CN106332280A - Single-movement beacon node auxiliary positioning method based on energy efficiency in WSNs - Google Patents
Single-movement beacon node auxiliary positioning method based on energy efficiency in WSNs 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
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention relates to a single-movement beacon node auxiliary positioning method based on energy efficiency in WSNs. A WSNs model comprises a plurality of randomly deployed static unknown nodes and a single-movement beacon node. The method mainly includes the steps of determining the communication radius of the single-movement beacon node; determining the network resolution; deploying the positions of position information packets broadcasted by the single-movement beacon node; planning the route of the single-movement beacon node; periodically broadcasting the position information packets in the movement process of the single-movement beacon node, wherein the content of the position information packets includes coordinate information and beacon of the movement beacon node at the moment; continuously monitoring and receiving the position information packets through the static unknown nodes, and calculating position coordinates of the nodes through trilateration to complete positioning. The energy consumption of the single-movement beacon node is reduced on the basis of high positioning precision. In addition, the invention further relates to a method for planning the route of the single-movement beacon node under the existence of obstacles and a method for deploying the positions of the position information packets at the moment.
Description
Technical field
The invention belongs to wireless sensor network field, particularly relate to list based on energy efficient in a kind of WSNs and move letter
Mark node assisted location method.
Background technology
In WSNs, determine that the positional information of unknown node is a very important job, permitted because unknown node is given
Multiposition sensing protocol and application program provide basic support.Ability that the information obtained needs and the position of node combines
Data message more accurately is provided for observer.It addition, WSNs also can be used for following the tracks of specific objective in monitoring application, used
Track algorithm be also required to sensor node provide corresponding positional information.These demands all promote and efficiently position association in WSNs
The development of view.
Location finds the process of node location information exactly in a given system.For the coordinate system complete at
Determining the positional information of a wireless sensor network in system, some nodes need the position taking some modes to know self in advance
Confidence ceases, as by mobile beacon node.So-called mobile beacon node refers to that node can while mobile in sensing region
Broadcast the positional information of self.Unknown node positions and generally includes two steps: the range measurement between (1) two neighbor node；(2)
Geometrical calculation on the basis of measuring distance.Location protocol can be divided into two big classes: based on the location protocol found range with based in advance
The location protocol stayed.Agreement on the basis of range finding is it is to be appreciated that the positional information of Beacon Point.According between point to be located and Beacon Point
Distance, it is possible to estimate the position of point to be located.Although and the agreement that need not find range need not estimated distance, but still needing
Want beaconing nodes to assist, estimate self-position by correlation technique.
Present stage uses range finding to carry out the distance measurement technique that all make use of stationary nodes positioned.Therefore its positioning precision
It is limited to network structure and deployment strategy inherently.Because network design unified in reality can not realize, so part
Network there may be relatively low density, and neighbors may be inadequate.It addition, the position that beaconing nodes is in a network is to each
May be not all optimal for node.Because limiting to move makes sensor network topological structural change little, so passing through
These technology, the positioning precision of some node cannot be improved.Additionally, all installing GPS device to all nodes is to be difficult to reality
Existing, for extensive WSNs, and mobile beacon node also can produce substantial amounts of energy during turning round
Consumption.Therefore a mobile beacon node equipped with GPS system is used to move between unknown node and reduce in traveling process
The quantity at turning, it is the most feasible a kind of location side that periodic broadcasting virtual beacon helps neighbouring nodes of locations to carry out positioning
Method.Some large-scale research institutions are shown by checking, and mobile beacon node is different from ordinary node, and can be by changing row
Walk path and improve positioning precision.So carrying out auxiliary positioning by single mobile beacon node is a kind of effective localization method, move
The path planning of dynamic beaconing nodes also becomes the emphasis of research.
