CN105163280A - Wireless sensor network mobile anchor node location algorithm based on clustering - Google Patents

Wireless sensor network mobile anchor node location algorithm based on clustering Download PDF

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Publication number
CN105163280A
CN105163280A CN201510522234.7A CN201510522234A CN105163280A CN 105163280 A CN105163280 A CN 105163280A CN 201510522234 A CN201510522234 A CN 201510522234A CN 105163280 A CN105163280 A CN 105163280A
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node
anchor node
cluster head
unknown
anchor
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蔡绍滨
潘实
王念滨
张志强
潘海为
冯晓宁
谢晓芹
周连科
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Harbin Engineering University
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Harbin Engineering University
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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
    • 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
    • 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 relates to a wireless sensor network mobile anchor node location algorithm based on clustering. The wireless sensor network mobile anchor node location algorithm based on clustering comprises: determining a cluster head node in a network region, selecting a point containing maximum unknown nodes within a communication range as a cluster head and marking the whole cluster, and continuing to select the cluster head according to the requirement apart from the marked nodes until all the nodes are marked; and getting an anchor node ready to move according to a planned route policy by selecting the cluster head position of a cluster containing maximum undetermined unknown nodes as an initial position. The wireless sensor network mobile anchor node location algorithm based on clustering solves the problem of anchor node collineation effectively at low cost. For a traditional mobility model, the problem needs to be solved by virtue of peripherals such as radar or by increasing signal receiving array devices during location; however, according to the algorithm, the moving route in the cluster having plenty of nodes is orthohexagnal with the cluster head as the center, and therefore, the probability that the unknown nodes receive three collinear pieces of position information is greatly reduced.

