CN107040992A - Wireless sensor network node locating method and device - Google Patents
Wireless sensor network node locating method and device Download PDFInfo
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- CN107040992A CN107040992A CN201710423451.XA CN201710423451A CN107040992A CN 107040992 A CN107040992 A CN 107040992A CN 201710423451 A CN201710423451 A CN 201710423451A CN 107040992 A CN107040992 A CN 107040992A
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
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Abstract
The invention discloses a kind of wireless sensor network node locating method and device, this method includes：S1：For each anchor node on region to be detected, calculate it and averagely often jump horizontal range；S2：For each anchor node, calculate it and jump away from modified mean；S3：For each anchor node, calculate its amendment away from modified mean and its average often jump horizontal range according to its jump and averagely often jump horizontal range；S4：The unknown node is calculated to the horizontal range of anchor node around the unknown node, the plane coordinates of the unknown node is determined according to the plane coordinates of anchor node around the horizontal range and the unknown node；S5：The three-dimensional coordinate of the unknown node is determined according to the plane coordinates of the Two-dimensional electron grid model, three-dimensional electronic grid model and the unknown node in the region to be detected.Positioning precision of the present invention in alpine terrain is improved largely, and disclosure satisfy that the requirement of practical application.
Description
Technical field
The present invention relates to wireless sensor network field of locating technology, and in particular to a kind of wireless sensor network node is determined
Position method and device.
Background technology
China's alpine terrain (including hills and plateau) accounts for 69.1%, and afforestation rate is high, with abundant mineral resources,
But the exploitation of mineral products easily causes environmental pollution.China's complex geologic conditions, tectonic activity is frequent, landslide, mud-rock flow and ground fissure
Deng Hidden hazrads are more, distribution is wide and sudden and destructiveness is strong, it is big to take precautions against difficulty, be geological disaster in the world it is more serious, by
Threaten one of more country of population.Therefore, carry out the monitorings such as environmental monitoring, forest fire protection, landslide and study of warning has
It is of great significance.
The appearance of wireless sensor network (Wireless Sensor Network, WSN) causes mondial wide
General concern.1999, wireless sensor network was classified as 21 technologies that 21 century most influences by famous american commerce weekly
One of；2003, MIT technology reviews (Technology Review) were classified as in the report of prediction future technical advances
Change one of the 10 big new technologies in the world.Environmental monitoring and forecast, forest fire protection, Geological Hazards Monitoring and early warning etc. are wireless pass
The important applied field of sensor network.
Node locating is the important foundation of application of higher wireless sensor network.In the application of wireless sensor network, position
Monitoring activity of the information to sensor network is most important.For example：Need to know pollution sources in large area environmental monitoring
Place；, it is necessary to know the region that fire occurs in forest fire disaster surveillance；In Geological Hazards Monitoring early warning, it is necessary to
Know occur the time of dangerous situation and region, to take effective actions rapidly.
Most of wireless sensor network positioning existing at present, which are all assumed that, applies what is proposed in ideal circumstances.For example
Two dimension, three-dimensional location algorithm and routing algorithm are adapted to the random node distribution situation in 3 D auto space, that is, assume signal
Mode is preferable spheroid.Wireless sensor network actual application environment is often mountain area, now, nonplanar network
With plane or 3 D auto space orientation determine node location, be often unable to reach preferable performance requirement, node locating
Error is larger, it is difficult to meet the requirement of practical application.
According to whether measurement distance is divided into the location algorithm based on ranging localization algorithm and without ranging.Conventional survey at present
There are RSSI, TOA, TDOA and AOA away from technology.Localization method without ranging mainly have centroid algorithm, DV-Hop algorithms,
Amorphous algorithms, APIT algorithms etc., wherein influenceing maximum, most widely used to surely belong to DV-Hop algorithms.
Location mechanism without ranging is not required to absolute distance or orientation between measuring node, reduce to node hardware into
This, volume and energy expenditure, more suitable for large-scale sensor network.But the precision of non-ranging node positioning method is relatively low,
Its positioning precision can still meet the demand of application in ideal circumstances, but its positioning precision during application in the complicated landform in mountain area
It is difficult to meet the requirement of practical application.
