CN106093857A - A kind of mobile anchor node WSN assisted location method based on helix - Google Patents
A kind of mobile anchor node WSN assisted location method based on helix Download PDFInfo
- Publication number
- CN106093857A CN106093857A CN201610421950.0A CN201610421950A CN106093857A CN 106093857 A CN106093857 A CN 106093857A CN 201610421950 A CN201610421950 A CN 201610421950A CN 106093857 A CN106093857 A CN 106093857A
- Authority
- CN
- China
- Prior art keywords
- node
- anchor node
- helix
- value
- packet
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 73
- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 8
- 230000000737 periodic effect Effects 0.000 claims description 6
- 230000015572 biosynthetic process Effects 0.000 claims description 4
- 230000002457 bidirectional effect Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 3
- 239000012141 concentrate Substances 0.000 claims description 3
- 230000011218 segmentation Effects 0.000 claims description 3
- 230000004807 localization Effects 0.000 description 13
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 239000000654 additive Substances 0.000 description 1
- 230000000996 additive effect Effects 0.000 description 1
- 238000000205 computational method Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000003313 weakening effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0284—Relative positioning
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Mobile Radio Communication Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of mobile anchor node WSN assisted location method based on helix, the method includes: first set up coordinate system with square region central point for initial point, draw helix using fixed intervals as the mobile route of anchor node, movement with anchor node, concentration is received the packet of anchor node broadcast by node to be positioned, determines this unknown node coordinate according to angle value;If two-wheeled data being detected, then determine this unknown node coordinate according to the less round information of RSSI value.The helix motion track that the present invention uses can well solve synteny problem existing for mobile route for the tradition, and using value is higher;In the present invention, mobile anchor node uses directional aerial, and the directional aerial omnidirectional antenna gain that compares is high, can strengthen signal strength signal intensity, increase antijamming capability, it is adaptable to the deployment of actual environment.
Description
Technical field
The invention belongs to electronic technology field, particularly relate to a kind of mobile anchor node WSN auxiliary positioning based on helix
Method.
Background technology
Wireless sensor network (WSN) location technology is a kind of key core support technology, the topological control of some of WSN,
Route Selection, load balancing scheduling theory are all highly dependent on the unknown message of node.WSN positioning basic technique principle is unknown joint
Point estimates the position of self by carrying out communicating with the anchor node of a small amount of known position information.In recent years, WSN localization method grinds
Study carefully and achieve lot of research.
According to position fixing process the need of measurement distance, WSN node locating can use localization method and nothing based on range finding
The localization method that need to find range, wherein needs additional hardware to support based on the localization method of range finding, positions relatively costly, positioning precision
High but easily by such environmental effects;And although the localization method positioning precision without range finding is relatively low, but low cost and be susceptible to ring
Border factor impact, is more suitable for the application of low cost WSN.
Whether move according to anchor node, WSN localization method can be divided into static anchor node locating and dynamic anchor node positioning two
Kind.Need certain density with satisfied connective demand when generally using static anchor node, therefore within the specific limits, anchor node
Quantity is more, and corresponding unknown node positioning precision also can be higher, and thus also causes some problems, such as anchor node resource wave
Take, algorithm complex is too high, position cost up etc..And the use of dynamic anchor node can greatly reduce anchor node quantity, and more
Flexibly, receiving much attention in recent years, many scholars propose the location algorithm based on mobile anchor node from different angles.
The mobile anchor node locating technique research of early stage is concentrated mainly on the mobile route planning of anchor node, explores and is covering
Optimal route selection in terms of scope and mobile route length, such as Scan, Double Scan and the Hilbert road occurring in early days
Footpath, and Circle later, S-Curve, helix and random mobility model etc..In recent years, auxiliary for mobile anchor node
Help localization method, use the method for the whole WSN of equilateral triangle track traversal along deployment region for the mobile anchor node to carry out fixed
Position, ensureing that all unknown node all receive message, and obtains estimating position, compares its positioning precision of additive method higher;
A kind of localization method based on regular hexagon motion track, is realized all standing of WSN deployment region by multilayer regular hexagon, with
When use directional aerial for anchor node, and directional aerial is favorably improved positioning precision.
