CN106093857B - 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
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- CN106093857B CN106093857B CN201610421950.0A CN201610421950A CN106093857B CN 106093857 B CN106093857 B CN 106093857B CN 201610421950 A CN201610421950 A CN 201610421950A CN 106093857 B CN106093857 B CN 106093857B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0284—Relative positioning
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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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Abstract
The invention discloses a kind of mobile anchor node WSN assisted location method based on helix, this method include：First coordinate system is established using square region central point as origin, helix is drawn as the mobile route of anchor node using fixed intervals, with the movement of anchor node, node to be positioned receives the data packet of anchor node broadcast by concentrating, and the unknown node coordinate is determined according to angle value；If detecting two-wheeled data, which is determined according to the smaller round information of RSSI value.The helix motion track that the present invention uses can be very good to solve the conllinear sex chromosome mosaicism present in traditional mobile route, and application value is higher；Mobile anchor node uses directional aerial in the present invention, and directional aerial compares omnidirectional antenna high gain, can enhance signal strength, increase anti-interference ability, be suitable for the deployment of actual environment.
Description
Technical field
The invention belongs to electronic technology field more particularly to a kind of mobile anchor node WSN auxiliary positionings based on helix
Method.
Background technology
Wireless sensor network (WSN) location technology is a kind of key core support technology, certain topology controls of WSN,
Route Selection, load balancing scheduling theory are all highly dependent on the unknown message of node.It is unknown section that WSN, which positions basic technique principle,
Point is by being communicated the position to estimate itself with the anchor node of a small amount of known position information.In recent years, WSN localization methods are ground
Study carefully and achieves lot of research.
Whether need measurement distance, WSN node locatings that localization method and nothing based on ranging can be used according to position fixing process
The localization method of ranging is needed, wherein the localization method based on ranging needs additional hardware to support, positioning cost is higher, positioning accuracy
It is high but easily by such environmental effects；It is at low cost and be not easy by ring although the localization method positioning accuracy without ranging is relatively low
Border factor influences, and is more suitable for the application of inexpensive WSN.
Whether moved according to anchor node, WSN localization methods can be divided into static anchor node locating and dynamic anchor node positioning two
Kind.Need certain density to meet connectivity demand when generally use static state anchor node, therefore in a certain range, anchor node
Quantity is more, and corresponding unknown node positioning accuracy also can be higher, and thus also leads to some problems, such as anchor node resource wave
Expense, algorithm complexity are excessively high, positioning cost increases.And the use of dynamic anchor node can greatly reduce anchor node quantity, and more
Flexibly, it receives 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, and exploration is covering
Optimal route selection in terms of range and mobile route length, Scan, Double Scan and the roads Hilbert that such as early stage occurs
Diameter and later Circle, S-Curve, helix and random movement model etc..In recent years, for the auxiliary of mobile anchor node
Localization method is helped, is determined using the method that equilateral triangle track of the mobile anchor node in deployment region traverses entire WSN
Position, to ensure that all unknown nodes all receive message, and obtains estimated location, and compared to other methods, its positioning accuracy is higher；
A kind of localization method based on regular hexagon motion track realizes all standing of WSN deployment regions by multilayer regular hexagon, together
When for anchor node use directional aerial, and directional aerial helps to improve positioning accuracy.
Although it is newer that both the above localization method positions thinking, GPS is disposed on mobile anchor node, passes through GPS
The location information of anchor node is provided, however, GPS errors itself are larger, especially in node high speed movement, positioning misses
Difference necessarily leads to the localization method, and there are natural limitations.
Invention content
The purpose of the present invention is to provide a kind of mobile anchor node WSN assisted location method based on helix, it is intended to solve
Certainly GPS position information error larger the problem of causing conventional mapping methods to fail present in anchor node high speed movement；This
Invention replaces GPS position information using this high-precision measure of time parameter, inherently solves institute in anchor node movement
Intrinsic equipment error problem, while directional aerial is disposed on anchor node, it can effectively improve positioning covering and practical value.
