CN104363651A - Intelligent power grid wireless sensor network node positioning method based on energy sensing - Google Patents

Abstract

The invention relates to an intelligent power grid wireless sensor network node positioning method based on energy sensing. The method includes: on the basis of a posterior energy sensing positioning strategy, a two-step communication protocol is used for communication between a sensor network cluster head and a sensor, after the sensor detects one target position, the sensor notifies the sensor network cluster head through a simple detecting triggering signal, and the sensor network cluster head inquires a sensor set of a proximity position so as to position the sensor of the detected target. By the method, energy consumption during the whole sensor positioning process can be effectively lowered, and the service life of a whole wireless sensor network is prolonged greatly.

Description

Based on the intelligent grid wireless sensor network node locating method of Energy-aware

Technical field

The present invention relates to the intelligent grid wireless sensor network node locating method based on Energy-aware.

Background technology

The composition of the data transmission network of intelligent grid includes spider lines and wireless network, and wherein wireless network mainly refers to wireless sensor network.Wireless sensor network is the network towards embody rule type, in intelligent grid or a comparatively new and hotter research field.The strong adaptability of wireless sensor network guarantees that node can be deployed in the dangerous region of various condition severe rugged environment according to actual requirement, not only alleviate workload and the degree of difficulty of hand inspection, and data message can be collected long-term effectively, decrease maintenance times simultaneously, reduce the cost of wired detection, particularly in remote mountain areas or even the more difficult region of human search, the advantage of wireless sensor network maximally can be embodied.

Intelligent grid is clean, a green engineering, requires that wireless sensor network has less energy ezpenditure and communication bandwidth requirements, has longer lifetime of system.EnergyPolicy is vital in a network, and recently have some researchs to make sensor network energy more effective, as proposed one, no matter whether transducer works, and can calculate the Mathematical Modeling on network life border; The hardware based energy model being used for transmitting and receive is also had to be widely used in wireless sensor network node; Moreover, prior art also teaches based on bunch LEACH routing algorithm, as the high efficiency energy communication protocol of wireless sensor network, and other related work comprises the strategy for saving energy of link layer, data fusion and system divides.

In general, if a sensor network does not have Activity On the Node, the consumption rate of energy is constant, the collaborative sensing comprising different node due to location with communicate, wherein, the transmission package of positioning detail contains a large amount of initial data and needs to consume very large energy; Simultaneously, there has been delay the time that the finite bandwidth of wireless channel also makes positioning detail be transferred to bunch head, therefore, the minimum energy consumption of a movable sensor network is very doubt, this shows, for wireless sensor network, sensor network cluster head wants to realize the location for transducer, to a large amount of energy ezpenditure be brought, expend system resource.

Summary of the invention

For above-mentioned technical problem, technical problem to be solved by this invention is to provide a kind of based on posterior Energy-aware positioning strategy, adopt two step communication protocols, effectively can reduce the intelligent grid wireless sensor network node locating method based on Energy-aware of energy ezpenditure in sensor localization process.

The present invention is in order to solve the problems of the technologies described above by the following technical solutions: the present invention devises the intelligent grid wireless sensor network node locating method based on Energy-aware, comprises the steps:

Step 01. is all detects that the transducer of target surveys triggering signal to the censorship of sensor network cluster hair, wherein, detects triggering signal and only comprises triggering alert signal target being detected, do not comprise the Detection Information of objectives;

Step 02. sensor network cluster head, according to the detection triggering signal received, determines the primary election locating information sending the transducer detecting triggering signal;

Step 03. sensor network cluster head obtains each sensor tip in wireless sensor network respectively and, to the detection probability of targets all in wireless sensor network, forms detection probability report;

Step 04. sensor network cluster head is reported according to detection probability, from primary election locating information specified region, survey in each transducer of triggering signal the set of sensors of selecting can supply to address inquires to the censorship of sensor network cluster hair;

Step 05. sensor network cluster head obtains can for each sensor tip in the set of sensors of addressing inquires to the score information of target detection;

Step 06. supposes can be m for the maximum quantity of number of sensors in the set of sensors of addressing inquires to, judge whether m is more than or equal to the quantity of the transducer surveying triggering signal in primary election locating information specified region to the censorship of sensor network cluster hair, select the inquiry that can accept sensor network cluster head for all the sensors in the set of sensors of addressing inquires to, obtaining the details of this each transducer, realizing the location for sending the transducer detecting triggering signal; Otherwise according to can for address inquires to set of sensors in each sensor tip to the score information of target detection, select the transducer had corresponding to minimum range top score to accept sensor network cluster head to address inquires to, obtaining the details of this each transducer, realizing the location for sending the transducer detecting triggering signal.

