CN104166121B - A kind of ocean wireless sensor network locating method - Google Patents
A kind of ocean wireless sensor network locating method Download PDFInfo
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- CN104166121B CN104166121B CN201410387193.0A CN201410387193A CN104166121B CN 104166121 B CN104166121 B CN 104166121B CN 201410387193 A CN201410387193 A CN 201410387193A CN 104166121 B CN104166121 B CN 104166121B
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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
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a kind of ocean wireless sensor network locating method, including step: some combination of nodes are deployed in ocean, wherein, each described combination of nodes all includes the water surface node swimming in the water surface and the deployment being connected with described water surface node the subsea node being fixed on seabed, and part water surface node is equipped with GPS positioner；It is equipped with the water surface node of GPS positioner obtain at the positional information of different time and send extremely the most coupled subsea node；The described subsea node being connected uses geometrical principle to be calculated the position of self according to the water surface node received at the positional information of different time, it is achieved that with the location of the subsea node that the water surface node being equipped with GPS positioner is connected.Inventive algorithm low cost, location efficiency is high.
Description
Technical field
The present invention relates to ocean wireless sensor technology, particularly relate to wireless sensor network location, a kind of ocean
Method.
Background technology
Wireless sensor network (Wireless Sensor Networks, WSN) be by have in a large number perception,
(referred to as node, the node mentioned in full is all the wireless sensor node of communication capacity and ad hoc capability
Wireless sensor node) a kind of Ad-hoc network of forming, owing to this network has adaptable, easy
In disposing, being easily managed, there is little yardstick and closely monitor the ability of institute's deployed environment, it is possible to obtain us
The monitoring information needed, may apply to military affairs, environmental monitoring and protection, object tracking, health care,
The fields such as community security, intelligent transportation, smart city, are therefore developed rapidly.
Along with the development of wireless sensor network, wireless sensor network can be disposed to complicated variable ocean
In environment, it is achieved the real-time monitoring of ocean.Ocean wireless sensor network generally comprises to be disposed across the sea
Network portion and deployment underwater network portion, i.e. water surface wireless sensor network and underwater wireless sensor
Network.Water surface wireless sensor network uses radio wave to communicate and networking, can be used to monitor wind direction,
The information relevant to ocean such as wave height, tide, water temperature, illumination, water pollution, are otherwise responsible for under water
The information transmission etc. of sensor network.Underwater wireless sensor network currently mainly utilize the underwater sound realize communication and
Networking, compared with the wireless sensor network of land, underwater wireless sensor network has the following characteristics that communication
Channel has high time delay, time delay dynamically changes, highly attenuating, high bit-error, multipath effect, Doppler spread
Seriously, the feature such as the highly dynamic change of channel and low bandwidth is it is considered to be difficulty is maximum so far channel radio
Letter channel.
Ocean wireless sensor network can realize the timely collection of oceanographic data, it is possible to realizes environment prison
The application such as survey, structure detection, military affairs monitor, disaster is avoided.And for these are applied, location is it
In a vital part.Such as, environmental monitoring is it is to be appreciated that pollute the positional information occurred, and under water
Biological follow the tracks of and underwater security swarms into monitoring it is to be appreciated that the positional information that occurs of event.Additionally, utilize node
Positional information can realize energy-efficient routing control etc..
Although the orientation problem of land wireless sensor network has obtained studying widely, it is proposed that many effective
Location algorithm, but owing to ocean wireless sensor network has uniqueness, existing land is wireless
Localization Technology of Sensor Networks can not be applied directly in Sensor Networks in Ocean Monitoring, in the realization of location
Middle meeting runs into the newest problem.Such as, anchor node is difficult to precise deployment in environment under water.In order to realize
Underwater Navigation, location mechanism typically requires disposes anchor node (node of oneself position the most already known) under water,
The degree of accuracy of they distributions will directly affect the degree of accuracy of node locating.But, for underwater environment, especially
For abyssal environment, it is highly difficult thing in seabed by anchor node precise deployment.Anchor node this
Those location algorithms relying on subsea anchor node are caused impact by locational uncertainty.For another example, node is worked as
When being deployed on sea, it is generally required to by node deployment to buoy, thus these nodes will be along with wave
Fluctuation and random fluctuation, and these random fluctuations make those be applicable to the method for positioning land node can not
Applied the most across the sea.Therefore, according to the feature of the ocean wireless sensor network disposed,
The location algorithm of research simple possible, the actual application to Yu Haiyang wireless sensor network is significant,
It it is an important research direction in this field at present.
Summary of the invention
The technical problem to be solved is, it is provided that a kind of high efficiency based on wireless sensor network
Ocean localization method.
In order to solve above-mentioned technical problem, the invention provides a kind of ocean wireless sensor network locating method,
Including step:
Being deployed in ocean by some combination of nodes, wherein, each described combination of nodes all includes swimming in water
The water surface node in face and the deployment being connected with described water surface node the subsea node being fixed on seabed, part water
Face node is equipped with GPS positioner；
Be equipped with the water surface node of GPS positioner obtain the positional information of different time and send extremely with its phase
The subsea node connected；
The described subsea node being connected uses at the positional information of different time according to the water surface node received
Geometrical principle is calculated the position of self, it is achieved be connected with the water surface node being equipped with GPS positioner
The location of subsea node；
The water surface node of described outfit GPS positioner obtain the positional information of different time and send extremely with
Its subsea node being connected includes step:
The water surface node of described outfit GPS positioner uses GPS positioner to obtain a position coordinates also
Send to coupled subsea node；
Sit when the water surface node of described outfit GPS positioner is floated to the last position that sends of distance with wave
When the position of timestamp reaches predetermined threshold value, use GPS positioner obtain current position coordinates and send extremely with
Its subsea node being connected.
