CN105848283A - DV-Hop (Distance Vector-Hop) positioning method based on region partition anchor node movement - Google Patents

Abstract

The invention discloses a DV-Hop (Distance Vector-Hop) positioning method based on region partition anchor node movement. Specific to the situation of poor positioning accuracy in a conventional DV-Hop positioning method due to random non-uniformity of anchor nodes in a deployment process, a target region to be positioned is averagely partitioned into four sub-regions in a positioning process of unknown nodes; movable anchor nodes are introduced; movement re-deployment is performed on the anchor nodes through three different moving methods respectively in order that coverage of the anchor nodes is enlarged as much as possible; and the unknown nodes are positioned through the conventional DV-Hop positioning method. The three different anchor node moving methods include uniform deployment of the anchor nodes, density-based deployment of the anchor nodes, and interval-threshold-based deployment of the anchor nodes. Through adoption of the DV-Hop positioning method based on the region partition anchor node movement, the positioning accuracy of the unknown nodes can be increased effectively when anchor nodes are distributed non-uniformly in a sensor network.

Description

The DV-Hop localization method that anchor node moves is divided based on region

Technical field

The present invention relates to wireless sensor network field of locating technology, be specifically related to a kind of divide anchor node based on region and move DV-Hop localization method.

Background technology

Wireless sensor network (Wireless Sensor Network, WSN) is believed by disposing a large amount of perceived positions in target area The node of breath, the exchange of the information carried out by the way of radio communication between each node and acquisition, in actual application, due to greatly The sensor node of amount is all the most uneven being deployed in target area so that the existence of the positional information of the node calculated Bigger error, therefore, the research to node locating algorithm is necessary.

Traditional Wireless Sensor Network Located Algorithm is broadly divided into location algorithm based on range finding (Range-based) and based on non- The location algorithm of range finding (Range-free), wherein location algorithm based on range finding is mainly next by measuring the distance between two nodes Calculate the coordinate of node, unknown node can be carried out relatively accurate location, but, hardware is wanted by location algorithm based on range finding Asking high, location cost is big；Mainly exchanged by the information between adjacent node based on non-ranging location algorithm and forward, coming thick Slightly estimate the distance between two nodes, calculate the coordinate of unknown node finally by trilateration or Maximum Likelihood Estimation Method, It is relatively low to hardware requirement based on non-ranging location algorithm, it is easy to accomplish, but, its position error is relatively large.

DV-Hop (Distance Vector-Hop) location algorithm is a kind of based on non-ranging location algorithm, and it utilizes multi-hop to forward Routing mechanism carries out broadcast and the collection of information, disposes other nodes transmission in network of anchor node in a network and comprises self position Putting the information with jumping figure, other nodes, after receiving this information, first compare with the data of self record, update jete Number and jumping, away from information, then forward the information to other nodes in network, and in such network, all nodes pass through this repeater-transmitter System can be direct or indirect and anchor node communicate, node the most to be positioned can obtain its shortest jumping figure to anchor node With closest anchor node Average hop distance information, trilateration or method of least square is then utilized to carry out the meter of node location Calculate.DV-Hop location algorithm calculates the process of position of unknown node and is generally divided into the following three stage:

(1) calculating the shortest jumping figure between node, anchor node all node broadcasts in network comprise the jumping figure letter being initialized as 0 Breath and the packet of its coordinate information, other nodes receive this broadcast packet after, first update self the shortest jumping figure with Corresponding anchor node information, adds 1 by hop count information the most again and is transmitted to other nodes, abandons from the bigger jumping figure of same anchor node Information, finally makes all nodes can receive the shortest jumping figure of other anchor nodes；

(2) estimation unknown node and the spacing of anchor node, the shortest hop count information obtained according to the first stage and anchor node are sat Mark information, by the Average hop distance of formula below calculating anchor node:

${\mathrm{HopSize}}_i=\frac{\underset{j\≠i}{\Σ}\sqrt{{(x_i-x_j)}^2+{(y_i-y_j)}^2}}{\underset{j\≠i}{\Σ}{h}_j}$