Research papers currently for wireless sensor network path planning is as follows:
The article that 1.Ou C etc. delivers on " the IEEE Transactions on Mobile Computing " of 2008
“Sensor position determination with flying anchors in three-dimensional
Wireless sensor networks ", it is proposed that a kind of location algorithm.In this algorithm, beaconing nodes flies in the zone,
Each beaconing nodes is equipped with GPS device, broadcasting virtual beacon flight is through sensing region when.In sensing region,
Each unknown node is measured and the distance of the virtual beacon that can receive, and estimates its coordinate on the basis of based on geometrical principle
Position.If unknown node receives the information more than four virtual beacon, formation two is intersected by these four virtual beacon
Circle, and have two vertical lines being perpendicular to the respective center of circle.Article two, the intersection of perpendicular bisector is just estimated as the big of unknown node
Cause position.Although this algorithm can help unknown node to position, but is not involved with path planning.
2.Dimitrios Koutsonikolas etc. delivers on " the Computer Communication " of 2007
Article " Path planning of mobile landmarks for localization in wireless sensor
Networks ", author proposes the algorithm after some improve.These three algorithm is called SCAN algorithm respectively, and DOUBLESCAN calculates
Method and HILBERT algorithm.In SCAN algorithm, mobile beacon node moves in one direction, such as in two-dimensional coordinate system,
Move along y-axis, but owing to being to move in one direction, the most do not increase other processing methods, if causing unknown node to be subject to
Information bag that dry mobile beacon sends at collinear position thus affect locating effect.Double SCAN algorithm considers conllinear
The existence of problem, therefore adds a movement in the direction of the x axis, although alleviates conllinear problem to a certain extent, but increases
Add path thus add energy consumption.Hilbert algorithm is made up of multiple little squares do not closed, and adds and much turns
Point makes to receive more non-colinear information bag.Comparatively speaking, Hilbert algorithm improves positioning precision, but it is not
There is the consumption problem considering turning energy.
3.Rui Huang etc. were at " the The Fifth Annual IEEE International of 2007
Conference on Pervasive Computing and Communications Workshops " on the article delivered
" Static path planning for mobile beacons to localize sensor networks ", it is proposed that
The routing algorithm optimized, it is also possible that path is limited while improving positioning precision.Both algorithms are called respectively
CIRCLES algorithm and S-CURVES algorithm.Both algorithms are all to provide path locus in advance, without reference to real sensor node
Distribution.Two kinds of algorithms can avoid virtual beacon conllinear problem.But the mobile anchor node in CIRCLES algorithm does not travel through
Whole monitored area, the unknown node near angle, four, monitored area cannot position because can not receive abundant virtual beacon.
Additionally, two kinds of algorithms are all that the node near beaconing nodes track can the most accurately obtain positional information.Leave the right or normal track mark farther out
Node locating error relatively big, even part unknown node is not in beaconing nodes communication range, thus can not position.
4.Baoli Zhang etc. were at " the In Proc.of the 2009 Second Asia-Pacific of 2009
Conference on Computational Intelligence and Industrial Applications " on deliver
Article " Collaborative localization algorithm for wireless sensor networks using
Mobile anchors ", it is proposed that GMAN algorithm.In this algorithm, the number of mobile beacon node is three.Three movably
Node forms equilateral triangle.During advancing, relative position keeps constant.Mobile beacon node group according to from left to right, from
Under supreme order travel through in sensor network.Although this algorithm make use of the highest former of equilateral triangle positioning precision
Reason, but how explanation mobile beacon node does not broadcasts, and does not the most illustrate that the formed equilateral triangle length of side is divided with network
The relation of resolution.
The article that 5.Javad Rezazadeh etc. delivers on " the IEEE SENSORS JOURNAL " of 2014
“Superior Path Planning Mechanism for Mobile Beacon-Assisted Localization in
Wireless Sensor Networks ", and in this article, propose Z-curve algorithm.According to this path planning algorithm,
Mobile beacon node is advanced in " Z " in position fixing process, can solve three point on a straight line problem, thus static state is being precisely located not
Reduce while knowing node and carry out distance.Additionally, obstacle is also processed by Z-curve algorithm, can be in monitored area
Position in the case of there is obstacle.Although this algorithm can improve the positioning precision of unknown node, but advises according to path
Drawing, mobile beacon node needs direct of travel is varied multiple times during advancing, although decrease path, but significantly
Add turning quantity, thus add energy expenditure.
