CN103533652A - Method for positioning nodes of underwater sensor network - Google Patents
Method for positioning nodes of underwater sensor network Download PDFInfo
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- CN103533652A CN103533652A CN201310540312.7A CN201310540312A CN103533652A CN 103533652 A CN103533652 A CN 103533652A CN 201310540312 A CN201310540312 A CN 201310540312A CN 103533652 A CN103533652 A CN 103533652A
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Abstract
The invention discloses a method for positioning nodes of an underwater sensor network. The method comprise the following steps: a) establishing a space rectangular coordinate system; b) establishing a moving anchor node which moves along an isometric helical line; c) broadcasting anchor node coordinate information; d) receiving the coordinate information; e) judging whether the positions are determined; f) judging whether four pieces of coordinate information are received; g) judging whether the four anchor node coordinates are collinear; h) calculating the positions. According to the method for positioning the nodes of the underwater sensor network, a sensor node can determine the coordinate of self according to the four received collinear anchor node coordinates, so that the difficulty in deploying anchor nodes of the underwater sensor network is solved, and the network deployment cost is lowered at the same time; as position information of four non-collinear anchor nodes is adopted for positioning, the method complexity is reduced, and the method is easy to realize; according to characteristics of underwater deployment of the nodes, the search space of a particle group is limited, and the positioning method efficiency is improved.
Description
Technical field
The present invention relates to a kind of node positioning method of underwater sensor network, in particular, relate in particular to a kind of anchor node the water surface spin motion, sensor node according to 4 that receive not the anchor node coordinate of conllinear carry out the node positioning method of the underwater sensor network of position calculation.
Background technology
In recent years along with rise and the various countries pay attention to day by day to maritime rights and interests of marine economy, the progress of underwater sensing net is at full speed, and it has been widely used in many civil and militaries fields such as oceanographic observation, resource exploration and exploitation, hazard forecasting, pollution detection, military detection now.Node locating technique is one of key technology of underwater sensing net, in great majority application, all needs the position of destination node to carry out quick effective location.Such as, rescue under water salvaging field, corresponding sensor node must be able to provide the positional information of destination node, so that rescue personnel takes corresponding scheme in time.
In land Sensor Network location, the node of being furnished with GPS can be as anchor node random placement in network, and under water, the deployment difficulty of anchor node obviously increases, and: GPS lost efficacy in water; It is high that anchor node is fixed on water-bed cost, and difficulty of construction is large; Underwater environment is complicated and changeable, causes anchor node mobility stronger, is difficult to location; Anchor node underwater power difficulty etc.Restriction for these subsea anchor node deployments, propose at present some both at home and abroad for the anchor node underwater sensing net localization method of water-deployed (being that anchor node is the node that carries gps receiver and be placed on water surface) only, but still had following problem:
1. coplanar large or some method of position error that causes of anchor node can not be located, and cannot meet practical application request;
2. in system, need to dispose the too high super node of a large amount of energy consumptions, cause communication overhead excessive, shorten network lifecycle.
3. three-dimensional localization is converted into two-dimensional localization by mapping, does not make full use of the depth information of easy survey, reduced positioning precision.
Summary of the invention
The present invention is in order to overcome the shortcoming of above-mentioned technical problem, provide a kind of anchor node the water surface spin motion, sensor node according to 4 that receive not the anchor node coordinate of conllinear carry out the node positioning method of the underwater sensor network of position calculation.
