CN107360545A - A kind of wireless sensor network positioning method using electromagnetic wave symmetric propagation properties - Google Patents

A kind of wireless sensor network positioning method using electromagnetic wave symmetric propagation properties Download PDF

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Publication number
CN107360545A
CN107360545A CN201710560400.1A CN201710560400A CN107360545A CN 107360545 A CN107360545 A CN 107360545A CN 201710560400 A CN201710560400 A CN 201710560400A CN 107360545 A CN107360545 A CN 107360545A
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node
anchor node
symmetrical
measured
electromagnetic wave
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吴世贵
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Guangxi Wan Chuang Data Technology Co., Ltd.
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吴世贵
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • 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
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination

Abstract

The invention discloses a kind of new method positioned based on node received signal strength value (RSSI, Received Signal Strength Indicator).Using electromagnetic wave along space symmetr propagation characteristic, a kind of new location technology is designed；The electromagnetic wave received is matched by signal intensity etc., find the symmetrical anchor node equidistant with node to be measured, the position of node to be measured is calculated using the location parameter of symmetrical anchor node, adverse effect caused by electromagnetic wave signal Strength Changes position to RSSI is eliminated, improves its positioning precision；New location technology uses centroid algorithm simultaneously, calculates the position of node to be measured using the location parameter of multigroup symmetrical anchor node, further improves precision and enhancing position stability.

