CN104684077A - Positioning method for wireless sensor network - Google Patents
Positioning method for wireless sensor network Download PDFInfo
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- CN104684077A CN104684077A CN201510063465.6A CN201510063465A CN104684077A CN 104684077 A CN104684077 A CN 104684077A CN 201510063465 A CN201510063465 A CN 201510063465A CN 104684077 A CN104684077 A CN 104684077A
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- node
- sensor network
- wireless sensor
- positioning
- confidence interval
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
Abstract
The invention discloses a positioning method for a wireless sensor network. An algorithm is realized by generating a credible node set and calculating the coordinates of a node to be positioned by utilizing a plurality of nodes instead of utilizing a single anchor node when the coordinates of the node to be positioned are calculated, so that the error caused by the calculation of a single node is reduced; a credible reference node set is established by analyzing the connectivity of an indoor space, the positioning reference information with great error transmitted by a node in an incredible reference set is excluded when positioning calculation is performed, and the coordinates are calculated by only using the positioning reference information sent by the node in a credible reference node set, so that the introduction of a great error is avoided, and the positioning accuracy is improved; when the coordinates of a specific position is calculated, a simplified signal intensity weighting calculating method is adopted, so that the calculation amount of the calculation of the coordinates is greatly simplified; the positioning accuracy is ensured; the error is reduced.
Description
Technical field
The invention belongs to computerized algorithm field, more particularly, the present invention relates to a kind of localization method of wireless sensor network.
Background technology
Wireless sensor network is widely used, and has extraordinary wide prospect.But its fail safe also receives great challenge.Under wireless sensor network is often deployed in rugged environment; or even hostile area; generally lack effective physical protection; simultaneously; due to the limited capacity such as calculating, storage, energy of sensor node, wireless sensor network is than the target being easier to become enemy and catching and encroach on.Sensor network Intrusion Detection Technique mainly concentrates on the exception of detection node and distinguishing of malicious node.In view of features such as sensor network are resource-constrained and easily attacked, traditional Intrusion Detection Technique be applied in general networks is unsuitable for wireless sensor network.Therefore, design a kind of security mechanism being applicable to wireless sensor network, prevent various invasion, just seem particularly important, it is the key link ensureing that wireless sensor network can further develop.
Summary of the invention
Problem to be solved by this invention is to provide that a kind of algorithm is simple, the localization method of a kind of wireless sensor network of registration.
To achieve these goals, the technical scheme that the present invention takes is:
1, a localization method for wireless sensor network, comprises the steps:
(1) netinit: in network, all node transmissions towards periphery of each beaconing nodes only comprise the single-hop broadcast of node serial number, and the node receiving broadcast judges the signal strength signal intensity receiving message;
(2) locating information is obtained: when positioning Node node, Node node to be positioned broadcasts locating request message towards periphery, all beaconing nodes loopbacks one receiving this message confirm bag, Node node is while transmission positioning request information, a timer is set, when the timer expires, the setting-up time of timer is 1-2min, stops receiving positioning confirmation information and proceeding to next step;
(3) confidence reference node point set S is constructed
A. confirm to find out in bag the nearest beacon in position that distance once calculates at all beacons, and added reference node point set S;
B. travel through all nodes not in confidence interval point set S in the positioning confirmation bag that receives, if wherein there is node to be the neighbours of confidence interval point centralized node, then it is also added confidence interval point set;
(4) computing node coordinate
Calculate mobile node coordinate according to the positioning confirmation information that beaconing nodes in S sends, calculating mobile node seat calibration method is
Wherein, the signal strength signal intensity of Si---the confirmation that confidence interval point concentrates each beacon to beam back;
(Xi, Yi)---confidence interval point concentrates the coordinate of each beaconing nodes;
The estimation coordinate position of (Cx, Cy)---node to be positioned.
Preferably, described step (1) Predicated execution following steps:
If a. higher than specific signal strength threshold, the ID of this node and positional information are recorded in the information of neighbor nodes table of self, and postback to this beaconing nodes the acknowledge message that comprises own location information;
If the intensity of the signal b. received is lower than this threshold value, then this message bag is abandoned and do not process.
Preferably, the threshold values in described step a, b uses the average signal strength in the transmitting power of each node and test environment to calculate as parameter.
Preferably, in described step a, b, the computing formula of threshold value is T=P*w1+A*w2+F*w3, T represents threshold values, and threshold range is the transmitting power that 50-100, p represent each node, transmitting power scope is 60-100, A represents average signal strength in testing environment, and F represents the impact of other factors, and scope is 40-80, w1, w2, w3 are the weight of three attributes respectively, and wl+w2+w3=1.