The node positioning method of underwater sensor network of the present invention, its special feature is, comprise the following steps: a). set up rectangular coordinate system in space, if underwater sensor network is respectively in the cube region of M, N, H in length, cubical upper surface is water surface region, summit is followed successively by A, B, C, D, and AB is for long, and BC is wide; The straight line that the straight line that the summit A of take is initial point, place, AB limit is x axle, place, AD limit as Y-axis, with water surface regions perpendicular and the direction that makes progress as Z axis forward, set up rectangular coordinate system in space; B). set up mobile anchor node, the mobile anchor node that the equidistant helix that to set up with position (M/2, N/2,0) be starting point, express according to formula (1) moves:
Wherein, K is for adjusting the interval between adjacent equidistant helix, and t is move angle, and T is each mobile time interval; C). broadcast locating information, mobile anchor node moves along equidistant helix, every a period of time T, just sends an anchor node coordinate information that comprises self current coordinate and sequence number; D). the reception of anchor node coordinate information, underwater sensor node receives anchor node coordinate information that mobile anchor node sends or that other sensor node forwards; E). judge that whether position is definite, sensor node judges that whether the position of self is definite, if position is not definite, stores this anchor node coordinate information and is forwarded, execution step f); If position is definite, the anchor node coordinate information receiving is only done to forward process; F). the number of judgement anchor node coordinate information, whether the quantity of the anchor node coordinate information that sensor node judgement receives has reached 4, if do not reach 4, jumps to steps d); If reached 4, performed step g); G). judge whether conllinear of 4 anchor node coordinates, whether 4 anchor node coordinates that sensor node judgement receives conllinear, if conllinear is deleted one of them anchor node coordinate, jumps to steps d), again to receive an anchor node coordinate information; If conllinear, does not perform step h); H). position calculation, sensor node is according to 4 that the receive anchor node position coordinateses of conllinear not, adopts Particle Swarm Optimization to calculate the position coordinates of sensor node, the location of realizing sensor node.
Step a), for setting up rectangular coordinate system in space, exists the region limits at sensor network place
,
,
within scope; Step b) in, mobile anchor node moves according to the expressed equidistant helix of formula (1), and carries out the broadcast of anchor node coordinate information.Sensor node receives after anchor node coordinate information, first by step e) judge that whether the position of self is definite, as definite in position, the information receiving is only done to forward process; In the unfixed situation in position, by its preservation and forwarding.Step f) for judging whether the quantity of the anchor node coordinate information receiving has reached 4, does not reach, continue to receive; If reached 4, passed through step g) carry out the whether judgement of conllinear of 4 anchor node coordinates, only have in the situation of conllinear not, just by step h) carry out the calculating of position coordinates.
The node positioning method of underwater sensor network of the present invention, being respectively of coordinate of establishing 4 anchor nodes that the sensor node of no-fix receives
,
,
,
, step g) in judge 4 anchor node coordinates whether adopt with the following method by conllinear: g-1). slope calculations, calculates respectively slope according to formula (2)
,
,
value:
G-2). judge whether conllinear, judgement
,
,
whether meet have at least one not identical with other two, if satisfied, 4 anchor nodes conllinear not; If do not met, 4 anchor node conllinear.
The node positioning method of underwater sensor network of the present invention, being respectively of coordinate of establishing 4 anchor nodes that the sensor node of no-fix receives
,
,
,
, the distance of 4 anchor nodes of sensor node distance is respectively
,
,
,
; The method of the position coordinates of the employing Particle Swarm Optimization calculating sensor node step h), realizes by following steps: h-1). and produce Particle Swarm, produce at random
individual particulate, establishes
,
=
respectively
the current location of individual particulate and flying speed,
; H-2). determining of particulate the next position coordinate and speed, current particulate
position and flying speed be respectively
,
=
, particulate
at the next position
the speed at place and coordinate are determined by formula (3) and (4) respectively:
Wherein,
for inertia weight,
,
for constant,
,
with randomizer; H-3). set up the fitness of particulate, by formula (5), calculate
individual particulate is at coordinate
the fitness at place:
Wherein,
h-4). obtain the optimal location of single particulate, each particulate is according to step h-1) and the orbiting motion process h-2) expressed in, calculate its corresponding fitness on each position
size, choose and there is the point of minimum fitness as the historical optimal location of this particulate
; H-5). obtain the global optimum position of Particle Swarm, by step h-4) in the historical optimal location of each particulate of obtaining compare, choose and make the position of fitness minimum as the historical optimal location of Particle Swarm
; H-6). judge whether fitness meets given threshold value, determining step h-5) in the corresponding fitness of historical optimal location of the Particle Swarm that obtains whether be less than or equal to given threshold value
if, satisfy condition, show that historical position is tentatively eligible, execution step h-7) further judge; If do not satisfied condition, perform step h-8); H-7). judge the region at historical optimal location place, the coordinate of the historical optimal location of judgement Particle Swarm
whether meet the condition that inequality (6) limits:
（6）
If met, show the coordinate of the historical optimal location of Particle Swarm
can be used as the coordinate of sensor node; If do not met, execution step h-8); H-8). produce
individual new particulate, re-starts obtaining of optimal location.
