CN106454925A - 一种车联网干扰源定位方法 - Google Patents

Abstract

本发明公开一种车联网干扰源定位方法，包括如下步骤：(10)干扰源方向拟合：各节点选择移动轨迹，监测干扰信号，通过拟合确定干扰源方向；(20)拟合信息收集：本节点与邻居节点之间进行报文交互，收集邻居节点拟合的干扰源方向；(30)干扰源位置估计：本节点根据自身拟合的干扰源方向以及邻居节点拟合的干扰源方向，估计干扰源所在位置。本发明的干扰源位置估计方法，测量开销小、计算复杂度低、定位精度高。

Description

一种车联网干扰源定位方法

技术领域

本发明属于网络数据通信技术领域，特别是一种车联网干扰源定位方法。

背景技术

车联网是车辆间以自组织和自管理方式构建的无线自组织网络，用以实现车辆移动条件下的数据监测、融合、分发和共享，是构建智能交通系统、智慧城市的重要基础。但是，车联网的无线信道的开放共享特性使其容易遭受多种干扰攻击的影响。因此，快速高效确定干扰源的位置，对于车联网的抗干扰机制设计与实施具有重要意义。

车联网干扰源定位是指被干扰车辆通过主动测量和被动监听，得到关于干扰源传输的观察结果，并利用无线信道传播特性和干扰区域几何知识，协作推断出干扰源所在位置的过程。

针对静态多跳无线网络的干扰源定位算法可以分为两类。第一类是基于测距的方法。在此类方法中，被干扰节点通过特定传播模型，将干扰源定位问题转化为特定形式的方程组，然后求解得到干扰源位置。这一类典型算法包括最小平方定位、干扰信号强度测量等。此类算法的主要问题在于其测量过程极易受到各种环境因素和测量错误的影响，从而产生较大偏差。此外，其假定的传播模型将严重影响估计结果。在复杂的传播环境中，这类算法精度很低。特别地，对于动态变化的车联网环境，很难确定固定的传播模型，测距类方法的精度进一步降低。第二类是非测距方法。这类方法利用干扰区域的几何知识，计算得到干扰源所在位置，典型算法包括质心定位、凸壳定位和虚拟力迭代定位等。这类算法需要收集所有被干扰节点的测量信息，收敛时间很长，且信息收集过程本身也极易受到干扰攻击的影响。此外，这类算法通常假定干扰区域形状呈圆形或椭圆形。但是，现实环境中干扰区域的形状往往是不规则的。

由于车联网中的节点是不断移动的，上述针对静态多跳无线网络的干扰源定位算法应用于车联网中需要复杂的信息收集和计算过程，测量开销大，计算复杂度高，而且定位精度低。现有技术中未见关于车联网环境下的干扰源定位方法的报道。

发明内容

本发明的目的在于提供一种车联网干扰源定位方法，测量开销小、计算复杂度低、定位精度高。

实现本发明目的的技术解决方案为：一种车联网干扰源定位方法，包括如下步骤：

(10)干扰源方向拟合：各节点选择移动轨迹，监测干扰信号，通过拟合确定干扰源方向；

(20)拟合信息收集：本节点与邻居节点之间进行报文交互，收集邻居节点拟合的干扰源方向；

(30)干扰源位置估计：本节点根据自身拟合的干扰源方向以及邻居节点拟合的干扰源方向，估计干扰源所在位置。

本发明与现有技术相比，其显著优点为：

1.测量开销小，计算复杂性低。本发明提出的干扰源定位方法无需复杂的通信交互和信号处理，也无需复杂的方程求解，仅需依赖廉价无线设备所具有的接收信号强度监测功能进行干扰源信号强度监测和简单的线性拟合计算，测量、处理和计算开销很低，便于在普通车辆配备的无线设备上实现。

2.定位精度高。本发明提出使用线性拟合方法估计干扰源方向并通过对于多个拟合方向的交点的质心计算得到干扰源所在位置，可以消除单条拟合直线的不准确性带来的误差，提高定位的准确性。

下面结合附图和具体实施方式对本发明作进一步的详细描述。

附图说明

图1是本发明车联网干扰源定位方法的主流程图。

图2是图1中干扰源方向拟合步骤的流程图。

图3是图1中拟合信息收集步骤的流程图。

图4是图1中干扰源位置估计步骤的流程图。

图5是存在干扰源的车联网场景示例图。

图6是节点A拟合得到的干扰源方向。

图7是干扰源定位结果。

具体实施方式

如图1所示，本发明一种车联网干扰源定位方法，其特征在于，包括如下步骤：

(10)干扰源方向拟合：各节点选择移动轨迹，监测干扰信号，通过拟合确定干扰源方向；

如图2所示，所述(10)干扰源方向拟合步骤包括：

(11)初始化：设置移动次数k＝1，设置移动轨迹圆心(x,y)为节点当前位置(x₀,y₀)，即(x,y)＝(x₀,y₀)，设置初始移动轨迹半径为r米，

其中，初始移动轨迹半径r取50～100米中的整数；

例如，设置初始移动轨迹半径为r＝50米。

(12)移动轨迹计算：移动轨迹圆心(x,y)和移动轨迹半径r确定了一个圆形的移动轨迹，在此圆上取一个随机坐标为初始移动位置(x₁,y₁)，从(x₁,y₁)开始以圆心角步进为q°计算得到360/q个圆上的坐标点(x₁,y₁),(x₂,y₂),…,(x_360/q,y_360/q)，

其中，步进q设置为1～5中的整数；

例如，设置步进q为1，计算得到360个圆上的坐标点(x₁,y₁),(x₂,y₂),…,(x₃₆₀,y₃₆₀)。

(13)干扰信号移动监测：依次移动到(x₁,y₁),(x₂,y₂),…,(x_360/q,y_360/q)，并记录每个坐标点处的接收信号强度(R₁,R₂,…,R_360/q)；

(14)质心计算：从(R₁,R₂,…,R_360/q)中选择接收信号强度最大的n个值，得到这n个值对应的n个坐标点K,计算这n个坐标点的质心为(x^k,y^k)，其中

其中，n设置为10～20中的整数；

(15)移动次数判别：判断移动次数k是否小于阈值l，如是，则设置移动轨迹圆心(x,y)＝(x^k,y^k)，设置移动半径r＝r/2，设置k＝k+1，返回(12)移动轨迹计算步骤，

其中，阈值l设置为4～8中的整数；

例如，设置阈值l为5。

(16)方向拟合：根据计算得到的l个质心坐标(x¹,y¹)、(x²,y²)、(x³,y³)、(x⁴,y⁴)、……、(x^l,y^l)，通过基于最小二乘估计的线性拟合方法，得到干扰源方向所在的一条直线y＝ax+b，

其中，a、b的计算公式如下：

式中，

(20)拟合信息收集：本节点与邻居节点之间进行报文交互，收集邻居节点拟合的干扰源方向；

如图3所示，所述(20)拟合信息收集步骤包括：

(21)拟合方向信息请求：本节点向邻居节点发送报文，请求得到邻居节点拟合的干扰源方向；

例如，本节点与邻居节点之间通过交互FIT_INFO_REQUEST和FIT_INFO_REPLY报文，获得彼此拟合得到的干扰源方向信息；当邻居节点收到FIT_INFO_REQUEST报文时，邻居节点将自身拟合得到的干扰源方向信息放入FIT_INFO_REPLY报文，回复本节点。

(22)等待并收集拟合信息：在设定等待时间t内，本节点接收邻居节点回复的报文，从中获取邻居节点拟合的干扰源方向；

其中，设定的等待时间t为1～3分钟；例如，设定等待时间为2分钟。

(23)达到要求信息数量判别：在设定的等待时间结束后，本节点判断收集到的邻居节点拟合的干扰源方向是否大于等于2条，如否，返回(21)拟合方向信息请求步骤；

(24)拟合信息收集结束：结束拟合信息收集过程。

(30)干扰源位置估计：本节点根据自身拟合的干扰源方向以及邻居节点拟合的干扰源方向，估计干扰源所在位置。

如图4所示，所述(30)干扰源位置估计步骤包括：

(31)联立方程组：将本节点自身拟合的干扰源方向与m-1个邻居节点拟合的干扰源方向共m个拟合方程，联立为个方程组

其中，y＝a_ix+b_i表示第i个邻居节点拟合得到的干扰源方向的方程；

(32)解方程组：解每个方程组，得到个坐标点(x₁₂,y₁₂)、(x₁₃,y₁₃)、…、(x_(m-1)m,y_(m-1)m)，

其中，(x_ij,y_ij)表示方程组的解；

(33)质心计算：计算个坐标点的质心(x_e,y_e)：

将(x_e,y_e)作为干扰源的估计位置。

图5是存在一个干扰源的车联网场景示例图。针对图5所示的场景，车联网中的节点A采用本发明车联网中的干扰源定位方法对干扰源S的位置进行估计的结果为(499.419，491.269)。干扰源S的实际位置为(500,500)。

节点部署在一个1000米乘以1000米的区域内，干扰源传输功率设置为100毫瓦，干扰源S的坐标为(500,500)，干扰源发射信号的频率为8.4*10⁷Hz，发射天线增益为1，节点的接收天线增益为1。节点A的初始坐标为(150,150)，初始移动轨迹半径设置为50米，设置移动步进q为1，计算得到360个圆上的坐标点(x₁,y₁),(x₂,y₂),…,(x₃₆₀,y₃₆₀)，从360个坐标点得到的接收信号强度值中选择最大的10个值来计算质心，节点的移动次数阈值l设置为5次，采用自由空间传播模型，路径损耗指数为2，背景噪声为-50dBm。

根据阈值设定，节点A共进行了5次移动，每次移动都得到360个坐标点的接收信号强度值和对应的坐标值。每次移动时的节点位置、移动半径、360个坐标点位置和接收信号强度值如下。