The content of the invention
, can be in mountain area it is an object of the invention to provide a kind of wireless sensor network node locating method and device
The precision of wireless sensor network node positioning is improved in shape.
To achieve the above object, a kind of wireless sensor network node locating method of technical scheme, its feature
It is, including：
S1：For each anchor node on region to be detected, it is calculated according to the plane coordinates of anchor node and treated described in
The horizontal range sum of other anchor nodes in detection zone, and according to it to the minimum hop count sum of other anchor nodes and described
Horizontal range sum calculates it and averagely often jumps horizontal range；
S2：For each described anchor node, its water for arriving other anchor nodes is calculated according to its average horizontal range of often jumping
Flat estimated distance, and according to its to other anchor nodes horizontal estimated distance, its to other anchor nodes horizontal actual range with
And its its jump is calculated away from modified mean to the minimum hop count of other anchor nodes；
S3：For each described anchor node, according to its jump away from modified mean and its average often jump horizontal range meter
Calculate its amendment and averagely often jump horizontal range；
S4：According to horizontal range and institute are averagely often jumped in the amendment of anchor node around unknown node on the region to be detected
State unknown node and calculate the unknown node to unknown node week to the minimum hop count of anchor node around the unknown node
The horizontal range of anchor node is enclosed, according to the horizontal range of anchor node around the unknown node to the unknown node and described
The plane coordinates of anchor node determines the plane coordinates of the unknown node around unknown node；
S5：According to the Two-dimensional electron grid model in the region to be detected, three-dimensional electronic grid model and described unknown
The plane coordinates of node determines the three-dimensional coordinate of the unknown node.
Preferably, also include before step S1：Wireless sensor node is laid on the region to be detected at random.
Preferably, the step S5 includes：
S51：Obtain the grid where the plane coordinates of unknown node described in the Two-dimensional electron grid model；
S52：Three tops nearest apart from the plane coordinates of the unknown node are determined in four summits of the grid
Point；
S53：Obtain three three-dimensional coordinates with three vertex correspondences in the three-dimensional electronic grid model, and according to
The plane and the plane coordinates of the unknown node that three three-dimensional coordinates are constituted determine the three-dimensional seat of the unknown node
Mark.
Preferably, the region to be detected is alpine terrain.
To achieve the above object, technical scheme additionally provides a kind of wireless sensor network node positioning dress
Put, including：
First processing module, for for each anchor node on region to be detected, according to the plane coordinates of anchor node
It is calculated to the horizontal range sum of other anchor nodes on the region to be detected, and according to its arrive other anchor nodes most jete
Number sum and the horizontal range sum calculate it and averagely often jump horizontal range；
Second processing module, for for each described anchor node, calculating it according to its average often jump horizontal range and arriving
The horizontal estimated distance of other anchor nodes, and according to its to other anchor nodes horizontal estimated distance, it is to other anchor nodes
Horizontal actual range and its to the minimum hop count of other anchor nodes calculate its jump away from modified mean；
3rd processing module, for for each described anchor node, according to its jump is away from modified mean and it is average
Often jump horizontal range calculates its amendment and averagely often jumps horizontal range；
First determining module, for according to the amendment of anchor node is averagely often jumped around unknown node on the region to be detected
Horizontal range and the unknown node calculate the unknown node to the minimum hop count of anchor node around the unknown node and arrived
The horizontal range of anchor node around the unknown node, according to the water of anchor node around the unknown node to the unknown node
The plane coordinates of anchor node determines the plane coordinates of the unknown node around flat distance and the unknown node；
Second determining module, for the Two-dimensional electron grid model according to the region to be detected, three-dimensional electronic grid mould
The plane coordinates of type and the unknown node determines the three-dimensional coordinate of the unknown node.
Preferably, the wireless sensor network node positioner also includes：Cloth amplification module, for described to be detected
Wireless sensor node is laid on region at random.