Although both the above localization method positioning thinking is relatively new, but all disposes GPS on mobile anchor node, pass through GPS
The positional information of anchor node is provided, but, the error of GPS own is relatively big, and especially in node high speed movement, it positions by mistake
Difference necessarily causes this localization method to there is natural limitation.
Content of the invention
It is an object of the invention to provide a kind of mobile anchor node WSN assisted location method based on helix, it is intended to solve
Certainly present in anchor node high speed movement, GPS position information error causes more greatly the problem that conventional mapping methods lost efficacy;This
Invention utilizes time parameter this high accuracy measure to replace GPS position information, inherently solves anchor node and moves middle institute
Intrinsic equipment error problem, disposes directional aerial simultaneously on anchor node, can effectively improve positioning and cover and practical value.
The present invention is achieved in that a kind of mobile anchor node WSN assisted location method based on helix, should be based on spiral shell
The mobile anchor node WSN assisted location method of spin line includes:
Step one: assume first that unknown node is randomly dispersed in a square region, with square region central point as initial point
Setting up coordinate system, drawing helix as the mobile route of anchor node, a length of L in region using fixed intervals R, helix is divided into n section,
The bidirectional oriented antenna of mobile anchor node equipment moves, mobile by fixed angles speed omega (rad/s), and directional aerial central shaft is all the time
Vertical with moving direction, mobile route is fixing multi-layer helical line, and moving process is from inside to outside, (-R/ on the left of the origin of coordinates
2,0) start timing at coordinate to move, by 00:00, periodic broadcast packet, continue this process until anchor node moves
Terminate when moving right side (R n/2,0) coordinate points;
Step 2, with the movement of anchor node, concentration is received the packet of anchor node broadcast by node to be positioned, when the
When once receiving packet, moment value when receiving packet for the first time is labeled as T1 (1), and detect reception for the first time
It to signal strength values during packet, is designated as RSSI1 (1);When second time receives packet, second time is received data
Moment value during bag is labeled as T2(1), and detect signal strength values when receiving packet for the second time, it is designated as RSSI2 (1);Weight
Multiple above procedure, until no longer detecting packet;Finally detected moment value is Tn (1), signal strength values is RSSIn (1);
Step 3, unknown node are according to T1 (1), Tn (1)And angular velocity omega calculates residing at present arc section and angle, obtain empty
Intend the angle of anchor node intermediate pointAndWhen unknown node is distributed in outside helix, receives only one and take turns data
Bag, and when unknown node is distributed in inside helix, concentrates and receive two-wheeled packet, lay respectively at the identical of different segmental arc
Angle direction, second takes turns the moment value receiving and signal strength signal intensity is respectively labeled asWithSecond to take turns calculating process identical with the first round, obtains intermediate point angleAnd
Value;
It if step 4, each unknown node only detect one and take turns data, then is positioned the outer lateral extent of this unknown node circular arc
The position of d1, d1 is drawn by signal fadeout model conversation, and signal fadeout model refers to that signal strength signal intensity can be with the increasing of propagation distance
Weakening greatly, researcher, according to substantial amounts of experimental data, has obtained the relation mould between wireless signal strength and transmission range
Type RSSI=-(A+10nlgd), wherein n is path loss coefficient, and d is transmission range;Then this unknown is determined according to angle value
Node coordinate;If two-wheeled data being detected, then determine this unknown node coordinate, RSSI according to the less round information of RSSI value
Less, respective distances is bigger, and then the data received by node to be positioned are more.
The advantageous measure that the present invention uses has:
The value of fixed intervals R sets according to directional antenna communications distance.
The a length of L in region, helix is divided into according to formula L=R × (n+1) segmentation in n section, and wherein, R is fixed intervals.