Description

A kind of wireless sensor network positioning method using electromagnetic wave symmetric propagation properties
Technical field
The present invention relates to a kind of wireless sensor network positioning method, and in particular to a kind of to be used for wireless sensing based on RSSI Network locating method.
Background technology
Wireless sensor network (WSN, Wireless Sensor Network, WSN) is substantial amounts of static or mobile biography The wireless network that sensor is formed in a manner of self-organizing and multi-hop, the purpose is to collaboratively perceive, gather, handle and transmission network The monitoring information of perceptive object in geographic area is covered, and is reported to user.
Wireless sensor network is to be made up of substantial amounts of static or mobile sensor in a manner of self-organizing and multi-hop Wireless network, with collaboratively perceive, gather, handle and transmission network covering geographic area in be perceived the information of object, and most These information are sent to eventually the owner of network.Radio sensing network is in military, civilian, industrial and some other business Field has urgent application demand and wide market prospects.In the various applications of radio sensing network, such as gather, sense Know, early warning etc., it must be understood that the position or the node location of gathered data that event occurs.If without physical location parameter, The information value for perceiving, gathering acquisition substantially reduces, and even becomes meaningless sometimes, automatically controls, because that can not determine object Position is difficult to carry out.Therefore location technology is of great significance for wireless sensor network using tool.
One of the key technology of wireless sensor network node positioning as radio sensing network, is mainly based upon anchor node With the parameter measurement between node to be measured, the position of node to be measured in localization region is determined according to certain location mechanism.It is existing at present Barycenter, TDOA (Time Difference On Arrival), AOA (Angle of Arrival), DV HOP, APT, APIT A variety of methods such as (Approximate Point in Triangle), in numerous distance-finding methods, received signal strength indicator (RSSI) method ranging need not add any additional hardware equipment, and can be used for a variety of electromagnetic waves, have that cost is low, energy The advantages that small is consumed, therefore is attracted attention.
Location algorithm based on RSSI is estimated using RSSI (Received Signal Strength Indicator) technology The distance between meter and neighbor point, pass through the position that three side methods calculate egress.Electromagnetic wave signal in communication process, with away from From increase, signal intensity can gradually decay, in RSSI ranging technologies, it is known that the transmission power of transmitting node, receive save Receiving power is measured at point, calculates the propagation loss of signal, transmission loss is converted into by distance according to theoretical or empirical model, its Calculation formula is as follows：
In formula, P (d) is from the signal intensity at emitter d；P(d0) expression range transmitter is d0When receiving terminal receive Signal power, drawn by experience；D is distance of the receiver to emitter；d0It is reference distance；N is fading channel index； X σ are the gaussian random noises that average is 0, variance is σ；Signal intensity PL (d) values substitute into can in formula (8) obtain away from Value from d.
Because sensor node has wireless communication ability in itself, and RSSI data are obtained from the packet of communication, So need not any additional firmware.Therefore, it is a kind of low-power consumption, ranging technology conveniently, cheap.Although RSSI rangings meet The requirement of low-power, low cost, but because RSSI signal intensities are unstable, easily by the environment such as temperature, humidity, dense fog because The influence of element, it is thus possible to larger range error can be produced.Therefore RSSI ranging technologies are a kind of location technologies of coarseness, mesh The preceding improvement to algorithm concentrate on using method of weighting improve precision, but due to electromagnetic wave signal intensity can be affected by environment and become Change, precision improves limited.
The content of the invention
Practical problem to be solved by this invention is：It is unstable for electromagnetic wave signal intensity present in current RSSI positioning It is fixed, easily influenceed by environmental factors such as temperature, humidity, dense fogs, the technical problems such as larger range error can be produced.
To solve the above problems, the present invention proposes a kind of new method positioned using electromagnetic wave along space symmetr propagation characteristic. The technical scheme of use is each anchor node signal strength values (RSSI) received based on node to be measured, using electromagnetic wave in space There is the characteristics of symmetry during propagation, the electromagnetic wave received is matched by signal intensity and its location parameter etc., find Equidistant symmetrical anchor node, is made using the location parameter of two anchor nodes of pairing by series of computation with node to be measured The position of node to be measured.When electromagnetic wave signal is influenceed by factors such as weather, the signal intensity received can change, and use Formula