As a preferred technical solution of the present invention: in described step 02, sensor network cluster head, according to the detection triggering signal received, determines the primary election locating information sending the transducer detecting triggering signal by probable location algorithm.

As a preferred technical solution of the present invention: in described step 03, sensor network cluster head obtains each sensor tip in wireless sensor network respectively by following formula (1) and, to the detection probability of targets all in wireless sensor network, forms detection probability report;

$p\_{\mathrm{table}}_{\mathrm{xy}}\left(l\right)=\underset{s_j\∈s_{\mathrm{xy}}}{\mathrm{\Π}}{p}_{\mathrm{xy}}(s_j,l)---\left(1\right)$

Wherein, wireless sensor network interior joint p (x, y) is the target detected by a series of transducer, uses C _xyrepresent; s _jfor the transducer of jth in wireless sensor network, if s _jthe position of p (x, y) detected, then p _xy(s _j, l)=c _xy(s _j); Otherwise p _xy(s _j, l)=1-c _xy(s _j).

As a preferred technical solution of the present invention: described step 04 specifically comprises:

S _rept () represents the set of sensors surveying triggering signal in t primary election locating information specified region to the censorship of sensor network cluster hair, S _{rep, xy}t () represents that t detects the set of sensors of target P (x, y), S _qt () represents that t is selected the set of sensors of inquiry by described sensor network cluster head, S _rep(t), S _{rep, xy}(t) and S _qt the radix of () three is expressed as A _rep(t), A _{rep, xv}(t) and A _q(t); Sensor network cluster head is reported according to detection probability, from A _repa is selected in (t) _qt () individual transducer is formed can for the set of sensors of addressing inquires to.

As a preferred technical solution of the present invention: also comprise the steps: after described step 06

Step 07. sets up transducer detection model for the transducer in wireless sensor network, and sets up sensor energy consumption models according to transducer detection model;

Step 08., for each transducer of being located by sensor network cluster head, is obtained the energy ezpenditure of each transducer, and adds up by sensor energy consumption models.

Intelligent grid wireless sensor network node locating method based on Energy-aware of the present invention adopts above technical scheme compared with prior art, there is following technique effect: the intelligent grid wireless sensor network node locating method based on Energy-aware of the present invention's design, based on posterior Energy-aware positioning strategy, two step communication protocols are adopted for the communication between sensor network cluster head and transducer, wherein, transducer is after detecting a target location, sensor network cluster head is informed by simply detecting triggering signal, then, sensor network cluster head is by the set of sensors of an inquiry apparent position, realize the location for transducer target being detected, whole process can effectively reduce energy ezpenditure in sensor localization process, substantially prolongs the useful life of whole wireless sensor network.

Accompanying drawing explanation

Fig. 1 is the schematic flow sheet that the present invention designs the intelligent grid wireless sensor network node locating method based on Energy-aware;

Fig. 2 is the embodiment schematic diagram obtaining detection probability report in the present invention;

Fig. 3 is the wireless sensor network having moving target in the present invention;

Fig. 4 is the target trajectory schematic diagram of random motion in embodiment in the present invention;

Fig. 5 is the instantaneous energy that the present invention realizes saving in sensor localization process;

Fig. 6 is the cumlative energy that the present invention realizes saving in sensor localization process.

Embodiment

Below in conjunction with Figure of description, the specific embodiment of the present invention is described in further detail.

As shown in Figure 1, the present invention's design, based on the intelligent grid wireless sensor network node locating method of Energy-aware, comprises the steps:

Step 01. is all detects that the transducer of target surveys triggering signal to the censorship of sensor network cluster hair, wherein, detects triggering signal and only comprises triggering alert signal target being detected, do not comprise the Detection Information of objectives;

Step 02. sensor network cluster head, according to the detection triggering signal received, determines the primary election locating information sending the transducer detecting triggering signal;

Step 03. sensor network cluster head obtains each sensor tip in wireless sensor network respectively and, to the detection probability of targets all in wireless sensor network, forms detection probability report;

Step 04. sensor network cluster head is reported according to detection probability, from primary election locating information specified region, survey in each transducer of triggering signal the set of sensors of selecting can supply to address inquires to the censorship of sensor network cluster hair;