In periodic broadcast packet, packet includes current time value and ID value (unique volume of node of mobile anchor node
Code identification, determines that information that unknown node receives, from anchor node, thus avoids unknown node proper communication
This position fixing process is interfered by journey), with { T, ID} represent, the cycle of broadcast is Tsend。
Further, the Coordinate calculation method of node P to be positioned is:
Formula (1) is utilized to calculate the intermediate time point of kth round:
Wherein, n is the packet number of times receiving in kth round;
Then formula (2) is utilized to calculate the angle value of intermediate point:
In like manner its signal strength values is:
According to RSSI range finding model formation:
RSSI=-(A+10nlgd) (4) calculates distance d between this moment anchor node and node to be positionedk, formula
Middle A is the absolute value of received signal strength at range transmission node 1m, and n is path loss coefficient, when unknown node receives only
One when taking turns data, d=d1;When unknown node receives two-wheeled data, take
Then, if unknown node coordinate is (xi,yi), the radius of this unknown node place segmental arc is calculated according to formula (6),
R=R m/2+d (6)
Wherein
Finally, calculate gained according to above, substitute into node p to be positionediCoordinate formula:
So far, after obtaining the coordinate of P point, the position fixing process of this point terminates, and other nodes to be positioned all implement said method,
Complete the position fixing process of self.
The present invention uses a mobile anchor node auxiliary to complete positioning, is characterized in using time value parameter as positioning side
The core of method, it is to avoid the error that GPS information is brought, and the mobile anchor node positioning method having been proposed that is led by GPS device
The error average out to 3-5m causing;Utilize directional aerial gain high simultaneously, the remote feature of communication distance, it is applied to actual environment portion
Administration, comprehensive positioning precision is high, is suitable for outdoor WSN positioning;
The present invention utilizes time parameter this high accuracy measure to replace GPS position information, inherently solves anchor joint
Equipment error problem intrinsic during point is mobile;
The present invention is directed to WSN mobile anchor node locating technique, it is proposed that a kind of localization method based on helix, have relatively
High position precision, the method advantage has:
Time is one of a kind of relative accuracy ambient parameter the highest, and the present invention utilizes time parameter computational methods to replace passing
System localization method utilizes GPS to determine the method for position, reduces, from the source of localization method, the error brought by environmental variance,
There is inborn superiority;
The helix motion track that the present invention uses can well solve synteny existing for mobile route for the tradition and ask
Topic, and using value is higher;
In the present invention, mobile anchor node uses directional aerial, and the directional aerial omnidirectional antenna gain that compares is high, can strengthen
Signal strength signal intensity, increases antijamming capability, it is adaptable to the deployment of actual environment.
Brief description
Fig. 1 is the mobile anchor node WSN assisted location method flow chart based on helix that the embodiment of the present invention provides.
Fig. 2 is Node distribution and the motion track figure of embodiment of the present invention offer.
Fig. 3 is the directional aerial schematic diagram that the embodiment of the present invention provides.
Fig. 4 is the local nodes positioning schematic diagram that the embodiment of the present invention provides.
Fig. 5 is the mobile anchor node auxiliary positioning programme diagram that the embodiment of the present invention provides.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with embodiment, to the present invention
It is further elaborated.It should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not used to
Limit the present invention.
Below in conjunction with the accompanying drawings the application principle of the present invention is explained in detail.
As shown in Figure 1: a kind of mobile anchor node WSN assisted location method based on helix, should be based on the shifting of helix
Dynamic anchor node WSN assisted location method includes:
S101: assume first that unknown node is randomly dispersed in a square region, build for initial point with square region central point
Vertical coordinate system, draws helix as the mobile route of anchor node using fixed intervals R, and a length of L in region, helix is divided into n section, moves
The bidirectional oriented antenna of dynamic anchor node equipment moves, and moves by fixed angles speed omega, and directional aerial central shaft all the time with movement side
To vertically, mobile route is fixing multi-layer helical line, and moving process is from inside to outside, (-R/2,0) coordinate on the left of the origin of coordinates
Place starts timing and moves, by 00:00, and periodic broadcast packet, continue this process until anchor node moves to right side
Terminate during (R n/2,0) coordinate points;
S102: with the movement of anchor node, concentration is received the packet of anchor node broadcast by node to be positioned, when first
Secondary when receiving packet, moment value when receiving packet for the first time is labeled as T1 (1), and detect and receive for the first time
Signal strength values during packet, is designated as RSSI1 (1);When second time receives packet, second time is received packet
When moment value be labeled as T2 (1), and detect signal strength values when receiving packet for the second time, it is designated as RSSI2 (1);Repeat with
Upper process, until no longer detecting packet;Finally detected moment value is Tn (1), signal strength values is RSSIn (1);
S103: unknown node is according to T1 (1), Tn (1)And angular velocity omega calculates residing at present arc section and angle, obtain virtual
The angle of anchor node intermediate pointAndWhen unknown node is distributed in outside helix, receives only one and take turns data
Bag, and when unknown node is distributed in inside helix, concentrates and receive two-wheeled packet, lay respectively at the identical of different segmental arc
Angle direction, second takes turns the moment value receiving and signal strength signal intensity is respectively labeled asWithSecond to take turns calculating process identical with the first round, obtains intermediate point angleAnd
Value;
S104: if each unknown node only detects one takes turns data, then be positioned the outer lateral extent d1 of this unknown node circular arc
Position, d1 is drawn by signal fadeout model conversation, then determines this unknown node coordinate according to angle value;If two-wheeled being detected
Data, then determine this unknown node coordinate according to the less round information of RSSI value, and RSSI is less, and respective distances is bigger, enters
And the data received by node to be positioned are more, position more accurate.
