CN104297720A - Target positioning method with assistance of mobile node - Google Patents

Target positioning method with assistance of mobile node Download PDF

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Publication number
CN104297720A
CN104297720A CN201410526149.3A CN201410526149A CN104297720A CN 104297720 A CN104297720 A CN 104297720A CN 201410526149 A CN201410526149 A CN 201410526149A CN 104297720 A CN104297720 A CN 104297720A
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virtual
beacon
msubsup
msub
beacons
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CN104297720B (en
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胡青松
吴立新
曹灿
张申
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China University of Mining and Technology CUMT
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China University of Mining and Technology CUMT
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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
    • 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
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The invention discloses a target positioning method with the assistance of a mobile node. The mobile node configured with directive antennas and a GPS advances in a network in an obstacle-avoidance mode to traverse the whole network, and during the period, coordinate positions of the mobile node are broadcast periodically. After receiving the coordinates, an unknown node regards the coordinates as virtual beacons, the virtual beacons are virtually projected to a straight line where the head beacon and the tail beacon are located through a virtual projection method, and therefore virtual projection beacons are obtained. Then, a perpendicular foot is solved through an expandable directive antenna positioning method, and perpendicular lines are drawn. After the mobile node enters the communication range of the unknown nodes two or more times, results of two times of entering are drawn randomly, and the intersection point of the two perpendicular lines is solved and serves as coordination positions of the unknown node. A complex distance measurement process is not needed, complex calculation and cooperation of a lot of beacons are not needed either, and the target positioning method is suitable for dynamically evolved event driven scenes and provides supports for target dynamic positioning and event continuous observation.

Description

Target positioning method under assistance of mobile node
Technical Field
The invention relates to a target positioning method, in particular to a target positioning method under the assistance of a mobile node, which is suitable for the aspects of wild animal tracking, emergency rescue, dangerous figure tracking and identification, personnel management and the like. Belongs to the field of wireless communication and information processing.
Background
The target positioning has wide application prospect in the aspects of wild animal tracking, emergency rescue, dangerous figure tracking and identification, personnel management and the like.
From the viewpoint of whether ranging is needed or not, target positioning can be divided into ranging and non-ranging categories. In the positioning method of ranging, the RSSI-based method does not consider channel fading, and the ranging precision is not high; the method based on the arrival time also requires high synchronization precision, so that a method of arrival time difference is proposed, but the cost is high, and line-of-sight transmission is required; the ultra-wideband method can also be used for ranging, but the cost is high; the angle measurement method needs to measure the arrival angle through an antenna array, and problems in terms of sensor volume, cost, accuracy and the like are encountered in use.
The target positioning can be divided into two categories, namely centralized positioning and distributed positioning, according to whether centralized processing is needed or not. The centralized positioning algorithm needs a central node, receives information sent by common nodes to calculate the coordinates of unknown nodes, and therefore energy conservation of the central node is needed. The distributed positioning system does not need a central control node, the position information is calculated through mutual cooperation among unknown nodes, and the energy consumption distribution of different nodes is uniform.
A mobile node assisted positioning method is a distributed positioning method, and requires a mobile beacon node to roam in a monitoring area according to a preset path, periodically sends a signal to an unknown node to inform the position of the unknown node in the moving process, and the unknown node calculates the position of the unknown node according to the signal. The method does not need to deploy a large number of beacon nodes in the network, and has lower cost; the mobile node can move according to a planned path or autonomously select a route, and the use is flexible. However, this method requires that the mobile beacon has strong obstacle avoidance capability and simple calculation.
Disclosure of Invention
The technical problem is as follows: the invention aims to provide a target positioning method under the assistance of a mobile node, which is simple, flexible to use and low in cost, aiming at solving the problem of how to position an unknown node under the condition that a mobile beacon moves forward in a complex environment.
The technical scheme is as follows: the target positioning method under the assistance of the mobile node forms a virtual beacon by periodically sending self coordinates during the obstacle avoidance advancing of the mobile node in a positioning scene; after the unknown node receives the coordinates of the virtual beacon, the virtual beacon in the communication range of the unknown node is continuously stored; then, the position of the virtual projection beacon is obtained by using a virtual projection method; solving the intersection point of the two perpendicular lines of the foot as the coordinate position of the unknown node; the method comprises the following specific steps:
(1) the mobile node keeps away from the barrier and moves forward on site, and periodically sends self coordinates in the advancing process to form a virtual beacon;
(2) after receiving the virtual beacon, the unknown node stores the virtual beacon within the communication range of the unknown node;
(3) carrying out virtual projection on the virtual beacon by using an arbitrary path virtual projection method to obtain a virtual projection beacon, and solving a coordinate value of the virtual projection beacon;
(4) and solving the foot and drawing the vertical lines by using an extended directional antenna positioning method, solving the intersection point of the two vertical lines to be used as the coordinate position of the unknown node, and realizing target positioning under the assistance of the mobile node.
The positioning method of the extended directional antenna comprises the following steps:
a. two virtual projected beacons are formed by multiple entering unknown nodes: if the straight line enters, the virtual beacon is obtained; if the curve enters, the beacon is virtually projected;
b. solving for each entered drop foot: if the number of the virtual projection beacons is an odd number, a vertical line is drawn by taking the virtual projection beacon at the middle as a vertical foot; if the number of the virtual projection beacons is even, taking the average value of the coordinates of the two virtual projection beacons at the middle as a vertical line;
c. and solving the intersection point of the two vertical lines to realize the positioning of the extended directional antenna.