The invention is realized in this way 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 1：Assume first that unknown node is randomly dispersed in a square region, using square region central point as origin
Coordinate system to be established, helix is drawn as the mobile route of anchor node using fixed intervals R, a length of L in region, helix is divided into n sections,
The bidirectional oriented antenna movement of mobile anchor node equipment, it is mobile by fixed angular speed ω (rad/s), and directional aerial central shaft is always
Vertical with moving direction, mobile route is fixed multi-layer helical line, and moving process is the (- R/ on the left of coordinate origin from inside to outside
2,0) start timing movement at coordinate, by 00:00 starts, periodic broadcast data packet, continues this process until anchor node moves
It is terminated when moving to right side (Rn/2,0) coordinate points；
Step 2: with the movement of anchor node, node to be positioned receives the data packet of anchor node broadcast by concentrating, when the
When once receiving data packet, value is labeled as T at the time of when will receive data packet for the first time1 (1), and detect and receive for the first time
Signal strength values when to data packet, are denoted as RSSI1 (1)；When receiving data packet for the second time, data will be received for the second time
Value is labeled as T at the time of when packet2(1), and signal strength values when receiving data packet for the second time are detected, it is denoted as RSSI2 (1)；Weight
Multiple above procedure, until no longer detecting data packet；Finally detected moment value is Tn (1), signal strength values RSSIn (1)；
Step 3: unknown node is according to T1 (1), Tn (1)And angular velocity omega calculates residing arc section and angle at present, obtains virtual anchor
The angle of node intermediate pointAndWhen unknown node is distributed on the outside of helix, a wheel data packet is received only, and is worked as
When unknown node is distributed on the inside of helix, concentration receives two-wheeled data packet, is located at the equal angular direction of different segmental arcs,
Value and signal strength are respectively labeled as at the time of second wheel receivesWith
Second wheel calculating process is identical as the first round, obtains intermediate point angleAndValue；
Step 4: if each unknown node only detects a wheel data, it is positioned at the outer lateral extent of the unknown node circular arc
The position of d1, d1 are shown that signal fadeout model refers to that signal strength can be with the increasing of propagation distance by signal fadeout model conversation
Weaken greatly, researcher has obtained the relationship mould between wireless signal strength and transmission range according to a large amount of experimental data
Type RSSI=- (A+10nlgd), wherein n are path loss coefficients, and d is transmission range；Then determine that this is unknown according to angle value
Node coordinate；If detecting two-wheeled data, the unknown node coordinate, RSSI are determined according to the smaller round information of RSSI value
Smaller, respective distances are 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 is set according to directional antenna communications distance.
The a length of L in region, helix is divided into n sections to be segmented according to formula L=R × (n+1), wherein R is fixed intervals.
Data packet includes the current time value and ID values (unique volume of node of mobile anchor node in periodic broadcast data packet
Code identification determines that the information that unknown node receives comes from anchor node, to avoid unknown node normal communication
The position fixing process is interfered in journey), it is indicated with { T, ID }, the period of broadcast is Tsend。
Further, the Coordinate calculation method of node P to be positioned is：
The intermediate time point of kth round is calculated using formula (1)：
Wherein, n is the data packet number received in kth round；
Then formula (2) is utilized to calculate the angle value of intermediate point:
Similarly its signal strength values is：
According to RSSI ranging model formations：
RSSI=- (A+10nlgd) (4)
Calculate the distance between the moment anchor node and node to be positioned dk, A is that the places range transmission node 1m receive and believe in formula
The absolute value of number intensity, n is path loss coefficient, when unknown node receives only a wheel data, d=d1；Work as unknown node
When receiving two-wheeled data, take
Then, if unknown node coordinate is (xi,yi), the radius of segmental arc where calculating the unknown node according to formula (6),
R=Rm/2+d (6)
Wherein
Finally, gained is calculated according to above, substitutes into node p to be positionediCoordinate formula：
So far, after the coordinate for finding out P points, the position fixing process of the point terminates, other nodes to be positioned implement the above method,
Complete the position fixing process of itself.