In formula, (x_i,y_i),(x_j,y_j) it is anchor node i respectively, the coordinate of j；h_jIt it is the shortest jumping figure of record between anchor node i and j；So After, unknown node calculates averagely jumping away from estimating not of anchor node by its of self record to the shortest jumping figure of anchor node and above formula Know the node distance to anchor node, under specific formula for calculation:

D=hops × Hopsize_i (0.1)

In formula, hops represents the unknown node the shortest jumping figure to anchor node, Hopsize_iFor unknown node to the i-th anchor away from its nearest neighbours The Average hop distance of node；

(3) calculating the position of unknown node, the unknown node calculated according to second stage to the beeline of anchor node, then may be used Equation group to be listed below:

$\left\{\begin{array}{c}{(x_1-x)}^2+{(y_1-y)}^2=d_1^2\\ {(x_2-x)}^2+{(y_2-y)}^2=d_2^2\\ .\\ .\\ .\\ {(x_n-x)}^2+{(y_n-y)}^2=d_n^2\end{array}\right.$

Changed by algebraically, the convertible following system of linear equations representation of above formula:

AX=b

Wherein:

$A=\left[\begin{array}{cc}2\left(x_1-x_n\right)& 2\left(y_1-y_n\right)\\ .& .\\ .& .\\ .& .\\ 2\left(x_{n-1}-x_n\right)& 2\left(y_{n-1}-y_n\right)\end{array}\right],b=\left[\begin{array}{c}{x}_1^2-x_n^2+y_1^2-y_n^2+d_n^2-d_1^2\\ .\\ .\\ .\\ x_{n-1}^2-x_n^2+y_{n-1}^2-y_n^2+d_n^2-d_{n-1}^2\end{array}\right],X=\left[\begin{array}{c}x\\ y\end{array}\right]$

The coordinate figure finally trying to achieve unknown node to be positioned is:

$\hat{X}={\left(A^{T}A\right)}^{-1}{A}^{T}b$

In formula, (x y) is the coordinate of unknown node to be positioned, (x₁,y₁),(x₂,y₂),…,(x_n,y_n) be respectively the 1st, the 2nd ..., The coordinate of the n-th anchor node.

There is bigger error, in different wireless sensor network environment in the unknown node position obtained by the above three stage Under, the uneven distribution of node cause error, anchor node average jump away from calculate error that between error, node, one hop distance causes, The factors such as the calculating error of method of least square all can affect unknown node positioning precision.

Summary of the invention

Causing, for node uneven distribution presented above, the situation that unknown node positioning precision is the highest, the present invention proposes one Divide, based on region, the DV-Hop localization method that anchor node moves, and propose 3 kinds of different anchor node moving methods, by right Anchor node moves to be disposed again, reduces the position error of DV-Hop method.

The present invention solves that the problems referred to above use following technical scheme:

A kind of DV-Hop localization method moved based on region division anchor node, comprises the following steps:

Step 1), by some anchor node random placements in the region at each unknown node place to be positioned, and this zone leveling is drawn It is divided into 4 sub regions；

Step 2), the position of regulation anchor node so that anchor node covers the region at unknown node place to be positioned, and obtains each The coordinate of anchor node；

Step 3), calculate the shortest jumping figure between each unknown node to be positioned and each anchor node, each anchor node each with other The shortest jumping figure between individual anchor node；

Step 4), for each anchor node, according to the shortest jumping figure between itself and other each anchor node, calculate itself and other Average hop distance between anchor node；

Step 5), for each unknown node, select averagely often jumping between anchor node and other anchor nodes the shortest with its jumping figure Jumping figure between this unknown node and each anchor node, as the Average hop distance of this unknown node, is multiplied by this unknown joint by distance The Average hop distance of point, obtains the distance between this unknown node and each anchor node；

Step 6), for each unknown node, according to the distance between itself and each anchor node, use method of least square to calculate meter Calculate the coordinate of this node.