Description

A kind of wireless sensor network mobile anchor node locating algorithm based on sub-clustering
Technical field
The present invention relates to a kind of wireless sensor network mobile anchor node locating algorithm based on sub-clustering.
Background technology
Wireless sensor network (WirelessSensorNetwork, be called for short WSN) by being deployed in the self-organization distribution network system that in specific monitored area, a large amount of sensor node that is cheap, miniature, that have communication capacity and computing capability is formed, it has the features such as rapid deployment, high robustness and survivability, military affairs, environment measuring and the numerous areas such as forecast, Smart Home can be widely used in, cause the great attention of world many countries military circles, academia and industrial quarters.
Node locating, as a part very important in WSN, is also the focus of research both at home and abroad naturally.Node locating (NodeLocalization) refers to by certain method, technology and means, and the anchor node in recombination region territory calculates the relative position of the unknown node in network or the process of absolute position.In common WSN, generally have two kinds of nodes, one is unknown node (UnknownNode, UN), its physical location information of not knowing oneself, needs to obtain positional information by location; Another kind is beaconing nodes (BeaconNode, or claim anchor node (AnchorNode BN), AN), its relevant location information is known, and it to arrange in advance or with the sensor node of the equipment such as the GPS that can obtain oneself positional information.Large quantifier elimination and algorithm is there is about WSN interior joint orientation problem, position fixing process has mainly come based on two kinds of nodes and static anchor node and dynamic anchor node, but because the cost compare of anchor node is high, researcher turns to the several quantifier elimination reducing anchor node the most mostly, research based on mobile anchor node is particularly many, because its needs one or a few anchor node, can greatly reduce the quantity of anchor node, and then can reduce the cost of location.
Whether the location technology of wireless sensor network according to finding range between node can divide, wherein, relatively conventional a kind of be ranging technology based on received signal strength indicator.The a certain power that receiving terminal is sent according to the transmitting terminal received, utilizes existing theory or experience mode usually, then the power loss of binding signal in the process propagated, and is a kind of method that transmission range carries out finding range by power conversion.Range finding based on RSSI is exactly a kind of method according to the signal strength measurement distance received.Signal has certain loss when transmission, and when finding range, transmitting power is known, and power consumption and transmission range exist relation, can utilize the power consumption of signal in transmitting procedure, obtain signal transmission distance.
Unknown node utilizes trilateration or Maximum Likelihood Estimation Method to carry out self poisoning after obtaining the range information of self and anchor node by ranging technology usually.
Trilateration is the method that this algorithm can be used, and is implemented as follows: the A that sets up an office, some B, some C are anchor nodes, and some D is unknown node, and the coordinate of three anchor nodes is respectively (x a, y a), (x b, y b) and (x c, y c), D point coordinates is (x, y), and D is respectively d to the distance of three anchor nodes a, d band d c.Can the coordinate of computing node D and formula (1-2) by formula (1-1),
( x - x a ) 2 + ( y - y a ) 2 = d a ( x - x b ) 2 + ( y - y b ) 2 = d b ( x - x c ) 2 + ( y - y c ) 2 = d c - - - ( 1 - 1 )
x y = 2 ( x a - x c ) 2 ( y a - y c ) 2 ( x b - x c ) 2 ( y b - y c ) - 1 x a 2 - x c 2 + y a 2 - y c 2 + d c 2 - d a 2 x b 2 - x c 2 + y b 2 - y c 2 + d c 2 - d b 2 - - - ( 1 - 2 )
Summary of the invention
The object of the invention is to provide a kind of wireless sensor network mobile anchor node locating algorithm based on sub-clustering.
The object of the present invention is achieved like this:
(1) determine the leader cluster node in network area, select communication range to include the maximum point of unknown node and be bunch head and mark whole bunch, removing flag node continues to select bunch head, until all nodes are all labeled by above-mentioned requirements;
(2) anchor node select have maximum unknown node undetermined bunch cluster head position as initial position, the path policy prepared by having planned moves;
(3) after anchor node arrives cluster head, judge the number of unknown node in cluster head region, if be more than or equal to 6, then anchor node moves along the regular hexagon put centered by cluster head, orthohexagonal deflection angle angle value is this cluster head and the inclination angle of the line of the cluster head that next time will move to, if unknown node is less than 6, then anchor node moves directly to unknown node;
(4) anchor node is in each cluster head, orthohexagonal summit and oneself the location message of unknown node place broadcast that moves to;
(5), after the location message receiving 3 and above virtual anchor node when unknown node, unknown node carries out self-align or reorientation;
(6) whether judging area interior nodes has completed self-align all, if then anchor node stops mobile, location completes, otherwise anchor node moves to next bunch, bunch in continue to move according to step 3.
The orthohexagonal length of side and there is following relation between the communication radius of cluster head, the communication radius of unknown node and anchor node communication radius in described step (3):
L ≥ 2 3 R R c ≤ R ≤ R m
Wherein, L is the orthohexagonal length of side, and R is the communication radius of cluster head, R cfor the communication radius of unknown node, R mfor anchor node communication radius.
When the node in described step 5 reaches the condition being converted into static anchor node, be static anchor node by this node transitions, participate in the position fixing process of unknown node in region.
Beneficial effect of the present invention is:
1, effectively and low cost must solve anchor node conllinear problem.Tradition mobility model needs when locating by peripheral hardwares such as radars or increases some Signal reception array apparatus and solve this problem, and this algorithm have compared with multinode bunch in mobile route be regular hexagon centered by cluster head, substantially reduce the possibility that unknown node receives the positional information of three conllinear.
2, higher node localization coverage and positioning precision is had.In the present invention, the virtual beacon that orthohexagonal mobile route makes unknown node receive becomes the possibility of equilateral triangle to increase, therefore positioning precision increases, simultaneously, node carries out moving when positioning between each bunch, have and can be converted into static anchor node, assist location compared with the unknown node of location of accurate location, make the coverage rate of node locating and positioning precision very high.
Accompanying drawing explanation
Fig. 1 is the flow chart of the wireless sensor network mobile anchor node locating algorithm that the present invention is based on sub-clustering.
Fig. 2 is the relation between the Signal Coverage Percentage of the wireless sensor network mobile anchor node locating algorithm that the present invention is based on sub-clustering and anchor node communication radius.
Fig. 3 is the relation that the wireless sensor network mobile anchor node locating algorithm anchor node mobile route that the present invention is based on sub-clustering communicates with between radius.
Fig. 4 is the wireless sensor network mobile anchor node locating algorithm node locating design sketch that the present invention is based on sub-clustering.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described further:
The invention provides a kind of wireless sensor network mobile anchor node locating algorithm (CMLA) based on sub-clustering.Algorithm is divided into three phases: the path planning stage of sub-clustering stage, mobile anchor node and unknown node positioning stage.First, the leader cluster node in region is selected according to unknown node number within the scope of node communication; Secondly, communication zone is included the initial position of the maximum bunch head of unknown node as anchor node, anchor node judge the unknown node number in cluster head region to decide bunch between mobile route, and to move to each cluster head according to the distance between cluster head; Finally, start to position after the location message receiving 3 and above virtual anchor node when unknown node.
The shift strategy of this algorithm can have higher overlay area rate and node locating precision, effectively solves the conllinear problem existed in traditional algorithm.
Realize the object of the invention technical scheme:
Based on a wireless sensor network mobile anchor node locating algorithm for sub-clustering, it is characterized in that:
Step 1: determine the leader cluster node in network area, selects communication range to include the maximum point of unknown node and is bunch head and marks whole bunch, and removing flag node continues to select bunch head, until all nodes are all labeled by above-mentioned requirements;
Step 2: anchor node choosing then have maximum unknown node undetermined bunch cluster head position as initial position, the path policy prepared by having planned moves;
