CN104105197A - Iteration method for processing node overturn ambiguity in wireless sensor network node location - Google Patents
Iteration method for processing node overturn ambiguity in wireless sensor network node location Download PDFInfo
- Publication number
- CN104105197A CN104105197A CN201410296692.9A CN201410296692A CN104105197A CN 104105197 A CN104105197 A CN 104105197A CN 201410296692 A CN201410296692 A CN 201410296692A CN 104105197 A CN104105197 A CN 104105197A
- Authority
- CN
- China
- Prior art keywords
- node
- ambiguity
- location
- nodes
- overturn
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Abstract
The invention provides an iteration method for processing node overturn ambiguity in wireless sensor network node location through design, and the method is mainly used for processing a problem of node overturn ambiguity in a least square location method. Nodes needed to be located in a network are detected by utilizing a node overturn ambiguity detection method based on orthogonal projection firstly. If existence of node overturn ambiguity is detected, location processing is performed on the nodes with overturn ambiguity by fully utilizing communication information of the whole network via the iteration method by which successive optimization is performed via coordinate conversion according to stability of triangular node blocks. Therefore, the problem of node overturn ambiguity in the conventional least square location method is detected and corrected. If overturn ambiguity does not occur on the unknown nodes after orthogonal projection detection, location is continuously performed by adopting the least square location method. The defect that subsequent processing is not performed on the nodes with possibility of overturn ambiguity by the detection method based on orthogonal projection is compensated by the method, and the problem of node overturn ambiguity in the classic least square location method is processed so that network node location accuracy is enhanced.
Description
Technical field
The invention belongs to the node locating field of wireless sensor network.
Background technology
Wireless sensor network (Wireless Sensor Networks, WSN) node locating is one of current study hotspot.According to whether needing internodal measuring distance in node locating, the node positioning method of WSN can be divided into conventionally based on range finding and two kinds of methods based on non-ranging.Because the method based on range finding has higher node locating precision, so the method is widely adopted in node locating.There is the nonuniqueness problem from the known estimated positional information of data in the method but, namely in location, will occur the upset ambiguity problem of node.And, in the localization method based on range finding of reality, if there is node upset ambiguity, just may produce the avalanche effect of node locating, cause the locate failure of whole network node.
To the node upset ambiguity problem in node locating, mainly contain at present three kinds of more typical detection methods, there is method in geometric analysis method, probability expression method and cross spider.Wherein, geometric analysis method is generally only applicable to adopt three location, limit of three reference nodes.And with respect to three limit localization methods, using the polygon localization method more than three reference nodes, for example classical least square methods etc., more can obtain less average position error.Therefore,, in the node locating of the wireless sensor network based on range finding, generally all adopt polygon localization method.At present, for the research of the node upset ambiguity problem in polygon positioning mode classical as least square method or considerably less.
The upset of the node based on the rectangular projection ambiguity detection method adopting in the present invention, is that cross spider exists the one of (Existence of Intersecting Line, EIL) method to improve one's methods, and has higher accuracy of detection and lower computation complexity.The method is to find out in two-dimentional node locating plane, whether any two circles of uncertainty (taking beaconing nodes as the center of circle, the maximum of the range error absolute value taking beaconing nodes to unknown node is the circle of radius) rectangular projection line segment point-blank there is a lap.But the method is not carried out follow-up localization process to the node of the ambiguity of may overturning after detecting.Therefore, be necessary to propose may to overturn after a kind of method detects the rectangular projection node of ambiguity positions processing.
Summary of the invention
The node of the ambiguity of may overturning is not carried out the deficiency of follow-up localization process for rectangular projection detection method, the present invention proposes a kind of alternative manner of processing node upset ambiguity in wireless sensor network node location.First this alternative manner utilizes rectangular projection detection method to detect the node of needs location, and what the node utilization of the ambiguity of may overturning after detecting was proposed processes based on triangular nodes Block iterative method.The method proposing has not only made up the deficiency of rectangular projection detection method, and has improved positioning precision and the node locating number of node.Specific implementation process of the present invention is as follows:
1. the node upset ambiguity problem in wireless sensor network node location is described
Node upset ambiguity problem in node locating refers to that unknown node is in the time utilizing neighbours' known node to position, if neighbor node conllinear or approximate conllinear distribute, may obtain so two estimated positions that become mirror about certain straight line.Figure 1 shows that the upset ambiguity schematic diagram of node.Suppose required unknown node
phave three neighbours' beaconing nodes A, B and C, this unknown node to the measuring distance of these three neighbours' beaconing nodes is
,
with
.Respectively taking beaconing nodes A and B as the center of circle, with measuring distance
with
for radius is justified, as shown in two circles in Fig. 1, unknown node must be two round intersection points so
with
in one, and these two intersection points of gained are about straight line AB symmetry.
