CN105898696A - Interval confidence evaluation-based roadside node positioning method - Google Patents
Interval confidence evaluation-based roadside node positioning method Download PDFInfo
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Abstract
The invention provides an interval confidence evaluation-based roadside node positioning method. The method comprises steps: a roadside node initializes parameters and variables, and according to the self communication radius R and road conditions, adjacent roads are divided into N intervals, and an energy attenuation list P is built for each interval; according to received vehicle release information and signals, the roadside node carries out interval energy attenuation statistics; statistics is carried out on the energy attenuation list of each interval, and a confidence value of the interval is obtained; a confidence interval is selected for positioning; and readjustment is carried out according to the confidence value of the interval. Through dividing communication areas, statistics and analysis are carried out on position information and received signals of a large amount of vehicles, a vehicle coordinate interval with high confidence and interval signal propagation attenuation are selected for positioning calculation, position coordinates of the node is estimated, and an important role is played in application development of aspects such as positioning of a vehicle ad hoc network in a complicated environment and the safety.
Description
Technical field
The invention belongs to car self-organization network technical field, be specifically related under complicated mobile environment roadside in vehicle self-organizing network
Node positioning method.
Background technology
Car self-organization network, as mobile ad-hoc network specifically applying in intelligent transportation system, is a kind of special MANET shape
Formula, has structure opening and the feature such as flexibly, and its huge application potential is paid attention to by academia and industrial circle, and based on position
The service put is application foundation important in vehicular ad hoc network.
The node of roadside, due to Cost Problems, the most all lacks positioner.After this kind of node installation, it is impossible to obtain self
Positional information, it is necessary to the information issued according to other equipment is analyzed and calculates just estimating current position.And it is vehicle-mounted
The node of MANET generally is equipped with accurate alignment system, such as GPS etc., it would be preferable to support various location-based application take
Business, such as, assist the services such as driving, Traffic information demonstration, inter-vehicular communication and access, and therefore vehicle can broadcast the position of self
Confidence ceases to the node of roadside, the location of collaborative roadside node.
After the node of roadside obtains the positional information that enough vehicles are issued, can be according to vehicle coordinate and the letter received
Number intensity carries out location estimation.But, car self-organization network exists the factor of Various Complex so that the node of roadside
Being accurately positioned extremely difficult: first, communication environment is extremely complex, there is various reflection, multipath, decline and Doppler effect,
These channel factors can make signal receiving strength that various changes occur, thus have impact on the range finding accuracy in most of localization method；
Secondly, the object that hinders of roadside can affect the information that circuit node reception vehicle is issued so that the positional information received has
Limit, it is impossible to meet the localization method requirement to beacon quantity；Finally, vehicle self-organizing network is similar with existing network, exists
The various attacks such as witch, worm hole and playback, the existence of attack can make roadside node receive the positional information of mistake, lead
Cause location estimation value and deviate far away actual value.
Many factors combines, and makes the location of roadside node become unusual complexity.Although at wireless sensor network
In have substantial amounts of localization method to study, but due to the channel variation of mobile environment, existing distance-measuring and positioning method becomes to be difficult to fit
With, rather than distance-finding method needs complicated route and fixing beaconing nodes, less discussion utilizes the positional information of vehicle to complete
Location.It addition, current research is less for the consideration of the time-varying positional information of different vehicle substantial amounts of in car self-organization network, and
The data of these complexity can preferably be used for the location of node.
Summary of the invention
In order to solve in prior art the coarse technical problem of vehicle location under mobile environment, the present invention proposes based on interval credible
The roadside node positioning method of assessment, assists roadside node to position, by drawing in vehicle self-organizing network
Divide communication zone, substantial amounts of vehicle position information and reception signal are carried out statistics and analysis, choose the higher vehicle of credibility and sit
Mark is interval and wayside signaling propagation attenuation carries out location Calculation, estimates the position coordinates of node, for the vehicle under complex environment certainly
The application and development of the aspects such as the location of tissue network and safety has great meaning.
