CN104166121A - Ocean wireless sensor network positioning method - Google Patents

Ocean wireless sensor network positioning method Download PDF

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Publication number
CN104166121A
CN104166121A CN201410387193.0A CN201410387193A CN104166121A CN 104166121 A CN104166121 A CN 104166121A CN 201410387193 A CN201410387193 A CN 201410387193A CN 104166121 A CN104166121 A CN 104166121A
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China
Prior art keywords
node
seabed
water surface
locating device
gps locating
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Granted
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CN201410387193.0A
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Chinese (zh)
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CN104166121B (en
Inventor
罗汉江
伍楷舜
倪明选
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Guangzhou HKUST Fok Ying Tung Research Institute
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Guangzhou HKUST Fok Ying Tung Research Institute
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0018—Transmission from mobile station to base station
    • G01S5/0027—Transmission from mobile station to base station of actual mobile position, i.e. position determined on mobile

Abstract

The invention provides an ocean wireless sensor network positioning method. The method includes the steps that multiple node combinations are deployed in the ocean, each node combination comprises a water surface node and an ocean floor node, wherein the water surface nodes float on the water surface, the ocean floor nodes are connected with the water surface nodes, deployed and fixed to the ocean floor, and the partial water surface nodes are provided with GPS positioning devices; the water surface nodes provided with the GPS positioning devices obtain position information at different time and send the position information to the ocean nodes connected with the water surface nodes; the positions of the ocean floor nodes are obtained through calculation based on the geometric principle according to the received position information of the water surface nodes at different time, and the ocean floor nodes connected with the water surface nodes provided with the GPS positioning devices are positioned. The algorithm cost is low, and positioning efficiency is high.

Description

A kind of ocean wireless sensor network locating method
Technical field
The present invention relates to ocean wireless sensor technology, relate in particular to a kind of ocean wireless sensor network locating method.
Background technology
Wireless sensor network (Wireless Sensor Networks, WSN) be to there is in a large number perception, the wireless sensor node of communication capacity and MANET ability is (referred to as node, the node of mentioning is in full all wireless sensor node) a kind of Ad-hoc network of forming, because this network has adaptable, be easy to dispose, be easy to management, there is small scale and closely monitor the ability of institute's deployed environment, can obtain the monitoring information that we need, can be applied to military affairs, environmental monitoring and protection, object tracking, health care, community's security, intelligent transportation, the fields such as wisdom city, therefore obtained develop rapidly.
Along with the development of wireless sensor network, can dispose wireless sensor network in the variable marine environment of complexity, realize the Real-Time Monitoring of ocean.Ocean wireless sensor network generally comprises deployment network portion across the sea and disposes underwater network portion, i.e. water surface wireless sensor network and underwater wireless sensor network.Water surface wireless sensor network is used radiowave to communicate and networking, can be used to monitor the information relevant to ocean such as wind direction, wave height, morning and evening tides, water temperature, illumination, water pollution, is also responsible in addition with the communication of underwater sensor network etc.Underwater wireless sensor network mainly utilizes the underwater sound to realize communication and networking at present, compare with land wireless sensor network, underwater wireless sensor network has following characteristics: the features such as communication channel has that high time delay, time delay dynamic change, high decay, high bit-error, multipath effect, Doppler spread are serious, the dynamic change of channel height and low bandwidth, are considered to the radio communication channel of difficulty maximum so far.
Ocean wireless sensor network can be realized the Real-time Collection of oceanographic data and process, application such as can realizing environmental monitoring, structure detection, militaryly monitor, disaster is avoided.And for these application, location is a vital part wherein.Such as, environmental monitoring need to be known the positional information of polluting generation, and aquatic organism is followed the tracks of and swarm into safely the positional information that monitoring need to know that event occurs under water.In addition, utilize the positional information of node can realize energy-conservation route control etc.
Although the orientation problem of land wireless sensor network has obtained research widely, many effective location algorithms have been proposed, but because ocean wireless sensor network has unique feature, existing land wireless sensor network location technology can not be applied directly in Sensor Networks in Ocean Monitoring, can run into a lot of new problems in the realization of location.For example, anchor node is difficult to accurately dispose in environment under water.In order to realize location under water, location mechanism need to be disposed anchor node (having known the node of own position) conventionally under water, and the degree of accuracy that they distribute will directly affect the degree of accuracy of node locating.But for underwater environment, especially for deep-marine-environment, it is very difficult thing that anchor node is accurately deployed in to seabed.This position of anchor node is uncertain, and the location algorithm that those are relied on to subsea anchor node has caused impact.For another example, when node deployment is on sea time, generally need to be by node deployment to buoy, thereby these nodes will the random fluctuation along with the fluctuation of wave, and these random fluctuations can not be applied those methods that are applicable to locate land node effectively across the sea.Therefore, according to the feature of disposed ocean wireless sensor network, the location algorithm of research simple possible, significant to the practical application of Yu Haiyang wireless sensor network, be an important research direction in current this field.
Summary of the invention
Technical matters to be solved by this invention is, a kind of high-level efficiency ocean localization method based on wireless sensor network is provided.
In order to solve the problems of the technologies described above, the invention provides a kind of ocean wireless sensor network locating method, comprise step:
Some nodes combination section is deployed in ocean, and wherein, described in each, node combination all comprises the water surface node and the deployment being connected with described water surface node the seabed node that is fixed on seabed that swims in the water surface, and part water surface node is equipped with GPS locating device;
The water surface node of outfit GPS locating device obtains in the positional information of different time and is sent to coupled seabed node;
The described seabed node being connected calculates the position of self, the location of realizing the seabed node being connected with the water surface node that is equipped with GPS locating device at the positional information employing geometrical principle of different time according to the water surface node receiving.