Further, the subsea node that described realization is connected with the water surface node being equipped with GPS positioner
Further comprise the steps of: after location
Self-position is believed by the oriented subsea node being connected with the water surface node being equipped with GPS positioner
Breath sends the subsea node to adjacent no-fix；
The subsea node of no-fix uses geometrical principle meter according to the positional information of the adjacent subsea node received
Calculate the position obtaining self, it is achieved the location of all subsea node.
Further, further comprise the steps of: after the described location realizing all subsea node
When the water surface node being not equipped with GPS positioner needs to position present position, obtain coupled
The positional information of subsea node and the positional information of adjacent subsea node；
Water surface node to be positioned is according to the positional information of the coupled subsea node received and adjacent
The positional information of subsea node uses geometrical principle to be calculated the position of self, it is achieved be not equipped with GPS location
The instant location of the water surface node of device.
Some combination of nodes are deployed in ocean by the present invention, and wherein, each described combination of nodes all includes drift
The water surface node kept afloat and the deployment being connected with described water surface node the subsea node being fixed on seabed,
Part water surface node is equipped with GPS positioner；The water surface node being equipped with GPS positioner obtains when difference
Between positional information and send to the most coupled subsea node；The described subsea node being connected is according to connecing
The water surface node received uses geometrical principle to be calculated the position of self at the positional information of different time, real
The location of the subsea node that the water surface node showed and be equipped with GPS positioner is connected.Inventive algorithm becomes
This is low, and location efficiency is high.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to enforcement
In example or description of the prior art, the required accompanying drawing used is briefly described, it should be apparent that, describe below
In accompanying drawing be only some embodiments of the present invention, for those of ordinary skill in the art, do not paying
On the premise of going out creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the stream of the first embodiment of a kind of ocean wireless sensor network locating method that the present invention provides
Journey schematic diagram；
Fig. 2 be combination of nodes of the present invention structural representation；
Fig. 3 is after combination of nodes is disposed, and is affected floating on water node by tide etc. and swims in a long time position
Schematic diagram；
Fig. 4 is showing after combination of nodes is deployed to ocean the schematic diagram after forming ocean wireless sensor network；
Fig. 5 is the stream of the second embodiment of a kind of ocean wireless sensor network locating method that the present invention provides
Journey schematic diagram；
Fig. 6 is equipped with the water surface node of GPS positioner at position view sometime；
Fig. 7 is the position view of two water surface nodes being equipped with GPS positioner；
Fig. 8 is the position view of four subsea node；
Fig. 9 is the 3rd embodiment of a kind of ocean wireless sensor network locating method that the present invention provides
Schematic flow sheet；
Figure 10 is the position view of two combination of nodes.
Detailed description of the invention
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 carried out clearly
Chu, be fully described by, it is clear that described embodiment be only a part of embodiment of the present invention rather than
Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creation
The every other embodiment obtained under property work premise, broadly falls into the scope of protection of the invention.
Fig. 1 is the stream of the first embodiment of a kind of ocean wireless sensor network locating method that the present invention provides
Journey schematic diagram, as it is shown in figure 1, the method comprising the steps of:
S11, being deployed in ocean by some combination of nodes, wherein, each described combination of nodes all includes floating
In the water surface node of the water surface and the deployment that is connected with described water surface node the subsea node being fixed on seabed, portion
Water surface node is divided to be equipped with GPS positioner.
With reference to Fig. 2, wherein, described water surface node is double end node, and the upper end of described double end node is used for using
Wireless system is mutual with other double end nodes, and the lower end of described double end node is used for using the underwater sound to save with seabed
Point is mutual.Water surface node and subsea node can be connected by hawser so that water surface node controlled range with
Wave drifts about.Part water surface node outfit GPS positioner, in order to position self-position, generally,
The water surface node being equipped with GPS positioner is equipped with Large Copacity supplying cell with the subsea node being connected, because
The water surface node being equipped with GPS positioner is big with the subsea node communication distance being connected, and the process of location needs
Rely on the water surface node elder generation GPS location being equipped with GPS positioner, with the water being equipped with GPS positioner
The subsea node that face node connects realizes the location of oneself further according to water surface node location, and therefore, power consumption is big.
Optionally, the water surface node being equipped with GPS positioner is equipped with solaode dress with the subsea node being connected
Putting also is a kind of option, and this depends on cost and disposes the factors such as monitoring time.
After Fig. 3 shows water surface node deployment, affected floating on water node by tide etc. and swim in a long time
Position view.It should be noted that different local tidal heights can be different, this can affect floating on water
The actual float position of node.Equally, swim position and cable length surplus of water surface node has relation.Such as
Described in, as the tide rises, depth of water h becomes big, but the radius r in the region that water surface node can be movable can diminish.
Fig. 4 shows combination of nodes to be deployed to behind ocean to be formed the schematic diagram after the wireless sensor network of ocean.
Owing to the deployment of this network can be to be artificial boats and ships or aircraft broadcasts sowing mode, but such as other network design
Equally, the deployment of network influences whether networking and the working condition of network.Have certain deployment density, will
Ensure in the case of fixing node communication distance, it is possible to reliable networking, this is not that the present invention positions certainly
Algorithm institute unique requirements, reliable networking is to ensure that the precondition of marine monitoring network reliably working, and mesh
Front had a lot of research about reliable networking, and the present invention repeats no more.
S12, be equipped with the water surface node of GPS positioner obtain the positional information of different time and send extremely with
Its subsea node being connected.
Wherein, the water surface node being equipped with GPS positioner is positioned by GPS device, and at different time
Positional information and send to the most coupled subsea node.
S13, described in the subsea node that is connected according to the water surface node received at the positional information of different time
Geometrical principle is used to be calculated the position of self, it is achieved to be connected with the water surface node being equipped with GPS positioner
The location of the subsea node connect.