第一次移动：

(11)初始化步骤确定的节点位置为(150,150)，设置移动次数k＝1，确定的移动半径为r＝50米；

(12)移动轨迹计算步骤计算得到的360个坐标点为：

(150.873,151.745),(152.617,153.488),(154.358,155.226),(156.093,156.959),(157.822,158.682),(159.54,160.396),(161.248,162.096),(162.941,163.782),(164.619,165.451),(166.278,167.101),(167.918,168.73),(169.537,170.337),(171.131,171.919),(172.7,173.474),(174.24,175),(175.752,176.496),(177.232,177.96),(178.679,179.389),(180.091,180.783),(181.466,182.139),(182.803,183.457),(184.1,184.733),(185.355,185.967),(186.568,187.157),(187.735,188.302),(188.857,189.401),(189.932,190.451),(190.958,191.452),(191.934,192.402),(192.858,193.301),(193.731,194.147),(194.55,194.94),(195.315,195.677),(196.025,196.359),(196.679,196.985),(197.276,197.553),(197.815,198.063),(198.296,198.515),(198.719,198.907),(199.081,199.24),(199.384,199.513),(199.627,199.726),(199.81,199.878),(199.931,199.97),(199.992,200),(199.992,199.97),(199.931,199.878),(199.81,199.726),(199.627,199.513),(199.384,199.24),(199.081,198.907),(198.719,198.515),(198.296,198.063),(197.815,197.553),(197.276,196.985),(196.679,196.359),(196.025,195.677),(195.315,194.94),(194.55,194.147),(193.731,193.301),(192.858,192.402),(191.934,191.452),(190.958,190.451),(189.932,189.401),(188.857,188.302),(187.735,187.157),(186.568,185.967),(185.355,184.733),(184.1,183.457),(182.803,182.139),(181.466,180.783),(180.091,179.389),(178.679,177.96),(177.232,176.496),(175.752,175),(174.24,173.474),(172.7,171.919),(171.131,170.337),(169.537,168.73),(167.918,167.101),(166.278,165.451),(164.619,163.782),(162.941,162.096),(161.248,160.396),(159.54,158.682),(157.822,156.959),(156.093,155.226),(154.358,153.488),(152.617,151.745),(150.873,150),(149.127,148.255),(147.383,146.512),(145.642,144.774),(143.907,143.041),(142.178,141.318),(140.46,139.604),(138.752,137.904),(137.059,136.218),(135.381,134.549),(133.722,132.899),(132.082,131.27),(130.463,129.663),(128.869,128.081),(127.3,126.526),(125.76,125),(124.248,123.504),(122.768,122.04),(121.321,120.611),(119.909,119.217),(118.534,117.861),(117.197,116.543),(115.9,115.267),(114.645,114.033),(113.432,112.843),(112.265,111.698),(111.143,110.599),(110.068,109.549),(109.042,108.548),(108.066,107.598),(107.142,106.699),(106.269,105.853),(105.45,105.06),(104.685,104.323),(103.975,103.641),(103.321,103.015),(102.724,102.447),(102.185,101.937),(101.704,101.485),(101.281,101.093),(100.919,100.76),(100.616,100.487),(100.373,100.274),(100.19,100.122),(100.069,100.03),(100.008,100),(100.008,100.03),(100.069,100.122),(100.19,100.274),(100.373,100.487),(100.616,100.76),(100.919,101.093),(101.281,101.485),(101.704,101.937),(102.185,102.447),(102.724,103.015),(103.321,103.641),(103.975,104.323),(104.685,105.06),(105.45,105.853),(106.269,106.699),(107.142,107.598),(108.066,108.548),(109.042,109.549),(110.068,110.599),(111.143,111.698),(112.265,112.843),(113.432,114.033),(114.645,115.267),(115.9,116.543),(117.197,117.861),(118.534,119.217),(119.909,120.611),(121.321,122.04),(122.768,123.504),(124.248,125),(125.76,126.526),(127.3,128.081),(128.869,129.663),(130.463,131.27),(132.082,132.899),(133.722,134.549),(135.381,136.218),(137.059,137.904),(138.752,139.604),(140.46,141.318),(142.178,143.041),(143.907,144.774),(145.642,146.512),(147.383,148.255),(149.127,150),(199.992,199.97),(199.931,199.878),(199.81,199.726),(199.627,199.513),(199.384,199.24),(199.081,198.907),(198.719,198.515),(198.296,198.063),(197.815,197.553),(197.276,196.985),(196.679,196.359),(196.025,195.677),(195.315,194.94),(194.55,194.147),(193.731,193.301),(192.858,192.402),(191.934,191.452),(190.958,190.451),(189.932,189.401),(188.857,188.302),(187.735,187.157),(186.568,185.967),(185.355,184.733),(184.1,183.457),(182.803,182.139),(181.466,180.783),(180.091,179.389),(178.679,177.96),(177.232,176.496),(175.752,175),(174.24,173.474),(172.7,171.919),(171.131,170.337),(169.537,168.73),(167.918,167.101),(166.278,165.451),(164.619,163.782),(162.941,162.096),(161.248,160.396),(159.54,158.682),(157.822,156.959),(156.093,155.226),(154.358,153.488),(152.617,151.745),(150.873,150),(149.127,148.255),(147.383,146.512),(145.642,144.774),(143.907,143.041),(142.178,141.318),(140.46,139.604),(138.752,137.904),(137.059,136.218),(135.381,134.549),(133.722,132.899),(132.082,131.27),(130.463,129.663),(128.869,128.081),(127.3,126.526),(125.76,125),(124.248,123.504),(122.768,122.04),(121.321,120.611),(119.909,119.217),(118.534,117.861),(117.197,116.543),(115.9,115.267),(114.645,114.033),(113.432,112.843),(112.265,111.698),(111.143,110.599),(110.068,109.549),(109.042,108.548),(108.066,107.598),(107.142,106.699),(106.269,105.853),(105.45,105.06),(104.685,104.323),(103.975,103.641),(103.321,103.015),(102.724,102.447),(102.185,101.937),(101.704,101.485),(101.281,101.093),(100.919,100.76),(100.616,100.487),(100.373,100.274),(100.19,100.122),(100.069,100.03),(100.008,100),(100.008,100.03),(100.069,100.122),(100.19,100.274),(100.373,100.487),(100.616,100.76),(100.919,101.093),(101.281,101.485),(101.704,101.937),(102.185,102.447),(102.724,103.015),(103.321,103.641),(103.975,104.323),(104.685,105.06),(105.45,105.853),(106.269,106.699),(107.142,107.598),(108.066,108.548),(109.042,109.549),(110.068,110.599),(111.143,111.698),(112.265,112.843),(113.432,114.033),(114.645,115.267),(115.9,116.543),(117.197,117.861),(118.534,119.217),(119.909,120.611),(121.321,122.04),(122.768,123.504),(124.248,125),(125.76,126.526),(127.3,128.081),(128.869,129.663),(130.463,131.27),(132.082,132.899),(133.722,134.549),(135.381,136.218),(137.059,137.904),(138.752,139.604),(140.46,141.318),(142.178,143.041),(143.907,144.774),(145.642,146.512),(147.383,148.255),(149.127,150),(150.873,151.745),(152.617,153.488),(154.358,155.226),(156.093,156.959),(157.822,158.682),(159.54,160.396),(161.248,162.096),(162.941,163.782),(164.619,165.451),(166.278,167.101),(167.918,168.73),(169.537,170.337),(171.131,171.919),(172.7,173.474),(174.24,175),(175.752,176.496),(177.232,177.96),(178.679,179.389),(180.091,180.783),(181.466,182.139),(182.803,183.457),(184.1,184.733),(185.355,185.967),(186.568,187.157),(187.735,188.302),(188.857,189.401),(189.932,190.451),(190.958,191.452),(191.934,192.402),(192.858,193.301),(193.731,194.147),(194.55,194.94),(195.315,195.677),(196.025,196.359),(196.679,196.985),(197.276,197.553),(197.815,198.063),(198.296,198.515),(198.719,198.907),(199.081,199.24),(199.384,199.513),(199.627,199.726),(199.81,199.878),(199.931,199.97),(199.992,200)；

(13)移动与干扰信号监测步骤收集到的360坐标点的接收信号强度值为：

(0.00004806,0.00004824,0.00004827,0.00004842,0.00004855,0.00004871,0.00004876,0.00004882,0.00004892,0.00004901,0.00004915,0.00004926,0.00004923,0.00004946,0.00004945,0.00004958,0.00004962,0.00004969,0.0000498,0.00004986,0.00004996,0.00005,0.00005005,0.00005012,0.00005021,0.0000502,0.00005033,0.00005033,0.00005041,0.00005046,0.0000505,0.00005055,0.0000506,0.00005063,0.00005063,0.00005065,0.00005075,0.00005072,0.00005075,0.00005076,0.00005076,0.00005081,0.00005078,0.00005081,0.00005075,0.00005081,0.00005081,0.00005072,0.00005081,0.00005078,0.00005074,0.00005075,0.0000507,0.00005069,0.00005057,0.00005066,0.00005062,0.00005057,0.00005051,0.00005047,0.00005046,0.00005039,0.00005032,0.00005021,0.0000502,0.00005016,0.00005003,0.00005004,0.00004991,0.0000499,0.00004979,0.00004971,0.0000496,0.00004955,0.00004939,0.00004942,0.00004935,0.00004925,0.00004914,0.00004909,0.00004895,0.00004883,0.00004881,0.00004861,0.00004856,0.00004843,0.0000483,0.00004824,0.00004807,0.00004802,0.00004789,0.00004777,0.00004766,0.00004756,0.00004739,0.00004736,0.00004719,0.00004715,0.00004698,0.00004691,0.00004672,0.00004659,0.00004651,0.00004644,0.00004623,0.00004614,0.00004603,0.00004587,0.00004578,0.00004567,0.00004548,0.00004536,0.00004531,0.00004515,0.000045,0.00004489,0.00004477,0.00004469,0.00004457,0.00004443,0.00004433,0.00004418,0.00004405,0.00004398,0.00004378,0.00004369,0.00004352,0.00004343,0.00004339,0.00004325,0.00004306,0.00004302,0.00004286,0.00004278,0.00004264,0.00004247,0.0000424,0.00004229,0.0000422,0.00004213,0.000042,0.00004187,0.00004176,0.00004168,0.00004148,0.00004149,0.00004126,0.00004119,0.00004116,0.00004101,0.00004095,0.00004084,0.00004075,0.00004064,0.00004049,0.00004043,0.00004038,0.00004024,0.00004015,0.00004007,0.00004007,0.00004002,0.00003983,0.00003973,0.0000396,0.00003963,0.00003948,0.00003948,0.00003937,0.00003927,0.00003922,0.00003915,0.00003899,0.00003893,0.00003887,0.00003888,0.00003876,0.0000387,0.00003867,0.00003858,0.00003855,0.0000385,0.00003837,0.00003839,0.00003829,0.00003825,0.00003819,0.00003817,0.00003814,0.00003804,0.00003797,0.00003802,0.00003793,0.00003787,0.00003786,0.00003777,0.00003775,0.00003771,0.00003766,0.00003761,0.00003761,0.00003761,0.00003751,0.00003747,0.00003742,0.00003748,0.00003739,0.00003736,0.0000374,0.0000374,0.00003729,0.00003725,0.00003726,0.00003728,0.00003728,0.0000373,0.00003727,0.00003725,0.00003725,0.00003724,0.0000372,0.00003719,0.00003719,0.0000372,0.00003719,0.00003715,0.00003719,0.00003717,0.00003726,0.00003724,0.00003717,0.00003723,0.00003726,0.00003729,0.00003722,0.00003724,0.0000373,0.00003732,0.00003732,0.00003733,0.0000374,0.00003742,0.00003746,0.00003743,0.00003753,0.00003753,0.00003757,0.00003753,0.00003765,0.00003756,0.00003764,0.0000377,0.00003774,0.00003775,0.00003787,0.00003786,0.00003793,0.00003798,0.00003803,0.00003798,0.00003803,0.00003816,0.00003821,0.00003829,0.00003831,0.00003834,0.00003837,0.00003853,0.00003856,0.00003861,0.00003868,0.00003871,0.00003876,0.00003891,0.00003893,0.00003896,0.00003918,0.00003913,0.0000392,0.00003925,0.0000393,0.00003941,0.00003953,0.00003965,0.00003961,0.00003974,0.00003982,0.00003993,0.00004001,0.0000401,0.00004019,0.00004028,0.00004034,0.0000405,0.00004056,0.0000406,0.00004076,0.00004081,0.00004092,0.00004105,0.00004111,0.00004122,0.00004128,0.00004142,0.00004157,0.00004166,0.00004176,0.00004183,0.00004197,0.00004205,0.00004219,0.00004234,0.00004241,0.00004251,0.00004266,0.00004269,0.00004288,0.00004298,0.0000431,0.00004314,0.0000433,0.00004346,0.00004359,0.00004367,0.00004385,0.00004396,0.00004409,0.00004417,0.00004427,0.00004446,0.00004456,0.00004463,0.00004487,0.00004487,0.00004506,0.00004516,0.00004525,0.00004539,0.00004553,0.00004568,0.0000458,0.00004587,0.00004599,0.0000462,0.00004629,0.00004637,0.00004651,0.00004663,0.00004679,0.00004689,0.00004692,0.00004707,0.00004721,0.00004732,0.00004742,0.00004756,0.00004768,0.00004776,0.00004787,0.00004803)；