The present invention adopts the following technical scheme that and realizes: roadside node positioning method based on interval credible evaluation, is applied to
Vehicle self-organizing network, comprises the following steps:
Step 1: parameter and variable are initialized by roadside node, according to self communication radius R and road conditions,
Adjacent road is divided into N number of interval, and sets up an energy attenuation list P, energy attenuation list P for each interval and include
Energy attenuation grade and record number of times；
Step 2: roadside node releases news and signal according to the vehicle received, carries out interval energy attenuation statistics；
Step 3: the energy attenuation list to each interval is added up, obtains the confidence values in interval；
Step 4: choose credibility interval and position；
Step 5: readjust according to interval confidence values.
Preferably, the interval energy attenuation statistics described in step 2 is as follows:
The information that node is issued according to vehicle on road, it is thus achieved that the coordinate that vehicle releases news, determines interval according to coordinate information；
Transmitting power during vehicle is released news by node subtracts each other with the power being an actually-received this information, calculates energy attenuation value,
Energy attenuation grade is obtained, by the decay in the energy attenuation list in this interval according to energy attenuation value inquiry energy attenuation list P
The record number of times of grade adds 1；
Judge whether the accumulated value of the record number of times of the class of attenuation reaches cumulative maximum, if it is, perform step 3, otherwise,
Continue to the information that vehicle is issued.
Preferably, the energy attenuation list in each interval is carried out adding up as follows by described step 3: according in energy attenuation list
Each grade record number of times obtains the total degree of each interval vehicle emissions information, and the damping capacity grade that record number of times is most,
By the damping capacity grade record number of times maximum in each interval divided by record total degree, its value is as the confidence values in this interval.
Preferably, described step 4 is chosen credibility interval and is positioned, and comprises the following steps:
Step 41: select the interval n that in all intervals, confidence values is maximummax；
Step 42: setting location algorithm needs to position with B position coordinates, N number of interval is divided into B region, by N
Divided by B, obtaining business is J, and remainder is K, first region b1Comprise maximum confidence values interval, perform step 43, make first
Individual region contains J+K interval altogether；
Step 43: divide first region: if maximum confidence values is interval interval at a distance of L with first or last interval,
When L≤(J+K-1)/2, nmaxClose on L the interval in first or last interval, and other J+K-1-L
Individual interval is as first region b1；Otherwise, when J+K-1 is even number, nmaxAdjacent both sides respectively take (J+K-1)/2 district
Between, as first region b1；When J+K-1 is odd number, can arbitrarily take interval, (J+K)/2, additionally while taking
(J+K-2)/2 intervals, as first region b1, after completing, perform step 44；
Step 44: divide remaining B-1 region: by remaining N-(J+K) individual interval, be divided into B-1 according to the method for decile
Individual region, each region comprises J interval；
Step 45: choose the interval that confidence values is maximum from each region, chooses the intermediate value in this interval as credible coordinate, and from
Choosing, in each interval maximum interval energy attenuation list, the class of attenuation that record number of times is most, inquiry energy attenuation list obtains
Energy attenuation scope, take the intermediate value energy attenuation value as this coordinate to node, according to wireless signal at the model of spatial transmission
Calculate this coordinate to node can communication distance；
Step 46: according to localization method, utilize the credible coordinate in multiple interval and credible distance estimations node location coordinate.
Preferably, described step 5 is readjusted according to interval confidence values, and step is as follows:
Step 51: judge whether the interval size that in region, confidence values is maximum is less than required precision, if it is satisfied, then this region
The interval at place does not carry out interval adjustment, otherwise, performs step 52；
Step 52: the interval that confidence values in region is maximum is split into two intervals of equal portions；
Step 53: by interval merging minimum to interval minimum for confidence values in region and adjacent same region confidence values；
Step 54: the interval after splitting and merging is numbered the most in order；
Step 55: the record number of times in the energy attenuation list between new district being reset, if having traveled through Zone Full, then performing step
Rapid 2, otherwise, then perform step 51, adjust next region.
Compared with prior art, present invention have the advantage that
1, the method that present invention employs the information that many cars of statistics are launched carries out credible analysis to each interval of road, overcomes
Only carry out positioning by the information of a car and easily by environmental disturbances and the shortcoming of malicious sabotage, improve the robustness of location.