Some combination of nodes are deployed in ocean by the embodiment of the present invention, and wherein, each described combination of nodes is all
Including swimming in the water surface node of the water surface and the deployment being connected with described water surface node the seabed being fixed on seabed
Node, part water surface node is equipped with GPS positioner；The water surface node being equipped with GPS positioner obtains
The positional information of different time transmission are to the most coupled subsea node；The described subsea node being connected
Geometrical principle is used to be calculated the position of self according to the water surface node received at the positional information of different time
Put, it is achieved with the location of the subsea node that the water surface node being equipped with GPS positioner is connected.The present invention is real
Executing example algorithm low cost, location efficiency is high.
Fig. 5 is the stream of the second embodiment of a kind of ocean wireless sensor network locating method that the present invention provides
Journey schematic diagram, as it is shown in figure 5, the method comprising the steps of:
S21, being deployed in ocean by some combination of nodes, wherein, each described combination of nodes all includes floating
In the water surface node of the water surface and the deployment that is connected with described water surface node the subsea node being fixed on seabed, portion
Water surface node is divided to be equipped with GPS positioner.
Concrete deployment is with reference to Fig. 2, and wherein, described water surface node is double end node, the upper end of described double end node
For using wireless system mutual with other double end nodes, the lower end of described double end node is used for using the underwater sound
Mutual with subsea node.Water surface node and subsea node can be connected by hawser, so that water surface node is can
Control scope is drifted about with wave.Part water surface node is equipped with GPS positioner, in order to position self-position, one
In the case of as, the water surface node being equipped with GPS positioner is equipped with Large Copacity with the subsea node being connected and powers
Battery, because the water surface node being equipped with GPS positioner is big with the subsea node communication distance being connected, fixed
The process of position needs to rely on the water surface node elder generation GPS location being equipped with GPS positioner, fixed with being equipped with GPS
The subsea node that the water surface node of position device connects realizes oneself location further according to water surface node location, therefore,
Power consumption is big.Optionally, the water surface node being equipped with GPS positioner is equipped with the sun with the subsea node being connected
Can cell apparatus also be a kind of option, this depends on cost and disposes the factors such as monitoring time.
After Fig. 3 shows water surface node deployment, affected floating on water node by tide etc. and swim in a long time
Position view.It should be noted that different local tidal heights can be different, this can affect floating on water
The actual float position of node.Equally, swim position and cable length surplus of water surface node has relation.Such as
Described in, as the tide rises, depth of water h becomes big, but the radius r in the region that water surface node can be movable can diminish.
Fig. 4 shows combination of nodes to be deployed to behind ocean to be formed the schematic diagram after the wireless sensor network of ocean.
Owing to the deployment of this network can be to be artificial boats and ships or aircraft broadcasts sowing mode, but such as other network design
Equally, the deployment of network influences whether networking and the working condition of network.Have certain deployment density, will
Ensure in the case of fixing node communication distance, it is possible to reliable networking, this is not that the present invention positions certainly
Algorithm institute unique requirements, reliable networking is to ensure that the precondition of marine monitoring network reliably working, and mesh
Front had a lot of research about reliable networking, and the present invention repeats no more.
S22, be equipped with the water surface node of GPS positioner obtain the positional information of different time and send extremely with
Its subsea node being connected.It specifically includes below step:
S221, the water surface node of described outfit GPS positioner use GPS positioner to obtain a position
Coordinate also sends to coupled subsea node.
Such as, as shown in Figure 6, it is assumed that the water surface node being equipped with GPS positioner is node A, with its phase
The subsea node connected is node M, and the coordinate of its interior joint A is set to (xi,yi), node A uses GPS fixed
It is (x that position device obtains a position coordinates1,y1) and send to node M, finally need to obtain the seat of node M
Mark (xm,ym)。
S222, it is floated to wave that distance is last to be sent when the water surface node of described outfit GPS positioner
When position during position coordinates reaches predetermined threshold value, GPS positioner is used to obtain current position coordinates concurrent
Deliver to coupled subsea node.
Such as, as shown in Figure 6, through after a while, node A produces with factors such as ocean current, tide, wind
Drift, moves to new position.Position coordinates (x is sent when the new positional distance last time1,y1) time position reach
During predetermined threshold value R, using GPS positioner to obtain current position coordinates is (x2,y2) and send to node M.
It should be noted that in order to ensure positioning precision, the transmission for two position coordinateses is spaced, permissible
A predetermined pre-value R,R is two distances sending position.In order to full
Foot R, in the case of node drift velocity is relatively slow, the location of subsea node needs the longer time, but according to
Actual deployment sea node situation is observed, and the most floating movement of node, therefore to location
The realization impact of algorithm is little.
S23, described in the subsea node that is connected according to the water surface node received at the positional information of different time
Geometrical principle is used to be calculated the position of self, it is achieved to be connected with the water surface node being equipped with GPS positioner
The location of the subsea node connect.It specifically includes below step:
S231, described in the subsea node that is connected obtain it according to the pressure transducer of configuration and send position every time
Depth of water during coordinate.
Such as, as shown in Figure 6, the depth of water is set to hi, then node M sends position coordinates (x for the first time1,y1)
According to configuration pressure transducer obtain the depth of water be h1, then node M sends position coordinates in second time
(x2,y2) according to configuration pressure transducer obtain the depth of water be h2。
S232, position coordinates according to the water surface node of described outfit GPS positioner send time and described
Difference and the underwater spread speed of sound wave of the subsea node position coordinates reception time being connected calculate and obtain
The water surface node of described outfit GPS positioner and the subsea node being connected are when sending position coordinates every time
Between distance.