Further, the value of fixed intervals R sets according to directional antenna communications distance.
Further, a length of L in region, helix is divided into according to formula L=R × (n+1) segmentation in n section, and wherein, R is fixing
Interval.
Further, in periodic broadcast packet, packet includes current time value and the ID value of mobile anchor node, ID value
For the unique encodings identification of node, determine that information that unknown node receives, from anchor node, thus avoids the unknown
Interfere use in node normal course of communications { T, ID} represent, the cycle of broadcast is T to this position fixing processsend。
Further, the Coordinate calculation method of node P to be positioned is:
Formula (1) is utilized to calculate the intermediate time point of kth round:
Wherein, n is the packet number of times receiving in kth round;
Then formula (2) is utilized to calculate the angle value of intermediate point:
In like manner its signal strength values is:
According to RSSI range finding model formation:
RSSI=-(A+10nlgd) (4)
Calculate distance d between this moment anchor node and node to be positionedk, in formula, A is to connect at range transmission node 1m
Receive signal strength signal intensity absolute value, n is path loss coefficient, when unknown node receive only one take turns data when, d=d1;Work as the unknown
When node receives two-wheeled data, take
Then, if unknown node coordinate is (xi,yi), the radius of this unknown node place segmental arc is calculated according to formula (6),
R=R m/2+d (6)
Wherein
Finally, calculate gained according to above, substitute into node p to be positionediCoordinate formula:
So far, after obtaining the coordinate of P point, the position fixing process of this point terminates, and other nodes to be positioned all implement said method,
Complete the position fixing process of self
Below in conjunction with specific embodiment, the present invention is further described.
If reference location scene is as in figure 2 it is shown, scene is the length of side is the square area of 450m, region area be 450m ×
450m, sets up coordinate system, 30 unknown node of random placement, the communication of mobile anchor node S with square region central point for initial point
Scope R=50m, directional antenna radiation angle is 30 °, and fixing traveling angle speed omega is π/36 (rad/s), anchor node from (-50,
0) starting to move counterclockwise along helix, directional broadcasting cycle T send is 1s, and wherein directional aerial is as shown in Figure 3.
The present invention concretely comprises the following steps under above implementation condition:
Step 1: mobile anchor node starts timing at 00:00 and moves, by the directional broadcasting of every 1 second of cycle once, packet bag
The value of delivery time containing current message and self ID, anchor node reaches home (225,0) after moving 4.5 circles, the moment now
Value is 05:24, altogether 324s, and moving process terminates.
Step 2: Fig. 4 specifically illustrates the process that a certain round node to be positioned P receives packet and recording-related information.