Step 05. sensor network cluster head obtains can for each sensor tip in the set of sensors of addressing inquires to the score information of target detection;

Step 06. supposes can be m for the maximum quantity of number of sensors in the set of sensors of addressing inquires to, judge whether m is more than or equal to the quantity of the transducer surveying triggering signal in primary election locating information specified region to the censorship of sensor network cluster hair, select the inquiry that can accept sensor network cluster head for all the sensors in the set of sensors of addressing inquires to, obtaining the details of this each transducer, realizing the location for sending the transducer detecting triggering signal; Otherwise according to can for address inquires to set of sensors in each sensor tip to the score information of target detection, select the transducer had corresponding to minimum range top score to accept sensor network cluster head to address inquires to, obtaining the details of this each transducer, realizing the location for sending the transducer detecting triggering signal.

The present invention is based on the technical scheme of above design, realizing in the process positioned for transducer, greatly save the consumption of energy, in addition, the present invention also proposes following optimal technical scheme for above technical scheme: in described step 02, sensor network cluster head, according to the detection triggering signal received, determines the primary election locating information sending the transducer detecting triggering signal by probable location algorithm; In described step 03, sensor network cluster head obtains each sensor tip in wireless sensor network respectively by following formula (1) and, to the detection probability of targets all in wireless sensor network, forms detection probability report;

$p\_{\mathrm{table}}_{\mathrm{xy}}\left(l\right)=\underset{s_j\∈s_{\mathrm{xy}}}{\mathrm{\Π}}{p}_{\mathrm{xy}}(s_j,l)---\left(1\right)$

Wherein, wireless sensor network interior joint p (x, y) is the target detected by a series of transducer, uses C _xyrepresent; s _jfor the transducer of jth in wireless sensor network, if s _jthe position of p (x, y) detected, then p _xy(s _j, l)=c _xy(s _j); Otherwise p _xy(s _j, l)=1-c _xy(s _j); Also have for step 04, design specifically comprises:

S _rept () represents the set of sensors surveying triggering signal in t primary election locating information specified region to the censorship of sensor network cluster hair, S _{rep, xy}t () represents that t detects the set of sensors of target P (x, y), S _qt () represents that t is selected the set of sensors of inquiry by described sensor network cluster head, S _rep(t), S _{rep, xy}(t) and S _qt the radix of () three is expressed as A _rep(t), A _{rep, xv}(t) and A _q(t); Sensor network cluster head is reported according to detection probability, from A _repa is selected in (t) _qt () individual transducer is formed can for the set of sensors of addressing inquires to; And on the technical scheme basis for above design, also comprise the steps: after step 06

Step 07. sets up transducer detection model for the transducer in wireless sensor network, and sets up sensor energy consumption models according to transducer detection model;

Step 08., for each transducer of being located by sensor network cluster head, is obtained the energy ezpenditure of each transducer, and adds up by sensor energy consumption models.

The energy ezpenditure that can realize in sensor localization process for the sensor network cluster head based on step 07 and the step 08 of design is added up.

Technical scheme in sum, based on posterior Energy-aware positioning strategy, two step communication protocols are adopted for the communication between sensor network cluster head and transducer, wherein, transducer is after detecting a target location, sensor network cluster head is informed by simply detecting triggering signal, then, sensor network cluster head is by the set of sensors of an inquiry apparent position, realize the location for transducer target being detected, whole process can effectively reduce energy ezpenditure in sensor localization process, substantially prolongs the useful life of whole wireless sensor network.

The present invention design based on Energy-aware intelligent grid wireless sensor network node locating method in actual applications, first do following initialization: all the sensors in wireless sensor network can with sensor network cluster head communication; Sensor network cluster head also can know the positional information of transducer in initialization step; Sensor network cluster head is greater than the transducer of wireless sensor network in the consumption of energy, this is because be responsible for calculating with sensor network cluster head herein, transducer is responsible for collecting data.Conveniently, we think that it is the same for sending the time spent with the data receiving some; Different sensors is ignored to the distance difference of bunch head; In addition, all the sensors hypothesis is all consistent.

Specifically comprise the steps:

Step 01. is all detects that the transducer of target surveys triggering signal to the censorship of sensor network cluster hair, wherein, detect triggering signal and only comprise triggering alert signal target being detected, do not comprise the Detection Information of objectives, with upper type, namely in order to save energy and bandwidth, this notice detecting target can use very simple mode, and a bit is just much of that.Detailed information to be first stored in local internal memory and to be supplied to sensor network cluster head in follow-up inquiry.

