CN103533643B - Three-dimensional APIT (approximate point-in-triangulation test) location algorithm for wireless sensor network - Google Patents
Three-dimensional APIT (approximate point-in-triangulation test) location algorithm for wireless sensor network Download PDFInfo
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Abstract
The invention provides a three-dimensional APIT (approximate point-in-triangulation test) location algorithm for node location of a wireless sensor network and belongs to the technical field of wireless sensor network application. According to the three-dimensional APIT location algorithm, a fringe effect of a three-dimensional APIT algorithm, which is caused by the uneven distribution of nodes, is remedied by utilizing a multi-hop mechanism of a three-dimensional WD-DVHOP algorithm. When the number of anchor nodes within a one-hop range of unknown nodes is smaller than 3, the three-dimensional WD-DVHOP location algorithm is called, and therefore, nodes which cannot be located by the three-dimensional APIT algorithm are eliminated. Moreover, by adopting a method of performing weighted computation on the barycenter of a polyhedron formed by encircling anchor ball intersections, In-To-Out-Error and Out-To-In-error misjudgments generated by point-in-tetrahedron test in the three-dimensional APIT algorithm are remedied. The three-dimensional APIT location algorithm has the advantages that the node location coverage rate in the wireless sensor network reaches 100 percent, and the location error is low.
Description
Technical field
The present invention relates to a kind of three-dimensional APIT location algorithm of wireless sensor network.Belong to application of higher wireless sensor network
Technical field.
Background technology
Positioning is just to determine the position of event generation or the node location information of gathered data, and this is wireless sensor network
One of function.Positional information is indispensable part in sensor node gathered data, does not have the supervisory messages of positional information
It is skimble-skamble.The location technology of wireless sensor network according to location mechanism can be divided into based on range finding location algorithm and
Non-ranging location algorithm.Location algorithm based on range finding, because there is substantial amounts of hardware spending, is not widely adopted.Non- survey
Rely on a small amount of anchor node known to position in network away from location algorithm, by neighbor node between limited communication and certain position
Mechanism estimates the position of all unknown node in network.Expense is less, but error is larger.
Location algorithm in wireless sensor network is concentrated mainly on two-dimensional localization algorithm at present, relatively effective three-dimensional fixed
Position algorithm is less, and mostly extends on the basis of existing two-dimensional localization algorithm and obtain；Due to two-dimensional localization algorithm itself
Defect, lead to extend three-dimensional location error larger.Other three-dimensional location is based on some three-dimensional maps
Pseudo- three-dimensional location, expense is larger.
Content of the invention
The present invention main pin drawbacks described above, many for 3D-DVHOP jump mechanisms are introduced in APIT location algorithm, propose three-dimensional
MHWC-APIT (The Multi-Hop and Weighted Centroid APIT) location algorithm.The design of the present invention
As follows：
1. two kinds of erroneous judgements of three-dimensional APIT algorithm are processed
Calculate the barycenter in the surrounded region of anchor ball common factor by method of weighting, replace the tetrahedron test in three-dimensional APIT.
It is implemented as follows：
Unknown node arbitrarily takes out 3 from neighbours' anchor node.Respectively with anchor node as the center of circle, communication radius do for radius
Ball, forms 3 anchor balls.Seek the center of gravity that 3 anchor balls occur simultaneously.Secondly, continue to select other 3 anchor nodes, until limit is all of
Combination.Finally, using all center of gravity averages as the coordinate of unknown node.
When calculating the center of gravity of 3 anchor ball intersection area, employ the method that three dimensions are converted into two-dimensional space.Will
3 anchor balls project to XOY, YOZ, XOZ plane respectively, and the radius of circle size obtaining is constant, therefore, the result energy of plane positioning
The true locus situation reflecting unknown node.
In FIG, A, B, C are respectively in three dimensions 3 anchor nodes in the projection of XOY plane, the projection N of unknown node
In the region that anchor circle intersection point is formed, secondly just can be weighted barycenter to the region that anchor circle intersection point is formed, obtain unknown
The coordinate that node projects in XOY plane.In the same manner, the coordinate of projection in YOZ and XOZ plane can be obtained.Concrete calculating is such as
Under：
First in XOY plane, the region that anchor circle intersection point is formed is weighted centroid calculation, projection in XOY plane
Coordinate such as formula 1.
Wherein, (xij, yij)XOYRepresent unknown node i j-th anchor node combined projection in XOY plane, institute's formation anchor
The barycenter that circle occurs simultaneously.W1, w2, w3 are the weights of intersection point 1,2,3.Because distance is bigger, signal intensity is less, and corresponding weights are just
Should be less.Therefore, the inverse of this algorithms selection distance sum is as weights.
Obtain projection coordinate (x in XOY plane for unknown node Nij, yij)XOYAfterwards, (x can be obtainedij, zij)XOZWith
(yij, zij)YOZ.
According to calculated coordinate in three planes.Unknown node i can be obtained count under j-th anchor node combines
The coordinate calculating, such as formula 2.
Finally, continue to select other three anchor nodes, calculate the barycenter that anchor ball intersection point surrounds region, until all groups of limit
Close.Then the coordinate of final unknown node i can be expressed as formula 3.
