CN107094288A - Train locating method based on clustering wireless sensor network network under major long tunnel environment - Google Patents
Train locating method based on clustering wireless sensor network network under major long tunnel environment Download PDFInfo
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Abstract
The invention discloses the train locating method based on clustering wireless sensor network network under a kind of major long tunnel environment, comprise the following steps：S1, to deploying its poincare half plane after tunnel horizontal segmentation, the space reflection relation set up between the two dimensional surface of three-dimensional tunnel and expansion, the objective plane disposed using the poincare half plane of expansion as WSN；S2, divide square net on the two dimensional surface mapped, WSN nodes are disposed according to grid；S3, to train running speed, Doppler frequency shift and wireless sending and receiving transmission time delay difference carry out parameter Estimation；S4, train position estimation.Mapping relations of the invention by setting up three-dimensional tunnel and two dimensional surface, using two-dimensional map plane as objective plane, carry out rational WSN node deployments and effective parameter Estimation, Optimization Mechanism, conscientiously solve and WSN how is disposed in major long tunnel, and how pinpoint technical barrier to be carried out to the train that high speed is advanced using WSN.
Description
Technical field
The invention belongs to train Positioning Technology field, it is related to the train locating method based on radio sensing network, refers specifically to
Train locating method based on clustering wireless sensor network network under Large Railway Tunnel environment.
Background technology
In recent years, it is having been come into operation with China or build, the high ferro tunnel quantity planning to build increases, long
The presence in big tunnel and super long tunnel is also more and more universal.Train is positioned at the operating effect of high ferro and is mainly reflected in tunnel
2 aspects below：（1）Ground control centre carries out Separation control according to the positional information of train, it is ensured that follow the trail of the train of operation
Personal distance；（2）Mobile unit obtains position and the velocity information of train, can be controlled according to speed-modeling curve,
Compared with the Stepped control carried out according only to speed, the multiple braking of train can be avoided, operational efficiency is improved.High ferro is used as the modern times
The intelligence system of change, how to accurately detect train position to complete to be controlled train operation etc. is railway intelligent transport system
The core content of system.
But major long tunnel（Length is kilometer level）Interior train Position Research is still in the starting stage.Because GPS is in tunnel
Positioning can not be implemented in road, cause to position blind area, so the technological means that train is positioned in major long tunnel mainly takes wired side
Formula, including track circuit positioning, odometer positioning, inquiry-transponder positioning, inductive line intersected positioning etc., they are generally deposited
Positioning precision it is not high, be unable to real-time continuous positioning and the drawback such as maintenance cost height caused by trackside equipment be set.
Wireless sensor network（WSN）It is that one kind can be used for expense is low, covering is wide, the features such as be easy to deployment maintenance
The solution of real-time train positioning and tracking.Many researchs have been made to WSN location algorithms in current scholar, but in length
WSN how is disposed in big tunnel, and how to bullet train be accurately positioned that to still suffer from many technologies difficult using WSN
Topic, the present invention is made that the research of novelty for these problems.
The content of the invention
For above-mentioned technical problem, the invention provides under a kind of major long tunnel environment based on clustering wireless sensor network network
Train locating method, by setting up the mapping relations of three-dimensional tunnel and two dimensional surface, using two-dimensional map plane as objective plane, enters
The rational WSN node deployments of row and effective parameter Estimation, Optimization Mechanism, solve in major long tunnel and how to dispose conscientiously
WSN, and how pinpoint many technical barriers to be carried out to the train that high speed is advanced using WSN.
