CN105223549B - A kind of full mobile node positioning method of wireless sensor network based on RSSI - Google Patents
A kind of full mobile node positioning method of wireless sensor network based on RSSI Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/12—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0205—Details
- G01S5/021—Calibration, monitoring or correction
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0278—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves involving statistical or probabilistic considerations
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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
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Abstract
The present invention relates to a kind of full mobile node positioning methods of the wireless sensor network based on RSSI.Current ranging localization algorithm is chiefly used in static node positioning, or part of nodes is mobile, the static situation of part of nodes, have no the node locating being in RSSI location algorithm applied to anchor node and unknown node under moving condition, and algorithm can not solve the node locating in the case that anchor node quantity is less than 3 at present.It is an object of the invention to overcome the above-mentioned deficiency of the prior art, a kind of full mobile node positioning method of the wireless sensor network based on RSSI is provided.The present invention can obtain the position of unknown node using different algorithms in unknown node and four, three, two and one anchor node communication.
Description
Technical field
The present invention relates to network node locating methods, and in particular to the wireless sensor network based on RSSI moves entirely
Node positioning method.
Background technique
Wireless sensor network (wireless sensor networks, WSN) is a large amount of in monitoring region by being deployed in
Cheap microsensor node composition, the network system of the self-organizing for the multi-hop that mode is formed by wireless communication,
Purpose is collaboratively to perceive, acquire and handle the information of perceptive object in network's coverage area, and being sent to observer.
In sensor network, location information is most important to the monitoring activity of sensor network, the position that event occurs
Or obtaining the node location of information is important information included in sensor node supervisory messages.Accordingly, it is determined that event occurs
Position or obtain message node location be most basic one of the function of sensor network, to sensor network application it is effective
Property plays a key role.
In sensor network nodes location technology, according to itself whether known position of node, sensor node point
For anchor node and unknown node.Anchor node shared ratio very little within network nodes, can pass through and carry GPS positioning device etc.
Means obtain the exact position of itself.Anchor node is the reference point of unknown node positioning, the position that unknown node passes through anchor node
Information calculates the position of itself according to certain location algorithm.According to whether the distance between measuring node, can calculate positioning
Method is divided into the location algorithm based on ranging and the location algorithm without ranging.Location algorithm without ranging mainly passes through routing and jumps
The information such as number, network connectivty are positioned.Location algorithm based on ranging passes through the distance between ranging technology measuring node, then
The coordinate of unknown node is calculated using the range information that measurement obtains.Based on the location technology of ranging due to needing to calculate section
Distance between point, so its positioning accuracy is higher than range-free localization algorithm.Wherein, it is based on signal receiving strength (received
Signal strength indicator, RSSI) location technology of ranging is a more representational implementation.Base
The signal strength when working principle of RSSI ranging is the transmitting of known transmitting node, receiving node is according to receiving the strong of signal
Degree converts distance for signal strength using theoretical or experience signal propagation model, to calculate the position of egress.Due to
RSSI algorithm has that location algorithm is simple, at low cost, small power consumption, extensive without the advantages such as time synchronization and additional hardware
Using.But the algorithm is due to being easy the interference by environment, such as multi-path jamming, diffraction, barrier during radio signal propagation
Hinder the uncertainties such as object, non-line-of-sight that can all influence wireless signal strength, so that the precision based on RSSI ranging and positioning is by shadow
It rings.RSSI is introduced into centroid localization algorithm, the advantages of using the two, it is fixed at present for improving the positioning accuracy of wireless sensor network
One of the main direction of studying of position technology.Current ranging localization algorithm is chiefly used in static node positioning or part of nodes moves
Dynamic, the static situation of part of nodes has no RSSI location algorithm being in moving condition applied to anchor node and unknown node
Under node locating, and algorithm can not be solved when anchor node quantity is less than the node locating in the case where 3 at present.