In actual deployment, close with mobile anchor node, node P to be positioned is at Ti (1)Anchor node is received first during=01:00
Broadcast message, then by ID verify anchor node identity, after being verified, record moment value and the RSSI value of this time;Every 1
Second all receives broadcast message, untilNo longer receive broadcast message afterwards, then receive altogether 5 secondary data bags,
Choose the position of intermediate time point as virtual anchor node, i.e.Recording its RSSI value is-65.89dbm;Then
After 72s (a mobile circle), P point receives the packet that anchor node is sent again, from Ti (2)=02:11 starts, and arrivesTerminate, then receive altogether 7 secondary data bags, choose the position of intermediate time point as virtual anchor node, i.e.Its RSSI value is-70.92dbm.In sum, choosing the less round of RSSI, i.e. second takes turns (if only receiving
To a round packet, then need not compare RSSI value again, directly carry out step below), willSubstitute into formulaCalculate angle valueIt is 670 °;
Step 3: in RSSI range finding model formation RSSI=-(A+10nlgd), understands A=33.89 through reality measurement,
Path loss coefficient n=2.46, calculates distance d=-32 (m) between this moment anchor node and node to be positioned accordingly, if
Unknown node coordinate is (xi,yi), radius r=68 (m) of this unknown node place segmental arc is calculated according to formula r=R m/2+d,
WhereinI.e. m=4;
Step 4: by parameter r,M substitutes into positioning node piCoordinate formula:
Can be (-68.71,52.09) in the hope of the coordinate of P point, so far, the position fixing process of this unknown node P terminates.Other
Node to be positioned all implements said method, completes the position fixing process of self.
Below in conjunction with mobile anchor node auxiliary positioning programme diagram in whole finder, the present invention is further described.
As shown in Figure 5.First being netinit, carrying out node deployment to relevant range, then anchor node is by regulation road
Footpath is moved and periodic broadcast;Unknown node to be positioned is positioned oneself after receiving packet, when all unknown node are complete
After becoming positioning, whole position fixing process terminates.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Any modification, equivalent and the improvement etc. made within god and principle, should be included within the scope of the present invention.
Claims (7)
1. the mobile anchor node WSN assisted location method based on helix, it is characterised in that should be based on the movement of helix
Anchor node WSN assisted location method includes:
Step one: assume first that unknown node is randomly dispersed in a square region, sets up with square region central point for initial point
Coordinate system, draws helix as the mobile route of anchor node, a length of L in region using fixed intervals R, and helix is divided into n section, mobile
The anchor node bidirectional oriented antenna of equipment moves, and moves by fixed angles speed omega, and directional aerial central shaft all the time with moving direction
Vertically, mobile route is fixing multi-layer helical line, and moving process is from inside to outside, starts timing on the left of the origin of coordinates at coordinate
Mobile, by 00:00, periodic broadcast packet, continue this process until anchor node moves to during the coordinate points of right side whole
Only;
Step 2, with the movement of anchor node, concentration is received the packet of anchor node broadcast by node to be positioned, when for the first time
When receiving packet, moment value when receiving packet for the first time is labeled as T1 (1), and detect and for the first time receive number
It according to signal strength values during bag, is designated as RSSI1 (1);When second time receives packet, when second time is received packet
Moment value be labeled as T2 (1), and detect signal strength values when receiving packet for the second time, it is designated as RSSI2 (1);More than repetition
Process, until no longer detecting packet;Finally detected moment value is Tn (1), signal strength values is RSSIn (1);
Step 3, unknown node are according to T1 (1), Tn (1)And angular velocity omega calculates residing at present arc section and angle, obtain virtual anchor
The angle of node intermediate pointAndWhen unknown node is distributed in outside helix, receives only one and take turns packet,
And when unknown node is distributed in inside helix, concentrates and receive two-wheeled packet, lay respectively at the same angular of different segmental arc
Degree direction, second takes turns the moment value receiving and signal strength signal intensity is respectively labeled asWithSecond to take turns calculating process identical with the first round, obtains intermediate point angleAndValue;
It if step 4, each unknown node only detect one and take turns data, then is positioned the outer lateral extent d1's of this unknown node circular arc
Position, d1 is drawn by signal fadeout model conversation, then determines this unknown node coordinate according to angle value;If two-wheeled number being detected
According to, then determining this unknown node coordinate according to the less round information of RSSI value, RSSI is less, and respective distances is bigger, and then
Data received by node to be positioned are more.