The present invention completes positioning using a mobile anchor node auxiliary, its main feature is that being used as positioning side using time value parameter
The core of method avoids the error that GPS information is brought, and is led by GPS device in the mobile anchor node positioning method proposed
The error average out to 3-5m of cause；Directional aerial high gain, the remote feature of communication distance is utilized to be applied to actual environment portion simultaneously
Administration, comprehensive positioning accuracy is high, is suitble to outdoor WSN positioning；
The present invention replaces GPS position information using this high-precision measure of time parameter, inherently solves anchor section
Intrinsic equipment error problem during point is mobile；
The present invention be directed to WSN mobile anchor node locating techniques, it is proposed that a kind of localization method based on helix, have compared with
High position precision, this method advantage have：
Time is a kind of one of highest environmental parameter of relative accuracy, and the present invention replaces passing using time parameter computational methods
The method for determining position using GPS in system localization method, the error brought by environmental variance is reduced from the source of localization method,
With inborn superiority；
The synteny that the helix motion track that the present invention uses can be very good to solve present in traditional mobile route is asked
Topic, and application value is higher；
Mobile anchor node uses directional aerial in the present invention, and directional aerial compares omnidirectional antenna high gain, can enhance
Signal strength increases anti-interference ability, is suitable for the deployment of actual environment.
Description of the drawings
Fig. 1 is the mobile anchor node WSN assisted location method flow chart provided in an embodiment of the present invention based on helix.
Fig. 2 is Node distribution and motion track figure provided in an embodiment of the present invention.
Fig. 3 is directional aerial schematic diagram provided in an embodiment of the present invention.
Fig. 4 is local nodes positioning schematic diagram provided in an embodiment of the present invention.
Fig. 5 is mobile anchor node auxiliary positioning programme diagram provided in an embodiment of the present invention.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
The application principle of the present invention is explained in detail below in conjunction with the accompanying drawings.
As shown in Figure 1：A kind of mobile anchor node WSN assisted location method based on helix, should the shifting based on helix
Moving anchor node WSN assisted location methods includes：
S101：It assumes first that unknown node is randomly dispersed in a square region, is built using square region central point as origin
Vertical coordinate system draws helix using fixed intervals R and the mobile route of anchor node, a length of L in region, helix is used as to be divided into n sections, shifting
Dynamic anchor node equips bidirectional oriented antenna movement, by fixed angular speed ω movements, and directional aerial central shaft always with movement side
To vertical, mobile route is fixed multi-layer helical line, and moving process is (- R/2, the 0) coordinate on the left of coordinate origin from inside to outside
Place starts timing movement, by 00:00 starts, periodic broadcast data packet, continues this process until anchor node is moved to right side
(Rn/2,0) it is terminated when coordinate points；
S102:With the movement of anchor node, node to be positioned receives the data packet of anchor node broadcast by concentrating, when first
Secondary when receiving data packet, value is labeled as T at the time of when will receive data packet for the first time1 (1), and detect and receive for the first time
Signal strength values when data packet, are denoted as RSSI1 (1)；When receiving data packet for the second time, data packet will be received for the second time
When at the time of value be labeled as T2 (1), and signal strength values when receiving data packet for the second time are detected, it is denoted as RSSI2 (1)；Repeat with
Upper process, until no longer detecting data packet；Finally detected moment value is Tn (1), signal strength values RSSIn (1)；
S103:Unknown node is according to T1 (1), Tn (1)And angular velocity omega calculates residing arc section and angle at present, obtains virtual anchor
The angle of node intermediate pointAndWhen unknown node is distributed on the outside of helix, a wheel data packet is received only, and is worked as
When unknown node is distributed on the inside of helix, concentration receives two-wheeled data packet, is located at the equal angular direction of different segmental arcs,
Value and signal strength are respectively labeled as at the time of second wheel receivesWith
Second wheel calculating process is identical as the first round, obtains intermediate point angleAndValue；
S104：If each unknown node only detects a wheel data, it is positioned at the outer lateral extent d1 of the unknown node circular arc
Position, d1 is obtained by signal fadeout model conversation, then determines the unknown node coordinate according to angle value；If detecting two-wheeled
Data then determine the unknown node coordinate according to the smaller round information of RSSI value, and RSSI is smaller, and respective distances are bigger, into
And the data received by node to be positioned are more, positioning is more accurate.
Further, the value of fixed intervals R is set according to directional antenna communications distance.
Further, a length of L in region, helix is divided into n sections to be segmented according to formula L=R × (n+1), wherein R is to fix
Interval.