In sum, although mobile beacon path planning has made great progress, but still have some problems to need further
Research:
(1) existing major part research does not accounts for the energy in the startup of mobile beacon node, turning, at the uniform velocity traveling process
Consuming is all based on ideally by mobile beacon node, or the energy expenditure of the bag that only considers to receive and send messages；
(2) unknown node within monitored area can be positioned by most of path planning algorithms the most accurately,
And can not accurately position for node at network edge；
(3) the turning process of the more accurate path planning algorithm in great majority location is a lot, thus energy expenditure is big, but turns
The algorithm location bending through journey few is the most accurate.
Summary of the invention
It is an object of the invention to provide single mobile beacon node assisted location method based on energy efficient in a kind of WSNs,
The method, on the basis of improving unknown node positioning precision, makes single mobile beacon node the most linearly advance, and minimizing is turned
Angle quantity, thus reduce energy expenditure, make the static unknown node in WSNs complete the location of oneself.
For solving above-mentioned technical problem, the technical solution used in the present invention is:
Single mobile beacon node assisted location method based on energy efficient in a kind of WSNs, WSNs model include multiple with
The static unknown node of machine deployment and a single mobile beacon node, its step includes:
(1) single mobile beacon is equipped with GPS positioner, determines single mobile beacon node communication radius R, movement speed v；
(2) network resolution r is determined according to communication radius R, network resolution i.e. commitment defini interval distance；
(3) according to network resolution r, the position of single mobile beacon node broadcasts positional information bag is disposed；
(4) according to the position of broadcast position information bag, single mobile beacon node is carried out path planning；
(5) single mobile beacon node is advanced according to the path planned, periodically broadcast location during movement
Information bag, positional information bag includes coordinate information and the beacon ID now moving single beaconing nodes；
(6) the static unknown node being randomly dispersed in WSNs is constantly monitored and receiving position information bag, when receiving
To the positional information of three not beacons of conllinear can form equilateral triangle, and unknown node is positioned at equilateral triangle, then adopt
The position coordinates calculating self by trilateration completes location；
(7) when the WSNs at single mobile beacon node place exists obstacle, single mobile beacon node equipped with photographic head with
And ultrasonic detection device, it is possible to the distance identifying and calculating between obstacle, take avoidance measure while avoiding obstacle,
It also is able to unknown node broadcast position information bag around；When there is obstacle, if the position of broadcast message bag just can formed
Triangle, and unknown node is positioned at equilateral triangle, then the position coordinates using equilateral triangle trilateration to calculate self comes
Complete location, otherwise use common triangle trilateration to complete location.
In above-mentioned steps (2), network resolution r refers to two positional informationes of single mobile beacon node periodic broadcast
Distance between bag.
In above-mentioned steps (3), the position dispositions method of single mobile beacon node broadcasts positional information bag is as follows:
In the region of a width of h of a length of l, nlThe straight line represented in the length areas of a length of l need to arrange equilateral triangle
Number, nhRepresent the number that need to arrange equilateral triangle at the straight line of the length of a width of h, wherein nlAnd nhNeed to meet following condition:
That is:WithWherein d=r, d represent the length of side of equilateral triangle, network resolution r=
R, and virtual arrangement equilateral triangle in monitored area on this basis, make whole region can be covered by equilateral triangle
Ideal situation, the summit of equilateral triangle is then the position of single mobile beacon node broadcasts information bag, in order to ensure whole region
Can be covered by equilateral triangle, equilateral triangle has suitable extension at boundary.
In above-mentioned steps (4), path planning refers to single mobile beacon node from one side of a length of l, along long direction
Traveling through with constant speed v, the distance between two adjacent path isUntil having traveled through the position of all broadcast message bags
Put, and periodically broadcast single mobile beacon node real-time position information in these positions being pre-designed.
The information bag that in above-mentioned steps (6), the continuous monitoring reception of unknown node sends from single mobile beacon node, works as energy
Enough receive three information bags, and when the position of information bag can constitute unknown node equilateral triangle therein, take three limits to survey
The position coordinates of mensuration calculating unknown node self；If three beacons can not be received, then continue to monitor, wait.