2. the mobile anchor node WSN assisted location method based on helix as claimed in claim 1, it is characterised in that fixing
The value of interval R sets according to directional antenna communications distance, is: (-R/2,0) on the left of the described origin of coordinates at coordinate;Anchor node is right
Side coordinate points is: (R n/2,0).
3. the mobile anchor node WSN assisted location method based on helix as claimed in claim 1, it is characterised in that region
A length of L, helix is divided into according to formula L=R × (n+1) segmentation in n section, and wherein, R is fixed intervals.
4. the mobile anchor node WSN assisted location method based on helix as claimed in claim 1, it is characterised in that cycle
Property broadcast data packet in packet include current time value and the ID value of mobile anchor node, with { T, ID} represent, the cycle of broadcast
For Tsend。
5. the mobile anchor node WSN assisted location method based on helix as claimed in claim 1, it is characterised in that undetermined
The Coordinate calculation method of position node P is:
Formula (1) is utilized to calculate the intermediate time point of kth round:
Wherein, n is the packet number of times receiving in kth round;
Then formula (2) is utilized to calculate the angle value of intermediate point:
In like manner its signal strength values is:
According to RSSI range finding model formation:
RSSI=-(A+10nlgd) (4)
Calculate distance d between this moment anchor node and node to be positionedk, in formula, A is receipt signal at range transmission node 1m
The absolute value of intensity, n is path loss coefficient, when unknown node receive only one take turns data when, d=d1;When unknown node connects
When receiving two-wheeled data, take
Then, if unknown node coordinate is (xi,yi), the radius of this unknown node place segmental arc is calculated according to formula (6),
R=R m/2+d (6)
Wherein
Finally, calculate gained according to above, substitute into node p to be positionediCoordinate formula:
So far, after obtaining the coordinate of P point, the position fixing process of this point terminates, and other nodes to be positioned all implement said method, complete
The position fixing process of self.
6. the mobile anchor node WSN assisted location method based on helix as claimed in claim 1, it is characterised in that described
Signal fadeout model refers to that signal strength signal intensity can weaken with the increase of propagation distance, between wireless signal strength and transmission range
Relational model be:
RSSI=-(A+10nlgd),
Wherein n is path loss coefficient, and d is transmission range, and in formula, A is the absolute of received signal strength at range transmission node 1m
Value.
7. the mobile anchor node WSN assisted location method based on helix as claimed in claim 4, it is characterised in that described
ID value be the unique encodings identification of node, the information that ID value receives for determining unknown node is from anchor joint
Point, it is to avoid in unknown node normal course of communications, this position fixing process is interfered.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610421950.0A CN106093857B (en) | 2016-06-15 | 2016-06-15 | A kind of mobile anchor node WSN assisted location method based on helix |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610421950.0A CN106093857B (en) | 2016-06-15 | 2016-06-15 | A kind of mobile anchor node WSN assisted location method based on helix |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106093857A true CN106093857A (en) | 2016-11-09 |
CN106093857B CN106093857B (en) | 2018-10-12 |
Family
ID=57845658
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610421950.0A Expired - Fee Related CN106093857B (en) | 2016-06-15 | 2016-06-15 | A kind of mobile anchor node WSN assisted location method based on helix |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN106093857B (en) |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106774304A (en) * | 2016-11-21 | 2017-05-31 | 河源职业技术学院 | A kind of AGV trolley path planning method and system based on directional aerial |
CN107734450A (en) * | 2017-11-17 | 2018-02-23 | 深圳市舜宝科技有限公司 | A kind of indoor bluetooth localization method and system |