Further, in periodic broadcast data packet data packet include mobile anchor node current time value and ID values, ID values
For the unique encodings identification of node, determine that the information that unknown node receives comes from anchor node, it is unknown to avoid
Use { T, ID } is interfered in node normal course of communications to the position fixing process to indicate, the period of broadcast is Tsend。
Further, the Coordinate calculation method of node P to be positioned is：
The intermediate time point of kth round is calculated using formula (1)：
Wherein, n is the data packet number received in kth round；
Then formula (2) is utilized to calculate the angle value of intermediate point:
Similarly its signal strength values is：
According to RSSI ranging model formations：
RSSI=- (A+10nlgd) (4)
Calculate the distance between the moment anchor node and node to be positioned dk, A is to be connect at range transmission node 1m in formula
The absolute value of signal strength is received, n is path loss coefficient, when unknown node receives only a wheel data, d=d1；When unknown
When node receives two-wheeled data, take
Then, if unknown node coordinate is (xi,yi), the radius of segmental arc where calculating the unknown node according to formula (6),
R=Rm/2+d (6)
Wherein
Finally, gained is calculated according to above, substitutes into node p to be positionediCoordinate formula：
So far, after the coordinate for finding out P points, the position fixing process of the point terminates, other nodes to be positioned implement the above method,
Complete the position fixing process of itself
With reference to specific embodiment, the present invention is further described.
If reference location scene as shown in Fig. 2, the square area that it is 450m that scene, which is the length of side, region area be 450m ×
450m establishes coordinate system, 30 unknown nodes of random placement, the communication of mobile anchor node S by origin of square region central point
Range R=50m, directional antenna radiation angle ɑ are 30 °, and fixed mobile angular velocity omega is π/36 (rad/s), anchor node from (- 50,
0) point starts to move counterclockwise along helix, and directional broadcasting cycle T send is 1s, and wherein directional aerial is as shown in Figure 3.
The present invention under the above implementation condition the specific steps are：
Step 1：Mobile anchor node is 00:00 starts timing movement, data packet packet primary by period every directional broadcasting in 1 second
The value of delivery time containing current message and self ID, anchor node are reached home (225,0) after moving 4.5 circles, at this time at the time of
Value is 05:24, amount to 324s, moving process terminates.
Step 2：Fig. 4 specifically illustrates the process of a certain round node P received data packets to be positioned and recording-related information.
In actual deployment, with approaching for mobile anchor node, node P to be positioned is in Ti (1)=01:Anchor node is received when 00 for the first time
Broadcast message, anchor node identity is then verified by ID, after being verified, record this it is secondary at the time of value and RSSI value；Every 1
Second receives broadcast message, untilBroadcast message is no longer received later, then receives 5 data packets altogether,
Choose the position of intermediate time point as virtual anchor node, i.e.,It is -65.89dbm to measure its RSSI value；Then
After 72s (a mobile circle), P points receive the data packet that anchor node is sent again, from Ti (2)=02:11 start, and arriveTerminate, then receive 7 data packets altogether, chooses the position of intermediate time point as virtual anchor node, i.e.,Its RSSI value is -70.92dbm.In conclusion choosing the smaller rounds of RSSI, i.e., the second wheel is (if only receive
To a round data packet, then do not have to compare RSSI value again, directly carry out below the step of), generalSubstitute into formulaCalculate to obtain angle valueIt is 670 °；
Step 3：In RSSI ranging model formation RSSI=- (A+10nlgd), A=33.89 is understood by practical measure,
Path loss coefficient n=2.46 calculates the distance between the moment anchor node and node to be positioned d=-32 (m) accordingly, if
Unknown node coordinate is (xi,yi), the radius r=68 (m) of segmental arc where calculating the unknown node according to formula r=Rm/2+d,
WhereinThat is 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 points, so far, the position fixing process of unknown node P terminates.Other
Node to be positioned implements the above method, completes the position fixing process of itself.
With reference to mobile anchor node auxiliary positioning programme diagram in entire finder, the present invention is further described.
