CN108375754B - Node positioning method based on initial state and moving state of mobile node in WSN (Wireless sensor network) - Google Patents
Node positioning method based on initial state and moving state of mobile node in WSN (Wireless sensor network) Download PDFInfo
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- G01S5/12—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 by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
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Abstract
The invention provides a node positioning method based on an initial state and a mobile state of a mobile node in a Wireless Sensor Network (WSN), and relates to the technical field of wireless sensor positioning. The method is divided into initial state positioning and moving state positioning. In initial state positioning, a node to be positioned broadcasts RF and US signals to beacon nodes in a network, initial coordinates are calculated correspondingly by adopting a trilateration method, a node coordinate calculation method introducing a correction value and a positioning algorithm based on multiple signals according to the number of information groups returned by the beacon nodes, and the initial coordinates are recorded; manually setting initial velocity, acceleration and motion direction of the node, and starting mobile state positioning; the node to be positioned moves randomly, broadcasts self information and collects the number of neighbor beacon nodes, judges the number of the neighbor beacon nodes, and realizes the final positioning of the mobile node by using a historical state-based mobile node positioning method. The invention can effectively restrain the positioning error in the indoor non-line-of-sight environment, improves the positioning success rate and has good positioning applicability.
Description
Technical Field
The invention relates to the technical field of wireless sensor positioning, in particular to a node positioning method based on an initial state and a moving state of a mobile node in a Wireless Sensor Network (WSN).
Background
A Wireless Sensor Network (WSN) is a self-organizing Network composed of a large number of Sensor nodes with sensing capability, computing capability and communication capability. In the WSN, the nodes are randomly distributed to different detection places, and the nodes are responsible for collecting information, processing information and transmitting information and sending the obtained data information to the sink nodes, so that managers can conveniently sense and monitor the objective physical world. In the WSN, the positioning technology can enable each node in the network to obtain the position coordinates of the node, so that monitoring, data collection and sharing and prediction of targets in the network are guaranteed.
Since the last 90 s, the WSN gradually enters the lives of people, and shows wide applications in the fields of smart home, target tracking and the like, and through continuous research of scholars engaged in the content of the positioning field in various countries, the WSN positioning technology has achieved certain achievements at present. The common WSN node location technologies are mainly classified into ranging-based location technologies and non-ranging-based location technologies. The positioning based on the distance measurement can realize the positioning with higher precision, but has high requirements on hardware, and increases the cost and the power consumption of the network. The non-ranging-based positioning mainly utilizes the connectivity of a network to realize the positioning of nodes, has low power consumption, can reduce the overhead without increasing hardware, but has larger positioning error and can only complete coarse-precision positioning. Both positioning techniques are better suited for stationary nodes, while relatively little research has been directed to mobile node positioning. At present, application scenarios of mobile nodes in the WSN are increasing, such as warehousing, medical care, robot trajectory tracking, and the like. In the existing positioning technology, the outdoor positioning technology based on the GPS or the Beidou is relatively mature, but the communication between nodes can reach a signal receiving end only through diffraction and reflection under the influence of obstacles in an indoor environment, so that the positioning information generates large errors, and the requirement of indoor high-precision positioning cannot be met. Aiming at the problems that the existing positioning technology is large in limitation of application environment, insufficient in application capability, and the positioning accuracy of indoor mobile nodes needs to be improved, how to relate to an indoor mobile node positioning method with high accuracy, low complexity and low power consumption becomes a difficult problem which needs to be solved urgently in the sensor network positioning research.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a node positioning method based on the initial state and the moving state of the mobile node in the WSN, which can effectively position the accurate position of the sensor node, effectively suppress the positioning error in the indoor non-line-of-sight environment, improve the positioning success rate, and have good positioning applicability.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a node positioning method based on the initial state and the moving state of a mobile node in a WSN comprises the following steps:
step 1: deploying a wireless sensor network, and manually setting coordinate information of beacon nodes in the network;
step 2: when a node to be positioned enters a network area, starting a positioning process of an initial state of the node;
and step 3: the node to be positioned is positioned based on a TDOA ranging method; the node to be positioned sends RF and US signals in a broadcasting mode; a neighbor beacon node in the communication range of the node to be positioned receives the signal, writes self information into a positioning data packet and returns the positioning data packet to the node to be positioned; the self information of the neighbor beacon node comprises: the node number of the beacon node, the time of the signal reaching the beacon node and the coordinate information of the beacon node;
And 4, step 4: judging the group number of the beacon nodes returned information received by the node to be positioned; if the node to be positioned receives the returned information of more than 3 groups of beacon nodes, executing the step 4.1; if the node to be positioned receives the returned information of the 3 groups of beacon nodes, executing the step 4.2; if the node to be positioned receives the information returned by the beacon nodes which are less than 3 groups, executing the step 4.3;
step 4.1: selecting a proper beacon node by using the NLOS (non-line of sight) inhibition factor, calculating the initial state coordinate of the node to be positioned by using a node coordinate calculation method introducing a correction value, and executing the step 6;
step 4.2: calculating the initial state coordinate of the node to be positioned by using a trilateration method, and executing the step 6;
step 4.3: using RSSI to measure distance to supplement the distance value between the nodes, and executing the step 5;
and 5: the method comprises the following steps of calculating initial state coordinates of a node to be positioned by adopting a positioning algorithm based on multiple signals, wherein the specific process comprises the following steps:
step 5.1: after the node to be positioned initiates a broadcast again, judging the number of RSSI values which can receive neighbor beacon nodes, if the RSSI values of 2 neighbor beacon nodes can be received, executing step 5.2, and then executing step 6; if the RSSI values of 3 neighbor beacon nodes can be received, executing the step 5.3 and then executing the step 6; if the RSSI values of a plurality of neighbor beacon nodes can be received, executing step 5.4, and then executing step 6;
Step 5.2: the node to be positioned can receive RSSI values of the neighboring beacon nodes A and BAAnd RSSIBThen, the specific process of calculating the initial state coordinates (x, y) of the node to be positioned is as follows:
step 5.2.1: let the coordinates of the neighboring beacon nodes A and B be (x) respectivelya，ya) And (x)b，yb) Respectively using the position coordinates of A and B as the center of circle and the communication distance as the radius to make two circles OA、OBTwo circles OA、OBThe intersection points with the line segment AB are C, H, respectively;
step 5.2.2: the position coordinates of A and B are respectively taken as the center of a circle andRSSIAand RSSIBIs a radius of two circles O'A、O’BTwo circles O'A、O’BThe intersection of (A) is point E (x)e，ye) And point F (x)f，yf) (ii) a Obtain a straight line AB and an RSSI with the beacon node B as the center of a circleBTwo intersection points of circles with radii of D and D' are defined as a straight line AB and RSSI with the beacon node A as the center of a circleATwo intersection points G and G' of a circle with a radius;
step 5.2.3: respectively calculating the distances from the point A to the point D and the point D' and comparing the distances with the RSSIAComparing the distance to be less than RSSIAThe intersection of point (A) and line segment AB is point D, and the coordinate thereof is (x)d，yd)；
Step 5.2.4: respectively calculating the distances from point B to point G and point G' and comparing the distances with the RSSIBComparing the distance to be less than RSSIBThe intersection of point (A) and line segment AB is point G, and its coordinate (x)g，yg)；
Step 5.2.5: arbitrarily taking three vertexes in the quadrilateral EGFD to form four triangles delta EGF, delta EGD, delta GFD and delta EFG, and respectively calculating the mass centers of the four triangles;
Step 5.2.6: the initial state coordinate of the node to be positioned is the average value of the coordinates of the four centroids;
step 5.3: the node to be positioned can receive RSSI values RSSI of 3 neighbor beacon nodes A, B, CA、RSSIB、RSSICAnd RSSIA>RSSIB>RSSICThen, the specific process of calculating the initial state coordinates (x, y) of the node to be positioned is as follows:
step 5.3.1: obtaining a minimum overlap area delta DEF by an RSSI-Convex positioning algorithm;
step 5.3.2: a, B, C as the center of circle and RSSI as the center of circleA、RSSIB、RSSICMaking a circle for the radius, and taking three vertexes G, H, I of the overlapping area to obtain delta GHI;
step 5.3.3: the intersection point of the two triangles DeltaDEF and DeltaGHI is G, F, J, the distance from the three intersection points to each neighbor beacon node is respectively calculated, and the neighbor beacon node with the closest intersection point distance is the neighbor beacon node area to which the intersection point belongs; the three intersection points are respectively divided into areas where the three neighbor beacon nodes are located;
