CN106102162B - A kind of iterative estimate method for wireless sensor network three-dimensional localization - Google Patents
A kind of iterative estimate method for wireless sensor network three-dimensional localization Download PDFInfo
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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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- 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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- 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
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
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Abstract
The invention discloses a kind of iterative estimate methods for wireless sensor network three-dimensional localization, belong to the technical field of wireless sensor network.The present invention connection anchor node farthest using the mass center alternative distances unknown node that current connection anchor node opens into three-dimensional space, currently connection anchor node open into three-dimensional space mass center between unknown node at a distance from meet stopping criterion for iteration when to be currently connected to anchor node open into three-dimensional space mass center as positioning result, currently connection anchor node open into three-dimensional space mass center between unknown node at a distance from be unsatisfactory for stopping criterion for iteration when continue to iterate to calculate and be currently connected to anchor node and open into three-dimensional space mass center, the advantages of not only maintaining former two-dimentional node positioning method, there is the positioning accuracy of better than former two-dimensional location method in larger node communication radius.
Description
Technical field
The invention discloses a kind of iterative estimate methods for wireless sensor network three-dimensional localization, belong to wireless sensing
The technical field of device network.
Background technique
Wireless sensor network is made of the sensor node largely with perception, communication and signal handling capacity, is
One of element of Internet of Things.It is derived from the application of military field, military affairs for the research of wireless sensor network
The limitation of field application environment requires sensor node in network to have the characteristics that ad hoc network and low-power consumption.Nowadays, with correlation
The mature of science and technology, the application of wireless sensor network technology are also constantly being popularized, and side's aspect of people's life is related to
Face, such as environmental monitoring, medical treatment and nursing, target detection and tracking.Wireless sensor network must be exactly known sensor section
Location information where point, the information which is perceived just have the value of application.Therefore, sensor node leads in a network
The communication crossed between adjacent node is that wireless sensor network is able to the basis applied in practice to self-position positioning.
Node locating based on two-dimensional surface is divided into for the research of wireless sensor network node positioning and is based on three-dimensional
The node locating in space.Estimation based on the node locating of two-dimensional surface due to reducing third dimension information, it is relatively simple.
It is existing that two classes are roughly divided into based on two-dimensional planar location method: localization method based on ranging and based on non-ranging positioning side
Method.Localization method based on ranging needs to carry out unknown node with the correlation distance or azimuth information being connected between anchor node
Accurate to calculate, node locating precision is higher, but position fixing process is often larger to node energy consumption, is unable to satisfy wireless sensing
Requirement of the device network to node low-power consumption, and calculated error by distance or orientation and be affected, anti-range measurement error
Ability is poor.Based on non-ranging localization method do not need calculate unknown node and be connected to anchor node between accurate distance or
Azimuth information estimates unknown node position merely with Connectivity etc., and positioning accuracy is relatively low.However, due to its positioning
The consumption of process on node energy is smaller, greatly reduces the whole location Calculation amount and communication overhead of wireless sensor network,
Application in practice is more extensive.
Since in practical applications, wireless sensor network node will not be generally distributed on absolute two-dimensional surface, because
The 3-D positioning method of this research wireless sensor network more meets actual location requirement, has better application prospect.It is existing
Have in wireless sensor network 3-D positioning method, Constrained-3D location algorithm is based on time of arrival (toa) (Time
Ofarrival, abbreviation TOA) method calculate needed for specific range information, and realize that node being made by oneself based on principle of triangulation
Position, the wireless sensor network tri-dimensional node positioning method are based on distance measurement method and realize node locating, and positioning accuracy is preferable,
This technology document<Sensor Network Localization in Constrained3-D spaces>(Liang J L,
Shao J, Xu Y., 2006.) it is disclosed in.But Constrained-3D location algorithm assumes all anchor Node distributions
In the same plane, the practical application of the algorithm has been seriously affected.APIS algorithm using anchor node each in network as the centre of sphere, communication away from
From for radius, entire three-dimensional space is divided into multiple sphere spaces, by the position for judging unknown node Yu each sphere space
Relationship calculates all sphere coincidence spaces comprising unknown node, and realizes wireless sensor node based on the coincidence three-dimensional space
The three-dimensional localization of point, this technology is in document < Grid-Based Location Estimation Scheme using op
It is public in Counts for Multi-hop Wireless Sensor Networks > (Joo G L, Rao S V.A, 2004.)