The virtual projection method of the arbitrary path comprises the following steps:
a. the first virtual beaconAnd the last virtual beaconDrawing a straight line segment as an end pointA virtual movement path as a mobile beacon; in the formula: j represents the j th time the mobile beacon enters the communication range of the unknown node,representing the first virtual beacon left after the mobile beacon j enters the communication range of the unknown node,is its coordinate value, NBRepresenting the total number of virtual beacons left by the mobile beacon within the communication range of the unknown node;is the last virtual beacon left by the mobile beacon j entering the communication range of the unknown node,is the coordinate value thereof.
b. Except for the first virtual beaconAnd the last virtual beaconOver-virtual beaconsDrawing auxiliary lines parallel to the x-axis, making these auxiliary lines form a series of intersections with the virtual movement path, called virtual projection beacons of the virtual beacons on the virtual movement path, using the virtual projection beaconsRepresents; first virtual projection beaconAnd a final virtual projected beaconViewed as respectively corresponding to virtual beaconsOverlapping;
c. determining virtual projected beacons BpiWhen the straight line segment is drawnSlope of (2)The coordinate values are given by:
<math> <mrow> <mfenced open='{' close=''> <mtable> <mtr> <mtd> <msubsup> <mi>x</mi> <mi>pi</mi> <mi>j</mi> </msubsup> <mo>=</mo> <mfrac> <mn>1</mn> <msub> <mi>k</mi> <mi>j</mi> </msub> </mfrac> <mo>&CenterDot;</mo> <mrow> <mo>(</mo> <msubsup> <mi>y</mi> <msub> <mi>B</mi> <mi>i</mi> </msub> <mi>j</mi> </msubsup> <mo>-</mo> <msubsup> <mi>y</mi> <msub> <mi>B</mi> <mn>1</mn> </msub> <mi>j</mi> </msubsup> <mo>)</mo> </mrow> <mo>+</mo> <msubsup> <mi>x</mi> <msub> <mi>B</mi> <mn>1</mn> </msub> <mi>j</mi> </msubsup> </mtd> </mtr> <mtr> <mtd> <msubsup> <mi>y</mi> <mi>pi</mi> <mi>j</mi> </msubsup> <mo>=</mo> <msubsup> <mi>y</mi> <msub> <mi>B</mi> <mi>i</mi> </msub> <mi>j</mi> </msubsup> </mtd> </mtr> </mtable> </mfenced> <mo>;</mo> </mrow> </math>
otherwise, the coordinate values are given by:
<math> <mrow> <mfenced open='{' close=''> <mtable> <mtr> <mtd> <msubsup> <mi>x</mi> <mi>pi</mi> <mi>j</mi> </msubsup> <mo>=</mo> <msubsup> <mi>x</mi> <msub> <mi>B</mi> <mi>i</mi> </msub> <mi>j</mi> </msubsup> </mtd> </mtr> <mtr> <mtd> <msubsup> <mi>y</mi> <mi>pi</mi> <mi>j</mi> </msubsup> <mo>=</mo> <msub> <mi>k</mi> <mi>j</mi> </msub> <mo>&CenterDot;</mo> <mrow> <mo>(</mo> <msubsup> <mi>x</mi> <msub> <mi>B</mi> <mi>i</mi> </msub> <mi>j</mi> </msubsup> <mo>-</mo> <msubsup> <mi>x</mi> <msub> <mi>B</mi> <mn>1</mn> </msub> <mi>j</mi> </msubsup> <mo>)</mo> </mrow> <mo>+</mo> <msubsup> <mi>y</mi> <msub> <mi>B</mi> <mn>1</mn> </msub> <mi>j</mi> </msubsup> </mtd> </mtr> </mtable> </mfenced> <mo>;</mo> </mrow> </math>
in the formula: k is a radical ofjIs a straight line segmentThe slope of (a) of (b) is,is the coordinate value of the first virtual beacon,is the ith, (i ═ 2, …, NB-1) The coordinate values of each of the virtual beacons,projecting beacons B for virtual purposespi，(i＝2,…,NB-1) The coordinate values of (2).
Has the advantages that: due to the adoption of the technical scheme, the invention utilizes the mobile node provided with 4 directional antennas and a GPS to avoid obstacles in the network and move forward, so that the whole network is traversed, and the coordinate position of the mobile node is periodically broadcasted in the period. After the unknown nodes receive the coordinates, the unknown nodes are regarded as virtual beacons, and then the virtual beacons are virtually projected onto straight lines where the head virtual beacons and the tail virtual beacons are located by using a virtual projection method to obtain virtual projection beacons. If the number of the virtual projection beacons is an odd number, a vertical line is drawn by taking the virtual projection beacon at the middle as a vertical foot; and if the number of the virtual projection beacons is even, taking the average value of the coordinates of the two virtual projection beacons at the middle as a vertical line drawn by the vertical foot. And when the mobile node enters the communication range of the unknown node more than twice, randomly extracting the results of the two accesses, and solving the intersection point of the two vertical lines to be used as the coordinate position of the unknown node. The method is simple, flexible to use and low in cost, and has the following advantages compared with the prior art:
(1) the method does not need a complex ranging process, complex calculation and the cooperation of a large number of beacons, is suitable for a dynamically-evolved event-driven scene, and provides support for dynamic positioning of a target and continuous observation of an event;
(2) the mobile node can advance according to any path, the field adaptability is strong, and the mobile node can adaptively adjust the moving route according to external environments such as obstacles, road conditions and the like in the advancing process.