Calculating will cause larger error, although and the RSSI value of the symmetrical anchor node equidistant with node to be measured can also occur Change, but still it is equal, the present invention is affected by environment using RSSI value, but still equal characteristic, and it is strong to eliminate electromagnetic wave signal Adverse effect caused by degree change positions to RSSI, improves its positioning precision；New location technology uses centroid algorithm simultaneously, makes The position of node to be measured is calculated with the location parameter of multigroup symmetrical anchor node, further improves precision and enhancing positioning stablity Property.
The process of positioning is as follows：
Step 1：Network is initialized, wireless sensor network positioning region, anchor node coordinate is determined and to be randomly dispersed in this fixed Node to be measured in the region of position；
Step 2：Node to be measured measures the RSSI of anchor node by receiving information of the anchor node periodicity to surrounding broadcast Value, takes multiple measurements the anchor node RSSI value r and its location parameter for improve its accuracy, recording and receiving；[r1, A (x1, y1)]、[r2, B (x2, y2)]、[r3, C (x3, y3)]……[rm, M (xm, ym)]、[rn, N (xn, yn)]。
Step 3：By the multiple anchor nodes measured by RSSI value r1、r2、r3、……rnMatched, find out RSSI value phase Deng two anchor nodes, be made into one group of symmetrical anchor node；So repeatedly, multigroup symmetrical anchor node is found out.
If r be present1=r2, then r1、r2Corresponding anchor node A, B are one group of symmetrical anchor node；
If r be present3=r4, then r3、r4Corresponding anchor node C, D are one group of symmetrical anchor node；
…………
If r be presentm=rn, then rm、rnCorresponding anchor node M, N are one group of symmetrical anchor node.
Require at least to find out 2 groups of symmetrical anchor nodes when actually measuring, so that its two perpendicular bisectors intersect, treated Survey the position of node.
Step 4：The symmetric properties propagated in space according to electromagnetic wave, node to be measured must be located at one measured On perpendicular bisector Y between two nodes of the symmetrical anchor node of group, when measuring two groups of symmetrical anchor nodes, then two groups of symmetrical anchors Two perpendicular bisectors that node is formed must have intersection point P (x, y), then this intersection point is the position of node to be measured.
The perpendicular bisector of (1) one group of symmetrical anchor node is：
X in formula1、y1, x2、y2For symmetrical anchor node A (x1, y1)、B(x2, y2) coordinate.Y is symmetrical anchor node A (x1, y1)、B(x2, y2) perpendicular bisector；
Multigroup symmetrical anchor node forms perpendicular bisector, the Yn that is designated as Y1, Y2, Y3 ....
The intersection point P (x, y) for two perpendicular bisectors that (2) two groups of symmetrical anchor nodes are formed is：
A in formula1、b1, a2、b2The two perpendicular bisector Y1=a formed by two groups of anchor nodes1x+b1, Y2=a2x+b2's Coefficient.
(3) when a plurality of perpendicular bisector for having multigroup symmetrical anchor node to be formed, multiple intersection points can be calculated by the above method, It is designated as：P(x1, y1)、P(x2, y2)、P(x3, y3)、P(x4, y4)、……P(xn, yn)。
Step 5：When the symmetrical anchor node measured has multigroup, then the perpendicular bisector of multigroup symmetrical anchor node, it is possible to Same point is not intersected at, the intersection point calculation of a plurality of perpendicular bisector is now gone out to the barycenter of these intersection points using centroid algorithm, then This centroid position is the position of node to be measured.
Then its center-of-mass coordinate is：
X in formula1、x2、x3……xn, y1、y2、y3、y4…ynThe intersection point of the perpendicular bisector formed for multigroup symmetrical anchor node P coordinate value.
Further to improve precision, calculated forming a plurality of straight-line intersection using the symmetrical anchor node of the different each group of RSSI value During barycenter, the weight of each intersection point is determined according to its RSSI value, and then calculates the barycenter containing weight.
Weighted mass center coordinate is：
In formulaFor the weight of each group symmetric anchor perpendicular bisector intersection point, its size judge with RSSI value is foundation.If r1>r2>r3>……>rn, then its weight w1>w2>w3>……>wn。
Export the positioning result of node to be measured.
Beneficial effects of the present invention are：This method can be realized and radio sensing network node is accurately positioned, and be not required to Increase any hardware device, have the characteristics that cost is low, energy consumption is small, convenient.
Brief description of the drawings
In order that the object, technical solutions and advantages of the present invention are clearer, the present invention is made below in conjunction with accompanying drawing into One step is described in detail, wherein：
Fig. 1 is provided in an embodiment of the present invention to be positioned based on RSSI using electromagnetic wave along space symmetr propagation characteristic Algorithm flow chart；
Fig. 2 is the schematic diagram symmetrically to be spread through sex intercourse using electromagnetic wave of the present invention；
Fig. 3 is the schematic diagram positioned using two groups of symmetrical anchor nodes of the present invention；
Fig. 4 is that multigroup symmetrical anchor node of the present invention is weighted the schematic diagram of center coordination.