It opens.Although the APIS algorithm is not necessarily to ranging, overall calculation and communication overhead are larger, it is desirable that anchor node energy with higher
Deposit and communication capacity.APIT-3D location algorithm, which is utilized, can not uniquely determine one in conplane any four anchor node
The anchor node being connected to unknown node is carried out permutation and combination, can determine multiple and different tetrahedrons, and pass through by a tetrahedron
Judge the positional relationship between unknown node and each tetrahedron, calculates all tetrahedron coincidence spaces comprising unknown node, and
The three-dimensional localization of wireless sensor node is realized based on the coincidence three-dimensional space, this technology is in document " wireless sensor network three
Dimension self-locating method " it discloses in (Liu Yuheng, Pu Juhua, He Yang, Xiong Zhang, 2008.).APIT-3D location algorithm calculation amount
It is low, node power consumption is small, but is easy to appear the erroneous judgement for positional relationship between unknown node and tetrahedron, influence unknown node
Positioning accuracy.
In conclusion although not all wireless sensor network two-dimensional location method can be extended to three-dimensional space
Between applied, but use for reference and be based on relative maturity and the preferable two-dimensional location method principle of positioning performance, extended to
Three-dimensional space is to study and realize wireless sensor network to realize node locating, and the advantages of keep former two-dimensional location method
The effective ways of three-dimensional localization.Passed through based on the wireless sensor network two-dimensional location method of mass center iterative estimate to anchor node institute
The iterative calculation of plane mass center is surrounded, unknown node two-dimensional surface range that may be present is constantly reduced, it is fixed so as to improve node
Position precision.This method do not need measurement unknown node be connected to the distance between anchor node, there is preferably anti-range measurement mistake
Poor performance, it is smaller for node energy consumption in position fixing process, and preferable positioning accuracy can be obtained by successive ignition, this
Technology in document " Localization Algorithm for Wireless Sensor Networks based on mass center iterative estimate " (Jiang Rui, Yang Zhen, 2016.)
It is open.It is known in two-dimensional location method, unknown node two-dimensional surface region that may be present is smaller, and positioning accuracy is better.
Similarly, during three-dimensional localization, positioning accuracy is also constantly mentioned with the continuous reduction of three-dimensional space range locating for unknown node
It is high.Based on the above analysis, the present invention is directed to propose a kind of iterative estimate method for wireless sensor network three-dimensional localization, leads to
It crosses multiple iterative estimate and constantly reduces three-dimensional space range locating for unknown node, to improve wireless sensor network three-dimensional nodes
Positioning accuracy.
Summary of the invention
Goal of the invention of the invention is the deficiency for above-mentioned background technique, is provided a kind of for wireless sensor network
The iterative estimate method of three-dimensional localization estimates three-dimensional space range locating for constantly diminution unknown node by successive ignition, thus
Wireless sensor network three-dimensional nodes positioning accuracy is improved, existing wireless sensor network 3-D positioning method is solved and there is application
Limitation, reduce communication overhead and improve positioning accuracy be difficult to the technical issues of coordinating.
The present invention adopts the following technical scheme that for achieving the above object
A kind of iterative estimate method for wireless sensor network three-dimensional localization is opened into using current connection anchor node
The farthest connection anchor node of the mass center alternative distances unknown node of three-dimensional space opens into three-dimensional space in currently connection anchor node
Three-dimensional space mass center is opened into when the distance between mass center and unknown node meet stopping criterion for iteration to be currently connected to anchor node
For positioning result, currently connection anchor node open into three-dimensional space mass center between unknown node at a distance to be unsatisfactory for iteration whole
Only continue to iterate to calculate currently connection anchor node when condition and opens into three-dimensional space mass center.
Further, in a kind of iterative estimate method for wireless sensor network three-dimensional localization, work as utilizing
Before the farthest connection anchor node of the mass center alternative distances unknown node that preceding connection anchor node opens into three-dimensional space, calculate current
It is connected to the RSSI of anchor node and unknown node, according to the current connection anchor node of sequence arrangement that RSSI is ascending.
