CN105848283B - Based on the mobile DV-Hop localization method of region division anchor node - Google Patents
Based on the mobile DV-Hop localization method of region division anchor node Download PDFInfo
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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
- H04W40/20—Communication route or path selection, e.g. power-based or shortest path routing based on geographic position or location
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—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
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
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- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
Abstract
The invention discloses a kind of DV-Hop localization methods mobile based on region division anchor node, the situation for causing traditional DV-Hop localization method positioning accuracy not high for random irregularity of anchor node during deployment, it proposes during unknown node is positioned, target area to be positioned is first divided equally into 4 sub-regions, then moveable anchor node is introduced, and movement is carried out to anchor node respectively by 3 kinds of different moving methods and is disposed again, the range for covering anchor node is big as far as possible, the positioning of unknown node is finally carried out with traditional DV-Hop localization method again, wherein, 3 kinds of different anchor node moving methods, which are respectively as follows: anchor node, uniformly to be disposed, anchor node is disposed by density, anchor node is disposed by interval threshold.The DV-Hop localization method mobile based on region division anchor node disclosed by the invention can effectively improve the positioning accuracy of unknown node when anchor node is unevenly distributed in sensor network.
Description
Technical field
The present invention relates to wireless sensor network field of locating technology, and in particular to one kind is moved based on region division anchor node
Dynamic DV-Hop localization method.
Background technique
Wireless sensor network (Wireless Sensor Network, WSN) is by disposing a large amount of perception in target area
The node of location information, the exchange and acquisition of the information carried out between each node through wireless communication, in practical application,
Due to a large amount of sensor node be all it is random it is non-uniform be deployed in target area so that the position of calculated node is believed
Breath there are biggish errors, it is therefore, necessary to the research of node locating algorithm.
Traditional Wireless Sensor Network Located Algorithm be broadly divided into location algorithm based on ranging (Range-based) and
Based on the location algorithm of non-ranging (Range-free), wherein the location algorithm based on ranging mainly passes through between two nodes of measurement
Distance carry out the coordinate of calculate node, relatively accurate positioning, still, the location algorithm based on ranging can be carried out to unknown node
To hardware requirement height, positioning cost is big；Based on non-ranging location algorithm mainly pass through information exchange between adjacent node and
Forwarding is estimated the distance between two nodes roughly, is calculated finally by trilateration or Maximum Likelihood Estimation Method unknown
The coordinate of node, it is lower to hardware requirement based on non-ranging location algorithm, it is easy to accomplish, still, position error is relatively
Greatly.
DV-Hop (Distance Vector-Hop) location algorithm is a kind of based on non-ranging location algorithm, is utilized
Multi-hop transmission routing mechanism carries out the broadcast and collection of information, disposes other nodes into network of anchor node in a network and sends
Information comprising self-position and hop count, other nodes are first compared with the data of self record after receiving this information,
It updates minimum hop count and jumps away from information, then forward the information to other nodes in network, all nodes are logical in such network
Crossing this forwarding mechanism can directly or indirectly be communicated with anchor node, and final node to be positioned can obtain it to anchor
Then the most short hop count of node and apart from nearest anchor node Average hop distance information utilizes trilateration or least square method
Carry out the calculating of node location.The process that DV-Hop location algorithm calculates the position of unknown node is generally divided into following three rank
Section:
(1) the most short hop count between calculate node, anchor node all node broadcasts into network include the jump for being initialized as 0
It is most short to update itself after other nodes receive the data packet of this broadcast first for the data packet of number information and its coordinate information
Then hop count information is added 1 to be transmitted to other nodes by hop count and corresponding anchor node information again, abandon larger from same anchor node
Hop count information, finally make all nodes that can receive the most short hop count of other anchor nodes；
(2) distance between unknown node and anchor node is estimated, the most short hop count information and anchor obtained according to the first stage
Node coordinate information calculates the Average hop distance of anchor node by following formula:
In formula, (xi,yi),(xj,yj) it is anchor node i, the coordinate of j respectively；hjBe recorded between anchor node i and j it is most short
Hop count；Then, its average jump for calculating to the most short hop count of anchor node and above formula anchor node that unknown node passes through self record
Away from come estimate unknown node to anchor node distance, under specific formula for calculation:
D=hops × Hopsizei (0.1)
In formula, hops represents unknown node to the most short hop count of anchor node, HopsizeiFor unknown node to apart from it most
The Average hop distance of i-th close of anchor node；
(3) position for calculating unknown node, according to the shortest distance of the calculated unknown node of second stage to anchor node,
The equation group that can be then listed below:
It is converted by algebra, the convertible following system of linear equations representation of above formula:
AX=b
Wherein:
Finally acquire the coordinate value of unknown node to be positioned are as follows:
In formula, (x, y) is the coordinate of unknown node to be positioned, (x1,y1),(x2,y2),…,(xn,yn) be respectively the 1st,
2nd ..., the coordinate of n-th anchor node.