Step 3: after anchor node arrives cluster head, judge the number of unknown node in cluster head region, if be more than or equal to 6, then anchor node moves along the regular hexagon put centered by cluster head, orthohexagonal deflection angle angle value is this cluster head and the inclination angle of the line of the cluster head that next time will move to, if unknown node is less than 6, then anchor node moves directly to unknown node;
Step 4: anchor node is in each cluster head, orthohexagonal summit and oneself the location message of unknown node place broadcast that moves to;
Step 5: when after the location message that unknown node receives 3 and above virtual anchor node, unknown node carries out self-align or reorientation;
Step 6: it is self-align whether judging area interior nodes has completed all, if then anchor node stops mobile, location completes, otherwise anchor node moves to next bunch, bunch in continue to move according to step 3.
In step 3, the shift strategy of anchor node is: after anchor node arrives cluster head, it first judges the number of unknown node in cluster head region, if be more than or equal to 6, then anchor node moves along the regular hexagon put centered by cluster head, and orthohexagonal deflection angle angle value is this cluster head and the inclination angle of the line of the cluster head that next time will move to.In order to the unknown node ensureing in cluster head region can be correct self-align, the orthohexagonal length of side at least equals the circumscribed orthohexagonal length of side in cluster head region, and namely the orthohexagonal length of side is at least cluster head zone radius doubly; If the number of unknown node is less than 6 in region, then anchor node first moves to wherein any one node, then node whether is also had not located in judging area, if have, then anchor node move to wherein any one, until region interior joint all completes self-align, then anchor node moves to next cluster head, moving process is below similar, until the node in whole region can be self-align, anchor node stops mobile.The communication radius R of orthohexagonal length of side L and cluster head, the communication radius R of unknown node cand anchor node communication radius R mbetween there is following relation:
L ≥ 2 3 R R c ≤ R ≤ R m
In step 5, when unknown node receives the positional information that mobile anchor node sends, the positional information of anchor node and RSSI value are saved, if the positional information received reach 3 just can be self-align; When unknown node receives the 4th message that anchor node is sent from diverse location, if when now the application condition of node is large, need to utilize this positional information to reorientate, to obtain the more accurate position of unknown node.If receive the 5th message that anchor node is sent, way is the same.
First on-premise network, after the number determining bunch head in region, plans the concrete shift strategy of anchor node.An optional bunch of head, starts it the position of movement as anchor node in a network.In this algorithm, selecting communication zone to include the maximum node of unknown node is bunch head, and it is as the initial movable position of anchor node.CMLA algorithm proposes for solving in stochastic model the conllinear problem that exists.Before location starts, need to know a bunch head, bunch header laber and shift strategy.Such anchor node can send oneself positional information on request according to topological structure, makes the node to be positioned in network area complete location.The position of unknown node is directly determined by anchor node, or calculated by the three limit positioning modes optimized or Maximum-likelihood estimation by the positional information of anchor node that receives, this strategy guarantees that all unknown node in region to be monitored can complete self-align.
When unknown node receives the positional information that mobile anchor node sends, the positional information of anchor node and RSSI value are saved, if the positional information received reach 3 just can be self-align; When unknown node receives the 4th message that anchor node is sent from diverse location, if when now the application condition of node is large, need to utilize this positional information to reorientate, to obtain the more accurate position of unknown node.If receive the 5th message that anchor node is sent, similar the 4th node received of way.So when unknown node receives the message that multiple anchor node sends, need the method adding various optimization in the process of location, be optimized the location of formula, to obtain the position more accurately of unknown node.
In CMLA algorithm, the movement between cluster head be according to cluster head between distance, apart from the cluster head of accessing recently and not accessed cluster head is the destination that next time will move to, the mobile route of cluster head is also the main line of anchor node mobile route.After anchor node arrives cluster head, it first judges the number of unknown node in cluster head region, if be more than or equal to 6, then anchor node moves along the regular hexagon put centered by cluster head, and orthohexagonal deflection angle angle value is this cluster head and the inclination angle of the line of the cluster head that next time will move to.In order to the unknown node ensureing in cluster head region can be correct self-align, the orthohexagonal length of side at least equals the circumscribed orthohexagonal length of side in cluster head region, and namely the orthohexagonal length of side is at least cluster head zone radius doubly; If the number of unknown node is less than 6 in region, then anchor node first moves to wherein any one node, then node whether is also had not located in judging area, if have, then anchor node move to wherein any one, until region interior joint all completes self-align, then anchor node moves to next cluster head, moving process is below similar, until the node in whole region can be self-align, anchor node stops mobile.According to above analysis, the communication radius R of orthohexagonal length of side L and cluster head, the communication radius R of unknown node cand anchor node communication radius R mbetween there is following relation:
L ≥ 2 3 R R c ≤ R ≤ R m
Below in conjunction with simulation example, further illustrate beneficial effect of the present invention.
Be embodied as and carry out analog simulation to the wireless sensor network mobile anchor node locating algorithm based on sub-clustering, emulation platform is that MATLAB emulation basic experiment setting parameter is as follows: set simulating area as square, length of side L is 100m; The number of unknown node is 100, and node lays in the zone at random, and the communication radius of mobile anchor node is R m; The communication radius of unknown node is R c; Cluster head communication radius is R, and the communication radius of the static anchor node be transformed by unknown node is 15m, and cluster head communication radius is 17m.
According to as above basic experiment setting parameter, change anchor node communication radius, run CMLA algorithm, the change of observation analysis Signal Coverage Percentage, result as shown in Figure 2.Can find out, along with the increase of anchor node communication radius, Signal Coverage Percentage totally becomes to increasing gradually before this and then tends towards stability.Due to the impact by RSSI value, Signal Coverage Percentage is some fluctuation among a small circle.According to this result of the test, after anchor node communication radius reaches certain value, Signal Coverage Percentage is very high, after anchor node communication radius increases to 20m, Signal Coverage Percentage is up to 95%, so the communication radius of anchor node can obtain a suitable value, not necessarily be the bigger the better, because the communication radius of anchor node is larger, then consumes energy also larger, and then the energy consumption of whole system can be increased.
Arrange the change that code display mobile route length changes along with anchor node communication, result as shown in Figure 3.Can find out, the change of the mobile route length of anchor node is uneven, this is found range by RSSI and causes, RSSI range finding is subject to the interference of external environment, so the RSSI value recorded is not necessarily identical at every turn, so have an impact to the location of unknown node in region, and then affect the mobile route of anchor node.When CMLA algorithm positions, the mobile route of anchor node is dynamic change, thus can have an impact to the mobile route of anchor node, so the dynamic of this algorithm also can make the mobile route of anchor node produce fluctuation.Although path fluctuates to some extent, known by observing Fig. 3, in this emulation when the communication radius of anchor node is 22m, the path of the movement of anchor node is relatively little.
Arrange code display node locating design sketch, as shown in Figure 4, figure middle short line is the difference between node physical location and the position that calculates to result.Known by observing Fig. 4, the point of the not necessarily borderline region that position error is large; The error of node locating is even has several error a little relatively greatly, other all less, and the general location effect of node is better.
The present invention is being incorporated into the thought of sub-clustering in the active path planning process of mobile anchor node, the existence of Invalid path in the mobile route of anchor node is reduced, simultaneously have compared with multinode bunch in the path of movement be regular hexagon, this virtual beacon that unknown node is received becomes the probability of equilateral triangle greatly to increase, and therefore improves positioning precision.