After the location of the seabed node that further, described realization is connected with the water surface node that is equipped with GPS locating device, also comprise step:
The oriented seabed node being connected with the water surface node that is equipped with GPS locating device is sent to self-position information the seabed node of adjacent no-fix;
The seabed node of no-fix calculates the position of self, the location of realizing all seabeds node according to the positional information employing geometrical principle of the adjacent seabed node receiving.
Further, described location of realizing all seabeds node also comprises step afterwards:
When not being equipped with the water surface node of GPS locating device present position need to be located, obtain the positional information of coupled seabed node and the positional information of adjacent seabed node;
Water surface node to be positioned adopts geometrical principle to calculate the position of self according to the positional information of coupled seabed node receiving and the positional information of adjacent seabed node, and realization is not equipped with the instant location of the water surface node of GPS locating device.
The present invention is deployed on some nodes combination section in ocean, and wherein, described in each, node combination all comprises the water surface node and the deployment being connected with described water surface node the seabed node that is fixed on seabed that swims in the water surface, and part water surface node is equipped with GPS locating device; The water surface node of outfit GPS locating device obtains in the positional information of different time and is sent to coupled seabed node; The described seabed node being connected calculates the position of self, the location of having realized the seabed node being connected with the water surface node that is equipped with GPS locating device at the positional information employing geometrical principle of different time according to the water surface node receiving.Algorithm cost of the present invention is low, and location efficiency is high.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the schematic flow sheet of the first embodiment of a kind of ocean provided by the invention wireless sensor network locating method;
Fig. 2 be node of the present invention combination structural representation;
Fig. 3 is after node combination is disposed, and is subject to morning and evening tides etc. to affect the floating on water node position view that swims in long-time;
Fig. 4 has shown after node combination section is deployed to ocean to form the schematic diagram after the wireless sensor network of ocean;
Fig. 5 is the schematic flow sheet of the second embodiment of a kind of ocean provided by the invention wireless sensor network locating method;
Fig. 6 is the water surface node that is equipped with GPS locating device at position view sometime;
Fig. 7 is two position views that are equipped with the water surface node of GPS locating device;
Fig. 8 is the position view of four seabed nodes;
Fig. 9 is the schematic flow sheet of the 3rd embodiment of a kind of ocean provided by the invention wireless sensor network locating method;
Figure 10 is the position view of two node combinations.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Embodiment based in the present invention, those of ordinary skills, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
Fig. 1 is the schematic flow sheet of the first embodiment of a kind of ocean provided by the invention wireless sensor network locating method, and as shown in Figure 1, the method comprising the steps of:
S11, some nodes combination section is deployed in ocean, wherein, described in each, node combination all comprises the water surface node and the deployment being connected with described water surface node the seabed node that is fixed on seabed that swims in the water surface, part water surface node outfit GPS locating device.
With reference to figure 2, wherein, described water surface node is double end node, the upper end of described double end node be used for adopting wireless system and other double end nodes mutual, the lower end of described double end node be used for adopting the underwater sound and seabed node mutual.Water surface node can be connected by hawser with seabed node, so that water surface node drifts about with wave in controlled range.Part water surface node is equipped with GPS locating device, in order to locate self-position, generally, the water surface node that is equipped with GPS locating device is equipped with large capacity supplying cell with the seabed node being connected, because it is large with the seabed node communication distance being connected to be equipped with the water surface node of GPS locating device, the process need of location relies on the first GPS of the water surface node location that is equipped with GPS locating device, the seabed node being connected with the water surface node that is equipped with GPS locating device is realized the location of oneself again according to water surface node location, therefore, power consumption is large.Optionally, the water surface node that is equipped with GPS locating device is also a kind of option with the seabed node outfit solar battery apparatus being connected, and this depends on cost and disposes the factors such as monitoring time.
Fig. 3 shown after water surface node deployment, is subject to morning and evening tides etc. to affect the floating on water node position view that swims in long-time.It should be noted that, different local tidal heights can be different, and this can affect the floating position of reality of floating on water node.Equally, swim position and cable length surplus of water surface node has relation.For example, described in, when at the incoming tide, it is large that depth of water h becomes, but the radius r in the region that water surface node can be movable can diminish.
Fig. 4 has shown after node combination section is deployed to ocean and has formed the schematic diagram after the wireless sensor network of ocean.Because the deployment of this network can be that artificial boats and ships or aircraft broadcast sowing mode, but as other network design, the deployment of network can have influence on networking and the working condition of network.Have certain deployment density, to guarantee in the situation that fixing node communication distance, reliably networking, certainly this is not the unique requirement of location algorithm of the present invention institute, reliable networking is the precondition that guarantees marine monitoring network reliably working, and about reliable networking, having had a lot of research at present, the present invention repeats no more.
The water surface node of S12, outfit GPS locating device obtains in the positional information of different time and is sent to coupled seabed node.
Wherein, the water surface node that is equipped with GPS locating device is located by GPS device, and the positional information at different time and be sent to coupled seabed node.
S13, described in the seabed node that is connected according to the water surface node receiving, in the positional information of different time, adopt geometrical principle to calculate self position, the location of realizing the seabed node being connected with the water surface node of outfit GPS locating device.