Preferably, second determining module includes：
Search unit, for obtaining the net described in the Two-dimensional electron grid model where the plane coordinates of unknown node
Lattice；
First computing unit, for determining the plane coordinates apart from the unknown node in four summits of the grid
Three nearest summits；
Second computing unit, for obtaining three three in the three-dimensional electronic grid model with three vertex correspondences
Dimension coordinate, and according to three three-dimensional coordinates constitute plane and the unknown node plane coordinates determine it is described unknown
The three-dimensional coordinate of node.
Preferably, the region to be detected is alpine terrain.
Not only node hardware cost is low by the present invention, and small volume and energy expenditure are low, more suitable for large-scale sensor
Network, and compared to traditional non-ranging wireless sensor node location technology, positioning precision of the present invention in alpine terrain
It is improved largely, disclosure satisfy that the requirement of practical application.
Brief description of the drawings
Fig. 1 is a kind of flow chart for wireless sensor network node locating method that embodiment of the present invention is provided；
Fig. 2 be embodiment of the present invention provide a kind of wireless sensor network node on alpine terrain random distribution
Schematic diagram；
Fig. 3 be embodiment of the present invention provide a kind of wireless sensor node upright projection to plane random distribution
Figure；
Fig. 4 is the schematic diagram of the horizontal estimated distance between a kind of calculating anchor node that embodiment of the present invention is provided；
Fig. 5 is a kind of schematic diagram for trilateration that embodiment of the present invention is provided；
Fig. 6 is a kind of schematic diagram for Maximum Likelihood Estimation Method that embodiment of the present invention is provided；
Fig. 7-Fig. 8 is a kind of schematic diagram of the three-dimensional coordinate for determination unknown node that embodiment of the present invention is provided；
Fig. 9 is the average relative error curve map for the different communication radius that embodiment of the present invention is provided；
Figure 10 is the average relative error curve map for the different anchor node ratios that embodiment of the present invention is provided；
Figure 11 is the average relative error curve map for the different node total numbers that embodiment of the present invention is provided.
Embodiment
With reference to the accompanying drawings and examples, the embodiment to the present invention is described in further detail.Implement below
Example is used to illustrate the present invention, but is not limited to the scope of the present invention.
Referring to Fig. 1, Fig. 1 is a kind of flow for wireless sensor network node locating method that embodiment of the present invention is provided
Figure, this method includes：
S1：For each anchor node on region to be detected, it is calculated according to the plane coordinates of anchor node and treated described in
The horizontal range sum of other anchor nodes in detection zone, and according to it to the minimum hop count sum of other anchor nodes and described
Horizontal range sum calculates it and averagely often jumps horizontal range；
S2：For each described anchor node, its water for arriving other anchor nodes is calculated according to its average horizontal range of often jumping
Flat estimated distance, and according to its to other anchor nodes horizontal estimated distance, its to other anchor nodes horizontal actual range with
And its its jump is calculated away from modified mean to the minimum hop count of other anchor nodes；
S3：For each described anchor node, according to its jump away from modified mean and its average often jump horizontal range meter
Calculate its amendment and averagely often jump horizontal range；
S4：According to horizontal range and institute are averagely often jumped in the amendment of anchor node around unknown node on the region to be detected
State unknown node and calculate the unknown node to unknown node week to the minimum hop count of anchor node around the unknown node
The horizontal range of anchor node is enclosed, according to the horizontal range of anchor node around the unknown node to the unknown node and described
The plane coordinates of anchor node determines the plane coordinates of the unknown node around unknown node；
S5：According to the Two-dimensional electron grid model in the region to be detected, three-dimensional electronic grid model and described unknown
The plane coordinates of node determines the three-dimensional coordinate of the unknown node.
Specifically, in step s 4, the minimum hop count of unknown node to anchor node can be multiplied by the amendment of the anchor node
It is average often to jump horizontal range so as to obtain the unknown node to the horizontal range of the anchor node, then recycling trilateration or
Maximum Likelihood Estimation Method obtains the plane coordinates of unknown node；
Preferably, in embodiments of the present invention, also include before step S1：The random cloth on the region to be detected
Put wireless sensor node.