step 5.3.4: selecting the reciprocal of the RSSI value between the node to be positioned and the neighbor beacon node as a weight w when the intersection point belonging to the range of the neighbor beacon node participates in positioning calculation, wherein the weight w is 1/RSSI;
step 5.3.5: calculating the initial state coordinate of the node to be positioned according to the following formula;
in the formula (x)g，yg) Is the coordinate of intersection G, (x)f，yf) Is the coordinate of the intersection point F, (x) j，yj) Is the coordinate of intersection point J; w is aAWeight when participating in the location calculation for intersection J, wA＝1/RSSIA；wBWeight when participating in the location calculation for the intersection G, wB＝1/RSSIB；wCWeight when participating in the location calculation for the intersection F, wC＝1/RSSIC；
Step 5.4: if the node to be positioned can receive RSSI values of a plurality of neighbor beacon nodes, the specific process of calculating the initial state coordinates (x, y) of the node to be positioned is as follows:
step 5.4.1: according to the convex planning positioning principle, the RSSI values of any three beacon nodes are selected, and an initial state coordinate of the node to be positioned is obtained according to the method in the step 5.3;
step 5.4.2: traversing all RSSI values received by the node to be positioned to obtain a plurality of initial state coordinates of the node to be positioned;
step 5.4.3: calculating the average value of the initial state coordinates of all the nodes to be positioned obtained in the step 5.4.2, and taking the average value as the final initial state coordinate of the nodes to be positioned;
step 6: recording initial state coordinate information of a node to be positioned, wherein the initial state coordinate information is used for positioning the moving state of the node;
and 7: after the node to be positioned completes initial state positioning, the node movement state including the node initial velocity, acceleration and movement angle is manually set, and then the node movement state positioning process is started;
and 8: a node to be positioned initiates broadcast in a network, and the number of neighbor beacon nodes at the positioning moment is judged; if no neighbor beacon node exists in the communication range of the node to be positioned, executing the step 8.1; if a neighbor beacon node exists in the communication range of the node to be positioned, executing the step 8.2; if two neighbor beacon nodes exist in the communication range of the node to be positioned, executing the step 8.3; if three neighbor beacon nodes exist in the communication range of the node to be positioned, executing the step 8.4; if the number of the neighbor beacon nodes in the communication range of the node to be positioned is more than three, executing the step 8.5;
Step 8.1: obtaining the current coordinate of the mobile node by using the historical positioning record of the node to be positioned and an angle positioning method; the calculation formula is as follows:
in the formula (x)t，yt) Coordinates of a mobile node to be positioned at the time t; (x)t-1，yt-1) Coordinate information of a node to be positioned at the t-1 moment;
the absolute positioning angle measured at the moment t, namely the angle between the node motion displacement and the abscissa; thetat-1,tThe relative movement angle is the angle between the node movement displacement and the previous moment; st-1,tThe node relative movement displacement is obtained;
step 8.2: calculating the coordinates of the node to be positioned by combining the historical positioning information of the node, wherein the formula is as follows:
in the formula (x)t，yt) Is a time coordinate of a node to be positioned; (x)m，ym) For neighbor beacon nodeMarking; d is the distance between the node to be positioned and the neighbor beacon node, (x)t-1，yt-1) Position coordinate s of t-1 moment in historical positioning record of node to be positionedt-1,tThe node relative movement displacement is obtained;
taking the average value of the two solutions in the formula (13) as the final positioning coordinate of the node to be positioned;
step 8.3: calculating a first predictive coordinate (x) of a node to be located according tot1，yt1)：
In the formula (x)m1，ym1)、(xm2，ym2) Respectively two beacon node coordinates; d1、d2Respectively the distance between the node to be positioned at the time t and two adjacent beacon nodes; (x) t-1，yt-1) The position coordinate of the t-1 moment in the historical positioning record of the node to be positioned at the time is obtained; st-1,tRelative movement displacement of a node to be positioned;
obtaining a second predictive coordinate (x) of the node to be positioned according to an angle positioning algorithmt2，yt2)；
The final coordinates of the mobile node are:
step 8.4: calculating coordinates of a node to be positioned by combining historical positioning information of the node and information of a neighbor beacon node and utilizing a node coordinate calculation method introducing a correction value;
step 8.5: and selecting the reciprocal of the RSSI value between the node to be positioned and the neighbor beacon node as the weight of the neighbor beacon node participating in positioning calculation, selecting the first three neighbor beacon nodes with the minimum weight, and calculating the coordinate of the node to be positioned by using a node coordinate calculation method introducing a correction value.