2, the inventive method is also carried out record for the information that malice vehicle in car self-organization network sends, but when malice vehicle fleet size
During less than normal vehicle, the confidence values impact on being obtained by statistics is little；Therefore, the inventive method can preferably resist evil
The attack that meaning vehicle is carried out.
3, size interval in the inventive method can adjust, thus can preferably approach node in certain error allowed band
Actual coordinate, meets the required precision that node location is estimated.
4, the inventive method interval less to statistics number can merge, such that it is able to preferably utilize the information between non-shielded
Position, it is to avoid the barrier impact on location.
Accompanying drawing explanation
In order to be illustrated more clearly that technical scheme, in describing embodiment below, the required accompanying drawing used is made simple
Ground is introduced；It should be evident that the accompanying drawing in describing below is some embodiments of the present invention, for those of ordinary skill in the art
From the point of view of, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the flow chart of present invention roadside node positioning method based on interval credible evaluation；
Fig. 2 is schematic diagram and the energy attenuation list that node carries out interval division to the road in communication range；
Fig. 3 is the flow chart choosing the maximum multiple interval methods of confidence values；
Fig. 4 is interval method of adjustment flow chart.
Detailed description of the invention
In order to clearly describe the present invention, below in conjunction with specific embodiment and accompanying drawing, technical solution of the present invention is carried out clearly
Chu, complete description, but embodiments of the present invention are not limited to this.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under not making creative work premise, both falls within protection scope of the present invention.
Embodiment
Refering to Fig. 1, present invention roadside node positioning method based on interval credible evaluation, it is applied under complicated mobile environment
The location of roadside node in vehicle self-organizing network, specifically includes following steps:
Step 1: parameter and variable are initialized by roadside node, according to self communication radius R and road conditions,
Adjacent road is divided into N number of interval, and sets up an energy attenuation list P for each interval.
As in figure 2 it is shown, road L region in communication radius R be divide into N number of interval, n by node A1, n2..., nN,
The present embodiment uses the method demarcation interval that road L carries out distance decile.
Energy attenuation list P described in step 1 includes herein below: energy attenuation grade and record number of times.In the present embodiment,
Reception signal energy pad value p such as table 1 is divided:
Table 1 energy attenuation grade classification
| Pad value (db) | 0 | 0 ＞ p >=-5 | -5 ＞ p >=-10 | -10 ＞ p >=-15 |
| The class of attenuation | 1 | 2 | 3 | 4 |
| Pad value (db) | -15 ＞ p >=-20 | -20 ＞ p >=-25 | -25 ＞ p >=-30 | -30 ＞ p |
| The class of attenuation | 5 | 6 | 7 | 8 |
| Pad value (db) | -35 ＞ p >=-40 | -40 ＞ p >=-45 | -45 ＞ p >=-50 | -50 ＞ p >=-55 |
| The class of attenuation | 9 | 10 | 11 | 12 |
| Pad value (db) | -55 ＞ p >=-60 | -60 ＞ p >=-65 | -65 ＞ p >=-70 | -70 ＞ p |
| The class of attenuation | 13 | 14 | 15 | 16 |
Respective energy attenuation list is set up according to upper table in the interval of each road, as shown in this embodiment, for n1, n2...,
n16Energy attenuation list P is set up in interval1, P2..., P16, all of record number of times is initialized as 0.
Step 2: roadside node releases news and signal according to the vehicle received, carries out interval energy attenuation statistics.
The information that node is issued according to vehicle on road, it is possible to obtain the coordinate that vehicle releases news, determines district according to coordinate information
Between, as determined the n at road according to the coordinate of vehicle6Interval.
Node again vehicle is released news in transmitting power PSendWith the power P being an actually-received this informationRecSubtract each other, calculate energy
Amount pad value p=PSend-PRec, table look-up 1 according to p value, it is thus achieved that the class of attenuation, by the energy attenuation list P in this intervaliIn decline
The record number of times subtracting grade adds 1.
Judge whether the accumulated value of the record number of times of the class of attenuation reaches cumulative maximum, such as 100, if having reached maximum,
Then perform step 3, otherwise, continue to positional information.