(14)质心计算步骤得到的接收信号强度最大的10个值：

(0.00005081,0.00005081,0.00005081,0.00005081,0.00005081,0.00005078,0.00005078,0.00005076,0.00005076,0.00005075)；

这10个值所对应的坐标分别是：

(186.568,183.457),(184.733,187.735),(185.967,188.302),(184.1,182.803),(182.139,181.466),(184.1,187.157),(185.967,182.803),(184.733,182.139),(186.568,187.735),(188.302,188.857)，

求得质心是：(x¹,y¹)＝(184.796,185906)；

(15)移动次数判别步骤判断移动次数k小于阈值l，设置移动轨迹圆心(x,y)＝(x¹,y¹)，设置移动半径r＝25米，设置k＝2，返回(12)移动轨迹计算步骤；

第二次移动：

(12)移动轨迹计算步骤计算得到的360个坐标点为：

(185.232,185.668),(186.104,186.54),(186.975,187.409),(187.842,188.275),(188.707,189.137),(189.566,189.993),(190.419,190.844),(191.266,191.687),(192.105,192.521),(192.935,193.346),(193.755,194.161),(194.564,194.964),(195.361,195.755),(196.145,196.532),(196.916,197.296),(197.672,198.044),(198.412,198.775),(199.135,199.49),(199.841,200.187),(200.529,200.865),(201.197,201.524),(201.846,202.162),(202.473,202.779),(203.079,203.374),(203.663,203.947),(204.224,204.496),(204.762,205.021),(205.274,205.522),(205.762,205.997),(206.225,206.446),(206.661,206.869),(207.071,207.265),(207.453,207.634),(207.808,207.975),(208.135,208.288),(208.434,208.572),(208.703,208.827),(208.944,209.053),(209.155,209.249),(209.336,209.416),(209.488,209.552),(209.609,209.659),(209.701,209.735),(209.761,209.78),(209.792,209.796),(209.792,209.78),(209.761,209.735),(209.701,209.659),(209.609,209.552),(209.488,209.416),(209.336,209.249),(209.155,209.053),(208.944,208.827),(208.703,208.572),(208.434,208.288),(208.135,207.975),(207.808,207.634),(207.453,207.265),(207.071,206.869),(206.661,206.446),(206.225,205.997),(205.762,205.522),(205.274,205.021),(204.762,204.496),(204.224,203.947),(203.663,203.374),(203.079,202.779),(202.473,202.162),(201.846,201.524),(201.197,200.865),(200.529,200.187),(199.841,199.49),(199.135,198.775),(198.412,198.044),(197.672,197.296),(196.916,196.532),(196.145,195.755),(195.361,194.964),(194.564,194.161),(193.755,193.346),(192.935,192.521),(192.105,191.687),(191.266,190.844),(190.419,189.993),(189.566,189.137),(188.707,188.275),(187.842,187.409),(186.975,186.54),(186.104,185.668),(185.232,184.796),(184.359,183.923),(183.487,183.052),(182.617,182.182),(181.749,181.316),(180.885,180.454),(180.025,179.598),(179.172,178.748),(178.325,177.905),(177.486,177.07),(176.656,176.245),(175.836,175.43),(175.027,174.627),(174.23,173.836),(173.446,173.059),(172.675,172.296),(171.92,171.548),(171.18,170.816),(170.456,170.101),(169.75,169.404),(169.063,168.726),(168.394,168.067),(167.746,167.429),(167.118,166.812),(166.512,166.217),(165.928,165.645),(165.367,165.095),(164.83,164.57),(164.317,164.07),(163.829,163.594),(163.366,163.145),(162.93,162.722),(162.52,162.326),(162.138,161.957),(161.783,161.616),(161.456,161.303),(161.158,161.019),(160.888,160.764),(160.647,160.538),(160.436,160.342),(160.255,160.175),(160.103,160.039),(159.982,159.933),(159.891,159.857),(159.83,159.811),(159.799,159.796),(159.799,159.811),(159.83,159.857),(159.891,159.933),(159.982,160.039),(160.103,160.175),(160.255,160.342),(160.436,160.538),(160.647,160.764),(160.888,161.019),(161.158,161.303),(161.456,161.616),(161.783,161.957),(162.138,162.326),(162.52,162.722),(162.93,163.145),(163.366,163.594),(163.829,164.07),(164.317,164.57),(164.83,165.095),(165.367,165.645),(165.928,166.217),(166.512,166.812),(167.118,167.429),(167.746,168.067),(168.394,168.726),(169.063,169.404),(169.75,170.101),(170.456,170.816),(171.18,171.548),(171.92,172.296),(172.675,173.059),(173.446,173.836),(174.23,174.627),(175.027,175.43),(175.836,176.245),(176.656,177.07),(177.486,177.905),(178.325,178.748),(179.172,179.598),(180.025,180.454),(180.885,181.316),(181.749,182.182),(182.617,183.052),(183.487,183.923),(184.359,184.796),(210.903,210.891),(210.872,210.845),(210.811,210.769),(210.72,210.663),(210.599,210.527),(210.447,210.36),(210.266,210.164),(210.054,209.938),(209.814,209.683),(209.544,209.399),(209.246,209.086),(208.919,208.745),(208.564,208.376),(208.181,207.98),(207.772,207.557),(207.335,207.108),(206.873,206.632),(206.385,206.132),(205.872,205.607),(205.335,205.057),(204.774,204.485),(204.19,203.89),(203.584,203.273),(202.956,202.635),(202.308,201.976),(201.639,201.298),(200.952,200.601),(200.246,199.886),(199.522,199.154),(198.782,198.406),(198.027,197.643),(197.256,196.866),(196.472,196.075),(195.675,195.271),(194.866,194.457),(194.046,193.632),(193.216,192.797),(192.377,191.954),(191.53,191.104),(190.677,190.248),(189.817,189.386),(188.953,188.52),(188.085,187.65),(187.215,186.779),(186.343,185.906),(185.47,185.034),(184.598,184.162),(183.727,183.293),(182.86,182.427),(181.995,181.565),(181.136,180.709),(180.283,179.858),(179.436,179.015),(178.597,178.181),(177.767,177.356),(176.947,176.541),(176.138,175.738),(175.341,174.947),(174.557,174.17),(173.786,173.406),(173.03,172.658),(172.29,171.926),(171.567,171.212),(170.861,170.515),(170.173,169.837),(169.505,169.178),(168.856,168.54),(168.229,167.923),(167.622,167.328),(167.039,166.755),(166.478,166.206),(165.94,165.681),(165.428,165.18),(164.94,164.705),(164.477,164.256),(164.041,163.833),(163.631,163.436),(163.249,163.068),(162.894,162.727),(162.567,162.414),(162.268,162.13),(161.999,161.875),(161.758,161.649),(161.547,161.453),(161.366,161.286),(161.214,161.15),(161.093,161.043),(161.001,160.967),(160.941,160.922),(160.91,160.906),(160.91,160.922),(160.941,160.967),(161.001,161.043),(161.093,161.15),(161.214,161.286),(161.366,161.453),(161.547,161.649),(161.758,161.875),(161.999,162.13),(162.268,162.414),(162.567,162.727),(162.894,163.068),(163.249,163.436),(163.631,163.833),(164.041,164.256),(164.477,164.705),(164.94,165.18),(165.428,165.681),(165.94,166.206),(166.478,166.755),(167.039,167.328),(167.622,167.923),(168.229,168.54),(168.856,169.178),(169.505,169.837),(170.173,170.515),(170.861,171.212),(171.567,171.926),(172.29,172.658),(173.03,173.406),(173.786,174.17),(174.557,174.947),(175.341,175.738),(176.138,176.541),(176.947,177.356),(177.767,178.181),(178.597,179.015),(179.436,179.858),(180.283,180.709),(181.136,181.565),(181.995,182.427),(182.86,183.293),(183.727,184.162),(184.598,185.034),(185.47,185.906),(186.343,186.779),(187.215,187.65),(188.085,188.52),(188.953,189.386),(189.817,190.248),(190.677,191.104),(191.53,191.954),(192.377,192.797),(193.216,193.632),(194.046,194.457),(194.866,195.271),(195.675,196.075),(196.472,196.866),(197.256,197.643),(198.027,198.406),(198.782,199.154),(199.522,199.886),(200.246,200.601),(200.952,201.298),(201.639,201.976),(202.308,202.635),(202.956,203.273),(203.584,203.89),(204.19,204.485),(204.774,205.057),(205.335,205.607),(205.872,206.132),(206.385,206.632),(206.873,207.108),(207.335,207.557),(207.772,207.98),(208.181,208.376),(208.564,208.745),(208.919,209.086),(209.246,209.399),(209.544,209.683),(209.814,209.938),(210.054,210.164),(210.266,210.36),(210.447,210.527),(210.599,210.663),(210.72,210.769),(210.811,210.845),(210.872,210.891),(210.903,210.906)；