The embodiment of the present invention is deployed on some nodes combination section in ocean, wherein, described in each, node combination all comprises the water surface node and the deployment being connected with described water surface node the seabed node that is fixed on seabed that swims in the water surface, and part water surface node is equipped with GPS locating device; The water surface node of outfit GPS locating device obtains in the positional information of different time and is sent to coupled seabed node; The described seabed node being connected calculates the position of self, the location of realizing the seabed node being connected with the water surface node that is equipped with GPS locating device at the positional information employing geometrical principle of different time according to the water surface node receiving.Embodiment of the present invention algorithm cost is low, and location efficiency is high.
Fig. 5 is the schematic flow sheet of the second embodiment of a kind of ocean provided by the invention wireless sensor network locating method, and as shown in Figure 5, the method comprising the steps of:
S21, some nodes combination section is deployed in ocean, wherein, described in each, node combination all comprises the water surface node and the deployment being connected with described water surface node the seabed node that is fixed on seabed that swims in the water surface, part water surface node outfit GPS locating device.
Specifically dispose with reference to figure 2, wherein, described water surface node is double end node, the upper end of described double end node be used for adopting wireless system and other double end nodes mutual, the lower end of described double end node be used for adopting the underwater sound and seabed node mutual.Water surface node can be connected by hawser with seabed node, so that water surface node drifts about with wave in controlled range.Part water surface node is equipped with GPS locating device, in order to locate self-position, generally, the water surface node that is equipped with GPS locating device is equipped with large capacity supplying cell with the seabed node being connected, because it is large with the seabed node communication distance being connected to be equipped with the water surface node of GPS locating device, the process need of location relies on the first GPS of the water surface node location that is equipped with GPS locating device, the seabed node being connected with the water surface node that is equipped with GPS locating device is realized the location of oneself again according to water surface node location, therefore, power consumption is large.Optionally, the water surface node that is equipped with GPS locating device is also a kind of option with the seabed node outfit solar battery apparatus being connected, and this depends on cost and disposes the factors such as monitoring time.
Fig. 3 shown after water surface node deployment, is subject to morning and evening tides etc. to affect the floating on water node position view that swims in long-time.It should be noted that, different local tidal heights can be different, and this can affect the floating position of reality of floating on water node.Equally, swim position and cable length surplus of water surface node has relation.For example, described in, when at the incoming tide, it is large that depth of water h becomes, but the radius r in the region that water surface node can be movable can diminish.
Fig. 4 has shown after node combination section is deployed to ocean and has formed the schematic diagram after the wireless sensor network of ocean.Because the deployment of this network can be that artificial boats and ships or aircraft broadcast sowing mode, but as other network design, the deployment of network can have influence on networking and the working condition of network.Have certain deployment density, to guarantee in the situation that fixing node communication distance, reliably networking, certainly this is not the unique requirement of location algorithm of the present invention institute, reliable networking is the precondition that guarantees marine monitoring network reliably working, and about reliable networking, having had a lot of research at present, the present invention repeats no more.
The water surface node of S22, outfit GPS locating device obtains in the positional information of different time and is sent to coupled seabed node.It specifically comprises the following steps:
The water surface node of S221, described outfit GPS locating device adopts GPS locating device to obtain a position coordinates and be sent to coupled seabed node.
For example, as shown in Figure 6, suppose that the water surface node of outfit GPS locating device is node A, coupled seabed node is node M, and wherein the coordinate of node A is made as (x i, y i), it is (x that node A adopts GPS locating device to obtain a position coordinates 1, y 1) and be sent to node M, finally need to obtain the coordinate (x of node M m, y m).
When S222, the position when the water surface node of described outfit GPS locating device is floated to the last transmission of distance position coordinates with wave reach predetermined threshold value, adopt GPS locating device to obtain current position coordinates and be sent to coupled seabed node.
For example, as shown in Figure 6, through after a while, node A produces drift with factors such as ocean current, morning and evening tides, wind, moves to new position.When reposition sends position coordinates (x apart from the last time 1, y 1) time position while reaching predetermined threshold value R, adopt GPS locating device to obtain the i.e. (x of current position coordinates 2, y 2) and be sent to node M.
It should be noted that, in order to guarantee positioning precision, for the transmission interval of two position coordinateses, can be scheduled to a pre-value R, r is two distances that send position.In order to meet R, in the situation that node drift velocity is slower, time that the location of seabed node need to be longer, but observe according to actual deployment sea node situation, node is floating movement within a certain period of time always, therefore little on the realization impact of location algorithm.
S23, described in the seabed node that is connected according to the water surface node receiving, in the positional information of different time, adopt geometrical principle to calculate self position, the location of realizing the seabed node being connected with the water surface node of outfit GPS locating device.It specifically comprises the following steps:
S231, described in the seabed node that is connected according to the pressure transducer of configuration, obtain its each depth of water while sending position coordinates.
For example, as shown in Figure 6, the depth of water is made as h i, node M sends position coordinates (x for the first time so 1, y 1) the pressure transducer according to configuration to obtain the depth of water be h 1, node M sends position coordinates (x for the second time so 2, y 2) according to the depth of water of the pressure transducer acquisition of configuration, be h 2.
S232, according to the position coordinates transmitting time of the water surface node of described outfit GPS locating device and described in the difference of the seabed node location coordinate time of reception that is connected and the underwater velocity of propagation of sound wave calculate the seabed node that obtains the water surface node of described outfit GPS locating device and be connected in each distance between while sending position coordinates.