Owing to the node in network is all time synchronized, it is assumed that node A sends position coordinates to node M
The transmission time is tA, node M receive node A send position coordinates receive the time be tM, then from node A
Time to node M sonic propagation is Δ t=tM-tA, utilize underwater spread speed v of sound wave, Ke Yiji
Calculate distance l of node M and node Ai, i.e. li=Δ t × v.Therefore node A and node can be calculated
M is sending position coordinates (x1,y1) time between distance be l1, so node A and node M are sending position
Coordinate (x2,y2) time between distance be l2。
Spread speed v underwater for the underwater sound, it is possible to use two water surface joints being equipped with GPS positioner
Point obtains, as it is shown in fig. 7, concrete operations are as follows: node A and node B has GPS module, at t1
The top and bottom of moment node A send beacon (including the positional information of node A, timestamp etc.), joint
The upper end moment of some B receives this beacon and records beacon message, records the positional information of oneself, then simultaneously
Internodal distance L of AB is gone out by the positional information calculation of node A and node BAB.Assume at t2Moment
The lower end of some B receives beacon, then can calculate the spread speed of the underwater sound: v=LAB/(t2-t1)。
S233, the depth of water according to subsea node described in twice, described subsea node and corresponding water surface node
Distance, the position coordinates of corresponding water surface node use the position that Pythagorean theorem is calculated subsea node, it is achieved
Location with the subsea node that the water surface node being equipped with GPS positioner is connected.
Such as, as shown in Figure 6, triangle MOA is right angled triangle, utilizes Pythagorean theorem, can obtain:
When node M receives first position coordinates (x that node A sends1,y1After), utilize the formula (1) can
To obtain:
When node M receives second position coordinates (x that node A sends2,y2After), utilize the formula (1) can
To obtain,
Association type (2), formula (3), can calculate (xm,ym), i.e. obtain the coordinate of node M, according to
Upper step calculates the subsea node that water surface node that is each and that be equipped with GPS positioner is connected, thus realizes
Location with the subsea node that the water surface node being equipped with GPS positioner is connected.
It should be noted that in formula (2), formula (3), h1=h2Being possible, this situation occurs
Two position coordinateses send in the case of not growing interval time, and the depth of water does not change.
The oriented subsea node that S24 is connected with the water surface node being equipped with GPS positioner is by self position
Confidence breath sends the subsea node to adjacent no-fix；The subsea node of no-fix is adjacent according to receive
The positional information of subsea node uses geometrical principle to be calculated the position of self, it is achieved all subsea node
Location.Concrete, step S24 comprises the following steps:
S241, oriented subsea node obtain the current depth of water according to the pressure transducer that configured, and will be from
Body position coordinates and the current depth of water send the subsea node to adjacent no-fix.
Such as, shown in Fig. 8, node A, B, C are oriented subsea node, and its position is the most
Know, be designated as (x respectivelyA,yA),(xB,yB),(xC,yC), the position depth of water is respectively hA,hB,hC.Oriented
Subsea node is to being connected with the water surface node being equipped with GPS positioner, has bigger transmitting power, three
Self-position coordinate and the current depth of water are sent to adjacent no-fix by individual oriented subsea node A, B, C
Subsea node D.
S242, the subsea node of no-fix receive the corresponding position that three adjacent oriented subsea node send
Put coordinate and the depth of water.
Such as, as shown in Figure 8, node D receives three oriented subsea node A, B, C by self position
Put coordinate and the depth of water.
S243, the subsea node of described no-fix calculate respectively according to acoustic wave propagation velocity and three adjacent the most fixed
Distance between the subsea node of position.
Such as, as shown in Figure 8, according to the method for step S232 calculate node D respectively with node A, B,
The distance of C, i.e. LDA、LDB、LDC。
The correspondence that S244, the subsea node of described no-fix send according to three adjacent oriented subsea node
Position coordinates and the adjacent oriented subsea node of the depth of water, the subsea node of described no-fix and three between
Distance use Pythagorean theorem to be calculated the position of subsea node of described no-fix, it is achieved all seabeds are saved
The location of point.
Such as, as shown in Figure 8, utilize projection theory and geometry method, the position of D can be calculated.
Specifically, node A, B, C project to be respectively in approximately the same plane A ', B ', C ' respectively.Utilize geometry
And projection theory, can obtain:
The plane of projection can obtain:
Utilize formula (4) just can calculate the position of node D.Each no-fix sea is calculated according to above step
The position of coxopodite point, thus realize the location of all subsea node.
Some combination of nodes are deployed in ocean by the embodiment of the present invention, and wherein, each described combination of nodes is all
Including swimming in the water surface node of the water surface and the deployment being connected with described water surface node the seabed being fixed on seabed
Node, part water surface node is equipped with GPS positioner；The water surface node being equipped with GPS positioner obtains
The positional information of different time transmission are to the most coupled subsea node；The described subsea node being connected
Geometrical principle is used to be calculated the position of self according to the water surface node received at the positional information of different time
Put, it is achieved with the location of the subsea node that the water surface node being equipped with GPS positioner is connected；With outfit GPS
Own location information is sent to adjacent by the oriented subsea node that the water surface node of positioner is connected
The subsea node of no-fix；The subsea node of no-fix is according to the positional information of the adjacent subsea node received
Geometrical principle is used to be calculated the position of self, it is achieved the location of all subsea node.Determining of subsea node
Position only receives the position coordinates of two water surface nodes and can position, and the required elements of a fix are few, algorithm low cost,
Location efficiency is high.
Fig. 9 is the stream of the 3rd embodiment of a kind of ocean wireless sensor network locating method that the present invention provides
Journey schematic diagram, as it is shown in figure 9, the method comprising the steps of:
S31, being deployed in ocean by some combination of nodes, wherein, each described combination of nodes all includes floating
In the water surface node of the water surface and the deployment that is connected with described water surface node the subsea node being fixed on seabed, portion
Water surface node is divided to be equipped with GPS positioner.