The specific method for calculating the coordinates of the node to be positioned by the node coordinate calculation method introducing the correction value comprises the following steps:
step 01: the difference value between the actual distance d and the measured distance d' between the node to be positioned and the neighbor beacon node is the corrected distance: p ═ d-d';
step 02: node to be positioned and beacon node (x)1，y1) Corrected distance dv between1Is defined as
Wherein, (x, y) is the real coordinate of the node to be positioned; (x ', y') is the measurement coordinate of the node to be positioned; x is the number of vAnd yvCorrection values for x 'and y', respectively;
step 03: corrected distances d between the node to be positioned and all neighbor beacon nodesvComprises the following steps:
wherein n is the total number of neighbor beacon nodes; (x)i，yi) Coordinates of the ith neighbor beacon node;
step 04: the formula of the correction value obtained in step 01 and step 03 is:
V＝(QTQ)-1QTP (15)
wherein: p is d-d',
in the formula, d is the actual distance between the node to be positioned and the neighbor beacon node; d' is the measurement distance between the node to be positioned and the beacon node;
step 05: solving for x using standard least mean square error estimation methodvAnd yvAnd the final coordinate of the node to be positioned is (x' + x)v，y’+yv)。
Adopt the produced beneficial effect of above-mentioned technical scheme to lie in: the node positioning method based on the initial state and the mobile state of the mobile node in the WSN is suitable for positioning the mobile node of the sensor in an indoor non-line-of-sight environment. In the positioning process, according to the initial state of the node when the node enters the network, the accuracy of the initial coordinate of the node is ensured by using a positioning method based on multiple signals, and a good foundation is laid for the positioning of the next state; furthermore, a positioning mechanism based on historical information is started in the process that the node starts to move, and the coordinate position of the mobile node at the moment is calculated according to the number of the neighbor beacon nodes of the node at the positioning moment and the positioning information at the previous moment, so that the node in the moving process can be quickly and accurately positioned. The invention can effectively position the accurate position of the sensor node, can effectively inhibit the positioning error in the indoor non-line-of-sight environment, improves the positioning success rate and has good positioning applicability.
Drawings
Fig. 1 is a flowchart of positioning an initial state of a node to be positioned in a WSN according to an embodiment of the present invention;
fig. 2 is a positioning schematic diagram of two neighbor beacon nodes in a communication range of a node to be positioned in initial state positioning of a node in a WSN according to an embodiment of the present invention;
fig. 3 is a positioning schematic diagram of three neighbor beacon nodes in a communication range of a node to be positioned in initial state positioning of a node in a WSN according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a node participating in weighting when there are three neighbor beacon nodes in a communication range of a node to be positioned in the WSN according to the embodiment of the present invention;
fig. 5 is a flowchart of positioning a mobile state of a node to be positioned in a WSN according to an embodiment of the present invention;
fig. 6 is a positioning schematic diagram of a node to be positioned in a node mobile state positioning in a WSN according to an embodiment of the present invention, where no neighbor beacon node exists in a communication range of the node to be positioned;
fig. 7 is a schematic diagram illustrating a comparison between an initial state positioning mechanism and a positioning error of an RSSI-constellation algorithm according to an embodiment of the present invention under different ranging errors;
fig. 8 is a schematic diagram illustrating a comparison of positioning errors between the mobile state positioning mechanism and the historical state information positioning algorithm according to the embodiment of the present invention under the condition of different numbers of beacon nodes.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
For determining the position of a mobile sensor node in an indoor non-line-of-sight environment, this embodiment provides a node positioning method based on an initial state and a mobile state of a mobile node in a WSN. The specific method is as follows.