Further, in a kind of iterative estimate method for wireless sensor network three-dimensional localization, iteration ends
Condition includesWithThe two criterions,Three-dimensional space mass center is obtained by the m times iterationWith not
Know the RSSI between node O,Three-dimensional space mass center is obtained by the m-1 times iterationWith the RSSI between unknown node O,
ε1The energy threshold set when being located at connection anchor node inside three-dimensional space by unknown node, ε2It is located at for unknown node
Connection anchor node opens into the energy threshold set when three-dimensional space exterior space, and m is the integer more than or equal to 2, at the m times
When the distance between the obtained three-dimensional space mass center of iteration and unknown node meet the requirement of any criterion, obtained with the m times iteration
Obtaining three-dimensional space mass center is positioning result.
Further, in a kind of iterative estimate method for wireless sensor network three-dimensional localization, the m times repeatedly
Generation obtained three-dimensional space mass centerRSSI between unknown node O is denoted as Wherein, N is the sum of current connection anchor node, PnFor unknown node and n-th
RSSI, n=1,2 ... between a connection anchor node, N, M are normal parameter of the value range 3.24~4.5, A=-
10log10P1, P1For the reference RSSI at unknown node distance 1m, the value range of general A value is 45~49, dijConnect for i-th
Logical anchor node is connected to the distance between anchor node with j-th.
Further, in a kind of iterative estimate method for wireless sensor network three-dimensional localization, the m times repeatedly
Generation obtained three-dimensional space mass centerCoordinate be denoted as Wherein, (xn,yn,zn) it is n-th of coordinate for being connected to anchor node.
The present invention by adopting the above technical scheme, has the advantages that
(1) wireless sensor network two-dimensional location method is extended to three-dimensional space to apply, to current connection anchor section
The relevant parameter that point opens into three-dimensional space mass center is calculated, and is proposed farthest using current mass center alternative distances unknown node
Connection anchor node, by successive ignition estimate realize wireless sensor network three-dimensional nodes high accuracy positioning, not only maintain
The advantages of former two dimension node positioning method, has in larger node communication radius and be better than determining for former two-dimensional location method
Position precision；
(2) at least exist a connection anchor node between unknown node at a distance from greater than between current mass center and unknown node
Distance, therefore new three-dimensional space range one is formed by using the farthest connection anchor node of current mass center alternative distances unknown node
Fixed to be less than former three-dimensional space range, i.e. localization method is restrained；
(3) localization method of the present invention is given according to wireless sensor network environment specific in three-dimensional space specifically to change
For termination condition, the communication overhead of network and the energy loss of node are saved in the case where node locating precise manner is effectively ensured；
(4) there is preferably anti-received signal strength (Received signal strength indication, abbreviation
RSSI) the characteristics of measurement error ability, proposition improves the method for the present invention by successive ignition under lower anchor node distribution situation
Signal Coverage Percentage.
Detailed description of the invention
Fig. 1 is the influence for being connected to anchor node number to positioning accuracy of the present invention.
Fig. 2 is that two-dimensional location method and 3-D positioning method relative positioning error of the present invention compare.
Fig. 3 is influence of the range measurement error to positioning accuracy of the present invention.
Fig. 4 is the influence for being connected to anchor node number to Signal Coverage Percentage of the present invention.
Fig. 5 is that iteration positions influence of the number to Signal Coverage Percentage of the present invention.
Specific embodiment
The technical solution of invention is described in detail with reference to the accompanying drawing.
Assuming that there is the unknown node O that true coordinate is (x, y, z) in three dimensions.In three dimensions, there are N number of
Known anchor node S1S2S3......SNIt is connected with unknown node O, wherein n-th of anchor node SnCoordinate be (xn,yn,zn),
Then anchor node SnThe distance between unknown node O are as follows:
By N number of connection anchor node S1S2S3......SNAt in three-dimensional space, current three-dimensional space mass centerCoordinate
ForHave:
It, can proper preceding three-dimensional space mass center according to formula (1)-(2)The distance between unknown node OAre as follows:
Wherein:
As i ≠ j, have:
Formula (5) are substituted into formula (4), can be obtained:
It can similarly obtain:
Formula (6)-(8) are substituted into formula (3), are had:
(xi,yi,zi) it is i-th of coordinate for being connected to anchor node, (xj,yj,zj) it is j-th of coordinate for being connected to anchor node
Since connection anchor node coordinate is it is known that therefore according to formula (2) and formula (9), current three-dimensional space can be obtained
Mass centerCoordinate and its distance between unknown node O.At this point it is possible to by current three-dimensional space mass centerIt is considered as new company
Logical anchor node is connected to anchor node institute Zhang Chengsan to reduce with the farthest a certain connection anchor node of its alternative distances unknown node O
Dimension space range, and positioning accuracy is continuously improved by successive ignition.