Step 3: the energy attenuation list to each interval is added up, according to each grade record in energy attenuation list
Number obtains the total degree of each interval vehicle emissions information, and the damping capacity grade that record number of times is most, by each interval
Damping capacity grade record number of times maximum is divided by record total degree, and its value is as the confidence values in this interval.As shown in table 2:
The each interval power attenuation list of table 2 and interval confidence values
In table 2, as interval n2The record number of times of the 12nd energy attenuation grade reach dominant record number of times, such as 100,
Then perform step 3, the interval n of statistics1, n2..., n16Power attenuation list in the class of attenuation and altogether of dominant record number of times
Record number of times, finally obtains confidence values.
Step 4: according to the beacon quantity needed for different localization methods, select the multiple credibility intervals meeting quantitative requirement, take district
Between coordinate intermediate value, energy attenuation value maximum for record number of times is converted to propagation distance, roadside node is according to coordinate and distance
Calculate self-position coordinate.
The method choosing the maximum multiple intervals of confidence values refers to Fig. 3, comprises the following steps:
Step 41: select the interval n that in all intervals, confidence values is maximummax, n as shown above2Confidence values reach 0.59, be
The interval that in all intervals, credibility is the highest.
Step 42: setting location algorithm needs to position with B position coordinates, and node has N number of interval division to road, by N
Divided by B, obtaining business is J, and remainder is K.N number of interval is divided into B region, and first area b1 comprises maximum confidence values
Interval, performs step 43, makes first area contain J+K interval altogether.
Instantiation is as shown in table 2, for example with the method for three-point fix, then be accomplished by B=3 position coordinates, and these positions
Put coordinate to choose from 3 regions.By node to interval quantity N=16 of road divided by beacon quantity B=3 needed for algorithm,
Obtaining business J is 5, and remainder K is 1, i.e. comprises the interval n of maximum confidence values2First region b1Altogether need to comprise 6
Interval, other regions b2And b3Comprise 5 intervals.
Step 43: divide first interval b1If, maximum confidence values interval nmaxWith first nfirstOr last interval nlast
Interval at a distance of L, i.e. L=max-first, or L=last-max, when L≤(J+K-1)/2, nmaxClose on first or
L the interval that later is interval, and J+K-1-L other interval is as first region b1；Otherwise, J+K-1 is worked as
During for even number, nmaxAdjacent both sides respectively take interval, (J+K-1)/2, as first interval b1；When J+K-1 is odd number,
Interval, (J+K-2)/2 can be additionally taken, as first region b arbitrarily while taking interval, (J+K)/21, complete
Rear execution step 44.
Instantiation is as shown in table 2, maximum confidence values interval n2With first interval n1At a distance of 1 interval, and (J+K-1)
/ 2=(5+1-1)/2=2.5, more than 1, so first region is at n2While contains only n1One interval, additionally bag
J+K-1-L=5+1-1-1=4 interval, i.e. first region b are contained1Contain 6 interval n1, n2, n3, n4, n5, n6。
Step 44: divide remaining region, by remaining N-(J+K) individual interval, is divided into B-1 region according to the method for decile,
Each interval comprises J interval.
Instantiation is as shown in table 2, in addition to the interval that first region is comprised, there remains 10 intervals, after decile, the
Two Areas b2Comprise n7, n8, n9, n10, n11Interval, the 3rd region b3Comprise n12, n13, n14, n15, n16Interval.
Step 45: choose the interval that confidence values is maximum from each region, chooses the intermediate value in this interval as credible coordinate, and from
Choosing, in each interval maximum interval energy attenuation list, the class of attenuation that record number of times is most, look-up table 1 obtains energy and declines
Subtract scope, take the intermediate value energy attenuation value as this coordinate to node, calculate this seat according to wireless signal at the model of spatial transmission
Mark can communication distance to node.