Wherein, adopt current existing ranging technology can obtain 4 anchor nodes to the distance of sensor node
,
,
,
.For example, the in the situation that transmission speed being known in water at sound wave, the time of sending according to packet and the time difference receiving, can obtain the distance between anchor node and sensor node.
The invention has the beneficial effects as follows: the node positioning method of underwater sensor network of the present invention, first in the region at sensor network place, set up rectangular coordinate system in space, by do the anchor node of equidistant helix motion in water surface region, send anchor node coordinate information again, sensor node under water can be realized determining self coordinate according to the anchor node coordinate of 4 conllinear that receive.Sensor node is asked in process at self-position, adopt Particle Swarm Optimization, first produce N position, the definite particulate of speed, then by the judgement to fitness, ask for the optimal location experiencing in single particle movement process, and fine-grained global optimum of institute position, finally utilize threshold value
with the judgement of regional location, determine the position coordinates of sensor node.
The advantage applies of the node positioning method of underwater sensor network of the present invention exists:
(1) adopt mobile anchor node deployment in the mode of the water surface, dispose in difficult and reduced network design cost solving underwater sensing net anchor node.
(2) planning anchor node mobile route is equidistant helix, and this scheme is simple and easy in realization.
(3) the method only utilizes not 4 anchor node positional informations of conllinear to position, and has reduced method complexity.
(4), for avoiding by range error and the coplanar localization method error causing of anchor node is excessive or Problem of Failure, adopted the Particle Swarm method that is easy to realize, possess good location precision to carry out position estimation to sensor node.
(5) according to the feature of node deployment underwater, define the search volume of Particle Swarm, improved localization method efficiency.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the rectangular coordinate system in space set up in the present invention;
Fig. 2 adopts 4 the not anchor node of conllinear schematic diagrams to sensor node localization in the present invention;
Fig. 3 is the flow chart of the node positioning method of underwater sensor network of the present invention.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
1. the foundation of rectangular coordinate system in space
In the region of needs location, select water surface center to set up rectangular coordinate system in space.As shown in Figure 1, provided the schematic diagram of setting up rectangular coordinate system in space, suppose that locating area is a regular cube (M*N*H) under water, M wherein, N, H is respectively cubical length, wide, high, the water surface of locating area is regular rectangular region (M*N), A, B, C, D is rectangular summit, select one of them node A as initial point, X-axis is parallel to a rectangular limit AB, Y-axis is parallel to rectangular another limit BC, the horizontal plane of take is set up rectangular coordinate system in space as XOY plane, wherein z axle represents the longitudinal degree of depth vertical with horizontal plane.
Anchor node path planning and broadcast coordinate information
Mobile anchor node from the center of the locating area water surface (M/2, the N/2), starts to move along equidistant helix, and its helical mobile equation is as formula (1):
Wherein, K is used for adjusting the interval between adjacent equidistant helix, and t is mobile angle, and T is each mobile time interval (processing time of depending on the sparse degree of network and node data bag)
Anchor node at the uniform velocity moves along equidistant helix, every a period of time T, just sends a packet that comprises self node coordinate and sequence number, is referred to as anchor node coordinate information, and this data packet format is:
3. the information processing of sensor node
Owing to being subject to the restriction of node communication distance, some sensor node can not directly be communicated by letter with anchor node, therefore allly can receive that the sensor node of this packet all stores this packet, and be forwarded, to allow more sensor node receive this packet.
The form of sensor node storage packet is:
owing to receiving that four anchor node coordinate informations of conllinear can not complete location, when sensor node is received four anchor node coordinate informations that come from different sequence numbers, by coordinate, relatively judge whether node conllinear, if conllinear, continues to receive the packet that comes from anchor node, until receive four not anchor node coordinate informations of conllinear, then to coming from the packet of anchor node, only forward operation, self carry out position location estimation simultaneously.
The workflow diagram of sensor node is as follows:
Sensor node is received the packet that comes from anchor node, receive and forward this packet, judge the witness marker Location_flag of this node, Location_flag==0 represents that node is not positioned, and Location_flag==1 represents that node has completed location.If Location_flag==1, only forwards the packet that comes from anchor node.If Location_flag==0, the anchor node number Anchor_number+1 receiving, due to receive position not four anchor node coordinate informations of conllinear just can complete location, Anchor_number >=4, by coordinate, relatively judge whether node conllinear, if conllinear, continues to receive the packet that comes from anchor node, until receive four not anchor node coordinate informations of conllinear, otherwise carry out position estimation, and Location_flag=1 is set.If Anchor_numbe ﹤ 4, continues to receive the packet that comes from other anchor node.