The further prioritization scheme of DV-Hop localization method that anchor node moves, described step 2 is divided based on region) as the present invention Uniformly disposing during the position of middle regulation anchor node, concrete grammar is as follows:

Step 2.A.1), calculate anchor joint in total number N of anchor node in unknown node region to be positioned and 4 sub regions Number N of point₁、N₂、N₃、N₄；

Step 2.A.2), by number N of every sub regions anchor node_iAnchor node number should be distributed with average each subregionEnter Row compares, wherein, and i=1,2,3,4,P is the remainder that N divides exactly 4:

Step 2.A.2.1), ifCalculate the N of this subregion_iDistance between any two anchor point in individual anchor node, And by the distance between them by being ranked up from small to large, remove distance successively lessIndividual anchor node so that this son The number of the anchor node in region is

Step 2.A.2.2), ifThen this subregion anchor node is left intact；

Step 2.A.2.3), ifIn this subregion the most newly-generatedThe position of individual anchor node, increasesIndividual anchor node so that the anchor node number of this subregion is

The further prioritization scheme of DV-Hop localization method that anchor node moves, described step 2 is divided based on region) as the present invention Disposing by density during middle regulation anchor node position, concrete grammar is as follows:

Step 2.B.1), calculate total number N of anchor node in unknown node region to be positioned, total number M of unknown node, Number N of anchor node in 4 sub regions_i, and 4 sub regions in number M of unknown node_i, i=1,2,3,4；

Step 2.B.2), calculate anchor node number Y that every sub regions should be distributed according to the following formula_i:

$Y_i=N\×\frac{N_i+M_i}{N+M}$

And to Y_iCarrying out round is

Step 2.B.3), rightSue for peaceAnd by itself and anchor node in unknown node region to be positioned Total number N compares:

Step 2.B.3.1), if N is ＞ N', the most rightMiddle maximum subtracts one, and updates its value, re-executes step Step 2.B.3)；

Step 2.B.3.2), if N=N', according toValue adjust the number of anchor node of every sub regions, specific as follows:

Step 2.B.3.2.1), ifCalculate the N of this subregion_iIn individual anchor node between any two anchor point away from From, and by the distance between them by being ranked up from small to large, remove distance successively lessIndividual anchor node so that The number of the anchor node of this subregion is

Step 2.B.3.2.2), ifThen this subregion anchor node is left intact；

Step 2.B.3.2.3), ifIn this subregion the most newly-generatedThe position of individual anchor node, increasesIndividual anchor node so that the anchor node number of this subregion is

Step 2.B.3.3), if N'＜ is N, rightMiddle minima adds one, then updatesValue, re-execute Step step 2.B.3).

The further prioritization scheme of DV-Hop localization method that anchor node moves, described step 2 is divided based on region) as the present invention Dispose by the interval threshold preset during middle regulation anchor node position, for the anchor node in each subregion, perform following steps:

Step 2.C.1), arbitrarily select an anchor node；

Step 2.C.2), calculate the distance between this anchor node and subregion other anchor nodes interior successively；

Step 2.C.3), the distance between other anchor nodes in this anchor node and subregion is carried out with default interval threshold respectively Relatively, if in the distance between this anchor node and subregion other anchor nodes interior, there is the distance less than the interval threshold preset, The then position of the most newly-generated anchor node in subregion, and this anchor node is moved to this position；

Step 2.C.4), repeat step step 2.C.2) to step 2.C.3), until this anchor node and other anchors joint in subregion Distance between point is all higher than the interval threshold preset；

Step 2.C.5), repeat step step 2.C.1) to step step 2.C.4), until in subregion all anchor nodes and its Distance between his anchor node is all higher than the interval threshold preset.

The present invention uses above technical scheme compared with prior art, has following technical effect that

Dispose again by the anchor node being deployed in target area is moved, according to 3 kinds of different moving methods: anchor node is pressed Uniformly dispose, anchor node is disposed by density, anchor node is disposed by interval threshold DV-Hop localization method can in various degree Reduce the position error of node, improve the positioning precision of node.