Summary of the invention
It is an object of the invention to overcome the above-mentioned deficiency of the prior art, a kind of wireless sensor network based on RSSI is provided
The full mobile node positioning method of network.Specific step is as follows:
1. the determination of ranging model
Under normal circumstances, Decay Rate is presented with the increase of distance in the mean power for receiving signal, general in wireless transmission
It is shadowing model all over the theoretical model used, as shown in formula (1):
In formula, PrIndicate the reception power (dBm) of wireless signal；Pr(d0) expression reference distance be d0Wireless signal exist
The reception power (dBm) of receiving end, d indicate the distance between Transmit-Receive Unit (m), d0It is reference distance (m), n is indicated and environment
Relevant path dissipates index, and X is the Gaussian random variable (dBm) that mean value is 0.Reference distance d0Normal value 1m, so formula
It (1) can be with approximate representation are as follows:
Pr=A-10nlg (d) (2)
In formula, A receives the power (dBm) of signal when being signal transmission distance 1m remote, and n is path loss related with environment
Coefficient, d are signal transmission distance.
Least square method can be used in formula (2) and determine A and n value, one group of distance d is measured under identical experimental situationiWith
The value P of received signal power intensityri, enable y=PrWith x=lg (d), then formula (2) may be expressed as:
Y=A-10nx (3)
If approximate matched curve isSum of square of deviations are as follows:
In formulaFor xiThe formula about coefficient a after bringing matched curve into, yiFor xiUnder corresponding experimental situation
The data of measurement.According to making the smallest principle matched curve of sum of square of deviations.
Each point may be expressed as: to the sum of the distance of matched curve, i.e. sum of square of deviations
A is asked to (5) formula the rightiLocal derviation, and it is expressed as matrix form:
[a can be solved by (6) formula0 a1 … ak], and then can determine matched curve, then by matched curveCompared with actual curve, can determine A and n, the distance of last available shadowing model with
The formula of received signal strength.
2. specific position fixing process
(1) when anchor node and unknown node are all in random movement, at the k moment, when unknown node X can be with 4 or more
When anchor node is communicated, chooses wherein 4 RSSI values maximum anchor node A, B, C, D and position the unknown node, RSSI is got over
It is closer apart from unknown node just to represent anchor node greatly.The signal strength from anchor node A, B, C, D that unknown node receives point
It Wei not RSSIA、RSSIB、RSSIC、RSSID, using apart from transformation model, X can be calculated to the distance of anchor node A, B, C, D, divided
D is not expressed as itA、dB、dC、dD.In two-dimensional planar location, positions unknown node and need that there are three can communicate with it
Therefore anchor node from this four anchor nodes, selects three arbitrarily to position unknown node, then the same unknown node is in total
It can be positioned 4 times, positioning coordinate every time is respectively (x1,y1)、(x2,y2)、(x3,y3)、(x4,y4).Assuming that being first with B, C, D
Anchor node positions unknown node X, respectively using anchor node B, C, D as dot, dB、dC、dDPoint X is intersected at for three circles of radius, then
The point is the position of unknown node, calculation formula such as (7):
(x in formulaB,yB)、(xC,yC)、(xD,yD) be respectively anchor node B, C, D coordinate, (x1,y1) be by anchor node B,
C, D is come the coordinate of the unknown node X positioned, dB、dC、dDThe distance of respectively anchor node B, C, D to unknown node X, such as Fig. 2 institute
Show.
The coordinate of unknown node X can be acquired by formula (7).
Using the above method, can respectively obtain with anchor node A, C, D, A, B, D, the unknown node coordinate of A, B, C positioning
(x2,y2)、(x3,y3)、(x4,y4)。
The coordinate of unknown node is determined using mass center weighting location algorithm:
Distance value d is smaller, and the precision of corresponding positioning is also higher, the distance in total of any three anchor nodes to unknown node
Smaller, the result precision oriented is higher, so the weight of such coordinate should be larger.(x1,y1)、(x2,y2)、(x3,
y3)、(x4,y4) weight M1、M2、M3、M4It is respectively as follows:
Denominator indicates that four anchor nodes arrive the sum of unknown node inverse distance respectively in formula, and molecule is corresponding participation positioning
Three anchor nodes to unknown node inverse distance sum.