Instantiation is as above shown in table 2, and the maximum interval in first region is n2It is 0.56, the energy that this interval record number of times is most
The amount class of attenuation is 12, and the maximum credibility interval of Two Areas is n9It is 0.22, the energy attenuation that this interval record number of times is most
Grade is 8, and trizonal maximum credibility interval is n14Being 0.22, the energy attenuation grade that this interval records number of times most is
10.Each interval corresponding energy attenuation scope can be obtained, such as n according to table 12The energy attenuation grade recording number of times most is
12, energy attenuation scope is-50 ＞ p >=-55, can take-52.5 as the middle point coordinates of decay interval 2 to the signal attenuation of node
Energy.Then, according to the wireless signal spatial model computed range d expressed by following formula:
Wherein Pd0It is reference distance d0Path loss power, d0Taking 1 meter, η is the loss index in radio signal propagation path,
η and P (d0) testing setup can be passed through when installing sensing node.
Thus step can obtain n2, n9And n14Interval midpoint position coordinates M2(x2, y2), M9(x9, y9) and M14(x14,
y14), as credible coordinate, and these coordinates are to distance d of node A2, d9And d12, as can communication distance.
Step 46: according to localization method, utilizes point coordinates and the distance estimations node location coordinate to node in credibility interval.
As in the example of table 2, it is thus achieved that M2, M9And M14, and d2, d9And d12, i.e. can use the method for three-point fix to estimate
The position coordinates of meter node A.
Step 5: road interval is readjusted according to interval confidence values.
The interval method adjusted as shown in Figure 4, comprises the steps of
Step 51: judge whether the interval size that in regional, confidence values is maximum is less than required precision, if it is satisfied, then should
The interval at place, region does not carry out interval adjustment, continues executing with step 51, adjusts next region, otherwise, performs step 52.
Such as in the example of table 2, interval n2Interval size be 5 meters, and node arrange required precision be 8 meters, the most not
Need again to n2First region b at place1All intervals be adjusted；If interval n2Interval size be 10 meters, then
Need region b1Carry out interval adjustment.
Step 52: the interval that confidence values in regional is maximum is split into two intervals of equal portions.
As in the example of table 2, if n2, n9And n14Interval size all big than required precision, need to carry out interval adjustment,
n2It is region b1The interval that middle confidence values is maximum, it is possible to by n2Split into n2_1And n2_2Two intervals, n9It is region b2In can
The interval that letter value is maximum, it is possible to n will be splitted into9_1And n9_2Two intervals, n14It is region b3The interval that middle confidence values is maximum,
So n can will be splitted into14_1And n14_2Two intervals, above fractionation can use equidistant fractionation.
Step 53: by interval merging minimum to interval minimum for confidence values in regional and adjacent same region confidence values.
As in the example of table 2, n6It is region b1The interval that middle confidence values is minimum, it is adjacent belongs to region b1Interval only
n5, so the two interval is merged into interval n6_5；n8It is region b2The interval that middle confidence values is minimum, it is adjacent belongs to region b2
Interval have n7And n9, n7Confidence values be 0.17, n9Confidence values be 0.22 because n7Confidence values less, so n7
And n8Interval is merged into interval n8_7；n12It is region b3The interval that middle confidence values is minimum, it is adjacent belongs to region b3Interval only
There is n13, so the two interval is merged into interval n12_13。
Step 54: the interval after splitting and merging is numbered the most in order.
As in the example of table 2, after step 52 and the fractionation of 53 and merging, obtain new interval division as shown in table 3,
These intervals are renumberd.Originally n3Interval sequence number in new interval division has been changed toSuch as the interval n split2_1
And n2_2Two interval sequence numbers in new interval division have been changed toWithSuch as the interval n merged8_7Draw in new interval
In point, sequence number has been changed to
Step 55: the record number of times in the energy attenuation list between new district being reset, if having traveled through Zone Full, then performing step
Rapid 2, otherwise, then perform step 51, adjust next region.
The above is only the preferred embodiment of the present invention, it is noted that for those skilled in the art,
Under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications also should be regarded as this
Bright protection domain.
Described above to the disclosed embodiments, makes those skilled in the art be capable of or uses the present invention.These are implemented
The multiple amendment of example will be apparent from for a person skilled in the art, and the General Principle defined in the present invention can be not
In the case of departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention is not intended to be limited to this
These embodiments shown in literary composition, and it is to fit to the widest scope consistent with principles of this disclosure and features of novelty.