Concrete deployment is with reference to Fig. 2, and wherein, described water surface node is double end node, the upper end of described double end node
For using wireless system mutual with other double end nodes, the lower end of described double end node is used for using the underwater sound
Mutual with subsea node.Water surface node and subsea node can be connected by hawser, so that water surface node is can
Control scope is drifted about with wave.Part water surface node is equipped with GPS positioner, in order to position self-position, one
In the case of as, the water surface node being equipped with GPS positioner is equipped with Large Copacity with the subsea node being connected and powers
Battery, because the water surface node being equipped with GPS positioner is big with the subsea node communication distance being connected, fixed
The process of position needs to rely on the water surface node elder generation GPS location being equipped with GPS positioner, fixed with being equipped with GPS
The subsea node that the water surface node of position device connects realizes oneself location further according to water surface node location, therefore,
Power consumption is big.Optionally, the water surface node being equipped with GPS positioner is equipped with the sun with the subsea node being connected
Can cell apparatus also be a kind of option, this depends on cost and disposes the factors such as monitoring time.
After Fig. 3 shows water surface node deployment, affected floating on water node by tide etc. and swim in a long time
Position view.It should be noted that different local tidal heights can be different, this can affect floating on water
The actual float position of node.Equally, swim position and cable length surplus of water surface node has relation.Such as
Described in, as the tide rises, depth of water h becomes big, but the radius r in the region that water surface node can be movable can diminish.
Fig. 4 shows combination of nodes to be deployed to behind ocean to be formed the schematic diagram after the wireless sensor network of ocean.
Owing to the deployment of this network can be to be artificial boats and ships or aircraft broadcasts sowing mode, but such as other network design
Equally, the deployment of network influences whether networking and the working condition of network.Have certain deployment density, will
Ensure in the case of fixing node communication distance, it is possible to reliable networking, this is not that the present invention positions certainly
Algorithm institute unique requirements, reliable networking is to ensure that the precondition of marine monitoring network reliably working, and mesh
Front had a lot of research about reliable networking, and the present invention repeats no more.
S32, be equipped with the water surface node of GPS positioner obtain the positional information of different time and send extremely with
Its subsea node being connected.It specifically includes below step:
S321, the water surface node of described outfit GPS positioner use GPS positioner to obtain a position
Coordinate also sends to coupled subsea node.
Such as, as shown in Figure 6, it is assumed that the water surface node being equipped with GPS positioner is node A, with its phase
The subsea node connected is node M, and the coordinate of its interior joint A is set to (xi,yi), node A uses GPS fixed
It is (x that position device obtains a position coordinates1,y1) and send to node M, finally need to obtain the seat of node M
Mark (xm,ym)。
S322, it is floated to wave that distance is last to be sent when the water surface node of described outfit GPS positioner
When position during position coordinates reaches predetermined threshold value, GPS positioner is used to obtain current position coordinates concurrent
Deliver to coupled subsea node.
Such as, as shown in Figure 6, through after a while, node A produces with factors such as ocean current, tide, wind
Drift, moves to new position.Position coordinates (x is sent when the new positional distance last time1,y1) time position reach
During predetermined threshold value R, using GPS positioner to obtain current position coordinates is (x2,y2) and send to node M.
It should be noted that in order to ensure positioning precision, the transmission for two position coordinateses is spaced, permissible
A predetermined pre-value R,R is two distances sending position.In order to full
Foot R, in the case of node drift velocity is relatively slow, the location of subsea node needs the longer time, but according to
Actual deployment sea node situation is observed, and the most floating movement of node, therefore to location
The realization impact of algorithm is little.
S33, described in the subsea node that is connected according to the water surface node received at the positional information of different time
Geometrical principle is used to be calculated the position of self, it is achieved to be connected with the water surface node being equipped with GPS positioner
The location of the subsea node connect.It specifically includes below step:
S331, described in the subsea node that is connected obtain it according to the pressure transducer of configuration and send position every time
Depth of water during coordinate.
Such as, as shown in Figure 6, the depth of water is set to hi, then node M sends position coordinates (x for the first time1,y1)
According to configuration pressure transducer obtain the depth of water be h1, then node M sends position coordinates in second time
(x2,y2) according to configuration pressure transducer obtain the depth of water be h2。
S332, position coordinates according to the water surface node of described outfit GPS positioner send time and described
Difference and the underwater spread speed of sound wave of the subsea node position coordinates reception time being connected calculate and obtain
The water surface node of described outfit GPS positioner and the subsea node being connected are when sending position coordinates every time
Between distance.
Owing to the node in network is all time synchronized, it is assumed that node A sends position coordinates to node M
The transmission time is tA, node M receive node A send position coordinates receive the time be tM, then from node A
Time to node M sonic propagation is Δ t=tM-tA, utilize underwater spread speed v of sound wave, Ke Yiji
Calculate distance l of node M and node Ai, i.e. li=Δ t × v.Therefore node A and node can be calculated
M is sending position coordinates (x1,y1) time between distance be l1, so node A and node M are sending position
Coordinate (x2,y2) time between distance be l2。
Spread speed v underwater for the underwater sound, it is possible to use two water surface joints being equipped with GPS positioner
Point obtains, as it is shown in fig. 7, concrete operations are as follows: node A and node B has GPS module, at t1
The top and bottom of moment node A send beacon (including the positional information of node A, timestamp etc.), joint
The upper end moment of some B receives this beacon and records beacon message, records the positional information of oneself, then simultaneously
Internodal distance L of AB is gone out by the positional information calculation of node A and node BAB.Assume at t2Moment
The lower end of some B receives beacon, then can calculate the spread speed of the underwater sound: v=LAB/(t2-t1)。
S333, the depth of water according to subsea node described in twice, described subsea node and corresponding water surface node
Distance, the position coordinates of corresponding water surface node use the position that Pythagorean theorem is calculated subsea node, it is achieved
Location with the subsea node that the water surface node being equipped with GPS positioner is connected.