There are biggish errors for the unknown node position found out by the above three stage, in different wireless sensor networks
Under network environment, the uneven distribution of node causes the average jump of error, anchor node to cause away from a hop distance between error, node is calculated
The factors such as error, the calculating error of least square method can all influence unknown node positioning accuracy.
Summary of the invention
For the situation that node uneven distribution presented above causes unknown node positioning accuracy not high, the present invention is proposed
A kind of DV-Hop localization method mobile based on region division anchor node, and propose 3 kinds of different anchor node moving methods,
It is disposed again by carrying out movement to anchor node, to reduce the position error of DV-Hop method.
The following technical solution is employed in order to solve the above problem by the present invention:
A kind of DV-Hop localization method mobile based on region division anchor node, comprising the following steps:
Step 1), by several anchor node random placements in the region where each unknown node to be positioned, and by the region
It is divided equally into 4 sub-regions；
Step 2) adjusts the position of anchor node, so that anchor node covers the region where unknown node to be positioned, and obtains
The coordinate of each anchor node；
Step 3), calculate most short hop count between each unknown node to be positioned and each anchor node, each anchor node with
Most short hop count between other each anchor nodes；
Step 4), for each anchor node, according to its most short hop count between other each anchor nodes, calculate its with
Average hop distance between other anchor nodes；
Step 5), it is flat between selection and the shortest anchor node of its hop count and other anchor nodes for each unknown node
Average hop distance of every hop distance as the unknown node, by the hop count between the unknown node and each anchor node multiplied by
The Average hop distance of the unknown node obtains the distance between the unknown node and each anchor node；
Step 6), for each unknown node, according to the distance between itself and each anchor node, using least square method meter
Calculate and calculates the coordinate of the node.
