CN105188034A - Collaborative positioning method in wireless sensor network - Google Patents

Collaborative positioning method in wireless sensor network Download PDF

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Publication number
CN105188034A
CN105188034A CN201510738895.3A CN201510738895A CN105188034A CN 105188034 A CN105188034 A CN 105188034A CN 201510738895 A CN201510738895 A CN 201510738895A CN 105188034 A CN105188034 A CN 105188034A
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node
cluster
value
contribution margin
wireless sensor
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CN105188034B (en
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夏玮玮
朱亚萍
沈连丰
章跃跃
胡静
宋铁成
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Southeast 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
    • H04W4/025—Services making use of location information using location based information parameters
    • 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
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The invention provides a collaborative positioning method in a wireless sensor network. According to the positioning method, different node clusters are divided based on the Received Signal Strength (RSS) of each node to be positioned and Cramer-Rao Lower Bound (CRLB) of an estimated position, a reference node beneficial to positioning accuracy is selected from the node clusters, and the position of the node to be positioned is calculated by utilizing the known position information of the selected reference node with a Linear further Squares (LLS) algorithm. By selecting the reference node for the node to be positioned with the collaborative positioning method, the energy consumption of the wireless sensor network and the calculating complexity of collaborative positioning are greatly reduced at the cost of slightly reducing the positioning accuracy.