Step 1: and deploying the wireless sensor network, and manually setting the coordinate information of the beacon nodes in the network.
Step 2: and when the node to be positioned enters the network area, starting a positioning process of the initial state of the node. The positioning process of the initial state of the node is shown in fig. 1.
And step 3: the node to be positioned carries out positioning in an initial state based on a TDOA ranging method; the node to be positioned sends RF and US signals, namely radio frequency and ultrasonic signals, in a broadcasting mode; a neighbor beacon node in the communication range of the node to be positioned receives the signal, writes self information into a positioning data packet and returns the positioning data packet to the node to be positioned; the self information of the neighbor beacon node comprises: the node number of the beacon node, the time when the signal arrives at the beacon node, and the coordinate information of the beacon node.
And 4, step 4: judging the group number of the beacon nodes returned information received by the node to be positioned; if the node to be positioned receives the returned information of more than 3 groups of beacon nodes, executing the step 4.1; if the node to be positioned receives the returned information of the 3 groups of beacon nodes, executing the step 4.2; and if the node to be positioned receives the information returned by the target node which is less than the 3 groups, executing the step 4.3.
Step 4.1: and (3) selecting a proper beacon node by using the NLOS suppression factor, calculating the initial state coordinate of the node to be positioned by using a node coordinate calculation method introducing a correction value, and executing the step 6.
The formula for selecting a proper beacon node by using the NLOS suppression factor is as follows:
d2＝(x-x')2+(y-y')2＝NIFdi 2 (1)
wherein, (x ', y') is the beacon coordinates; (x, y) is the coordinates of the node to be positioned; d is the actual distance between the node to be positioned and the beacon node; diThe distance between the node to be positioned and the beacon node is measured; NIF (NLOS inhibition factor) is an NLOS inhibition factor;
d ≦ d when NLOS influence is presentiTherefore 0<NIF is less than or equal to 1; when NIF is 1, d is diNamely, the sight distance propagation environment is adopted at the moment;
d is judged by calculating the NIF valueiAnd whether the data is obtained through the NLOS distance measurement value or not is determined by selecting the neighbor beacon node with the NIF value close to 1 as much as possible to participate in positioning.
The specific method for calculating the coordinates of the node to be positioned by the node coordinate calculation method introducing the correction value comprises the following steps:
step 01: the difference value between the actual distance d and the measured distance d' between the node to be positioned and the neighbor beacon node is the corrected distance: p ═ d-d';
step 02: node to be positioned and beacon node (x)1，y1) Corrected distance dv between1Is defined as
Wherein, (x, y) is the real coordinate of the node to be positioned; (x ', y') is the measurement coordinate of the node to be positioned; x is the number ofvAnd yvCorrection values for x 'and y', respectively;
step 03: corrected distances d between the node to be positioned and all neighbor beacon nodesvComprises the following steps:
wherein n is the total number of neighbor beacon nodes; (x)i，yi) Coordinates of the ith neighbor beacon node;
step 04: the formula of the correction value obtained in step 01 and step 03 is:
V＝(QTQ)-1QTP (15)
wherein: p is d-d',
in the formula, d is the actual distance between the node to be positioned and the neighbor beacon node; d' is the measurement distance between the node to be positioned and the beacon node;
step 05: solving for x using standard least mean square error estimation methodvAnd yvAnd the final coordinate of the node to be positioned is (x' + x)v，y’+yv)。
Step 4.2: calculating the initial state coordinate of the node to be positioned by using a trilateration method, and executing the step 6;
Based on the three-pass measurement method, the coordinate (x, y) calculation formula of the node to be positioned is as follows:
X＝Y-1Z (2)
wherein:
in the formula (x)1，y1)、(x2，y2)、(x3，y3) Coordinates of three neighbor beacon nodes; d1、d2、d3The distance between the node to be positioned and the three beacon nodes is obtained;
step 4.3: and 5, ranging by using the RSSI to supplement the distance value between the nodes, and executing the step 5.