Such as, as shown in Figure 6, triangle MOA is right angled triangle, utilizes Pythagorean theorem, can obtain:
When node M receives first position coordinates (x that node A sends1,y1After), utilize the formula (1) can
To obtain:
When node M receives second position coordinates (x that node A sends2,y2After), utilize the formula (1) can
To obtain,
Association type (2), formula (3), can calculate (xm,ym), i.e. obtain the coordinate of node M, according to
Upper step calculates the subsea node that water surface node that is each and that be equipped with GPS positioner is connected, thus realizes
Location with the subsea node that the water surface node being equipped with GPS positioner is connected.
It should be noted that in formula (2), formula (3), h1=h2Being possible, this situation occurs
Two position coordinateses send in the case of not growing interval time, and the depth of water does not change.
The oriented subsea node that S34 is connected with the water surface node being equipped with GPS positioner is by self position
Confidence breath sends the subsea node to adjacent no-fix；The subsea node of no-fix is adjacent according to receive
The positional information of subsea node uses geometrical principle to be calculated the position of self, it is achieved all subsea node
Location.Concrete, step S24 comprises the following steps:
S341, oriented subsea node obtain the current depth of water according to the pressure transducer that configured, and will be from
Body position coordinates and the current depth of water send the subsea node to adjacent no-fix.
Such as, shown in Fig. 8, node A, B, C are oriented subsea node, and its position is the most
Know, be designated as (x respectivelyA,yA),(xB,yB),(xC,yC), the position depth of water is respectively hA,hB,hC.Oriented
Subsea node is to being connected with the water surface node being equipped with GPS positioner, has bigger transmitting power, three
Self-position coordinate and the current depth of water are sent to adjacent no-fix by individual oriented subsea node A, B, C
Subsea node D.
S342, the subsea node of no-fix receive the corresponding position that three adjacent oriented subsea node send
Put coordinate and the depth of water.
Such as, as shown in Figure 8, node D receives three oriented subsea node A, B, C by self position
Put coordinate and the depth of water.
S343, the subsea node of described no-fix calculate respectively according to acoustic wave propagation velocity and three adjacent the most fixed
Distance between the subsea node of position.
Such as, as shown in Figure 8, according to the method for step S332 calculate node D respectively with node A, B,
The distance of C, i.e. LDA、LDB、LDC。
The correspondence that S344, the subsea node of described no-fix send according to three adjacent oriented subsea node
Position coordinates and the adjacent oriented subsea node of the depth of water, the subsea node of described no-fix and three between
Distance use Pythagorean theorem to be calculated the position of subsea node of described no-fix, it is achieved all seabeds are saved
The location of point.
Such as, as shown in Figure 8, utilize projection theory and geometry method, the position of D can be calculated.
Specifically, node A, B, C project to be respectively in approximately the same plane A ', B ', C ' respectively.Utilize geometry
And projection theory, can obtain:
The plane of projection can obtain:
Utilize formula (4) just can calculate the position of node D.Each no-fix sea is calculated according to above step
The position of coxopodite point, thus realize the location of all subsea node.
S35, when the water surface node being not equipped with GPS positioner need position present position time, obtain and its phase
The positional information of the subsea node connected and the positional information of adjacent subsea node.Concrete, step S35 bag
Include following steps:
S351, when the water surface node being not equipped with GPS positioner need position present position time, Xiang Yuqi phase
The subsea node and the adjacent subsea node that connect send Location Request.
When, after the wireless sensor network disposition of ocean, in substance form the communication monitoring of the water surface and Underwater Two-layer
Network.When water surface node monitors to information such as polluting, swarm into needs the positional information immediately knowing oneself,
Location Request is sent to coupled subsea node and adjacent subsea node.Such as, as shown in Figure 10,
The water surface node being not equipped with GPS positioner is node C, when needs position immediately, by the ID of oneself,
The information such as time send to subsea node M being connecteda, adjacent subsea node MbSend instant Location Request.
S352, described in the subsea node that is connected and adjacent subsea node respectively according to the pressure transducer of configuration
Obtain the corresponding current depth of water, and respectively self-position coordinate and the current depth of water are sent to the water surface to be positioned
Node.
Such as, node Ma, MbCorresponding current depth of water h is obtained respectively according to the pressure transducer of configuration1, h2,
And respectively by self-position coordinateWith depth of water h1, h2Send to node C.
S36, water surface node to be positioned according to the positional information of the coupled subsea node received and
The positional information of adjacent subsea node uses geometrical principle to be calculated the position of self, it is achieved be not equipped with GPS
The instant location of the water surface node of positioner.Step S36 specifically includes step:
S361, according to acoustic wave propagation velocity calculate described water surface node to be positioned respectively with the described sea being connected
Distance between coxopodite point and described adjacent subsea node.
Such as, as shown in Figure 10, according to the method for step S332 calculate node C respectively with node Ma, Mb
Distance, i.e.
S362, described water surface node to be positioned are according to the subsea node being connected described in receiving and described
Adjacent subsea node position coordinates and the depth of water, described water surface node to be positioned respectively with the described sea being connected
Distance between coxopodite point and described adjacent subsea node uses Pythagorean theorem to be calculated described water to be positioned
The position of face node, it is achieved be not equipped with the instant location of the water surface node of GPS positioner.
As shown in Figure 10, triangle ma,O1, C is right angled triangle, can obtain hence with geometry principle
Arrive:
In like manner, triangle mb,O2, C is also right angled triangle, utilizes geometry principle to obtain:
Wherein it is desired to the coordinate of the node C of location is (xc,yc), association type (5) (6), can calculate
Coordinate to node C is (xc,yc), and then realize being not equipped with water surface node instant fixed of GPS positioner
Position.