Preferably, described step adds step c in (3): if there is new node to add in step b, then return step b, otherwise S sets up complete.
Preferably, according to spatial connectivity, all beaconing nodes receiving confirmation are divided into several subsets in described step (3), choosing has a maximum subset of nodes as confidence interval point set.
Beneficial effect: this algorithm is when calculating the coordinate of node to be positioned, not utilize single anchor node to realize, but generate confidence node set, multiple node is utilized jointly to calculate the coordinate of node to be positioned, thus reduce the error that single node calculates generation, by the analysis for interior space connectedness, build confidence reference node point set, when location Calculation, get rid of the position reference information that error that non-confidence reference set node sends is larger, and the position reference information only using confidence reference node centralized node to send carries out coordinate calculating, to avoid the introducing of big error, improve the precision of location, when calculating concrete position coordinates, have employed a kind of computational methods of signal strength signal intensity weighting of simplification, enormously simplify the amount of calculation that coordinate calculates, the accuracy of locating can be ensured, reduce error.
Embodiment
A localization method for wireless sensor network, comprises the steps:
(1) netinit: in network, all node transmissions towards periphery of each beaconing nodes only comprise the single-hop broadcast of node serial number, and the node receiving broadcast judges the signal strength signal intensity receiving message, performs following steps:
If a. higher than specific signal strength threshold, the ID of this node and positional information are recorded in the information of neighbor nodes table of self, and postback to this beaconing nodes the acknowledge message that comprises own location information;
If the intensity of the signal b. received is lower than this threshold value, then this message bag is abandoned and do not process;
Threshold values uses the average signal strength in the transmitting power of each node and test environment to calculate as parameter, in described step one, the computing formula of threshold value is T=P*w1+A*w2+F*w3, T represents threshold values, and threshold range is the transmitting power that 80, p represents each node, transmitting power scope is 85, A represents average signal strength in testing environment, and F represents the impact of other factors, and scope is 70, w1, w2, w3 are the weight of three attributes respectively, and wl=0.3, w2=0.5, w3=0.2.
(2) locating information is obtained: when positioning Node node, Node node to be positioned broadcasts locating request message towards periphery, all beaconing nodes loopbacks one receiving this message confirm bag, Node node is while transmission positioning request information, a timer is set, when the timer expires, the setting-up time of timer is 2min, stops receiving positioning confirmation information and proceeding to next step;
(3) confidence reference node point set S is constructed
A. confirm to find out in bag the nearest beacon in position that distance once calculates at all beacons, and added reference node point set S;
B. travel through all nodes not in confidence interval point set S in the positioning confirmation bag that receives, if wherein there is node to be the neighbours of confidence interval point centralized node, then it is also added confidence interval point set;
If c. there is new node to add in step b, then return step b, otherwise S sets up complete;
According to spatial connectivity, all beaconing nodes receiving confirmation are divided into several subsets, choosing has a maximum subset of nodes as confidence interval point set;
(4) computing node coordinate
Mobile node coordinate is calculated according to the positioning confirmation information that beaconing nodes in S sends,
Calculating mobile node seat calibration method is
Wherein, the signal strength signal intensity of Si---the confirmation that confidence interval point concentrates each beacon to beam back;
(Xi, Yi)---confidence interval point concentrates the coordinate of each beaconing nodes;
The estimation coordinate position of (Cx, Cy)---node to be positioned.
The invention provides a kind of localization method of wireless sensor network, this algorithm is when calculating the coordinate of node to be positioned, not utilize single anchor node to realize, but generate confidence node set, multiple node is utilized jointly to calculate the coordinate of node to be positioned, thus reduce the error that single node calculates generation, by the analysis for interior space connectedness, build confidence reference node point set, when location Calculation, get rid of the position reference information that error that non-confidence reference set node sends is larger, and the position reference information only using confidence reference node centralized node to send carries out coordinate calculating, to avoid the introducing of big error, improve the precision of location, when calculating concrete position coordinates, have employed a kind of computational methods of signal strength signal intensity weighting of simplification, enormously simplify the amount of calculation that coordinate calculates, the accuracy of locating can be ensured, reduce error.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize description of the present invention to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (6)
1. a localization method for wireless sensor network, is characterized in that, comprises the steps:
(1) netinit: in network, all node transmissions towards periphery of each beaconing nodes only comprise the single-hop broadcast of node serial number, and the node receiving broadcast judges the signal strength signal intensity receiving message;
(2) locating information is obtained: when positioning Node node, Node node to be positioned broadcasts locating request message towards periphery, all beaconing nodes loopbacks one receiving this message confirm bag, Node node is while transmission positioning request information, a timer is set, when the timer expires, the setting-up time of timer is 1-2min, stops receiving positioning confirmation information and proceeding to next step;
(3) confidence reference node point set S is constructed
A. confirm to find out in bag the nearest beacon in position that distance once calculates at all beacons, and added reference node point set S;
B. travel through all nodes not in confidence interval point set S in the positioning confirmation bag that receives, if wherein there is node to be the neighbours of confidence interval point centralized node, then it is also added confidence interval point set;
(4) computing node coordinate
Calculate mobile node coordinate according to the positioning confirmation information that beaconing nodes in S sends, calculating mobile node seat calibration method is
Wherein, the signal strength signal intensity of Si---the confirmation that confidence interval point concentrates each beacon to beam back;
(Xi, Yi)---confidence interval point concentrates the coordinate of each beaconing nodes;
The estimation coordinate position of (Cx, Cy)---node to be positioned.