Avoidance measure in above-mentioned steps (7) refers to: exist and energy when single mobile beacon node once recognizes obstacle
When enough monitoring obstacle boundaries, take distinguished number to calculate the border being closer to, move rear obstacle to boundary point and advance,
When arriving next boundary point, calculate the broadcast location point on the original route that this point is nearest, and move to it；In avoidance process
In, while single mobile beacon node is except broadcast position information bag at each flex point, also everyTime is to surroundings nodes
Broadcast position information bag；If obstacle is excessive, single mobile beacon node cannot recognize that the either boundary of obstacle, mobile beacon node
Then move on, turn right all the time travelings in each corner after the obstacle, until returning to normal driving path, in avoidance mistake
Cheng Zhong, while single mobile beacon node is except broadcast position information bag at each flex point, also everyTime is saved to around
Point broadcast position information bag.
Above-mentioned distinguished number refers to:
The image that single mobile beacon node returns equipped with camera collection, it is assumed that when there is obstacle in front, camera collection returns
Be dark-colored image, do not have obstacle part display light-colored image；Dark-colored image and light-colored image constitute whole image；
Note ileft、irightIt is respectively single mobile beacon node and collects image scaled shared by the light-colored image of left and right two ends
Size:
Work as ileft＞ iright, monitor boundary From Left relatively near, advance in border the most to the left；
Work as ileft＜ iright, monitor distance right margin relatively near, advance in border the most to the right；
Work as ileft=iright, border, two ends all can not be monitored, then be continued on.
Compared with prior art, the present invention is had the beneficial effect that
(1) position fixing process need not extra communication overhead, only can complete location by received signal strength measurement,
And the position of the beacon bag of mobile beacon broadcast may be constructed equilateral triangle, makes location rate and setting accuracy be substantially improved；
(2) single mobile beacon node suitably extends monitored area during advancing so that disposes in advance is wide
The equilateral triangle broadcasting multiple non-overlapping copies that the position of information bag is constituted can cover whole monitored area；
(3) in the present invention, single mobile beacon node is linearly advanced according to the position of the broadcast message bag disposed in advance, and
The information bag of self real-time position information is periodically contained at the position broadcast packet disposed, thus while linearly advance, but
Due to the deployment to broadcast location, thus to some extent solve conllinear problem.
(4) the avoidance measure of the present invention, it is possible to reduce the displacement during avoidance, increases the individual of broadcast message bag
Number, thus the positioning precision in the presence of improving obstacle.
Accompanying drawing explanation
Fig. 1 is the flow chart of the present invention；
Fig. 2 is the position deployment diagram of single mobile beacon node broadcasts information bag；
Fig. 3 is the path planning figure of single mobile beacon node；
Fig. 4 be three beacons that unknown node receives be equilateral triangle schematic diagram；
Fig. 5 is mobile beacon node monitors to the travel path in the case of right margin；
Fig. 6 is mobile beacon node monitors to the travel path in the case of left margin；
Fig. 7 is the travel path that mobile beacon node can not monitor in the case of three kinds of either boundary；
Detailed description of the invention
The present invention is described in further detail below in conjunction with the accompanying drawings.
As it is shown in figure 1, single mobile beacon node assisted location method based on energy efficient, WSNs model in a kind of WSNs
Including static unknown node and a single mobile beacon node of multiple random placements, its step includes:
(1) single mobile beacon is equipped with GPS positioner, determines single mobile beacon node communication radius R, movement speed v；
(2) network resolution r is determined according to communication radius R, network resolution i.e. commitment defini interval distance；
(3) according to network resolution r, the position of single mobile beacon node broadcasts positional information bag is disposed；
(4) according to the position of broadcast position information bag, single mobile beacon node is carried out path planning；
(5) single mobile beacon node is advanced according to the path planned, periodically broadcast location during movement
Information bag, positional information bag includes coordinate information and the beacon ID now moving single beaconing nodes；
(6) the static unknown node being randomly dispersed in WSNs is constantly monitored and receiving position information bag, when receiving
To the positional information of three not beacons of conllinear can form equilateral triangle, and unknown node is positioned at equilateral triangle, then adopt
The position coordinates calculating self by trilateration completes location；
(7) when the WSNs at single mobile beacon node place exists obstacle, single mobile beacon node equipped with photographic head with
And ultrasonic detection device, it is possible to the distance identifying and calculating between obstacle, take avoidance measure while avoiding obstacle,
It also is able to unknown node broadcast position information bag around；When there is obstacle, if the position of broadcast message bag just can formed
Triangle, and unknown node is positioned at equilateral triangle, then the position coordinates using equilateral triangle trilateration to calculate self comes
Complete location, otherwise use common triangle trilateration to complete location.