Drawings
Fig. 1(a) is a schematic diagram of an antenna configuration of a mobile beacon of the present invention;
FIG. 1(b) is a schematic diagram of a mobile node moving along a straight line path with an arbitrary slope according to the present invention;
FIG. 2 is a schematic diagram of an extended directional antenna positioning of the present invention;
FIG. 3(a) is a schematic diagram of the movement of the mobile beacon of the present invention along a curved path;
FIG. 3(b) is a schematic diagram of the present invention "projecting" a virtual beacon onto a straight line;
FIG. 4 is a flow chart of the present invention for mobile node assisted directional wire based target location;
fig. 5 is a schematic diagram of a disaster relief wireless sensor network model according to the present invention.
Detailed Description
An embodiment of the invention is further described below with reference to the accompanying drawings:
the target positioning method under the assistance of the mobile node uses a device which moves in a network area and can communicate with an unknown node as the mobile node, such as a disaster relief robot or a low altitude small disaster relief aircraft. The energy of the mobile node is not limited to ensure that the network is fully traversed according to the planned path. The mobile node has strong computing power and is provided with a GPS module so as to ensure that the mobile node can sense the real position of the mobile node in real time. When the mobile node moves in the network, periodically broadcasting the coordinate position of the mobile node, wherein each position is called a virtual beacon; after the unknown node receives the coordinates of the virtual beacon, the virtual beacon in the communication range of the unknown node is continuously stored; then, the position of the virtual projection beacon is obtained by using a virtual projection method; solving the intersection point of the two perpendicular lines of the foot as the coordinate position of the unknown node; the method comprises the following specific steps:
(1) the mobile node keeps away from the barrier and moves forward on site, and periodically sends self coordinates in the advancing process to form a virtual beacon;
(2) after receiving the virtual beacon, the unknown node stores the virtual beacon within the communication range of the unknown node;
(3) carrying out virtual projection on the virtual beacon by using an arbitrary path virtual projection method to obtain a virtual projection beacon, and solving a coordinate value of the virtual projection beacon; the virtual projection method of the arbitrary path comprises the following steps:
a. will the first virtual letterSign boardAnd the last virtual beaconDrawing a straight line segment as an end pointA virtual movement path as a mobile beacon; in the formula: j represents the j th time the mobile beacon enters the communication range of the unknown node,representing the first virtual beacon left after the mobile beacon j enters the communication range of the unknown node,is its coordinate value, NBRepresenting the total number of virtual beacons left by the mobile beacon within the communication range of the unknown node;is the last virtual beacon left by the mobile beacon j entering the communication range of the unknown node,is the coordinate value thereof;
b. except for the first virtual beaconAnd the last virtual beaconOver-virtual beaconsEach drawing an auxiliary line parallel to the x-axis such that the auxiliary lines form a series of intersections with the virtual path of movement, calledVirtual projection beacon of virtual beacon on virtual moving path, using virtual projection beaconRepresents; first virtual projection beaconAnd a final virtual projected beaconViewed as respectively corresponding to virtual beaconsOverlapping;
c. determining virtual projected beacons BpiWhen the straight line segment is drawnSlope of (2)The coordinate values are given by:
<math> <mrow> <mfenced open='{' close=''> <mtable> <mtr> <mtd> <msubsup> <mi>x</mi> <mi>pi</mi> <mi>j</mi> </msubsup> <mo>=</mo> <mfrac> <mn>1</mn> <msub> <mi>k</mi> <mi>j</mi> </msub> </mfrac> <mo>&CenterDot;</mo> <mrow> <mo>(</mo> <msubsup> <mi>y</mi> <msub> <mi>B</mi> <mi>i</mi> </msub> <mi>j</mi> </msubsup> <mo>-</mo> <msubsup> <mi>y</mi> <msub> <mi>B</mi> <mn>1</mn> </msub> <mi>j</mi> </msubsup> <mo>)</mo> </mrow> <mo>+</mo> <msubsup> <mi>x</mi> <msub> <mi>B</mi> <mn>1</mn> </msub> <mi>j</mi> </msubsup> </mtd> </mtr> <mtr> <mtd> <msubsup> <mi>y</mi> <mi>pi</mi> <mi>j</mi> </msubsup> <mo>=</mo> <msubsup> <mi>y</mi> <msub> <mi>B</mi> <mi>i</mi> </msub> <mi>j</mi> </msubsup> </mtd> </mtr> </mtable> </mfenced> <mo>;</mo> </mrow> </math>
when the straight line segment is straightSlope of (2)The coordinate values are given by:
<math> <mrow> <mfenced open='{' close=''> <mtable> <mtr> <mtd> <msubsup> <mi>x</mi> <mi>pi</mi> <mi>j</mi> </msubsup> <mo>=</mo> <msubsup> <mi>x</mi> <msub> <mi>B</mi> <mi>i</mi> </msub> <mi>j</mi> </msubsup> </mtd> </mtr> <mtr> <mtd> <msubsup> <mi>y</mi> <mi>pi</mi> <mi>j</mi> </msubsup> <mo>=</mo> <msub> <mi>k</mi> <mi>j</mi> </msub> <mo>&CenterDot;</mo> <mrow> <mo>(</mo> <msubsup> <mi>x</mi> <msub> <mi>B</mi> <mi>i</mi> </msub> <mi>j</mi> </msubsup> <mo>-</mo> <msubsup> <mi>x</mi> <msub> <mi>B</mi> <mn>1</mn> </msub> <mi>j</mi> </msubsup> <mo>)</mo> </mrow> <mo>+</mo> <msubsup> <mi>y</mi> <msub> <mi>B</mi> <mn>1</mn> </msub> <mi>j</mi> </msubsup> </mtd> </mtr> </mtable> </mfenced> <mo>;</mo> </mrow> </math>
in the formula: k is a radical ofjIs a straight line segmentThe slope of (a) of (b) is,is the coordinate value of the first virtual beacon,is the ith, (i ═ 2, …, NB-1) The coordinate values of each of the virtual beacons,projecting beacons B for virtual purposespi，(i＝2,…,NB-1) The coordinate values of (a);
(4) and solving the foot and drawing the vertical lines by using an extended directional antenna positioning method, solving the intersection point of the two vertical lines to be used as the coordinate position of the unknown node, and realizing target positioning under the assistance of the mobile node.
The extended routing antenna positioning method comprises the following steps:
a. two virtual projected beacons are formed by multiple entering unknown nodes: if the straight line enters, the virtual beacon is obtained; if the curve enters, the beacon is virtually projected;
b. solving for each entered drop foot: if the number of the virtual projection beacons is an odd number, a vertical line is drawn by taking the virtual projection beacon at the middle as a vertical foot; if the number of the virtual projection beacons is even, taking the average value of the coordinates of the two virtual projection beacons at the middle as a vertical line;
c. and solving the intersection point of the two vertical lines to realize the positioning of the extended directional antenna.
Examples 1,
1. Classical directional antenna positioning method
In the classical directional antenna positioning method, the mobile node is equipped with 4 directional antennas D1,D2,D3,D4See fig. 1 (a). Each directional antenna is provided with a compass so as to allow the antenna D to be constantly positioned1,D3Parallel to the x-axis, antenna D2,D4Parallel to the y-axis. The mobile beacon moves in a chessboard path, and when the mobile beacon moves along the direction of the vertical axis, the unknown node selects the median value from the y values of the received virtual beacons as the y value of the unknown node. When the mobile beacon moves along the horizontal axis, the x value is obtained by a similar method. Expressed by a mathematical expression as follows:
wherein, (x, y) is the coordinate of the unknown node, (x ', y') is the coordinate of the virtual beacon, Nx,NyThe number of virtual beacons received by the unknown node when the mobile beacon moves laterally and longitudinally, respectively.
2. Extended directional antenna positioning method
The classical directional antenna positioning method requires that the mobile beacon must move according to a checkerboard path, i.e. the mobile beacon moves either laterally or longitudinally, thereby ensuring the validity of equation (1). However, the mobile beacon cannot guarantee a feasible moving path in the transverse direction or the longitudinal direction, so that the classical directional antenna positioning is extended to the case that the mobile beacon moves along a straight line with an arbitrary slope, as shown in fig. 1 (b). Here by NBRepresenting the number of virtual beacons within the coverage area of the unknown node.
In the classical directional antenna positioning method, a mobile beacon needs to enter at least two communications of an unknown node: entering in a horizontal direction once to solve the abscissa of the unknown node; and the other vertical direction is entered for solving the ordinate of the unknown node. The extension method also needs to be performed at least twice, and is used for solving the abscissa and the ordinate respectively. When the mobile beacon enters the communication range of the unknown node, the first virtual beacon sensed by the unknown node isThe last virtual beacon sent to the unknown node before the mobile beacon leaves the communication range of the unknown node is(NBThe number of virtual beacons in the coverage area of the unknown node), where j represents the j th time the mobile beacon enters the communication range of the unknown node.
As shown in FIG. 2, the moving Path Path from the j-th entryjGet a point Cj. Let i the virtual beacon BiHas the coordinates ofCjThe coordinates of (a) are:
c forjOne leader and PathjVertical straight line VLinejThen VLinei,VLinej(i ≠ j) (here with VLine in fig. 21,VLine2For example) two perpendicular lines will intersect at a point, which is the estimated location of the unknown node. It can be seen that classical directional antenna positioning is a special case of this approach.