Thus it calculates, the coordinate of unknown node is (x', y')
When anchor node and unknown node are all in random movement, at the k moment, when unknown node X can be with 4 and the above anchor section
When point is communicated, after the coordinate (x', y') that unknown node is calculated according to formula (10), in order to further increase mobile node
Positioning accuracy, to orient come coordinate be modified；
According to ambient conditions, a distance value σ and σ > 0 are given, when the distance between two nodes are less than σ, then it is assumed that
Two nodes are in same environment, then as the error as caused by environment is approximation when positioning the two nodes,
In 4 anchor nodes, they to the distance of unknown node X be respectively dA、dB、dC、dD, the distance value less than σ is picked out, then is recognized
It is in identical environment for these anchor nodes and unknown node；
1) there was only distance d of the anchor node A apart from unknown node such as in tetra- anchor nodes of A, B, C, DA< σ then uses anchor section
Point B, C, D is (x' come the coordinate for the A point for positioning anchor node A, and calculatingA,y'A), position error is (ex,ey) indicate are as follows:
Position error caused by this error representative unknown node environment；
If 2) there is multiple values to meet d > σ in the distance value of unknown node and anchor node, the method being averaging using weighting
Error is calculated, such as the distance value d of anchor node A, B, C, D to unknown node XA、dB、dC、dDBoth less than σ, then respectively with wherein three
A anchor node is an other anchor node of beaconing nodes positioning, and the anchor node coordinate positioned again is respectively A (x'A,y'A)B
(x'B,y'B)C(x'C,y'C)D(x'D,y'D), obtaining position error respectively is, such as formula (12)
(eAx,eAy)、(eAx,eAy)、(eAx,eAy)、(eAx,eAy) weight be respectively WA、WB、WC、WD, such as formula (13)
The denominator of weight be each anchor node to unknown node inverse distance and, molecule is that the anchor node wherein positioned arrives
The inverse of unknown node distance, distance value is smaller, indicates that distance of the anchor node apart from unknown node is closer, then positioning the anchor section
The error generated when point gets over error when can represent positioning unknown node, so weight is bigger；
Final error is (ex,ey) be represented by
The coordinate (x, y) of revised unknown node is
(2) when anchor node and unknown node are all in random movement, at the kth moment, when only 3 anchor nodes can with not
When knowing that node is communicated, it is assumed that anchor node is respectively A, B, C, and the signal strength that unknown node receives is respectively
RSSIA、RSSIB、RSSIC, it is d using the distance for apart from transformation model, arriving unknown node respectivelyA、dB、dC, then respectively with anchor
Node A, B, C are the center of circle, respectively with dA、dB、dCIt draws and justifies for radius, intersect at unknown node X, trilateration positioning can be used
Unknown node X.Calculation formula are as follows:
Thus the coordinate (x, y) of unknown node X can be acquired.
(3) when anchor node and unknown node are all in random movement, at the k moment, when unknown node X can only be with 2 anchor sections
When point A and B are communicated, if the movement speed of unknown node is v, unknown node positions successfully its coordinate at the k-1 moment and is
(xk-1,yk-1).K moment anchor node A and B is communicated with unknown node X, and the distance of anchor node to unknown node X are respectively dA、
dB, respectively using anchor node A and B as the center of circle, with dA、dBIt draws and justifies for radius, then the point of two circle intersections is respectively X1And X2, according to public affairs
Formula (18) finds out the coordinate X of intersection point1(x1,y1)、X2(x2,y2), as shown in Figure 3.