In above-mentioned steps (2), network resolution r refers to two positional informationes of single mobile beacon node periodic broadcast
Distance between bag.
In above-mentioned steps (3), the position dispositions method of single mobile beacon node broadcasts positional information bag is as follows:
In the region of a width of h of a length of l, nlThe straight line represented in the length areas of a length of l need to arrange equilateral triangle
Number, nhRepresent the number that need to arrange equilateral triangle at the straight line of the length of a width of h, wherein nlAnd nhNeed to meet following condition:
That is:WithWherein d=r, d represent the length of side of equilateral triangle, network resolution r=
R, and virtual arrangement equilateral triangle in monitored area on this basis, make whole region can be covered by equilateral triangle
Ideal situation, the summit of equilateral triangle is then the position of single mobile beacon node broadcasts information bag, in order to ensure whole region
Can be covered by equilateral triangle, equilateral triangle has suitable extension at boundary.
In above-mentioned steps (4), path planning refers to single mobile beacon node from one side of a length of l, along long direction
Traveling through with constant speed v, the distance between two adjacent path isUntil having traveled through the position of all broadcast message bags
Put, and periodically broadcast single mobile beacon node real-time position information in these positions being pre-designed.
The information bag that in above-mentioned steps (6), the continuous monitoring reception of unknown node sends from single mobile beacon node, works as energy
Enough receive three information bags, and when the position of information bag can constitute unknown node equilateral triangle therein, take three limits to survey
The position coordinates of mensuration calculating unknown node self；If three beacons can not be received, then continue to monitor, wait.
Avoidance measure in above-mentioned steps (7) refers to: exist and energy when single mobile beacon node once recognizes obstacle
When enough monitoring obstacle boundaries, take distinguished number to calculate the border being closer to, move rear obstacle to boundary point and advance,
When arriving next boundary point, calculate the broadcast location point on the original route that this point is nearest, and move to it；In avoidance process
In, while single mobile beacon node is except broadcast position information bag at each flex point, also everyTime is to surroundings nodes
Broadcast position information bag；If obstacle is excessive, single mobile beacon node cannot recognize that the either boundary of obstacle, mobile beacon node
Then move on, turn right all the time travelings in each corner after the obstacle, until returning to normal driving path, in avoidance mistake
Cheng Zhong, while single mobile beacon node is except broadcast position information bag at each flex point, also everyTime is saved to around
Point broadcast position information bag.
Above-mentioned distinguished number refers to:
The image that single mobile beacon node returns equipped with camera collection, it is assumed that when there is obstacle in front, camera collection returns
Be dark-colored image, do not have obstacle part display light-colored image；Dark-colored image and light-colored image constitute whole image；
Note ileft、irightIt is respectively single mobile beacon node and collects image scaled shared by the light-colored image of left and right two ends
Size:
Work as ileft＞ iright, monitor boundary From Left relatively near, advance in border the most to the left；
Work as ileft＜ iright, monitor distance right margin relatively near, advance in border the most to the right；
Work as ileft=iright, border, two ends all can not be monitored, then be continued on.