The actual position of supposing required unknown node is
, beaconing nodes C arrives
with
calculating distance be
with
.According to unknown node
to the measuring distance of neighbours' beaconing nodes C
judge,
with
in which with
relatively approaching which is just selected is the position location of node.Because the measuring distance between nodes exists range error, just likely mistakenly will
as the position location of unknown node.If allow the unknown node of this location of mistake participate in the location of other unknown node, may cause the locate failure of whole network node.
2. the upset of the node based on rectangular projection ambiguity detection method
The general principle of the node upset ambiguity detection method based on rectangular projection exists the general principle of method identical with cross spider, but discriminant approach difference.These two methods are all need to be in two-dimentional node locating plane, taking neighbours' beaconing nodes of unknown node as the center of circle, then do taking range error as radius to differentiate on the basis of the circle of uncertainty.Cross spider exists method of discrimination to be exactly: if exist straight line all crossing with all circles of uncertainty, node upset ambiguity can occur in node locating.And rectangular projection detection diagnostic method is: whether have straight line in two-dimensional space, make the rectangular projection line segment of any two circles of uncertainty on this straight line have lap.For the ease of processing, rectangular projection detection method exists cross spider in method, to find Linear Problems and be converted in rectangular coordinate system, whether there is an angle
problem,
for straight line with
xthe angle of axle.By adopting the method for coordinate transform, can show that the discrimination formula that rectangular projection detection method must be satisfied is:
(
m=1,2,…,
k;?
n=1,2,…,
k;?
m≠
n)
What above formula represented is to comprise
g=
k(
k-1) the inequality group of/2 inequality.If this inequality group has solution, in space, there is straight line and this
kindividual circle all intersects, the node locating ambiguity of likely overturning.Otherwise, the node ambiguity of can not overturning.
3. the alternative manner based on triangular nodes piece processing node upset ambiguity
By finding out the node of the ambiguity of may overturning in location after rectangular projection detection method, find out the non-beaconing nodes of all neighbours of these nodes simultaneously, then in the non-beaconing nodes of these neighbours, select three nodes (wherein must contain the unknown node of this required location) at every turn and form a triangular nodes piece, repeatedly choose at random and can obtain multiple triangular nodes pieces, as shown in Figure 2.
In Fig. 2, suppose required unknown node
there are three neighbours' beaconing nodes
, with set
represent; And
for
the non-beaconing nodes of neighbours of point, with set
represent;
for set
neighbours' beaconing nodes of middle node, with set
represent.First to unknown node
, carry out rectangular projection detection when the location, judge this node node upset ambiguity may occur.Then, by unknown node
with set
in the multiple different triangular nodes pieces of any two nodes composition, only list four triangular nodes pieces herein, as the triangular nodes piece in Fig. 2
pSQ,
pUV,
pSMwith
pVNshown in.
Comprise unknown node finding
pmultiple triangular nodes pieces after, build two coordinate systems, this sentences triangular nodes piece
pSQfor example.By triangular nodes piece
pSQthe coordinate system at all neighbours' beaconing nodes place be designated as
, by unknown node
p,
s,
qthe coordinate system at the triangular nodes piece place forming is designated as
.By adopting the coordinate transform formula of iteration invariant merge algorithm, (coefficient in the present invention in coordinate transform formula is only got
) ask the coordinate of triangular nodes piece.
4. process the performing step of node upset ambiguity alternative manner in wireless sensor network node location based on triangular nodes piece
(1) judge that whether neighbours' beaconing nodes number of the unknown node of required location meets the constraint requirements of least square positioning mode, gives certain mark to not meeting the node of constraint requirements, and finally positions processing.
(2) utilize orthographic projection to detect to the location node that meets constraint requirements in step (1).
(3), to after rectangular projection detection method in step (2), the node of the ambiguity of can not overturning adopts least square positioning mode to process.
(4), to after rectangular projection detection method in step (2), what the node employing of the ambiguity of may overturning proposed positions processing based on triangular nodes Block iterative method.
(5) in step (1) the unknown node that does not meet least square positioning mode constraint requirements of mark adopt the alternative manner in step (4) to position processing.