As shown in Figure 5.It is netinit first, node deployment is carried out to relevant range, then anchor node is by regulation road
Diameter movement and periodic broadcast；Unknown node to be positioned is positioned oneself after receiving data packet, when all unknown nodes are complete
After positioning, entire position fixing process terminates.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
Claims (6)
1. a kind of mobile anchor node WSN assisted location method based on helix, which is characterized in that should the movement based on helix
Anchor node WSN assisted location methods include：
Step 1：It assumes first that unknown node is randomly dispersed in a square region, is established by origin of square region central point
Coordinate system draws helix as the mobile route of anchor node using fixed intervals R, a length of L in region, and helix is divided into n sections, mobile
Anchor node equips the movement of bidirectional oriented antenna, by fixed angular speed ω movements, and directional aerial central shaft always with moving direction
Vertically, mobile route is fixed multi-layer helical line, and moving process is from inside to outside, to start timing at coordinate on the left of the coordinate origin
It is mobile, by 00:00 starts, periodic broadcast data packet, and it is whole when anchor node is moved to right side coordinate points to continue this process
Only；
Step 2: with the movement of anchor node, node to be positioned receives the data packet of anchor node broadcast by concentrating, when for the first time
When receiving data packet, value is labeled as T at the time of when will receive data packet for the first time1 (1), and detect and receive number for the first time
Signal strength values when according to packet, are denoted as RSSI1 (1)；When receiving data packet for the second time, when will receive data packet for the second time
At the time of value be labeled as T2 (1), and signal strength values when receiving data packet for the second time are detected, it is denoted as RSSI2 (1)；More than repeating
Process, until no longer detecting data packet；Finally detected moment value is Tn (1), signal strength values RSSIn (1)；
Step 3: unknown node is according to T1 (1), Tn (1)And angular velocity omega calculates residing arc section and angle at present, obtains virtual anchor section
The angle of point intermediate pointAndWhen unknown node is distributed on the outside of helix, a wheel data packet is received only, and is worked as
When unknown node is distributed on the inside of helix, concentration receives two-wheeled data packet, is located at the equal angular direction of different segmental arcs,
Value and signal strength are respectively labeled as at the time of second wheel receivesWith
Second wheel calculating process is identical as the first round, obtains intermediate point angleAndValue；
Step 4: if each unknown node only detects a wheel data, it is positioned at the outer lateral extent d1's of the unknown node circular arc
Position, d1 are obtained by signal fadeout model conversation, then determine the unknown node coordinate according to angle value；If detecting two-wheeled number
According to then determining the unknown node coordinate according to the smaller round information of RSSI value, RSSI is smaller, and respective distances are bigger, in turn
Data received by node to be positioned are more；
The Coordinate calculation method of node P to be positioned is：
The intermediate time point of kth round is calculated using formula (1)：
Wherein, n is the data packet number received in kth round；
Then formula (2) is utilized to calculate the angle value of intermediate point:
Similarly its signal strength values is：
According to RSSI ranging model formations：
RSSI=- (A+10nlg d) (4)
Calculate the distance between the moment anchor node and node to be positioned dk, A is the places range transmission node 1m reception signal in formula
The absolute value of intensity, n are path loss coefficients, when unknown node receives only a wheel data, d=d1；When unknown node connects
When receiving two-wheeled data, take
Then, if unknown node coordinate is (xi,yi), the radius of segmental arc where calculating the unknown node according to formula (6),
R=Rm/2+d (6)
Wherein
Finally, gained is calculated according to above, substitutes into node p to be positionediCoordinate formula：
So far, after the coordinate for finding out P points, the position fixing process of the point terminates, other nodes to be positioned implement the above method, completes
The position fixing process of itself.
2. the mobile anchor node WSN assisted location method based on helix as described in claim 1, which is characterized in that fixed
The value for being spaced R is set according to directional antenna communications distance, is at coordinate on the left of the coordinate origin：(-R/2,0)；Anchor node is right
Side coordinate points are：(R·n/2,0).
3. the mobile anchor node WSN assisted location method based on helix as described in claim 1, which is characterized in that region
A length of L, helix is divided into n sections to be segmented according to formula L=R × (n+1), wherein R is fixed intervals.
4. the mobile anchor node WSN assisted location method based on helix as described in claim 1, which is characterized in that the period
Property broadcast data packet in data packet include mobile anchor node current time value and ID values, with { T, ID } indicate, the period of broadcast
For Tsend。
5. the mobile anchor node WSN assisted location method based on helix as described in claim 1, which is characterized in that described
Signal fadeout model, which refers to signal strength, to be weakened 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 A is the absolute of received signal strength at range transmission node 1m in formula
Value.
6. the mobile anchor node WSN assisted location method based on helix as claimed in claim 4, which is characterized in that described
ID values be that unique encodings identification, the ID value of node is used to determine that information that unknown node receives to come from anchor section
Point avoids interfering the position fixing process in unknown node normal course of communications.
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