On the moving Path PathjGet first virtual beaconAnd the last virtual beaconEquation for the movement path:
<math> <mrow> <mi>y</mi> <mo>=</mo> <mfrac> <mrow> <msubsup> <mi>y</mi> <msub> <mi>B</mi> <mi>NB</mi> </msub> <mi>j</mi> </msubsup> <mo>-</mo> <msubsup> <mi>y</mi> <msub> <mi>B</mi> <mn>1</mn> </msub> <mi>j</mi> </msubsup> </mrow> <mrow> <msubsup> <mi>x</mi> <msub> <mi>B</mi> <mi>NB</mi> </msub> <mi>j</mi> </msubsup> <mo>-</mo> <msubsup> <mi>x</mi> <msub> <mi>B</mi> <mn>1</mn> </msub> <mi>j</mi> </msubsup> </mrow> </mfrac> <mo>&CenterDot;</mo> <mrow> <mo>(</mo> <mi>x</mi> <mo>-</mo> <msubsup> <mi>x</mi> <msub> <mi>B</mi> <mn>1</mn> </msub> <mi>j</mi> </msubsup> <mo>)</mo> </mrow> <mo>+</mo> <msubsup> <mi>y</mi> <msub> <mi>B</mi> <mn>1</mn> </msub> <mi>j</mi> </msubsup> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>3</mn> <mo>)</mo> </mrow> </mrow> </math>
wherein,(whenOrWhen the method is used, the method can be directly solved by a classical directional antenna positioning method);
c is to bejCoordinates of (2)Substituting the formula to obtain the final VLinejThe equation is:
<math> <mrow> <mi>y</mi> <mo>=</mo> <mo>-</mo> <mfrac> <mn>1</mn> <msub> <mi>k</mi> <mi>j</mi> </msub> </mfrac> <mo>&CenterDot;</mo> <mi>x</mi> <mo>+</mo> <mfrac> <mn>1</mn> <msub> <mi>k</mi> <mi>j</mi> </msub> </mfrac> <msubsup> <mi>x</mi> <mi>C</mi> <mi>j</mi> </msubsup> <mo>+</mo> <msubsup> <mi>y</mi> <mi>C</mi> <mi>j</mi> </msubsup> </mrow> </math>
wherein, k j = y B NB j - y B 1 j x B NB j - x B 1 j .
x = k i k j k i - k j ( X C j - X C i ) y = k j k j - k i ( X C j - X C i ) + X C i - - - ( 4 )
wherein,kja straight line segment is formed when the mobile beacon enters the communication range of an unknown node for the jth timeThe slope of (a) of (b) is,for the foot coordinate, k, determined at the j-th entryiIs a straight line segment at the i-th entryThe slope of (a) of (b) is,the vertical foot coordinate obtained at the ith entry is used.
3. Virtual projection method for arbitrary path
In a complex scene, there are many obstacles, and a mobile node is unlikely to follow a straight path basically, but advances in a curved manner in the obstacle avoidance process, so as to form a curved movement path as shown in fig. 3 (a). Obviously, such a curved path, no matter the classical directional antenna target positioning method or the extension method, cannot complete positioning;
with the first virtual beacon in FIG. 3(a)Last virtual beaconDrawing a straight line segment in the figure as an end pointA virtual movement path VPath, called a movement beacon; then, divide within the over-coverage areaAndexternal virtual beaconsEach drawing an auxiliary line parallel to the x-axis, the auxiliary lines forming a series of intersections with the virtual path of movement, referred to as virtual projected beacons of the virtual beacons on the virtual path of movement, forAs shown in FIG. 3 (b); it is clear that,can be regarded as being respectively connected withAnd (4) overlapping.
As can be seen from FIG. 3(b), only the virtual projected beacon needs to be determinedThe coordinate value of the unknown node can be positioned by using an extended positioning method.
Considering the cross in virtual projectionAuxiliary line ofFrom the relationship between the virtual projected beacon and the virtual beacon (FIG. 3b), it can be seen thatIs a straight lineThe equation of (a) is:
y = y B i j - - - ( 5 )
the straight lineAnd a straight lineIs a virtual projection beaconDue to virtual beaconsAndcoordinates of (2)Are all known, thereforeCan be expressed by equation (3).
Combining the formula (5) and the formula (3) to obtain the virtual projection beacon BpiThe coordinates of (a) are:
<math> <mrow> <mfenced open='{' close=''> <mtable> <mtr> <mtd> <msubsup> <mi>x</mi> <mi>pi</mi> <mi>j</mi> </msubsup> <mo>=</mo> <mfrac> <mn>1</mn> <msub> <mi>k</mi> <mi>j</mi> </msub> </mfrac> <mo>&CenterDot;</mo> <mrow> <mo>(</mo> <msubsup> <mi>y</mi> <msub> <mi>B</mi> <mi>i</mi> </msub> <mi>j</mi> </msubsup> <mo>-</mo> <msubsup> <mi>y</mi> <msub> <mi>B</mi> <mn>1</mn> </msub> <mi>j</mi> </msubsup> <mo>)</mo> </mrow> <mo>+</mo> <msubsup> <mi>x</mi> <msub> <mi>B</mi> <mn>1</mn> </msub> <mi>j</mi> </msubsup> </mtd> </mtr> <mtr> <mtd> <msubsup> <mi>y</mi> <mi>pi</mi> <mi>j</mi> </msubsup> <mo>=</mo> <msubsup> <mi>y</mi> <msub> <mi>B</mi> <mi>i</mi> </msub> <mi>j</mi> </msubsup> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>6</mn> <mo>)</mo> </mrow> </mrow> </math>
when B is presentpi,(i＝1,…,NB) After the coordinates are obtained, the coordinates of the unknown nodes can be solved according to the method for positioning the extended directional antenna.