It is described as the DV-Hop localization method further prioritization scheme mobile the present invention is based on region division anchor node
It is uniformly disposed when adjusting the position of anchor node in step 2), the specific method is as follows:
Step 2.A.1), it calculates in unknown node region to be positioned in the total number N of anchor node and 4 sub-regions
The number N of anchor node1、N2、N3、N4；
Step 2.A.2), by the number N of each subregion anchor nodeiAnchor node number should be distributed with average each subregionIt is compared, wherein i=1,2,3,4,P is the remainder that N divides exactly 4:
Step 2.A.2.1), ifCalculate the N of the subregioniIn a anchor node between any two anchor point
Distance, and the distance between they are successively removed by being ranked up from small to large apart from lesserA anchor node, makes
The number of anchor node of the subregion is
Step 2.A.2.2), ifThen this subregion anchor node is without any processing；
Step 2.A.2.3), ifIt is random newly-generated in this subregionThe position of a anchor node increases
AddA anchor node, so that the anchor node number of the subregion is
It is described as the DV-Hop localization method further prioritization scheme mobile the present invention is based on region division anchor node
It is disposed when adjusting anchor node position in step 2) by density, the specific method is as follows:
Step 2.B.1), calculate the total number N of anchor node in unknown node region to be positioned, unknown node it is total
The number N of anchor node in number M, 4 sub-regionsiAnd 4 unknown node in sub-regions number Mi, i=1,2,3,4；
Step 2.B.2), the anchor node number Y that each subregion should distribute is calculated according to the following formulai:
And to YiCarrying out round is
Step 2.B.3), it is rightIt sumsAnd by itself and anchor section in unknown node region to be positioned
The total number N of point is compared:
Step 2.B.3.1), it is right if N > N'Middle maximum value subtracts one, and updates its value, re-execute the steps
Step 2.B.3)；
Step 2.B.3.2), if N=N', according toValue adjustment each subregion anchor node number, specifically such as
Under:
Step 2.B.3.2.1), ifCalculate the N of the subregioniIn a anchor node between any two anchor point
Distance, and the distance between they are successively removed by being ranked up from small to large apart from lesserA anchor node,
So that the number of the anchor node of the subregion is
Step 2.B.3.2.2), ifThen this subregion anchor node is without any processing；
Step 2.B.3.2.3), ifIt is random newly-generated in this subregionThe position of a anchor node,
IncreaseA anchor node, so that the anchor node number of the subregion is
Step 2.B.3.3), it is right if N'< NMiddle minimum value carries out adding one, then updatesValue, re-execute step
Rapid step 2.B.3).
It is described as the DV-Hop localization method further prioritization scheme mobile the present invention is based on region division anchor node
It disposes when adjusting anchor node position in step 2) by preset interval threshold, for the anchor node in each sub-regions, executes
Following steps:
Step 2.C.1), arbitrarily select an anchor node；
Step 2.C.2), successively calculate the distance between other anchor nodes in the anchor node and subregion；
Step 2.C.3), by the distance between other anchor nodes in the anchor node and subregion respectively with preset interval threshold
Value is compared, if existed in the distance between other anchor nodes less than preset interval threshold in the anchor node and subregion
The distance of value, then in subregion a random newly-generated anchor node position, and the anchor node is moved to the position；
Step 2.C.4), repeat step step 2.C.2) to step 2.C.3), until in the anchor node and subregion other
The distance between anchor node is all larger than preset interval threshold；
Step 2.C.5), repeat step step 2.C.1) to step step 2.C.4), until all anchor nodes in subregion
The distance between other anchor nodes are all larger than preset interval threshold.
The invention adopts the above technical scheme compared with prior art, has following technical effect that
It is disposed again by carrying out movement to the anchor node for being deployed in target area, according to 3 kinds of different moving methods: anchor section
Press uniformly deployment, the DV-Hop localization method that anchor node is disposed by density, anchor node dispose by interval threshold can difference journeys
The position error of the reduction node of degree, improves the positioning accuracy of node.
Detailed description of the invention
Fig. 1 is positioning flow figure of the invention；
Fig. 2 is the position error curve graph of different each algorithms of anchor node number；
Fig. 3 is the position error curve graph of different each algorithms of node communication radius；
Fig. 4 is the position error curve graph of different each algorithms of total node number.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing:
The technical solution adopted for solving the technical problem of the present invention is: by passing through in the netinit stage to selected
Anchor node carries out movement and disposes again, and the range for covering anchor node is big as far as possible, then again with traditional positioning side DV-Hop
Method calculates the position of unknown node to be positioned.During adjusting anchor node position, the invention proposes 3 kinds of different movements
Method is respectively: anchor node is disposed by uniformly deployment, anchor node by density, anchor node is disposed by interval threshold.
