CN106792976A

CN106792976A - The localization method and device of a kind of wireless ad hoc network node

Info

Publication number: CN106792976A
Application number: CN201710056108.6A
Authority: CN
Inventors: 余建国; 丁雅博; 陈雷; 王鹏培; 汪钬柱
Original assignee: Beijing University of Posts and Telecommunications
Current assignee: Beijing University of Posts and Telecommunications
Priority date: 2017-01-25
Filing date: 2017-01-25
Publication date: 2017-05-31
Anticipated expiration: 2037-01-25
Also published as: CN106792976B

Abstract

The localization method and device of a kind of wireless ad hoc network node are the embodiment of the invention provides, methods described includes：Obtain the network topological information of wireless self-organization network；Determine the leader cluster node in wireless self-organization network, sub-clustering is carried out to wireless self-organization network with predetermined manner；The point on the basis of the leader cluster node in each cluster, calculates positional information of the non-leader cluster node relative to leader cluster node in the cluster in the cluster, as first position information respectively；The selection target leader cluster node from identified leader cluster node；Determine each node to be positioned to the transmission path of target leader cluster node, the first position information of place cluster is based on according to each node in transmission path, positional information of the corresponding node to be positioned of the transmission path relative to target leader cluster node is calculated, as second place information.The localization method and device of wireless ad hoc network node provided in an embodiment of the present invention, can reduce error when wireless ad hoc network node is positioned.

Description

The localization method and device of a kind of wireless ad hoc network node

Technical field

The present invention relates to wireless self-organization network communication technical field, saved in more particularly to a kind of wireless self-organization network The localization method and device of point.

Background technology

Wireless self-organization network is that one kind does not need static infrastructure support, multiple mobile terminal self tissues and formed Network.Mobile terminal in wireless self-organization network is also called node, and each node can be moved arbitrarily, and by direct or indirect Mode carry out the forwarding of data to realize being in communication with each other, therefore how to realize the positioning to node, obtain the effective position of node Confidence breath turns into problem demanding prompt solution.

Fig. 1 is the schematic diagram of each node location relation in wireless self-organization network, wherein, two nodes of intermediate connection are mutual It is neighbor node, two nodes of the centre without line not neighbor node each other.

A kind of node positioning method is disclosed in the prior art, and its process is：Chosen than larger place in node density One node O chooses two neighbor nodes, with one of neighbor node as the origin of coordinates in its all of neighbor node Side where A is y-axis, and for x-axis sets up coordinate system, (coordinate system is only not that right angle is sat to the side where a neighbor node B in addition Mark system, the angle between x-axis and y-axis is arbitrary), (such as node of each node in wireless self-organization network is described using the coordinate system C, D or E etc.) position.

It is worth noting that, existing node positioning method is each in wireless self-organization network is described using above-mentioned coordinate system During the position of node, by since a Centroid, outwards node is positioned one by one.As shown in figure 1, according to section Point O, A and B determine the position of node C, and then the node C according to node A and intermediate connection determines the position of node D, Ran Hougen Node D and C according to intermediate connection determine the position of node E, the like.It is more in number of nodes for this localization method, And most of node and node O, A and B, not each other in the case of neighbor node, the position of most of node is had in Between the position of node that connects be calculated, often calculating a position for the node of intermediate connection will produce one layer of mistake Difference, there is the situation for causing calculation error to add up layer by layer in this, causes fringe node position error excessive.

The content of the invention

The purpose of the embodiment of the present invention is the localization method and device for providing a kind of wireless ad hoc network node, with Reduce error when wireless ad hoc network node is positioned.

To reach above-mentioned purpose, a kind of localization method of wireless ad hoc network node is the embodiment of the invention provides, Any node in wireless self-organization network is applied to, methods described includes：

Obtain the network topological information of wireless self-organization network；

According to the network topological information, the leader cluster node in the wireless self-organization network is determined, with predetermined manner pair The wireless self-organization network carries out sub-clustering；The predetermined manner is to save the neighbours of each leader cluster node and the leader cluster node Point is divided into the mode of same cluster；

The point on the basis of the leader cluster node in each cluster, calculates the non-leader cluster node in the cluster relative to cluster in the cluster respectively The positional information of head node, as first position information；

The selection target leader cluster node from identified leader cluster node；

Determine each node to be positioned to the transmission path of target leader cluster node, institute is based on according to each node in transmission path In the first position information of cluster, calculate the corresponding node to be positioned of the transmission path and believe relative to the position of target leader cluster node Breath, as second place information, realizes the positioning to wireless ad hoc network node.

Preferably, the network topological information includes：Distance and each node between two nodes of neighbor node each other Communication range,

Point on the basis of the leader cluster node in each cluster, calculates the node in the cluster relative to leader cluster node in the cluster Positional information, the step of as first position information, including：

Positional information of the non-leader cluster node relative to the leader cluster node in the cluster in each cluster is calculated in the following manner：

The degree of communication of non-leader cluster node in the first cluster is calculated, wherein, the degree of communication of node is：The node is gathered around in the cluster of place There is the quantity of non-cluster head neighbor node, first cluster is：One cluster of wireless self-organization network；

Determine the maximum non-leader cluster node of degree of communication, be designated as target base node；

Judge whether include the non-cluster head neighbor node of the target base node in the first cluster；

If including, determine the first maximum neighbor node of degree of communication, as the second neighbor node, wherein, described first Neighbor node is：The non-cluster head neighbor node of target base node described in first cluster；According to the cluster in first cluster Head node, target base node and the second neighbor node, set up the first coordinate system, calculate the non-leader cluster node in first cluster Positional information in first coordinate system, as first position information；

If do not included, distance and each non-cluster head section according to each non-leader cluster node in first cluster to leader cluster node The communication range of point, estimates positional information of each non-leader cluster node relative to leader cluster node in first cluster, as first Positional information.

Preferably, positional information of the non-leader cluster node calculated in first cluster in first coordinate system, The step of as first position information, including：

The target base node and second neighbor node are defined as positioning node；

Whether no-fix node is equal to 0 in judging first cluster；The no-fix node is except in first cluster Non- leader cluster node outside positioning node；

If equal to 0, positional information of the positioning node in first coordinate system is obtained, believe as first position Breath；

If being not equal to 0, judge to whether there is the 3rd neighbor node in first cluster, wherein, the 3rd neighbours Node is：With the no-fix node of at least two positioning node neighbor nodes each other；

If there is the 3rd neighbor node, the 3rd maximum neighbor node of degree of communication is determined, as the 4th neighbor node, root According to distance and the 4th neighbor node neighbor node each other of the 4th neighbor node and leader cluster node in first cluster Any two positioning node arrives the distance of the 4th neighbor node respectively, determine the 4th neighbor node described Positional information in one coordinate system, as first position information；4th neighbor node is defined as positioning node, and is returned The step of whether no-fix node is equal to 0 in first cluster is judged described in receipt row；

If there is no the 3rd neighbor node, the 5th neighbor node is judged whether；5th neighbor node is：With One positioning node neighbor node and first position letter can be uniquely determined according to the communication range of other positioning nodes each other The no-fix node of breath；

If there is the 5th neighbor node, the positional information of the 6th neighbor node is determined, as first position information, and will 6th neighbor node is defined as positioning node, and returns to that execution is described to judge in first cluster whether is no-fix node The step of equal to 0；6th neighbor node is：The 5th maximum neighbor node of degree of communication；

If there is no the 5th neighbor node, according to the distance of leader cluster node in each no-fix node to first cluster And the communication range of each non-leader cluster node, positional information of the no-fix node in first coordinate system is estimated, as First position information；The maximum no-fix node of degree of communication is defined as positioning node, and is returned described in the execution judgement The step of whether no-fix node is equal to 0 in first cluster.