Embodiment
Below with reference to accompanying drawing, the implementation to the present invention is described in detail, and this example is for apparent this hair of explanation It is bright, rather than limit the scope of the invention.
Fig. 1 is provided in an embodiment of the present invention to be positioned based on RSSI using electromagnetic wave along space symmetr propagation characteristic Algorithm flow chart；Fig. 2 is the schematic diagram symmetrically to be spread through sex intercourse using electromagnetic wave of the present invention, and A, B be anchor node in figure, its transmitting Electromagnetic wave signal symmetric propagation in space, when reaching the upper any point P of perpendicular bisector Y between 2 points of A, B, its electromagnetic wave is believed Number intensity must be equal；Fig. 3 is the schematic diagram positioned using two groups of symmetrical anchor nodes of the present invention, and A, B, C, D are in figure Anchor node, wherein A, B are one group of symmetrical anchor node, and its perpendicular bisector is Y1；C, D is another group of symmetrical anchor node, and its is vertical Bisector is Y2, and P is two straight lines Y1, Y2 intersection point；Multigroup symmetrical anchor node perpendicular bisector intersection point that Fig. 4 is the present invention adds Weigh the schematic diagram of center coordination.P (x1, y1, w1) in figure, P (x2, y2, w2), P (x3, y3, w3), P (x4, y4, w4), P (x5, Y5, w5) intersection point of perpendicular bisector that is formed for multigroup symmetrical anchor node, P is the barycenter of these intersection points.
It is provided by the invention a kind of new using being positioned using electromagnetic wave along space symmetr propagation characteristic based on RSSI Method, comprise the following steps：
Step 1：Determine wireless sensor network positioning region, anchor node coordinate and be randomly dispersed in the localization region Node to be measured；
Step 2：Node to be measured measures the RSSI of anchor node by receiving information of the anchor node periodicity to surrounding broadcast Value, takes multiple measurements and to improve its accuracy, records the anchor node value received and its location parameter；RSSI(A[x1, y1]) =r1、RSSI(B[x2, y2]=r2、RSSI(C[x3, y3]=r3、……RSSI(M[xm, ym]=rm、RSSI(N[xn, yn]=rn；
Step 3：By the multiple anchor nodes measured by RSSI value r1、r2、r3、……rnMatched, find out RSSI value phase Deng two anchor nodes, be made into one group of symmetrical anchor node；So repeatedly, multigroup symmetrical anchor node is found out；
If r be present1=r2, then r1、r2Corresponding anchor node A, B are one group of symmetrical anchor node；
If r be present3=r4, then r3、r4Corresponding anchor node C, D are one group of symmetrical anchor node；
If r be presentm=rn, then rm、rnCorresponding anchor node M, N are one group of symmetrical anchor node；
Require at least to find out 2 groups of symmetrical anchor nodes when actually measuring, so that its two perpendicular bisectors intersect, treated Survey the position of node.
Step 4：The symmetric properties propagated in space according to electromagnetic wave, node to be measured must be located at one measured On perpendicular bisector Y between two nodes of the symmetrical anchor node of group, when measuring two groups of symmetrical anchor nodes, then two groups of symmetrical anchors The perpendicular bisector of node must have intersection point P (x, y), then this intersection point is the position of node to be measured.
The perpendicular bisector Y of (1) one group of symmetrical anchor node is
X in formula1、y1, x2、y2For symmetrical anchor node A (x1, y1)、B(x2, y2) coordinate.Y is symmetrical anchor node A (x1, y1)、B(x2, y2) perpendicular bisector；
Multigroup symmetrical anchor node forms perpendicular bisector, the Yn that is designated as Y1, Y2, Y3 ...；
The intersection point P (x, y) for two perpendicular bisectors that (2) two groups of symmetrical anchor nodes are formed is：
A in formula1、b1, a2、b2The two perpendicular bisector Y1=a formed by two groups of anchor nodes1x+b1, Y2=a2x+b2's Coefficient.
(3) when a plurality of perpendicular bisector for having multigroup symmetrical anchor node to be formed, multiple intersection points can be calculated by the above method, It is designated as：P(x1, y1)、P(x2, y2)、P(x3, y3)、P(x4, y4)、……P(xn, yn)。
When the symmetrical anchor node measured has multigroup, then the perpendicular bisector of multigroup symmetrical anchor node, it is possible to non-intersect In same point, the intersection point calculation of a plurality of perpendicular bisector is now gone out to the barycenter of these intersection points using centroid algorithm, then this barycenter Position is the position of node to be measured.
Then its center-of-mass coordinate is：
X in formula1、x2、x3……xn, y1、y2、y3、y4…ynThe intersection point of the perpendicular bisector formed for multigroup symmetrical anchor node P coordinate value.
Step 5：Further to improve precision, a plurality of straight line is being formed using the symmetrical anchor node of the different each group of RSSI value During intersection point calculation barycenter, the weight of each intersection point is determined according to its RSSI value, and then calculates the barycenter containing weight proportion.
Weighted mass center coordinate is：
In formulaFor the weight of each group symmetric anchor perpendicular bisector intersection point, its size judge with RSSI value is foundation.If r1>r2>r3>……>rn, then its weight w1>w2>w3>……>wn。
Step 6：The positioning result of node to be measured.