Description

Cooperative Localization Method in a kind of wireless sensor network
Technical field
The invention belongs to wireless location technology field, particularly relate to the co-positioned in wireless sensor network.
Background technology
In recent years, the acquisition for positional information receives very large concern in wireless system (such as Cellular Networks, WLAN (wireless local area network), wireless sensor network etc.).The network that the sensor node that wireless sensor network (WirelessSensorNetworks, WSN) possesses perception environmental parameter ability by some forms, and be equipped with radio transmission apparatus and carry out radio communication.This wireless sensor network is widely used in the application of some environment sensing, such as monitoring water quality, indoor air quality monitoring, accurate agricultural management etc.In these above-mentioned application, if the more specific location information that cannot obtain node is nonsensical, thus the orientation problem of wireless sensor network interior joint becomes one of research very powerful and exceedingly arrogant at present.
Location in current wireless sensor network is mainly divided into non-cooperating to locate and co-positioned.In traditional non-cooperating location, node to be positioned only calculates self position by the reference node that positional information is known.In co-positioned, the location estimation of node to be positioned not only needs to rely on reference node, can also utilize the positional information of other nodes to be positioned.Positioning precision can be improved well by the mutual cooperation between node, but great energy ezpenditure and algorithm complex problem can be caused simultaneously.Due to the network that wireless sensor network is a kind of energy constraint, in the co-positioned of wireless sensor network, thus how to realize the balance between positioning precision and energy ezpenditure and algorithm complex, be an of great value research direction.
Summary of the invention
The present invention, to realize balance between positioning precision and energy ezpenditure and algorithm complex for target, provides a kind of Cooperative Localization Method of wireless sensor network.
For solving the problems of the technologies described above, the invention provides the Cooperative Localization Method in a kind of wireless sensor network, comprising the following steps:
(1) before location starts, by adding up the node to be positioned of random distribution in locating area to the cumulative probability density fonction of the RSS value of reference node, received signal strength threshold value is set, in the network receive node to be positioned, the RSS value of its communication range interior nodes all compares with the threshold value arranged, and received signal strength value is greater than the node division of threshold value in the node cluster of this node to be positioned;
(2) calculate in the node cluster of node to be positioned that any two nodes are to the CRLB value of its location estimation, in a certain node and node cluster, the inverse of these CRLB value summations all that other each combination of nodes obtain treats the contribution margin of location node location estimation as this node;
(3) in position fixing process, due to the time-varying characteristics of channel, if the RSS value of node to be positioned to node a certain in its node cluster is less than the threshold value of setting, and the contribution margin of this node is less than other all nodes in node cluster, then under node cluster interior joint number is greater than the prerequisite of 3, by this node from bunch remove, otherwise retain; If the RSS value of node to be positioned to the outer a certain node of its node cluster is greater than the threshold value of setting, and the contribution margin of this node is greater than the minimum node of contribution margin in node cluster, then by this node division in this node cluster;
(4) from the node cluster of node to be positioned, choose the reference node of the larger node of contribution margin as this node to be positioned, utilize the positional information of selected reference node, use LLS algorithm to calculate its position.
Relative to prior art, the present invention has following beneficial effect:
The present invention takes into full account the confinement problems that energy of wireless sensor network is limited, by arranging received signal strength threshold value, is the node cluster that node division to be positioned is different, avoids redundant node to participate in location and causes network load excessive.Described method reduces energy ezpenditure and the computation complexity of co-positioned in wireless sensor network, and take into full account the precision problem of location on this basis, choose from node cluster and treat the larger node of location node location estimation contribution margin as positioning with reference to node, thus reach between Position location accuracy and energy ezpenditure and algorithm complex and compromise preferably.
Accompanying drawing explanation
Fig. 1 is the location scene graph of wireless sensor network.
Fig. 2 is the location estimation flow chart of each node to be positioned.
Embodiment
The present invention is the node division node cluster each to be positioned in wireless sensor network, and therefrom choose the reference node more favourable to positioning precision, use linear least-squares (LinearLeastSquares, LLS) algorithm calculates its position, is further described implementation method of the present invention below in conjunction with accompanying drawing.
In wireless sensor network, suppose there is N in this network athe reference node that individual positional information is known, its coordinate position is designated as (N-N a) node to be positioned of individual random distribution, the coordinate position of these nodes to be positioned is unknown, is designated as
As accompanying drawing 2, before location starts, by adding up the node to be positioned of random distribution in locating area to the received signal strength (ReceivedSignalStrength of reference node, RSS) the cumulative probability density fonction of value, received signal strength threshold value is set, in the network receive node to be positioned, the RSS value of its communication range interior nodes all compares with the threshold value arranged, received signal strength value is greater than the node division of threshold value in the node cluster of this node to be positioned, concrete steps are as follows:
(1) N is fixed athe reference node that individual positional information is known, the a large amount of node to be positioned of random arrangement in locating area, record the received signal strength value of node to be positioned, the cumulative probability density function of statistics received signal strength value, and choose signal strength values corresponding to a certain probability ε (at least need 3 reference nodes in two-dimensional localization, thus choose ε value according to concrete scene and ensure that the nodes in node cluster is not less than 3) place as received signal strength threshold value.
(2) to some node x to be positioned specifically j, be received in the signal of all nodes in its communication range (comprising reference node and other nodes to be positioned), the threshold value arranged in the signal strength values received and (1) compared, if be greater than this threshold value, then by this node division to x jnode cluster C jin, otherwise not in this node cluster.
After the good node cluster of node division to be positioned, to calculate in the node cluster of node to be positioned any two nodes to the carat Metro lower bound (Cramer-RaoLowerBound of its location estimation, CRLB), calculate the inverse of these CRLB value summations all that other each combination of nodes in a certain node and node cluster obtain, this reciprocal value is treated the contribution margin of location node location estimation as this node, choose the reference node of the large node of contribution margin as this node to be positioned, and according to RSS value in conjunction with this contribution margin, dynamically the node in node cluster is upgraded.
(3) suppose according to the division methods in (1), node x to be positioned jnode cluster C jin have M node, then to C jin any two node x mand x nand this location node x jthere is following CRLB computing formula:
σ j _ m n 2 = 1 b Σ m = 2 M d j m - 2 Σ m = 2 M - 1 Σ n = m + 1 M ( d j ⊥ m n d m n d j m 2 d j n 2 ) 2 - - - ( 1 )
In formula (1), d jm, d jnand d mnrepresent node x to be positioned respectively jwith C jinterior joint x mand x ndistance and x m, x nbetween distance, d j ⊥ mnnode x to be positioned jto node x mwith x nthe beeline of line.
To node cluster C jin a certain node x m, by this node with bunch in other each combination of nodes, the CRLB value that M-1 defines such as formula (1) can be obtained, utilize following formulae discovery node x mtreat location node x jthe contribution margin of location estimation:
w m j = 1 Σ q = 1 M - 1 σ j _ m n 2 , ( n = 1 , 2 , ... , M , n ≠ m )
Computing node bunch C jthe contribution margin of a middle M node, and do following sequence according to the size of contribution margin:
w 1j≤w 2j≤…≤w Mj
Due to the time-varying characteristics of radio communication channel, in node cluster, the received signal strength value of each node is also unstable.If a certain moment node x pnot at node x to be positioned jnode cluster in, but x jthe x received psignal strength values be greater than the signal strength threshold of setting, then computing node x pwith bunch in the CRLB value that obtains of maximum M-1 the combination of nodes of contribution margin, and through type (2) calculates node x further pcontribution margin:
w p j = 1 Σ n = 2 M σ j _ p n 2 - - - ( 2 )
By the contribution margin w calculated pjwith the minimum contribution margin w in node cluster 1jcompare, if w pj>w 1j, then by node x pbe divided into node cluster C jin.
If node x to be positioned of a certain moment jto node cluster C jin a certain node x qreceived signal strength value be less than threshold value, and the contribution margin w of this node qjbe less than other arbitrary nodes in node cluster, then at node cluster C jwhen interior joint number is greater than 3, by node x qremove from node cluster; If node cluster C jin interstitial content be less than or equal to 3, then still retain node x q.
By above step, the node cluster of node to be positioned is dynamically updated, choose the reference node of the larger node of its positioning result contribution margin as this node to be positioned from the node cluster of each node to be positioned, utilize the positional information of selected reference node, use linear least-squares algorithm to calculate its position, concrete steps are as follows:
(4) by node x to be positioned jnode cluster C jin N number of node as the reference node of its location estimation, x j{ P is designated as to the received signal strength value of node each in node cluster ji, i=1,2 ..., N}, utilizes each node of following formulae discovery to node x to be positioned jestimated position:
d ^ j i = 10 P 0 - P j i 10 α - - - ( 3 )
In formula (3), P 0rSS value (unit is dBm) when be the spacing of this location scene lower node being 1m, α is decay factor, depends on concrete communication environment.According to formula (3), can obtain and node cluster C jin the range estimation of N number of node, be designated as select from N number of reference node apart from node x to be positioned jnearest node x r, meet following formula:
r = arg min i { d ^ i j } , i = 1 , 2 , ... , N
(5) distance vector utilizing step (3) to obtain, builds following matrix:
A l l s x = 1 2 p l l s - - - ( 4 )
In formula (4), have
A l l s = x 1 - x r y 1 - y r x 2 - x r y 2 - y r · · · · · · x N - x r y N - y r , p l l s = d ^ r j 2 - d ^ 1 j 2 - k r 1 d ^ r j 2 - d ^ 2 j 2 - k r 2 · · · d ^ r j 2 - d ^ N j 2 - k r N
k r i = x r 2 + y r 2 - x i 2 - y i 2 , i = 1 , 2 , ... , N , i ≠ r
Linear least-squares algorithm is used to calculate node x to be positioned jposition, have
x l l s = 1 2 ( A l l s T A l l s ) - 1 A l l s T p l l s - - - ( 5 )
The foregoing is only better embodiment of the present invention; protection scope of the present invention is not limited with above-mentioned execution mode; in every case those of ordinary skill in the art modify or change according to the equivalence that disclosed content is done, and all should include in the protection range recorded in claims.