(13)移动与干扰信号监测步骤收集到的360坐标点的接收信号强度值为：

(0.00005421,0.00005422,0.00005432,0.0000544,0.00005451,0.00005453,0.00005463,0.00005468,0.00005472,0.00005478,0.00005485,0.00005486,0.00005492,0.00005497,0.00005501,0.00005512,0.0000551,0.00005518,0.00005519,0.0000552,0.00005529,0.00005535,0.0000554,0.00005537,0.00005544,0.00005544,0.00005555,0.00005548,0.00005554,0.00005559,0.00005563,0.00005571,0.00005568,0.00005567,0.00005568,0.00005574,0.0000557,0.00005572,0.00005573,0.00005577,0.00005579,0.00005582,0.00005574,0.00005578,0.00005581,0.00005574,0.00005582,0.00005578,0.00005579,0.0000558,0.00005581,0.00005571,0.00005575,0.00005568,0.00005575,0.00005571,0.00005569,0.00005563,0.00005563,0.00005564,0.00005563,0.00005553,0.00005562,0.00005545,0.00005546,0.00005539,0.00005537,0.00005533,0.00005525,0.00005528,0.00005523,0.00005512,0.00005512,0.00005504,0.00005503,0.00005499,0.00005487,0.0000549,0.00005487,0.00005477,0.00005469,0.00005461,0.00005461,0.00005455,0.00005449,0.00005442,0.00005434,0.00005421,0.00005426,0.00005415,0.00005417,0.00005403,0.00005396,0.00005396,0.00005377,0.00005378,0.00005369,0.00005365,0.00005351,0.00005348,0.00005343,0.00005331,0.00005328,0.00005314,0.00005309,0.000053,0.00005291,0.00005283,0.00005275,0.00005272,0.00005265,0.00005251,0.00005248,0.00005239,0.00005225,0.00005222,0.00005211,0.00005208,0.00005196,0.00005188,0.00005179,0.00005171,0.00005165,0.00005154,0.00005145,0.00005137,0.0000513,0.00005124,0.00005119,0.0000511,0.00005099,0.00005089,0.00005083,0.00005076,0.00005072,0.00005062,0.00005054,0.00005047,0.0000503,0.00005028,0.00005021,0.00005012,0.00005007,0.00004998,0.00004986,0.00004984,0.00004976,0.00004967,0.00004957,0.00004955,0.00004949,0.0000494,0.00004932,0.00004924,0.00004917,0.00004905,0.00004904,0.00004899,0.00004887,0.00004881,0.00004876,0.00004871,0.00004865,0.0000486,0.00004852,0.00004847,0.00004838,0.00004836,0.00004825,0.00004824,0.00004811,0.00004808,0.00004804,0.00004799,0.00004798,0.00004785,0.00004784,0.00004777,0.00004774,0.00004769,0.00004763,0.00004758,0.00004754,0.00004745,0.00004751,0.00004739,0.00004736,0.00004734,0.00004729,0.00004716,0.0000472,0.00004722,0.00004714,0.00004705,0.00004707,0.00004711,0.00004706,0.00004701,0.00004702,0.00004689,0.00004687,0.0000469,0.00004684,0.00004685,0.00004676,0.00004679,0.00004673,0.00004673,0.00004675,0.00004668,0.00004665,0.00004666,0.00004664,0.00004663,0.00004663,0.00004656,0.00004663,0.00004666,0.00004661,0.00004656,0.00004659,0.00004657,0.00004658,0.00004657,0.00004654,0.00004659,0.00004657,0.00004656,0.00004662,0.00004657,0.00004665,0.00004659,0.00004655,0.00004661,0.00004666,0.00004664,0.00004669,0.00004666,0.00004664,0.00004668,0.00004672,0.00004677,0.00004678,0.00004673,0.00004675,0.00004678,0.00004686,0.00004691,0.00004688,0.00004693,0.00004697,0.00004699,0.00004698,0.000047,0.00004707,0.00004705,0.00004716,0.00004716,0.00004719,0.00004726,0.00004732,0.00004736,0.00004738,0.00004739,0.00004742,0.00004751,0.00004751,0.00004761,0.00004766,0.00004765,0.0000477,0.00004771,0.00004781,0.00004788,0.00004791,0.00004793,0.00004806,0.00004809,0.00004817,0.00004819,0.00004829,0.00004826,0.00004835,0.00004847,0.00004849,0.0000486,0.00004864,0.00004869,0.00004873,0.00004887,0.00004894,0.00004891,0.00004899,0.00004903,0.00004916,0.00004919,0.00004926,0.00004936,0.00004953,0.00004955,0.00004952,0.00004966,0.00004977,0.00004981,0.00004992,0.00004997,0.00004999,0.00005011,0.00005022,0.00005029,0.00005032,0.00005042,0.00005051,0.0000506,0.00005065,0.00005077,0.00005084,0.00005093,0.00005093,0.00005104,0.00005117,0.00005127,0.00005132,0.0000514,0.00005151,0.00005161,0.00005162,0.00005174,0.00005179,0.00005188,0.00005199,0.00005199,0.0000521,0.00005221,0.00005223,0.0000524,0.00005242,0.0000525,0.00005257,0.00005265,0.00005276,0.00005289,0.00005286,0.00005299,0.00005304,0.00005314,0.0000532,0.00005326,0.00005336,0.00005343,0.00005356,0.00005359,0.00005362,0.00005372,0.00005389,0.00005387,0.00005399,0.00005402,0.00005412,0.00005411)；

(14)质心计算步骤得到的接收信号强度最大的10个值：

(0.00005582,0.00005582,0.00005581,0.00005581,0.0000558,0.00005579,0.00005579,0.00005578,0.00005578,0.00005577)；

这10个值所对应的坐标分别是：

(201.524,203.079),(202.473,204.224),(203.947,201.197),(203.663,202.162),(203.374,200.865),(204.485,202.956),(203.584,201.639),(201.976,204.774),(202.308,203.89),(202.635,205.057)，

求得质心是：(x²,y²)＝(202.688,203.367)；

(15)移动次数判别步骤判断移动次数k小于阈值l，设置移动轨迹圆心(x,y)＝(x²,y²)，设置移动半径r＝12.5米，设置k＝3，返回(12)移动轨迹计算步骤；

第三次移动：

(12)移动轨迹计算步骤计算得到的360个坐标点为：

(202.979,203.27),(203.56,203.851),(204.141,204.43),(204.719,205.008),(205.295,205.582),(205.868,206.153),(206.437,206.72),(207.002,207.282),(207.561,207.838),(208.114,208.388),(208.661,208.931),(209.2,209.467),(209.732,209.994),(210.254,210.512),(210.768,211.021),(211.272,211.52),(211.765,212.008),(212.248,212.484),(212.718,212.949),(213.177,213.401),(213.622,213.84),(214.055,214.266),(214.473,214.677),(214.877,215.074),(215.266,215.455),(215.64,215.821),(215.999,216.172),(216.34,216.505),(216.666,216.822),(216.974,217.122),(217.265,217.404),(217.538,217.668),(217.793,217.914),(218.03,218.141),(218.248,218.35),(218.447,218.539),(218.626,218.709),(218.787,218.86),(218.927,218.99),(219.048,219.101),(219.149,219.192),(219.23,219.263),(219.291,219.314),(219.332,219.344),(219.352,219.355),(219.352,219.344),(219.332,219.314),(219.291,219.263),(219.23,219.192),(219.149,219.101),(219.048,218.99),(218.927,218.86),(218.787,218.709),(218.626,218.539),(218.447,218.35),(218.248,218.141),(218.03,217.914),(217.793,217.668),(217.538,217.404),(217.265,217.122),(216.974,216.822),(216.666,216.505),(216.34,216.172),(215.999,215.821),(215.64,215.455),(215.266,215.074),(214.877,214.677),(214.473,214.266),(214.055,213.84),(213.622,213.401),(213.177,212.949),(212.718,212.484),(212.248,212.008),(211.765,211.52),(211.272,211.021),(210.768,210.512),(210.254,209.994),(209.732,209.467),(209.2,208.931),(208.661,208.388),(208.114,207.838),(207.561,207.282),(207.002,206.72),(206.437,206.153),(205.868,205.582),(205.295,205.008),(204.719,204.43),(204.141,203.851),(203.56,203.27),(202.979,202.688),(202.397,202.106),(201.816,201.525),(201.235,200.946),(200.657,200.368),(200.081,199.794),(199.508,199.223),(198.939,198.656),(198.374,198.094),(197.815,197.538),(197.262,196.988),(196.715,196.445),(196.176,195.909),(195.644,195.382),(195.121,194.863),(194.608,194.355),(194.104,193.856),(193.611,193.368),(193.128,192.892),(192.658,192.427),(192.199,191.975),(191.754,191.536),(191.321,191.11),(190.903,190.699),(190.499,190.302),(190.109,189.921),(189.736,189.554),(189.377,189.204),(189.035,188.871),(188.71,188.554),(188.402,188.254),(188.111,187.972),(187.838,187.708),(187.583,187.462),(187.346,187.235),(187.128,187.026),(186.929,186.837),(186.75,186.667),(186.589,186.516),(186.448,186.385),(186.328,186.274),(186.226,186.183),(186.146,186.113),(186.085,186.062),(186.044,186.031),(186.024,186.021),(186.024,186.031),(186.044,186.062),(186.085,186.113),(186.146,186.183),(186.226,186.274),(186.328,186.385),(186.448,186.516),(186.589,186.667),(186.75,186.837),(186.929,187.026),(187.128,187.235),(187.346,187.462),(187.583,187.708),(187.838,187.972),(188.111,188.254),(188.402,188.554),(188.71,188.871),(189.035,189.204),(189.377,189.554),(189.736,189.921),(190.109,190.302),(190.499,190.699),(190.903,191.11),(191.321,191.536),(191.754,191.975),(192.199,192.427),(192.658,192.892),(193.128,193.368),(193.611,193.856),(194.104,194.355),(194.608,194.863),(195.121,195.382),(195.644,195.909),(196.176,196.445),(196.715,196.988),(197.262,197.538),(197.815,198.094),(198.374,198.656),(198.939,199.223),(199.508,199.794),(200.081,200.368),(200.657,200.946),(201.235,201.525),(201.816,202.106),(202.397,202.688),(220.031,220.023),(220.011,219.993),(219.97,219.942),(219.909,219.871),(219.828,219.78),(219.727,219.669),(219.606,219.538),(219.465,219.388),(219.305,219.218),(219.125,219.028),(218.926,218.82),(218.708,218.592),(218.472,218.347),(218.217,218.082),(217.944,217.8),(217.653,217.501),(217.345,217.184),(217.019,216.85),(216.677,216.5),(216.319,216.134),(215.945,215.752),(215.556,215.356),(215.152,214.944),(214.733,214.519),(214.301,214.08),(213.855,213.628),(213.397,213.163),(212.926,212.687),(212.444,212.199),(211.951,211.7),(211.447,211.191),(210.933,210.673),(210.41,210.146),(209.879,209.61),(209.339,209.067),(208.793,208.517),(208.24,207.961),(207.68,207.399),(207.116,206.832),(206.547,206.261),(205.974,205.686),(205.398,205.109),(204.819,204.529),(204.239,203.948),(203.658,203.367),(203.076,202.785),(202.494,202.204),(201.914,201.625),(201.336,201.047),(200.759,200.473),(200.187,199.902),(199.618,199.335),(199.053,198.773),(198.494,198.216),(197.941,197.666),(197.394,197.123),(196.855,196.588),(196.323,196.061),(195.8,195.542),(195.287,195.033),(194.783,194.535),(194.289,194.047),(193.807,193.57),(193.336,193.106),(192.878,192.654),(192.432,192.215),(192,191.789),(191.582,191.378),(191.177,190.981),(190.788,190.599),(190.414,190.233),(190.056,189.883),(189.714,189.549),(189.389,189.233),(189.081,188.933),(188.79,188.651),(188.517,188.387),(188.262,188.141),(188.025,187.914),(187.807,187.705),(187.608,187.516),(187.428,187.346),(187.268,187.195),(187.127,187.064),(187.006,186.953),(186.905,186.862),(186.824,186.791),(186.763,186.741),(186.723,186.71),(186.703,186.7),(186.703,186.71),(186.723,186.741),(186.763,186.791),(186.824,186.862),(186.905,186.953),(187.006,187.064),(187.127,187.195),(187.268,187.346),(187.428,187.516),(187.608,187.705),(187.807,187.914),(188.025,188.141),(188.262,188.387),(188.517,188.651),(188.79,188.933),(189.081,189.233),(189.389,189.549),(189.714,189.883),(190.056,190.233),(190.414,190.599),(190.788,190.981),(191.177,191.378),(191.582,191.789),(192,192.215),(192.432,192.654),(192.878,193.106),(193.336,193.57),(193.807,194.047),(194.289,194.535),(194.783,195.033),(195.287,195.542),(195.8,196.061),(196.323,196.588),(196.855,197.123),(197.394,197.666),(197.941,198.216),(198.494,198.773),(199.053,199.335),(199.618,199.902),(200.187,200.473),(200.759,201.047),(201.336,201.625),(201.914,202.204),(202.494,202.785),(203.076,203.367),(203.658,203.948),(204.239,204.529),(204.819,205.109),(205.398,205.686),(205.974,206.261),(206.547,206.832),(207.116,207.399),(207.68,207.961),(208.24,208.517),(208.793,209.067),(209.339,209.61),(209.879,210.146),(210.41,210.673),(210.933,211.191),(211.447,211.7),(211.951,212.199),(212.444,212.687),(212.926,213.163),(213.397,213.628),(213.855,214.08),(214.301,214.519),(214.733,214.944),(215.152,215.356),(215.556,215.752),(215.945,216.134),(216.319,216.5),(216.677,216.85),(217.019,217.184),(217.345,217.501),(217.653,217.8),(217.944,218.082),(218.217,218.347),(218.472,218.592),(218.708,218.82),(218.926,219.028),(219.125,219.218),(219.305,219.388),(219.465,219.538),(219.606,219.669),(219.727,219.78),(219.828,219.871),(219.909,219.942),(219.97,219.993),(220.011,220.023),(220.031,220.033)；