Preferably, the first position information that place cluster is based on according to each node in transmission path, calculates the transmission road The corresponding node to be positioned in footpath includes the step of as second place information relative to the positional information of target leader cluster node：

When in detecting transmission path exist the leader cluster node of neighbor node each other when, according to the leader cluster node for detecting it Between relative position information, the incidence relation set up between detected corresponding first coordinate system of leader cluster node, as the One incidence relation；

When there is the leader cluster node connected by an intermediate node in detecting transmission path, according to the middle node Point is respectively relative to the positional information of the leader cluster node for detecting, and sets up detected corresponding first coordinate system of leader cluster node Between incidence relation, as the second incidence relation；

According to first incidence relation and second incidence relation, the corresponding node phase to be positioned of transmission path is calculated For the positional information of target leader cluster node, as second place information.

Preferably, the target leader cluster node is the leader cluster node of target cluster, and the target cluster is：It is mutual comprising at least two It is the cluster of the non-leader cluster node of neighbor node.

Preferably, methods described also includes：

According to formula

Second place information to each node is modified；

Wherein, (x, y) is the second place information of node n, (x_i,y_i) it is the neighbor node n of node n_iSecond confidence Breath, d (n, n_i) it is the node n and node n_iBetween distance, N is the quantity of the neighbor node of the node n, (x ', y ') It is the second place information of the revised node n.

The embodiment of the present invention additionally provides a kind of positioner of wireless ad hoc network node, is applied to wireless from group Any node in knitmesh network, described device includes：

Acquisition module, the network topological information for obtaining wireless self-organization network；

Sub-clustering module, for according to the network topological information, determining the leader cluster node in the wireless self-organization network, Sub-clustering is carried out to the wireless self-organization network with predetermined manner；The predetermined manner is by each leader cluster node and the cluster head The neighbor node of node is divided into the mode of same cluster；

First computing module, for the point on the basis of the leader cluster node in each cluster, calculates the non-cluster head in the cluster respectively Node relative to leader cluster node in the cluster positional information, as first position information；

Selecting module, for the selection target leader cluster node from identified leader cluster node；

Second computing module, for determining each node to be positioned to the transmission path of target leader cluster node, according to transmission Each node is based on the first position information of place cluster on path, calculates the corresponding node to be positioned of the transmission path relative to target The positional information of leader cluster node, as second place information, realizes the positioning to wireless ad hoc network node.

Preferably, the network topological information includes：Distance and each node between two nodes of neighbor node each other Communication range, first computing module include the first calculating sub module,

First calculating sub module, for calculating the non-leader cluster node in each cluster relative to the leader cluster node in the cluster Positional information：

First calculating sub module includes：

First computing unit, the degree of communication for calculating non-leader cluster node in the first cluster, wherein, the degree of communication of node is： The node possesses the quantity of non-cluster head neighbor node in the cluster of place, and first cluster is：One cluster of wireless self-organization network；

Determining unit, the non-leader cluster node maximum for determining degree of communication, is designated as target base node；

Judging unit, for judging whether include the non-cluster head neighbor node of the target base node in the first cluster；

Second computing unit, for when the judging unit judged result be when including determine degree of communication it is maximum first Neighbor node, as the second neighbor node, wherein, first neighbor node is：Target base section described in first cluster The non-cluster head neighbor node of point；Leader cluster node, target base node and the second neighbor node in first cluster, set up First coordinate system, calculates positional information of the non-leader cluster node in first cluster in first coordinate system, as first Positional information；

Evaluation unit, for when the judging unit judged result is not to include, according to each non-cluster in first cluster Head node estimates each non-leader cluster node relative to described to the distance of leader cluster node and the communication range of each non-leader cluster node The positional information of leader cluster node in first cluster, as first position information.

Preferably, second computing unit, including：

Determination subelement, for the target base node and second neighbor node to be defined as into positioning node；

First judgment sub-unit, for judging whether no-fix node is equal to 0 in first cluster；The no-fix node It is the non-leader cluster node in first cluster in addition to positioning node；

Subelement is obtained, is existed for when the first judgment sub-unit judged result is equal to 0, obtaining positioning node Positional information in first coordinate system, as first position information；

Second judgment sub-unit, for when the first judgment sub-unit judged result is to be not equal to 0, then judging described the Whether there is the 3rd neighbor node in cluster, wherein, the 3rd neighbor node is：With at least two positioning node it is adjacent each other Occupy the no-fix node of node；

First determination subelement, for when the second judgment sub-unit judged result is in the presence of three neighbor nodes, The 3rd maximum neighbor node of degree of communication is determined, as the 4th neighbor node, according to the 4th neighbor node and described first Positioning node arrives institute to any two of the distance of leader cluster node and the 4th neighbor node neighbor node each other respectively in cluster The distance of the 4th neighbor node is stated, positional information of the 4th neighbor node in first coordinate system is determined, as One positional information；4th neighbor node is defined as positioning node, and triggers first judgment sub-unit；

3rd judgment sub-unit, for being in the absence of the 3rd neighbor node when the second judgment sub-unit judged result When, judge whether the 5th neighbor node；5th neighbor node is：With one positioning node each other neighbor node and Communication range according to other positioning nodes can uniquely determine the no-fix node of first position information；

Second determination subelement, for when the 3rd judgment sub-unit judged result is in the presence of five neighbor nodes, Determine the positional information of the 6th neighbor node, as first position information, and the 6th neighbor node is defined as having positioned Node, and trigger first judgment sub-unit；6th neighbor node is：The 5th maximum neighbor node of degree of communication；

Estimation subelement, for when the 3rd judgment sub-unit judged result is in the absence of five neighbor nodes, root According to the distance and the communication range of each non-leader cluster node of leader cluster node in each no-fix node to first cluster, estimation should Positional information of the no-fix node in first coordinate system, as first position information；By the no-fix that degree of communication is maximum Node is defined as positioning node, and triggers first judgment sub-unit.

Preferably, second computing module, including：

First association submodule, for when in detecting transmission path exist the leader cluster node of neighbor node each other when, root According to the relative position information between the leader cluster node for detecting, set up detected corresponding first coordinate system of leader cluster node it Between incidence relation, as the first incidence relation；

Second association submodule, for there is the cluster head section connected by an intermediate node in transmission path is detected During point, the positional information of the leader cluster node for being respectively relative to detect according to the intermediate node sets up detected cluster head Incidence relation between corresponding first coordinate system of node, as the second incidence relation；

Second calculating sub module, for according to first incidence relation and second incidence relation, calculating transmission road The corresponding node to be positioned in footpath relative to target leader cluster node positional information, as second place information.

The localization method and device of wireless ad hoc network node provided in an embodiment of the present invention, by using sub-clustering Mode, multiple clusters are divided into by whole wireless ad hoc network node, and each cluster includes a leader cluster node and the cluster head The neighbor node of node, then point carries out the positioning in cluster on the basis of each leader cluster node, obtains first position information, now Calculation error there was only one layer of error；Finally the first position of each node is unified, is obtained relative to target leader cluster node Second place information.The embodiment of the present invention to node when positioning, and the number of plies of calculation error is less, and existing method There is the cumulative situation of multilayer error, when carrying out node locating using scheme provided in an embodiment of the present invention, can reduce wireless Error when self-organizing network interior joint is positioned.