Then k-1 moment unknown node X to X is calculated1And X2Distance value be respectively d1、d2If | d1-v|<|d2- v |, then
X1It is unknown node X in the position at k moment, if | d2-v|<|d1- v |, then X2It is unknown node X in the position at k moment.
(4) when anchor node and unknown node are all in random movement, at the k moment, when only 1 anchor node A can with not
When knowing nodes X communication, the movement speed of unknown node is v, and at k-n to the k-1 moment, unknown node positions successfully.At first n
The coordinate inclination angle sequence for carving positioning is respectively θi=(θk-n,θk-n+1,…,θk-1), whereinSubtracted with latter
Previous item is gone to obtain adjacent angle difference sequence Δ θi=(Δ θ1,Δθ2,…,Δθn-1).It is predicted using this n-1 differential seat angle
N-th of differential seat angle, and then calculate inclination angle of the k moment unknown node relative to coordinate origin.The method of prediction is ash
Prediction, using angle difference sequence as original series, enables Δ θi=x(0)(m), wherein detailed process is as follows by m=i=1 ... n-1:
Original series are as follows:
x(0)(m)=(x(0)(1),x(0)(2),…,x(0)(n-1)) (19)
1) single order Accumulating generation sequence is done:
2) background value of GM (1,1) is constructed:
3) x is established(1)(k), k=1,2 ..., the first-order linear albinism differential equation of n-1:
Wherein a, u are undetermined coefficient, the white function formula of equation (22) are as follows:
4) parameter a, u are estimated according to principle of least square method
Wherein, data matrix B and YnAre as follows:
5) by a, the estimated value of uSubstitution formula (23), obtains predictive equation
6) original data sequence model is established:
In formula,For original data sequence x(0)(k), k=1,2 ..., the match value of n-1；For
Original data sequence x(0)(k), k=1,2 ..., the predicted value of n-1.
Predict Δ θnAfterwards, inclination angle of the position of k moment unknown node relative to coordinate origin is calculated are as follows:
θk=θk-1+Δθn (29)
At the k-1 moment, using the position of unknown node X as the center of circle, speed v is that the circle of radius is with anchor node location A with the k moment
The center of circle, dAX is intersected at for the circle of radius1And X2Two points, the two point in have a point be k moment unknown node X position.
Due to having estimated the inclination angle of k moment unknown node Yu origin line L, by judging X1And X2Distance to straight line L can be true
Which fixed point is correct position, that is, the point being closer is the position that k moment unknown node moves to, as shown in figure 4, X2For
The position of k moment unknown node.
The coordinate of k-1 moment unknown node X is (xk-1,yk-1), the coordinate of k moment anchor node A is (xA,yA), X1And X2Meter
Calculate formula are as follows:
Detailed description of the invention
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments；
Fig. 1 is system flow chart of the invention；
Fig. 2 is trilateration of the invention；
The case where Fig. 3 is the anchor node number that can communicate with unknown node of the present invention when being 2；
The case where Fig. 4 is the anchor node number that can communicate with unknown node of the present invention when being 1.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
Referring to Fig.1-4, present embodiment uses following technical scheme: the invention proposes one kind to be weighted based on RSSI
Mass center mobile node location algorithm, by the wireless sensing that RSSI weighted mass center algorithm is applied to anchor node and unknown node moves entirely
Device network.In conjunction with the speed of unknown node and the variation at different moments inclination angle, to solve to work as anchor node in RSSI location algorithm
The problem of can not being positioned when less than 3.