In positioning based on the RSSI ranging technology, the communication propagation of the WSN in the building can be influenced by multipath effect or factors such as object shielding, refraction, reflection and the like;
in the embodiment, the distance between the nodes is calculated by using a logarithmic distance loss model, and the formula is
In the formula, PL(d) Is the loss between the transmitting and receiving nodes; d is the distance from the node to be positioned to the beacon node; pL(d0) Is the near field reference point loss value; d0Is a reference point; n is a path loss exponent depending on the environment of the monitored area and the type of building in the area; x sigma is obedient mean value of 0 and standard deviation is sigma2Gaussian normal distribution of (a);
if get d01m, and neglecting XσIn this case, the formula is:
RSSI＝A-10n lg d (4)
in the formula, A is the received signal strength at a position 1 meter away from a node to be positioned; RSSI is the received signal strength at d meters away from the node to be positioned; n is a path loss exponent; d is the distance from the node to be positioned to the beacon node;
The RSSI ranging is directly used, and the error between the measured value and the actual value is large, so that after enough beacon node information is acquired by using the RSSI ranging technology, the initial coordinate of the node to be positioned is calculated by using a positioning algorithm based on multiple signals, specifically as described in step 5.
And 5: the method comprises the following steps of calculating initial state coordinates of a node to be positioned by adopting a positioning algorithm based on multiple signals, wherein the specific process comprises the following steps:
step 5.1: after the node to be positioned initiates a broadcast again, judging the number of RSSI values which can receive neighbor beacon nodes, if the RSSI values of 2 neighbor beacon nodes can be received, executing step 5.2, and then executing step 6; if the RSSI values of 3 neighbor beacon nodes can be received, executing the step 5.3 and then executing the step 6; if the RSSI values of a plurality of neighbor beacon nodes can be received, executing step 5.4, and then executing step 6;
step 5.2: the node to be positioned can receive RSSI values of the neighboring beacon nodes A and BAAnd RSSIBAs shown in fig. 2, the specific process of calculating the initial state coordinates (x, y) of the node to be located is as follows:
step 5.2.1: let the coordinates of the neighboring beacon nodes A and B be (x) respectivelya，ya) And (x)b，yb) Then the formula for the straight line AB is:
respectively using the position coordinates of A and B as centre of circle and using communication distance as radius to make two circles O A、OBTwo circles OA、OBThe intersection points with the line segment AB are C, H, respectively;
step 5.2.2: respectively using the position coordinates of A and B as the center of a circle and RSSIAAnd RSSIBIs a radius of two circles O'A、O’BThe formulas are respectively as follows:
(x-xa)2+(y-ya)2＝RSSIA 2 (6)
(x-xb)2+(y-yb)2＝RSSIB 2 (7)
obtaining two circles O 'from the formulas (6) and (7)'A、O’BThe intersection of (A) is point E (x)e，ye) And point F (x)f，yf) (ii) a Straight line AB and circle O 'are obtained by formula (5) and formula (7)'BAre D and D ', and a straight line AB and a circle O ' are obtained by the formulas (5) and (6) 'ATwo intersection points G and G';
step 5.2.3: respectively calculating the distances from the point A to the point D and the point D' and comparing the distances with the RSSIAComparing the distance to be less than RSSIAThe intersection of point (A) and line segment AB is point D, and the coordinate thereof is (x)d，yd)；
Step 5.2.4: respectively calculating the distances from point B to point G and point G' and comparing the distances with the RSSIBComparing the distance to be less than RSSIBThe intersection of point (A) and line segment AB is point G, and its coordinate (x)g，yg)；
At the moment, vertex coordinates of the quadrilateral EGFD are obtained, and the node to be positioned is in the quadrilateral EGFD;
step 5.2.5: arbitrarily taking three vertexes in the quadrilateral EGFD to form four triangles delta EGF, delta EGD, delta GFD and delta EFG, and respectively calculating the mass centers of the four triangles;
step 5.2.6: the initial state coordinate of the node to be positioned is the average value of the coordinates of the four centroids;
