CN106937298B - A kind of improved wireless sensor network 3-D positioning method - Google Patents

A kind of improved wireless sensor network 3-D positioning method Download PDF

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Publication number
CN106937298B
CN106937298B CN201710119736.4A CN201710119736A CN106937298B CN 106937298 B CN106937298 B CN 106937298B CN 201710119736 A CN201710119736 A CN 201710119736A CN 106937298 B CN106937298 B CN 106937298B
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undetermined
unknown node
host computer
node
information
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CN106937298A (en
Inventor
陈勇
张欣慧
赵学健
蔡阳波
孙知信
徐钊
许云龙
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HUAI'AN LONGYUAN AGRICULTURAL TECHNOLOGY Co.,Ltd.
JIANGSU LONGRUI IOT TECHNOLOGY Co.,Ltd.
NANJING LONGYUAN MICROELECTRONIC Co.,Ltd.
Nanjing Longyuan Zhongchuang Information Technology Co., Ltd
Nanjing University of Posts and Telecommunications
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Huaian Longyuan Agricultural Science And Technology Co Ltd
JIANGSU LONGRUI INTERNET OF THINGS SCIENCE & TECHNOLOGY Co Ltd
Nanjing Long Yuan Public Space Ltd By Share Ltd
NANJING LONGYUAN MICROELECTRONIC TECHNOLOGY Co Ltd
Nanjing Post and Telecommunication University
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
    • H04W16/22—Traffic simulation tools or models
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
    • H04W16/18—Network planning tools
    • H04W16/20—Network planning tools for indoor coverage or short range network deployment
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The invention discloses a kind of improved wireless sensor network 3-D positioning methods, belong to wireless sensor field of locating technology, constantly divide localization region using VTM-APIT-3D algorithm, Primary Location is carried out using Fermat point model, it draws median of a triangle vertical plane and divides located space, for reducing orientation range, median of a triangle or line midpoint also are drawn using middle line (point) restorative procedure to divide located space simultaneously, wherein the difference for the anchor node quantity around unknown node is divided into four kinds of situations and is handled, realize the three-dimensional localization of wireless sensor, reduce in the 3-D positioning method using Fermat point model and unknown node is repeatedly estimated accumulated error caused by the effective range of triangular pyramid shape.

Description

A kind of improved wireless sensor network 3-D positioning method
Technical field
The invention belongs to wireless sensor field of locating technology.
Background technique
In order to the activity condition of sensor network be monitored in wireless sensor network to realize some specific network behaviour Make and network application, the location information of node are extremely important.The information of position and node that event occurs is built upon monitoring On the basis of information, unquestionable, the supervisory messages of location information are not often skimble-skamble.Therefore, position is believed Breath plays key effect in application of higher wireless sensor network.
At this stage, common distance measuring method includes: arrival time (ToA), reaching time-difference (TDoA), angle of arrival (AoA) and received signal strength indicator device (RSSI) etc..Although such method precision is higher, also bring simultaneously The problem of in terms of hardware requirement is high and communication consumption is serious.Therefore, they are not suitable for the application journey of low energy consumption or low cost Sequence.Specific localization method can be according to whether measurement distance or angle information be divided into the positioning based on ranging and be not necessarily to The positioning of ranging.Localization method without ranging does not need measurement absolute distance or direction, by network connectivty information or Positioning can be completed in other methods.
Wireless sensor network in reality is often laid out in complicated dimensional topography, according to determining based on ranging Position then needs to measure the position or angle information of three dimensions, is also easy to produce measurement error and increases energy consumption.In order to realize three-dimensional More accurate node locating under environment, the localization method without ranging are the emphasis of research.
Summary of the invention
The object of the present invention is to provide a kind of improved wireless sensor network 3-D positioning methods, reduce using Fermat It accumulates and misses caused by repeatedly unknown node is estimated in the effective range of triangular pyramid shape in the 3-D positioning method of point model Difference.