Claims (5)
1. roadside node positioning method based on interval credible evaluation, is applied to vehicle self-organizing network, it is characterised in that
Comprise the following steps:
Step 1: parameter and variable are initialized by roadside node, according to self communication radius R and road conditions,
Adjacent road is divided into N number of interval, and sets up an energy attenuation list P, energy attenuation list P for each interval and include
Energy attenuation grade and record number of times；
Step 2: roadside node releases news and signal according to the vehicle received, carries out interval energy attenuation statistics；
Step 3: the energy attenuation list to each interval is added up, obtains the confidence values in interval；
Step 4: choose credibility interval and position；
Step 5: readjust according to interval confidence values.
Localization method the most according to claim 1, it is characterised in that the interval energy attenuation statistics described in step 2 is as follows:
The information that node is issued according to vehicle on road, it is thus achieved that the coordinate that vehicle releases news, determines interval according to coordinate information；
Transmitting power during vehicle is released news by node subtracts each other with the power being an actually-received this information, calculates energy attenuation value,
Energy attenuation grade is obtained, by the decay in the energy attenuation list in this interval according to energy attenuation value inquiry energy attenuation list P
The record number of times of grade adds 1；
Judge whether the accumulated value of the record number of times of the class of attenuation reaches cumulative maximum, if it is, perform step 3, otherwise,
Continue to the information that vehicle is issued.
Localization method the most according to claim 1, it is characterised in that the energy attenuation in each interval is arranged by described step 3
Table carries out adding up as follows: obtain the total of each interval vehicle emissions information according to each grade record number of times in energy attenuation list
Number of times, and the record most damping capacity grade of number of times, by the damping capacity grade record number of times maximum in each interval divided by
Record total degree, its value is as the confidence values in this interval.
Localization method the most according to claim 1, it is characterised in that described step 4 is chosen credibility interval and positioned,
Comprise the following steps:
Step 41: select the interval n that in all intervals, confidence values is maximummax；
Step 42: setting location algorithm needs to position with B position coordinates, N number of interval is divided into B region, by N
Divided by B, obtaining business is J, and remainder is K, first region b1Comprise maximum confidence values interval, perform step 43, make first
Individual region contains J+K interval altogether；
Step 43: divide first region: if maximum confidence values is interval interval at a distance of L with first or last interval,
When L≤(J+K-1)/2, nmaxClose on L the interval in first or last interval, and other J+K-1-L
Individual interval is as first region b1；Otherwise, when J+K-1 is even number, nmaxAdjacent both sides respectively take (J+K-1)/2 district
Between, as first region b1；When J+K-1 is odd number, can arbitrarily take interval, (J+K)/2, additionally while taking
(J+K-2)/2 intervals, as first region b1, after completing, perform step 44；
Step 44: divide remaining B-1 region: by remaining N-(J+K) individual interval, be divided into B-1 according to the method for decile
Individual region, each region comprises J interval；
Step 45: choose the interval that confidence values is maximum from each region, chooses the intermediate value in this interval as credible coordinate, and from
Choosing, in each interval maximum interval energy attenuation list, the class of attenuation that record number of times is most, inquiry energy attenuation list obtains
Energy attenuation scope, take the intermediate value energy attenuation value as this coordinate to node, according to wireless signal at the model of spatial transmission
Calculate this coordinate to node can communication distance；
Step 46: according to localization method, utilize the credible coordinate in multiple interval and credible distance estimations node location coordinate.
Localization method the most according to claim 4, it is characterised in that described step 5 is adjusted again according to interval confidence values
Whole, step is as follows:
Step 51: judge whether the interval size that in region, confidence values is maximum is less than required precision, if it is satisfied, then this region
The interval at place does not carry out interval adjustment, otherwise, performs step 52；
Step 52: the interval that confidence values in region is maximum is split into two intervals of equal portions；
Step 53: by interval merging minimum to interval minimum for confidence values in region and adjacent same region confidence values；
Step 54: the interval after splitting and merging is numbered the most in order；
Step 55: the record number of times in the energy attenuation list between new district being reset, if having traveled through Zone Full, then performing step
Rapid 2, otherwise, then perform step 51, adjust next region.
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| Publication number | Priority date | Publication date | Assignee | Title |
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