1. the determination of ranging model
Under normal circumstances, Decay Rate is presented with the increase of distance in the mean power for receiving signal, general in wireless transmission
It is shadowing model all over the theoretical model used, as shown in formula (1):
In formula, PrIndicate the reception power (dBm) of wireless signal；Pr(d0) expression reference distance be d0Wireless signal exist
The reception power (dBm) of receiving end, d indicate the distance between Transmit-Receive Unit (m), d0It is reference distance (m), n is indicated and environment
Relevant path dissipates index, and X is the Gaussian random variable (dBm) that mean value is 0.Reference distance d0Normal value 1m, so formula
It (1) can be with approximate representation are as follows:
Pr=A-10nlg (d) (2)
In formula, A receives the power (dBm) of signal when being signal transmission distance 1m remote, and n is path loss related with environment
Coefficient, d are signal transmission distance.
Least square method can be used in formula (2) and determine A and n value, one group of distance d is measured under identical experimental situationiWith
The value P of received signal power intensityri, enable y=PrWith x=lg (d), then formula (2) may be expressed as:
Y=A-10nx (3)
If approximate matched curve isSum of square of deviations are as follows:
In formulaFor xiThe formula about coefficient a after bringing matched curve into, yiFor xiUnder corresponding experimental situation
The data of measurement.According to making the smallest principle matched curve of sum of square of deviations.
Each point may be expressed as: to the sum of the distance of matched curve, i.e. sum of square of deviations
A is asked to (5) formula the rightiLocal derviation, and it is expressed as matrix form:
[a can be solved by (6) formula0 a1 … ak], and then can determine matched curve, then by matched curveCompared with actual curve, can determine A and n, the distance of last available shadowing model with
The formula of received signal strength.
2. specific position fixing process
(1) when anchor node and unknown node are all in random movement, at the k moment, when unknown node X can be with 4 or more
When anchor node is communicated, chooses wherein 4 RSSI values maximum anchor node A, B, C, D and position the unknown node, RSSI is got over
It is closer apart from unknown node just to represent anchor node greatly.The signal strength from anchor node A, B, C, D that unknown node receives point
It Wei not RSSIA、RSSIB、RSSIC、RSSID, using apart from transformation model, X can be calculated to the distance of anchor node A, B, C, D, divided
D is not expressed as itA、dB、dC、dD.In two-dimensional planar location, positions unknown node and need that there are three can communicate with it
Therefore anchor node from this four anchor nodes, selects three arbitrarily to position unknown node, then the same unknown node is in total
It can be positioned 4 times, positioning coordinate every time is respectively (x1,y1)、(x2,y2)、(x3,y3)、(x4,y4).Assuming that being first with B, C, D
Anchor node positions unknown node X, respectively using anchor node B, C, D as dot, dB、dC、dDPoint X is intersected at for three circles of radius, then
The point is the position of unknown node, calculation formula such as (7):
(x in formulaB,yB)、(xC,yC)、(xD,yD) be respectively anchor node B, C, D coordinate, (x1,y1) be by anchor node B,
C, D is come the coordinate of the unknown node X positioned, dB、dC、dDThe distance of respectively anchor node B, C, D to unknown node X, such as Fig. 2 institute
Show.
The coordinate of unknown node X can be acquired by formula (7).
Using the above method, can respectively obtain with anchor node A, C, D, A, B, D, the unknown node coordinate of A, B, C positioning
(x2,y2)、(x3,y3)、(x4,y4)。
The coordinate of unknown node is determined using mass center weighting location algorithm:
Distance value d is smaller, and the precision of corresponding positioning is also higher, the distance in total of any three anchor nodes to unknown node
Smaller, the result precision oriented is higher, so the weight of such coordinate should be larger.(x1,y1)、(x2,y2)、(x3,
y3)、(x4,y4) weight M1、M2、M3、M4It is respectively as follows:
Denominator indicates that four anchor nodes arrive the sum of unknown node inverse distance respectively in formula, and molecule is corresponding participation positioning
Three anchor nodes to unknown node inverse distance sum.
Thus it calculates, the coordinate of unknown node is (x', y')
On this basis, it in order to further increase the positioning accuracy of mobile node, carries out now to orienting the coordinate come
Amendment.