The above method is virtually projected in a direction parallel to the x-axis, and is suitable for straight linesSlope | k ofj|≥1The scene (2). When | kj|＜1In this case, it is more appropriate to perform virtual projection in a manner parallel to the y-axis to prevent the virtual projection beacon from being compressed onto a shorter straight line segment, and the virtual projection beacon B is then displayedpiThe coordinates of (a) are:
<math> <mrow> <mfenced open='{' close=''> <mtable> <mtr> <mtd> <msubsup> <mi>x</mi> <mi>pi</mi> <mi>j</mi> </msubsup> <mo>=</mo> <msubsup> <mi>x</mi> <msub> <mi>B</mi> <mi>i</mi> </msub> <mi>j</mi> </msubsup> </mtd> </mtr> <mtr> <mtd> <msubsup> <mi>y</mi> <mi>pi</mi> <mi>j</mi> </msubsup> <mo>=</mo> <msub> <mi>k</mi> <mi>j</mi> </msub> <mo>&CenterDot;</mo> <mrow> <mo>(</mo> <msubsup> <mi>x</mi> <msub> <mi>B</mi> <mi>i</mi> </msub> <mi>j</mi> </msubsup> <mo>-</mo> <msubsup> <mi>x</mi> <msub> <mi>B</mi> <mn>1</mn> </msub> <mi>j</mi> </msubsup> <mo>)</mo> </mrow> <mo>+</mo> <msubsup> <mi>y</mi> <msub> <mi>B</mi> <mn>1</mn> </msub> <mi>j</mi> </msubsup> </mtd> </mtr> </mtable> </mfenced> <mtext>---</mtext> <mrow> <mo>(</mo> <mn>7</mn> <mo>)</mo> </mrow> </mrow> </math>
in equations (5), (6), and (7): k is a radical ofjIs a straight line segmentThe slope of (a) of (b) is,is the coordinate value of the first virtual beacon,is the ith, (i ═ 2, …, NB-1) The coordinate values of each of the virtual beacons,projecting beacons B for virtual purposespi，(i＝2,…,NB-1) The coordinate values of (2).
4. Directional antenna based target location with assistance of mobile node
The complete algorithm for target location using directional antennas is as follows:
(1) moving nodes provided with 4 directional antennas and a GPS (global positioning system) are used for avoiding obstacles in a network and advancing, traversing the whole network, and periodically broadcasting the coordinate position of the mobile nodes to form a virtual beacon;
(2) unknown NodeXReceiving a virtual beacon B1Then, the virtual beacon B in the communication range of the self is continuously savedi；
(3) According toCalculating straight linesIf kj | ≧ 1, the virtual projection beacon B is calculated using equation (6)piCoordinates of (2)If | kjIf the | is less than 1, calculating by using a formula (7);
(4) the virtual projection beacons of any two virtual projection paths, such as the ith and jth, are respectively substituted into the formula (2) to obtain the foot of the vertical line on the two virtual projection pathsAnd
(5) will ki,kj,And substituting the formula (4) to obtain the coordinates of the unknown node.
The whole algorithm process is as shown in fig. 3(a), which is a schematic diagram that the mobile beacon of the present invention moves along a curved path;
FIG. 3(b) is a schematic diagram of the present invention "projecting" a virtual beacon onto a straight line;
as shown in fig. 4.
As shown in fig. 5, taking a scene of rescue after a major disaster accident as an example: a helicopter is dispatched to a disaster occurrence area, a temporary rescue area and a planned selection area, wireless sensor network nodes are scattered around a possible rescue route between the disaster occurrence area and the temporary rescue area, and the nodes and the personnel to be rescued are unknown nodes needing positioning.
An emergency communication command vehicle is deployed in a temporary rescue area, and serves as a temporary dispatching command center of the whole disaster relief site on one hand and a communication platform is set up for the site and the outside on the other hand. The construction of an emergency communication platform is necessary for communication between a disaster area and the outside, and because a nearby mobile base station is generally seriously damaged under a disaster condition, a mobile communication network is paralyzed; or although the mobile network is not damaged, a large number of people use the mobile network after the disaster happens, so that the mobile network is seriously congested.
A disaster relief robot or a low-altitude small disaster relief aircraft is used for moving in a network area, namely a mobile node. The energy of the mobile node is not limited to ensure that the network is fully traversed according to the planned path. The mobile node has strong computing power and is provided with a GPS module so as to ensure that the disaster relief robot can sense the real position of the disaster relief robot in real time. The mobile node periodically broadcasts its coordinate position as it moves through the network, each position being referred to as a virtual beacon.
The mobile node forms a curved moving path as shown in fig. 3(a) during the moving. And then positioning the target node according to the following steps:
1. virtually projecting the virtual beacon onto a virtual moving path by using an arbitrary path virtual projection method, and solving the coordinates of the virtual projection beacon:
(1) first virtual beaconLast virtual beaconDrawing a straight line segment as an end pointA virtual movement path called a mobile beacon.