Brief description of the drawings

In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with Other accompanying drawings are obtained according to these accompanying drawings.

Fig. 1 is the schematic diagram of each node location relation in wireless self-organization network；

Fig. 2 is the flow chart of the localization method of wireless ad hoc network node provided in an embodiment of the present invention；

Fig. 3 is the non-leader cluster node calculated in each cluster provided in an embodiment of the present invention relative to the leader cluster node in the cluster Positional information flow chart；

Fig. 4 is position letter of the non-leader cluster node calculated in the first cluster provided in an embodiment of the present invention in the first coordinate system Cease as the flow chart of first position information；

Fig. 5 is the structural representation of the positioner of wireless ad hoc network node provided in an embodiment of the present invention；

Fig. 6 is the structural representation of the first calculating sub module provided in an embodiment of the present invention；

Fig. 7 is the structural representation of the second computing unit provided in an embodiment of the present invention.

Specific embodiment

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made Embodiment, belongs to the scope of protection of the invention.

In order to reduce error when wireless ad hoc network node is positioned, one kind is the embodiment of the invention provides wireless certainly The localization method of nodes is organized, Fig. 2 is the positioning side of wireless ad hoc network node provided in an embodiment of the present invention The flow chart of method, the method can be applied to any node in wireless self-organization network, and the method includes：

S2100, obtains the network topological information of wireless self-organization network.

Specifically, network topological information can include distance each other between two nodes of neighbor node and each node Communication range.In the present embodiment, two nodes of direct communication neighbor node each other is capable of each other, if that is, two nodes Between distance be less than mutual communication range, then the two can directly receive the message of other side's transmission, now the two neighbour each other Node.The communication range of distance between correspondence, neighbor node and node between each node constitutes wireless from group The network topological information of knitmesh network (referred to as " network "), certainly, can also include other information, this Shen in network topological information Please it is defined not to this.

The information that any node in network can be forwarded by other nodes, obtains neighbor node each other in self-organizing network Two nodes between distance and each node communication range.It should be noted that two nodes of neighbor node each other Distance that can be between both direct access and the communication range (this is prior art) of other side, not certain section each other in neighbor node The information that point can be forwarded by other intermediate nodes, obtains another node to the distance and communication range of intermediate node.Lift For example, as shown in figure 1, node O can know the communication model of the distance between node A and node C and node C by node A Enclose, node O can know communication range of the distance between node C and node E and node E etc. by node A and node C.

S2200, according to the network topological information, determines the leader cluster node in the wireless self-organization network, with default Mode carries out sub-clustering to the wireless self-organization network；The predetermined manner is by each leader cluster node and the leader cluster node Neighbor node is divided into the mode of same cluster.

It should be noted that for any one node in network, its network topological information that can obtain whole network Premise be：All nodes in network must be connection, not have isolated node presence, i.e. each node in network at least With other nodes neighbor node each other.

Accordingly, sub-clustering can be carried out to network using predetermined manner in the present embodiment, it is fixed to each node to realize Position.Specifically, predetermined manner is：The neighbor node of each leader cluster node and the leader cluster node is divided into the side of same cluster Formula.

Wherein, leader cluster node can be any one node in network, and the mode for determining leader cluster node can be random The mode of extraction, can also determine that specific node (such as node of fast operation) is leader cluster node according to the demand of user. By can be comprising common node in the network after sub-clustering, between two neighboring cluster.Because each node is at least with one Predetermined manner of individual other nodes each other in neighbor node, therefore the present embodiment can be achieved on.

S2300, the point on the basis of the leader cluster node in each cluster calculates the non-leader cluster node in the cluster relative to this respectively The positional information of leader cluster node in cluster, as first position information.

Specifically, the non-leader cluster node in some cluster is the neighbor node of leader cluster node in the cluster.It is a certain calculating In individual cluster during the positional information of non-leader cluster node, coordinate system can be set up by origin of the leader cluster node in the cluster, it is non-according to this Leader cluster node determines the circular trace that the non-leader cluster node is likely to occur to the distance of leader cluster node, then basis and other non-clusters Relation between head node, removes scope that the non-leader cluster node can not possibly occur to calculate its positional information, and by the position Information is used as first position information.

S2400, the selection target leader cluster node from identified leader cluster node.

Specifically, target leader cluster node can be any one in all leader cluster nodes, determine target leader cluster node Mode can be random selection；Target leader cluster node is preferably the leader cluster node of target cluster, wherein, target cluster is：Comprising at least Two clusters of the non-leader cluster node of neighbor node each other.

S2500, determines each node to be positioned to the transmission path of target leader cluster node, according to each node in transmission path First position information based on place cluster, calculates position of the corresponding node to be positioned of the transmission path relative to target leader cluster node Confidence ceases, and as second place information, realizes the positioning to wireless ad hoc network node.

In the present embodiment, in order to realize the unification of positional information in whole network, it is necessary to by each node in the cluster of place First position information enter the conversion of row positional information, i.e., the point on the basis of target leader cluster node, other sections in calculating network Positional information of the point relative to target leader cluster node.

Specifically, node to be positioned is any one node in network in addition to target leader cluster node.Each section to be positioned Point is to the transmission path of target leader cluster node：It is terminal section with the node to be positioned with target leader cluster node as start node Point, the path for communicating therebetween.For example, as shown in figure 1, it is target leader cluster node to set node O, node E is to treat Positioning node, then path " node O- Node B-Node C- nodes E " can be used as the transmission path of node E.The determination of transmission path Method is prior art, and here is omitted.

It should be noted that the transmission path of some node to be positioned can have a plurality of, in actual selection transmission path When, the most short transmission path between node preferably to be positioned and target leader cluster node, the determination method of the shortest path can root Hop count according to node to be positioned to target leader cluster node determines that this is prior art, and here is omitted.

Specifically, node to be positioned is being determined in after the transmission path of target leader cluster node, would know that transmission path First position information of each node in the cluster of place, can according to this first position information calculate node to be positioned relative to The positional information of target leader cluster node, and as second place information.For example, as shown in figure 1, it is mesh to set node O Mark leader cluster node, node O, A and B are divided into same cluster, if C is leader cluster node, node A, B, C, D and E are divided into one Individual cluster, then (can set the first position information of target leader cluster node O as according to node O in the first position information of place cluster The origin known), node B exists in the first position information of place cluster, node C in the first position information and node E of place cluster The first position information of place cluster, second place information of the calculate node E relative to target leader cluster node O.

The localization method of wireless ad hoc network node provided in an embodiment of the present invention, by way of using sub-clustering, Whole wireless ad hoc network node is divided into multiple clusters, each cluster includes a leader cluster node and the leader cluster node Neighbor node, then point carries out the positioning in cluster on the basis of each leader cluster node, obtains first position information, calculating now Error only has one layer of error；Finally the first position of each node is unified, second relative to target leader cluster node is obtained Positional information.The embodiment of the present invention to node when positioning, and the number of plies of calculation error is less, and existing method is in the presence of more The cumulative situation of layer error, therefore, when carrying out node locating using scheme provided in an embodiment of the present invention, can reduce it is wireless from Error when tissue nodes are positioned.

In a kind of specific implementation of the application, step S2300 can calculate non-in each cluster in the following manner Positional information of the leader cluster node relative to the leader cluster node in the cluster.