Preferably, in embodiments of the present invention, the step S5 includes：
S51：Obtain the grid where the plane coordinates of unknown node described in the Two-dimensional electron grid model；
S52：Three tops nearest apart from the plane coordinates of the unknown node are determined in four summits of the grid
Point；
S53：Obtain three three-dimensional coordinates with three vertex correspondences in the three-dimensional electronic grid model, and according to
The plane and the plane coordinates of the unknown node that three three-dimensional coordinates are constituted determine the three-dimensional seat of the unknown node
Mark.
For example, the region to be detected is alpine terrain.
For example, the wireless sensor network node locating method in the present invention can include：
1. lay wireless sensor node at random on alpine terrain；
Wireless sensor network node is laid at random on alpine terrain, Node distribution schematic diagram can be as shown in Figure 2.For
The principle of wireless sensor network node locating method of the explanation based on alpine terrain, is produced with three-dimensional multimodal toroidal function here
Raw multimodal curved surface simulates alpine terrain, and makes three-dimensional electronic grid model (the i.e. three-dimensional electronic grid of the alpine terrain
Data, include x, y, the three-dimensional mesh data of z coordinate) and Two-dimensional electron grid model (i.e. Two-dimensional electron grid data, comprising x,
The plane grid data of y-coordinate), all there is electronic map data on actual alpine terrain at present, wherein, three-dimensional multimodal curved surface letter
Number is：
2. each unknown node is obtained to the minimum hop count of anchor node (i.e. beaconing nodes)；
Here it is possible to using the first step of DV-HOP location algorithms：Each unknown node is obtained to the most jete of each anchor node
Number h, the starting stage of wireless sensor network, each anchor node broadcasts the information such as oneself id, position and hop count, and initial hop count
For 0, often add 1 by a node hop count.Each node only remains into the information of the minimum hop count of anchor node, receives same anchor section
Put and the bigger information of hop count will be abandoned.After starting stage terminates, each unknown node will obtain each unknown node to each anchor section
The minimum hop count h of point.
3. by each sensor node upright projection on alpine terrain to horizontal plane；
By in each sensor node upright projection on alpine terrain to horizontal plane, sensor node only has x in the horizontal plane,
Y-coordinate (i.e. the plane coordinates of node), as shown in Figure 3.
4. the plane coordinates of each unknown node is sought with improved two-dimentional DV-HOP location algorithms；
Improved two-dimentional DV-HOP location algorithms are exactly that the average horizontal range of often jumping of each anchor node is modified.If nothing
The distribution of line sensor network nodes is as shown in Figure 4.
(1) amendment of anchor node is asked averagely often to jump horizontal range；
1. anchor node i has obtained in region the positional information of other all anchor nodes and after hop count, utilizes formula (2)
Calculate the average of anchor node i and often jump horizontal range dhopi。
In formula, dhopiAverage for anchor node i often jumps horizontal range, (xi,yi) be anchor node i plane coordinates, (xj,
yj) be anchor node j plane coordinates, hijFor the minimum hop count (i ≠ j) between anchor node i and anchor node j, if i=j, say
Bright anchor node i and anchor node j is same node.Each anchor node, which is calculated, to be obtained after average often jump horizontal range, the institute into region
There are other node broadcasts.
2. anchor node i and anchor node j horizontal estimated distance is calculated, calculation is as follows：
d1ij=dhopi×hij
In formula, d1ijFor anchor node i and anchor node j horizontal estimated distance.
3. anchor node i and anchor node j horizontal actual range is calculated, calculation is as follows：
In formula, d2ijFor anchor node i and anchor node j horizontal actual range, (xi, yi) be anchor node i plane coordinates,
(xj, yj) be anchor node j plane coordinates.
