CN106879069A - Co-positioned node selecting method based on conllinear degree - Google Patents
Co-positioned node selecting method based on conllinear degree Download PDFInfo
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- CN106879069A CN106879069A CN201710114984.XA CN201710114984A CN106879069A CN 106879069 A CN106879069 A CN 106879069A CN 201710114984 A CN201710114984 A CN 201710114984A CN 106879069 A CN106879069 A CN 106879069A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
Abstract
The present invention relates to a kind of co-positioned node selecting method based on conllinear degree, including the steps：Estimate variance of the node to be positioned relative to the location estimation of node i；Calculate the total cost of the node to be positioned；Calculate the final cost value of the node to be positioned；The maximum node of cost value is deleted from neighbors collection S；Repeat second and third, four steps are until being left the node that specifies number.
Description
Technical field
The present invention relates to a kind of co-positioned node selecting method based on conllinear degree.
Background technology
With bringing for mobile Internet epoch, location Based service to positioning propose requirement very high, at any time with
The positional information of ground acquisition Gao Ding becomes the premise of many applications.But now widely used gps system or wireless biography
Sensor network positions are all difficult to meet the location requirement being used for, and then occur in that co-positioned technology.Co-positioned technology refers to
Positioning is realized between node to be positioned by cooperating to, including sets up communication link between cooperative node believing for shared positioning
Breath, by range-measurement system come the distance between measuring node.There are co-positioned other alignment systems not possess a little, such as anchor
Node density requirement low, orientation range wider, positioning precision is more high.But the cooperation between node also brings some problems,
The average connection number of such as positioning network is too high, so as to cause channel congestion and positioning time delay.The average of usual co-located connects
More than 10 times that number is non-co-located are connect, if band positioning node carries out location estimation using whole nodes in actual location,
The substantial amounts of calculating time will be expended, real-time is difficult to be guaranteed, and the larger node of error can influence positioning in auxiliary node
Precision.Therefore in position fixing process of cooperating, suitable cooperative node selection algorithm can shorten positioning time, and can improve
Positioning precision.
Conventional neighbors selection algorithm includes being selected according to signal intensity [1] or distance [2] at present,
Selection algorithm according to signal intensity is similar with the selection algorithm according to distance, and it can cause measurement error to increase according to distance is more remote
Plus, but this node selection strategy is only suitable for traditional localization method, if neighbor node is other in co-positioned
Mobile node, the selection strategy lacks the measurement that node reliability is connect to movement.Also the method based on Cramér-Rao lower bound selects
Abutment points subset [3] is selected, this method is to search for all various combinations in the total space to find a certain combination so as to be positioned
The Cramér-Rao lower bound of node is minimum, and this system of selection is due to being related to the calculating of complexity, the distribution limited for computing capability
For node and do not apply to.Also with good grounds channel loss index selects the method [4] of neighbors, the method can but to fall range finding
The larger node of error, but the influence that the topology distribution that cannot weigh node is estimated node location.Opened up in existing consideration
Flutter in the system of selection of distribution, most commonly by position dilution of precision PDOP (Position Dilution of
Precision) [5] select neighbors to combine, and the smaller topology distribution for representing adjacent point set of PDOP values is better, also just means
Positioning precision higher.
The computational methods of PDOP are as follows:
H=[l1,l2,…,ln]T
Wherein H is calculation matrix, and n represents selected node number, liRepresent node to be positioned to the observation of satellite to
Amount, optimal algorithm is by searching for all of combination, calculating the PDOP values of every kind of combination, select corresponding group minimum of PDOP values
It is final cooperation subset to cooperate.Therefore this is all very big algorithm of a kind of time loss and amount of calculation.
[1]Moragrega,Ana；Closas,Pau；Ibars,Christian,Potential Game for
Energy-Efficient RSS-Based Positioning in Wireless Sensor Networks,IEEE
JOURNAL ON SELECTED AREAS IN COMMUNICATIONS,(2015)1394-1406
[2]K.C.V.Tam,K.Lui,Using micro-genetic algorithms to improve
localization in wireless sensor networks,JOURNAL OF COMMUNICATIONS,(2006)1-
10.
[3]K.Das,H.Wymeersch,Censoring for bayesian cooperative positioning
in dense wireless networks,IEEE JOURNAL ON SELECTED AREAS IN COMMUNICATIONS
(2012)1835-1842
[4]G.S.-G.Albert Bel 1,Jose Lopez Vicario 2,Real-time path loss and
node selection for cooperative localization in wireless sensor networks,IEEE
International Symposium on Personal(2010)283{288doi:10.1109/
PIMRCW.2010.5670380
[5]Park C W.Precise relative navigation using augmented CDGPS[D]
.Massachusetts:Massachusetts Institute of Technology, 2001.