(13)移动与干扰信号监测步骤收集到的360坐标点的接收信号强度值为：

(0.00005843,0.00005851,0.00005858,0.00005862,0.0000587,0.0000587,0.00005879,0.0000588,0.00005883,0.00005889,0.00005897,0.00005901,0.00005901,0.00005906,0.00005902,0.0000591,0.00005917,0.00005922,0.00005923,0.00005926,0.00005927,0.0000593,0.00005937,0.00005936,0.00005939,0.00005946,0.0000594,0.00005948,0.00005949,0.00005947,0.00005954,0.00005953,0.00005958,0.0000596,0.00005963,0.00005963,0.00005958,0.00005969,0.00005962,0.00005967,0.00005965,0.00005964,0.0000596,0.00005966,0.00005971,0.00005971,0.00005964,0.00005966,0.00005961,0.00005964,0.0000596,0.00005967,0.00005966,0.00005956,0.00005956,0.00005953,0.00005957,0.00005957,0.00005956,0.00005946,0.00005951,0.00005951,0.0000594,0.00005939,0.00005937,0.00005935,0.00005938,0.00005936,0.00005931,0.00005924,0.00005922,0.00005925,0.00005918,0.00005912,0.0000591,0.00005904,0.00005899,0.00005897,0.00005895,0.00005891,0.00005885,0.00005873,0.00005875,0.00005872,0.00005869,0.00005859,0.00005859,0.00005855,0.00005848,0.0000585,0.00005843,0.00005836,0.00005829,0.00005824,0.00005819,0.00005815,0.00005802,0.00005803,0.00005797,0.00005789,0.00005783,0.0000578,0.00005768,0.00005767,0.00005758,0.00005755,0.00005746,0.00005739,0.00005739,0.00005734,0.00005723,0.00005721,0.00005715,0.00005706,0.00005701,0.00005694,0.00005689,0.00005677,0.00005675,0.00005669,0.00005665,0.00005658,0.0000565,0.00005641,0.00005634,0.00005633,0.00005623,0.00005615,0.00005609,0.00005598,0.00005602,0.00005591,0.0000559,0.00005582,0.00005574,0.00005569,0.00005561,0.00005557,0.00005551,0.00005538,0.00005537,0.00005532,0.00005518,0.00005517,0.00005509,0.00005504,0.00005498,0.00005496,0.00005492,0.00005477,0.00005478,0.00005469,0.00005466,0.00005457,0.00005452,0.0000545,0.0000544,0.00005434,0.00005429,0.00005424,0.00005422,0.00005414,0.00005408,0.00005399,0.00005397,0.00005396,0.00005379,0.00005384,0.0000538,0.00005374,0.00005367,0.00005373,0.00005361,0.00005353,0.00005349,0.00005343,0.00005341,0.00005337,0.00005336,0.00005328,0.00005325,0.00005321,0.0000532,0.00005315,0.00005309,0.00005312,0.00005303,0.00005299,0.00005296,0.00005294,0.00005285,0.00005288,0.00005289,0.00005277,0.00005283,0.00005279,0.00005269,0.00005271,0.00005266,0.0000527,0.00005265,0.00005254,0.00005259,0.00005255,0.00005255,0.00005251,0.0000525,0.00005248,0.00005246,0.0000525,0.00005243,0.00005245,0.00005244,0.0000524,0.00005243,0.00005239,0.0000524,0.00005236,0.00005242,0.00005241,0.00005234,0.00005237,0.0000524,0.00005239,0.00005238,0.00005242,0.0000524,0.00005238,0.00005237,0.00005236,0.0000524,0.00005233,0.00005238,0.0000524,0.00005243,0.00005242,0.00005254,0.00005247,0.00005247,0.00005248,0.00005247,0.00005249,0.00005244,0.00005253,0.00005259,0.00005251,0.00005257,0.00005261,0.00005267,0.00005268,0.00005268,0.00005267,0.00005273,0.00005279,0.00005269,0.00005284,0.00005282,0.00005285,0.00005287,0.0000529,0.00005294,0.00005298,0.000053,0.0000531,0.00005305,0.00005317,0.00005316,0.00005323,0.00005323,0.00005327,0.00005334,0.00005333,0.00005342,0.00005344,0.00005348,0.00005355,0.00005356,0.00005358,0.00005368,0.00005371,0.00005383,0.00005387,0.0000539,0.00005401,0.00005397,0.00005406,0.00005407,0.00005412,0.00005418,0.00005425,0.00005428,0.0000544,0.0000544,0.00005446,0.0000545,0.0000545,0.0000546,0.00005468,0.00005476,0.00005483,0.00005488,0.00005488,0.000055,0.000055,0.00005512,0.00005521,0.00005528,0.00005524,0.00005535,0.00005541,0.00005548,0.0000555,0.00005558,0.00005562,0.00005567,0.00005577,0.00005585,0.00005596,0.000056,0.00005602,0.00005606,0.00005616,0.00005622,0.00005629,0.00005641,0.00005639,0.00005642,0.00005652,0.00005664,0.00005669,0.0000567,0.00005682,0.00005692,0.00005692,0.00005706,0.00005704,0.0000571,0.00005717,0.00005724,0.00005733,0.00005732,0.00005743,0.00005753,0.00005757,0.00005756,0.00005763,0.0000577,0.00005777,0.00005782,0.00005787,0.00005803,0.00005801,0.00005808,0.00005813,0.00005816,0.00005821,0.00005832,0.00005831,0.00005835,0.00005846)；

(14)质心计算步骤得到的接收信号强度最大的10个值：

(0.00005971,0.00005971,0.00005969,0.00005967,0.00005967,0.00005966,0.00005966,0.00005966,0.00005965,0.00005964)；

这10个值所对应的坐标分别是：

(214.473,214.677),(212.949,215.821),(213.401,215.074),(215.999,214.266),(213.622,213.84),(215.152,214.944),(216.5,213.628),(216.134,214.519),(213.397,215.356),(215.945,215.752)，

求得质心是：(x³,y³)＝(214.453,215.172)；

(15)移动次数判别步骤判断移动次数k小于阈值l，设置移动轨迹圆心(x,y)＝(x³,y³)，设置移动半径r＝6.25米，设置k＝4，返回(12)移动轨迹计算步骤；