To achieve the above object, the invention adopts the following technical scheme:
A kind of improved wireless sensor network 3-D positioning method, includes the following steps:
Step 1: establishing wireless sensor network, wireless sensor network includes several wireless sensors and host computer, is appointed By wireless communication between two adjacent wireless sensors of anticipating, all wireless sensors pass through wireless network with it is upper Machine communication；
Step 2: all wireless sensors to host computer send inbound information, inbound information include location coordinate information and Wireless sensor number；
Step 3: setting any one wireless sensor as wireless sensor A, host computer judges the position of wireless sensor A Whether coordinate information is empty: being not sky, then host computer label wireless sensor A is anchor node, and generates mark information；For sky, Then host computer label wireless sensor A is unknown node, and generates mark information；
Step 4: mark information is sent to wireless sensor A by host computer, and wireless sensor A is known certainly by mark information As anchor node or unknown node；
Step 5: step 3 and step 4 are repeated, until all wireless sensors obtain mark information；
Step 6: host computer records the mark information of all wireless sensors；
Step 7: setting any one unknown node as unknown node B, unknown node B is to all wireless biographies adjacent thereto Sensor sends networking request, and all anchor nodes for receiving the request that networks send the inbound information of itself to unknown node B；
Step 8: the inbound information of all anchor nodes received, unknown node B are judged inbound information by unknown node B The power of signal simultaneously generates signal strength or weakness information, and inbound information and the synthesis processing of signal strength or weakness information are positioning by unknown node B Data packet, and location data packet is sent to by host computer by wireless network；
Step 9: step 7 and step 8 are repeated, until the location data packet of itself is sent to by all unknown nodes Position machine；
Step 10: whether host computer inquiry has wireless sensor to be marked as unknown node: being to then follow the steps 11；It is no, Then follow the steps 26；
Step 11: any one unknown node of upper computer selecting reads unknown node undetermined as unknown node C undetermined The location data packet of C；
Step 12: host computer reads from the location data packet of unknown node C undetermined and judges adjacent with unknown node C undetermined The number of close anchor node: if the number of anchor node is greater than or equal to four, 13 are thened follow the steps；As the number of anchor node is less than Four, then follow the steps 18；
Step 13: unknown node C undetermined is positioned using VTM-APIT-3D algorithm, its step are as follows:
Step A: host computer reads the inbound information of all anchor nodes in the location data packet of unknown node C undetermined, and root The anchor node network Model on the periphery unknown node C undetermined is established according to the location coordinate information in inbound information；
Step B: any four anchor node in the anchor node network Model forms a triangular pyramid as vertex, Host computer establishes the mathematical model of the triangular pyramid, and is calculated by the following method:
Host computer judges whether the triangular pyramid includes unknown node C undetermined by APIT-3D algorithm first: being, then Retain the mathematical model information of the triangular pyramid, and defines the triangular pyramid as positioning triangular pyramid；It is no, then give up the triangular pyramid；It is described The mathematical model information of triangular pyramid includes the inbound information for forming all anchor nodes of triangular pyramid；
Step C: the mathematical model information for the triangular pyramid that host computer record remains；
Step D: host computer, which executes, repeats step B and step C, until finding out all positioning comprising unknown node C undetermined Triangular pyramid；
Step E: any one positioning triangular pyramid of upper computer selecting first, and calculate the Fermat point of the positioning triangular pyramid Coordinate, then host computer is calculated by the following method: will behind 4 vertex of the positioning triangular pyramid and the Fermat point line The positioning triangular pyramid has been divided into 4 regions, each region is set as a sub- triangular pyramid；
Judge which sub- triangular pyramid which unknown node C undetermined is included in by APIT-3D algorithm, and defining should Sub- triangular pyramid is locator triangular pyramid, and the location coordinate information on 4 vertex of the sub- triangular pyramid of record location；
Step F: host computer establishes the mathematical model of locator triangular pyramid, and is calculated by the following method: positioning The triangle without Fermat point is found in sub- triangular pyramid, take the triangle is used as positioning side on one side, make the middle line on positioning side, Middle line vertical plane is done by the middle line, locator triangular pyramid is divided into two localization regions；