Fig. 3 is the non-leader cluster node calculated in each cluster provided in an embodiment of the present invention relative to the leader cluster node in the cluster Positional information flow chart, the method includes：

S2310, calculates the degree of communication of non-leader cluster node in the first cluster.

Specifically, first cluster is：One cluster of wireless self-organization network；The degree of communication of node is：The node is in institute Possess the quantity of non-cluster head neighbor node in cluster.

For example, as shown in figure 1, it is target leader cluster node to set node O, node O, A and B are divided into same cluster, If C is leader cluster node, node A, B, C, D and E are divided into a cluster.For node A, node A is in node O, A and B group Into the first cluster in possess the quantity of non-cluster head neighbor node be 0, therefore degrees of communication of the node A in the cluster is 0；And node A It is 1 to possess the quantity of non-cluster head neighbor node (node D) in the first cluster of node A, B, C, D and E composition, then node A is at this Degree of communication in cluster is 1.

S2320, determines the maximum non-leader cluster node of degree of communication, is designated as target base node.

Specifically, calculating in some first cluster after the degree of communication of all non-leader cluster nodes, will wherein degree of communication be most Big non-leader cluster node is used as target base node.For example, as shown in figure 1, the first cluster constituted for node A, B, C, D and E For, the degree of communication of non-leader cluster node A, B, D and E is respectively 1,0,2 and 1, then the degree of communication of node D is maximum, then node D conducts Target base node in the cluster.For the first cluster of node O, A and B composition, the degree of communication of node A and B is 0, then Node A or B can be defined as the target base node of the cluster.

Whether S2330, judges include the non-cluster head neighbor node of the target base node in the first cluster, if including holding Row step S2340；If do not included, step S2350 is performed.

Specifically, after target base node is determined, it is necessary to whether include target base node in judging the first cluster Non- cluster head neighbor node.For example, as shown in figure 1, for the first cluster of node A, B, C, D and E composition, node D is used as this Target base node in cluster, then also include non-cluster head the neighbor node A and E of node D in first cluster.For node O, A and B For first cluster of composition, if node A is the target base node of the cluster, then do not include the non-cluster head of node A in first cluster Neighbor node.

S2340, determines the first maximum neighbor node of degree of communication, as the second neighbor node, wherein, first neighbours Node is：The non-cluster head neighbor node of target base node described in first cluster；According to the cluster head section in first cluster Point, target base node and the second neighbor node, set up the first coordinate system, calculate the non-leader cluster node in first cluster in institute The positional information in the first coordinate system is stated, as first position information.

Specifically, if the first cluster includes the non-cluster head neighbor node of target base node, by target in the first cluster The non-cluster head neighbor node of neighbor node is defined as the first neighbor node.For example, as shown in figure 1, for node A, B, C, D and E For first cluster of composition, the first neighbor node is node A and E.

Specifically, the first maximum neighbor node of degree of communication is defined as the second neighbor node.For example, as shown in figure 1, One neighbor node is 1 for the degree of communication of node A and E, then node A or E can be defined as into the second neighbor node.

Specifically, after the second neighbor node is determined, can according to the leader cluster node in the first cluster, target base node and Second neighbor node, sets up the first coordinate system, calculates positional information of the non-leader cluster node in the first cluster in the first coordinate system. For example, as shown in figure 1, for node A, B, C, D and E composition the first cluster for, node C is the leader cluster node of first cluster, Node D is the target base node of first cluster, if node A is the second neighbor node of first cluster, then can with node C and The line of D is used as x-axis, the unit length with the distance between node C and D as x-axis, using the line of node C and A as y-axis, to save (first coordinate system is not only for the unit length of y-axis sets up corresponding first coordinate system of first cluster for distance of the point between C and A It is rectangular coordinate system, the angle between x-axis and y-axis is arbitrary), and according to non-leader cluster node A, B, the D calculated in first cluster With E first coordinate system first position information.

S2350, distance and each non-leader cluster node according to each non-leader cluster node in first cluster to leader cluster node Communication range, estimates positional information of each non-leader cluster node relative to leader cluster node in first cluster, as first position Information.

Specifically, if not including the non-cluster head neighbor node of target base node in the first cluster, now in the presence of two kinds of feelings Condition, the first situation：In first cluster only have two nodes, one be leader cluster node another be target base node；Second Situation：In first cluster in addition to leader cluster node and target base node, also in the presence of other nodes, but these nodes are adjacent with target Occupy node not neighbor node each other.

In the first scenario, there was only two nodes in the first cluster, on the premise of leader cluster node is defined as into origin, separately One non-leader cluster node is relative to the first position information of the leader cluster node, is the center of circle with the distance between the two with leader cluster node It is the circular trace of radius, can at random using first position information of certain point as the non-leader cluster node in circular trace.Existing Grow directly from seeds in living, because the quantity of node is larger, the probability that this kind of situation occurs is smaller.

In the latter case, the degree of communication that can extrapolate the non-leader cluster node in the first cluster is 0.For example, such as Fig. 1 institutes Show, it is if node A is target base node, then all non-in first cluster for the first cluster of node O, A and B composition The degree of communication of leader cluster node (node A and B) is 0.Now, the track that node A is likely to occur is：With node O as the center of circle, to save Distance between point O and node A is the circular trace (track of curve circle description in figure) of radius.Simultaneously because node A and node B Communication range in do not include other side, the communication range track of description (in figure solid circles) of node B covers the track of node A In circular arc 2, therefore node A do not appeared on the camber line 2, therefore the track that node A is likely to occur is remaining circular arc 1. Similarly, would know that the track that node B is likely to occur.

In the latter case, if there are multiple non-leader cluster nodes in the first cluster, the communication model of these non-leader cluster nodes The most of circular arc that may be covered in the circular trace that non-leader cluster node occurs is enclosed, therefore can more accurately estimate non-cluster head section The track that point is likely to occur.

Preferably, in practical operation, it is possible to occur that the track that non-leader cluster node is likely to occur is two circular arcs Situation, now considers, the rail that the larger circular arc of arc length can be likely to occur as the non-leader cluster node from the size of probability of occurrence Mark.Further, after track that some non-leader cluster node is likely to occur is determined for a circular arc, can be by the circular arc Put as the first position information of the non-leader cluster node.

For the ease of understanding the specific calculating process of first position information, Fig. 4 calculates for provided in an embodiment of the present invention The positional information of non-leader cluster node in cluster in the first coordinate system as first position information flow chart, the method bag Include：

S2341, positioning node is defined as by the target base node and second neighbor node.

It should be noted that leader cluster node, target base node and the second neighbor node three be two-by-two each other in the first cluster Neighbor node, therefore can be according to the distance in the first cluster between leader cluster node and target base node, target base node and second Distance between the distance between neighbor node, and leader cluster node and the second neighbor node, determines target base node and the second neighbour Occupy positional information of the node relative to leader cluster node (this is existing Trilateration methods).Therefore, localizing set of nodes can be set up N is closed, target base node and the second neighbor node can be defined as positioning node and be put into set N.

S2342, whether no-fix node is equal to 0 in judging first cluster；The no-fix node is first cluster In non-leader cluster node in addition to positioning node；If equal to 0, then perform step S2343；If being not equal to 0, step is performed Rapid S2344.

S2343, obtains positional information of the positioning node in first coordinate system, as first position information.

Specifically, it is determined that after the N of positioning node set, whether no-fix node is equal to 0 in judging the first cluster, if waited In 0, all of non-leader cluster node has positioned completion in illustrating first cluster, now will or take positioning node in the first coordinate system In positional information, as first position information.