Some combination of nodes are deployed in ocean by the embodiment of the present invention, and wherein, each described combination of nodes is all
Including swimming in the water surface node of the water surface and the deployment being connected with described water surface node the seabed being fixed on seabed
Node, part water surface node is equipped with GPS positioner；The water surface node being equipped with GPS positioner obtains
The positional information of different time transmission are to the most coupled subsea node；The described subsea node being connected
Geometrical principle is used to be calculated the position of self according to the water surface node received at the positional information of different time
Put, it is achieved with the location of the subsea node that the water surface node being equipped with GPS positioner is connected；With outfit GPS
Own location information is sent to adjacent by the oriented subsea node that the water surface node of positioner is connected
The subsea node of no-fix；The subsea node of no-fix is according to the positional information of the adjacent subsea node received
Geometrical principle is used to be calculated the position of self, it is achieved the location of all subsea node；When being not equipped with GPS
When the water surface node of positioner needs to position present position, obtain the position of coupled subsea node
Information and the positional information of adjacent subsea node；Water surface node to be positioned is coupled according to receive
The positional information of subsea node and the positional information of adjacent subsea node use geometrical principle to be calculated self
Position, it is achieved be not equipped with the instant location of the water surface node of GPS positioner.The location of subsea node is only
The position coordinates only receiving two water surface nodes can position, and in the location of water surface node, only receives
It is few that information under water two subsea node can position the required elements of a fix, algorithm low cost, location efficiency
High.
It should be noted that in this article, term " include ", " comprising " or its any other variant meaning
Containing comprising of nonexcludability, so that include the process of a series of key element, method, article or dress
Put and not only include those key elements, but also include other key elements being not expressly set out, or also include for
The key element that this process, method, article or device are intrinsic.In the case of there is no more restriction, by
The key element that statement " including ... " limits, it is not excluded that including the process of this key element, method, thing
Product or device there is also other identical element.
The invention described above embodiment sequence number, just to describing, does not represent the quality of embodiment.
In several embodiments provided herein, it should be understood that disclosed method can pass through it
Its mode realizes.
Professional further appreciates that, each example described in conjunction with the embodiments described herein
Algorithm steps, it is possible to electronic hardware, computer software or the two be implemented in combination in, in order to clear
The interchangeability of ground explanation hardware and software, the most generally describes respectively according to function
The step of example.These functions perform with hardware or software mode actually, depend on the spy of technical scheme
Fixed application and design constraint.Professional and technical personnel can use distinct methods to each specifically should being used for
Realize described function, but this realization is it is not considered that beyond the scope of this invention.
The method described in conjunction with the embodiments described herein or the step of algorithm can directly use hardware, place
Manage the software module that device performs, or the combination of the two is implemented.Software module can be placed in random access memory
(RAM), internal memory, read only memory (ROM), electrically programmable ROM, electrically erasable ROM,
Other form any well known in depositor, hard disk, moveable magnetic disc, CD-ROM or technical field
Storage medium in.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses this
Invention.Multiple amendment to these embodiments will be apparent from for those skilled in the art,
Generic principles defined herein can without departing from the spirit or scope of the present invention, at other
Embodiment realizes.Therefore, the present invention is not intended to be limited to the embodiments shown herein, and is intended to
Meet the widest scope consistent with principles disclosed herein and features of novelty.
Claims (9)
1. an ocean wireless sensor network locating method, it is characterised in that include step:
Being deployed in ocean by some combination of nodes, wherein, each described combination of nodes all includes swimming in water
The water surface node in face and the deployment being connected with described water surface node the subsea node being fixed on seabed, part water
Face node is equipped with GPS positioner；
Be equipped with the water surface node of GPS positioner obtain the positional information of different time and send extremely with its phase
The subsea node connected；
The described subsea node being connected uses at the positional information of different time according to the water surface node received
Geometrical principle is calculated the position of self, it is achieved be connected with the water surface node being equipped with GPS positioner
The location of subsea node；
The water surface node of described outfit GPS positioner obtain the positional information of different time and send extremely with
Its subsea node being connected includes step:
The water surface node of described outfit GPS positioner uses GPS positioner to obtain a position coordinates also
Send to coupled subsea node；
Sit when the water surface node of described outfit GPS positioner is floated to the last position that sends of distance with wave
When the position of timestamp reaches predetermined threshold value, use GPS positioner obtain current position coordinates and send extremely with
Its subsea node being connected.
2. ocean as claimed in claim 1 wireless sensor network locating method, it is characterised in that described
Step is also included after the location of the subsea node that the water surface node realized and be equipped with GPS positioner is connected
Rapid:
Self-position is believed by the oriented subsea node being connected with the water surface node being equipped with GPS positioner
Breath sends the subsea node to adjacent no-fix；
The subsea node of no-fix uses geometrical principle meter according to the positional information of the adjacent subsea node received
Calculate the position obtaining self, it is achieved the location of all subsea node.
3. ocean as claimed in claim 2 wireless sensor network locating method, it is characterised in that described
Further comprise the steps of: after realizing the location of all subsea node
When the water surface node being not equipped with GPS positioner needs to position present position, obtain coupled
The positional information of subsea node and the positional information of adjacent subsea node；
Water surface node to be positioned is according to the positional information of the coupled subsea node received and adjacent
The positional information of subsea node uses geometrical principle to be calculated the position of self, it is achieved be not equipped with GPS location
The instant location of the water surface node of device.