The content of the invention
Regarding to the issue above, the purpose of the present invention is to overcome the shortcomings of existing neighbors selection algorithm, there is provided one kind cooperation
Positioning node system of selection.The present invention combines the topology distribution between the reliability and node of the position of neighbors, to PDOP algorithms
Improvement is optimized, the algorithm after optimization not only goes for co-positioned, and avoids institute is searched in the total space
There is combination, node to be positioned is quickly selected suitable node and positioned.To achieve the above object, the present invention takes following
Technical scheme：
A kind of co-positioned node selecting method based on conllinear degree, if the neighbor node collection of node to be positioned is combined into S, i,
J is two nodes in set S, and i, j are two nodes in set S, θijIt is node i, the line institute structure of j and node to be positioned
Into angle, including the steps：
The first step：Estimate variances sigma of the node to be positioned relative to the location estimation of node ii。
Second step：Cost value J between calculate node i and node jij=cos2 θij, and by other all visible elements
Expense is added as the total cost with positioning node node：
3rd step：Calculate the final cost value of the node to be positioned：
4th step：The maximum node of cost value is deleted from neighbors collection S.
5th step：Repeat second and third, four steps are until being left the node that specifies number.
Due to taking above technical scheme, it has advantages below to the present invention：
1. the algorithm is by calculating the total cost of each neighbor nodeTo reject inappropriate one by one
Node, it is to avoid the computationally intensive problem of total space search.
2. the algorithm has weighed the reliability of neighbors position simultaneously, and the variance of the position of neighbors is counted as weights
Calculate the cost value of the node.Position variance is bigger, and the cost value of the node is bigger.
3. the method can effectively propose to reject the node of angle very little each other, remaining combination of nodes is had very
Good geometry distribution.As shown in Figure 2, the bigger combination of nodes of angle has the bigger magnitude of value.The method calculates rapid, selection
Although combination of nodes be not most have disaggregation, realized between the two in algorithm complex and positioning precision preferably flat
Weighing apparatus.
Brief description of the drawings
Fig. 1 co-positioned scene graph, node to be positioned selects the node for specifying number from 5 neighbors around in figure,
θ12Represent the angle between neighbors.
Fig. 2 nodes magnitude of value with angle change curve
PDOP value over time variation tendency of Fig. 3 algorithms of different in the combination of nodes of selection
Specific embodiment
If the neighbor node collection of node to be positioned is combined into S, i, j is two nodes in set S, θijBe node i, j with treat
The angle that the line of positioning node is constituted, as shown in Figure 1.The implementation procedure of selection algorithm is as follows：
The first step：Node i estimates the variances sigma of the location estimation of the node firsti。
Second step：Node i is calculated and the cost value J between j nodesij=cos2 θij, and by other all visible elements
Expense is added as the total cost of the node：
3rd step：The variance of the i-node estimated location that the first step is obtained is multiplied with the node and other node total costs
As final cost value：
4th step：The maximum node of cost value is deleted from neighbors collection S.
5th step：Repeat second and third, four steps are until being left the node that specifies number.
Algorithm of the invention, the effect of realization and the effect using the acquisition of PDOP methods have almost identical effect, but
It is but to save substantial amounts of search time and amount of calculation.Node set PDOP is used as the standard for weighing cooperative node set, Ke Yifa
The PDOP of existing innovatory algorithm is only second to optimal algorithm, and the PDOP values of farthest, last algorithm are approached, and random algorithm is (from all neighbours
Part of nodes is randomly choosed in node to be cooperated) change than larger.
With reference to Fig. 3 and Biao 1, although optimal algorithm obtains best result in PDOP, position error.But when calculating
Between it is also very long, more than 2 orders of magnitude of other algorithms, innovatory algorithm is only second to optimal algorithm in PDOP and position error.It is surplus
Although under three kinds of algorithms it is time-consuming fewer, be cannot be guaranteed (Fig. 3) from performance.
Table 1 is taken using the positioning of different choice algorithm
Claims (1)
1. a kind of based on the conllinear co-positioned node selecting method spent, if the neighbor node collection of node to be positioned is combined into S, i, j
It is two nodes in set S, i, j are two nodes in set S, θijIt is node i, the line institute structure of j and node to be positioned
Into angle.Including the steps：
The first step：Estimate variances sigma of the node to be positioned relative to the location estimation of node ii；
Second step：Cost value J between calculate node i and node jij=cos2 θij, and by the expense of other all visible elements
It is added as the total cost with positioning node node：
3rd step：Calculate the final cost value of the node to be positioned：
4th step：The maximum node of cost value is deleted from neighbors collection S；
5th step：Repeat second and third, four steps are until being left the node that specifies number.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108990148A (en) * | 2018-09-01 | 2018-12-11 | 哈尔滨工程大学 | The reference point selection method of co-positioned in faced chamber |
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| US7966347B2 (en) * | 2008-02-12 | 2011-06-21 | International Business Machines Corporation | Generating a value associated with one of a plurality of leaf nodes by implicitly randomly climbing an implicit tree having the leaf nodes |
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| CN108990148A (en) * | 2018-09-01 | 2018-12-11 | 哈尔滨工程大学 | The reference point selection method of co-positioned in faced chamber |
| CN108990148B (en) * | 2018-09-01 | 2020-09-25 | 哈尔滨工程大学 | Reference point selection method for indoor cooperative positioning |
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