But in wireless sensor node localization method calculate anchor node between unknown node at a distance from, can sharply increase
Add computation complexity, the communication overhead of network and the energy loss of node.Accordingly, it is considered to using unknown node O be connected to anchor section
RSSI information substitution range information between point carries out space mass centerRelevant parameter calculate and the iteration of location algorithm, can be with
The communication overhead of network is effectively reduced, the loss for node energy is reduced.
Assuming that unknown node O is connected to anchor node S with n-thnBetween distance be dn, and known unknown node O and anchor node
SnBetween RSSI be Pn, it can be obtained according to the signal communication theory in free space:
Wherein, M is normal parameter, P1For with unknown node O distance d1The reference RSSI at place.Enable d1=1, then P1Indicate with not
Know the reference RSSI at node O distance 1m, substitute into formula (10), and be further simplified and can obtain:
10log10Pn=-[A+10M (log10dn)] (11)
Wherein:
A=-10log10P1 (12)
According to actual environment difference, the best setting range of general M value is that the best setting range of 3.24~4.5, A value is
45~49.According to formula (10)-(12), abbreviation can be obtained:
Carry it into formula (9), it is assumed that unknown node O and current mass centerRSSI beHave:
Wherein, dijIndicate anchor node SiWith SjThe distance between, it may be assumed that
In order to further prove the positioning convergence of the method for the present invention, formula (15) are substituted into formula (9), it can be to space matter
The heartThe distance between unknown node OExpression formula be further simplified, have:
Without loss of generality, it is assumed that have:
0<d1≤d2≤d3......≤dN-1≤dN (17)
Therefore, it according to formula (16)-(17), can obtain:
Formula (16) are carried it into, there is conclusion:
Obviously, current three-dimensional space mass center is utilizedSubstitute anchor node SNIt opens into three-dimensional space range and is centainly less than former anchor
Node opens into three-dimensional space, and spatial dimension where unknown node O is constantly reduced by successive ignition, improves node locating essence
Degree, localization method convergence proposed by the invention.
Based on the constringent proof of localization method proposed by the invention, illustrate positioning accuracy of the invention with mass center iteration
The increase of number and be continuously improved.However, the method for the present invention iteration is not for as anchor node opens into the continuous diminution in space
Know that the improvement result of node locating precision also becomes smaller.Therefore, node can be effectively ensured by setting suitable stopping criterion for iteration
In the case of positioning accuracy, the communication overhead of network and the energy loss of node are saved.
Consider unknown node O be connected to anchor node and open between three-dimensional space that there are two kinds of positional relationships, i.e., unknown sections
Point O, which is located at connection anchor node and opens into space interior and unknown node O, opens into outside positioned at being connected to anchor node.Due to sky
Between mass center be centainly located at space interior, so when unknown node O be located at connection anchor node open into space interior when, with this hair
The increase of bright method the number of iterations, anchor node open into that spatial dimension is smaller and smaller, and space mass center can be approached constantly and be had no
It limits close to unknown node O.At this point, considering directly to set the method for the present invention termination condition by unknown node O and obtaining space matter
Distance is less than a certain threshold value between the heart.According to formula (14), i.e., setting is when the obtained space mass center of the m times iterationWith it is unknown
RSSI is greater than a certain threshold value between node O:
Wherein, ε1For given threshold.When unknown node O, which is located at connection anchor node, opens into outside, with this hair
The increase of bright method the number of iterations, space mass center can be constantly close to unknown node O, but cannot be infinitely close to unknown
Node O.At this point, the method for the present invention can be fallen into endless loop if being still used as stopping criterion for iteration using formula (21).According to public affairs
Formula (18) considers that the RSSI change rate between setting space mass center and unknown node O is less than a certain threshold value:
Wherein, ε2For given threshold.Think that the method for the present invention iteration is smaller for the improvement result of positioning accuracy at this time, this
Inventive method has reached convergence.However, can not quickly and accurately judge unknown node O and company in practical three-dimensional space
Logical anchor node opens into positional relationship between space.Therefore, in order to guarantee correctly to position unknown node O, setting is when the m times
The obtained space mass center of iterationWhen meeting any condition in formula (21)-(22), the method for the present invention stops iteration.