Accompanying drawing explanation

Fig. 1 is the positioning flow figure of the present invention；

Fig. 2 is the position error curve chart of the different each algorithm of anchor node number；

Fig. 3 is the position error curve chart of the different each algorithm of node communication radius；

Fig. 4 is the position error curve chart of different total each algorithm of nodes.

Detailed description of the invention

Below in conjunction with the accompanying drawings technical scheme is described in further detail:

The present invention solves technical problem and is adopted the technical scheme that: by the netinit stage by selected anchor node Moving and dispose, the scope making anchor node cover is big as far as possible, calculates with traditional DV-Hop localization method the most again The position of unknown node to be positioned.During adjusting anchor node position, the present invention proposes 3 kinds of different moving methods, Respectively: anchor node is disposed by density by uniformly deployment, anchor node, anchor node is disposed by interval threshold.

It is to divide, based on region, the DV-Hop localization method flow chart that anchor node moves as shown in Figure 1, comprises the following steps:

Step 1), by some anchor node random placements in the region at each unknown node place to be positioned, and this zone leveling is drawn It is divided into 4 sub regions；

Step 2), the position of regulation anchor node so that anchor node covers the region at unknown node place to be positioned, and obtains each The coordinate of anchor node；

Step 3), calculate the shortest jumping figure between each unknown node to be positioned and each anchor node, each anchor node each with other The shortest jumping figure between individual anchor node；

Step 4), for each anchor node, according to the shortest jumping figure between itself and other each anchor node, calculate itself and other Average hop distance between anchor node；

Step 5), for each unknown node, select averagely often jumping between anchor node and other anchor nodes the shortest with its jumping figure Jumping figure between this unknown node and each anchor node, as the Average hop distance of this unknown node, is multiplied by this unknown joint by distance The Average hop distance of point, obtains the distance between this unknown node and each anchor node；

Step 6), for each unknown node, according to the distance between itself and each anchor node, use method of least square to calculate meter Calculate the coordinate of this node.

Described step 2) in regulation anchor node position time can uniformly dispose, can dispose by density, it is also possible between default Dispose every threshold value.

Step 2) in the position of regulation anchor node time when uniformly disposing, concrete grammar is as follows:

Step 2.A.1), calculate anchor joint in total number N of anchor node in unknown node region to be positioned and 4 sub regions Number N of point₁、N₂、N₃、N₄；

Step 2.A.2), by number N of every sub regions anchor node_iAnchor node number should be distributed with average each subregionEnter Row compares, wherein, and i=1,2,3,4,P is the remainder that N divides exactly 4:

Step 2.A.2.1), ifCalculate the N of this subregion_iDistance between any two anchor point in individual anchor node, And by the distance between them by being ranked up from small to large, remove distance successively lessIndividual anchor node so that this son The number of the anchor node in region is

Step 2.A.2.2), ifThen this subregion anchor node is left intact；

Step 2.A.2.3), ifIn this subregion the most newly-generatedThe position of individual anchor node, increasesIndividual anchor node so that the anchor node number of this subregion is

Described step 2) in regulation anchor node position by density dispose time, concrete grammar is as follows:

Step 2.B.1), calculate total number N of anchor node in unknown node region to be positioned, total number M of unknown node, Number N of anchor node in 4 sub regions_i, and 4 sub regions in number M of unknown node_i, i=1,2,3,4；

Step 2.B.2), calculate anchor node number Y that every sub regions should be distributed according to the following formula_i:

$Y_i=N\×\frac{N_i+M_i}{N+M}$

And to Y_iCarrying out round is

Step 2.B.3), rightSue for peaceAnd by itself and anchor node in unknown node region to be positioned Total number N compares:

Step 2.B.3.1), if N is ＞ N', the most rightMiddle maximum subtracts one, and updates its value, re-executes step Step 2.B.3)；

Step 2.B.3.2), if N=N', according toValue adjust the number of anchor node of every sub regions, specific as follows:

Step 2.B.3.2.1), ifCalculate the N of this subregion_iIn individual anchor node between any two anchor point away from From, and by the distance between them by being ranked up from small to large, remove distance successively lessIndividual anchor node so that The number of the anchor node of this subregion is

Step 2.B.3.2.2), ifThen this subregion anchor node is left intact；

Step 2.B.3.2.3), ifIn this subregion the most newly-generatedThe position of individual anchor node, increasesIndividual anchor node so that the anchor node number of this subregion is

Step 2.B.3.3), if N'＜ is N, rightMiddle minima adds one, then updatesValue, re-execute Step step 2.B.3).