(6) all adopt the alternative manner of proposition to position processing all triangular nodes pieces of selected taking-up, obtain multiple estimated coordinates values of unknown node, then it is averaged as final estimated position.
Beneficial effect of the present invention is:
1. the effect of processing node upset ambiguity alternative manner
The alternative manner of processing node upset ambiguity of the present invention, first node utilization to be positioned is detected based on orthographic projection, the node of the ambiguity of may overturning after detecting is processed with the triangular nodes Block iterative method of least square method and proposition respectively.Fig. 3 and Fig. 4 are respectively the treatment effect comparison diagrams of above-mentioned two kinds of methods to the ambiguity node that may overturn.As can be seen from the figure the effect that the alternative manner, proposing may overturn on ambiguity node in processing will obviously be better than least square method.
2. the node locating precision in networking
Node locating precision is the most important Performance Evaluating Indexes of location algorithm.Fig. 5 is under different beaconing nodes number conditions, after application rectangular projection detection method, use least square method (after using Orthogonal Projection Detection, Least Squares, OPD-LS), after orthographic projection, use particle group optimizing method (after using Orthogonal Projection Detection, Particle Swarm Optimization, OPD-PSO), after iteration invariant merge algorithm (IIBM) and rectangular projection detection method with propose based on triangular nodes Block iterative method (after using Orthogonal Projection Detection, Iterative Processing Method Based on Triangular Node Blocks, OPD-IP-TNB) the variation relation curve of positioning precision.What as can be seen from Figure 5 propose can process the node upset ambiguity problem in least square positioning mode based on triangular nodes Block iterative method, has improved the positioning precision of whole algorithm.In addition, the method proposing can be found out compared with other several methods, adopting after rectangular projection detection method, continue to adopt least square method or utilize particle group optimizing method etc. all be not so good as the iterative processing method that proposes first-class in positioning precision, and the method for proposition is also better than iteration invariant merge algorithm.So the method processing node upset preferably ambiguity problem proposing is described.
In sum, compare with least square method, particle swarm optimization algorithm and iteration invariant merge algorithm, the present invention design based on triangular nodes Block iterative method on the basis of rectangular projection detection method, effectively make up the deficiency of rectangular projection detection method, the node of the ambiguity of may overturning has been carried out to follow-up processing location, the effect that has reached good processing node upset ambiguity, has higher node locating precision.
Brief description of the drawings
Fig. 1 is node upset ambiguity schematic diagram;
Fig. 2 is triangular nodes piece schematic diagram;
Fig. 3 is the positioning precision comparison diagram based on the ambiguity node that may overturn after triangular nodes Block iterative method processing rectangular projection method of least square method and proposition;
Fig. 4 is the interstitial content comparison diagram based on the ambiguity node that may overturn after triangular nodes Block iterative method processing rectangular projection method of least square method and proposition;
Fig. 5 is the comparison diagram of several node locating algorithm processing node upset ambiguities.
embodiment
Below in conjunction with accompanying drawing and concrete embodiment, the present invention is further detailed explanation.
The present invention is after the node upset ambiguity of wireless sensor network being detected based on rectangular projection detection method, the node of the ambiguity of may overturning is adopted to processing based on triangular nodes Block iterative method of proposing, subsequent treatment measure is joined in the position fixing process of node.
In conjunction with Fig. 1 and Fig. 2, alternative manner of the present invention passes through following steps successively:
(1) judge whether node to be positioned meets the constraint requirements of least square positioning mode to neighbor node number
In the network starting stage, give each sensor node distribute one unique No. ID, and beaconing nodes and unknown node are carried out to mark.Then beaconing nodes sends the message that comprises own No. ID and coordinate figure to the unknown node within the scope of oneself jumping.Unknown node, by the message information receiving being judged to self neighbours' beaconing nodes number, if the number of neighbours' beaconing nodes is not less than 3, is carried out follow-up location estimation so.If neighbor node number is less than 3, give certain mark, finally process again.
(2) unknown node meeting the demands in step (1) is carried out to rectangular projection detection, judge the upset ambiguity problem whether node can occur in the process of this node of location.
(3) still adopt least square method to position to the node of the ambiguity of can not overturning after rectangular projection detection in step (1).
(4) node of the ambiguity of may overturning after rectangular projection detection in step (2) is adopted to processing based on triangular nodes block iteration processing method of proposing.
In the alternative manner proposing, because existence has a strong impact on the special triangle joint block of this method precision, so we have added a correction stage to improve the alternative manner proposing, its detailed content is as follows:
1. utilize rectangular projection detection method to judge selected triangular nodes piece.If exist straight line with taking neighbours' beaconing nodes of unknown node as the center of circle, the circle of uncertainty taking range error as radius intersects, so such triangular nodes piece will can not participate in iterative processing method.