4. anchor node i and anchor node j jump is calculated away from correction value eij, calculation is as follows：
5. repeat (2) step calculated to (4) step, respectively anchor node i to remaining all anchor node (1,2 ..., i-1, i+
1st, jump n) is away from correction value, and asks its average value (to jump away from modified mean) avei, calculation is as follows：
6. horizontal range xzdhop is averagely often jumped in the amendment for calculating anchor node ii, calculation is as follows：
xzdhopi=dhopi+avei (3)
Calculate respectively other all anchor nodes (k=1,2 ..., i-1, i+1, n) amendment averagely often jump horizontal range
xzdhopk。
(2) unknown node is sought to the horizontal range of anchor node；
The amendment of horizontal range=j-th of anchor node of unknown node i to j-th anchor node is asked averagely often to jump horizontal range
× unknown node i to anchor node j hop count, feature is：Ask unknown node i to the horizontal range of each anchor node with different every
Horizontal range is jumped, calculation is as follows：
dij=xzdhopj×hij (4)
In formula, dijIt is the horizontal range of unknown node i to j-th anchor node, xzdhopjIt is the amendment of j-th of anchor node
It is average often to jump horizontal range, hijMinimum hop count between unknown node i and anchor node j.
All unknown nodes can be obtained to the horizontal range of each anchor node with above-mentioned same method.
(3) trilateration or the plane coordinates with Maximum Likelihood Estimation Method calculating unknown node；
If less than 3 anchor nodes, can not be positioned around unknown node；If only 3 anchor nodes, use trilateration
Method calculates the plane coordinates of unknown node；If having more than 3 anchor nodes around unknown node, calculated not with Maximum Likelihood Estimation Method
Know the plane coordinates of node；
1. trilateration calculates the plane coordinates of unknown node, and calculation is as follows；
If there is tri- anchor nodes of A, B, C in region, a unknown node D, as shown in Figure 5.Tri- anchor nodes of A, B, C it is flat
Areal coordinate is respectively (xa, ya), (xb, yb), (xc, yc), and they to unknown node D horizontal range be respectively da, db, dc,
If node D plane coordinates is (x, y), calculation formula is as follows：
Above formula both sides square：
Obtained by (5)-(7)：
Arrange：
Similarly (6)-(7) are obtained：
Obtain equation group：
AX=B (8)
Wherein：
X=A-1B (9)
The solution (x, y) of equation (9) is obtained, is exactly unknown node D plane coordinates.
2. Maximum Likelihood Estimation Method calculates the plane coordinates of unknown node；
If 3 beaconing nodes are had more than around unknown node, as shown in fig. 6, P1、P2、P3、P4、……PnFor beacon section
Point, M is unknown node.Then unknown node also can be more than 3 to the distance of all beaconing nodes, and the equation group thus built is one
Individual inconsistent equation group.By solving the inconsistent equation group, the method for obtaining the plane coordinates of unknown node is referred to as Maximum-likelihood estimation
Method, the method with least square solution inconsistent equation group is as follows：
Provided with inconsistent equation group：
In formula：m<n
Note：
X=(x1,x2,…xm)T
B=(b1,b2,…bn)T
Then equation group (10) is represented by：
AX=B (11)
(1) calculate：ATA and ATB
Obtain normal equation group：ATAX=ATB (12)
(2) solution normal equation group (12) is obtained：
X=(ATA)-1ATB (13)
The solution (x, y) of equation (13) is obtained, is exactly unknown node M plane coordinates.
5. it is fitted alpine terrain surface with part plan
If the plane coordinates for obtaining unknown node is (xi、yi), found out in the Two-dimensional electron grid model of the alpine terrain
Nearest from the plane coordinates of unknown node and not 3 points point-blank, that is, find out this 3 points two-dimensional coordinate (x,
y).Specific method is as follows：
(1) searched for first in Two-dimensional electron grid model, determine which grid the plane coordinates of unknown node is located in,
As shown in Figure 7；
(2) 4 summits A, B, C, the D of the plane coordinates of unknown node into grid distance are calculated respectively by formula (14)
dij。
In formula, j=1,2,3,4, dij4 summits A, B, C, the D of the plane coordinates of unknown node into grid are represented respectively
Distance；
Obtain the plane coordinates of unknown node into A, B, C, D summit closer to 3 points.Unknown node is flat in such as Fig. 7
A (x of the areal coordinate into grid1, y1)、B(x2, y2)、C(x3, y3) 3 points closer to, and this 3 points not point-blank.In correspondence
Three-dimensional electronic grid model in, obtain corresponding three-dimensional coordinate the A ' (x of this 3 points1, y1, z1)、B’(x2, y2, z2)、C’(x3,
y3, z3), obtain by this 3 points planes constituted, as shown in Figure 8.