Described step 2) in regulation anchor node position time by preset interval threshold dispose time, for the anchor in each subregion Node, execution following steps:

Step 2.C.1), arbitrarily select an anchor node；

Step 2.C.2), calculate the distance between this anchor node and subregion other anchor nodes interior successively；

Step 2.C.3), the distance between other anchor nodes in this anchor node and subregion is carried out with default interval threshold respectively Relatively, if in the distance between this anchor node and subregion other anchor nodes interior, there is the distance less than the interval threshold preset, The then position of the most newly-generated anchor node in subregion, and this anchor node is moved to this position；

Step 2.C.4), repeat step step 2.C.2) to step 2.C.3), until this anchor node and other anchors joint in subregion Distance between point is all higher than the interval threshold preset；

Step 2.C.5), repeat step step 2.C.1) to step step 2.C.4), until in subregion all anchor nodes and its Distance between his anchor node is all higher than the interval threshold preset.

MATLAB simulated environment is used to divide what anchor node moved to classical DV-Hop location algorithm with based on region respectively herein DV-Hop location algorithm carries out contrast simulation analysis.In emulation, sensor node is randomly dispersed in 100m × 100m square In target area, and each unknown node position error is taken 100 times emulation after meansigma methods as final position error, and The result drawing emulation experiment is carried out respectively in terms of anchor node quantity, node communication radius, target area node total number 3 Analyze and compare.Meanwhile, the location error calculating formula of node is as follows:

$\stackrel{\‾}{error}=\frac{\underset{a=1}{\overset{N}{\Σ}}{\mathrm{error}}_a}{N}=\frac{\underset{a=1}{\overset{N}{\Σ}}\sqrt{{({\hat{x}}_a-x_a)}^2+{(\widehat{y_a}-y_a)}^2}}{N}$

In formula,For the estimated coordinates of unknown node a, (x_a,y_a) it is node a actual coordinate in region, location, N is undetermined The number of unknown node in region, position.

Being the position error curve chart of the different each algorithm of anchor node number shown in Fig. 2, the star being labeled as " DV-Hop " in Fig. 2 is real Line represents original DV-Hop algorithm simulating average localization error；The circled hash being labeled as " Average-DV-Hop " represents anchor Node uniformly dispose by region after the average localization error of DV-Hop algorithm simulating；It is labeled as the Pedicellus et Pericarpium Trapae of " Density-DV-Hop " Shape dotted line represents the position error that after anchor node is disposed, DV-Hop algorithm simulating is average by Area Node density；It is labeled as The square dotted line of " Threshold-DV-Hop " represents the DV-Hop algorithm simulating after anchor node is distributed by region interval threshold Position error, this time the total nodal point number in simulation objectives region is 100, and inter-node communication radius is 25m, and anchor node number is followed successively by 4,8,12,16,20,24,28,32,36,40, anchor node interval threshold is set to 15m.

As can be seen from Figure 2 increasing along with anchor node number, original DV-Hop algorithm, anchor node are by uniformly disposing, by district Territory density is disposed and by the DV-Hop algorithm position error of interval threshold deployment all in reduction trend, and 3 kinds of calculations after improvement Method the most original DV-Hop location algorithm has certain reduction, illustrates that the 3 kinds of methods proposed carry out mobile anchor node, really can Improve the positioning performance of DV-Hop algorithm, and for anchor node by threshold value Deployment Algorithm, its position error is pressed than anchor node always Uniformly dispose and anchor node is pressed Deployment Algorithm and is distributed low, illustrate that anchor node is better than first 2 kinds by threshold value Deployment Algorithm locating effect Location algorithm.

