CN107094288B - 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 methods based on clustering wireless sensor network network under a kind of major long tunnel environment, the following steps are included: S1, to its poincare half plane is unfolded after tunnel horizontal segmentation, establish the space reflection relationship between three-dimensional tunnel and the two-dimensional surface of expansion, the objective plane disposed using the poincare half plane of expansion as WSN；S2, square net is divided on mapped two-dimensional surface, dispose WSN node according to grid；S3, parameter Estimation is carried out to train running speed, Doppler frequency shift and wireless sending and receiving transmission time delay difference；S4, train position estimation.The present invention is by establishing the mapping relations of three-dimensional tunnel and two-dimensional surface, using two-dimensional map plane as objective plane, carry out reasonable WSN node deployment and effective parameter Estimation, Optimization Mechanism, conscientiously it solves and how to dispose WSN in major long tunnel, and the pinpoint technical problem of train progress how to be advanced using WSN to high speed.
Description
Technical field
The invention belongs to train Positioning Technology field, it is related to the train locating method based on wireless sensor network, refers specifically to
Train locating method based on clustering wireless sensor network network under Large Railway Tunnel environment.
Background technique
In recent years, having come into operation with China or building, planning increasing for the high-speed rail tunnel quantity built, it is long
The presence of big tunnel and super long tunnel is also more and more common.Train is located in the running effect of high-speed rail and is mainly reflected in tunnel
2 aspects below: (1) ground control centre carries out Separation control according to the location information of train, guarantees the train of tracking operation
Personal distance；(2) mobile unit obtains the position and speed 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 avoid, improve operational efficiency.High-speed rail is as modern
The intelligence system of change, how to accurately detect train position to complete to carry out train operation etc. control is railway intelligent transport system
The core content of system.
However the train Position Research in major long tunnel (length is kilometer grade) is still in its infancy.Since GPS is in tunnel
It can not implement to position in road, cause blind location area, so the technological means that train positions 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 accuracy it is not high, cannot the drawbacks such as maintenance cost height caused by real-time continuous positioning and setting trackside equipment.
Wireless sensor network (WSN) has the characteristics that expense is low, covering is wide, is easy to deployment maintenance, is that one kind can be used for
The solution of real-time train positioning and tracking.Many researchs have been made to WSN location algorithm in scholar at present, however in length
WSN how is disposed in big tunnel, and how bullet train be accurately positioned using WSN and still suffered from many technologies hardly possiblies
Topic, the present invention are made that innovative research for these problems.
Summary of the invention
In view of the above technical problems, the present invention provides under a kind of major long tunnel environment based on clustering wireless sensor network network
Train locating method, by establishing the mapping relations of three-dimensional tunnel and two-dimensional surface, using two-dimensional map plane as objective plane, into
The reasonable WSN node deployment of row and effective parameter Estimation, Optimization Mechanism, solve in major long tunnel conscientiously and how to dispose
WSN, and the pinpoint many technical problems of train progress how to be advanced using WSN to high speed.
The present invention through the following technical solutions to achieve the above objectives:
Train locating method based on clustering wireless sensor network network under a kind of major long tunnel environment, comprising the following steps:
S1, to its poincare half plane is unfolded after tunnel horizontal segmentation, between actual three-dimensional tunnel and the two-dimensional surface of expansion
Establish space reflection relationship, and the objective plane disposed using the poincare half plane of expansion as tunnel radio sensing network WSN；
S2, square net is divided on mapped two-dimensional surface, and dispose wireless sense network according to the grid of division
Node；Define 3 kinds of ordinary node, leader cluster node and aggregation node WSN nodes；Wherein, ordinary node is responsible for performance objective node
Azimuth determination and receive the information from destination node；Leader cluster node is responsible for communicating with the ordinary node in this cluster, and
It is communicated with adjacent leader cluster node；Aggregation node is responsible for receiving the multi-hop location information from leader cluster node, and this information is passed
Transport to the receiving device outside tunnel；
S3, it will lead to destination node location estimation appearance for train high-speed cruising and wireless sending and receiving transmission time delay difference partially
It moves, parameter Estimation is carried out to train running speed, Doppler frequency shift and wireless sending and receiving transmission time delay difference；
S4, the functional relation between coordinate is estimated using the forward and backward train position of the parameter building offset after above-mentioned estimation,
Train position using least square method LS as optimization tool, after being corrected.
It is complete by configuring the embedded-type electric flow sensor ECS that 2 are serially arranged ON TRAINS as the prioritization scheme of this case
The estimation of pairs of train running speed v, and the valuation based on train running speed v is to Doppler frequency shiftf m It is passed with wireless sending and receiving
Defeated delay inequalityt m Estimated.
