA transducer after id information data spread spectrum, then after the mixing of low-pass filtering and up-conversion by the id information Data Modulation to 2.4GHz, carry antenna through reversed F-typed plate after amplifying by peripheral circuit and send.During reception: when inverse-F antenna receives radiofrequency signal, after low noise amplifier and I/Q down-converted, by this mixed frequency signal after filtering, amplification, AD conversion, automatic gain control, digital demodulation and despreading, finally recover the correct data bag of transmission, this correct data bag is put in the FIFO buffer of cc2420 chip, by checking, resolve this packet, judge whether to meet the frame format of IEEE802.15.4 standard, if meet, successfully receive, otherwise abandon this packet, receive next time.
4,433MHz radio-frequency module design: the 433MHz radio-frequency module is comprised of RF12 chip and antenna, its function has been the time synchronized between anchor node, the integrated all radio-frequency enabled of RF12 chip internal, while therefore sending: at first processor is by the parameter of the good RF12 of I/O interface configuration, to need the time information data that send to write in RF12 emission register by the I/O interface, RF12 will send by antenna after the time information modulation automatically again.During reception: when RF12 successfully receives information, by the mode of interrupting, notification processor reads received data by the I/O interface.
As shown in Figure 3, the anchor node (BS1, BS2, BS3) that has had 3 known position information in the network if provided and the unknown node of 16 unknown messages (1,2,3 ... 16) distribution block diagram, the concrete steps of its localization method are:
A, according to coordinate (
x 1,
y 1), (
x 2,
y 2), (
x 3,
y 3) dispose three anchor nodes in whole network;
B, first anchor node are by time synchronizing signal record of 433MHz radio-frequency module emission constantly
t 1;
C, when second anchor node receives signal, send a 433MHz radiofrequency signal;
D, when first anchor node receives the radiofrequency signal that second anchor node send, record is constantly
t 2, according to formula
calculate time offset
θ, first anchor node sends and comprises by the 433MHz radio-frequency module again
with
t 3the signal of time information:
When receiving, second anchor node comprise
θwith
t 3during the signal of time information, adjust the moment of self
t=
s 1,2 /(3 * 10
8m/s)+
θ+
t 3, complete and first anchor node between time synchronized;
When receiving, the 3rd anchor node comprise
θwith
t 3during the signal of time information, adjust the moment of self
t=
s 1,3 /(3 * 10
8m/s)+
θ+
t 3, complete and first anchor node between time synchronized;
Wherein
s 1,2represent the distance between first anchor node and second anchor node,
s 1,3represent the distance between first anchor node and the 3rd anchor node;
E, after having completed time synchronized, the 2.4GHz radio-frequency module of first anchor node by based on the IEEE802.15.4 standard sends an initial signal;
F, in network, each unknown node is after receiving initial signal, and the information of utilizing the mode of time-sharing multiplex to transmit to comprise self ID by the 2.4GHz radio-frequency module is given three anchor nodes;
G, three anchor nodes are by memory stores each unknown node ID and each unknown node in processor module
jarrive respectively the moment of each anchor node
t j,
i ,
j=1,2,
n,
nnumber for unknown node;
i=1,2,
m,
mmean the number of anchor node, value is 3;
The moment that each unknown node ID that H, other two anchor nodes except first anchor node are preserved self and each unknown node arrive respectively each anchor node
t j,
i send to first anchor node;
I, first anchor node arrive respectively the moment of each anchor node according to each unknown node ID and each unknown node
t j,
i obtain two prescription journeys, and ask for the coordinate of each unknown node by two prescription journeys:
In formula: (
x j , Y
j) mean
jthe coordinate of individual unknown node; (
x 1,
y 1) mean the coordinate of first anchor node; (
x 2,
y 2) mean the coordinate of second anchor node; (
x 3,
y 3) mean the coordinate of the 3rd anchor node;
j=1,2,
n,
nthe number that means unknown node.