Step 02. sensor network cluster head, according to the detection triggering signal received, determines the primary election locating information sending the transducer detecting triggering signal by probable location algorithm.

Step 03. sensor network cluster head obtains each sensor tip in wireless sensor network respectively by following formula (1) and, to the detection probability of targets all in wireless sensor network, forms detection probability report;

$p\_{\mathrm{table}}_{\mathrm{xy}}\left(l\right)=\underset{s_j\∈s_{\mathrm{xy}}}{\mathrm{\Π}}{p}_{\mathrm{xy}}(s_j,l)---\left(1\right)$

Wherein, wireless sensor network interior joint p (x, y) is the target detected by a series of transducer, uses C _xyrepresent; s _jfor the transducer of jth in wireless sensor network, if s _jthe position of p (x, y) detected, then p _xy(s _j, l)=c _xy(s _j); Otherwise p _xy(s _j, l)=1-c _xy(s _j).

For Fig. 2, point (2,4) is by transducer s ₁, s ₂and s ₃cover, probability is respectively 0.57,1 and 0.57, transducer s ₁, s ₂and s ₃one has eight kinds of possibilities detects point (2,4), and such as, 110 represent s ₁, s ₂detect a little, and s ₃do not detect, we calculate the probability of each situation, and are arranged into detection probability table as shown in table 1, once after establishing probability tables, unless sensing station changes, otherwise need not recalculate.

Table 1

Step 04. sensor network cluster head is reported according to detection probability, surveys in each transducer of triggering signal select for the set of sensors of addressing inquires to, can specifically comprise following process from primary election locating information specified region to the censorship of sensor network cluster hair:

S _rept () represents the set of sensors surveying triggering signal in t primary election locating information specified region to the censorship of sensor network cluster hair, S _{rep, xy}t () represents that t detects the set of sensors of target P (x, y), S _qt () represents that t is selected the set of sensors of inquiry by described sensor network cluster head, S _rep(t), S _rep,x _y(t) and S _qt the radix of () three is expressed as A _rep(t), A _{rep, xv}(t) and A _q(t); Sensor network cluster head is reported according to detection probability, from A _repa is selected in (t) _qt () individual transducer is formed can for the set of sensors of addressing inquires to.

The acquisition of step 05. sensor network cluster head can each sensor tip be to the score information of target detection in the set of sensors of addressing inquires to, and detailed process is as follows:

The mark of t grid point P (x, y) can be expressed as follows:

Score _xy(t)＝p_table _xy(i(t))×w _xy(t)

Wherein i (t) is t p_table _xyindex, w _xyt () is defined as follows shown in formula:

$w_{\mathrm{xy}}\left(t\right)=\left\{\begin{array}{cc}0,& {\mathrm{ifS}}_{\mathrm{rep},\mathrm{xy}}\left(t\right)=\left\{\mathrm{\Θ}\right\}\\ 4^{-\mathrm{\Δ}{k}_{\mathrm{rep},\mathrm{xy}}\left(t\right)},& \mathrm{otherwise}\end{array}\right.$

Δk _rep,xy(t)＝|k _rep(t)-k _rep,xy(t)|+|k _rep(t)-k _xy|

For the grid of 10 × 10 as shown in Figure 3, be configured with 5 transducers, k=5, r=2, r _ebroken line in=1, figure is the motion track of target, and target, from start, terminates to end; Mark at start some grid points of moment as shown in table 2 below calculates.

(x,y)	(1,6)	(2,6)	(3,6)	(4,6)
					S xy	s 1	s 1，s 2	s 1，s 2	s 1，s 2
S rep,xy(t start)	s 1	s 1，s 2	s 1，s 2	s 1，s 2
					w xy(t start)	0.25	1.00	1.00	1.00
p_table xy(t start)	0.7284	0.5736	0.5254	0.5736
					Score xy(t start)	0.0453	0.5736	0.5254	0.5736

Table 2

Step 06. supposes can be m for the maximum quantity of number of sensors in the set of sensors of addressing inquires to, judge whether m is more than or equal to the quantity of the transducer surveying triggering signal in primary election locating information specified region to the censorship of sensor network cluster hair, select the inquiry that can accept sensor network cluster head for all the sensors in the set of sensors of addressing inquires to, obtaining the details of this each transducer, realizing the location for sending the transducer detecting triggering signal; Otherwise according to can for address inquires to set of sensors in each sensor tip to the score information of target detection, select the transducer had corresponding to minimum range top score to accept sensor network cluster head to address inquires to, obtaining the details of this each transducer, realizing the location for sending the transducer detecting triggering signal.