S2344, then judge to whether there is the 3rd neighbor node in first cluster, wherein, the 3rd neighbor node is： With the no-fix node of at least two positioning node neighbor nodes each other；If there is the 3rd neighbor node, then step is performed S2345；If there is no the 3rd neighbor node, then step S2346 is performed.

In the present embodiment, when being positioned to no-fix node, it is considered preferred to which those can determine that position is believed The no-fix node of breath, wherein, with least two the no-fix node of positioning node neighbor node each other can be to determine position The no-fix node of confidence breath, this is existing Trilateration methods.

Specifically, if no-fix node is not equal to 0 in the first cluster, illustrate still have non-leader cluster node uncertain in first cluster Position, now judges to whether there is the 3rd neighbor node in the first cluster, and the 3rd neighbor node is：With at least two positioning nodes The no-fix node of neighbor node each other.

S2345, determines the 3rd maximum neighbor node of degree of communication, as the 4th neighbor node, according to the 4th neighbours Any two of the distance and the 4th neighbor node of node and leader cluster node in first cluster neighbor node each other has been determined Position node arrives the distance of the 4th neighbor node respectively, determines position of the 4th neighbor node in first coordinate system Confidence ceases, used as first position information；4th neighbor node is defined as positioning node, and returns to the execution judgement The step of whether no-fix node is equal to 0 in first cluster.

Specifically, if there is the 3rd neighbor node, the degree of communication of each the non-leader cluster node by calculating before, by even The 3rd maximum neighbor node of logical degree is defined as the 4th neighbor node, according to leader cluster node in the 4th neighbor node and the first cluster Distance and the 4th neighbor node each other neighbor node any two positioning node respectively to the distance of the 4th neighbor node, Determine first position information of the 4th neighbor node in the first coordinate system, this is existing Trilateration methods.

After the first position information that the 4th neighbor node is determined, the 4th neighbor node is defined as positioning node, It is put into the N of positioning node set, and return to step S2342.

S2346, judges whether the 5th neighbor node；5th neighbor node is：With one positioning node it is mutual The no-fix node of first position information can be uniquely determined for neighbor node and according to the communication range of other positioning nodes；Such as There is the 5th neighbor node in fruit, then perform step S2347；If there is no the 5th neighbor node, then step S2348 is performed.

Specifically, if there is no the 3rd neighbor node, illustrate to be accurately positioned according to Trilateration methods in the first cluster Non- leader cluster node all position, now also there is a kind of the 5th neighbor node being accurately positioned in no-fix node.Should 5th neighbor node：With a positioning node neighbor node and can be unique according to the communication range of other positioning nodes each other Determine the no-fix node of first position information.

In the present embodiment, the 5th neighbor node and leader cluster node neighbor node each other, then the 5th neighbor node be likely to occur Track be the circular trace of radius with the distance between the 5th neighbor node and leader cluster node with leader cluster node as the center of circle.Separately Outward, the 5th neighbor node and one positioning node is neighbor node, then the track that the 5th neighbor node is likely to occur is, with this Positioning node is the center of circle, is the circular trace of radius with the 5th neighbor node and the distance between positioning node.The two Circular trace can mutually give two points, and the two points are exactly the possible first position information of the 5th neighbor node.Now, if its The communication range of he some positioning nodes is covered on an intersection point, illustrates that the intersection point is not the first of the 5th neighbor node Positional information, then remaining another intersection point is the first position information of the 5th neighbor node.

S2347, determines the positional information of the 6th neighbor node, as first position information, and the 6th neighbours is saved Point is defined as positioning node, and returns to that execution is described to judge the step of whether no-fix node is equal to 0 in first cluster；Institute Stating the 6th neighbor node is：The 5th maximum neighbor node of degree of communication.

Specifically, if there is the 5th neighbor node, the degree of communication of each the non-leader cluster node by calculating before, by even The 5th maximum neighbor node of logical degree is defined as the 6th neighbor node, and mode in S2346 determines the 6th neighbor node First position information, the 6th neighbor node is defined as positioning node, be put into the N of positioning node set, and return to step Rapid S2342.

S2348, according to the distance and each non-leader cluster node of leader cluster node in each no-fix node to first cluster Communication range, positional information of the no-fix node in first coordinate system is estimated, as first position information；Will be even The maximum no-fix node of logical degree is defined as positioning node, and returns to no-fix node in execution judgement first cluster The step of whether being equal to 0.

Specifically, if there is no the 5th neighbor node, illustrate that the equal only one of which of node in now no-fix node is adjacent Node (i.e. leader cluster node) is occupied, first of each no-fix node can be now estimated according to the mode in above-mentioned steps S2350 Confidence is ceased, and the maximum no-fix node of degree of communication is defined as into positioning node, in putting it into the N of positioning node set, Return to step S2342.

In the present embodiment, according to the distance of leader cluster node in each no-fix node to the first cluster and each non-leader cluster node Communication range, estimate first position information of the no-fix node in the first coordinate system, can further reduce no-fix section The track that point is likely to occur, makes positioning more accurate.

Further, it is being calculated first position information of the non-leader cluster node in corresponding first coordinate system of place cluster Afterwards, it is necessary to carry out being converted into a coordinate system (being named as the second coordinate system) to all of first coordinate system in network, in reality During operation, there may be the following two kinds situation, the first situation：In a transmission path, there are two nodes of neighbor node each other It is leader cluster node；Second situation：In a transmission path, there are two leader cluster nodes connected by an intermediate node.

Preferably, the first position information that place cluster is based on according to each node in transmission path, calculates the transmission road The corresponding node to be positioned in footpath comprises the following steps relative to the positional information of target leader cluster node as second place information：

A1, when in detecting transmission path exist the leader cluster node of neighbor node each other when, according to the cluster head section for detecting Relative position information between point, the incidence relation set up between detected corresponding first coordinate system of leader cluster node is made It is the first incidence relation.

Specifically, when detecting the first situation and occurring, by two cluster head sections of neighbor node each other in transmission path Point is identified as first leader cluster node and second leader cluster node, wherein, first leader cluster node and second cluster head section It can be any one node in target leader cluster node or transmission path to put, but a leader cluster node and second leader cluster node It is different leader cluster nodes.

Because first leader cluster node and second leader cluster node are leader cluster node, after sub-clustering, first cluster head section Point can turn into the non-leader cluster node of cluster where second leader cluster node, and second leader cluster node can turn into first leader cluster node institute In the non-leader cluster node of cluster, therefore, first leader cluster node is can obtain relative to the second first position information of leader cluster node, And second leader cluster node is relative to the first first position information of leader cluster node, due to two leader cluster nodes corresponding One positional information is in (i.e. first corresponding first coordinate system of leader cluster node and second cluster head in the first different coordinate systems Corresponding first coordinate system of node), therefore the incidence relation that can be set up between the two first coordinate systems (is named as the first association Relation), to realize the conversion of the first coordinate system.

Preferably, when the conversion of the first coordinate system is carried out, first leader cluster node and second cluster head section can first be determined The corresponding degree of communication of point difference, can be converted to degree of communication larger by corresponding first coordinate system of the less leader cluster node of degree of communication Corresponding first coordinate system of leader cluster node, with using the node in larger corresponding first coordinate system of leader cluster node of degree of communication Positional information represents the positional information of the corresponding first coordinate system interior joint of the less leader cluster node of degree of communication.