Known three point A ' (x1, y1, z1)、B’(x2, y2, z2)、C’(x3, y3, z3), seek plane equation：
Ax+by+cz+d=0 (15)
Wherein：A=y1z2-y1z3-y2z1+y2z3+y3z1-y3z2
B=-x1z2+x1z3+x2z1-x2z3-x3z1+x3z2
C=x1y2-x1y3-x2y1+x2y3+x3y1-x3y2
D=-x1y2z3+x1y3z2+x2y1z3-x2y3z1-x3y1z2+x3y2z1。
6. unknown node is sought in the three-dimensional coordinate on alpine terrain surface；
Cross the plane coordinates (x of unknown nodei, yi) and the straight line of vertical level and the friendship of the plane represented by (15) formula
Point, as plane coordinates (xi, yi) upright projection point (x on topographical surfacei, yi, zi).Actually only need to be by xi, yiSubstitute into
Plane equation (15), you can obtain zi, then the three-dimensional coordinate of required unknown node is (xi, yi, zi)。
7. position error
Assuming that (x 'i, y 'i, z 'i) be node i coordinate estimate, (xi, yi, zi) it is its actual coordinate value.Actual value
Gap between estimate is：
Average localization error is relevant with wireless communication distance R, and communication distance R is bigger, then average localization error is smaller.Sensing
The average localization error Δ of n unknown node is expressed as in device network：
In order to examine the performance of the wireless sensor network node locating method in the present invention, in alpine terrain environment,
To existing classics three-dimensional DV-Hop location algorithms, improved three-dimensional DV-Hop location algorithms and and localization method of the invention
Simulation comparison analysis has been carried out on Matlab platforms.The relation of different communication radius R and position error is have studied, anchor node is not
Relations with position error different from the relation and node total number of position error in proportion.Emulation is all in alpine terrain every time
In it is uniformly random lay wireless sensor node, alpine terrain is 240m × 240m in the drop shadow spread of horizontal plane, and the hilltop is maximum
Height h=80.75m；
(1) the node locating algorithm emulation of different communication radius
Node total number 200, anchor node accounts for 30%, i.e., 60, unknown node 140, and node is uniformly distributed, respectively to logical
Emulation experiment has been carried out during letter radius R=30m, 40m, 50m, 60m, 70m, 80m, 90m.Emulation to each different communication radius
All carry out 100 times, then taken the average value of relative mean square error, the coordinate of unknown node and anchor node is all in experiment every time
Randomly generate, experimental result is as shown in Figure 9.It was found from figure, the precision of localization method of the invention is positioned apparently higher than tradition
The precision of algorithm, classical three-dimensional DV-HOP location algorithms and improved three-dimensional DV-HOP location algorithms mountain area position error compared with
Greatly, it is difficult to meet actual location needs, and the positioning method accuracy of the present invention is high, be entirely capable of meeting the demand of practical application.
(2) the node locating algorithm emulation of different anchor node ratios
Communication radius R=60m, accounts for 5%, 10%, 15%, 20%, 25%, 30%, 35% and 40% to anchor node respectively
Shi Jinhang emulation experiments.Emulation to each different anchor node ratios has all been carried out 100 times, then takes relative mean square error
Average value, the coordinate of unknown node and anchor node is all randomly generated in experiment every time, and experimental result is as shown in Figure 10.From figure
Understand, the precision of localization method of the invention is apparently higher than the precision of traditional location algorithm, and anchor node ratio is average more than 15%
Position error is just smaller.Classical three-dimensional DV-HOP location algorithms are positioned with improved three-dimensional DV-HOP location algorithms in mountain area to be missed
Difference is larger, it is difficult to meet actual location needs, and the precision of the localization method of the present invention is high, is entirely capable of meeting the need of practical application
Ask.