It is the DV-Hop localization method flow chart mobile based on region division anchor node as shown in Figure 1, comprising the following steps:
Step 1), by several anchor node random placements in the region where each unknown node to be positioned, and by the region
It is divided equally into 4 sub-regions；
Step 2) adjusts the position of anchor node, so that anchor node covers the region where unknown node to be positioned, and obtains
The coordinate of each anchor node；
Step 3), calculate most short hop count between each unknown node to be positioned and each anchor node, each anchor node with
Most short hop count between other each anchor nodes；
Step 4), for each anchor node, according to its most short hop count between other each anchor nodes, calculate its with
Average hop distance between other anchor nodes；
Step 5), it is flat between selection and the shortest anchor node of its hop count and other anchor nodes for each unknown node
Average hop distance of every hop distance as the unknown node, by the hop count between the unknown node and each anchor node multiplied by
The Average hop distance of the unknown node obtains the distance between the unknown node and each anchor node；
Step 6), for each unknown node, according to the distance between itself and each anchor node, using least square method meter
Calculate and calculates the coordinate of the node.
It can uniformly dispose, can be disposed by density when adjusting anchor node position in the step 2), it can also be by default
Interval threshold deployment.
When uniformly disposing when adjusting the position of anchor node in step 2), the specific method is as follows:
Step 2.A.1), it calculates in unknown node region to be positioned in the total number N of anchor node and 4 sub-regions
The number N of anchor node1、N2、N3、N4；
Step 2.A.2), by the number N of each subregion anchor nodeiAnchor node number should be distributed with average each subregionIt is compared, wherein i=1,2,3,4,P is the remainder that N divides exactly 4:
Step 2.A.2.1), ifCalculate the N of the subregioniIn a anchor node between any two anchor point
Distance, and the distance between they are successively removed by being ranked up from small to large apart from lesserA anchor node, makes
The number of anchor node of the subregion is
Step 2.A.2.2), ifThen this subregion anchor node is without any processing；
Step 2.A.2.3), ifIt is random newly-generated in this subregionThe position of a anchor node increases
AddA anchor node, so that the anchor node number of the subregion is
When adjusting anchor node position in the step 2) by density deployment, the specific method is as follows:
Step 2.B.1), calculate the total number N of anchor node in unknown node region to be positioned, unknown node it is total
The number N of anchor node in number M, 4 sub-regionsiAnd 4 unknown node in sub-regions number Mi, i=1,2,3,4；
Step 2.B.2), the anchor node number Y that each subregion should distribute is calculated according to the following formulai:
And to YiCarrying out round is
Step 2.B.3), it is rightIt sumsAnd by itself and anchor section in unknown node region to be positioned
The total number N of point is compared:
Step 2.B.3.1), it is right if N > N'Middle maximum value subtracts one, and updates its value, re-execute the steps
Step 2.B.3)；
Step 2.B.3.2), if N=N', according toValue adjustment each subregion anchor node number, specifically such as
Under:
Step 2.B.3.2.1), ifCalculate the N of the subregioniIn a anchor node between any two anchor point
Distance, and the distance between they are successively removed by being ranked up from small to large apart from lesserA anchor node,
So that the number of the anchor node of the subregion is
Step 2.B.3.2.2), ifThen this subregion anchor node is without any processing；
Step 2.B.3.2.3), ifIt is random newly-generated in this subregionThe position of a anchor node,
IncreaseA anchor node, so that the anchor node number of the subregion is
Step 2.B.3.3), it is right if N'< NMiddle minimum value carries out adding one, then updatesValue, re-execute step
Rapid step 2.B.3).
When adjusting anchor node position in the step 2) by the deployment of preset interval threshold, in each sub-regions
Anchor node, execute following steps:
Step 2.C.1), arbitrarily select an anchor node；
Step 2.C.2), successively calculate the distance between other anchor nodes in the anchor node and subregion；
Step 2.C.3), by the distance between other anchor nodes in the anchor node and subregion respectively with preset interval threshold
Value is compared, if existed in the distance between other anchor nodes less than preset interval threshold in the anchor node and subregion
The distance of value, then in subregion a random newly-generated anchor node position, and the anchor node is moved to the position；
Step 2.C.4), repeat step step 2.C.2) to step 2.C.3), until in the anchor node and subregion other
The distance between anchor node is all larger than preset interval threshold；
Step 2.C.5), repeat step step 2.C.1) to step step 2.C.4), until all anchor nodes in subregion
The distance between other anchor nodes are all larger than preset interval threshold.