The present invention is used based on non-ranging wireless sensor network tri-dimensional node positioning method, this hair of simulation results show
Bright method has preferable positioning accuracy and positioning spreadability, and anti-RSSI error ability is strong, is suitable for wireless sensor network
Three-dimensional nodes positioning.The specific embodiment of the invention is as follows:
1) suitable localization method stopping criterion for iteration is determined according to wireless sensor network node communication radius.
2) to anchor node is currently connected to unknown node, according to it, the RSSI value between unknown node is ranked up.
3) the surrounded region center-of-mass coordinate of current anchor node and its RSSI value between unknown node are calculated.
4) the currently the smallest anchor node of RSSI value between unknown node is substituted using current mass center, to obtain new connection
Anchor node opens into three-dimensional space, and constantly reduces connection anchor node by successive ignition and open into three-dimensional space range.
In order to verify localization method performance of the present invention, by analogue simulation actual wireless sensor network environment, and change
The related important parameter for influencing unknown node positioning accuracy is surveyed as node communication radius, anchor node distribution density and RSSI are received
Error etc. is measured, the method for the present invention positioning performance is observed.
Define the shortest distance between unknown node actual position in three dimensions and location algorithm estimation gained position
For the position error of algorithm.Assuming that 3-D positioning method estimation unknown node position isAccording to formula (1), then
Position error are as follows:
In order to preferably compare positioning accuracy between the different wireless sensor network of node communication radius, in formula (23)
On the basis of define relative positioning error are as follows:
Wherein, K is unknown node number in wireless sensor network, and R is node communication radius.Assuming that 100 × 100 ×
100m3Three-dimensional space in 1000 nodes of random distribution.According to formula (13), mapped one by one due to existing between RSSI and distance
Relationship, therefore stopping criterion for iteration is directly set in emulation experiment are as follows:
Respectively by changing the communication radius and anchor node ratio of wireless sensor network interior joint first in Fig. 1, with
This illustrates to be connected to influence of the anchor node number for positioning method accuracy of the present invention in network with unknown node.It has been observed that in phase
Under the conditions of anchor node ratio, node communication radius is bigger, and the anchor node quantity being connected to unknown node is more, present invention positioning
Precision is also continuously improved therewith.Similarly, when one timing of node communication radius, it is same to increase anchor node ratio in wireless sensor network
Sample can increase the anchor node quantity being connected to unknown node, effectively improve the present invention for the estimation essence of unknown node position
Degree.In conclusion by Monte Carlo simulation shown in Fig. 1 it is demonstrated experimentally that increase the anchor node number being connected to unknown node can be with
Improve the precision of localization method of the present invention.
Since localization method of the present invention is by two-dimensional location method expanded application in three-dimensional space, it is therefore desirable to which two dimension is fixed
Position method and 3-D positioning method performance compare, and whether analyzing three-dimensional localization method preferably remains former two-dimensional localization
The good location performance of method.However, simulated environment locating for node is different in two-dimensional surface and three-dimensional space, in order to true
The positioning accuracy for protecting two methods is comparable, it is desirable that distribution situation of the node in two-dimensional surface and three-dimensional space is counting
On being consistent property.Based on the above analysis, emulation is assumed in 100 × 100m2Two-dimensional surface on 100 nodes of random distribution.
So either in two-dimensional surface or three-dimensional space, it is all satisfied in any one-dimensional square that average there are one at interval of 10m
Node.According to formula (25), two-dimensional location method stopping criterion for iteration is set are as follows:
Unknown node is located at connection the surrounded internal plane of anchor node:
Unknown node is located at connection the surrounded flat outer of anchor node:
At this point, either wireless sensor network node distributional environment or localization method stopping criterion for iteration, two kinds of sides
Method all has preferable consistency.Regard two-dimentional node locating as three-dimensional nodes that all nodes are distributed in same plane
Positioning, can obtain two-dimentional node locating error according to formula (23) are as follows:
The relative positioning error under two-dimensional condition can be obtained by bringing formula (28) into formula (24).In order to sufficiently compare two
Tie up localization method and 3-D positioning method, we choose respectively the lesser R=25 of node communication radius and node communication radius compared with
Big two kinds of situations of R=40, observe the two methods relative positioning error under the conditions of different anchor node ratios, as shown in Figure 2.