If not approximate conllinear, so just adopts the iterative processing method proposing in literary composition to calculate the estimated coordinates of selected triangular nodes piece after 2. three of selected triangular nodes piece nodes utilize step method 1. to judge.
3. respectively to step 2. in the estimated coordinates of some triangular nodes pieces of gained, carry out information of neighbor nodes according to criterion below and detect judgement.Taking gained unknown node position location coordinate as the center of circle, do circle with the communication radius of node, judge in this circle, whether exist reality not with other nodes of this node communication.If there is such node, so just this estimated coordinates is deleted to processing.
(5) in step (1) the unknown node that does not meet least square positioning mode of mark adopt the alternative manner in step (4) to position processing.
(6) all adopt the alternative manner of proposition to position processing all triangular nodes of selected taking-up, obtain the estimated coordinates value of multiple unknown node.Then it is averaged as final estimated position.
Finally it should be noted that; above embodiment is only unrestricted in order to technical scheme of the present invention to be described; although reference preferably embodiment has been described in detail the present invention; but protection scope of the present invention is not limited to this; any be familiar with those skilled in the art the present invention disclose technical scope in; the amendment that can expect easily or be equal to replacement, and do not depart from the spirit and scope of technical solution of the present invention, within all should being encompassed in protection scope of the present invention.
Claims (3)
1. process the alternative manner of node upset ambiguity in wireless sensor network node location for one kind, it is characterized in that: proposed a kind of alternative manner based on node upset ambiguity in triangular nodes piece processing node location, first the method adopts rectangular projection detection method to detect unknown node to be positioned, then the node of the ambiguity of may overturning after detecting is positioned to processing.
2. the alternative manner of node upset ambiguity in processing node according to claim 1 location, it is characterized in that: the non-beaconing nodes of all neighbours of finding out the ambiguity node that may overturn, the multiple triangular nodes pieces of random composition, according to the stability of triangular nodes piece, utilize connectivity and the coordinate transformation equation of whole network, by building a target function, adopt the alternative manner of successively optimizing to solve estimated position coordinate.
3. according to a kind of alternative manner of processing node upset ambiguity in wireless sensor network node location described in claim 1 and 2, its concrete steps are as follows:
Step 1: judge whether the unknown node of required location meets the constraint requirements of least square positioning mode;
Step 2: find range to obtain the measuring distance between unknown node and neighbor node by TOA;
Step 3: to meeting the unknown node of constraint requirements in step 1, adopt rectangular projection detection method to carry out node upset ambiguity and detect judgement;
Step 4: the node to the ambiguity of may overturning after detecting in step 3 adopts the alternative manner based on triangular nodes piece to process location;
Step 5: the multiple triangular nodes pieces to random composition all adopt the alternative manner in step 4, averages multiple coordinate estimated values of gained as the position location of unknown node;
Step 6: directly adopt the iterative processing method based on triangular nodes piece to position processing to not meeting the unknown node of constraints in step 1, obtain its estimated position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410296692.9A CN104105197A (en) | 2014-06-27 | 2014-06-27 | Iteration method for processing node overturn ambiguity in wireless sensor network node location |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410296692.9A CN104105197A (en) | 2014-06-27 | 2014-06-27 | Iteration method for processing node overturn ambiguity in wireless sensor network node location |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104105197A true CN104105197A (en) | 2014-10-15 |
Family
ID=51672901
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410296692.9A Pending CN104105197A (en) | 2014-06-27 | 2014-06-27 | Iteration method for processing node overturn ambiguity in wireless sensor network node location |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104105197A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104853436A (en) * | 2015-05-28 | 2015-08-19 | 山东大学（威海） | A topology constraints based distributed processing wireless sensing network node flipped and fuzzy locator |
| CN105813196A (en) * | 2016-05-16 | 2016-07-27 | 济南大学 | Positioning method for avoiding overturning in wireless sensor network under bounded errors |