The present invention is achieved through the following technical solutions above-mentioned purpose：
Train locating method based on clustering wireless sensor network network under a kind of major long tunnel environment, comprises the following steps：
S1, to deploying its poincare half plane after tunnel horizontal segmentation, set up between actual three-dimensional tunnel and the two dimensional surface of expansion
Space reflection relation, and the objective plane disposed using the poincare half plane of expansion as tunnel radio sensing network WSN；
S2, divide square net on the two dimensional surface mapped, and wireless sensing net node is disposed according to the grid of division；
Define ordinary node, 3 kinds of WSN nodes of leader cluster node and aggregation node；Wherein, ordinary node is responsible for the orientation of performance objective node
The information of angular measurement and reception from destination node；Leader cluster node be responsible for is communicated with the ordinary node in this cluster, and with it is adjacent
Leader cluster node communication；Aggregation node is responsible for receiving the multi-hop location information from leader cluster node, and transmits this information to tunnel
Receiving device outside road；
S3, destination node location estimation can be caused to offset for train high-speed cruising and wireless sending and receiving transmission time delay difference, it is right
Train running speed, Doppler frequency shift and wireless sending and receiving transmission time delay difference carry out parameter Estimation；
S4, build using the parameter after above-mentioned estimation the forward and backward train position of skew and estimate functional relation between coordinate, with most
Small square law LS is optimization tool, the train position after being corrected.
It is complete by configuring 2 embedded-type electric serially set flow sensor ECS ON TRAINS as the prioritization scheme of this case
Paired train running speed v estimation, and the valuation based on train running speed v is to Doppler frequency shiftf m Passed with wireless sending and receiving
Defeated delay inequalityt m Estimated.
As the prioritization scheme of this case, in above-mentioned steps 4, the least square method aided in using azimuth of target is to train position
Put and estimated.
As the prioritization scheme of this case, in above-mentioned steps 2, based on covering efficiency and network-in-dialing degree, square net root
The wireless link budget theory of tunnel particular surroundings determines the length of side of grid according to the consideration.
As the prioritization scheme of this case, in above-mentioned steps 2, according to wireless sensing of the square net based on sub-clustering divided
Net node deployment is to be made up of per cluster 4 square nets, and ordinary node is located at grid element center position, leader cluster node and is located at cluster
Center, aggregation node node are located in tunnel two ends, each cluster participates in target location algorithm, 1 common section by 3 ordinary nodes
Point provides communication redundancy.
The beneficial effects of the invention are as follows：
1st, the space reflection relation of three-dimensional tunnel and two dimensional surface is set up, under conditions of problem target is not weakened, WSN is reduced
The complexity of deployment；
2nd, it is theoretical using the wireless link budget for considering tunnel particular surroundings in WSN node deployments, take into full account tunnel wall
Deng the influence to wireless signal so that Node distribution has preferably connective, uniformity and can provide certain communication redundancy；
3rd, final train position is determined in view of train running speed, Doppler frequency shift, the wireless parameters such as transmission time delay difference that transmit/receive
The influence of position, effective estimation mechanism to these parameter designings, to improve the precision of positioning result；
4th, research train position caused by azimuth quantization error and parameter estimating error is offset, and using least square method to be excellent
Chemical industry tool completes the train positioning of azimuth of target auxiliary；
5th, solve conscientiously and WSN how is effectively disposed in major long tunnel, and how the train that high speed is advanced to be carried out using WSN
The technical barrier positioned.
Brief description of the drawings
Fig. 1 is the mapping schematic diagram of the invention based on three-dimensional tunnel and two dimensional surface in sub-clustering WSN train locating methods；
Fig. 2 is based on mesh shape in sub-clustering WSN train locating methods for the present invention and chooses schematic diagram；
Fig. 3 is based on grid and node deployment schematic diagram in sub-clustering WSN train locating methods for the present invention；
Fig. 4 is based on train positioning principle schematic diagram in sub-clustering WSN train locating methods for the present invention；
Fig. 5 is the associate feature curve of the invention based on sub-clustering WSN train locating methods medium velocity and output signal.
Embodiment
The present invention and its effect are further elaborated below in conjunction with drawings and Examples.