Claims (2)

1. the Cooperative Localization Method in wireless sensor network, is characterized in that: the method is each node division node cluster to be positioned, and therefrom chooses the reference node more favourable to positioning precision, uses linear least-squares LLS method to calculate its position; The method comprises the steps:
(1) before location starts, by adding up the node to be positioned of random distribution in locating area to the cumulative probability density fonction of the received signal strength RSS value of reference node, received signal strength threshold value is set, in the network receive node to be positioned, the RSS value of its communication range interior nodes all compares with the threshold value arranged, and received signal strength value is greater than the node division of threshold value in the node cluster of this node to be positioned;
(2) any two nodes are calculated in the node cluster of node to be positioned to the carat Metro lower bound CRLB of its location estimation, calculate the inverse of these CRLB value summations all that other each combination of nodes in a certain node and node cluster obtain, this reciprocal value is treated the contribution margin of location node location estimation as this node, choose the reference node of the large node of contribution margin as this node to be positioned, and according to RSS value in conjunction with this contribution margin, dynamically the node in node cluster is upgraded;
(3) choose from the node cluster of each node to be positioned the reference node of the larger node of its positioning result contribution margin as this node to be positioned, utilize the positional information of selected reference node, use linear least square to calculate its position.
2. the Cooperative Localization Method in wireless sensor network according to claim 1, it is characterized in that: in position fixing process, due to the time-varying characteristics of channel, if the RSS value of node to be positioned to node a certain in its node cluster is less than the threshold value of setting, and the contribution margin of this node is less than other all nodes in node cluster, then under node cluster interior joint number is greater than the prerequisite of 3, this node is removed from node cluster, otherwise retain; If the RSS value of node to be positioned to the outer a certain node of its node cluster is greater than the threshold value of setting, and the contribution margin of this node is greater than the minimum node of contribution margin in node cluster, then by this node division in this node cluster.
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Cited By (5)

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CN105764133A (en) * 2016-04-13 2016-07-13 电子科技大学 RSSI-based WSN node positioning method for abnormal value restraint
CN105897895A (en) * 2016-04-12 2016-08-24 时建华 Power anomaly data monitoring system based on wireless sensor network
CN106851800A (en) * 2017-01-20 2017-06-13 东南大学 A kind of anchor node dispatching method in wireless sensor network positioning
CN107870290A (en) * 2017-11-10 2018-04-03 西安交通大学 A kind of direction finding precision analysis method suitable for Arbitrary Planar Array
CN109348403A (en) * 2018-10-08 2019-02-15 内蒙古大学 The base station deployment optimization method of object fingerprint positioning in a kind of heterogeneous network environment

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US20130045750A1 (en) * 2011-08-19 2013-02-21 Snu R&Db Foundation Wireless localization method based on an efficient multilateration algorithm over a wireless sensor network and a recording medium in which a program for the method is recorded
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CN105897895A (en) * 2016-04-12 2016-08-24 时建华 Power anomaly data monitoring system based on wireless sensor network
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CN109348403A (en) * 2018-10-08 2019-02-15 内蒙古大学 The base station deployment optimization method of object fingerprint positioning in a kind of heterogeneous network environment

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