Specific rules is defined as follows:

S _q(t):d(S _q(t),P _MS)＝min{d(s _i,P _MS)}

Wherein S _i∈ S _rep(t), P _mSrepresent the grid point set that score is the highest.

To the network that Fig. 3 shows, table 3 represents some results of the transducer selected, and target moves to end from start, k _max=1.

t	S rep(t)	S q(t)	t	S rep(t)	S q(t)
						1	s 1，s 2	s 1	2	s 1，s 2	s 1
3	s 1，s 2	s 1	4	s 2	s 2
						5	s 2，s 3	s 3	6	s 2，s 3	s 3
7	s 2，s 3	s 3	8	s 3	s 3
						…	…	…	…	…	…
21	s 5	s 5	22	s 5	s 5
						23	s 1	s 1	24	NONE	NONE

Table 3

Step 07. sets up transducer detection model for the transducer in wireless sensor network, and set up sensor energy consumption models according to transducer detection model, wherein, transducer detection model is that the transducing signal of physics is changed into probability numbers, the maintenance level of data is collected in order to evaluation sensor, consider the sensor network of n × m grid, suppose wherein have k transducer in the initial deployment stage.The reconnaissance range of each transducer is r.Suppose i-th node s _i, 1≤i≤k represents and is configured in point (x _i, y _i) node at place.We are cooperative nodes P and s _ibetween Euclidean distance be defined as d (s _i, p), following formula represents probability transducer detection model.

$c_{\mathrm{xy}}\left(s_i\right)=\left\{\begin{array}{c}0,r+r_e\≤d(s_i,P)\\ e^{-\mathrm{\λ}{\mathrm{\α}}^{\mathrm{\β}}},r_e>|r-d(s_i,p)|\\ 1,r-r_e\≥d(s_i,p)\end{array}\right.$

Wherein, r _erepresent that the uncertainty in detecting is measured, α=d (s _i, p)-(r-r _e), λ and β represents when distance is greater than r _e, but the parameter that detection probability when being less than transducer detection range is measured;

Set up sensor energy consumption models by transducer detection model, suppose that the energy ezpenditure of a transducer is made up of three parts: perception, transmission and reception, and use ψ respectively _s, ψ _tand ψ _rrepresent, in t, have the individual transducer of k (t) g (t) target to be detected, 1≤g≤k, the energy of wireless network sensor activity can be expressed as simultaneously:

E _s(k(t))＝k(t)ψ _sT _s

Wherein T _srepresent the duration of working sensor.In one section of Fixed Time Interval, E _salso be a steady state value; Communicating between node with bunch head can be divided into two classes, E _band E _c, E _bbe from bunch head to node broadcast required energy, E _cnode and bunch energy that head communication consumes.

E _c(k(t),T)＝k(t)(ψ _tT+ψ _rT)

E _b(k(t),T)＝ψ _tT+ψ _rTk(t)

The value of parameter T be with communicate in being in proportion of data.We use T _drepresent the T corresponding to original data volume, then instantaneous energy ezpenditure and total energy ezpenditure can be expressed as:

E(t)＝E _s(k(t))+E _c(k(t),T _d)

$E=\underset{t_{\mathrm{start}}}{\overset{t_{\mathrm{end}}}{\mathrm{\Σ}}}E\left(t\right)$

Step 08., for each transducer of being located by sensor network cluster head, is obtained the energy ezpenditure of each transducer, and adds up by sensor energy consumption models.

For above practical application embodiment, the sensor grid of 30 × 30 is chosen in our experiment, and wherein have 20 transducer random distribution, arranging of parameter is as shown in table 4:

r

r e

λ

β

ψ r

ψ t

ψ s

T d

T e

T q

5

4

0.5

0.5

400nJ/sec

400nJ/sec

1000nJ/sec

100ms

2ms

4ms

Table 4

Be the target trajectory of random motion in sensor network as Fig. 4 display, target moves to end from start, the movement of hypothetical target in units of discrete second, long enough interval time in sampling two adjacent places;

As Fig. 5 and Fig. 6 represents that energy is saved in the instantaneous and accumulation that target is moved in sensor network, we as seen from the figure, can save a large amount of energy, work as k in location _maxclose to k _rept, time (), the energy of saving can lack, this is because need more additional communication on the head of two step communication strategies, but, even work as k _maxwhen=3, the energy of saving is also very objective, when have selected suitable k _maxafter, we can make the efficiency of method reach optimum.