Because the node in network is all time synchronized, suppose that the transmitting time that node A sends position coordinates to node M is t a, node M receives that the position coordinates time of reception that node A sends is t m, the time from node A to node M Acoustic Wave Propagation is Δ t=t m-t a, utilize the underwater velocity of propagation v of sound wave, can calculate the distance l of node M and node A i, i.e. l i=Δ t * v.Therefore can calculate node A and node M and send position coordinates (x 1, y 1) time between distance be l 1, node A and node M are sending position coordinates (x so 2, y 2) time between distance be l 2.
For the underwater velocity of propagation v of the underwater sound, can utilize two water surface nodes that are equipped with GPS locating device to obtain, as shown in Figure 7, concrete operations are as follows: node A and Node B all have GPS module, at t 1beacon (the positional information that comprises node A is sent in the top and bottom of node A constantly, timestamp etc.), upper end moment of Node B receives this beacon and records beacon message, the positional information of record oneself simultaneously, and then the positional information calculation by node A and Node B goes out the internodal distance L of AB aB.Suppose at t 2beacon is received in the lower end of Node B constantly, can calculate the velocity of propagation of the underwater sound: v=L aB/ (t 2-t 1).
S233, according to the depth of water of seabed node described in twice, described seabed node and the corresponding distance of water surface node, the position coordinates of corresponding water surface node, adopt Pythagorean theorem to calculate the position of seabed node, the location of realizing the seabed node being connected with the water surface node of outfit GPS locating device.
For example, as shown in Figure 6, triangle MOA is right-angle triangle, utilizes Pythagorean theorem, can obtain:
R i 2=l i 2-h i 2formula (1)
When node M receives first position coordinates (x that node A sends 1, y 1) after, utilize formula (1) to obtain:
( x m - x 1 ) 2 + ( y m - y 1 ) 2 = l 1 2 - h 1 2 Formula (2)
When node M receives second position coordinates (x that node A sends 2, y 2) after, utilize formula (1) to obtain,
( x m - x 2 ) 2 + ( y m - y 2 ) 2 = l 2 2 - h 2 2 Formula (3)
Association type (2), formula (3), can calculate (x m, y m), obtain the coordinate of node M, according to above step, calculate the seabed node that each is connected with the water surface node that is equipped with GPS locating device, thereby realize the location of the seabed node being connected with the water surface node of outfit GPS locating device.
It should be noted that, in formula (2), formula (3), h 1=h 2be possible, this situation occurs in two position coordinateses and sends in not long situation interval time, and the depth of water does not change.
S24, the oriented seabed node being connected with the water surface node that is equipped with GPS locating device are sent to self-position information the seabed node of adjacent no-fix; The seabed node of no-fix calculates the position of self, the location of realizing all seabeds node according to the positional information employing geometrical principle of the adjacent seabed node receiving.Concrete, step S24 comprises the following steps:
S241, oriented seabed node obtain the current depth of water according to configured pressure transducer, and self-position coordinate and the current depth of water are sent to the seabed node of adjacent no-fix.
For example, shown in Fig. 8, node A, B, C are oriented seabed node, and its position is known, is designated as respectively (x a, y a), (x b, y b), (x c, y c), the position depth of water is respectively h a, h b, h c.Oriented seabed node be with the water surface node that is equipped with GPS locating device to being connected, there is larger emissive power, three oriented seabed node A, B, C are sent to self-position coordinate and the current depth of water seabed node D of adjacent no-fix.
The seabed node of S242, no-fix receives corresponding position coordinates and the depth of water that three adjacent oriented seabed nodes send.
For example, as shown in Figure 8, node D receives three oriented seabed node A, B, C by self-position coordinate and the depth of water.
The seabed node of S243, described no-fix according to acoustic wave propagation velocity, calculate respectively and three adjacent oriented seabed nodes between distance.
For example, as shown in Figure 8, according to the method computing node D of step S232 respectively with the distance of node A, B, C, i.e. L dA, L dB, L dC.
The seabed node of the corresponding position coordinates that the seabed node of S244, described no-fix sends according to three adjacent oriented seabed nodes and the depth of water, described no-fix and the employing of the distance between three adjacent oriented seabed nodes Pythagorean theorem calculate the position of the seabed node of described no-fix, the location of realizing all seabeds node.
For example, as shown in Figure 8, utilize projection theory and geometry method, can calculate the position of D.Be specially, node A, B, C projects to respectively in same plane and is respectively A ', B ', C '.Utilize geometry and projection theory, can obtain:
L A ′ D ′ = L AD 2 - ( h A - h D ) 2 , L B ′ D ′ = L BD 2 - ( h B - h D ) 2 , L C ′ D ′ = L CD 2 - ( h C - h D ) 2 .
In the plane of projection, can obtain:
( x A - x D ) 2 + ( y A - y D ) 2 L A ′ D ′ 2 ( x B - x D ) 2 + ( y B - y D ) 2 L B ′ D ′ 2 ( x C - x D ) 2 + ( y C - y D ) 2 L C ′ D ′ 2 Formula (4)
Utilize formula (4) just can calculate the position of node D.According to above step, calculate the position of each no-fix seabed node, thus the location of realizing all seabeds node.
The embodiment of the present invention is deployed on some nodes combination section in ocean, wherein, described in each, node combination all comprises the water surface node and the deployment being connected with described water surface node the seabed node that is fixed on seabed that swims in the water surface, and part water surface node is equipped with GPS locating device; The water surface node of outfit GPS locating device obtains in the positional information of different time and is sent to coupled seabed node; The described seabed node being connected calculates the position of self, the location of realizing the seabed node being connected with the water surface node that is equipped with GPS locating device at the positional information employing geometrical principle of different time according to the water surface node receiving; The oriented seabed node being connected with the water surface node that is equipped with GPS locating device is sent to self-position information the seabed node of adjacent no-fix; The seabed node of no-fix calculates the position of self, the location of realizing all seabeds node according to the positional information employing geometrical principle of the adjacent seabed node receiving.The location of seabed node only receives the position coordinates of two water surface nodes and can locate, and the required elements of a fix are few, and algorithm cost is low, and location efficiency is high.