A2, when there is the leader cluster node connected by intermediate node in detecting transmission path, in described Intermediate node is respectively relative to the positional information of the leader cluster node for detecting, and sets up detected leader cluster node corresponding first and sits Incidence relation between mark system, as the second incidence relation.

Specifically, when detecting second situation and occurring, the leader cluster node of two is identified as first cluster head Node and second leader cluster node, wherein, first leader cluster node and second leader cluster node can be target leader cluster node Or any one node in transmission path, but a leader cluster node and second leader cluster node are different leader cluster nodes.

Due to being communicated with intermediate node between first leader cluster node and second leader cluster node, after sub-clustering, middle node Point can turn into the non-leader cluster node of cluster where first leader cluster node, will also become the non-cluster head of cluster where second leader cluster node Node, therefore can obtain intermediate node relative to the first first position information of leader cluster node, and intermediate node relative to The second first position information of leader cluster node, due to the corresponding two first position information of intermediate node be in two it is different (corresponding first coordinate system of i.e. first leader cluster node and corresponding first coordinate of second leader cluster node in first coordinate system System), therefore the incidence relation (being named as the second incidence relation) that can be set up between two the first coordinate systems, realize the first coordinate system Conversion.

Preferably, when the conversion of the first coordinate system is carried out, degree of communication of the intermediate node in two clusters can first be determined, the Corresponding first coordinate system of one leader cluster node, corresponding first coordinate system of second leader cluster node, can be by smaller connectivity pair The first coordinate system answered is converted to corresponding first coordinate system of larger degree of communication, with using corresponding first coordinate of larger degree of communication The positional information of the node in system represents the positional information of the corresponding first coordinate system interior joint of smaller degree of communication.

In other embodiments, can also on the basis of intermediate node point, obtain first leader cluster node relative to centre The positional information of node, obtains positional information of second leader cluster node relative to intermediate node, to set up first cluster head section Incidence relation between corresponding first coordinate system of point the first coordinate system corresponding with second leader cluster node.

A3, according to first incidence relation and second incidence relation, calculate the corresponding section to be positioned of transmission path The positional information relative to target leader cluster node is put, as second place information.

Specifically, before the first incidence relation and the second incidence relation is set up, the corresponding node to be positioned of transmission path must So can be in corresponding first coordinate system of some leader cluster node in transmission path, you can represent undetermined with first coordinate system The positional information of position node.And after establishing the first incidence relation and the second incidence relation, all of cluster head section in transmission path Corresponding first coordinate system of point is all interrelated, final to be retouched using a unified coordinate system (being named as the second coordinate system) State the positional information of node to be positioned；Similarly, the positional information of target leader cluster node is described using the second coordinate system, therefore, In the second coordinate system, positional information (i.e. second confidence of the node to be positioned relative to target leader cluster node can be calculated Breath).

In order to more accurately position node to be positioned, node to be positioned is being obtained relative to the second of target leader cluster node After positional information, second place information can also be modified.Preferably, methods described also includes：

According to formula

Second place information to each node is modified；

In order that positioning result is more accurate, iteration can also be circulated according to above-mentioned formula.Specifically, according to above-mentioned Formula is calculated, and obtains the corresponding revised second place information of all nodes to be positioned in network, then repaiies these Second place information after just, substitutes into above-mentioned formula and is calculated as initial value again, so repeatedly can obtain more accurate The second place information of true node each to be positioned, it is to avoid influence of the larger distance of discrete error to positioning.

It is worth noting that, in other embodiments, parallel computation can also be carried out by multiple nodes.Specifically, can be by Whole network is divided into multiple localized networks, and each localized network is responsible for carrying out calculating each in the localized network by a node respectively The corresponding second place information of node, then some node the data being calculated are collected and coordinate system conversion Treatment, obtains the second place information of each node in complete network, to improve operation efficiency.

Preferably, cluster head can also be positioned using each leader cluster node in network, then each leader cluster node will Positioning result is transferred to some leader cluster node, collected by the cluster head and coordinate system conversion process to complete network In each node second place information, to improve operation efficiency.In more sparse network, because each leader cluster node is parallel Computing, collects and recursive operation without extensive information, can improve locating speed.

The localization method of the wireless ad hoc network node that the present embodiment is provided, the wireless self-organization network being applicable to Unformed, flattening, the characteristic of self-organizing, using clustering routing, network topological information only has leader cluster node convergence, saves Networked communication resource.

The embodiment of the present invention additionally provides a kind of positioner of wireless ad hoc network node, and Fig. 5 is real for the present invention The structural representation of the positioner of the wireless ad hoc network node of example offer is provided, for performing method as shown in Figure 2, The device is applied to any node in wireless self-organization network, and described device includes：

Acquisition module 5100, the network topological information for obtaining wireless self-organization network；

Sub-clustering module 5200, for according to the network topological information, determining the cluster head in the wireless self-organization network Node, sub-clustering is carried out with predetermined manner to the wireless self-organization network；The predetermined manner be by each leader cluster node and The neighbor node of the leader cluster node is divided into the mode of same cluster；

First computing module 5300, for the point on the basis of the leader cluster node in each cluster, calculates non-in the cluster respectively Leader cluster node relative to leader cluster node in the cluster positional information, as first position information；

Selecting module 5400, for the selection target leader cluster node from identified leader cluster node；

Second computing module 5500, for determining each node to be positioned to the transmission path of target leader cluster node, according to In transmission path each node be based on place cluster first position information, calculate the corresponding node to be positioned of the transmission path relative to The positional information of target leader cluster node, as second place information, realizes the positioning to wireless ad hoc network node.

The positioner of wireless ad hoc network node provided in an embodiment of the present invention, by way of using sub-clustering, Whole wireless ad hoc network node is divided into multiple clusters, each cluster includes a leader cluster node and the leader cluster node Neighbor node, then point carries out the positioning in cluster on the basis of each leader cluster node, obtains first position information, calculating now Error only has one layer of error；Finally the first position of each node is unified, second relative to target leader cluster node is obtained Positional information.The embodiment of the present invention to node when positioning, and the number of plies of calculation error is less, and existing method is in the presence of more The cumulative situation of layer error, therefore, when carrying out node locating using scheme provided in an embodiment of the present invention, can reduce it is wireless from Error when tissue nodes are positioned.

Preferably, the network topological information includes：Distance and each node between two nodes of neighbor node each other Communication range, first computing module include the first calculating sub module, first calculating sub module, for calculating each Positional information of the non-leader cluster node relative to the leader cluster node in the cluster in cluster：

Fig. 6 is the structural representation of the first calculating sub module provided in an embodiment of the present invention, as shown in Figure 3 for performing Method, first calculating sub module includes：

First computing unit 5310, the degree of communication for calculating non-leader cluster node in the first cluster, wherein, the degree of communication of node For：The node possesses the quantity of non-cluster head neighbor node in the cluster of place, and first cluster is：One of wireless self-organization network Cluster；

Determining unit 5320, the non-leader cluster node maximum for determining degree of communication, is designated as target base node；

Judging unit 5330, for judging whether include that the non-cluster head neighbours of the target base node save in the first cluster Point；

Second computing unit 5340, for when the judged result of the judging unit 5330 be when including, to determine degree of communication most The first big neighbor node, as the second neighbor node, wherein, first neighbor node is：Mesh described in first cluster Mark the non-cluster head neighbor node of neighbor node；Leader cluster node, target base node and the second neighbours in first cluster Node, sets up the first coordinate system, calculates positional information of the non-leader cluster node in first cluster in first coordinate system, As first position information；

Evaluation unit 5350, for when the judged result of the judging unit 5330 is not to include, according to first cluster In each non-leader cluster node to the distance of leader cluster node and the communication range of each non-leader cluster node, estimate each non-leader cluster node phase For the positional information of leader cluster node in first cluster, as first position information.