In sum, in 3 kinds of different moving methods, anchor node is best by interval threshold Deployment Algorithm locating effect, anchor node Dispose by density and anchor node uniform Deployment Algorithm locating effect is more or less the same, but 3 kinds of improved method all ratios are original generally The locating effect of DV-Hop location algorithm to be got well, and positioning precision wants height.

Fig. 3 is the position error curve chart of the different each algorithm of node communication radius, from figure 3, it can be seen that original DV-Hop Location algorithm, anchor node are uniformly disposed, anchor node is disposed by density, anchor node disposes DV-Hop algorithm location by interval threshold Curve of error has one first to reduce the process being further added by.This is because when node communication is smaller when, in network more not Know that node becomes disconnected node owing to can not receive the broadcast message of anchor node, single between node the most to be positioned and anchor node The distance of positions increases from jumping hop count so that unknown node and the curved path between anchor node increase, and cause deviation accumulation；Along with The increase of communication radius, the number connecting anchor node with unknown node gets more and more, and decreases unknown joint to a certain extent Curved path between point and anchor node, position error reduces.

Individually in terms of the position error curve of every kind of algorithm, 3 kinds of location algorithms after improvement are all than original DV-Hop location algorithm Average localization error low.Wherein, anchor node is more or less the same by density Deployment Algorithm position error by uniformly deployment and anchor node, And anchor node by interval threshold Deployment Algorithm position error communication radius is bigger when, position error is lower than front 3 kinds of algorithms, Locating effect is preferable.

Fig. 4 is the position error curve chart of different total each algorithm of nodes, figure 4, it is seen that along with target area is disposed Nodes increase, the position error of each algorithm all reduce, the most smooth-out.This is because when Area Node number increases Time, the nodes in unknown node unit distance increases, such that it is able to received the broadcast message of anchor node by different nodes, Make disconnected node originally become to communicate with anchor node, add the degree of communication between the node of monitored area, thus fixed Position error is in reducing trend.

Meanwhile, in 3 from Fig. 4 it can also be seen that after Gai Jining different anchor node moving algorithms all than original DV-Hop algorithm Position error all decreases to some degree, wherein, anchor node is uniformly disposed and is existed by density deployment DV-Hop algorithm with anchor node The when that node total number being less than 200, position error is improved more obvious, when node total number is more than 200 when, and position error Curve is smooth-out, and is more or less the same with primal algorithm position error；And anchor node is pressed interval region and is disposed DV-Hop algorithm Position error is all the lowest compared with primal algorithm position error, good positioning effect.

It is understood that unless otherwise defined, all terms used herein (include technology art to those skilled in the art of the present technique Language and scientific terminology) have with the those of ordinary skill in art of the present invention be commonly understood by identical meaning.Also should manage Solving, those terms defined in such as general dictionary should be understood that the meaning one having with the context of prior art The meaning caused, and unless defined as here, will not explain by idealization or the most formal implication.

Above-described detailed description of the invention, has been carried out the most specifically the purpose of the present invention, technical scheme and beneficial effect Bright, be it should be understood that the detailed description of the invention that the foregoing is only the present invention, be not limited to the present invention, all Within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. done, should be included in the protection of the present invention Within the scope of.

Claims (4)

1. the DV-Hop localization method moved based on region division anchor node, it is characterised in that comprise the steps:

Step 1), by some anchor node random placements in the region at each unknown node place to be positioned, and this zone leveling is drawn It is divided into 4 sub regions；

Step 2), the position of regulation anchor node so that anchor node covers the region at unknown node place to be positioned, and obtains each The coordinate of anchor node；

Step 3), calculate the shortest jumping figure between each unknown node to be positioned and each anchor node, each anchor node each with other The shortest jumping figure between individual anchor node；

Step 4), for each anchor node, according to the shortest jumping figure between itself and other each anchor node, calculate itself and other Average hop distance between anchor node；

Step 5), for each unknown node, select averagely often jumping between anchor node and other anchor nodes the shortest with its jumping figure Jumping figure between this unknown node and each anchor node, as the Average hop distance of this unknown node, is multiplied by this unknown joint by distance The Average hop distance of point, obtains the distance between this unknown node and each anchor node；

Step 6), for each unknown node, according to the distance between itself and each anchor node, use method of least square to calculate meter Calculate the coordinate of this node.