The present invention have studied the train locating method based on clustering wireless sensor network network under major long tunnel environment, including following
Step：
S1, to deploying its poincare half plane after tunnel horizontal segmentation, set up between actual three-dimensional tunnel and the two dimensional surface of expansion
Space reflection relation, and the objective plane disposed using the poincare half plane of expansion as tunnel radio sensing network WSN.Railway tunnel
Shape is in cylinder, and sensor node deployment, in tunnel wall or tunnel ground, is three dimensions problem, adds WSN nodes
The complexity of administration；The present invention proposes that tunnel is carried out to deploy its poincare half plane after horizontal segmentation, with the poincare half plane after expansion
The objective plane disposed as tunnel WSN, thus establishes space reflection between actual three-dimensional tunnel and two dimensional surface and closes
System（As shown in Figure 1）.The foundation of this mapping relations is based on the fact that：Compared to the two dimensional surface of mapping, three-dimensional tunnel
WSN network connectivties can be better, because any 2 WSN sending and receiving nodes are slightly shorter than two in the communication distance of three-dimensional tunnel
Dimensional plane, therefore, deploying the resulting result of WSN node deployments research on the two dimensional surface mapped will not weaken in three-dimensional
WSN target is disposed in tunnel.
S2, divide square net on the two dimensional surface mapped, and wireless sense network is disposed according to the grid of division
Node；Define ordinary node（Represented with SN）, leader cluster node（Represented with RN）And aggregation node（Represented with Sink）3 kinds of WSN sections
Point；Wherein, ordinary node is responsible for the azimuth determination of performance objective node and receives the information from destination node；Leader cluster node
It is responsible for communicating with the ordinary node in this cluster, and is communicated with adjacent leader cluster node；Aggregation node, which is responsible for receiving, comes from cluster head
The multi-hop location information of node, and the receiving device transmitted this information to outside tunnel.
Deployment WSN nodes belong to the node deployment of certainty region overlay and asked on the two dimensional surface that three-dimensional tunnel maps
Topic, the common practice for solving it is the grid for first dividing the area into rule, then carries out node deployment.It can mathematically prove,
It is seamless with regular polygon（Non-blind area）, cover a plane domain without overlapping, available shape has equilateral triangle, pros
3 kinds of shape, regular hexagon.So select any most suitable in this 3 kinds of shapesIt must be noted that here towards WSN grids
The small area shape select permeability of cellular mobile communication networks is different from, they have different constraintss and optimization aim.For
The constraints b. of WSN anchor nodes deployment is met by leader cluster node（RNs）There is connectivity for the WSN of via node, need
Assess when the distance between adjacent R N is identical（It is set to D）When different mesh shapes region overlay efficiency.As shown in Figure 2, just
The area coverage of square net is maximum, i.e., that is, square net realizes nodes needed for region overlay at least, network
Coverage rate highest；Therefore, preferably using square net, to meet the connection requirement of the covering between node, the square net length of side is not
Can be excessive, while can not be too small, it otherwise can cause the presence of excessive redundant node in node communication range；Based on covering efficiency and
The consideration of network-in-dialing degree, the coverage mode of square net is theoretical according to the wireless link budget for considering tunnel particular surroundings
Determine the length of side of square net；On this basis, the WSN networks based on sub-clustering are disposed.Wireless link budget it is theoretical by
The connectedness between assessment wireless communication network node is widely used in, its wireless link budget formula is
（2）
Wherein,P r For node receiving power（WithdBmMeter）,P t For transmission power（WithdBmMeter）,G T 、G R Respectively launch, receive
Antenna gain（WithdBiMeter）,PL(r) it is that sending and receiving distance isrWhen tunnel in path loss（WithdBMeter）,L FM Under tunnel environment
Fading margin.