Embodiment:
Work as nl=6 and nhWhen=5, the position deployment diagram of single mobile beacon node broadcasts information bag is as shown in Figure 2.Single mobile
The communication radius of beaconing nodes is R, network resolution r=R.The location point of each broadcast message bag can form several the most not
Overlapping equilateral triangle, length of side d=r=R of equilateral triangle.Single mobile beacon node is one end of long l, edge from monitored area
Straight line moves with constant speed v, travels through the position of all of broadcast message bag the most successively, in order to ensure controllable property,
Single mobile beacon node changes the position of moving direction respectively on two straight lines at two ends, left and right, as shown in Figure 3.Pre-when arriving
During the position of the broadcast message bag first disposed, single mobile beacon node broadcasts comprises the information bag of self real-time position information to week
The static unknown node enclosed.
Unknown node is constantly monitored, is received information bag, with received signal strength method (received signal
Strength indicator, RSSI) measure the distance sending this information package location to mobile beacon, i.e.Wherein PRD () represents received signal power, PTRepresent and launch power, PL (d0) table
Show that propagation distance is d0Time path loss, η is path loss index, and d is the distance between sending node and receiving node.When quiet
State unknown node can receive three non-colinear beacons, and three beacons can form equilateral triangle, and unknown node is just positioned at
In triangle, then unknown node utilizes trilateration (trilateration) to calculate the position of self.It is assumed that
The coordinate of unknown node is that (x, y), the coordinate of three virtual beacon that unknown node can receive is (xa,ya), (xb,yb),
(xc,yc), it is possible to forming equilateral triangle, the computing formula of unknown node is:
Wherein da, db, dcIt is respectively unknown node to three virtual beacon (xa,ya), (xb,yb) and (xc,yc) distance.
(present invention assumes that barrier is rectangle) when there is barrier in region, Fig. 5, Fig. 6, Fig. 7 represent shifting respectively
Dynamic beaconing nodes monitors right margin, left margin and the travel path in the case of can not monitoring three kinds of either boundary.Work as energy
Enough monitor distance right margin near time, as it is shown in figure 5, mobile beacon is to Boundary Moving, then advance to reach lower along border
Calculate the position finding the broadcast message bag not covered by obstacle nearest from this position on original path behind boundary, and move to it
Dynamic, complete avoidance.Whole avoidance process except around the corner can broadcast position information bag, everyIn the moment, mobile beacon also can
Broadcast position information is to the unknown node of surrounding.Fig. 6 illustrates the situation contrary with Fig. 5, and mobile beacon is to the left margin of obstacle
The process advanced.When not monitoring obstacle boundaries, then mobile beacon moves on, and runs into obstacle or arrives during border the rightest
Turning, broadcast message packet procedures is similar to first two, until returning to normal driving path, Fig. 7 gives schematic diagram.
The present invention can reduce energy expenditure on the basis of positioning precision height；It is applicable to sensor node random placement
Wireless sensor network；Use single mobile beacon node deployment relatively simple；Give also corresponding avoidance measure.
The dispositions method of above broadcast message package location and the paths planning method of mobile beacon node are in the present invention
Embodiment, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that, without departing from this
Invention propose method premise under, wireless sensor network mobile beacon paths planning method have some new embodiments and
Deformation and improvement to this programme, these broadly fall into protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be with
Claims are as the criterion.
Claims (7)
1. a single mobile beacon node assisted location method based on energy efficient in WSNs, WSNs model include multiple at random
The static unknown node disposed and a single mobile beacon node, it is characterised in that: its step includes:
(1) single mobile beacon is equipped with GPS positioner, determines single mobile beacon node communication radius R, movement speed v；
(2) network resolution r is determined according to communication radius R, network resolution i.e. commitment defini interval distance；
(3) according to network resolution r, the position of single mobile beacon node broadcasts positional information bag is disposed；
(4) according to the position of broadcast position information bag, single mobile beacon node is carried out path planning；
(5) single mobile beacon node is advanced according to the path planned, periodically broadcast position information during movement
Bag, positional information bag includes coordinate information and the beacon ID now moving single beaconing nodes；
(6) the static unknown node being randomly dispersed in WSNs is constantly monitored and receiving position information bag, when can receive
The positional information of three not beacons of conllinear can form equilateral triangle, and unknown node is positioned at equilateral triangle, then use three
Limit measurement method calculates the position coordinates of self and completes location；
(7) when there is obstacle in the WSNs at single mobile beacon node place, single mobile beacon node is equipped with photographic head and surpasses
Acoustic detector, it is possible to the distance identifying and calculating between obstacle, takes avoidance measure while avoiding obstacle, also can
Enough to surrounding unknown node broadcast position information bag；When there is obstacle, if the position of broadcast message bag can form positive triangle
Shape, and unknown node is positioned at equilateral triangle, then the position coordinates using equilateral triangle trilateration to calculate self completes
Location, otherwise uses common triangle trilateration to complete location.