(3) the location algorithm emulation of different node total numbers
Anchor node accounts for 25%, and communication radius R=60m, node is uniformly distributed.Respectively to node total number=100,120,140,
Emulation experiment has been carried out when 160,180,200,220,240 and 260.All carry out 100 times to the emulation of each node total number, then
The average value of relative mean square error is taken, the coordinate of unknown node and anchor node is all randomly generated in experiment every time, experiment knot
Fruit is as shown in figure 11.It was found from figure, the precision of localization method of the invention is apparently higher than the precision of traditional location algorithm, and this hair
The positioning precision of bright localization method and node total number relation are little.The precision of the localization method of the present invention is high, is entirely capable of meeting
The demand of practical application.
The wireless sensor network node locating method that embodiment of the present invention is provided, using range-free localization mechanism, no
But node hardware cost is low, and small volume and energy expenditure are low, more suitable for large-scale sensor network, and compared to tradition
Non-ranging wireless sensor node location technology, positioning precision of the present invention in alpine terrain be improved largely, can
Meet the requirement of practical application.
Embodiment of the present invention additionally provides a kind of wireless sensor network node positioner, including：
First processing module, for for each anchor node on region to be detected, according to the plane coordinates of anchor node
It is calculated to the horizontal range sum of other anchor nodes on the region to be detected, and according to its arrive other anchor nodes most jete
Number sum and the horizontal range sum calculate it and averagely often jump horizontal range；
Second processing module, for for each described anchor node, calculating it according to its average often jump horizontal range and arriving
The horizontal estimated distance of other anchor nodes, and according to its to other anchor nodes horizontal estimated distance, it is to other anchor nodes
Horizontal actual range and its to the minimum hop count of other anchor nodes calculate its jump away from modified mean；
3rd processing module, for for each described anchor node, according to its jump is away from modified mean and it is average
Often jump horizontal range calculates its amendment and averagely often jumps horizontal range；
First determining module, for according to the amendment of anchor node is averagely often jumped around unknown node on the region to be detected
Horizontal range and the unknown node calculate the unknown node to the minimum hop count of anchor node around the unknown node and arrived
The horizontal range of anchor node around the unknown node, according to the water of anchor node around the unknown node to the unknown node
The plane coordinates of anchor node determines the plane coordinates of the unknown node around flat distance and the unknown node；
Second determining module, for the Two-dimensional electron grid model according to the region to be detected, three-dimensional electronic grid mould
The plane coordinates of type and the unknown node determines the three-dimensional coordinate of the unknown node.
Preferably, the wireless sensor network node positioner also includes：Cloth amplification module, for described to be detected
Wireless sensor node is laid on region at random.
Preferably, second determining module includes：
Search unit, for obtaining the net described in the Two-dimensional electron grid model where the plane coordinates of unknown node
Lattice；
First computing unit, for determining the plane coordinates apart from the unknown node in four summits of the grid
Three nearest summits；
Second computing unit, for obtaining three three in the three-dimensional electronic grid model with three vertex correspondences
Dimension coordinate, and according to three three-dimensional coordinates constitute plane and the unknown node plane coordinates determine it is described unknown
The three-dimensional coordinate of node.
Preferably, the region to be detected is alpine terrain.
Although above with general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements, belong to the scope of protection of present invention without departing from theon the basis of the spirit of the present invention.