Fig. 7 is the structural representation of the second computing unit provided in an embodiment of the present invention, for performing side as shown in Figure 4 Method, it is preferable that second computing unit 5340, including：

First determination subelement 5341, for the target base node and second neighbor node to be defined as having determined Position node；

First judgment sub-unit 5342, for judging whether no-fix node is equal to 0 in first cluster；The no-fix Node is the non-leader cluster node in addition to positioning node in first cluster；

Subelement 5343 is obtained, for when the judged result of the first judgment sub-unit 5342 is equal to 0, acquisition have been determined Positional information of the position node in first coordinate system, as first position information；

Second judgment sub-unit 5344, for when the judged result of the first judgment sub-unit 5342 is to be not equal to 0, then sentencing Whether there is the 3rd neighbor node in disconnected first cluster, wherein, the 3rd neighbor node is：Section has been positioned with least two Put the no-fix node of neighbor node each other；

Second determination subelement 5345, for being in the presence of the 3rd neighbours when the judged result of the second judgment sub-unit 5344 During node, the 3rd maximum neighbor node of degree of communication is determined, as the 4th neighbor node, according to the 4th neighbor node and institute State any two positioning node point of the neighbor node each other of the distance of leader cluster node and the 4th neighbor node in the first cluster The distance of the 4th neighbor node is clipped to, positional information of the 4th neighbor node in first coordinate system is determined, As first position information；4th neighbor node is defined as positioning node, and triggers first judgment sub-unit 5342；

3rd judgment sub-unit 5346, for being adjacent in the absence of the 3rd when the judged result of the second judgment sub-unit 5344 When occupying node, the 5th neighbor node is judged whether；5th neighbor node is：With positioning node neighbours each other Node and the no-fix node of first position information can be uniquely determined according to the communication range of other positioning nodes；

3rd determination subelement 5347, for being in the presence of the 5th neighbours when the judged result of the 3rd judgment sub-unit 5346 During node, the positional information of the 6th neighbor node is determined, as first position information, and the 6th neighbor node is defined as Positioning node, and trigger first judgment sub-unit 5342；6th neighbor node is：The 5th maximum neighbour of degree of communication Occupy node；

Estimation subelement 5348, for being in the absence of the 5th neighbours section when the judged result of the 3rd judgment sub-unit 5346 During point, according to the communication model of the distance of leader cluster node and each non-leader cluster node in each no-fix node to first cluster Enclose, positional information of the no-fix node in first coordinate system is estimated, as first position information；Degree of communication is maximum No-fix node be defined as positioning node, and trigger first judgment sub-unit 5342.

In the present embodiment, according to the distance of leader cluster node in each no-fix node to the first cluster and each non-leader cluster node Communication range, estimate first position information of the no-fix node in the first coordinate system is stated, can further reduce no-fix The track that node is likely to occur, makes positioning more accurate.

Preferably, second computing module 5500, including：

Preferably, described device also includes：

Correcting module, for according to formula

Second place information to each node is modified；

It should be noted that herein, such as first and second or the like relational terms are used merely to a reality Body or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or deposited between operating In any this actual relation or order.And, term " including ", "comprising" or its any other variant be intended to Nonexcludability is included, so that process, method, article or equipment including a series of key elements not only will including those Element, but also other key elements including being not expressly set out, or also include being this process, method, article or equipment Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that Also there is other identical element in process, method, article or equipment including the key element.

Each embodiment in this specification is described by the way of correlation, identical similar portion between each embodiment Divide mutually referring to what each embodiment was stressed is the difference with other embodiment.Especially for system reality Apply for example, because it is substantially similar to embodiment of the method, so description is fairly simple, related part is referring to embodiment of the method Part explanation.

Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the scope of the present invention.It is all Any modification, equivalent substitution and improvements made within the spirit and principles in the present invention etc., are all contained in protection scope of the present invention It is interior.

Claims

1. a kind of localization method of wireless ad hoc network node, it is characterised in that be applied in wireless self-organization network Any node, methods described includes：

According to the network topological information, the leader cluster node in the wireless self-organization network is determined, with predetermined manner to described Wireless self-organization network carries out sub-clustering；The predetermined manner is to draw the neighbor node of each leader cluster node and the leader cluster node It is divided into the mode of same cluster；

The point on the basis of the leader cluster node in each cluster, calculates the non-leader cluster node in the cluster relative to cluster head section in the cluster respectively The positional information of point, as first position information；

The selection target leader cluster node from identified leader cluster node；

Determine each node to be positioned to the transmission path of target leader cluster node, place cluster is based on according to each node in transmission path First position information, calculate positional information of the corresponding node to be positioned of the transmission path relative to target leader cluster node, make It is second place information, realizes the positioning to wireless ad hoc network node.

2. method according to claim 1, it is characterised in that the network topological information includes：Neighbor node each other The communication range of distance and each node between two nodes,

Point on the basis of the leader cluster node in each cluster, calculates position of the node relative to leader cluster node in the cluster in the cluster Confidence ceases, the step of as first position information, including：

The degree of communication of non-leader cluster node in the first cluster is calculated, wherein, the degree of communication of node is：The node possesses non-in the cluster of place The quantity of cluster head neighbor node, first cluster is：One cluster of wireless self-organization network；

If including, determine the first maximum neighbor node of degree of communication, as the second neighbor node, wherein, first neighbours Node is：The non-cluster head neighbor node of target base node described in first cluster；According to the cluster head section in first cluster Point, target base node and the second neighbor node, set up the first coordinate system, calculate the non-leader cluster node in first cluster in institute The positional information in the first coordinate system is stated, as first position information；

If do not included, distance and each non-leader cluster node according to each non-leader cluster node in first cluster to leader cluster node Communication range, estimates positional information of each non-leader cluster node relative to leader cluster node in first cluster, as first position Information.

3. method according to claim 2, it is characterised in that the non-leader cluster node in calculating first cluster is in institute The positional information in the first coordinate system is stated, the step of as first position information, including：

Whether no-fix node is equal to 0 in judging first cluster；The no-fix node has been positioned to be removed in first cluster Non- leader cluster node outside node；

If equal to 0, positional information of the positioning node in first coordinate system is obtained, as first position information；

If being not equal to 0, judge to whether there is the 3rd neighbor node in first cluster, wherein, the 3rd neighbor node For：With the no-fix node of at least two positioning node neighbor nodes each other；

If there is the 3rd neighbor node, the 3rd maximum neighbor node of degree of communication is determined, as the 4th neighbor node, according to institute Neighbor node is appointed each other to state the distance and the 4th neighbor node of the 4th neighbor node and leader cluster node in first cluster Positioning node arrive the distance of the 4th neighbor node to meaning two respectively, determines the 4th neighbor node in the described first seat Positional information in mark system, as first position information；4th neighbor node is defined as positioning node, and return is held Row is described to judge the step of whether no-fix node is equal to 0 in first cluster；

If there is no the 3rd neighbor node, the 5th neighbor node is judged whether；5th neighbor node is：With one Positioning node neighbor node and can uniquely determine first position information according to the communication range of other positioning nodes each other No-fix node；

If there is the 5th neighbor node, the positional information of the 6th neighbor node is determined, as first position information, and will be described 6th neighbor node is defined as positioning node, and whether no-fix node is equal in returning to that execution is described and judging first cluster 0 the step of；6th neighbor node is：The 5th maximum neighbor node of degree of communication；

If there is no the 5th neighbor node, according to the distance of leader cluster node in each no-fix node to first cluster and The communication range of each non-leader cluster node, estimates positional information of the no-fix node in first coordinate system, as first Positional information；The maximum no-fix node of degree of communication is defined as positioning node, and returns to the execution judgement described first The step of whether no-fix node is equal to 0 in cluster.