Embodiment 2: as Figure 1-5, node positioning method in a kind of radio sensing network based on RF-assisted, at first adopt with the wireless sensing node of 433MHz radio-frequency module and realize the time synchronized between anchor node; After deadline is synchronous, unknown node is the anchor node that is transferred to by range information by the 2.4GHz module based on IEEE 802.15.4 agreement; Finally by the equation group that solves the difference time of advent, complete location;
The concrete steps of described localization method are as follows: A, according to coordinate (
x i ,
y i ) dispose at least three anchor nodes in whole network,
i=1,2,
m,
mthe number that means anchor node;
B, first anchor node are by time synchronizing signal record of 433MHz radio-frequency module emission constantly
t 1;
C, when second anchor node receives signal, send a 433MHz radiofrequency signal;
D, when first anchor node receives the radiofrequency signal that second anchor node send, record is constantly
t 2, according to formula
calculate time offset
θ, first anchor node sends and comprises by the 433MHz radio-frequency module again
with
t 3the signal of time information: other anchor node in network except first anchor node receives and comprises
θwith
t 3during the signal of time information, adjust the moment of self
t=
s 1,
i /(3 * 10
8m/s)+
θ+
t 3, complete and first anchor node between time synchronized; Wherein
s 1,2represent the distance between first anchor node and second anchor node,
s 1,
i represent first anchor node and
idistance between individual anchor node,
i=1,2,
m,
mthe number that means anchor node;
E, after having completed time synchronized, the 2.4GHz radio-frequency module of first anchor node by based on the IEEE802.15.4 standard sends an initial signal;
F, in network each unknown node after receiving initial signal, the information of utilizing the mode of time-sharing multiplex to transmit to comprise self ID by the 2.4GHz radio-frequency module to
mindividual anchor node;
G,
mindividual anchor node is by each unknown node of the memory stores ID in processor module and each unknown node
jarrive respectively each anchor node
ithe moment
t j,
i ; Wherein
j=1,2,
n,
nthe number that means unknown node;
i=1,2,
m,
mthe number that means anchor node;
H, other except first anchor node
meach unknown node ID that-1 anchor node is preserved self and each unknown node arrive respectively the moment of each anchor node
t j,
i send to first anchor node;
I, first anchor node arrive respectively the moment of each anchor node according to each unknown node ID and each unknown node
t j,
i obtain formula (1), and choose the coordinate that two prescription journeys are asked for each unknown node from formula (1):
In formula: (
x j , Y
j) mean
jthe coordinate of individual unknown node; (
x 1,
y 1) mean the coordinate of first anchor node; (
x i ,
y i ) mean
ithe coordinate of individual anchor node;
j=1,2,
n,
nthe number that means unknown node;
i=2,
m,
mthe number that means anchor node.
The number of described anchor node be three and more than, wherein unknown node is at least simultaneously in the communication range in three anchor nodes.
By
mthe network that individual anchor node builds, and each unknown node simultaneously in
min the communication range of individual anchor node, can arrive respectively according to each unknown node ID and each unknown node the due in of each anchor node so
t j,
i obtain
m-1 equation, thus the coordinate that two equations wherein calculate each unknown node chosen; Wherein
j=1,2,
n,
nthe number that means unknown node;
i=1,2,
m,
mthe number that means anchor node.
Described positioner is comprised of anchor node 1 and unknown node 2; Described anchor node 1 comprises power module I 11,2.4GHz radio-frequency module I 12, processor module I 13,433MHz radio-frequency module 14, wherein processor module I 13 is connected with 2.4GHz radio-frequency module I 12 by the SPI interface, by general purpose I/O interface simulation SPI interface function, with 433MHz radio-frequency module 14, is connected; Described unknown node 2 comprises power module II 21,2.4GHz radio-frequency module II 22, processor module II 23, and wherein processor module II 23 is connected with 2.4GHz radio-frequency module II 22 by the SPI interface.
The voltage stabilizing circuit that power module in described anchor node 1 and unknown node 2 is used 2 joint 1.5v dry cells and uses the voltage stabilizing chip to form is powered for modules.
2.4GHz radio-frequency module in described anchor node 1 and unknown node 2 is comprised of 802.15.4 protocol chip, peripheral circuit, antenna; During transmission, processor module is written to the id information of self in the register of 802.15.4 protocol chip by the SPI interface, 802.15.4 protocol chip is delivered to transmit buffer by id information, according to IEEE 802.15.4 standard, after spread spectrum, D/A conversion, low-pass filtering, modulation, amplification, by antenna, send; Process down-converted, filtering, amplification, A/D conversion, digital demodulation when antenna receives radiofrequency signal, the correct data bag that recovers transmission is put in the FIFO buffer of 802.15.4 protocol chip, if packet meets the frame format of IEEE802.15.4 standard, successfully receive, otherwise abandon this packet, receive next time.
Processor module in described unknown node 2 is provided with jtag interface, sensor interface, and the processor module in described anchor node 1 also is provided with the serial port module of the data for read anchor node 1 processor by host computer on the basis of unknown node 2; Wherein sensor interface is used the single pin of 1.25mm by the I/O Interface Expanding of the PA0～PA3 of processor chips out, and serial port module is comprised of serial port chip and peripheral circuit.
433MHz radio-frequency module 14 in described anchor node 1 is comprised of radio frequency chip and antenna; During transmission, processor module passes through the parameter of the good radio frequency chip of I/O interface configuration, then will need the time information data that send to write by the I/O interface in the emission register of radio frequency chip, and radio frequency chip will send by antenna after the time information modulation automatically; When radio frequency chip successfully receives information, by the mode of interrupting, the notification processor module reads the data that receive by the I/O interface.
The above is explained in detail the specific embodiment of the present invention by reference to the accompanying drawings, but the present invention is not limited to above-mentioned execution mode, in the ken possessed those of ordinary skills, can also under the prerequisite that does not break away from aim of the present invention, make various variations.