Fig. 9 is the schematic flow sheet of the 3rd embodiment of a kind of ocean provided by the invention wireless sensor network locating method, and as shown in Figure 9, the method comprising the steps of:
S31, some nodes combination section is deployed in ocean, wherein, described in each, node combination all comprises the water surface node and the deployment being connected with described water surface node the seabed node that is fixed on seabed that swims in the water surface, part water surface node outfit GPS locating device.
Specifically dispose with reference to figure 2, wherein, described water surface node is double end node, the upper end of described double end node be used for adopting wireless system and other double end nodes mutual, the lower end of described double end node be used for adopting the underwater sound and seabed node mutual.Water surface node can be connected by hawser with seabed node, so that water surface node drifts about with wave in controlled range.Part water surface node is equipped with GPS locating device, in order to locate self-position, generally, the water surface node that is equipped with GPS locating device is equipped with large capacity supplying cell with the seabed node being connected, because it is large with the seabed node communication distance being connected to be equipped with the water surface node of GPS locating device, the process need of location relies on the first GPS of the water surface node location that is equipped with GPS locating device, the seabed node being connected with the water surface node that is equipped with GPS locating device is realized the location of oneself again according to water surface node location, therefore, power consumption is large.Optionally, the water surface node that is equipped with GPS locating device is also a kind of option with the seabed node outfit solar battery apparatus being connected, and this depends on cost and disposes the factors such as monitoring time.
Fig. 3 shown after water surface node deployment, is subject to morning and evening tides etc. to affect the floating on water node position view that swims in long-time.It should be noted that, different local tidal heights can be different, and this can affect the floating position of reality of floating on water node.Equally, swim position and cable length surplus of water surface node has relation.For example, described in, when at the incoming tide, it is large that depth of water h becomes, but the radius r in the region that water surface node can be movable can diminish.
Fig. 4 has shown after node combination section is deployed to ocean and has formed the schematic diagram after the wireless sensor network of ocean.Because the deployment of this network can be that artificial boats and ships or aircraft broadcast sowing mode, but as other network design, the deployment of network can have influence on networking and the working condition of network.Have certain deployment density, to guarantee in the situation that fixing node communication distance, reliably networking, certainly this is not the unique requirement of location algorithm of the present invention institute, reliable networking is the precondition that guarantees marine monitoring network reliably working, and about reliable networking, having had a lot of research at present, the present invention repeats no more.
The water surface node of S32, outfit GPS locating device obtains in the positional information of different time and is sent to coupled seabed node.It specifically comprises the following steps:
The water surface node of S321, described outfit GPS locating device adopts GPS locating device to obtain a position coordinates and be sent to coupled seabed node.
For example, as shown in Figure 6, suppose that the water surface node of outfit GPS locating device is node A, coupled seabed node is node M, and wherein the coordinate of node A is made as (x i, y i), it is (x that node A adopts GPS locating device to obtain a position coordinates 1, y 1) and be sent to node M, finally need to obtain the coordinate (x of node M m, y m).
When S322, the position when the water surface node of described outfit GPS locating device is floated to the last transmission of distance position coordinates with wave reach predetermined threshold value, adopt GPS locating device to obtain current position coordinates and be sent to coupled seabed node.
For example, as shown in Figure 6, through after a while, node A produces drift with factors such as ocean current, morning and evening tides, wind, moves to new position.When reposition sends position coordinates (x apart from the last time 1, y 1) time position while reaching predetermined threshold value R, adopt GPS locating device to obtain the i.e. (x of current position coordinates 2, y 2) and be sent to node M.
It should be noted that, in order to guarantee positioning precision, for the transmission interval of two position coordinateses, can be scheduled to a pre-value R, r is two distances that send position.In order to meet R, in the situation that node drift velocity is slower, time that the location of seabed node need to be longer, but observe according to actual deployment sea node situation, node is floating movement within a certain period of time always, therefore little on the realization impact of location algorithm.
S33, described in the seabed node that is connected according to the water surface node receiving, in the positional information of different time, adopt geometrical principle to calculate self position, the location of realizing the seabed node being connected with the water surface node of outfit GPS locating device.It specifically comprises the following steps:
S331, described in the seabed node that is connected according to the pressure transducer of configuration, obtain its each depth of water while sending position coordinates.
For example, as shown in Figure 6, the depth of water is made as h i, node M sends position coordinates (x for the first time so 1, y 1) the pressure transducer according to configuration to obtain the depth of water be h 1, node M sends position coordinates (x for the second time so 2, y 2) according to the depth of water of the pressure transducer acquisition of configuration, be h 2.
S332, according to the position coordinates transmitting time of the water surface node of described outfit GPS locating device and described in the difference of the seabed node location coordinate time of reception that is connected and the underwater velocity of propagation of sound wave calculate the seabed node that obtains the water surface node of described outfit GPS locating device and be connected in each distance between while sending position coordinates.
Because the node in network is all time synchronized, suppose that the transmitting time that node A sends position coordinates to node M is t a, node M receives that the position coordinates time of reception that node A sends is t m, the time from node A to node M Acoustic Wave Propagation is Δ t=t m-t a, utilize the underwater velocity of propagation v of sound wave, can calculate the distance l of node M and node A i, i.e. l i=Δ t * v.Therefore can calculate node A and node M and send position coordinates (x 1, y 1) time between distance be l 1, node A and node M are sending position coordinates (x so 2, y 2) time between distance be l 2.