According to ambient conditions, a distance value σ and σ > 0 are given, when the distance between two nodes are less than σ, then it is assumed that
Two nodes are in same environment, then as the error as caused by environment is approximation when positioning the two nodes.
In 4 anchor nodes, they to the distance of unknown node X be respectively dA、dB、dC、dD, the distance value less than σ is picked out, then is recognized
It is in identical environment for these anchor nodes and unknown node.
1) there was only distance d of the anchor node A apart from unknown node such as in tetra- anchor nodes of A, B, C, DA< σ then uses anchor section
Point B, C, D is (x' come the coordinate for the A point for positioning anchor node A, and calculatingA,y'A), position error is (ex,ey) indicate are as follows:
Position error caused by this error representative unknown node environment.
If 2) there is multiple values to meet d > σ in the distance value of unknown node and anchor node, the method being averaging using weighting
To calculate error.Such as the distance value d of anchor node A, B, C, D to unknown node XA、dB、dC、dDBoth less than σ, then respectively with wherein three
A anchor node is an other anchor node of beaconing nodes positioning, and the anchor node coordinate positioned again is respectively A (x'A,y'A)B
(x'B,y'B)C(x'C,y'C)D(x'D,y'D), obtaining position error respectively is, such as formula (12)
(eAx,eAy)、(eAx,eAy)、(eAx,eAy)、(eAx,eAy) weight be respectively WA、WB、WC、WD, such as formula (13)
The denominator of weight be each anchor node to unknown node inverse distance and, molecule is that the anchor node wherein positioned arrives
The inverse of unknown node distance, distance value is smaller, indicates that distance of the anchor node apart from unknown node is closer, then positioning the anchor section
The error generated when point gets over error when can represent positioning unknown node, so weight is bigger.
Final error is (ex,ey) be represented by
The coordinate (x, y) of revised unknown node is
If 3) distance in 4 anchor nodes apart from unknown node is both greater than given σ, without positioning accuracy
Amendment, then the coordinate of unknown node is (x', y')
(2) when anchor node and unknown node are all in random movement, at the kth moment, when only 3 anchor nodes can with not
When knowing that node is communicated, it is assumed that anchor node is respectively A, B, C, and the signal strength that unknown node receives is respectively
RSSIA、RSSIB、RSSIC, it is d using the distance for apart from transformation model, arriving unknown node respectivelyA、dB、dC, then respectively with anchor
Node A, B, C are the center of circle, respectively with dA、dB、dCIt draws and justifies for radius, intersect at unknown node X, trilateration positioning can be used
Unknown node X.Calculation formula are as follows:
Thus the coordinate (x, y) of unknown node X can be acquired.
When anchor node and unknown node are all in random movement, at the k moment, when unknown node X can only be with 2 anchor node A
When being communicated with B, if the movement speed of unknown node is v, it is (x that unknown node, which positions successfully its coordinate at the k-1 moment,k-1,
yk-1).K moment anchor node A and B is communicated with unknown node X, and the distance of anchor node to unknown node X are respectively dA、dB, point
Not using anchor node A and B as the center of circle, with dA、dBIt draws and justifies for radius, then the point of two circle intersections is respectively X1And X2, according to formula
(18) the coordinate X of intersection point is found out1(x1,y1)、X2(x2,y2), as shown in Figure 3.
Then k-1 moment unknown node X to X is calculated1And X2Distance value be respectively d1、d2If | d1-v|<|d2- v |, then
X1It is unknown node X in the position at k moment, if | d2-v|<|d1- v |, then X2It is unknown node X in the position at k moment.