Claims (8)
1. a kind of wireless sensor network node locating method, it is characterised in that including：
S1：For each anchor node on region to be detected, it is calculated according to the plane coordinates of anchor node and arrives described to be detected
The horizontal range sum of other anchor nodes on region, and according to its arrive other anchor nodes minimum hop count sum and the level
It, which is calculated, apart from sum averagely often jumps horizontal range；
S2：For each described anchor node, it is calculated according to its average often jump horizontal range and estimated to the level of other anchor nodes
Count distance, and according to its to other anchor nodes horizontal estimated distance, its to other anchor nodes horizontal actual range and its
Minimum hop count to other anchor nodes calculates its jump away from modified mean；
S3：For each described anchor node, it is calculated away from modified mean and its average horizontal range of often jumping according to its jump
Amendment is average often to jump horizontal range；
S4：According on the region to be detected around unknown node the amendment of anchor node averagely often jump horizontal range and it is described not
Know that the minimum hop count of node to anchor node around the unknown node calculates the unknown node to anchor around the unknown node
The horizontal range of node, according to the horizontal range of anchor node around the unknown node to the unknown node and described unknown
The plane coordinates of anchor node determines the plane coordinates of the unknown node around node；
S5：According to the Two-dimensional electron grid model, three-dimensional electronic grid model and the unknown node in the region to be detected
Plane coordinates determine the three-dimensional coordinate of the unknown node.
2. wireless sensor network node locating method according to claim 1, it is characterised in that before step S1 also
Including：Wireless sensor node is laid on the region to be detected at random.
3. wireless sensor network node locating method according to claim 1, it is characterised in that the step S5 bags
Include：
S51：Obtain the grid where the plane coordinates of unknown node described in the Two-dimensional electron grid model；
S52：Three summits nearest apart from the plane coordinates of the unknown node are determined in four summits of the grid；
S53：Three three-dimensional coordinates with three vertex correspondences in the three-dimensional electronic grid model are obtained, and according to described
Plane and the plane coordinates of the unknown node that three three-dimensional coordinates are constituted determine the three-dimensional coordinate of the unknown node.
4. wireless sensor network node locating method according to claim 1, it is characterised in that the region to be detected
For alpine terrain.
5. a kind of wireless sensor network node positioner, it is characterised in that including：
First processing module, for for each anchor node on region to be detected, being calculated according to the plane coordinates of anchor node
Its to other anchor nodes on the region to be detected horizontal range sum, and according to its to other anchor nodes minimum hop count it
With and the horizontal range sum calculate it and average often jump horizontal range；
Second processing module, for for each described anchor node, calculating it according to its average often jump horizontal range and arriving other
The horizontal estimated distance of anchor node, and according to its to other anchor nodes horizontal estimated distance, its arrive other anchor nodes level
Actual range and its to the minimum hop count of other anchor nodes calculate its jump away from modified mean；
3rd processing module, for for each described anchor node, according to its jump away from modified mean and its average often jump
Horizontal range calculates its amendment and averagely often jumps horizontal range；
First determining module, for according on the region to be detected around unknown node the amendment of anchor node averagely often dive it is flat
Distance and the unknown node calculate the unknown node described in the minimum hop count of anchor node around the unknown node
The horizontal range of anchor node around unknown node, according to the level of anchor node around the unknown node to the unknown node away from
From and the unknown node around the plane coordinates of anchor node determine the plane coordinates of the unknown node；
Second determining module, for the Two-dimensional electron grid model according to the region to be detected, three-dimensional electronic grid model with
And the plane coordinates of the unknown node determines the three-dimensional coordinate of the unknown node.
6. wireless sensor network node positioner according to claim 5, it is characterised in that the wireless senser
Network node positioner also includes：Cloth amplification module, for laying wireless sensor node at random on the region to be detected.
7. wireless sensor network node positioner according to claim 5, it is characterised in that described second determines mould
Block includes：
Search unit, for obtaining the grid described in the Two-dimensional electron grid model where the plane coordinates of unknown node；
First computing unit, for determining that the plane coordinates apart from the unknown node is nearest in four summits of the grid
Three summits；
Second computing unit, for obtaining three three-dimensional seats in the three-dimensional electronic grid model with three vertex correspondences
Mark, and the plane and the plane coordinates of the unknown node that are constituted according to three three-dimensional coordinates determine the unknown node
Three-dimensional coordinate.
8. wireless sensor network node positioner according to claim 5, it is characterised in that the region to be detected
For alpine terrain.
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