Claims (3)

1., based on a wireless sensor network mobile anchor node locating algorithm for sub-clustering, it is characterized in that:
(1) determine the leader cluster node in network area, select communication range to include the maximum point of unknown node and be bunch head and mark whole bunch, removing flag node continues to select bunch head, until all nodes are all labeled by above-mentioned requirements;
(2) anchor node select have maximum unknown node undetermined bunch cluster head position as initial position, the path policy prepared by having planned moves;
(3) after anchor node arrives cluster head, judge the number of unknown node in cluster head region, if be more than or equal to 6, then anchor node moves along the regular hexagon put centered by cluster head, orthohexagonal deflection angle angle value is this cluster head and the inclination angle of the line of the cluster head that next time will move to, if unknown node is less than 6, then anchor node moves directly to unknown node;
(4) anchor node is in each cluster head, orthohexagonal summit and oneself the location message of unknown node place broadcast that moves to;
(5), after the location message receiving 3 and above virtual anchor node when unknown node, unknown node carries out self-align or reorientation;
(6) whether judging area interior nodes has completed self-align all, if then anchor node stops mobile, location completes, otherwise anchor node moves to next bunch, bunch in continue to move according to step 3.
2. a kind of wireless sensor network mobile anchor node locating algorithm based on sub-clustering according to claim 1, is characterized in that: the orthohexagonal length of side and there is following relation between the communication radius of cluster head, the communication radius of unknown node and anchor node communication radius in described step (3):
L ≥ 2 3 R R c ≤ R ≤ R m
Wherein, L is the orthohexagonal length of side, and R is the communication radius of cluster head, R cfor the communication radius of unknown node, R mfor anchor node communication radius.
3. a kind of wireless sensor network mobile anchor node locating algorithm based on sub-clustering according to claim 1 and 2, it is characterized in that: when the node in described step 5 reaches the condition being converted into static anchor node, be static anchor node by this node transitions, participate in the position fixing process of unknown node in region.
CN201510522234.7A 2015-08-24 2015-08-24 Wireless sensor network mobile anchor node location algorithm based on clustering Pending CN105163280A (en)

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