2. according to the localization method of a kind of wireless sensor network according to claim 1, it is characterized in that: described step (1) Predicated execution following steps:
If a. higher than specific signal strength threshold, the ID of this node and positional information are recorded in the information of neighbor nodes table of self, and postback to this beaconing nodes the acknowledge message that comprises own location information;
If the intensity of the signal b. received is lower than this threshold value, then this message bag is abandoned and do not process.
3. according to the localization method of a kind of wireless sensor network according to claim 2, it is characterized in that: the threshold values in described step a, b uses the average signal strength in the transmitting power of each node and test environment to calculate as parameter.
4. according to the localization method of a kind of wireless sensor network according to claim 1, it is characterized in that: in described step a, b, the computing formula of threshold value is T=P*w1+A*w2+F*w3, T represents threshold values, and threshold range is the transmitting power that 50-100, p represent each node, transmitting power scope is 60-100, A represents average signal strength in testing environment, and F represents the impact of other factors, and scope is 40-80, w1, w2, w3 are the weight of three attributes respectively, and wl+w2+w3=1.
5. according to the localization method of a kind of wireless sensor network according to claim 1, it is characterized in that: described step adds step c in (3): if there is new node to add in step b, then return step b, otherwise S sets up complete.
6. according to the localization method of a kind of wireless sensor network according to claim 1, it is characterized in that: according to spatial connectivity, all beaconing nodes receiving confirmation are divided into several subsets in described step (3), choosing has a maximum subset of nodes as confidence interval point set.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105813194A (en) * | 2016-05-06 | 2016-07-27 | 西安电子科技大学昆山创新研究院 | Indoor positioning method based on fingerprint database secondary correction |
| CN109005510A (en) * | 2018-07-20 | 2018-12-14 | 东北电力大学 | Wireless sensor network indoor moving method for tracking target based on region division |
| WO2019071775A1 (en) * | 2017-10-10 | 2019-04-18 | 深圳数位传媒科技有限公司 | Node positioning method, server, system and computer-readable storage medium |
| CN113596793A (en) * | 2021-07-09 | 2021-11-02 | 青岛海尔科技有限公司 | Bluetooth low-power-consumption equipment control method and device |
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| CN102123495A (en) * | 2011-01-13 | 2011-07-13 | 山东大学 | Centroid location algorithm based on RSSI (Received Signal Strength Indication) correction for wireless sensor network |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105813194A (en) * | 2016-05-06 | 2016-07-27 | 西安电子科技大学昆山创新研究院 | Indoor positioning method based on fingerprint database secondary correction |
| CN105813194B (en) * | 2016-05-06 | 2019-04-23 | 西安电子科技大学昆山创新研究院 | Indoor orientation method based on fingerprint database secondary correction |
| WO2019071775A1 (en) * | 2017-10-10 | 2019-04-18 | 深圳数位传媒科技有限公司 | Node positioning method, server, system and computer-readable storage medium |
| CN109005510A (en) * | 2018-07-20 | 2018-12-14 | 东北电力大学 | Wireless sensor network indoor moving method for tracking target based on region division |
| CN109005510B (en) * | 2018-07-20 | 2020-07-24 | 东北电力大学 | Wireless sensor network indoor moving target tracking method based on region division |
| CN113596793A (en) * | 2021-07-09 | 2021-11-02 | 青岛海尔科技有限公司 | Bluetooth low-power-consumption equipment control method and device |
| CN113596793B (en) * | 2021-07-09 | 2024-03-22 | 青岛海尔科技有限公司 | Bluetooth low-power-consumption equipment control method and device |
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| CN104684077B (en) | 2018-04-13 |
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