It has been observed that with the increase for being connected to anchor node ratio in wireless sensor network, two-dimensional location method and three-dimensional
Localization method estimated accuracy is all significantly improved, and experimental result is mutually coincide with experimental result shown in Fig. 1.When node communication half
When diameter is smaller, such as R=25, using unknown node as anchor node in the communication radius of the centre of sphere and identical leading to using unknown node as the center of circle
Believe that anchor node quantity is suitable in radius, two-dimensional location method and 3-D positioning method have the node being almost similar relatively fixed at this time
Position error；However, when node communication radius is larger, such as R=40, using unknown node as anchor node number in the communication radius of the centre of sphere
Significantly more than using unknown node as anchor node quantity in the same communication radius in the center of circle, localization method of the present invention is compared to two at this time
Localization method is tieed up, smaller node relative positioning error is showed.Therefore, 3-D positioning method proposed by the invention is not only kept
The advantages of former two-dimentional node positioning method, has better than former two-dimensional location method in larger node communication radius
Positioning accuracy.
In actual wireless sensor network, due to the interference of various noises, it will lead to network and the measurement of RSSI deposited
In error.Localization method of the present invention need to estimate using the RSSI between unknown node and anchor node current three-dimensional space mass center with not
Know the RSSI value between node, therefore especially by influence of the analysis of simulation experiment rssi measurement error for positioning performance of the present invention
It is important.Similarly, due to there are mapping relations one by one between RSSI and distance, consider directly to survey using range measurement error characterization RSSI
Error is measured, influence, that is, rssi measurement error of the range error for positioning accuracy of the present invention is for localization method of the present invention at this time
The influence of energy.Assuming that range measurement error coefficient is μ, then have:
Wherein, RAND (- 1,1) is a random number, sets it without loss of generality and obeys in (- 1,1) section and uniformly divides
Cloth.dnWithRespectively unknown node between n-th of connection anchor node at a distance from true value and measured value.Obviously, range measurement
Error coefficient μ determines the size of distance measure offset distance true value.Range measurement error coefficient μ is bigger, illustrates network
It is bigger between unknown node and the range measurement error being connected to anchor node, when μ=0, distance measure with apart from true
Real value is equal, that is, range measurement error is not present.
For more comprehensively influence of the analysis range measurement error to localization method performance of the present invention, we choose node
The lesser R=25 of communication radius and node communication radius two kinds of situations of biggish R=35, and respectively network anchor node ratio compared with
Under the conditions of low higher 45% two kind of 5% and network anchor node ratio, viewing distance measurement error is for positioning side of the invention
The influence of method performance, as shown in Figure 3.Fig. 3 discovery is observed, when communication radius is smaller and network anchor node ratio is lower, due to
Anchor node negligible amounts are connected to unknown node, the method for the present invention positioning relative error is in higher level always at this time.With
Node communication radius increases and the raising of network anchor node ratio, and anchor node quantity is connected to unknown node and is consequently increased, this
Inventive method positioning accuracy significantly improves.The experimental result is mutually coincide with experimental result shown in Fig. 1.Though localization method of the present invention
It so needs to estimate between current three-dimensional space mass center and unknown node using the rssi measurement value between unknown node and anchor node
RSSI value, but either actual measurement RSSI value still calculates gained RSSI value, for node locating in position fixing process
The influence of energy is mainly reflected in two aspects: firstly, localization method of the present invention needs to connect by the size relation between RSSI value
Logical anchor node is ranked up by the distance of distance between unknown node, to determine in iterative process by current three-dimensional space
Mass center institute substitute node.The inaccuracy measurement of RSSI value will lead to anchor node sequence error, corresponding and if only if minimum RSSI value
When anchor node sequence error, localization method iterative process of the present invention can just be had an impact, and only influence localization method and receive
Speed is held back, it is smaller to location precision.Secondly, localization method of the present invention is by calculating current three-dimensional space mass center and unknown section
RSSI value between point is compared with set iteration ends threshold value, so that it is determined that when iteration is whole for localization method of the present invention
Only.Therefore, inaccurate rssi measurement will affect localization method the number of iterations, and more the number of iterations will not influence positioning accurate
Degree, but will increase additional computation complexity；Lesser the number of iterations can generate minor impact to positioning accuracy.Therefore exist
In Fig. 3, no matter under smaller connection anchor node said conditions or under the conditions of more connection anchor node, range measurement error for
The influence of positioning method accuracy of the present invention is smaller, it was demonstrated that localization method of the present invention has preferable anti-rssi measurement error energy
Power.