(2) Over-covered regionAndexternal virtual beaconsEach drawing an auxiliary line parallel to the x-axis, the auxiliary lines forming a series of intersections with the virtual path of movement, referred to as virtual projected beacons of the virtual beacons on the virtual path of movement, forAnd (4) showing.Are regarded as respectively andoverlapping;
(3) determination of BpiWhen the straight line segment is drawnSlope of (2)The coordinate values are given by:
<math> <mfenced open='{' close=''> <mtable> <mtr> <mtd> <msubsup> <mi>x</mi> <mi>pi</mi> <mi>j</mi> </msubsup> <mo>=</mo> <mfrac> <mn>1</mn> <msub> <mi>k</mi> <mi>j</mi> </msub> </mfrac> <mo>&CenterDot;</mo> <mrow> <mo>(</mo> <msubsup> <mi>y</mi> <msub> <mi>B</mi> <mi>i</mi> </msub> <mi>j</mi> </msubsup> <mo>-</mo> <msubsup> <mi>y</mi> <msub> <mi>B</mi> <mn>1</mn> </msub> <mi>j</mi> </msubsup> <mo>)</mo> </mrow> <mo>+</mo> <msubsup> <mi>x</mi> <msub> <mi>B</mi> <mn>1</mn> </msub> <mi>j</mi> </msubsup> </mtd> </mtr> <mtr> <mtd> <msubsup> <mi>y</mi> <mi>pi</mi> <mi>j</mi> </msubsup> <mo>=</mo> <msubsup> <mi>y</mi> <msub> <mi>B</mi> <mi>i</mi> </msub> <mi>j</mi> </msubsup> </mtd> </mtr> </mtable> </mfenced> </math>
otherwise, it is derived from the following equation:
<math> <mfenced open='{' close=''> <mtable> <mtr> <mtd> <msubsup> <mi>x</mi> <mi>pi</mi> <mi>j</mi> </msubsup> <mo>=</mo> <msubsup> <mi>x</mi> <msub> <mi>B</mi> <mi>i</mi> </msub> <mi>j</mi> </msubsup> </mtd> </mtr> <mtr> <mtd> <msubsup> <mi>y</mi> <mi>pi</mi> <mi>j</mi> </msubsup> <mo>=</mo> <msub> <mi>k</mi> <mi>j</mi> </msub> <mo>&CenterDot;</mo> <mrow> <mo>(</mo> <msubsup> <mi>x</mi> <msub> <mi>B</mi> <mi>i</mi> </msub> <mi>j</mi> </msubsup> <mo>-</mo> <msubsup> <mi>x</mi> <msub> <mi>B</mi> <mn>1</mn> </msub> <mi>j</mi> </msubsup> <mo>)</mo> </mrow> <mo>+</mo> <msubsup> <mi>y</mi> <msub> <mi>B</mi> <mn>1</mn> </msub> <mi>j</mi> </msubsup> </mtd> </mtr> </mtable> </mfenced> </math>
in the formula: k is a radical ofjIs a straight line segmentThe slope of (a) of (b) is,is the coordinate value of the first virtual beacon,is the ith, (i ═ 2, …, NB-1) The coordinate values of each of the virtual beacons,projecting beacons B for virtual purposespi，(i＝2,…,NB-1) The coordinate values of (a);
2. and solving the coordinates of the unknown nodes by using an extended directional antenna positioning method:
(1) two virtual projected beacons are formed by multiple entering unknown nodes: if the straight line enters, the virtual beacon is obtained; if the curve enters, the beacon is virtually projected;
(2) solving for each entered drop foot: if the number of the virtual projection beacons is an odd number, a vertical line is drawn by taking the virtual projection beacon at the middle as a vertical foot; and if the number of the virtual projection beacons is even, taking the average value of the coordinates of the two virtual projection beacons at the middle as a vertical line drawn by the vertical foot. The vertical foot coordinates are:
(3) and solving the intersection point of the two vertical lines as the coordinates of the unknown node:
x = k i k j k i - k j ( X C j - X C i ) y = k j k j - k i ( X C j - X C i ) + X C i
wherein,kja straight line segment is formed when the mobile beacon enters the communication range of an unknown node for the jth timeThe slope of (a) of (b) is,for the foot coordinate, k, determined at the j-th entryiIs a straight line segment at the i-th entryThe slope of (a) of (b) is,the vertical foot coordinate obtained at the ith entry is used.

Claims (3)

1. A target positioning method under the assistance of a mobile node is characterized in that: the method comprises the steps that a mobile node carries out obstacle avoidance advancing in a positioning scene, and self coordinates are periodically sent in the period to form a virtual beacon; after the unknown node receives the coordinates of the virtual beacon, the virtual beacon in the communication range of the unknown node is continuously stored; then, the position of the virtual projection beacon is obtained by using a virtual projection method; solving the intersection point of the two perpendicular lines of the foot as the coordinate position of the unknown node; the method comprises the following specific steps:
(1) the mobile node keeps away from the barrier and moves forward on site, and periodically sends self coordinates in the advancing process to form a virtual beacon;
(2) after receiving the virtual beacon, the unknown node stores the virtual beacon within the communication range of the unknown node;
(3) carrying out virtual projection on the virtual beacon by using an arbitrary path virtual projection method to obtain a virtual projection beacon, and solving a coordinate value of the virtual projection beacon;
(4) and solving the foot and drawing the vertical lines by using an extended directional antenna positioning method, solving the intersection point of the two vertical lines to be used as the coordinate position of the unknown node, and realizing target positioning under the assistance of the mobile node.