The DV-Hop localization method moved based on region division anchor node the most according to claim 1, it is characterised in that Described step 2) in regulation anchor node position time uniformly dispose, concrete grammar is as follows:

Step 2.A.1), calculate anchor joint in total number N of anchor node in unknown node region to be positioned and 4 sub regions Number N of point₁、N₂、N₃、N₄；

Step 2.A.2), by number N of every sub regions anchor node_iAnchor node number should be distributed with average each subregionEnter Row compares, wherein, and i=1,2,3,4,P is the remainder that N divides exactly 4:

Step 2.A.2.1), ifCalculate the N of this subregion_iDistance between any two anchor point in individual anchor node, And by the distance between them by being ranked up from small to large, remove distance successively lessIndividual anchor node so that this son The number of the anchor node in region is

Step 2.A.2.2), ifThen this subregion anchor node is left intact；

Step 2.A.2.3), ifIn this subregion the most newly-generatedThe position of individual anchor node, increasesIndividual anchor node so that the anchor node number of this subregion is

The DV-Hop localization method moved based on region division anchor node the most according to claim 1, it is characterised in that Described step 2) in regulation anchor node position time by density dispose, concrete grammar is as follows:

Step 2.B.1), calculate total number N of anchor node in unknown node region to be positioned, total number M of unknown node, Number N of anchor node in 4 sub regions_i, and 4 sub regions in number M of unknown node_i, i=1,2,3,4；

Step 2.B.2), calculate anchor node number Y that every sub regions should be distributed according to the following formula_i:

$Y_i=N\×\frac{N_i+M_i}{N+M}$

And to Y_iCarrying out round is

Step 2.B.3), rightSue for peaceAnd by itself and anchor node in unknown node region to be positioned Total number N compares:

Step 2.B.3.1), if N is ＞ N', the most rightMiddle maximum subtracts one, and updates its value, re-executes step Step 2.B.3)；

Step 2.B.3.2), if N=N', according toValue adjust the number of anchor node of every sub regions, specific as follows:

Step 2.B.3.2.1), ifCalculate the N of this subregion_iIn individual anchor node between any two anchor point away from From, and by the distance between them by being ranked up from small to large, remove distance successively lessIndividual anchor node so that The number of the anchor node of this subregion is

Step 2.B.3.2.2), ifThen this subregion anchor node is left intact；

Step 2.B.3.2.3), ifIn this subregion the most newly-generatedThe position of individual anchor node, increasesIndividual anchor node so that the anchor node number of this subregion is

Step 2.B.3.3), if N'＜ is N, rightMiddle minima adds one, then updatesValue, re-execute Step step 2.B.3).

The DV-Hop localization method moved based on region division anchor node the most according to claim 1, it is characterised in that Described step 2) in regulation anchor node position time by preset interval threshold dispose, for the anchor node in each subregion, Execution following steps:

Step 2.C.1), arbitrarily select an anchor node；

Step 2.C.2), calculate the distance between this anchor node and subregion other anchor nodes interior successively；

Step 2.C.3), the distance between other anchor nodes in this anchor node and subregion is carried out with default interval threshold respectively Relatively, if in the distance between this anchor node and subregion other anchor nodes interior, there is the distance less than the interval threshold preset, The then position of the most newly-generated anchor node in subregion, and this anchor node is moved to this position；

Step 2.C.4), repeat step step 2.C.2) to step 2.C.3), until this anchor node and other anchors joint in subregion Distance between point is all higher than the interval threshold preset；

Step 2.C.5), repeat step step 2.C.1) to step step 2.C.4), until in subregion all anchor nodes and its Distance between his anchor node is all higher than the interval threshold preset.