Wherein, N is anchor node number.
2. the process of the edge effect of three-dimensional APIT algorithm
Skewness during node random placement, can lead to some to be in anchor node number in the range of the node of network edge one jump
Less than 3, so that cannot position, this phenomenon is called edge effect.In order to solve this problem, the present invention is by three-dimensional WD-
Many jump mechanisms of DVHOP algorithm introduce three-dimensional APIT algorithm, when the anchor node number in the range of jumps is less than 3, call three-dimensional
WD-DVHOP just positions.Three-dimensional WD-DVHOP location algorithm is the innovatory algorithm for three-dimensional DV-HOP algorithm, is calculating anchor
Node averagely jump away from when, give different weights for apart from different anchor nodes to its percentage contribution, build weighted average and jump
Away from each unknown node utilizes the average jump of oneself away from the product with the minimum hop count to each beacon, obtains itself and each anchor
The distance of node, tries to achieve the coordinate of unknown node using trilateration or maximum likelihood method, and its position error has very big
Improve.
Brief description
Fig. 1 XOY plane perspective view
Fig. 2 three-dimensional MHWC-APIT algorithm flow chart
Fig. 3 node deployment schematic diagram
Fig. 4 is the change curve with anchor node number for the average localization error of various location algorithms
Specific embodiment
The present invention is implemented to three-dimensional MHWC-APIT algorithm using Matlab, and idiographic flow is as follows：
(1) wireless sensor node of setting 100 makes it be randomly dispersed in the horizontal plane of point 100m × 100m × 100m
Region, checks a random distribution result of 100 nodes after Matlab extracts the TCL file that NS-2 generates.
1) anchor node broadcast message, unknown node record anchor node information.
2) around unknown node, anchor node number is more than or equal to 3, then execute anchor ball common factor weighting algorithm.In the range of jumping from one
Three are arbitrarily taken, by the anchor ball being formed respectively to XOY, XOZ and YOZ face projects, respectively in three planes in all anchor nodes
Intersection point weighting algorithm justified by execution anchor, selects other three anchor nodes afterwards, until limit is owned.Flat with these anchor ball common factor barycenter
Average is as the coordinate of unknown node.
When 3) being less than 3 for neighbours' anchor node anchor joint number, three-dimensional WD-DVHOP algorithm is called to be calculated.Using
Many jump mechanisms of DV-HOP algorithm go from one jump scope beyond anchor node find anchor node.
Algorithm particular flow sheet such as Fig. 2.
In order to verify the performance of the three-dimensional MHWC-APIT of extension, using Matlab to three-dimensional MHWC-APIT and three-dimensional APIT
Algorithm and other algorithms are emulated.And simulation result is contrasted with other algorithms.Emulate respectively from anchor node ratio,
The parameter such as node total number and communication radius carries out simulation analysis.Assume that the number of times emulating is 1000 times, simulating area is 100m*
The region of 100m*100m, generates node in a network at random.Using nodes all in network average localization error as measurement
Standard.The calculating of average localization error, such as public 4.
Wherein,The coordinate position of the node i for asking, (xi, yi, zi) for node i physical location, N be unknown
The sum of node.
Fig. 3 shows the deployment diagram of node.
Fig. 4 shows the situation of change with anchor node number for the position error of three-dimensional MHWC-APIT algorithm and other algorithms.Can
It is far smaller than other location algorithms with the error finding out three-dimensional MHWC-APIT algorithm.
Claims (1)
1. three-dimensional APIT wireless sensor network three-dimensional location, with the anchor node in the range of unknown node one jump as the center of circle,
Communication radius make anchor ball for radius, and by anchor ball respectively to XOY, YOZ, XOZ plane projection, by the center-of-mass coordinate of view field
Arithmetic average positioning unknown node it is characterised in that：
1) make use of what many jump mechanisms of WD-DVHOP algorithm completely eliminated that edge effect in APIT algorithm produces cannot position
Node, WD-DVHOP algorithm calculate anchor node averagely jump away from when, assign to its percentage contribution for apart from different anchor nodes
Give different weights, build weighted average jump away from, each unknown node utilize the average jump of oneself away from to each beacon
The product of little jumping figure, obtains its distance with each anchor node, tries to achieve unknown node using trilateration or maximum likelihood method
Coordinate；
2) by the use of anchor ball occur simultaneously barycenter meansigma methodss as unknown node coordinate, completely eliminate in three-dimensional APIT algorithm by
In-To-Out-Error the and Out-To-In-Error erroneous judgement producing in four sides internal point test；
3) in the barycenter asking anchor ball to occur simultaneously, by three anchor balls, unknown node, anchor nodes respectively to XOY, YOZ and ZOX projects,
The anchor circle that three dimensions are converted into two-dimensional space occurs simultaneously, and simplifies the complexity that three dimensions calculate；
4) adopt method of weighting calculate anchor circle common factor, using distance sum inverse as weights.
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| CN107040992B (en) * | 2017-06-07 | 2019-08-27 | 江西理工大学 | Wireless sensor network node locating method and device |
| CN108525259B (en) * | 2018-04-27 | 2020-11-27 | 湖南环境生物职业技术学院 | System for be used for football location ball to test |
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