CN107945513A (en) * | 2017-11-29 | 2018-04-20 | 广东交通职业技术学院 | A kind of intelligent transportation Simulation of Integrated |
CN107959925A (en) * | 2017-11-24 | 2018-04-24 | 安徽省雨龙家具有限公司 | A kind of smart home device assisted location method |
CN108157116A (en) * | 2017-12-05 | 2018-06-15 | 山东省林业科学研究院 | A kind of modularization greening tree cultivation method and device |
CN108312997A (en) * | 2018-02-21 | 2018-07-24 | 付志昊 | A kind of intelligent vehicle water logging early warning notification and circuit breaking protective system |
CN108515262A (en) * | 2018-05-03 | 2018-09-11 | 广东水利电力职业技术学院(广东省水利电力技工学校) | A kind of new pattern laser engraving unit control system |
CN109009588A (en) * | 2018-07-27 | 2018-12-18 | 王才阳 | A kind of Cardiological intravascular stent system and application method |
CN109085533A (en) * | 2018-07-03 | 2018-12-25 | 上海西井信息科技有限公司 | Local wireless wave communicating and positioning method, system, equipment and storage medium |
CN109511149A (en) * | 2018-12-22 | 2019-03-22 | 山西财经大学 | A kind of wireless sensor network routing method based on pseudo- spiral |
CN109889976A (en) * | 2019-02-18 | 2019-06-14 | 南京邮电大学 | One kind being based on circular wireless sensor network mobile anchor node path planing method |
CN110143201A (en) * | 2019-06-06 | 2019-08-20 | 吉林化工学院 | A kind of automobile mechanical hits buffer system and control method |
CN111432328A (en) * | 2018-12-20 | 2020-07-17 | 广州电力设计院有限公司 | Node positioning method, device and storage medium of wireless sensor network |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1028325A2 (en) * | 1999-02-12 | 2000-08-16 | Franz Plasser Bahnbaumaschinen-Industriegesellschaft m.b.H. | Method of surveying a train track |
WO2007044352A1 (en) * | 2005-10-05 | 2007-04-19 | Honeywell International Inc. | Localization identification system for wirless devices |
JP2013541268A (en) * | 2010-09-03 | 2013-11-07 | クゥアルコム・インコーポレイテッド | Method and apparatus for using a mobile device as a fixed point |
CN103533652A (en) * | 2013-11-05 | 2014-01-22 | 山东省计算中心 | Method for positioning nodes of underwater sensor network |
US20140171121A1 (en) * | 2011-12-05 | 2014-06-19 | Htc Corporation | Method, mobile device and computer-readable recording medium for location-aware application |
-
2016
- 2016-06-15 CN CN201610421950.0A patent/CN106093857B/en not_active Expired - Fee Related
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1028325A2 (en) * | 1999-02-12 | 2000-08-16 | Franz Plasser Bahnbaumaschinen-Industriegesellschaft m.b.H. | Method of surveying a train track |
WO2007044352A1 (en) * | 2005-10-05 | 2007-04-19 | Honeywell International Inc. | Localization identification system for wirless devices |
JP2013541268A (en) * | 2010-09-03 | 2013-11-07 | クゥアルコム・インコーポレイテッド | Method and apparatus for using a mobile device as a fixed point |
US20140171121A1 (en) * | 2011-12-05 | 2014-06-19 | Htc Corporation | Method, mobile device and computer-readable recording medium for location-aware application |
CN103533652A (en) * | 2013-11-05 | 2014-01-22 | 山东省计算中心 | Method for positioning nodes of underwater sensor network |
Non-Patent Citations (1)
Title |
---|
李逶: "移动无线传感器网络节点定位算法研究", 《南通航运职业技术学院学报》 * |
Cited By (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106774304B (en) * | 2016-11-21 | 2019-11-26 | 河源职业技术学院 | A kind of AGV trolley path planning method and system based on directional aerial |
CN106774304A (en) * | 2016-11-21 | 2017-05-31 | 河源职业技术学院 | A kind of AGV trolley path planning method and system based on directional aerial |
CN107734450A (en) * | 2017-11-17 | 2018-02-23 | 深圳市舜宝科技有限公司 | A kind of indoor bluetooth localization method and system |
CN107959925A (en) * | 2017-11-24 | 2018-04-24 | 安徽省雨龙家具有限公司 | A kind of smart home device assisted location method |
CN107945513A (en) * | 2017-11-29 | 2018-04-20 | 广东交通职业技术学院 | A kind of intelligent transportation Simulation of Integrated |
CN108157116A (en) * | 2017-12-05 | 2018-06-15 | 山东省林业科学研究院 | A kind of modularization greening tree cultivation method and device |
CN108312997A (en) * | 2018-02-21 | 2018-07-24 | 付志昊 | A kind of intelligent vehicle water logging early warning notification and circuit breaking protective system |