Step G: host computer judges unknown node C distance undetermined by the signal strength or weakness information in comparison location data packet Which vertex is close, to judge that unknown node C undetermined is in the which side of the middle line vertical plane, i.e., at unknown node C undetermined In which localization region；
Step H: repeating step B to step G, and host computer finds out all localization regions comprising unknown node C undetermined；
Step 14: host computer passes through the calculating overlapping region by calculating the overlapping region of all localization regions Center-of-mass coordinate；
Step 15: the center-of-mass coordinate is sent to unknown node C undetermined by wireless network by host computer；
Step 16: unknown node C undetermined receives the center-of-mass coordinate, and sits the center-of-mass coordinate as the position of itself Mark information；Unknown node C undetermined according to itself location coordinate information and wireless sensor number generate inbound information, it is undetermined not Know that the inbound information of itself is sent to host computer by node C；
Step 17: executing step 2；
Step 18: host computer judges that the anchor node neighbouring with unknown node C undetermined is several: when anchor node is three, Execute step 19；When anchor node is two, step 20 is executed；When anchor node is one, step 21 is executed；When anchor node is When zero, step 22 is executed；
Step 19: definition forms cocked hat with three unknown node C undetermined neighbouring anchor nodes, and host computer establishes institute It states cocked hat mathematical model and carries out the position coordinates that unknown node C undetermined is calculated by the following method:
Step I: any one side of cocked hat is taken, and makees the middle line on the side, cocked hat is divided into two by middle line A small triangle；
Step J: host computer judges unknown node C distance undetermined by the signal strength or weakness information in comparison location data packet Which vertex is close, to judge that unknown node C undetermined is in the which side of middle line, i.e., which unknown node C undetermined is in In small triangle, and the point of the Fermat by the way that the small triangle is calculated, the coordinate of the Fermat point are the position of unknown node C undetermined Set coordinate；Execute step 23；
Step 20: definition forms position line with two unknown node C undetermined neighbouring anchor nodes, and host computer is established described fixed The mathematical model of bit line simultaneously carries out the position coordinates that unknown node C undetermined is calculated by the following method:
Step L: calculating the midpoint of position line and position line is divided into two sections by midpoint；
Step M: host computer judges unknown node C distance undetermined by the signal strength or weakness information in comparison location data packet Which anchor node in position line is close, calculates the midpoint coordinates of the line segment of the anchor node and midpoint composition, which is For the position coordinates of unknown node C undetermined, step 23 is executed；
Step 21: host computer is using the coordinate of anchor node as the position coordinates of unknown node C undetermined；Execute step 23；
Step 22: all anchor nodes are formed a cyberspace by host computer, and by the way that the cyberspace is calculated The coordinate of center of gravity, and using the coordinate as the position coordinates of unknown node C undetermined；Execute step 23；
Step 23: the position coordinates of unknown node C undetermined are sent to unknown node undetermined by wireless network by host computer C；
Step 24: unknown node C undetermined receives position coordinates, and generates location coordinate information, unknown node C storage undetermined Location coordinate information；Unknown node C undetermined is numbered according to itself location coordinate information and wireless sensor and is generated inbound information, The inbound information of itself is sent to host computer by unknown node C undetermined；
Step 25: executing step 2；
Step 26: positioning terminates.
The host computer is computer.
Model V-Link-200, T101 or W102 of the wireless sensor.
A kind of improved wireless sensor network 3-D positioning method of the present invention, reduces using Fermat point model 3-D positioning method in repeatedly unknown node estimate in the effective range of triangular pyramid shape caused by accumulated error；When not When knowing the anchor node quantity around node less than four, the present invention is using the method that middle line (point) is repaired to unknown section in this case The location estimation of point is improved, to achieve the purpose that optimum position precision and the network coverage.
Detailed description of the invention
Fig. 1 is overview flow chart of the invention；
Fig. 2 is the mathematical model figure of median of a triangle vertical plane of the invention；
Fig. 3 is the mathematical model figure that median of a triangle vertical plane of the invention divides triangular pyramid.