By reference to the accompanying drawings embodiments of the present invention are explained in detail above, but the present invention is not limited to above-mentioned execution mode, in the ken that those of ordinary skill in the art possess, can also makes a variety of changes under the prerequisite not departing from present inventive concept.

Claims (5)

1., based on the intelligent grid wireless sensor network node locating method of Energy-aware, it is characterized in that, comprise the steps:

Step 01. is all detects that the transducer of target surveys triggering signal to the censorship of sensor network cluster hair, wherein, detects triggering signal and only comprises triggering alert signal target being detected, do not comprise the Detection Information of objectives;

Step 02. sensor network cluster head, according to the detection triggering signal received, determines the primary election locating information sending the transducer detecting triggering signal;

Step 03. sensor network cluster head obtains each sensor tip in wireless sensor network respectively and, to the detection probability of targets all in wireless sensor network, forms detection probability report;

Step 04. sensor network cluster head is reported according to detection probability, from primary election locating information specified region, survey in each transducer of triggering signal the set of sensors of selecting can supply to address inquires to the censorship of sensor network cluster hair;

Step 05. sensor network cluster head obtains can for each sensor tip in the set of sensors of addressing inquires to the score information of target detection;

Step 06. supposes can be m for the maximum quantity of number of sensors in the set of sensors of addressing inquires to, judge whether m is more than or equal to the quantity of the transducer surveying triggering signal in primary election locating information specified region to the censorship of sensor network cluster hair, select the inquiry that can accept sensor network cluster head for all the sensors in the set of sensors of addressing inquires to, obtaining the details of this each transducer, realizing the location for sending the transducer detecting triggering signal; Otherwise according to can for address inquires to set of sensors in each sensor tip to the score information of target detection, select the transducer had corresponding to minimum range top score to accept sensor network cluster head to address inquires to, obtaining the details of this each transducer, realizing the location for sending the transducer detecting triggering signal.

2. according to claim 1 based on the intelligent grid wireless sensor network node locating method of Energy-aware, it is characterized in that, in described step 02, sensor network cluster head, according to the detection triggering signal received, determines the primary election locating information sending the transducer detecting triggering signal by probable location algorithm.

3. according to claim 1 based on the intelligent grid wireless sensor network node locating method of Energy-aware, it is characterized in that, in described step 03, sensor network cluster head obtains each sensor tip in wireless sensor network respectively by following formula (1) and, to the detection probability of targets all in wireless sensor network, forms detection probability report;

$p\_\mathrm{tabl}{e}_{\mathrm{xy}}\left(l\right)=\underset{s_j\∈s_{\mathrm{xy}}}{\mathrm{\Π}}{p}_{\mathrm{xy}}(s_j,l)---\left(1\right)$

Wherein, wireless sensor network interior joint p (x, y) is the target detected by a series of transducer, uses C _xyrepresent; s _jfor the transducer of jth in wireless sensor network, if s _jthe position of p (x, y) detected, then p _xy(s _j, l)=c _xy(s _j); Otherwise p _xy(s _j, l)=1-c _xy(s _j).

4., according to claim 1 based on the intelligent grid wireless sensor network node locating method of Energy-aware, it is characterized in that, described step 04 specifically comprises:

S _rept () represents the set of sensors surveying triggering signal in t primary election locating information specified region to the censorship of sensor network cluster hair, S _{rep, xy}t () represents that t detects the set of sensors of target P (x, y), S _qt () represents that t is selected the set of sensors of inquiry by described sensor network cluster head, S _rep(t), S _{rep, xy}(t) and S _qt the radix of () three is expressed as A _rep(t), A _{rep, xv}(t) and A _q(t); Sensor network cluster head is reported according to detection probability, from A _repa is selected in (t) _qt () individual transducer is formed can for the set of sensors of addressing inquires to.

5. according to claim 1 based on the intelligent grid wireless sensor network node locating method of Energy-aware, it is characterized in that, also comprise the steps: after described step 06

Step 07. sets up transducer detection model for the transducer in wireless sensor network, and sets up sensor energy consumption models according to transducer detection model;

Step 08., for each transducer of being located by sensor network cluster head, is obtained the energy ezpenditure of each transducer, and adds up by sensor energy consumption models.