Four anchor node positions method of conllinear whether on Judge plane:
Suppose four packets that come from anchor node that sensor node is received, be respectively
,
,
,
, according to formula (2), calculate respectively slope
,
,
value:
（2）
If
,
,
have at least one not identical with other two, can judge 4 not conllinear.
4. position estimation
Generally, in three dimensions, node is positioned, at least need four not coplanar anchor nodes, otherwise there will be mirror image fuzzy in location, there are two both candidate nodes, as shown in Figure 2, provided and adopted 4 the not anchor node of conllinear schematic diagrams to sensor node localization.But based on noted earlier, what anchor node adopted is water-deployed, i.e. anchor node A, B, C, the coplanar situation of D, at this moment there will be two both candidate nodes is M(
) and M ' (
), for avoiding this situation to produce, according to the actual conditions of sensor node deployment underwater, we adopt the Particle Swarm method that search volume can be limited to carry out position calculation.
If being respectively of the coordinate of 4 anchor nodes that the sensor node of no-fix receives
,
,
,
, the distance of 4 anchor nodes of sensor node distance is respectively
,
,
,
; The method of the position coordinates of the employing Particle Swarm Optimization calculating sensor node step h), realizes by following steps:
H-1). produce Particle Swarm, produce at random
individual particulate, establishes
,
=
respectively
the current location of individual particulate and flying speed,
;
H-2). determining of particulate the next position coordinate and speed, current particulate
position and flying speed be respectively
,
=
, particulate
at the next position
the speed at place and coordinate are determined by formula (3) and (4) respectively:
（4）
Wherein,
for inertia weight,
,
for constant,
,
for randomizer;
H-3). set up the fitness of particulate, by formula (5), calculate
individual particulate is at coordinate
the fitness at place:
Wherein,
H-4). obtain the optimal location of single particulate, each particulate is according to step h-1) and the orbiting motion process h-2) expressed in, calculate its corresponding fitness on each position
size, choose and there is the point of minimum fitness as the historical optimal location of this particulate
;
H-5). obtain the global optimum position of Particle Swarm, by step h-4) in the historical optimal location of each particulate of obtaining compare, choose and make the position of fitness minimum as the historical optimal location of Particle Swarm
;
H-6). judge whether fitness meets given threshold value, determining step h-5) in the corresponding fitness of historical optimal location of the Particle Swarm that obtains whether be less than or equal to given threshold value
if, satisfy condition, show that historical position is tentatively eligible, execution step h-7) further judge; If do not satisfied condition, perform step h-8);
H-7). judge the region at historical optimal location place, the coordinate of the historical optimal location of judgement Particle Swarm
whether meet the condition that inequality (6) limits:
If met, show the coordinate of the historical optimal location of Particle Swarm
can be used as the coordinate of sensor node; If do not met, execution step h-8);
H-8). produce
individual new particulate, re-starts obtaining of optimal location.
Claims (3)
1. a node positioning method for underwater sensor network, is characterized in that, comprises the following steps:
A). set up rectangular coordinate system in space, establish underwater sensor network and be respectively in the cube region of M, N, H in length, cubical upper surface is water surface region, and summit is followed successively by A, B, C, D, and AB is for long, and BC is wide; The straight line that the straight line that the summit A of take is initial point, place, AB limit is x axle, place, AD limit as Y-axis, with water surface regions perpendicular and the direction that makes progress as Z axis forward, set up rectangular coordinate system in space;
B). set up mobile anchor node, the mobile anchor node that the equidistant helix that to set up with position (M/2, N/2,0) be starting point, express according to formula (1) moves:
Wherein, K is for adjusting the interval between adjacent equidistant helix, and t is move angle, and T is each mobile time interval;
C). broadcast locating information, mobile anchor node moves along equidistant helix, every a period of time T, just sends an anchor node coordinate information that comprises self current coordinate and sequence number;
D). the reception of anchor node coordinate information, underwater sensor node receives anchor node coordinate information that mobile anchor node sends or that other sensor node forwards;
E). judge that whether position is definite, sensor node judges that whether the position of self is definite, if position is not definite, stores this anchor node coordinate information and is forwarded, execution step f); If position is definite, the anchor node coordinate information receiving is only done to forward process;
F). the number of judgement anchor node coordinate information, whether the quantity of the anchor node coordinate information that sensor node judgement receives has reached 4, if do not reach 4, jumps to steps d); If reached 4, performed step g);
G). judge whether conllinear of 4 anchor node coordinates, whether 4 anchor node coordinates that sensor node judgement receives conllinear, if conllinear is deleted one of them anchor node coordinate, jumps to steps d), again to receive an anchor node coordinate information; If conllinear, does not perform step h);
H). position calculation, sensor node is according to 4 that the receive anchor node position coordinateses of conllinear not, adopts Particle Swarm Optimization to calculate the position coordinates of sensor node, the location of realizing sensor node.