Claims (8)

  1. A kind of 1. wireless sensor network positioning method using electromagnetic wave symmetric propagation properties, it is characterised in that including following step Suddenly：
    Step 1：Network is initialized, wireless sensor network positioning region, anchor node coordinate is determined and is randomly dispersed in the positioning area Node to be measured in domain；
    Step 2：By receiving information of the anchor node periodicity to surrounding broadcast, the RSSI value of anchor node is measured, record receives Anchor node value r and its location parameter (x, y)；
    Step 3：Find out at least one set of symmetrical anchor node；
    Step 4：When only one group of symmetric anchor, node to be measured is located at vertical flat between two nodes of symmetrical anchor node On separated time；When there is two groups of symmetrical anchor nodes, then the position of node to be measured is the friendship of the perpendicular bisector of two groups of symmetrical anchor nodes Point；When the symmetrical anchor node measured has multigroup, the barycenter of the intersection point of a plurality of perpendicular bisector, this matter are calculated with centroid algorithm Heart position is the coordinate of node to be measured；
    Step 5：Export the positioning result of node to be measured.
  2. 2. a kind of wireless sensor network positioning method using electromagnetic wave symmetric propagation properties according to claim 1, its Be characterised by, it is described find out multigroup symmetrical anchor node method be：The multiple anchor nodes measured are matched by RSSI value, looked for Go out two equal anchor nodes of RSSI value, be made into one group of symmetrical anchor node, so repeatedly.
  3. 3. a kind of wireless sensor network positioning method using electromagnetic wave symmetric propagation properties according to claim 2, its It is characterised by, the symmetrical anchor node determines by the following method：
    If r be present1=r2, then r1、r2Corresponding anchor node A, B are one group of symmetrical anchor node；
    If r be present3=r4, then r3、r4Corresponding anchor node C, D are one group of symmetrical anchor node；
    …………
    If r be presentm=rn, then rm、rnCorresponding anchor node M, N are one group of symmetrical anchor node；
    r1、r2、r3、……rnFor the RSSI value of anchor node.
  4. 4. a kind of wireless sensor network positioning method using electromagnetic wave symmetric propagation properties according to claim 1, its It is characterised by, the perpendicular bisector of one group of symmetrical anchor node is calculated by below equation：
    X in formula1、y1, x2、y2For one group of symmetrical anchor node A (x1, y1)、B(x2, y2) coordinate.
  5. 5. a kind of wireless sensor network positioning method using electromagnetic wave symmetric propagation properties according to claim 1, its It is characterised by：The intersection point of the perpendicular bisector of two groups of symmetrical anchor nodes is calculated by below equation：
    A in formula1、b1, a2、b2The two perpendicular bisector Y1=a formed by two groups of anchor nodes1x+b1, Y2=a2x+b2Be Number.
  6. 6. a kind of wireless sensor network positioning method using electromagnetic wave symmetric propagation properties according to claim 1, its It is characterised by, the center-of-mass coordinate of the intersection point for treating a plurality of perpendicular bisector is calculated by below equation：
    X in formula1、x2、x3……xn, y1、y2、y3、y4…ynThe intersection point P's of the perpendicular bisector formed for multigroup symmetrical anchor node Coordinate value.
  7. 7. any one according to claim 1 to 6 utilizes the wireless sensor network positioning of electromagnetic wave symmetric propagation properties Method, it is characterised in that：When stating a plurality of straight-line intersection calculating barycenter formed using the different symmetrical anchor node of RSSI value, according to Its RSSI value determines the weight of each intersection point, and then calculates the barycenter containing weight.
  8. 8. a kind of wireless sensor network positioning method using electromagnetic wave symmetric propagation properties according to claim 7, its It is characterised by：
    The weighted mass center coordinate of the node to be measured is calculated by below equation：
    W in formula1、w2、w3……wnFor the weight of each intersection point, its size is judged using RSSI value as foundation, if r1>r2>r3>……> rn, then its weight w1>w2>w3>……>wn。
CN201710560400.1A 2017-07-11 2017-07-11 A kind of wireless sensor network positioning method using electromagnetic wave symmetric propagation properties Pending CN107360545A (en)

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JP2017227600A (en) * 2016-06-24 2017-12-28 株式会社東芝 Wireless device position estimation device
CN108710429A (en) * 2018-05-22 2018-10-26 Oppo广东移动通信有限公司 Regulating power consumption method, electronic device and computer readable storage medium

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CN104955148A (en) * 2014-12-09 2015-09-30 文春明 Positioning method of wireless sensor network using symmetrical propagation of electromagnetic wave
CN106102078A (en) * 2016-06-06 2016-11-09 南京邮电大学 A kind of mutual ZigBee node localization method based on RSSI LQI
CN107396280A (en) * 2017-06-12 2017-11-24 东南大学 A kind of indoor locating system and method based on RSSI

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CN101191832A (en) * 2007-12-11 2008-06-04 宁波中科集成电路设计中心有限公司 Wireless sensor network node position finding process based on range measurement
CN102883428A (en) * 2012-08-07 2013-01-16 广州星博信息技术有限公司 ZigBee wireless sensor network-based node positioning method
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Application publication date: 20171117