For the underwater velocity of propagation v of the underwater sound, can utilize two water surface nodes that are equipped with GPS locating device to obtain, as shown in Figure 7, concrete operations are as follows: node A and Node B all have GPS module, at t 1beacon (the positional information that comprises node A is sent in the top and bottom of node A constantly, timestamp etc.), upper end moment of Node B receives this beacon and records beacon message, the positional information of record oneself simultaneously, and then the positional information calculation by node A and Node B goes out the internodal distance L of AB aB.Suppose at t 2beacon is received in the lower end of Node B constantly, can calculate the velocity of propagation of the underwater sound: v=L aB/ (t 2-t 1).
S333, according to the depth of water of seabed node described in twice, described seabed node and the corresponding distance of water surface node, the position coordinates of corresponding water surface node, adopt Pythagorean theorem to calculate the position of seabed node, the location of realizing the seabed node being connected with the water surface node of outfit GPS locating device.
For example, as shown in Figure 6, triangle MOA is right-angle triangle, utilizes Pythagorean theorem, can obtain:
R i 2=l i 2-h i 2formula (1)
When node M receives first position coordinates (x that node A sends 1, y 1) after, utilize formula (1) to obtain:
( x m - x 1 ) 2 + ( y m - y 1 ) 2 = l 1 2 - h 1 2 Formula (2)
When node M receives second position coordinates (x that node A sends 2, y 2) after, utilize formula (1) to obtain,
( x m - x 2 ) 2 + ( y m - y 2 ) 2 = l 2 2 - h 2 2 Formula (3)
Association type (2), formula (3), can calculate (x m, y m), obtain the coordinate of node M, according to above step, calculate the seabed node that each is connected with the water surface node that is equipped with GPS locating device, thereby realize the location of the seabed node being connected with the water surface node of outfit GPS locating device.
It should be noted that, in formula (2), formula (3), h 1=h 2be possible, this situation occurs in two position coordinateses and sends in not long situation interval time, and the depth of water does not change.
S34, the oriented seabed node being connected with the water surface node that is equipped with GPS locating device are sent to self-position information the seabed node of adjacent no-fix; The seabed node of no-fix calculates the position of self, the location of realizing all seabeds node according to the positional information employing geometrical principle of the adjacent seabed node receiving.Concrete, step S24 comprises the following steps:
S341, oriented seabed node obtain the current depth of water according to configured pressure transducer, and self-position coordinate and the current depth of water are sent to the seabed node of adjacent no-fix.
For example, shown in Fig. 8, node A, B, C are oriented seabed node, and its position is known, is designated as respectively (x a, y a), (x b, y b), (x c, y c), the position depth of water is respectively h a, h b, h c.Oriented seabed node be with the water surface node that is equipped with GPS locating device to being connected, there is larger emissive power, three oriented seabed node A, B, C are sent to self-position coordinate and the current depth of water seabed node D of adjacent no-fix.
The seabed node of S342, no-fix receives corresponding position coordinates and the depth of water that three adjacent oriented seabed nodes send.
For example, as shown in Figure 8, node D receives three oriented seabed node A, B, C by self-position coordinate and the depth of water.
The seabed node of S343, described no-fix according to acoustic wave propagation velocity, calculate respectively and three adjacent oriented seabed nodes between distance.
For example, as shown in Figure 8, according to the method computing node D of step S332 respectively with the distance of node A, B, C, i.e. L dA, L dB, L dC.
The seabed node of the corresponding position coordinates that the seabed node of S344, described no-fix sends according to three adjacent oriented seabed nodes and the depth of water, described no-fix and the employing of the distance between three adjacent oriented seabed nodes Pythagorean theorem calculate the position of the seabed node of described no-fix, the location of realizing all seabeds node.
For example, as shown in Figure 8, utilize projection theory and geometry method, can calculate the position of D.Be specially, node A, B, C projects to respectively in same plane and is respectively A ', B ', C '.Utilize geometry and projection theory, can obtain:
L A ′ D ′ = L AD 2 - ( h A - h D ) 2 , L B ′ D ′ = L BD 2 - ( h B - h D ) 2 , L C ′ D ′ = L CD 2 - ( h C - h D ) 2 .
In the plane of projection, can obtain:
( x A - x D ) 2 + ( y A - y D ) 2 L A ′ D ′ 2 ( x B - x D ) 2 + ( y B - y D ) 2 L B ′ D ′ 2 ( x C - x D ) 2 + ( y C - y D ) 2 L C ′ D ′ 2 Formula (4)
Utilize formula (4) just can calculate the position of node D.According to above step, calculate the position of each no-fix seabed node, thus the location of realizing all seabeds node.
S35, when not being equipped with the water surface node of GPS locating device and need to locating present position, obtain the positional information of coupled seabed node and the positional information of adjacent seabed node.Concrete, step S35 comprises the following steps:
S351, when not being equipped with the water surface node of GPS locating device and need to locating present position, to coupled seabed node and adjacent seabed node, send Location Request.
After the wireless sensor network disposition of ocean, in fact formed the communication monitoring network of the water surface and Underwater Two-layer.When water surface node monitors pollution, when the informational needs such as swarming into and immediately knowing the positional information of oneself, sends Location Request to coupled seabed node and adjacent seabed node.For example, as shown in figure 10, the water surface node that is not equipped with GPS locating device is node C, when needs are located immediately, the information such as the ID of oneself, time is sent to the seabed node M being connected a, adjacent seabed node M bsend instant Location Request.