(4) when anchor node and unknown node are all in random movement, at the k moment, when only 1 anchor node A can with not
When knowing nodes X communication, the movement speed of unknown node is v, and at k-n to the k-1 moment, unknown node positions successfully.At first n
The coordinate inclination angle sequence for carving positioning is respectively θi=(θk-n,θk-n+1,…,θk-1), whereinSubtracted with latter
Previous item is gone to obtain adjacent angle difference sequence Δ θi=(Δ θ1,Δθ2,…,Δθn-1).It is predicted using this n-1 differential seat angle
N-th of differential seat angle, and then calculate inclination angle of the k moment unknown node relative to coordinate origin.The method of prediction is ash
Prediction, using angle difference sequence as original series, enables Δ θi=x(0)(m), wherein detailed process is as follows by m=i=1 ... n-1:
Original series are as follows:
x(0)(m)=(x(0)(1),x(0)(2),…,x(0)(n-1)) (19)
1) single order Accumulating generation sequence is done:
2) background value of GM (1,1) is constructed:
3) x is established(1)(k), k=1,2 ..., the first-order linear albinism differential equation of n-1:
Wherein a, u are undetermined coefficient, the white function formula of equation (22) are as follows:
4) parameter a, u are estimated according to principle of least square method
Wherein, data matrix B and YnAre as follows:
5) by a, the estimated value of uSubstitution formula (23), obtains predictive equation
6) original data sequence model is established:
In formula,For original data sequence x(0)(k), k=1,2 ..., the match value of n-1；For
Original data sequence x(0)(k), k=1,2 ..., the predicted value of n-1.
Predict Δ θnAfterwards, inclination angle of the position of k moment unknown node relative to coordinate origin is calculated are as follows:
θk=θk-1+Δθn (29)
At the k-1 moment, using the position of unknown node X as the center of circle, speed v is that the circle of radius is with anchor node location A with the k moment
The center of circle, dAX is intersected at for the circle of radius1And X2Two points, the two point in have a point be k moment unknown node X position.
Due to having estimated the inclination angle of k moment unknown node Yu origin line L, by judging X1And X2Distance to straight line L can be true
Which fixed point is correct position, that is, the point being closer is the position that k moment unknown node moves to, as shown in figure 4, X2For
The position of k moment unknown node.
The coordinate of k-1 moment unknown node X is (xk-1,yk-1), the coordinate of k moment anchor node A is (xA,yA), X1And X2Meter
Calculate formula are as follows:
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (1)
1. a kind of full mobile node positioning method of wireless sensor network based on RSSI, which is characterized in that when unknown node energy
When enough and 4,3,2 and 1 anchor nodes communicate, the position of unknown node can be obtained；
(1) when anchor node and unknown node are all in random movement, at the k moment, when unknown node X can be with 4 and the above anchor node
When being communicated, chooses wherein 4 RSSI values maximum anchor node A, B, C, D and position the unknown node, unknown node receives
To the signal strength from anchor node A, B, C, D be respectively RSSIA、RSSIB、RSSIC、RSSID, using apart from transformation model,
Can calculate X to anchor node A, B, C, D distance dA、dB、dC、dD, from this four anchor nodes, select three arbitrarily to position
Unknown node, then the same unknown node can be positioned 4 times in total, and positioning coordinate every time is respectively (x1,y1)、(x2,y2)、
(x3,y3)、(x4,y4), it is assumed that first unknown node X, respectively using anchor node B, C, D as dot, d are positioned by anchor node of B, C, DB、
dC、dDPoint X is intersected at for three circles of radius, then the point is the position of unknown node, calculation formula such as (7):
(x in formulaB,yB)、(xC,yC)、(xD,yD) be respectively anchor node B, C, D coordinate, (x1,y1) it is to pass through anchor node B, C, D
Come the coordinate of the unknown node X positioned, dB、dC、dDThe distance of respectively anchor node B, C, D to unknown node X, can by formula (7)
Acquire the coordinate of unknown node X:
Using the above method, can respectively obtain with anchor node A, C, D, A, B, D, the unknown node coordinate (x of A, B, C positioning2,