2. the node positioning method of underwater sensor network according to claim 1, is characterized in that, establishes being respectively of coordinate of 4 anchor nodes that the sensor node of no-fix receives
,
,
,
, step g) in judge 4 anchor node coordinates whether adopt with the following method by conllinear:
G-1). slope calculations, calculates respectively slope according to formula (2)
,
,
value:
G-2). judge whether conllinear, judgement
,
,
whether meet have at least one not identical with other two, if satisfied, 4 anchor nodes conllinear not; If do not met, 4 anchor node conllinear.
3. the node positioning method of underwater sensor network according to claim 1 and 2, is characterized in that, establishes being respectively of coordinate of 4 anchor nodes that the sensor node of no-fix receives
,
,
,
, the distance of 4 anchor nodes of sensor node distance is respectively
,
,
,
; The method of the position coordinates of the employing Particle Swarm Optimization calculating sensor node step h), realizes by following steps:
H-1). produce Particle Swarm, produce at random
individual particulate, establishes
,
=
respectively
the current location of individual particulate and flying speed,
;
H-2). determining of particulate the next position coordinate and speed, current particulate
position and flying speed be respectively
,
=
, particulate
at the next position
the speed at place and coordinate are determined by formula (3) and (4) respectively:
Wherein,
for inertia weight,
,
for constant,
,
with randomizer;
H-3). set up the fitness of particulate, by formula (5), calculate
individual particulate is at coordinate
the fitness at place:
Wherein,
H-4). obtain the optimal location of single particulate, each particulate is according to step h-1) and the orbiting motion process h-2) expressed in, calculate its corresponding fitness on each position
size, choose and there is the point of minimum fitness as the historical optimal location of this particulate
;
H-5). obtain the global optimum position of Particle Swarm, by step h-4) in the historical optimal location of each particulate of obtaining compare, choose and make the position of fitness minimum as the historical optimal location of Particle Swarm
;
H-6). judge whether fitness meets given threshold value, determining step h-5) in the corresponding fitness of historical optimal location of the Particle Swarm that obtains whether be less than or equal to given threshold value
if, satisfy condition, show that historical position is tentatively eligible, execution step h-7) further judge; If do not satisfied condition, perform step h-8);
H-7). judge the region at historical optimal location place, the coordinate of the historical optimal location of judgement Particle Swarm
whether meet the condition that inequality (6) limits:
If met, show the coordinate of the historical optimal location of Particle Swarm
can be used as the coordinate of sensor node; If do not met, execution step h-8);
H-8). produce
individual new particulate, re-starts obtaining of optimal location.
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| CN107679614B (en) * | 2016-08-02 | 2021-02-26 | 中石化石油工程技术服务有限公司 | Particle swarm optimization-based real-time sound wave time difference extraction method |
| CN107679614A (en) * | 2016-08-02 | 2018-02-09 | 中石化石油工程技术服务有限公司 | A kind of interval transit time real time extracting method based on particle group optimizing |
| CN108848459A (en) * | 2018-05-04 | 2018-11-20 | 广州杰赛科技股份有限公司 | 3-D positioning method, device and equipment based on wireless sensor network |
| CN108848459B (en) * | 2018-05-04 | 2021-04-09 | 广州杰赛科技股份有限公司 | Three-dimensional positioning method, device and equipment based on wireless sensor network |
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| CN109257692A (en) * | 2018-07-28 | 2019-01-22 | 青岛科技大学 | Wireless sensor network locating method under a kind of mobile anchor node auxiliary water |
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| CN110161461A (en) * | 2019-03-28 | 2019-08-23 | 南京工程学院 | A kind of underwater sensing network node method for self-locating |
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