S352, described in the seabed node that is connected and adjacent seabed node according to the pressure transducer of configuration, obtain the corresponding current depth of water respectively, and respectively self-position coordinate and the current depth of water are sent to water surface node to be positioned.
For example, node M a, M baccording to the pressure transducer of configuration, obtain corresponding current depth of water h respectively 1, h 2, and respectively by self-position coordinate with depth of water h 1, h 2be sent to node C.
S36, water surface node to be positioned adopt geometrical principle to calculate the position of self according to the positional information of coupled seabed node receiving and the positional information of adjacent seabed node, and realization is not equipped with the instant location of the water surface node of GPS locating device.Step S36 specifically comprises step:
S361, according to acoustic wave propagation velocity calculate described water surface node to be positioned respectively with the described seabed node being connected and described adjacent seabed node between distance.
For example, as shown in figure 10, according to the method computing node C of step S332 respectively with node M a, M bdistance,
S362, described water surface node to be positioned according to the seabed node being connected described in receiving and described adjacent seabed node location coordinate and the depth of water, described water surface node to be positioned respectively with the described seabed node being connected and described adjacent seabed node between distance adopt Pythagorean theorem to calculate the position of described water surface node to be positioned, the instant location of realizing the water surface node that is not equipped with GPS locating device.
As shown in figure 10, triangle m a, O 1, C is right-angle triangle, therefore utilizes geometry principle to obtain:
L m a c 2 = h 1 2 + ( x c - x m a ) 2 + ( y c - y m a ) 2 Formula (5)
In like manner, triangle m b, O 2, C is also right-angle triangle, utilizes geometry principle to obtain:
L m b c 2 = h 2 2 + ( x c - x m b ) 2 + ( y c - y m b ) 2 Formula (6)
Wherein, needing the coordinate of the node C of location is (x c, y c), association type (5) (6), the coordinate that can calculate node C is (x c, y c), and then the instant location of realizing the water surface node that is not equipped with GPS locating device.
The embodiment of the present invention is deployed on some nodes combination section in ocean, wherein, described in each, node combination all comprises the water surface node and the deployment being connected with described water surface node the seabed node that is fixed on seabed that swims in the water surface, and part water surface node is equipped with GPS locating device; The water surface node of outfit GPS locating device obtains in the positional information of different time and is sent to coupled seabed node; The described seabed node being connected calculates the position of self, the location of realizing the seabed node being connected with the water surface node that is equipped with GPS locating device at the positional information employing geometrical principle of different time according to the water surface node receiving; The oriented seabed node being connected with the water surface node that is equipped with GPS locating device is sent to self-position information the seabed node of adjacent no-fix; The seabed node of no-fix calculates the position of self, the location of realizing all seabeds node according to the positional information employing geometrical principle of the adjacent seabed node receiving; When not being equipped with the water surface node of GPS locating device present position need to be located, obtain the positional information of coupled seabed node and the positional information of adjacent seabed node; Water surface node to be positioned adopts geometrical principle to calculate the position of self according to the positional information of coupled seabed node receiving and the positional information of adjacent seabed node, and realization is not equipped with the instant location of the water surface node of GPS locating device.The location of seabed node only receives the position coordinates of two water surface nodes and can locate, and in the location of water surface node, and only receiving under water the information of two seabed nodes, can to locate the required elements of a fix few, and algorithm cost is low, and location efficiency is high.
It should be noted that, in this article, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thereby the process, method, article or the device that make to comprise a series of key elements not only comprise those key elements, but also comprise other key elements of clearly not listing, or be also included as the intrinsic key element of this process, method, article or device.The in the situation that of more restrictions not, the key element being limited by statement " comprising ... ", and be not precluded within process, method, article or the device that comprises this key element and also have other identical element.
The invention described above embodiment sequence number, just to describing, does not represent the quality of embodiment.
In the several embodiment that provide in the application, should be understood that, disclosed method can realize by another way.
Professional can also further recognize, the algorithm steps of each example of describing in conjunction with embodiment disclosed herein, can realize with electronic hardware, computer software or the combination of the two, for the interchangeability of hardware and software is clearly described, the step of each example has been described according to function in the above description in general manner.These functions are carried out with hardware or software mode actually, depend on application-specific and the design constraint of technical scheme.Professional and technical personnel can specifically should be used for realizing described function with distinct methods to each, but this realization should not thought and exceeds scope of the present invention.
The software module that the method for describing in conjunction with embodiment disclosed herein or the step of algorithm can directly use hardware, processor to carry out, or the combination of the two is implemented.Software module can be placed in the storage medium of any other form known in random access memory (RAM), internal memory, ROM (read-only memory) (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field.
Above-mentioned explanation to the disclosed embodiments, makes professional and technical personnel in the field can realize or use the present invention.To the multiple modification of these embodiment, will be apparent for those skilled in the art, General Principle as defined herein can, in the situation that not departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention will can not be restricted to these embodiment shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.

Claims (10)

1. an ocean wireless sensor network locating method, is characterized in that, comprises step:
Some nodes combination section is deployed in ocean, and wherein, described in each, node combination all comprises the water surface node and the deployment being connected with described water surface node the seabed node that is fixed on seabed that swims in the water surface, and part water surface node is equipped with GPS locating device;
The water surface node of outfit GPS locating device obtains in the positional information of different time and is sent to coupled seabed node;
The described seabed node being connected calculates the position of self, the location of realizing the seabed node being connected with the water surface node that is equipped with GPS locating device at the positional information employing geometrical principle of different time according to the water surface node receiving.