y2)、(x3,y3)、(x4,y4), the coordinate of unknown node is determined using mass center weighting location algorithm；
(2) when anchor node and unknown node are all in random movement, at the kth moment, when only 3 anchor nodes can be with unknown node
When being communicated, it is assumed that anchor node is respectively A, B, C, and the signal strength that unknown node receives is respectively RSSIA、RSSIB、
RSSIC, it is d using the distance for apart from transformation model, arriving unknown node respectivelyA、dB、dC, then it is with anchor node A, B, C respectively
The center of circle, respectively with dA、dB、dCIt draws and justifies for radius, intersect at unknown node X, trilateration positioning unknown node can be used and sit
Mark；
(3) when anchor node and unknown node are all in random movement, at the k moment, when unknown node X can only be with 2 anchor nodes A and B
When being communicated, if the movement speed of unknown node is v, it is (x that unknown node, which positions successfully its coordinate at the k-1 moment,k-1,
yk-1), k moment anchor node A and B is communicated with unknown node X, and the distance of anchor node to unknown node X are respectively dA、dB, point
Not using anchor node A and B as the center of circle, with dA、dBIt draws and justifies for radius, then the point of two circle intersections is respectively X1And X2, according to formula
(18) the coordinate X of intersection point is found out1(x1,y1)、X2(x2,y2),
Then k-1 moment unknown node X to X is calculated1And X2Distance value be respectively d1、d2If | d1-v|<|d2- v |, then X1For not
Know nodes X in the position at k moment, if | d2-v|<|d1- v |, then X2It is unknown node X in the position at k moment；
(4) when anchor node and unknown node are all in random movement, at the k moment, when only 1 anchor node A can be with unknown node X
When communication, the movement speed of unknown node is v, and k-n to k-1 moment, unknown node positions successfully, and the preceding n moment positions
Coordinate inclination angle sequence be respectively θi=(θk-n,θk-n+1,…,θk-1), whereinIt is subtracted with latter previous
Item obtains adjacent angle difference sequence Δ θi=(Δ θ1,Δθ2,…,Δθn-1), it is predicted n-th using this n-1 differential seat angle
Differential seat angle, and then inclination angle of the k moment unknown node relative to coordinate origin is calculated, the method for prediction is grey prediction,
Using angle difference sequence as original series, Δ θ is enabledi=x(0)(m), wherein detailed process is as follows by m=i=1 ... n-1:
Original series are as follows:
x(0)(m)=(x(0)(1),x(0)(2),…,x(0)(n-1)) (19)
1) single order Accumulating generation sequence is done:
2) background value of GM (1,1) is constructed:
3) x is established(1)(k), k=1,2 ..., the first-order linear albinism differential equation of n-1:
Wherein a, u are undetermined coefficient, the white function formula of equation (22) are as follows:
4) parameter a, u are estimated according to principle of least square method
Wherein, data matrix B and YnAre as follows:
5) by a, the estimated value of uSubstitution formula (23), obtains predictive equation
6) original data sequence model is established:
In formula,For original data sequence x(0)(k), k=1,2 ..., the match value of n-1；It is original
Data sequence x(0)(k), k=1,2 ..., the predicted value of n-1；
Predict Δ θnAfterwards, inclination angle of the position of k moment unknown node relative to coordinate origin is calculated are as follows:
θk=θk-1+Δθn (29)
At the k-1 moment, using the position of unknown node X as the center of circle, speed v is that the circle of radius with the k moment is round with anchor node location A
The heart, dAX is intersected at for the circle of radius1And X2Two points, the two point in have a point be k moment unknown node X position, by
In the inclination angle for having estimated k moment unknown node Yu origin line L, by judging X1And X2Distance to straight line L can determine
Which point is correct position, that is, the point being closer is the position that k moment unknown node moves to；
The coordinate of k-1 moment unknown node X is (xk-1,yk-1), the coordinate of k moment anchor node A is (xA,yA), X1And X2It calculates public
Formula are as follows:
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