As the prioritization scheme of this case, in above-mentioned steps 4, using the least square method of azimuth of target auxiliary to train position
It sets and is estimated.
As the prioritization scheme of this case, in above-mentioned steps 2, based on covering efficiency and network connectivity, square net root
The wireless link budget theory of tunnel particular surroundings determines the side length 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 that every cluster is made of 4 square nets, and ordinary node is located at grid element center position, leader cluster node is located at cluster
Center, aggregation node node are located at tunnel both ends, and each cluster is interior to participate in target location algorithms, 1 common section by 3 ordinary nodes
Point provides communication redundancy.
The beneficial effects of the present invention are:
1, the space reflection relationship for establishing three-dimensional tunnel and two-dimensional surface reduces under conditions of not weakening problem target
The complexity of WSN deployment；
2, theoretical using the wireless link budget for considering tunnel particular surroundings in WSN node deployment, fully consider tunnel
The influence to wireless signal such as wall, so that Node distribution has preferable connectivity, uniformity and to provide certain communication superfluous
It is remaining；
3, in view of train running speed, Doppler frequency shift, wirelessly transmit/receive the parameters such as transmission time delay difference to final train position
The influence for setting positioning, to the effective estimation mechanism of these parameter designings, to improve the precision of positioning result；
4, train position caused by studying because of azimuth quantization error and parameter estimating error deviates, and with least square method
The train positioning of azimuth of target auxiliary is completed for optimization tool；
5, it solves conscientiously and how effectively to dispose WSN in major long tunnel, and the train how to be advanced using WSN to high speed
Carry out the technical problem positioned.
Detailed description of the invention
Fig. 1 is that the present invention is based on the mapping schematic diagrames of three-dimensional tunnel and two-dimensional surface in sub-clustering WSN train locating method；
Fig. 2 is that the present invention is based on mesh shapes in sub-clustering WSN train locating method to choose schematic diagram；
Fig. 3 is that the present invention is based on grid and node deployment schematic diagrames in sub-clustering WSN train locating method；
Fig. 4 is that the present invention is based on train positioning principle schematic diagrams in sub-clustering WSN train locating method；
Fig. 5 is that the present invention is based on the associate feature curves of speed and output signal in sub-clustering WSN train locating method.
Specific embodiment
The present invention and its effect are further elaborated below in conjunction with accompanying drawings and embodiments.
The present invention has studied the train locating method based on clustering wireless sensor network network under major long tunnel environment, including following
Step:
S1, to its poincare half plane is unfolded after tunnel horizontal segmentation, between actual three-dimensional tunnel and the two-dimensional surface of expansion
Establish space reflection relationship, and the objective plane disposed using the poincare half plane of expansion as tunnel radio sensing network WSN.Railway
Tunnel-shaped is cylindrical, and sensor node deployment is three-dimensional space problem in tunnel wall or tunnel ground, increases WSN section
The complexity of point deployment；The present invention proposes to carry out that its poincare half plane is unfolded after horizontal segmentation to tunnel, with the upper half after expansion
The objective plane that plane is disposed as tunnel WSN thus establishes space between actual three-dimensional tunnel and two-dimensional surface and reflects
Penetrate relationship (as shown in Figure 1).The foundation of this mapping relations is based on the fact that the two-dimensional surface compared to mapping, three-dimensional tunnel
The WSN network connectivty in road can be better, this is because any 2 WSN sending and receiving nodes are slightly short in the communication distance of three-dimensional tunnel
In two-dimensional surface, therefore, the obtained result of WSN node deployment research is unfolded on mapped two-dimensional surface to be weakened
The target of three-dimensional tunnel deployment WSN.
S2, square net is divided on mapped two-dimensional surface, and dispose wireless sense network according to the grid of division
Node；Define 3 kinds of ordinary node (indicating with SN), leader cluster node (indicating with RN) and aggregation node (indicating with Sink) 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 is responsible for receiving from cluster head
The multi-hop location information of node, and transmit this information to the receiving device outside tunnel.