It is moved respectively to classical DV-Hop location algorithm and based on region division anchor node using MATLAB simulated environment herein
Dynamic DV-Hop location algorithm compares simulation analysis.In emulation, sensor node is being randomly dispersed in 100m × 100m just
In rectangular target area, and take the average value after 100 emulation as final position error each unknown node position error,
And the result obtained to emulation experiment is respectively in terms of anchor node quantity, node communication radius, target area node total number 3
It is analyzed compared with.Meanwhile the location error calculating formula of node is as follows:
In formula,For the estimated coordinates of unknown node a, (xa,ya) it is node a actual coordinate in localization region, N
For the number of unknown node in area to be targeted.
It is the position error curve graph of different each algorithms of anchor node number, the star that label is DV-Hop " in Fig. 2 shown in Fig. 2
Solid line represents original DV-Hop algorithm simulating average localization error；Anchor is represented labeled as the circled hash of " Average-DV-Hop "
The average localization error of DV-Hop algorithm simulating after node is uniformly disposed by region；Labeled as the diamond shape of " Density-DV-Hop "
Dotted line represents the anchor node position error average by DV-Hop algorithm simulating after the deployment of Area Node density；It is labeled as
The square dotted line of " Threshold-DV-Hop " represents anchor node by the DV-Hop algorithm simulating after the distribution of 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, anchor node number is followed successively by 4,
8,12,16,20,24,28,32,36,40, anchor node interval threshold is set as 15m.
As can be seen from Figure 2 as anchor node number increases, original DV-Hop algorithm, anchor node are by uniformly disposing, press
Areal concentration deployment and be all in decreasing trend by the DV-Hop algorithm position error that interval threshold is disposed, and improved 3 kinds
The all more original DV-Hop location algorithm of algorithm has certain reduction, illustrates the 3 kinds of methods proposed to move anchor node, really can
Improve the positioning performance of DV-Hop algorithm, and threshold value Deployment Algorithm is pressed for anchor node, position error is pressed than anchor node always
Uniformly deployment and anchor node are distributed by Deployment Algorithm wants low, illustrates that anchor node is better than preceding 2 by threshold value Deployment Algorithm locating effect
Kind location algorithm.
In conclusion anchor node is best by interval threshold Deployment Algorithm locating effect, anchor in 3 kinds of different moving methods
Node is not much different by density deployment and the uniform Deployment Algorithm locating effect of anchor node, but generally 3 kinds of improved methods are all than original
The locating effect of beginning DV-Hop location algorithm will be got well, and positioning accuracy wants high.
Fig. 3 is the position error curve graph of different each algorithms 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 fixed by interval threshold deployment DV-Hop algorithm by density deployment, anchor node
Position error curve has the process for first reducing to be further added by.This is because when node communication is smaller, in network compared with
More unknown nodes become disconnected node due to can not receive the broadcast message of anchor node, while node to be positioned and anchor node
Between unit distance jump number of segment and increase so that unknown node and increasing to the curved path between anchor node, it is tired to cause error
Meter；With the increase of communication radius, the number that anchor node is connected to unknown node is more and more, and reduces to a certain extent
Curved path between unknown node and anchor node, position error reduce.
Individually in terms of the position error curve of every kind of algorithm, improved 3 kinds of location algorithms are all positioned than original DV-Hop
The average localization error of algorithm wants low.Wherein, anchor node presses density Deployment Algorithm position error phase by uniformly deployment and anchor node
It is poor little, and anchor node presses interval threshold Deployment Algorithm position error when communication radius is larger, position error is than preceding 3
Kind algorithm is low, and locating effect is relatively preferable.