Specific embodiment
A kind of improved wireless sensor network 3-D positioning method as shown in FIG. 1 to 3, includes the following steps:
Step 1: establishing wireless sensor network, wireless sensor network includes several wireless sensors and host computer, is appointed By wireless communication between two adjacent wireless sensors of anticipating, all wireless sensors pass through wireless network with it is upper Machine communication；
Step 2: all wireless sensors to host computer send inbound information, inbound information include location coordinate information and Wireless sensor number；
Step 3: setting any one wireless sensor as wireless sensor A, host computer judges the position of wireless sensor A Whether coordinate information is empty: being not sky, then host computer label wireless sensor A is anchor node, and generates mark information；For sky, Then host computer label wireless sensor A is unknown node, and generates mark information；
Step 4: mark information is sent to wireless sensor A by host computer, and wireless sensor A is known certainly by mark information As anchor node or unknown node；
Step 5: step 3 and step 4 are repeated, until all wireless sensors obtain mark information；
Step 6: host computer records the mark information of all wireless sensors；
Step 7: setting any one unknown node as unknown node B, unknown node B is to all wireless biographies adjacent thereto Sensor sends networking request, and all anchor nodes for receiving the request that networks send the inbound information of itself to unknown node B；
Step 8: the inbound information of all anchor nodes received, unknown node B are judged inbound information by unknown node B The power of signal simultaneously generates signal strength or weakness information, and inbound information and the synthesis processing of signal strength or weakness information are positioning by unknown node B Data packet, and location data packet is sent to by host computer by wireless network；
Step 9: step 7 and step 8 are repeated, until the location data packet of itself is sent to by all unknown nodes Position machine；
Step 10: whether host computer inquiry has wireless sensor to be marked as unknown node: being to then follow the steps 11；It is no, Then follow the steps 26；
Step 11: any one unknown node of upper computer selecting reads unknown node undetermined as unknown node C undetermined The location data packet of C；
Step 12: host computer reads from the location data packet of unknown node C undetermined and judges adjacent with unknown node C undetermined The number of close anchor node: if the number of anchor node is greater than or equal to four, 13 are thened follow the steps；As the number of anchor node is less than Four, then follow the steps 18；
Step 13: unknown node C undetermined is positioned using VTM-APIT-3D algorithm, its step are as follows:
Step A: host computer reads the inbound information of all anchor nodes in the location data packet of unknown node C undetermined, and root The anchor node network Model on the periphery unknown node C undetermined is established according to the location coordinate information in inbound information；
Step B: any four anchor node in the anchor node network Model forms a triangular pyramid as vertex, Host computer establishes the mathematical model of the triangular pyramid, and is calculated by the following method:
Host computer judges whether the triangular pyramid includes unknown node C undetermined by APIT-3D algorithm first: being, then Retain the mathematical model information of the triangular pyramid, and defines the triangular pyramid as positioning triangular pyramid；It is no, then give up the triangular pyramid；It is described The mathematical model information of triangular pyramid includes the inbound information for forming all anchor nodes of triangular pyramid；
Step C: the mathematical model information for the triangular pyramid that host computer record remains；
Step D: host computer, which executes, repeats step B and step C, until finding out all positioning comprising unknown node C undetermined Triangular pyramid；
Step E: any one positioning triangular pyramid of upper computer selecting first, and calculate the Fermat point of the positioning triangular pyramid Coordinate, then host computer is calculated by the following method: will behind 4 vertex of the positioning triangular pyramid and the Fermat point line The positioning triangular pyramid has been divided into 4 regions, each region is set as a sub- triangular pyramid；
Judge which sub- triangular pyramid which unknown node C undetermined is included in by APIT-3D algorithm, and defining should Sub- triangular pyramid is locator triangular pyramid, and the location coordinate information on 4 vertex of the sub- triangular pyramid of record location；
Step F: host computer establishes the mathematical model of locator triangular pyramid, and is calculated by the following method: positioning The triangle without Fermat point is found in sub- triangular pyramid, take the triangle is used as positioning side on one side, make the middle line on positioning side, Middle line vertical plane is done by the middle line, locator triangular pyramid is divided into two localization regions；
Step G: host computer judges unknown node C distance undetermined by the signal strength or weakness information in comparison location data packet Which vertex is close, to judge that unknown node C undetermined is in the which side of the middle line vertical plane, i.e., at unknown node C undetermined In which localization region；