The node deployment that deployment WSN node belongs to certainty region overlay on the two-dimensional surface of three-dimensional tunnel mapping is asked
Topic, the common practice for solving it is the grid for first dividing the area into rule, then carries out node deployment.Mathematically it can be proved that
With regular polygon seamless (non-blind area), a plane domain is covered without overlapping, and available shape has equilateral triangle, pros
3 kinds of shape, regular hexagon.So selected in this 3 kinds of shapes any most suitable it must be noted that here towards WSN grid
It is different from the small area shape select permeability of cellular mobile communication networks, they have different constraint condition and optimization aim.For
The constraint condition b. for meeting the deployment of WSN anchor node has connectivity by the WSN that leader cluster node (RNs) is relay node, needs
Assess the region overlay efficiency of the different mesh shapes when the distance between adjacent R N identical (being set as D).As shown in Figure 2, just
The area coverage of square net is maximum, i.e., that is, number of nodes needed for square net realizes region overlay is minimum, network
Coverage rate highest；Therefore, square net is preferably used, is required to meet the connection of the covering between node, square net side length is not
Can be excessive, while can not be too small, it otherwise will lead in node communication range that there are excessive redundant nodes；Based on covering efficiency and
The coverage mode of the considerations of network connectivity, square net are theoretical according to the wireless link budget for considering tunnel particular surroundings
Determine the side length of square net；On this basis, the WSN network based on sub-clustering is disposed.Wireless link budget theory by
The connectivity being widely used between assessment wireless communication network node, wireless link budget formula are
(2)
Wherein,P r For node receive power (withdBmMeter),P t For transmission power (withdBmMeter),G T 、G R Respectively emit,
Receiving antenna gain (withdBiMeter),PL(r) it is that sending and receiving distance isrWhen tunnel in path loss (withdBMeter),L FM Tunnel ring
Fading margin under border.
When reception powerP r More than or equal to receiver sensitivityβWhen (in terms of dBm), the connectivity that can meet network is wanted
It asks.In formula (2),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 is intended 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 codetermined by following factor: the position of node sending and receiving antenna,
The QoS index (outage probability) that tunnel-liner material, tunnel curvature, working frequency range, train location algorithm require.Later, it will repair
PositivePL(r)、L FM In value substitution path loss, Ricean fading model, obtained according to wireless link budget formulaP r Value, and
It calculates and works asWhen node between maximum communication distanceD.As seen from Figure 3, in the constraint condition for meeting network full-mesh
Under, the value of square net side length isD/2。
The ideal position leader cluster node RN 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 cluster center scenarios 2.4 times.Therefore, from green energy conservation and execution mesh
Mark orientation angle sets out, and the sub-clustering WSN node deployment scheme that the present invention takes is as shown in Figure 3；In figure, every cluster is by 4 pros
Shape grid is constituted, and ordinary node is located at grid element center position, leader cluster node is located at cluster center, aggregation node is located at tunnel both 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, has optimal energy ecology, thus extends network lifecycle, while
Meet the constraint condition of WSN node deployment under tunnel environment.
S3, parameter Estimation, since train high-speed cruising and wireless sending and receiving transmission time delay difference will lead to destination node location
Offset, therefore train running speed, Doppler frequency shift and wireless sending and receiving transmission time delay difference are estimated.
Following thinking is used to the positioning of train, as shown in Figure 4.The deployment of WSN has been mapped to one by us
Two-dimensional surface, and WSN node is deployed in this plane, train position (x, y) azimuth that can be measured by these nodes
Information obtains.Enable (x m , y m ) it is the in the single cluster of WSNmThe position coordinates of a ordinary node,θ m It ismA ordinary node measures
Azimuth of target (m=1,2,…, M).It is measured to obtain but due to the influence of Doppler frequency shift and radio wave transmissions time delay
The angle arrivedθmWith actual angleθm′It is constantly present deviation, causes the offset finally to train position positioning.
It is completed by configuring 2 embedded-type electric flow sensor ECS being serially arranged ON TRAINS to train running speed v's
Estimation；The estimation of train running speed v specifically:
The output signal for enabling 2 ECS is respectively s1(t) 、s2(t), ssa1(t) 、ssa2(t) s is respectively indicated1(t)、
S2(t) resampling signal, speed v can be by analyzing s1(t) 、s2(t) cross correlation obtains (as shown in Figure 5), enables
The corresponding time shift of its waveform peak is
(3)
Then the valuation of train running speed v is l/ Δ t.
Doppler frequency shiftf m With wireless sending and receiving transmission time delay differencet m Estimation:
Train high-speed mobile causes to receive frequency relative to emission signal frequencyf 0 Frequency displacement, i.e. Doppler frequency shiftf m ；It is based on
Train running speedvValuation, m-th of ordinary node measurement azimuth of targetθ m (0º <θ m < 180o), obtain destination node
Doppler frequency shiftf m =(f 0 * v/c)cosθ m (m=1,2,...M)；
Enable (x m , y m ),m=1,2,.., M, it is themThe coordinate of a ordinary node,θ m It ismA ordinary node measures
The azimuth of target arrived,θ m It is represented byOr (180o-θ m ), the movement depending on train with respect to anchor node
Direction.ThemA ordinary node measure at a distance from destination noded m Value then estimate to obtain by following formula:
(4)
WhereinTo consider ordinary node under the conditions of Doppler frequency shiftmThe signal function received
Rate, whereins(f)For received signal power spectrum density.It is obtained in estimationd m Under conditions of, so that it may when obtaining wireless sending and receiving transmission
Prolonging poor valuation ist m =d m /c (m=1,2,…, M), wherein the spread speed of c radio wave, is equal to the light velocity.