Claims (5)
1. node positioning method in the radio sensing network based on RF-assisted, is characterized in that: at first adopt with the wireless sensing node of 433MHz radio-frequency module and realize the time synchronized between anchor node; After deadline is synchronous, unknown node is the anchor node that is transferred to by range information by the 2.4GHz module based on IEEE 802.15.4 agreement; Finally by the equation group that solves the difference time of advent, complete location; The concrete steps of described localization method are as follows:
A, according to coordinate (
x i ,
y i ) dispose at least three anchor nodes in whole network,
i=1,2,
m,
mthe number that means anchor node;
B, first anchor node are by time synchronizing signal record of 433MHz radio-frequency module emission constantly
t 1;
C, when second anchor node receives signal, send a 433MHz radiofrequency signal;
D, when first anchor node receives the radiofrequency signal that second anchor node send, record is constantly
t 2, according to formula
calculate time offset
θ, first anchor node sends and comprises by the 433MHz radio-frequency module again
with
t 3the signal of time information: other anchor node in network except first anchor node receives and comprises
θwith
t 3during the signal of time information, adjust the moment of self
t=
s 1,
i /(3 * 10
8m/s)+
θ+
t 3, complete and first anchor node between time synchronized; Wherein
s 1,2represent the distance between first anchor node and second anchor node,
s 1,
i represent first anchor node and
idistance between individual anchor node,
i=1,2,
m,
mthe number that means anchor node;
E, after having completed time synchronized, the 2.4GHz radio-frequency module of first anchor node by based on the IEEE802.15.4 standard sends an initial signal;
F, in network each unknown node after receiving initial signal, the information of utilizing the mode of time-sharing multiplex to transmit to comprise self ID by the 2.4GHz radio-frequency module to
mindividual anchor node;
G,
mindividual anchor node is by each unknown node of the memory stores ID in processor module and each unknown node
jarrive respectively each anchor node
ithe moment
t j,
i ; Wherein
j=1,2,
n,
nthe number that means unknown node;
i=1,2,
m,
mthe number that means anchor node;
H, other except first anchor node
meach unknown node ID that-1 anchor node is preserved self and each unknown node arrive respectively the moment of each anchor node
t j,
i send to first anchor node;
I, first anchor node arrive respectively the moment of each anchor node according to each unknown node ID and each unknown node
t j,
i obtain formula (1), and choose the coordinate that two prescription journeys are asked for each unknown node from formula (1):
In formula: (
x j , Y
j) mean
jthe coordinate of individual unknown node; (
x 1,
y 1) mean the coordinate of first anchor node; (
x i ,
y i ) mean
ithe coordinate of individual anchor node;
j=1,2,
n,
nthe number that means unknown node;
i=2,
m,
mthe number that means anchor node.
2. node positioning method in the radio sensing network based on RF-assisted according to claim 1 is characterized in that: the number of described anchor node be three and more than, wherein unknown node is at least simultaneously in the communication range in three anchor nodes.
3. node positioning method in the radio sensing network based on RF-assisted according to claim 2 is characterized in that: by
mthe network that individual anchor node builds, and each unknown node simultaneously in
min the communication range of individual anchor node, can arrive respectively according to each unknown node ID and each unknown node the due in of each anchor node so
t j,
i obtain
m-1 equation, thus the coordinate that two equations wherein calculate each unknown node chosen; Wherein
j=1,2,
n,
nthe number that means unknown node;
i=1,2,
m,
mthe number that means anchor node.
4. node locating device in the radio sensing network based on RF-assisted, it is characterized in that: described positioner is comprised of anchor node (1) and unknown node (2); Described anchor node (1) comprises power module I (11), 2.4GHz radio-frequency module I (12), processor module I (13), 433MHz radio-frequency module (14), wherein processor module I (13) is connected with 2.4GHz radio-frequency module I (12) by the SPI interface, by general purpose I/O interface simulation SPI interface function, with 433MHz radio-frequency module (14), is connected; Described unknown node (2) comprises power module II (21), 2.4GHz radio-frequency module II (22), processor module II (23), and wherein processor module II (23) is connected with 2.4GHz radio-frequency module II (22) by the SPI interface.
5. node locating device in the radio sensing network based on RF-assisted according to claim 4 is characterized in that: the voltage stabilizing circuits that the power module in described anchor node (1) and unknown node (2) is used 2 joint 1.5v dry cells and uses the voltage stabilizing chip to form are powered for modules.
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|---|---|---|---|
| CN201310439326.XA CN103476117B (en) | 2013-09-25 | 2013-09-25 | Node positioning method and device in a kind of radio sensing network based on RF-assisted |
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|---|---|---|---|
| CN201310439326.XA CN103476117B (en) | 2013-09-25 | 2013-09-25 | Node positioning method and device in a kind of radio sensing network based on RF-assisted |
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| CN103476117A true CN103476117A (en) | 2013-12-25 |
| CN103476117B CN103476117B (en) | 2016-05-25 |
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| CN105744589A (en) * | 2016-04-15 | 2016-07-06 | 华南理工大学 | Positioning device and method for nodes of wireless sensor networks based on improved DV-Hop |
| CN110365563A (en) * | 2018-03-26 | 2019-10-22 | 江苏智慧新吴信息科技有限公司 | A kind of hot plug sensor module |
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