Fig. 4 is the position error curve graph of different each algorithms of total node number, figure 4, it is seen that with target area
The number of nodes of deployment increases, and the position error of each algorithm is all reducing, then smooth-out.This is because working as Area Node number
When increasing, the number of nodes in unknown node unit distance increases, so as to receive the wide of anchor node by different nodes
Information is broadcast, so that disconnected node becomes to be communicated with anchor node originally, increases the company between monitoring Area Node
Logical degree, therefore position error is in decreasing trend.
Meanwhile from Fig. 4 it can also be seen that different anchor node moving algorithms are calculated than original DV-Hop in improved 3
Method position error all decreases to some degree, wherein anchor node is uniformly disposed and anchor node is by density deployment DV-Hop algorithm
When node total number is less than 200, position error improvement is more obvious, when node total number is greater than 200, position error
Curve is smooth-out, and is not much different with primal algorithm position error；And anchor node disposes DV-Hop algorithm by interval region
Position error is all low compared with primal algorithm position error always, good positioning effect.
Those skilled in the art can understand that unless otherwise defined, all terms used herein (including skill
Art term and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Also
It should be understood that those terms such as defined in the general dictionary should be understood that have in the context of the prior art
The consistent meaning of meaning will not be explained in an idealized or overly formal meaning and unless defined as here.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not limited to this hair the foregoing is merely a specific embodiment of the invention
Bright, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (3)
1. a kind of DV-Hop localization method mobile based on region division anchor node, which comprises the steps of:
Step 1) by several anchor node random placements in the region where each unknown node to be positioned, and the region is averaged
It is divided into 4 sub-regions；
Step 2) adjusts the position of anchor node, so that anchor node covers the region where unknown node to be positioned, and obtains each
The coordinate of anchor node is uniformly disposed when adjusting the position of anchor node, and the specific method is as follows:
Step 2.A.1), calculate in unknown node region to be positioned anchor section in the total number N of anchor node and 4 sub-regions
The number N of point1、N2、N3、N4；
Step 2.A.2), by the number N of each subregion anchor nodeiAnchor node number should be distributed with average each subregionInto
Row compares, wherein i=1,2,3,4,P is the remainder that N divides exactly 4:
Step 2.A.2.1), ifCalculate the N of the subregioniThe distance between any two anchor point in a anchor node,
And the distance between they are successively removed by being ranked up from small to large apart from lesserA anchor node, so that should
The number of the anchor node of subregion is
Step 2.A.2.2), ifThen this subregion anchor node is without any processing；
Step 2.A.2.3), ifIt is random newly-generated in this subregionThe position of a anchor node increasesA anchor node, so that the anchor node number of the subregion is
Step 3), calculate most short hop count between each unknown node to be positioned and each anchor node, each anchor node and other
Most short hop count between each anchor node；
Step 4) calculates itself and other according to its most short hop count between other each anchor nodes for each anchor node
Average hop distance between anchor node；
Step 5), it is average every between selection and the shortest anchor node of its hop count and other anchor nodes for each unknown node
Average hop distance of the hop distance as the unknown node, not multiplied by this by the hop count between the unknown node and each anchor node
The Average hop distance for knowing node obtains the distance between the unknown node and each anchor node；
Step 6) calculates each unknown node according to the distance between itself and each anchor node using least square method
The coordinate of the node.