4. ocean as claimed in claim 1 wireless sensor network locating method, it is characterised in that described
The subsea node being connected uses geometrical principle according to the water surface node received at the positional information of different time
It is calculated the position of self, it is achieved the subsea node being connected with the water surface node being equipped with GPS positioner
Location include step:
The described subsea node being connected obtains when sending position coordinates according to the pressure transducer of configuration every time
The depth of water；
The position coordinates transmission time of the water surface node according to described outfit GPS positioner is connected with described
Subsea node position coordinates receive the difference of time and the underwater spread speed of sound wave calculate obtain described in join
Between the water surface node of standby GPS positioner and the subsea node that is connected are when sending position coordinates every time
Distance；
The distance of the depth of water according to subsea node described in twice, described subsea node and corresponding water surface node,
The position coordinates of corresponding water surface node uses the position that Pythagorean theorem is calculated subsea node, it is achieved with outfit
The location of the subsea node that the water surface node of GPS positioner is connected.
5. ocean as claimed in claim 2 wireless sensor network locating method, it is characterised in that described
Own location information is sent out by the oriented subsea node being connected with the water surface node being equipped with GPS positioner
Deliver to the subsea node of adjacent no-fix；The subsea node of no-fix is according to the adjacent subsea node received
Positional information use geometrical principle to be calculated self position, it is achieved the location of all subsea node includes
Step:
Oriented subsea node obtains the current depth of water according to the pressure transducer configured, and by self-position
Coordinate and the current depth of water send the subsea node to adjacent no-fix；
The subsea node of no-fix receives the corresponding position coordinates that three adjacent oriented subsea node send
And the depth of water；
The subsea node of described no-fix calculates oriented sea adjacent with three respectively according to acoustic wave propagation velocity
Distance between coxopodite point；
The corresponding position that the subsea node of described no-fix sends according to three adjacent oriented subsea node
Distance between coordinate and the adjacent oriented subsea node of the depth of water, the subsea node of described no-fix and three
Employing Pythagorean theorem is calculated the position of the subsea node of described no-fix, it is achieved determining of all subsea node
Position.
6. ocean as claimed in claim 3 wireless sensor network locating method, it is characterised in that described
When the water surface node being not equipped with GPS positioner needs to position present position, obtain coupled sea
The positional information of coxopodite point and the positional information of adjacent subsea node include step:
When the water surface node being not equipped with GPS positioner needs to position present position, to coupled
Subsea node and adjacent subsea node send Location Request；
It is right that the described subsea node being connected and adjacent subsea node obtain according to the pressure transducer of configuration respectively
The current depth of water answered, and respectively self-position coordinate and the current depth of water are sent to water surface node to be positioned.
7. ocean as claimed in claim 6 wireless sensor network locating method, it is characterised in that described
Water surface node to be positioned is according to the positional information of the coupled subsea node received and adjacent seabed
The positional information of node uses geometrical principle to be calculated the position of self, it is achieved be not equipped with GPS positioner
The instant location of water surface node include step:
According to acoustic wave propagation velocity calculate described water surface node to be positioned respectively with the described subsea node being connected
And the distance between described adjacent subsea node；
Described water surface node to be positioned is according to the subsea node being connected described in receiving and described phase adjacent sea
Coxopodite point position coordinates and the depth of water, described water surface node to be positioned respectively with the described subsea node being connected
With the distance between described adjacent subsea node uses Pythagorean theorem to be calculated described water surface node to be positioned
Position, it is achieved be not equipped with the instant location of the water surface node of GPS positioner.
8. the ocean wireless sensor network locating method as described in any one in claim 1～7, its
Being characterised by, described water surface node is double end node, and the upper end of described double end node is used for using radio side
Formula is mutual with other double end nodes, and the lower end of described double end node is used for using the underwater sound mutual with subsea node.
9. the ocean wireless sensor network locating method as described in any one in claim 1～7, its
Being characterised by, the water surface node of described outfit GPS positioner is equipped with Large Copacity with the subsea node being connected
Supplying cell.
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| CN104883749B (en) * | 2015-03-18 | 2018-09-14 | 淄博职业学院 | A kind of ocean stereo monitoring sensor network disposition method based on floating cable |
| CN105891867A (en) * | 2016-04-05 | 2016-08-24 | 武汉大学 | Indoor and outdoor positioning method and indoor and outdoor positioning system |
| CN106921443A (en) * | 2017-04-28 | 2017-07-04 | 任勇 | The detection system of target waterborne |
| CN107290765B (en) * | 2017-07-13 | 2020-11-03 | 清华大学 | Cooperative positioning method and system of underwater vehicle |
| CN107258712A (en) * | 2017-07-19 | 2017-10-20 | 中国水产科学研究院东海水产研究所 | A kind of heavy pendant of bottomed prompting |
| CN110068331A (en) * | 2018-01-24 | 2019-07-30 | 北京致感致联科技有限公司 | Underwater navigation positioning device and system |
| CN108445453B (en) * | 2018-03-15 | 2020-09-08 | 深圳市朗信浩通科技有限公司 | Positioning method, device, system and computer storage medium |
| CN111473787A (en) * | 2019-01-23 | 2020-07-31 | 北京致感致联科技有限公司 | Underwater navigation positioning equipment and system |
| CN110095756B (en) * | 2019-05-21 | 2023-01-03 | 中国科学院深海科学与工程研究所 | Underwater target speed calculation method based on underwater acoustic positioning system |
| CN113777641A (en) * | 2021-09-10 | 2021-12-10 | 中北大学 | High-precision self-positioning method and system for regional networked nodes |
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| CN101470196B (en) * | 2007-12-26 | 2011-12-07 | 中国科学院声学研究所 | System and method for passively positioning underwater target |
| CN202750234U (en) * | 2012-07-27 | 2013-02-20 | 南开大学 | Three-dimensional positioning system under synergistic action of wireless sensor networks and ultrasonic waves |
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