第四次移动：

(12)移动轨迹计算步骤计算得到的360个坐标点为：

(214.671,214.889),(215.107,215.324),(215.542,215.759),(215.976,216.192),(216.408,216.623),(216.838,217.051),(217.264,217.477),(217.688,217.898),(218.107,218.315),(218.522,218.728),(218.932,219.135),(219.337,219.537),(219.735,219.932),(220.127,220.321),(220.513,220.702),(220.89,221.076),(221.26,221.442),(221.622,221.8),(221.975,222.148),(222.319,222.487),(222.653,222.817),(222.977,223.136),(223.291,223.444),(223.594,223.742),(223.886,224.028),(224.167,224.303),(224.435,224.565),(224.692,224.815),(224.936,225.053),(225.167,225.278),(225.385,225.489),(225.59,225.687),(225.781,225.872),(225.959,226.042),(226.122,226.199),(226.271,226.341),(226.406,226.468),(226.527,226.581),(226.632,226.679),(226.723,226.763),(226.799,226.831),(226.859,226.884),(226.905,226.922),(226.935,226.945),(226.951,226.952),(226.951,226.945),(226.935,226.922),(226.905,226.884),(226.859,226.831),(226.799,226.763),(226.723,226.679),(226.632,226.581),(226.527,226.468),(226.406,226.341),(226.271,226.199),(226.122,226.042),(225.959,225.872),(225.781,225.687),(225.59,225.489),(225.385,225.278),(225.167,225.053),(224.936,224.815),(224.692,224.565),(224.435,224.303),(224.167,224.028),(223.886,223.742),(223.594,223.444),(223.291,223.136),(222.977,222.817),(222.653,222.487),(222.319,222.148),(221.975,221.8),(221.622,221.442),(221.26,221.076),(220.89,220.702),(220.513,220.321),(220.127,219.932),(219.735,219.537),(219.337,219.135),(218.932,218.728),(218.522,218.315),(218.107,217.898),(217.688,217.477),(217.264,217.051),(216.838,216.623),(216.408,216.192),(215.976,215.759),(215.542,215.324),(215.107,214.889),(214.671,214.452),(214.234,214.016),(213.798,213.581),(213.363,213.146),(212.929,212.713),(212.497,212.282),(212.067,211.854),(211.641,211.428),(211.217,211.007),(210.798,210.59),(210.383,210.177),(209.973,209.77),(209.568,209.368),(209.17,208.973),(208.778,208.584),(208.392,208.202),(208.015,207.828),(207.644,207.463),(207.283,207.105),(206.93,206.757),(206.586,206.418),(206.252,206.088),(205.928,205.769),(205.614,205.461),(205.311,205.163),(205.019,204.877),(204.738,204.602),(204.47,204.34),(204.213,204.09),(203.969,203.852),(203.738,203.627),(203.52,203.416),(203.315,203.218),(203.124,203.033),(202.946,202.863),(202.783,202.706),(202.634,202.564),(202.499,202.437),(202.378,202.324),(202.273,202.226),(202.182,202.142),(202.106,202.074),(202.046,202.021),(202,201.983),(201.97,201.96),(201.954,201.952),(201.954,201.96),(201.97,201.983),(202,202.021),(202.046,202.074),(202.106,202.142),(202.182,202.226),(202.273,202.324),(202.378,202.437),(202.499,202.564),(202.634,202.706),(202.783,202.863),(202.946,203.033),(203.124,203.218),(203.315,203.416),(203.52,203.627),(203.738,203.852),(203.969,204.09),(204.213,204.34),(204.47,204.602),(204.738,204.877),(205.019,205.163),(205.311,205.461),(205.614,205.769),(205.928,206.088),(206.252,206.418),(206.586,206.757),(206.93,207.105),(207.283,207.463),(207.644,207.828),(208.015,208.202),(208.392,208.584),(208.778,208.973),(209.17,209.368),(209.568,209.77),(209.973,210.177),(210.383,210.59),(210.798,211.007),(211.217,211.428),(211.641,211.854),(212.067,212.282),(212.497,212.713),(212.929,213.146),(213.363,213.581),(213.798,214.016),(214.234,214.452),(227.67,227.665),(227.655,227.642),(227.625,227.604),(227.579,227.551),(227.518,227.482),(227.443,227.399),(227.352,227.301),(227.246,227.188),(227.126,227.061),(226.991,226.919),(226.842,226.762),(226.679,226.592),(226.501,226.407),(226.31,226.209),(226.105,225.998),(225.887,225.773),(225.656,225.535),(225.412,225.285),(225.155,225.022),(224.887,224.748),(224.606,224.462),(224.314,224.164),(224.011,223.856),(223.697,223.536),(223.373,223.207),(223.039,222.868),(222.695,222.52),(222.342,222.162),(221.98,221.796),(221.61,221.422),(221.232,221.041),(220.847,220.652),(220.455,220.257),(220.057,219.855),(219.652,219.448),(219.242,219.035),(218.827,218.618),(218.408,218.196),(217.984,217.771),(217.557,217.343),(217.128,216.912),(216.696,216.479),(216.262,216.044),(215.827,215.609),(215.391,215.172),(214.954,214.736),(214.518,214.3),(214.083,213.866),(213.649,213.433),(213.217,213.002),(212.787,212.573),(212.36,212.148),(211.937,211.727),(211.518,211.31),(211.103,210.897),(210.693,210.49),(210.288,210.088),(209.89,209.693),(209.497,209.304),(209.112,208.922),(208.734,208.548),(208.364,208.182),(208.003,207.825),(207.65,207.477),(207.306,207.138),(206.972,206.808),(206.647,206.489),(206.334,206.181),(206.03,205.883),(205.738,205.597),(205.458,205.322),(205.189,205.06),(204.933,204.809),(204.689,204.572),(204.458,204.347),(204.24,204.136),(204.035,203.937),(203.844,203.753),(203.666,203.583),(203.503,203.426),(203.353,203.284),(203.219,203.157),(203.098,203.044),(202.993,202.946),(202.902,202.862),(202.826,202.794),(202.766,202.741),(202.72,202.703),(202.689,202.68),(202.674,202.672),(202.674,202.68),(202.689,202.703),(202.72,202.741),(202.766,202.794),(202.826,202.862),(202.902,202.946),(202.993,203.044),(203.098,203.157),(203.219,203.284),(203.353,203.426),(203.503,203.583),(203.666,203.753),(203.844,203.937),(204.035,204.136),(204.24,204.347),(204.458,204.572),(204.689,204.809),(204.933,205.06),(205.189,205.322),(205.458,205.597),(205.738,205.883),(206.03,206.181),(206.334,206.489),(206.647,206.808),(206.972,207.138),(207.306,207.477),(207.65,207.825),(208.003,208.182),(208.364,208.548),(208.734,208.922),(209.112,209.304),(209.497,209.693),(209.89,210.088),(210.288,210.49),(210.693,210.897),(211.103,211.31),(211.518,211.727),(211.937,212.148),(212.36,212.573),(212.787,213.002),(213.217,213.433),(213.649,213.866),(214.083,214.3),(214.518,214.736),(214.954,215.172),(215.391,215.609),(215.827,216.044),(216.262,216.479),(216.696,216.912),(217.128,217.343),(217.557,217.771),(217.984,218.196),(218.408,218.618),(218.827,219.035),(219.242,219.448),(219.652,219.855),(220.057,220.257),(220.455,220.652),(220.847,221.041),(221.232,221.422),(221.61,221.796),(221.98,222.162),(222.342,222.52),(222.695,222.868),(223.039,223.207),(223.373,223.536),(223.697,223.856),(224.011,224.164),(224.314,224.462),(224.606,224.748),(224.887,225.022),(225.155,225.285),(225.412,225.535),(225.656,225.773),(225.887,225.998),(226.105,226.209),(226.31,226.407),(226.501,226.592),(226.679,226.762),(226.842,226.919),(226.991,227.061),(227.126,227.188),(227.246,227.301),(227.352,227.399),(227.443,227.482),(227.518,227.551),(227.579,227.604),(227.625,227.642),(227.655,227.665),(227.67,227.672)；

(13)移动与干扰信号监测步骤收集到的360坐标点的接收信号强度值为：

(0.00006193,0.00006195,0.00006198,0.00006205,0.0000621,0.00006211,0.00006217,0.00006218,0.00006223,0.00006223,0.00006233,0.00006232,0.00006242,0.00006246,0.00006244,0.00006239,0.00006253,0.00006257,0.00006253,0.00006255,0.00006259,0.00006263,0.00006265,0.00006269,0.00006268,0.0000627,0.0000627,0.00006271,0.00006278,0.00006275,0.00006277,0.00006279,0.00006277,0.00006283,0.00006285,0.00006277,0.00006289,0.00006283,0.00006293,0.00006293,0.00006291,0.00006282,0.00006289,0.00006287,0.00006286,0.00006285,0.00006286,0.00006293,0.00006285,0.00006292,0.00006285,0.00006281,0.00006288,0.00006279,0.00006285,0.00006281,0.00006283,0.00006279,0.00006272,0.00006282,0.00006274,0.00006269,0.00006277,0.00006266,0.00006271,0.00006272,0.00006267,0.00006261,0.00006257,0.0000626,0.00006255,0.00006249,0.00006246,0.00006241,0.00006245,0.00006241,0.00006227,0.00006237,0.00006232,0.00006231,0.00006227,0.00006217,0.00006217,0.00006209,0.0000621,0.00006205,0.00006201,0.00006197,0.00006194,0.00006192,0.00006184,0.00006179,0.00006177,0.00006171,0.00006166,0.00006164,0.00006158,0.00006152,0.0000615,0.00006149,0.00006137,0.00006132,0.00006131,0.00006125,0.00006117,0.00006112,0.00006113,0.00006111,0.00006103,0.00006096,0.00006091,0.00006087,0.00006077,0.00006075,0.00006072,0.00006069,0.00006053,0.0000605,0.00006045,0.0000604,0.00006041,0.00006023,0.00006027,0.00006023,0.00006017,0.0000601,0.0000601,0.00005998,0.0000599,0.00005988,0.00005977,0.00005975,0.00005974,0.00005967,0.0000596,0.00005959,0.0000595,0.00005947,0.00005941,0.00005937,0.00005924,0.00005923,0.00005915,0.00005907,0.00005907,0.00005903,0.00005904,0.00005887,0.00005891,0.0000588,0.00005875,0.00005875,0.00005868,0.00005861,0.00005865,0.00005851,0.0000585,0.00005839,0.00005841,0.00005837,0.00005828,0.00005827,0.0000582,0.00005818,0.00005814,0.00005804,0.000058,0.00005802,0.00005799,0.0000579,0.00005784,0.00005787,0.0000578,0.00005776,0.00005775,0.00005769,0.00005766,0.0000576,0.00005749,0.00005754,0.00005748,0.00005749,0.00005742,0.0000574,0.00005737,0.00005735,0.00005729,0.00005726,0.00005729,0.00005719,0.00005719,0.0000572,0.00005713,0.00005711,0.00005707,0.00005706,0.000057,0.00005702,0.00005695,0.00005698,0.00005695,0.00005689,0.0000569,0.00005692,0.00005687,0.00005685,0.00005685,0.00005683,0.00005681,0.0000568,0.00005682,0.0000568,0.00005681,0.0000568,0.00005672,0.00005676,0.00005677,0.00005672,0.00005671,0.00005667,0.00005669,0.00005686,0.00005676,0.00005664,0.00005671,0.00005673,0.00005676,0.00005668,0.0000567,0.00005667,0.00005672,0.00005667,0.00005675,0.00005673,0.00005674,0.00005676,0.00005678,0.00005678,0.00005676,0.00005682,0.00005682,0.00005682,0.00005689,0.00005682,0.0000569,0.0000569,0.00005689,0.00005695,0.00005697,0.00005695,0.00005701,0.00005704,0.00005711,0.00005708,0.00005707,0.0000571,0.00005709,0.00005719,0.00005717,0.00005725,0.00005724,0.00005726,0.00005729,0.00005733,0.00005729,0.00005729,0.00005748,0.00005751,0.00005748,0.00005746,0.00005761,0.0000576,0.00005764,0.00005767,0.00005772,0.00005773,0.00005777,0.00005786,0.0000578,0.00005792,0.00005796,0.00005807,0.00005799,0.00005805,0.00005808,0.00005815,0.00005814,0.00005823,0.00005825,0.00005833,0.00005841,0.00005842,0.00005852,0.00005852,0.00005857,0.00005858,0.0000587,0.00005872,0.00005876,0.0000588,0.00005886,0.00005896,0.00005892,0.00005899,0.0000591,0.00005917,0.00005918,0.00005919,0.00005926,0.00005935,0.00005939,0.00005941,0.00005954,0.00005955,0.0000596,0.00005966,0.00005969,0.00005977,0.00005978,0.00005988,0.00005998,0.00005998,0.00006004,0.00006009,0.00006013,0.0000602,0.00006022,0.00006035,0.00006035,0.00006043,0.00006046,0.0000605,0.00006057,0.00006063,0.00006068,0.00006073,0.0000607,0.00006085,0.00006087,0.00006093,0.000061,0.00006105,0.0000611,0.0000611,0.00006118,0.00006121,0.0000613,0.00006134,0.00006138,0.00006143,0.00006148,0.00006155,0.00006155,0.00006163,0.00006165,0.00006171,0.00006177,0.0000618,0.00006179,0.0000619)；