Step H: repeating step B to step G, and host computer finds out all localization regions comprising unknown node C undetermined；
Step 14: host computer passes through the calculating overlapping region by calculating the overlapping region of all localization regions Center-of-mass coordinate；
Step 15: the center-of-mass coordinate is sent to unknown node C undetermined by wireless network by host computer；
Step 16: unknown node C undetermined receives the center-of-mass coordinate, and sits the center-of-mass coordinate as the position of itself Mark information；Unknown node C undetermined according to itself location coordinate information and wireless sensor number generate inbound information, it is undetermined not Know that the inbound information of itself is sent to host computer by node C；
Step 17: executing step 2；
Step 18: host computer judges that the anchor node neighbouring with unknown node C undetermined is several: when anchor node is three, Execute step 19；When anchor node is two, step 20 is executed；When anchor node is one, step 21 is executed；When anchor node is When zero, step 22 is executed；
Step 19: definition forms cocked hat with three unknown node C undetermined neighbouring anchor nodes, and host computer establishes institute It states cocked hat mathematical model and carries out the position coordinates that unknown node C undetermined is calculated by the following method:
Step I: any one side of cocked hat is taken, and makees the middle line on the side, cocked hat is divided into two by middle line A small triangle；
Step J: host computer judges unknown node C distance undetermined by the signal strength or weakness information in comparison location data packet Which vertex is close, to judge that unknown node C undetermined is in the which side of middle line, i.e., which unknown node C undetermined is in In small triangle, and the point of the Fermat by the way that the small triangle is calculated, the coordinate of the Fermat point are the position of unknown node C undetermined Set coordinate；Execute step 23；
Step 20: definition forms position line with two unknown node C undetermined neighbouring anchor nodes, and host computer is established described fixed The mathematical model of bit line simultaneously carries out the position coordinates that unknown node C undetermined is calculated by the following method:
Step L: calculating the midpoint of position line and position line is divided into two sections by midpoint；
Step M: host computer judges unknown node C distance undetermined by the signal strength or weakness information in comparison location data packet Which anchor node in position line is close, calculates the midpoint coordinates of the line segment of the anchor node and midpoint composition, which is For the position coordinates of unknown node C undetermined, step 23 is executed；
Step 21: host computer is using the coordinate of anchor node as the position coordinates of unknown node C undetermined；Execute step 23；
Step 22: all anchor nodes are formed a cyberspace by host computer, and by the way that the cyberspace is calculated The coordinate of center of gravity, and using the coordinate as the position coordinates of unknown node C undetermined；Execute step 23；
Step 23: the position coordinates of unknown node C undetermined are sent to unknown node undetermined by wireless network by host computer C；
Step 24: unknown node C undetermined receives position coordinates, and generates location coordinate information, unknown node C storage undetermined Location coordinate information；Unknown node C undetermined is numbered according to itself location coordinate information and wireless sensor and is generated inbound information, The inbound information of itself is sent to host computer by unknown node C undetermined；
Step 25: executing step 2；
Step 26: positioning terminates.
The host computer is computer.
Model V-Link-200, T101 or W102 of the wireless sensor.
The Fermat point is the particular point in three-dimensional space, and if there is a point, it arrives all tops of certain finite point set The distance and minimum of point, this point are just referred to as Fermat point.
It defines median of a triangle vertical plane and refers to that any side in certain triangle makees its middle line, then cross this line and make one The face vertical with plane where the triangle, as shown in Fig. 2, the coordinate on three vertex of one triangle ABC of setting is respectively A (x1,y1,z1), B (x2,y2,z2) and C (x3,y3,z3), the coordinate of the midpoint BC M isTriangle The equation of the middle line vertical plane AMPQ of shape ABC is as follows:
As shown in figure 3, defining any one unknown node is unknown node N, the middle line for defining triangle ABC is straight line AM, middle line vertical plane are face AMPQ.It is divided by the space of APIT-3D algorithm and trigone Based On The Conic Model and learns that unknown node N is located at In triangular pyramid F-ABC, and the power that unknown node N receives signal from three anchor nodes of triangle ABC was compared.If anchor Node-B receiver to the signal strength that receives of the signal intensity ratio anchor node C from unknown node N it is all big, then unknown node N Positioned at the side of the inclined B of middle line vertical plane；Conversely, unknown node N is located at the side of the inclined C of middle line vertical plane.