Single mobile beacon node assisted location method based on energy efficient in WSNs the most according to claim 1, it is special
Levying and be, in described step (2), network resolution r refers to two positional information bags of single mobile beacon node periodic broadcast
Between distance.
Single mobile beacon node assisted location method based on energy efficient in WSNs the most according to claim 1, it is special
Levying and be, in described step (3), the position dispositions method of single mobile beacon node broadcasts positional information bag is as follows:
In the region of a width of h of a length of l, nlRepresent the straight line in the length areas of a length of l and need to arrange the number of equilateral triangle,
nhRepresent the number that need to arrange equilateral triangle at the straight line of the length of a width of h, wherein nlAnd nhNeed to meet following condition:
That is:WithWherein d=r, d represent the length of side of equilateral triangle, network resolution r=R, and
Virtual arrangement equilateral triangle in monitored area on this basis, makes the reason that whole region can be covered by equilateral triangle
Thinking situation, the summit of equilateral triangle is then the position of single mobile beacon node broadcasts information bag, in order to ensure that whole region can
Enough being covered by equilateral triangle, equilateral triangle has suitable extension at boundary.
Single mobile beacon node assisted location method based on energy efficient in WSNs the most according to claim 1, it is special
Levying and be, in described step (4), path planning refers to single mobile beacon node from a length of l, the direction that edge is long
Traveling through with constant speed v, the distance between two adjacent path isUntil having traveled through the position of all broadcast message bags
Put, and periodically broadcast single mobile beacon node real-time position information in these positions being pre-designed.
Single mobile beacon node assisted location method based on energy efficient in WSNs the most according to claim 1, it is special
Levying and be, the information bag that in described step (6), the continuous monitoring reception of unknown node sends from single mobile beacon node, when can
Receive three information bags, and take trilateration when the position of information bag can constitute unknown node equilateral triangle therein
Method calculates the position coordinates of unknown node self；If three beacons can not be received, then continue to monitor, wait.
Wireless sensor network list mobile beacon mobile route planning side based on energy efficient the most according to claim 1
Method, it is characterised in that the avoidance measure in described step (7) refers to: exist when single mobile beacon node once recognizes obstacle
And when can monitor obstacle boundaries, take distinguished number to calculate the border being closer to, around barrier after boundary point moves
Hinder traveling, when arriving next boundary point, calculate the broadcast location point on the original route that this point is nearest, and move to it；?
During avoidance, while single mobile beacon node is except broadcast position information bag at each flex point, also everyTime to
Surroundings nodes broadcast position information bag；If obstacle is excessive, single mobile beacon node cannot recognize that the either boundary of obstacle, mobile
Beaconing nodes then moves on, and turns right all the time travelings in each corner after the obstacle, until returning to normal driving path,
During avoidance, while single mobile beacon node is except broadcast position information bag at each flex point, also everyTime
To surroundings nodes broadcast position information bag.
Wireless sensor network list mobile beacon mobile route planning side based on energy efficient the most according to claim 6
Method, it is characterised in that described distinguished number refers to:
The image that single mobile beacon node returns equipped with camera collection, it is assumed that when there is obstacle in front, what camera collection returned is
Dark-colored image, does not has the part display light-colored image of obstacle；Dark-colored image and light-colored image constitute whole image；
Note ileft、irightIt is respectively single mobile beacon node and collects the size of image scaled shared by the light-colored image of left and right two ends:
Work as ileft＞ iright, monitor boundary From Left relatively near, advance in border the most to the left；
Work as ileft＜ iright, monitor distance right margin relatively near, advance in border the most to the right；
Work as ileft=iright, border, two ends all can not be monitored, then be continued on.
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