2. The mobile node assisted target positioning method of claim 1, wherein: the positioning method of the extended directional antenna comprises the following steps:
a. two virtual projected beacons are formed by multiple entering unknown nodes: if the straight line enters, the virtual beacon is obtained; if the curve enters, the beacon is virtually projected;
b. solving for each entered drop foot: if the number of the virtual projection beacons is an odd number, a vertical line is drawn by taking the virtual projection beacon at the middle as a vertical foot; if the number of the virtual projection beacons is even, taking the coordinate average value of the two middle virtual projection beacons as a plumb for leading one vertical line;
c. and solving the intersection point of the two vertical lines to realize the positioning of the extended directional antenna.
3. The mobile node assisted target positioning method of claim 1, wherein: the virtual projection method of the arbitrary path comprises the following steps:
a. the first virtual beaconAnd the last virtual beaconDrawing a straight line segment as an end pointA virtual movement path as a mobile beacon; in the formula: j represents the j th time the mobile beacon enters the communication range of the unknown node,representing the first virtual beacon left after the mobile beacon j enters the communication range of the unknown node,is its coordinate value, NBRepresenting the total number of virtual beacons left by the mobile beacon within communication range of the unknown node,is the last virtual beacon left by the mobile beacon j entering the communication range of the unknown node,is the coordinate value thereof;
b. except for the first virtual beaconAnd the last virtual beaconOver-virtual beaconsDrawing auxiliary lines parallel to the x-axis, making these auxiliary lines form a series of intersections with the virtual movement path, called virtual projection beacons of the virtual beacons on the virtual movement path, using the virtual projection beaconsRepresents; first virtual throwShadow beaconAnd a last virtual projected beacon,Viewed as respectively corresponding to virtual beaconsOverlapping;
c. determining virtual projected beacons BpiWhen the straight line segment is drawnSlope of (2)The coordinate values are given by:
<math> <mrow> <mfenced open='{' close=''> <mtable> <mtr> <mtd> <msubsup> <mi>x</mi> <mi>pi</mi> <mi>j</mi> </msubsup> <mo>=</mo> <mfrac> <mn>1</mn> <msub> <mi>k</mi> <mi>j</mi> </msub> </mfrac> <mo>&CenterDot;</mo> <mrow> <mo>(</mo> <msubsup> <mi>y</mi> <msub> <mi>B</mi> <mi>i</mi> </msub> <mi>j</mi> </msubsup> <msubsup> <mrow> <mo>-</mo> <mi>y</mi> </mrow> <msub> <mi>B</mi> <mn>1</mn> </msub> <mi>j</mi> </msubsup> <mo>)</mo> </mrow> <mo>+</mo> <msubsup> <mi>x</mi> <msub> <mi>B</mi> <mn>1</mn> </msub> <mi>j</mi> </msubsup> </mtd> </mtr> <mtr> <mtd> <msubsup> <mi>y</mi> <mi>pi</mi> <mi>j</mi> </msubsup> <mo>=</mo> <msubsup> <mi>y</mi> <msub> <mi>B</mi> <mi>i</mi> </msub> <mi>j</mi> </msubsup> </mtd> </mtr> </mtable> </mfenced> <mo>;</mo> </mrow> </math>
otherwise, the coordinate values are given by:
<math> <mrow> <mfenced open='{' close=''> <mtable> <mtr> <mtd> <msubsup> <mi>x</mi> <mi>pi</mi> <mi>j</mi> </msubsup> <mo>=</mo> <msubsup> <mi>x</mi> <msub> <mi>B</mi> <mi>i</mi> </msub> <mi>j</mi> </msubsup> </mtd> </mtr> <mtr> <mtd> <msubsup> <mi>y</mi> <mi>pi</mi> <mi>j</mi> </msubsup> <mo>=</mo> <msub> <mi>k</mi> <mi>j</mi> </msub> <mo>&CenterDot;</mo> <mrow> <mo>(</mo> <msubsup> <mi>x</mi> <msub> <mi>B</mi> <mi>i</mi> </msub> <mi>j</mi> </msubsup> <mo>-</mo> <msubsup> <mi>x</mi> <msub> <mi>B</mi> <mn>1</mn> </msub> <mi>j</mi> </msubsup> <mo>)</mo> </mrow> <mo>+</mo> <msubsup> <mi>y</mi> <msub> <mi>B</mi> <mn>1</mn> </msub> <mi>j</mi> </msubsup> </mtd> </mtr> </mtable> </mfenced> <mo>;</mo> </mrow> </math>
in the formula: k is a radical ofjIs a straight line segmentThe slope of (a) of (b) is,is the coordinate value of the first virtual beacon,is the ith, (i ═ 2, …, NB-1) The coordinate values of each of the virtual beacons,projecting beacons B for virtual purposespi，(i＝2,…,NB-1) The coordinate values of (2).
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CN105228099A (en) * 2015-08-24 2016-01-06 哈尔滨工程大学 A kind of location algorithm spreading event and mobile anchor node based on annular
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