(14)质心计算步骤得到的接收信号强度最大的10个值：

(0.00006293,0.00006293,0.00006293,0.00006292,0.00006291,0.00006289,0.00006289,0.00006288,0.00006287,0.00006286)；

这10个值所对应的坐标分别是：

(222.487,223.742),(222.319,224.028),(222.653,221.975),(222.977,224.435),(223.136,223.594),(224.748,223.536),(224.887,223.207),(224.606,225.155),(224.314,222.695),(224.164,223.697)，

求得质心是：(x⁴,y⁴)＝(223.167,224.134)；

(15)移动次数判别步骤判断移动次数k小于阈值l，设置移动轨迹圆心(x,y)＝(x³,y³)，设置移动半径r＝3.125米，设置k＝5，返回(12)移动轨迹计算步骤；

第五次移动：

(12)移动轨迹计算步骤计算得到的360个坐标点为：

(223.342,223.516),(223.69,223.865),(224.039,224.212),(224.386,224.559),(224.731,224.904),(225.075,225.246),(225.417,225.586),(225.755,225.923),(226.091,226.257),(226.423,226.587),(226.751,226.913),(227.074,227.234),(227.393,227.551),(227.707,227.862),(228.015,228.167),(228.317,228.466),(228.613,228.759),(228.903,229.045),(229.185,229.324),(229.46,229.595),(229.728,229.858),(229.987,230.114),(230.238,230.36),(230.481,230.598),(230.714,230.827),(230.939,231.047),(231.153,231.257),(231.359,231.457),(231.554,231.648),(231.739,231.827),(231.913,231.997),(232.077,232.155),(232.23,232.303),(232.372,232.439),(232.503,232.564),(232.622,232.678),(232.73,232.78),(232.826,232.87),(232.911,232.949),(232.983,233.015),(233.044,233.07),(233.093,233.112),(233.129,233.143),(233.153,233.161),(233.166,233.167),(233.166,233.161),(233.153,233.143),(233.129,233.112),(233.093,233.07),(233.044,233.015),(232.983,232.949),(232.911,232.87),(232.826,232.78),(232.73,232.678),(232.622,232.564),(232.503,232.439),(232.372,232.303),(232.23,232.155),(232.077,231.997),(231.913,231.827),(231.739,231.648),(231.554,231.457),(231.359,231.257),(231.153,231.047),(230.939,230.827),(230.714,230.598),(230.481,230.36),(230.238,230.114),(229.987,229.858),(229.728,229.595),(229.46,229.324),(229.185,229.045),(228.903,228.759),(228.613,228.466),(228.317,228.167),(228.015,227.862),(227.707,227.551),(227.393,227.234),(227.074,226.913),(226.751,226.587),(226.423,226.257),(226.091,225.923),(225.755,225.586),(225.417,225.246),(225.075,224.904),(224.731,224.559),(224.386,224.212),(224.039,223.865),(223.69,223.516),(223.342,223.167),(222.993,222.818),(222.644,222.469),(222.295,222.122),(221.948,221.775),(221.603,221.431),(221.259,221.088),(220.918,220.748),(220.579,220.411),(220.243,220.077),(219.911,219.747),(219.583,219.421),(219.26,219.1),(218.941,218.783),(218.627,218.472),(218.319,218.167),(218.017,217.868),(217.721,217.575),(217.431,217.289),(217.149,217.01),(216.874,216.739),(216.606,216.476),(216.347,216.22),(216.096,215.974),(215.854,215.736),(215.62,215.507),(215.396,215.287),(215.181,215.077),(214.976,214.877),(214.78,214.687),(214.595,214.507),(214.421,214.338),(214.257,214.179),(214.104,214.032),(213.962,213.895),(213.831,213.77),(213.712,213.656),(213.604,213.554),(213.508,213.464),(213.423,213.386),(213.351,213.319),(213.29,213.264),(213.242,213.222),(213.205,213.191),(213.181,213.173),(213.169,213.167),(213.169,213.173),(213.181,213.191),(213.205,213.222),(213.242,213.264),(213.29,213.319),(213.351,213.386),(213.423,213.464),(213.508,213.554),(213.604,213.656),(213.712,213.77),(213.831,213.895),(213.962,214.032),(214.104,214.179),(214.257,214.338),(214.421,214.507),(214.595,214.687),(214.78,214.877),(214.976,215.077),(215.181,215.287),(215.396,215.507),(215.62,215.736),(215.854,215.974),(216.096,216.22),(216.347,216.476),(216.606,216.739),(216.874,217.01),(217.149,217.289),(217.431,217.575),(217.721,217.868),(218.017,218.167),(218.319,218.472),(218.627,218.783),(218.941,219.1),(219.26,219.421),(219.583,219.747),(219.911,220.077),(220.243,220.411),(220.579,220.748),(220.918,221.088),(221.259,221.431),(221.603,221.775),(221.948,222.122),(222.295,222.469),(222.644,222.818),(222.993,223.167),(234.132,234.128),(234.12,234.109),(234.096,234.079),(234.059,234.036),(234.011,233.982),(233.95,233.915),(233.877,233.837),(233.793,233.746),(233.697,233.644),(233.589,233.531),(233.47,233.406),(233.339,233.269),(233.197,233.122),(233.044,232.963),(232.88,232.794),(232.705,232.614),(232.52,232.424),(232.325,232.224),(232.12,232.014),(231.905,231.794),(231.681,231.565),(231.447,231.327),(231.205,231.08),(230.954,230.825),(230.694,230.562),(230.427,230.29),(230.152,230.012),(229.87,229.726),(229.58,229.433),(229.284,229.134),(228.982,228.828),(228.674,228.517),(228.36,228.201),(228.041,227.88),(227.717,227.554),(227.389,227.224),(227.057,226.89),(226.722,226.553),(226.383,226.213),(226.042,225.87),(225.698,225.525),(225.352,225.179),(225.005,224.831),(224.657,224.483),(224.308,224.134),(223.959,223.785),(223.61,223.436),(223.262,223.088),(222.915,222.742),(222.569,222.397),(222.226,222.055),(221.884,221.715),(221.546,221.377),(221.21,221.044),(220.878,220.714),(220.55,220.388),(220.226,220.066),(219.908,219.75),(219.594,219.439),(219.286,219.134),(218.983,218.835),(218.687,218.542),(218.398,218.256),(218.116,217.977),(217.841,217.706),(217.573,217.442),(217.314,217.187),(217.063,216.94),(216.82,216.702),(216.587,216.473),(216.362,216.254),(216.147,216.044),(215.942,215.843),(215.747,215.653),(215.562,215.473),(215.388,215.304),(215.224,215.146),(215.071,214.998),(214.929,214.862),(214.798,214.737),(214.679,214.623),(214.571,214.521),(214.474,214.431),(214.39,214.352),(214.317,214.286),(214.257,214.231),(214.208,214.189),(214.172,214.158),(214.147,214.14),(214.135,214.134),(214.135,214.14),(214.147,214.158),(214.172,214.189),(214.208,214.231),(214.257,214.286),(214.317,214.352),(214.39,214.431),(214.474,214.521),(214.571,214.623),(214.679,214.737),(214.798,214.862),(214.929,214.998),(215.071,215.146),(215.224,215.304),(215.388,215.473),(215.562,215.653),(215.747,215.843),(215.942,216.044),(216.147,216.254),(216.362,216.473),(216.587,216.702),(216.82,216.94),(217.063,217.187),(217.314,217.442),(217.573,217.706),(217.841,217.977),(218.116,218.256),(218.398,218.542),(218.687,218.835),(218.983,219.134),(219.286,219.439),(219.594,219.75),(219.908,220.066),(220.226,220.388),(220.55,220.714),(220.878,221.044),(221.21,221.377),(221.546,221.715),(221.884,222.055),(222.226,222.397),(222.569,222.742),(222.915,223.088),(223.262,223.436),(223.61,223.785),(223.959,224.134),(224.308,224.483),(224.657,224.831),(225.005,225.179),(225.352,225.525),(225.698,225.87),(226.042,226.213),(226.383,226.553),(226.722,226.89),(227.057,227.224),(227.389,227.554),(227.717,227.88),(228.041,228.201),(228.36,228.517),(228.674,228.828),(228.982,229.134),(229.284,229.433),(229.58,229.726),(229.87,230.012),(230.152,230.29),(230.427,230.562),(230.694,230.825),(230.954,231.08),(231.205,231.327),(231.447,231.565),(231.681,231.794),(231.905,232.014),(232.12,232.224),(232.325,232.424),(232.52,232.614),(232.705,232.794),(232.88,232.963),(233.044,233.122),(233.197,233.269),(233.339,233.406),(233.47,233.531),(233.589,233.644),(233.697,233.746),(233.793,233.837),(233.877,233.915),(233.95,233.982),(234.011,234.036),(234.059,234.079),(234.096,234.109),(234.12,234.128),(234.132,234.134)；