4. method according to claim 3, it is characterised in that described that place cluster is based on according to each node in transmission path First position information, calculates positional information of the corresponding node to be positioned of the transmission path relative to target leader cluster node, as The step of second place information, includes：

When there is the leader cluster node of neighbor node each other in detecting transmission path, according between the leader cluster node for detecting Relative position information, the incidence relation set up between detected corresponding first coordinate system of leader cluster node is closed as first Connection relation；

When there is the leader cluster node connected by an intermediate node in detecting transmission path, according to the intermediate node point Not relative to the positional information of the leader cluster node for detecting, set up between detected corresponding first coordinate system of leader cluster node Incidence relation, as the second incidence relation；

According to first incidence relation and second incidence relation, calculate the corresponding node to be positioned of transmission path relative to The positional information of target leader cluster node, as second place information.

5. the method according to any one of claim 1-4, it is characterised in that the target leader cluster node is target cluster Leader cluster node, the target cluster is：Cluster comprising at least two non-leader cluster nodes of neighbor node each other.

6. the method according to any one of claim 1-4, it is characterised in that methods described also includes：

According to formula

(x^{'}, y^{'}) = Σ_{i = 1}^{N} \frac{[d (n, n_{i}) - \sqrt{{(x - x_{i})}^{2} + {(y - y_{i})}^{2}}] [(x, y) - (x_{i}, y_{i})]}{2 \sqrt{{(x - x_{i})}^{2} + {(y - y_{i})}^{2}}},

Second place information to each node is modified；

Wherein, (x, y) is the second place information of node n, (x_i,y_i) it is the neighbor node n of node n_iSecond place information, d (n,n_i) it is the node n and node n_iBetween distance, N is the quantity of the neighbor node of the node n, and (x ', y ') is to repair The second place information of the node n after just.

7. a kind of positioner of wireless ad hoc network node, it is characterised in that be applied in wireless self-organization network Any node, described device includes：

Sub-clustering module, for according to the network topological information, the leader cluster node in the wireless self-organization network being determined, with pre- If mode carries out sub-clustering to the wireless self-organization network；The predetermined manner is by each leader cluster node and the leader cluster node Neighbor node be divided into the mode of same cluster；

First computing module, for the point on the basis of the leader cluster node in each cluster, calculates the non-leader cluster node in the cluster respectively Relative to the positional information of leader cluster node in the cluster, as first position information；

Second computing module, for determining each node to be positioned to the transmission path of target leader cluster node, according to transmission path Upper each node is based on the first position information of place cluster, calculates the corresponding node to be positioned of the transmission path relative to target cluster head The positional information of node, as second place information, realizes the positioning to wireless ad hoc network node.

8. device according to claim 7, it is characterised in that the network topological information includes：Neighbor node each other The communication range of distance and each node between two nodes, first computing module includes the first calculating sub module,

First calculating sub module, for calculating position of the non-leader cluster node relative to the leader cluster node in the cluster in each cluster Confidence ceases：

First calculating sub module includes：

First computing unit, the degree of communication for calculating non-leader cluster node in the first cluster, wherein, the degree of communication of node is：The section Point possesses the quantity of non-cluster head neighbor node in the cluster of place, and first cluster is：One cluster of wireless self-organization network；

Second computing unit, for when the judging unit judged result be the first neighbours for determining that degree of communication is maximum when including Node, as the second neighbor node, wherein, first neighbor node is：Target base node described in first cluster Non- cluster head neighbor node；Leader cluster node, target base node and the second neighbor node in first cluster, set up first Coordinate system, calculates positional information of the non-leader cluster node in first cluster in first coordinate system, as first position Information；

Evaluation unit, for when the judging unit judged result is not to include, according to each non-cluster head section in first cluster Point estimates each non-leader cluster node relative to described first to the distance of leader cluster node and the communication range of each non-leader cluster node The positional information of leader cluster node in cluster, as first position information.

9. device according to claim 8, it is characterised in that second computing unit, including：

First judgment sub-unit, for judging whether no-fix node is equal to 0 in first cluster；The no-fix node is institute State the non-leader cluster node in addition to positioning node in the first cluster；

Obtain subelement, for when the first judgment sub-unit judged result is equal to 0, obtain positioning node described Positional information in first coordinate system, as first position information；

Second judgment sub-unit, for when the first judgment sub-unit judged result is to be not equal to 0, then judging first cluster In whether there is the 3rd neighbor node, wherein, the 3rd neighbor node is：With at least two positioning node each other neighbours save The no-fix node of point；

First determination subelement, for when the second judgment sub-unit judged result is in the presence of three neighbor nodes, it is determined that The 3rd maximum neighbor node of degree of communication, as the 4th neighbor node, according in the 4th neighbor node and first cluster Positioning node arrives described to any two of the distance of leader cluster node and the 4th neighbor node neighbor node each other respectively The distance of four neighbor nodes, determines positional information of the 4th neighbor node in first coordinate system, as first Confidence ceases；4th neighbor node is defined as positioning node, and triggers first judgment sub-unit；

3rd judgment sub-unit, for when the second judgment sub-unit judged result is in the absence of three neighbor nodes, sentencing It is disconnected to whether there is the 5th neighbor node；5th neighbor node is：With one positioning node each other neighbor node and according to The communication range of other positioning nodes can uniquely determine the no-fix node of first position information；

Second determination subelement, for when the 3rd judgment sub-unit judged result is in the presence of five neighbor nodes, it is determined that The positional information of the 6th neighbor node, as first position information, and is defined as positioning node by the 6th neighbor node, And trigger first judgment sub-unit；6th neighbor node is：The 5th maximum neighbor node of degree of communication；

Estimation subelement, for when the 3rd judgment sub-unit judged result is in the absence of five neighbor nodes, according to every Individual no-fix node estimates that this is uncertain to the distance of leader cluster node in first cluster and the communication range of each non-leader cluster node Positional information of the position node in first coordinate system, as first position information；By the no-fix node that degree of communication is maximum It is defined as positioning node, and triggers first judgment sub-unit.

10. device according to claim 9, it is characterised in that second computing module, including：

First association submodule, for when there is the leader cluster node of neighbor node each other in detecting transmission path, according to inspection Relative position information between the leader cluster node for measuring, sets up between detected corresponding first coordinate system of leader cluster node Incidence relation, as the first incidence relation；

Second association submodule, for there is the leader cluster node connected by an intermediate node in transmission path is detected When, the positional information of the leader cluster node for being respectively relative to detect according to the intermediate node sets up detected cluster head section Incidence relation between corresponding first coordinate system of point, as the second incidence relation；

Second calculating sub module, for according to first incidence relation and second incidence relation, calculating transmission path pair Positional information of the node to be positioned relative to target leader cluster node answered, as second place information.