A kind of improved wireless sensor network 3-D positioning method of the present invention, on the basis of Fermat point model The thought that space divides is incorporated, a kind of VTM-APIT-3D algorithm of innovation has been used, has reduced the three-dimensional using Fermat point model Unknown node is repeatedly estimated accumulated error caused by the effective range of triangular pyramid shape in localization method；Work as unknown node When the anchor node quantity of surrounding is less than four, the present invention uses the method for middle line (point) reparation to the position of unknown node in this case It sets estimation to be improved, to achieve the purpose that optimum position precision and the network coverage.

Claims (3)

1. a kind of improved wireless sensor network 3-D positioning method, characterized by the following steps:
Step 1: establish wireless sensor network, wireless sensor network includes several wireless sensors and host computer, and any two By wireless communication between a adjacent wireless sensor, all wireless sensors pass through wireless network and host computer is logical Letter；
Step 2: all wireless sensors send inbound information to host computer, and inbound information includes location coordinate information and wireless Sensor number；
Step 3: setting any one wireless sensor as wireless sensor A, host computer judges the position coordinates of wireless sensor A Whether information is empty: being not sky, then host computer label wireless sensor A is anchor node, and generates mark information；For sky, then on Position machine label wireless sensor A is unknown node, and generates mark information；
Step 4: mark information is sent to wireless sensor A by host computer, and wireless sensor A knows that itself is by mark information Anchor node or unknown node；
Step 5: step 3 and step 4 are repeated, until all wireless sensors obtain mark information；
Step 6: host computer records the mark information of all wireless sensors；
Step 7: setting any one unknown node as unknown node B, unknown node B is to all wireless sensors adjacent thereto The request that networks is sent, all anchor nodes for receiving the request that networks send the inbound information of itself to unknown node B；
Step 8: the inbound information of all anchor nodes received, unknown node B are judged the signal of inbound information by unknown node B Power and generate signal strength or weakness information, unknown node B by inbound information and signal strength or weakness information synthesis handle as location data Packet, and location data packet is sent to by host computer by wireless network；
Step 9: repeat step 7 and step 8, until all unknown nodes the location data packet of itself is sent to it is upper Machine；
Step 10: whether host computer inquiry has wireless sensor to be marked as unknown node: being to then follow the steps 11；It is no, then it holds Row step 26；
Step 11: any one unknown node of upper computer selecting reads unknown node C's undetermined as unknown node C undetermined Location data packet；
Step 12: host computer reads from the location data packet of unknown node C undetermined and judges neighbouring with unknown node C undetermined The number of anchor node: if the number of anchor node is greater than or equal to four, 13 are thened follow the steps；If the number of anchor node is less than four It is a, then follow the steps 18；
Step 13: unknown node C undetermined is positioned using VTM-APIT-3D algorithm, its step are as follows:
Step A: host computer reads the inbound information of all anchor nodes in the location data packet of unknown node C undetermined, and according to entering Location coordinate information in net information establishes the anchor node network Model on the periphery unknown node C undetermined；
Step B: any four anchor node in the anchor node network Model forms a triangular pyramid as vertex, upper Machine establishes the mathematical model of the triangular pyramid, and is calculated by the following method:
Host computer judges whether the triangular pyramid includes unknown node C undetermined by APIT-3D algorithm first: being then to retain The mathematical model information of the triangular pyramid, and the triangular pyramid is defined as positioning triangular pyramid；It is no, then give up the triangular pyramid；The trigone The mathematical model information of cone includes the inbound information for forming all anchor nodes of triangular pyramid；
Step C: the mathematical model information for the triangular pyramid that host computer record remains；
Step D: host computer, which executes, repeats step B and step C, until finding out all positioning trigones comprising unknown node C undetermined Cone；
Step E: any one positioning triangular pyramid of upper computer selecting first, and calculate the seat of the Fermat point of the positioning triangular pyramid Mark, then host computer is calculated by the following method: should after 4 vertex of the positioning triangular pyramid and the Fermat point line Positioning triangular pyramid has been divided into 4 regions, each region is set as a sub- triangular pyramid；