Work as receiving powerP r More than or equal to receiver sensitivityβ（In terms of dBm）When, you can the connectedness for meeting network will
Ask.In formula（2）In,P t 、G T 、G R It is preset value, andPL(r)、L FM Then depending on wireless transmission environments.For growing up for this project
Tunnel environment, intends considering with the bend tunnel of concrete lining materialPL(r)、L FM As benchmark, for different type tunnel
Communication environments provide corresponding modifying factorMF。MFValue together decided on by following factor：The position of node sending and receiving antenna,
Tunnel-liner material, tunnel curvature, working frequency range, the QoS index of train location algorithm requirement（Outage probability）.Afterwards, it will repair
PositivePL(r)、L FM Value is substituted into path loss, Ricean fading models, is obtained according to wireless link budget formulaP r Value, and
Calculate and work asWhen node between maximum communication distanceD.As seen from Figure 3, the constraints of network full-mesh is being met
Under, the value of the square net length of side isD/2。
Preferable leader cluster node RN positions should be located at cluster center, if the leader cluster node RN actually selected is not in cluster
The heart, then energy of its consumption will be that leader cluster node RN is located at 2.4 times of cluster center scenarios.Therefore, from green energy conservation and execution mesh
Mark orientation angle sets out, and the sub-clustering WSN node deployments scheme that the present invention takes is as shown in Figure 3；In figure, per cluster by 4 pros
Shape grid is constituted, and ordinary node is located at grid element center position, leader cluster node and is located at cluster center, aggregation node positioned at tunnel two ends,
Target location algorithm is participated in by 3 ordinary nodes in each cluster, 1 ordinary node provides communication redundancy.Such deployment envoy
Point position has reached preferable uniformity, with optimal energy ecology, thus extends network lifecycle, while
Meet the constraints of WSN node deployments under tunnel environment.
S3, parameter Estimation, because train high-speed cruising and wireless sending and receiving transmission time delay difference can cause destination node location
Skew, therefore train running speed, Doppler frequency shift and wireless sending and receiving transmission time delay difference are estimated.
Positioning to train employs following thinking, as shown in Figure 4.WSN deployment has been mapped to one by us
Two dimensional surface, and deploy in this plane WSN nodes, train position (x, y) azimuth that can be measured by these nodes
Information is drawn.Make (x m , y m ) in the single clusters of WSN themThe position coordinates of individual ordinary node,θ m FormIndividual ordinary node is measured
Azimuth of target (m=1,2,…, M).But it is due to the influence of Doppler frequency shift and radio wave transmissions time delay, measured
The angle arrivedθmWith actual angleθm′Deviation is constantly present, the final skew positioned to train position is caused.
Completed by configuring 2 embedded-type electric serially set flow sensor ECS ON TRAINS to train running speed v's
Estimation；Train running speed v estimation is specially：
Make 2 ECS output signal respectively s1(t) 、s2(t), ssa1(t) 、ssa2(t) s is represented respectively1(t) s,2
(t) resampling signal, speed v can be by analyzing s1(t) 、s2(t) cross correlation is obtained（As shown in Figure 5）, make its ripple
The corresponding time shift of shape peak value is
（3）
Then train running speed v valuation is l/ Δs t.
Doppler frequency shiftf m With wireless sending and receiving transmission time delay differencet m Estimation：
Train high-speed mobile causes receives frequency relative to emission signal frequencyf 0 Frequency displacement, i.e. Doppler frequency shiftf m ；Based on row
The car speed of servicevValuation, the azimuth of target of m-th ordinary node measurementθ m (0º <θ m <180o), destination node is obtained
Doppler frequency shiftf m =(f 0 * v/c)cosθ m (m=1,2,...M)；
Make (x m , y m ),m=1,2,.., M, it ismThe coordinate of individual ordinary node,θ m FormWhat individual ordinary node measurement was obtained
Azimuth of target,θ m It is represented byOr (180o-θ m ), depending on train with respect to anchor node
The direction of motion.ThemThe distance with destination node that individual ordinary node is measuredd m Value then by following formula estimation obtain：
（4）
WhereinTo consider ordinary node under the conditions of Doppler frequency shiftmReceive
Signal power, wherein,s(f)For received signal power spectrum density.Obtained in estimationd m Under conditions of, so that it may wirelessly received,
Hair transmission time delay difference valuation bet m =d m /c (m=1,2,…, M), the wherein spread speed of c radio waves is equal to the light velocity.
S4, determine train position, using the parameter after above-mentioned estimation build the forward and backward train position of skew estimate coordinate it
Between functional relation, using least square method LS as optimization tool, the train position coordinate after being corrected.