CN108515262A (en) * | 2018-05-03 | 2018-09-11 | 广东水利电力职业技术学院(广东省水利电力技工学校) | A kind of new pattern laser engraving unit control system |
CN109085533A (en) * | 2018-07-03 | 2018-12-25 | 上海西井信息科技有限公司 | Local wireless wave communicating and positioning method, system, equipment and storage medium |
CN109009588A (en) * | 2018-07-27 | 2018-12-18 | 王才阳 | A kind of Cardiological intravascular stent system and application method |
CN111432328A (en) * | 2018-12-20 | 2020-07-17 | 广州电力设计院有限公司 | Node positioning method, device and storage medium of wireless sensor network |
CN111432328B (en) * | 2018-12-20 | 2021-10-08 | 广州电力设计院有限公司 | Node positioning method, device and storage medium of wireless sensor network |
CN109511149A (en) * | 2018-12-22 | 2019-03-22 | 山西财经大学 | A kind of wireless sensor network routing method based on pseudo- spiral |
CN109511149B (en) * | 2018-12-22 | 2020-09-04 | 山西财经大学 | Wireless sensor network routing method based on pseudo-spiral |
CN109889976A (en) * | 2019-02-18 | 2019-06-14 | 南京邮电大学 | One kind being based on circular wireless sensor network mobile anchor node path planing method |
CN109889976B (en) * | 2019-02-18 | 2022-03-01 | 南京邮电大学 | Wireless sensor network mobile anchor node path planning method based on circle |
CN110143201A (en) * | 2019-06-06 | 2019-08-20 | 吉林化工学院 | A kind of automobile mechanical hits buffer system and control method |
Also Published As
Publication number | Publication date |
---|---|
CN106093857B (en) | 2018-10-12 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN106093857A (en) | A kind of mobile anchor node WSN assisted location method based on helix | |
CN111343585B (en) | Mobile user track map matching method based on hidden Markov model | |
CN101986758B (en) | Method for positioning wireless sensor network | |
CN109115209B (en) | Method and device for positioning personnel in pipe gallery | |
US20160231415A1 (en) | Relative orientation angle calculation method and device as well as relative positioning method | |
CN103428275B (en) | Indoor moving goal activity route tracking method based on WSN | |
CN103889055B (en) | Wireless sensor network node locating method and device based on mobile anchor node | |
CN104144493B (en) | Localization method, alignment system and base station location platform | |
US20100090899A1 (en) | Method and system for positioning object with adaptive resolution | |
CN103068043B (en) | A kind of indoor accurate positioning method based on WIFI and acceleration transducer | |
CN107360549A (en) | A kind of indoor positioning air navigation aid based on bluetooth 5 | |
CN104501807B (en) | Indoor location method based on geomagnetic field and historical localization track | |
Sivakumar et al. | Meta-heuristic approaches for minimizing error in localization of wireless sensor networks | |
CN108120436A (en) | Real scene navigation method in a kind of iBeacon auxiliary earth magnetism room | |
CN104135766B (en) | A kind of Cooperative Localization Method between wireless network based on mesh generation | |
CN108445520A (en) | A kind of indoor and outdoor based on high in the clouds builds drawing method, device, electronic equipment and computer program product | |
CN103442433B (en) | A kind of method and system that indoor positioning is carried out using hotspot | |
CN102736062A (en) | Indoor positioning method and system, terminal, indoor combiner and indoor antenna | |
CN109982245A (en) | A kind of interior real-time three-dimensional localization method | |
WO2021252415A1 (en) | Devices, systems and methods for detecting locations of wireless communication devices | |
CN106028449A (en) | Indoor positioning method and device based on WiFi | |
CN109839613B (en) | Radio frequency positioning method and device using path information calibration | |
Han et al. | Path planning for a group of mobile anchor nodes based on regular triangles in wireless sensor networks | |
CN106060924A (en) | Indoor positioning method based on mobile beacon | |
CN104237846A (en) | Autonomous moving object indoor three-dimensional positioning and tracking system and method |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
CF01 | Termination of patent right due to non-payment of annual fee | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181012 |