| CN107270911A (en) * | 2017-06-23 | 2017-10-20 | 努比亚技术有限公司 | Method of locating terminal, equipment, system and computer-readable recording medium |
| CN114040336A (en) * | 2021-11-05 | 2022-02-11 | 北京理工大学 | Beacon deployment method based on epitome decision positioning method and particle swarm optimization algorithm |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103298104A (en) * | 2012-03-04 | 2013-09-11 | 山东大学威海分校 | Wireless sensor network node three-dimensional positioner of leader intelligent choice mechanism |
| CN103826298A (en) * | 2014-03-05 | 2014-05-28 | 浙江农林大学 | Wireless sensor network positioning and computing method for collaborative iterative optimization |
-
2014
- 2014-06-27 CN CN201410296692.9A patent/CN104105197A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103298104A (en) * | 2012-03-04 | 2013-09-11 | 山东大学威海分校 | Wireless sensor network node three-dimensional positioner of leader intelligent choice mechanism |
| CN103826298A (en) * | 2014-03-05 | 2014-05-28 | 浙江农林大学 | Wireless sensor network positioning and computing method for collaborative iterative optimization |
Non-Patent Citations (2)
| Title |
|---|
| QINGJUN XIAO ET AL.: "Iterative Localization of Wireless Sensor Networks: An Accurate and Robust Approach", 《IEEE/ACM TRANSACTIONS ON NETWORKING》 * |
| WEI LIU ET AL.: "An improved flip ambiguity detection algorithm in wireless sensor networks node localization", 《2014 TELECOMMUNICATIONS (ICT)》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104853436A (en) * | 2015-05-28 | 2015-08-19 | 山东大学（威海） | A topology constraints based distributed processing wireless sensing network node flipped and fuzzy locator |
| CN105813196A (en) * | 2016-05-16 | 2016-07-27 | 济南大学 | Positioning method for avoiding overturning in wireless sensor network under bounded errors |
| CN107270911A (en) * | 2017-06-23 | 2017-10-20 | 努比亚技术有限公司 | Method of locating terminal, equipment, system and computer-readable recording medium |
| CN114040336A (en) * | 2021-11-05 | 2022-02-11 | 北京理工大学 | Beacon deployment method based on epitome decision positioning method and particle swarm optimization algorithm |
| CN114040336B (en) * | 2021-11-05 | 2023-11-17 | 北京理工大学 | Beacon deployment method based on reduction judgment positioning method and particle swarm optimization algorithm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104125538B (en) | The secondary localization method and device of RSSI signal intensities based on WIFI network | |
| US9069055B2 (en) | Wireless positioning method and apparatus using wireless sensor network | |
| CN112469115B (en) | Improved wireless sensor network positioning method based on fast clustering multidimensional scaling FC-MDS | |
| CN104105197A (en) | Iteration method for processing node overturn ambiguity in wireless sensor network node location | |
| CN102395193B (en) | Method for locating wireless sensor network (WSN) | |
| CN107968987B (en) | RSSI weighted centroid positioning method based on fixed integral combined with environmental parameters | |
| CN110730418A (en) | Indoor three-dimensional positioning improvement algorithm based on least square method | |
| CN104883737A (en) | Hybrid location method for wireless sensor network | |
| CN103929717A (en) | Wireless sensor network positioning method based on weight Voronoi diagrams | |
| CN105245627A (en) | IP positioning method based on network coordinate system | |
| Yanfei et al. | Improved DV-hop location algorithm based on mobile anchor node and modified hop count for wireless sensor network | |
| CN104093206B (en) | It is a kind of based on the network node of underwater sensor method for self-locating for mixing constraint satisfaction | |
| CN110351657A (en) | A kind of method of wireless sensor network interior joint geometry location | |
| CN103152825A (en) | Distributed non-ranging positioning method suitable for wireless sensor network | |
| Man et al. | Improved DV-HOP algorithm for enhancing localization accuracy in WSN | |
| Zhang et al. | Research on D2D co-localization algorithm based on clustering filtering | |
| CN108845308B (en) | Weighted centroid positioning method based on path loss correction | |
| Tao et al. | An improved DV-HOP localization algorithm based on beacon nodes at borderland of wireless sensor networks | |
| Ibrahim et al. | Triple mobile anchors approach for localization in WSN | |
| CN104101860A (en) | Positioner capable of detecting wireless sensor network node flip fuzzyness based on quadrature projection | |
| Wu et al. | Rigidity guided localisation for mobile robotic sensor networks | |
| CN104853436A (en) | A topology constraints based distributed processing wireless sensing network node flipped and fuzzy locator | |
| Hu et al. | An improved node localization algorithm in wireless sensor network | |
| CN104244407A (en) | Three-dimensional positioning device for detecting overturning fuzzification of nodes of wireless sensor network on basis of common section | |
| CN107454671B (en) | A kind of range difference processing method and processing device based on TDOA positioning |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20141015 |