The least square method aided in using azimuth of target is estimated train position；
Specifically, on the two dimensional surface that three-dimensional tunnel is mapped, if train is destination node within the location algorithm execution time
Running orbit be straight line, set up plane coordinate system, x-axis takes the running orbit parallel to destination node, make (x m , y m ) be
In the single clusters of WSNmThe position coordinates of individual ordinary node,θ m FormAzimuth of target that individual ordinary node is measured (m=1,
2,…, M), equation below group can be obtained
（5）
And；
Above formula（5）For over-determined systems, solved using least square method, defining cost function is
（6）
In formula,θ m It is the value after azimuth of target quantifies；
Due to Doppler frequency shiftf m With wireless sending and receiving transmission time delay differencet m , the skew of azimuth of target is caused, i.e.,θ m →θ m ',
With the skew of target location coordinate, i.e. (x, y) → (x m ', y m ')；Following relational expression is met between them：
（7）
Wherein,；Formula（5）In,v、t m Value with
Train running speed in step 3, the valuation of wireless sending and receiving transmission time delay difference is foundation；
With（6）Formula is minimised as optimization aim, by different ordinary nodes (x m ', y m '), quantify afterθ m '、t m Value is sent
To the leader cluster node of this cluster, perform least square method train location estimation again by leader cluster node, obtain destination node location
Coordinate (x', y'）.
Above example is only exemplary, can't limit to the present invention, it should be pointed out that for those skilled in the art
For, the other equivalent modifications made under technical inspiration provided by the present invention and improvement are regarded as the guarantor of the present invention
Protect scope.
Claims (5)
1. the train locating method based on clustering wireless sensor network network under a kind of major long tunnel environment, it is characterised in that including with
Lower step：
S1, to deploying its poincare half plane after tunnel horizontal segmentation, set up between actual three-dimensional tunnel and the two dimensional surface of expansion
Space reflection relation, and the objective plane disposed using the poincare half plane of expansion as tunnel radio sensing network WSN；
S2, divide square net on the two dimensional surface mapped, and wireless sensing net node is disposed according to the grid of division；
Define ordinary node, 3 kinds of WSN nodes of leader cluster node and aggregation node；Wherein, ordinary node is responsible for the orientation of performance objective node
The information of angular measurement and reception from destination node；Leader cluster node be responsible for is communicated with the ordinary node in this cluster, and with it is adjacent
Leader cluster node communication；Aggregation node is responsible for receiving the multi-hop location information from leader cluster node, and transmits this information to tunnel
Receiving device outside road；
S3, destination node location estimation can be caused to offset for train high-speed cruising and wireless sending and receiving transmission time delay difference, it is right
Train running speed, Doppler frequency shift and wireless sending and receiving transmission time delay difference carry out parameter Estimation；
S4, build using the parameter after above-mentioned estimation the forward and backward train position of skew and estimate functional relation between coordinate, with most
Small square law LS is optimization tool, the train position after being corrected.
2. the train locating method based on clustering wireless sensor network network under major long tunnel environment according to claim 1, its
It is characterised by：Completed by configuring 2 embedded-type electric serially set flow sensor ECS ON TRAINS to train running speed v
Estimation, and based on train running speed v to Doppler frequency shiftf m With wireless sending and receiving transmission time delay differencet m Estimated.
3. the train locating method based on clustering wireless sensor network network under major long tunnel environment according to claim 1, its
It is characterised by：In above-mentioned steps 4, the least square method aided in using azimuth of target is estimated train position.
4. the train locating method based on clustering wireless sensor network network under major long tunnel environment according to claim 1, its
It is characterised by：In above-mentioned steps 2, based on covering efficiency and network-in-dialing degree, square net is according to considering tunnel Special Ring
The wireless link budget theory in border determines the length of side of grid.
5. the train locating method based on clustering wireless sensor network network under major long tunnel environment according to claim 1, its
It is characterised by：In above-mentioned steps 2, it is deployed as according to wireless sensing net node of the square net based on sub-clustering divided, per cluster
It is made up of 4 square nets, ordinary node is located at grid element center position, leader cluster node and is located at cluster center, aggregation node node
Target location algorithm is participated in by 3 ordinary nodes in tunnel two ends, each cluster, 1 ordinary node provides communication redundancy.
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