Judge which sub- triangular pyramid which unknown node C undetermined is included in by APIT-3D algorithm, and defines the son three Pyramid is locator triangular pyramid, and the location coordinate information on 4 vertex of the sub- triangular pyramid of record location；
Step F: host computer establishes the mathematical model of locator triangular pyramid, and is calculated by the following method: in locator three The triangle without Fermat point is found in pyramid, take the triangle is used as positioning side on one side, makees the middle line on positioning side, is passing through The middle line does middle line vertical plane, and locator triangular pyramid is divided into two localization regions；
Step G: host computer judges unknown node C undetermined apart from which by the signal strength or weakness information in comparison location data packet A vertex is close, to judge that unknown node C undetermined is in the which side of the middle line vertical plane, i.e., which unknown node C undetermined is in One localization region；
Step H: repeating step B to step G, and host computer finds out all localization regions comprising unknown node C undetermined；
Step 14: host computer passes through the mass center of the calculating overlapping region by calculating the overlapping region of all localization regions Coordinate；
Step 15: the center-of-mass coordinate is sent to unknown node C undetermined by wireless network by host computer；
Step 16: unknown node C undetermined receives the center-of-mass coordinate, and believes the center-of-mass coordinate as the position coordinates of itself Breath；Unknown node C undetermined is numbered according to itself location coordinate information and wireless sensor and is generated inbound information, unknown section undetermined The inbound information of itself is sent to host computer by point C；
Step 17: executing step 2；
Step 18: host computer judges that the anchor node neighbouring with unknown node C undetermined is several: when anchor node is three, executing Step 19；When anchor node is two, step 20 is executed；When anchor node is one, step 21 is executed；When anchor node is zero When, execute step 22；
Step 19: definition forms cocked hat with three unknown node C undetermined neighbouring anchor nodes, and host computer is established described fixed Position triangle mathematical model simultaneously carries out the position coordinates that unknown node C undetermined is calculated by the following method:
Step I: taking any one side of cocked hat, and make the middle line on the side, and cocked hat is divided into two small by middle line Triangle；
Step J: host computer judges unknown node C undetermined apart from which by the signal strength or weakness information in comparison location data packet A vertex is close, to judge that unknown node C undetermined is in the which side of middle line, i.e., it is small by three which unknown node C undetermined is in In angular, and the point of the Fermat by the way that the small triangle is calculated, the coordinate of the Fermat point are that the position of unknown node C undetermined is sat Mark；Execute step 23；
Step 20: definition forms position line with two unknown node C undetermined neighbouring anchor nodes, and host computer establishes the position line Mathematical model and carry out the position coordinates that unknown node C undetermined is calculated by the following method:
Step L: calculating the midpoint of position line and position line is divided into two sections by midpoint；
Step M: host computer judges unknown node C Distance positioning undetermined by the signal strength or weakness information in comparison location data packet Which anchor node on line is close, calculate the anchor node and the midpoint composition line segment midpoint coordinates, the coordinate be to Determine the position coordinates of unknown node C, executes step 23；
Step 21: host computer is using the coordinate of anchor node as the position coordinates of unknown node C undetermined；Execute step 23；
Step 22: all anchor nodes are formed a cyberspace, and the center of gravity by the way that the cyberspace is calculated by host computer Coordinate, and using the coordinate as the position coordinates of unknown node C undetermined；Execute step 23；
Step 23: the position coordinates of unknown node C undetermined are sent to unknown node C undetermined by wireless network by host computer；
Step 24: unknown node C undetermined receives position coordinates, and generates location coordinate information, unknown node C storage location undetermined Coordinate information；Unknown node C undetermined is numbered according to itself location coordinate information and wireless sensor generates inbound information, undetermined The inbound information of itself is sent to host computer by unknown node C；
Step 25: executing step 2；
Step 26: positioning terminates.
2. a kind of improved wireless sensor network 3-D positioning method as described in claim 1, it is characterised in that: on described Position machine is computer.
3. a kind of improved wireless sensor network 3-D positioning method as described in claim 1, it is characterised in that: the nothing Model V-Link-200, T101 or W102 of line sensor.
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