(13)移动与干扰信号监测步骤收集到的360坐标点的接收信号强度值为：

(0.00006488,0.00006494,0.00006494,0.000065,0.00006499,0.00006503,0.00006507,0.00006506,0.00006516,0.00006517,0.00006511,0.00006516,0.00006522,0.00006528,0.00006528,0.0000653,0.00006535,0.00006534,0.00006537,0.00006539,0.00006545,0.00006536,0.00006544,0.00006545,0.00006551,0.0000655,0.00006557,0.00006562,0.00006565,0.00006559,0.00006561,0.00006561,0.0000656,0.00006563,0.00006561,0.00006563,0.00006575,0.0000656,0.00006572,0.00006566,0.0000657,0.00006571,0.00006571,0.00006569,0.00006567,0.00006572,0.00006568,0.00006571,0.00006568,0.00006567,0.0000657,0.00006565,0.00006567,0.00006561,0.00006561,0.0000656,0.0000656,0.00006561,0.0000656,0.00006558,0.00006556,0.00006554,0.00006557,0.00006549,0.00006551,0.00006548,0.0000655,0.00006548,0.00006543,0.00006543,0.00006544,0.00006534,0.00006535,0.00006531,0.00006532,0.00006529,0.00006523,0.00006521,0.00006522,0.00006513,0.00006524,0.00006504,0.00006508,0.00006501,0.00006498,0.00006496,0.0000649,0.00006488,0.00006487,0.00006483,0.00006479,0.00006474,0.00006477,0.00006468,0.00006467,0.0000646,0.00006454,0.00006454,0.00006452,0.00006442,0.00006442,0.00006441,0.0000643,0.00006432,0.00006422,0.00006423,0.00006423,0.00006416,0.00006407,0.00006401,0.00006404,0.00006392,0.00006383,0.00006383,0.00006377,0.00006378,0.00006374,0.00006364,0.00006364,0.00006358,0.00006349,0.00006357,0.0000634,0.0000634,0.00006334,0.00006331,0.0000632,0.00006325,0.00006314,0.00006309,0.00006304,0.00006306,0.00006293,0.00006294,0.00006287,0.00006286,0.00006278,0.00006268,0.00006266,0.00006261,0.00006255,0.00006256,0.00006249,0.00006241,0.00006246,0.00006239,0.00006229,0.00006223,0.00006223,0.00006216,0.00006211,0.00006208,0.00006206,0.00006203,0.00006194,0.00006188,0.00006187,0.00006186,0.00006172,0.00006172,0.00006172,0.00006164,0.00006159,0.00006159,0.0000615,0.00006155,0.00006145,0.00006143,0.00006136,0.00006137,0.00006134,0.0000613,0.00006127,0.0000612,0.00006116,0.00006112,0.00006111,0.00006105,0.00006106,0.00006102,0.00006095,0.00006092,0.00006098,0.00006089,0.00006079,0.00006078,0.00006076,0.0000608,0.00006077,0.00006073,0.00006059,0.00006067,0.00006067,0.00006062,0.00006059,0.00006062,0.00006058,0.00006054,0.00006055,0.00006053,0.00006052,0.00006047,0.00006046,0.00006044,0.00006044,0.00006042,0.00006043,0.00006039,0.00006034,0.00006036,0.0000603,0.00006033,0.0000604,0.00006036,0.00006036,0.0000603,0.00006028,0.00006028,0.00006034,0.00006029,0.00006028,0.0000603,0.00006026,0.00006029,0.0000603,0.00006026,0.00006026,0.00006035,0.00006034,0.0000603,0.00006033,0.00006029,0.00006027,0.00006031,0.00006035,0.00006027,0.00006043,0.00006029,0.00006039,0.00006031,0.0000604,0.00006036,0.00006039,0.00006043,0.00006047,0.0000605,0.00006047,0.00006046,0.00006046,0.00006055,0.00006053,0.00006053,0.00006065,0.00006056,0.00006063,0.0000606,0.00006067,0.00006068,0.00006072,0.00006074,0.00006076,0.00006081,0.00006081,0.00006074,0.00006087,0.00006083,0.00006096,0.00006093,0.00006097,0.00006103,0.00006104,0.00006107,0.00006111,0.00006113,0.00006121,0.00006119,0.00006121,0.00006124,0.00006131,0.0000613,0.00006139,0.00006145,0.00006136,0.0000615,0.00006152,0.00006155,0.0000616,0.00006162,0.0000617,0.00006175,0.0000618,0.00006182,0.00006183,0.00006184,0.0000619,0.00006197,0.00006201,0.00006203,0.00006206,0.00006221,0.00006221,0.00006227,0.00006235,0.00006229,0.00006238,0.00006242,0.00006249,0.00006251,0.00006257,0.00006265,0.00006267,0.0000627,0.00006272,0.0000628,0.00006287,0.00006291,0.00006295,0.00006296,0.00006301,0.00006303,0.00006312,0.00006315,0.00006323,0.00006326,0.00006333,0.00006338,0.00006338,0.00006345,0.00006349,0.00006362,0.00006357,0.00006368,0.00006368,0.00006377,0.00006377,0.00006387,0.00006391,0.00006396,0.00006401,0.00006399,0.00006406,0.00006411,0.00006418,0.00006415,0.00006416,0.00006427,0.00006433,0.00006438,0.00006442,0.00006446,0.00006449,0.00006454,0.00006455,0.00006464,0.00006467,0.0000647,0.00006473,0.00006475,0.00006479,0.00006479)；

(14)质心计算步骤得到的接收信号强度最大的10个值：

(0.00006575,0.00006572,0.00006572,0.00006571,0.00006571,0.00006571,0.0000657,0.0000657,0.00006569,0.00006568)；

这10个值所对应的坐标分别是：

(229.185,230.36),(229.46,230.598),(229.858,229.987),(229.728,230.939),(230.114,230.481),(232.12,231.08),(231.905,230.825),(231.565,231.447),(231.681,230.427),(231.327,230.954)，

求得质心是：(x⁵,y⁵)＝(230.089,231.351)；

(15)移动次数判别步骤判断移动次数k等于阈值l；

(16)方向拟合步骤根据计算得到的l个质心坐标(x¹,y¹)、(x²,y²)、(x³,y³)、(x⁴,y⁴)和(x⁵,y⁵)，通过基于最小二乘估计的线性拟合得到干扰源方向所在的一条直线y＝1.0118x-1.5755。

图6展示了节点A的方向拟合步骤结果。

(21)拟合方向信息请求步骤，节点A向邻居节点B和C发送FIT_INFO_REQUEST报文，请求得到邻居节点拟合得到的干扰源方向信息；

(22)等待并收集拟合信息步骤，在设定等待时间内，节点A接收到邻居节点B和C回复的FIT_INFO_REPLY报文，获取了2条邻居节点拟合得到的干扰源方向信息，节点B回复的拟合得到的干扰源方向信息的直线为y＝1.9626x-488.4478，节点C回复的拟合得到的干扰源方向信息的直线为y＝0.5067x+249.5057；

(23)达到要求信息数量判别步骤，节点A判断收集到大于等于2条的邻居回复的拟合得到的干扰源方向信息；

(31)方程组生成步骤，节点A将自身拟合得到的1个与(20)拟合信息收集步骤收集到的来自2个邻居节点的2个拟合结果，共3个拟合方程联立为个方程组和

(32)解方程组：解每个方程组，得到个坐标点(x₁₂,y₁₂)＝(512.07,516.53)、(x₁₃,y₁₃)＝(497.09,501.38)和(x₂₃,y₂₃)＝(506.87,506.34)；

(33)质心计算：计算个坐标点的质心(x_e,y_e)＝(505.34,508.08)，将(x_e,y_e)作为干扰源的估计位置。

图7展示了节点A的质心计算步骤结果。

本发明仅需依赖廉价无线设备所具有的接收信号强度监测功能进行干扰源信号强度监测和简单的线性拟合计算，无需复杂的通信交互和信号处理，也无需复杂的方程求解，测量、处理和计算开销很低，便于在普通车辆配备的无线设备上实现。使用线性拟合方法估计干扰源方向并通过对于多个拟合方向的交点的质心计算得到干扰源所在位置，可以消除单条拟合直线的不准确性带来的误差，提高定位的准确性。

Claims (4)

1.一种车联网干扰源定位方法，其特征在于，包括如下步骤：

(10)干扰源方向拟合：各节点选择移动轨迹，监测干扰信号，通过拟合确定干扰源方向；

(20)拟合信息收集：本节点与邻居节点之间进行报文交互，收集邻居节点拟合的干扰源方向；

(30)干扰源位置估计：本节点根据自身拟合的干扰源方向以及邻居节点拟合的干扰源方向，估计干扰源所在位置。

2.根据权利要求1所述的干扰源定位方法，其特征在于，所述(10)干扰源方向拟合步骤包括：

(11)初始化：设置移动次数k＝1，设置移动轨迹圆心(x,y)为节点当前位置(x0,y0)，即(x,y)＝(x0,y0)，设置初始移动轨迹半径为r米，

其中，初始移动轨迹半径r取50～100米中的整数；

(12)移动轨迹计算：移动轨迹圆心(x,y)和移动轨迹半径r确定了一个圆形的移动轨迹，在此圆上取一个随机坐标为初始移动位置(x₁,y₁)，从(x₁,y₁)开始以圆心角步进为q°计算得到360/q个圆上的坐标点(x₁,y₁)，(x₂,y₂)，…，(x_360/q,y_360/q)，

其中，步进q设置为1～5中的整数；

(13)干扰信号移动监测：依次移动到(x₁,y₁)，(x₂,y₂)，…，(x_360/q,y_360/q)，并记录每个坐标点处的接收信号强度(R₁,R₂,…,R_360/q)；

(14)质心计算：从(R₁,R₂,…,R_360/q)中选择接收信号强度最大的n个值，得到这n个值对应的n个坐标点计算这n个坐标点的质心为(x^k,y^k)，其中

$x^k=\underset{i}{\overset{n}{\Σ}}{x}_i^k/n,$

$y^k=\underset{i}{\overset{n}{\Σ}}{y}_i^k/n,$

其中，n设置为10～20中的整数；

(15)移动次数判别：判断移动次数k是否小于阈值l，如是，则设置移动轨迹圆心(x,y)＝(x^k,y^k)，设置移动半径r＝r/2，设置k＝k+1，返回(12)移动轨迹计算步骤，

其中，阈值l设置为4～8中的整数；

(16)方向拟合：根据计算得到的l个质心坐标(x¹,y¹)、(x²,y²)、(x³,y³)、(x⁴,y⁴)、……、(x^l,y^l)，通过基于最小二乘估计的线性拟合方法，得到干扰源方向所在的一条直线y＝ax+b，

其中，a、b的计算公式如下：

$a=\frac{\stackrel{\‾}{xy}-\stackrel{\‾}{x}\stackrel{\‾}{y}}{\stackrel{\‾}{x^2}-{\stackrel{\‾}{x}}^2},$

$b=\stackrel{\‾}{y}-a\stackrel{\‾}{x}$

式中，

3.根据权利要求1所述的干扰源定位方法，其特征在于，所述(20)拟合信息收集步骤包括：

(21)拟合方向信息请求：本节点向邻居节点发送报文，请求得到邻居节点拟合的干扰源方向；

(22)等待并收集拟合信息：在设定等待时间t内，本节点接收邻居节点回复的报文，从中获取邻居节点拟合的干扰源方向；

其中，设定的等待时间t为1～3分钟；

(23)达到要求信息数量判别：在设定的等待时间结束后，本节点判断收集到的邻居节点拟合的干扰源方向是否大于等于2条，如否，返回(21)拟合方向信息请求步骤；

(24)拟合信息收集结束：结束拟合信息收集过程。

4.根据权利要求2所述的干扰源定位方法，其特征在于，所述(30)干扰源位置估计步骤包括：

(31)联立方程组：将本节点自身拟合的干扰源方向与m-1个邻居节点拟合的干扰源方向共m个拟合方程，联立为个方程组

$\{\begin{array}{c}y=a_{1}x+b_1\\ y=a_{2}x+b_2\end{array},\{\begin{array}{c}y=a_{1}x+b_1\\ y=a_{3}x+b_3\end{array},\mathrm{...},\{\begin{array}{c}y=a_{m-1}x+b_{m-1}\\ y=a_{m}x+b_m\end{array},$

其中，y＝a_ix+b_i表示第i个邻居节点拟合得到的干扰源方向的方程；

(32)解方程组：解每个方程组，得到个坐标点(x₁₂,y₁₂)、(x₁₃,y₁₃)、…、(x_(m-1)m,y_(m-1)m)，

其中，(x_ij,y_ij)表示方程组的解；

(33)质心计算：计算个坐标点的质心(x_e,y_e)：

$\left\{\begin{array}{c}{x}_e=\underset{i=1}{\overset{m-1}{\Σ}}\underset{j=i+1}{\overset{m}{\Σ}}{x}_{ij}\\ y_e=\underset{i=1}{\overset{m-1}{\Σ}}\underset{j=i+1}{\overset{m}{\Σ}}{y}_{ij}\end{array}\right.$

将(x_e,y_e)作为干扰源的估计位置。