In addition to higher node locating precision and preferable anti-rssi measurement error ability, while requiring wireless sensor network
Network node positioning method has preferable Signal Coverage Percentage.Assuming that unknown node sum is K in wireless sensor networkall, benefit
It can be to wherein K with node positioning methodknownA node carries out effective localization process, then Signal Coverage Percentage are as follows:
Fig. 4 show the Signal Coverage Percentage of localization method of the present invention under different connection anchor node distribution occasions.It can be seen that compared with
Under the conditions of big node communication radius or larger anchor node ratio, due to anchor node be distributed in three dimensions it is more intensive, because
This Signal Coverage Percentage of the present invention is preferable；It is of the invention however under node communication radius is smaller and the smaller situation of anchor node ratio
Signal Coverage Percentage is poor.
However, because localization method of the present invention has preferable anti-rssi measurement error ability, it can be by new definition
Unknown node be equivalent to the new anchor node with certain rssi measurement error, to improve in wireless sensor network system
Anchor node ratio is positioned by successive ignition to improve the Signal Coverage Percentage of the method for the present invention.According to Fig.4, the present invention is fixed
Under method is only smaller in node communication radius and the smaller situation of anchor node ratio, Signal Coverage Percentage is poor for position.So we are scheming
, i.e. node communication radius R=20 and R=25, and anchor node smaller by successive ignition raising node communication radius is only considered in 5
Ratio is smaller, i.e., anchor node ratio be 5% and 10%, in the case of Signal Coverage Percentage.It has been observed that in most cases, this
Inventive method only needs iteration positioning to be twice obtained with more satisfactory Signal Coverage Percentage, even if in node communication radius R
=20 and anchor node ratio be 5% poor anchor node distribution occasion under, by iteration three times positioning can also will positioning cover
Rate is increased to 90% or more.And under different node communication radius and anchor node distribution occasion, localization method of the present invention passes through
4-5 iteration positioning, Signal Coverage Percentage can achieve 99% or more, have fabulous practicability.
Claims (4)
1. a kind of iterative estimate method for wireless sensor network three-dimensional localization, which is characterized in that utilize current connection anchor
Node opens into the farthest connection anchor node of mass center alternative distances unknown node of three-dimensional space, opens in currently connection anchor node
To be currently connected to anchor node institute Zhang Chengsan when meeting stopping criterion for iteration at the distance between three-dimensional space mass center and unknown node
Dimension space mass center be positioning result, currently connection anchor node open into three-dimensional space mass center between unknown node at a distance from not
Continue to iterate to calculate currently connection anchor node when meeting stopping criterion for iteration and open into three-dimensional space mass center,
Wherein, the stopping criterion for iteration includesWithThe two criterions,It is obtained by the m times iteration
Three-dimensional space mass centerWith the RSSI between unknown node O,Three-dimensional space mass center is obtained by the m-1 times iterationWith not
Know the RSSI between node O, ε1The energy cut-off set when being located at connection anchor node inside three-dimensional space by unknown node
Value, ε2The energy threshold set when being located at connection anchor node at three-dimensional space exterior space by unknown node, m to be greater than or
Integer equal to 2 meets any criterion requirement at a distance from the obtained three-dimensional space mass center of the m times iteration is between unknown node
When, using the obtained three-dimensional space mass center of the m times iteration as positioning result.
2. a kind of iterative estimate method for wireless sensor network three-dimensional localization, feature exist according to claim 1
In, the farthest connection anchor node of the mass center alternative distances unknown node for opening into three-dimensional space using current connection anchor node it
Before, the RSSI of current connection anchor node and unknown node is calculated, according to the current connection anchor section of sequence arrangement that RSSI is ascending
Point.
3. a kind of iterative estimate method for wireless sensor network three-dimensional localization, feature exist according to claim 1
In the obtained three-dimensional space mass center of the m times iterationRSSI between unknown node O is denoted as Wherein, N is the sum of current connection anchor node, PnFor unknown node and n-th
RSSI, n=1,2 ... between a connection anchor node, N, M are normal parameter of the value range 3.24~4.5, A=-
10log10P1, P1For the reference RSSI at unknown node distance 1m, the value range of general A value is 45~49, dijConnect for i-th
Logical anchor node is connected to the distance between anchor node with j-th.
4. a kind of iterative estimate method for wireless sensor network three-dimensional localization, feature exist according to claim 3
In the obtained three-dimensional space mass center of the m times iterationCoordinate be denoted as Wherein, (xn,yn,zn) it is n-th of coordinate for being connected to anchor node.
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