2. ocean as claimed in claim 1 wireless sensor network locating method, is characterized in that, also comprises step after the location of the seabed node that described realization is connected with the water surface node that is equipped with GPS locating device:
The oriented seabed node being connected with the water surface node that is equipped with GPS locating device is sent to self-position information the seabed node of adjacent no-fix;
The seabed node of no-fix calculates the position of self, the location of realizing all seabeds node according to the positional information employing geometrical principle of the adjacent seabed node receiving.
3. ocean as claimed in claim 2 wireless sensor network locating method, is characterized in that, described location of realizing all seabeds node also comprises step afterwards:
When not being equipped with the water surface node of GPS locating device present position need to be located, obtain the positional information of coupled seabed node and the positional information of adjacent seabed node;
Water surface node to be positioned adopts geometrical principle to calculate the position of self according to the positional information of coupled seabed node receiving and the positional information of adjacent seabed node, and realization is not equipped with the instant location of the water surface node of GPS locating device.
4. ocean as claimed in claim 1 wireless sensor network locating method, is characterized in that, the water surface node of described outfit GPS locating device obtains in the positional information of different time and is sent to coupled seabed node and comprises step:
The water surface node of described outfit GPS locating device adopts GPS locating device to obtain a position coordinates and be sent to coupled seabed node;
When the position when the water surface node of described outfit GPS locating device is floated to the last transmission of distance position coordinates with wave reaches predetermined threshold value, adopt GPS locating device to obtain current position coordinates and be sent to coupled seabed node.
5. ocean as claimed in claim 4 wireless sensor network locating method, it is characterized in that, the described seabed node being connected adopts geometrical principle to calculate the position of self according to the water surface node receiving in the positional information of different time, and the location of realizing the seabed node being connected with the water surface node that is equipped with GPS locating device comprises step:
Depth of water when the described seabed node being connected obtains each transmission position coordinates according to the pressure transducer of configuration;
According to the position coordinates transmitting time of the water surface node of described outfit GPS locating device and described in the difference of the seabed node location coordinate time of reception that is connected and the underwater velocity of propagation of sound wave calculate the seabed node that obtains the water surface node of described outfit GPS locating device and be connected in each distance between while sending position coordinates;
According to the depth of water of seabed node described in twice, described seabed node,, the position coordinates of corresponding water surface node employing Pythagorean theorem calculates the position of seabed node, realize the location of the seabed node being connected with the water surface node of outfit GPS locating device with the corresponding distance of water surface node.
6. ocean as claimed in claim 2 wireless sensor network locating method, is characterized in that, the oriented seabed node that the described water surface node with being equipped with GPS locating device is connected is sent to self-position information the seabed node of adjacent no-fix; The seabed node of no-fix adopts geometrical principle to calculate the position of self according to the positional information of the adjacent seabed node receiving, and the location of realizing all seabeds node comprises step:
Oriented seabed node obtains the current depth of water according to configured pressure transducer, and self-position coordinate and the current depth of water is sent to the seabed node of adjacent no-fix;
The seabed node of no-fix receives corresponding position coordinates and the depth of water that three adjacent oriented seabed nodes send;
The seabed node of described no-fix according to acoustic wave propagation velocity, calculate respectively and three adjacent oriented seabed nodes between distance;
The seabed node of the corresponding position coordinates that the seabed node of described no-fix sends according to three adjacent oriented seabed nodes and the depth of water, described no-fix and the employing of the distance between three adjacent oriented seabed nodes Pythagorean theorem calculate the position of the seabed node of described no-fix, the location of realizing all seabeds node.
7. ocean as claimed in claim 3 wireless sensor network locating method, it is characterized in that, described when not being equipped with the water surface node of GPS locating device and need to locating present position, obtain the positional information of coupled seabed node and the positional information of adjacent seabed node comprises step:
When not being equipped with the water surface node of GPS locating device present position need to be located, to coupled seabed node and adjacent seabed node, send Location Request;
The described seabed node being connected and adjacent seabed node obtain the corresponding current depth of water according to the pressure transducer of configuration respectively, and respectively self-position coordinate and the current depth of water are sent to water surface node to be positioned.
8. ocean as claimed in claim 7 wireless sensor network locating method, it is characterized in that, described water surface node to be positioned adopts geometrical principle to calculate the position of self according to the positional information of coupled seabed node receiving and the positional information of adjacent seabed node, and the instant location of realizing the water surface node that is not equipped with GPS locating device comprises step:
According to acoustic wave propagation velocity calculate described water surface node to be positioned respectively with the described seabed node being connected and described adjacent seabed node between distance;
Described water surface node to be positioned according to the seabed node being connected described in receiving and described adjacent seabed node location coordinate and the depth of water, described water surface node to be positioned respectively with the described seabed node being connected and described adjacent seabed node between distance adopt Pythagorean theorem to calculate the position of described water surface node to be positioned, the instant location of realizing the water surface node that is not equipped with GPS locating device.
9. the ocean wireless sensor network locating method as described in any one in claim 1～8, it is characterized in that, described water surface node is double end node, the upper end of described double end node be used for adopting wireless system and other double end nodes mutual, the lower end of described double end node be used for adopting the underwater sound and seabed node mutual.
10. the ocean wireless sensor network locating method as described in any one in claim 1～8, is characterized in that, the water surface node of described outfit GPS locating device is equipped with large capacity supplying cell with the seabed node being connected.
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