S4, determine train position, using the parameter building after above-mentioned estimation deviate forward and backward train position estimation coordinate it
Between functional relation, the train position coordinate using least square method LS as optimization tool, after being corrected.
Train position is estimated using the least square method that azimuth of target assists；
Specifically, on three-dimensional tunnel mapped two-dimensional surface, if train, that is, destination node is when location algorithm executes
Interior running track is straight line, establishes plane coordinate system, and x-axis takes the running track for being parallel to destination node, enable (x m , y m )
It is in the single cluster of WSNmThe position coordinates of a ordinary node,θ m It ismAzimuth of target that a ordinary node measures (m=1,
2,…, M), following equation group can be obtained
(5)
And；
Above formula (5) is over-determined systems, is solved using least square method, defines cost function and is
(6)
In formula,θ m It is the value after azimuth of target quantization；
Due to Doppler frequency shiftf m With wireless sending and receiving transmission time delay differencet m , the offset of azimuth of target is caused, i.e.,θ m →θ m 'And the offset of target location coordinate, i.e., (x, y) → (x m ', y m ')；Meet following relational expression between them:
(7)
Wherein,；In formula (5),v、t m Value with train in step 3
The speed of service, the valuation of wireless sending and receiving transmission time delay difference are foundation；
Be minimised as optimization aim with (6) formula, by different ordinary nodes (x m ', y m '), quantization afterθ m '、t m Value
It is sent at the leader cluster node of this cluster, executes least square method train location estimation again by leader cluster node, obtain destination node
Position coordinates (x', y').
Above embodiments are merely exemplary, and can't limit to the present invention, it should be pointed out that for those skilled in the art
For, the other equivalent modifications and improvement made under technical inspiration provided by the present invention are regarded as guarantor of the invention
Protect range.
Claims (5)
1. the train locating method based on clustering wireless sensor network network under a kind of major long tunnel environment, which is characterized in that including with
Lower step:
S1, to its poincare half plane is unfolded after tunnel horizontal segmentation, established between actual three-dimensional tunnel and the two-dimensional surface of expansion
Space reflection relationship, and the objective plane disposed using the poincare half plane of expansion as tunnel radio sensing network WSN；
S2, square net is divided on mapped two-dimensional surface, and dispose wireless sensing net node according to the grid of division；
Define 3 kinds of ordinary node, leader cluster node and aggregation node WSN nodes；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, will lead to for train high-speed cruising and wireless sending and receiving transmission time delay difference destination node location estimation deviate, it is right
Train running speed, Doppler frequency shift and wireless sending and receiving transmission time delay difference carry out parameter Estimation；
S4, the functional relation between coordinate is estimated using the forward and backward train position of the parameter building offset after above-mentioned estimation, 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,
It is characterized by and configures the 2 embedded-type electric flow sensor ECS being serially arranged completions ON TRAINS to train running speed v
Estimation, and based on train running speed v to Doppler frequency shift fmWith wireless sending and receiving transmission time delay difference tmEstimated.
3. the train locating method based on clustering wireless sensor network network under major long tunnel environment according to claim 1,
It is characterized in that: in above-mentioned steps S4, train position being estimated using the least square method that azimuth of target assists.
4. the train locating method based on clustering wireless sensor network network under major long tunnel environment according to claim 1,
Be characterized in that: in above-mentioned steps S2, based on covering efficiency and network connectivity, square net is according to considering tunnel Special Ring
The wireless link budget theory in border determines the side length of grid.
5. the train locating method based on clustering wireless sensor network network under major long tunnel environment according to claim 1,
It is characterized in that: in above-mentioned steps S2, being deployed as according to the square net divided based on the wireless sensing net node of sub-clustering, every cluster
It is made of 4 square nets, ordinary node is located at grid element center position, leader cluster node is located at cluster center, aggregation node node
Positioned at tunnel both ends, target location algorithm is participated in by 3 ordinary nodes in each cluster, 1 ordinary node provides communication redundancy.
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| CN110290458B (en) * | 2019-06-05 | 2020-11-03 | 南京邮电大学 | Tunnel positioning method based on block chain and edge calculation, storage medium and terminal |
| CN110290470B (en) * | 2019-06-05 | 2020-10-02 | 南京邮电大学 | Tunnel positioning system based on block chain and edge calculation |
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