2. a kind of DV-Hop localization method mobile based on region division anchor node, which comprises the steps of:
Step 1) by several anchor node random placements in the region where each unknown node to be positioned, and the region is averaged
It is divided into 4 sub-regions；
Step 2) adjusts the position of anchor node, so that anchor node covers the region where unknown node to be positioned, and obtains each
The coordinate of anchor node is disposed when adjusting anchor node position by density, and the specific method is as follows:
Step 2.B.1), calculate the total number N of anchor node in unknown node region to be positioned, unknown node total number M,
The number N of anchor node in 4 sub-regionsiAnd 4 unknown node in sub-regions number Mi, i=1,2,3,4；
Step 2.B.2), the anchor node number Y that each subregion should distribute is calculated according to the following formulai:
And to YiCarrying out round is
Step 2.B.3), it is rightIt sumsAnd by itself and anchor node in unknown node region to be positioned
Total number N is compared:
Step 2.B.3.1), it is right if N > N'Middle maximum value subtracts one, and updates its value, re-execute the steps step
2.B.3)；
Step 2.B.3.2), if N=N', according toValue adjustment each subregion anchor node number, it is specific as follows:
Step 2.B.3.2.1), ifCalculate the N of the subregioniIn a anchor node between any two anchor point away from
From, and the distance between they are successively removed by being ranked up from small to large apart from lesserA anchor node, so that
The number of the anchor node of the subregion is
Step 2.B.3.2.2), ifThen this subregion anchor node is without any processing；
Step 2.B.3.2.3), ifIt is random newly-generated in this subregionThe position of a anchor node increasesA anchor node, so that the anchor node number of the subregion is
Step 2.B.3.3), it is right if N'< NMiddle minimum value carries out adding one, then updatesValue, re-execute the steps step
Rapid 2.B.3)；
Step 3), calculate most short hop count between each unknown node to be positioned and each anchor node, each anchor node and other
Most short hop count between each anchor node；
Step 4) calculates itself and other according to its most short hop count between other each anchor nodes for each anchor node
Average hop distance between anchor node；
Step 5), it is average every between selection and the shortest anchor node of its hop count and other anchor nodes for each unknown node
Average hop distance of the hop distance as the unknown node, not multiplied by this by the hop count between the unknown node and each anchor node
The Average hop distance for knowing node obtains the distance between the unknown node and each anchor node；
Step 6) calculates each unknown node according to the distance between itself and each anchor node using least square method
The coordinate of the node.
3. a kind of DV-Hop localization method mobile based on region division anchor node, which comprises the steps of:
Step 1) by several anchor node random placements in the region where each unknown node to be positioned, and the region is averaged
It is divided into 4 sub-regions；
Step 2) adjusts the position of anchor node, so that anchor node covers the region where unknown node to be positioned, and obtains each
The coordinate of anchor node is disposed when adjusting anchor node position by preset interval threshold, for the anchor node in each sub-regions,
Execute following steps:
Step 2.C.1), arbitrarily select an anchor node；
Step 2.C.2), successively calculate the distance between other anchor nodes in the anchor node and subregion；
Step 2.C.3), by the distance between other anchor nodes in the anchor node and subregion respectively with preset interval threshold into
Row compares, if existed in the distance between other anchor nodes less than preset interval threshold in the anchor node and subregion
Distance, then in subregion a random newly-generated anchor node position, and the anchor node is moved to the position；
Step 2.C.4), repeat step step 2.C.2) to step 2.C.3), until other anchor sections in the anchor node and subregion
The distance between point is all larger than preset interval threshold；
Step 2.C.5), repeat step step 2.C.1) to step step 2.C.4), up to all anchor nodes in subregion and its
The distance between his anchor node is all larger than preset interval threshold；
Step 3), calculate most short hop count between each unknown node to be positioned and each anchor node, each anchor node and other
Most short hop count between each anchor node；
Step 4) calculates itself and other according to its most short hop count between other each anchor nodes for each anchor node
Average hop distance between anchor node；
Step 5), it is average every between selection and the shortest anchor node of its hop count and other anchor nodes for each unknown node
Average hop distance of the hop distance as the unknown node, not multiplied by this by the hop count between the unknown node and each anchor node
The Average hop distance for knowing node obtains the distance between the unknown node and each anchor node；
Step 6) calculates each unknown node according to the distance between itself and each anchor node using least square method
The coordinate of the node.
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