step 5.3: the node to be positioned can receive RSSI values RSSI of 3 neighbor beacon nodes A, B, C A、RSSIB、RSSICAnd RSSIA>RSSIB>RSSICAs shown in fig. 3, the specific process of calculating the initial state coordinates (x, y) of the node to be located is as follows:
step 5.3.1: obtaining a minimum overlap area delta DEF by an RSSI-Convex positioning algorithm;
step 5.3.2: a, B, C as the center of circle and RSSI as the center of circleA、RSSIB、RSSICMaking a circle for the radius, and taking three vertexes G, H, I of the overlapping area to obtain delta GHI;
step 5.3.3: as shown in fig. 4, the intersection point of two triangles Δ DEF and Δ GHI is G, F, J, the distance from the three intersection points to each neighboring beacon node is calculated, and the neighboring beacon node with the closest intersection point distance is the neighboring beacon node area to which the intersection point belongs; taking intersection point J as an example, the distance formulas between the intersection point and three neighboring beacon nodes are respectively:
in the formula (x)j，yj) Is the coordinate of point J; (x)a，ya)、(xb，yb)、(xc，yc) Coordinates of neighbor beacon A, B, C; da、dbAnd dcDistances J to three neighbor beacon A, B, C, respectively;
according to calculation and comparison, if the distance between the intersection point J and the neighbor beacon node A is the closest, the neighbor beacon node A is a neighbor beacon node area to which the intersection point J belongs; similarly, a neighbor beacon region to which intersection G, F belongs can be obtained; finally, the three intersections J, G, F are respectively divided into areas where the three neighbor beacon nodes A, B, C are located;
Step 5.3.4: selecting the reciprocal of the RSSI value between the node to be positioned and the neighbor beacon node as a weight w when the intersection point belonging to the range of the neighbor beacon node participates in positioning calculation, wherein the weight w is 1/RSSI; according to the divided neighbor beacon node areas, the weights of three intersection points J, G, F participating in positioning calculation are obtained and are respectively wA、wB、wC，wA＝1/RSSIA，wB＝1/RSSIB，wC＝1/RSSIC；
Step 5.3.5: calculating the initial state coordinate of the node to be positioned according to the following formula;
in the formula (x)g，yg) Is the coordinate of intersection G, (x)f，yf) Is the coordinate of the intersection point F, (x)j，yj) Is the coordinate of intersection point J;
step 5.4: if the node to be positioned can receive RSSI values of a plurality of neighbor beacon nodes, the specific process of calculating the initial state coordinates (x, y) of the node to be positioned is as follows:
step 5.4.1: according to the convex planning positioning principle, only three beacon nodes are needed at most when a convex planning positioning algorithm is used, so that when a plurality of neighbor beacon nodes exist in the communication range of the node to be positioned, the RSSI values from each neighbor beacon node to the node to be positioned are recorded, the RSSI values of any three beacon nodes are selected, and an initial state coordinate of the node to be positioned is obtained according to the method in the step 5.3;
step 5.4.2: traversing all RSSI values received by the node to be positioned to obtain a plurality of initial state coordinates of the node to be positioned;
Step 5.4.3: and 5.4.2, calculating the average value of the initial state coordinates of all the nodes to be positioned obtained in the step 5.4.2, and taking the average value as the final initial state coordinate of the nodes to be positioned.
Step 6: and recording initial state coordinate information of the node to be positioned, and positioning the moving state of the node.
At this time, the initial state positioning process of the mobile node has been completed, the node to be positioned has acquired the initial positioning coordinates, and is ready to enter the positioning process of the mobile state, as shown in fig. 5, and the mobile state positioning process is specifically described as follows.
And 7: and manually setting the node motion state, including information such as node initial velocity, acceleration, motion angle and the like, then starting the motion of the sensor node, and starting the node moving state positioning process.
And 8: a node to be positioned initiates a broadcast in a network, judges whether the number of neighbor beacon nodes at the positioning time is more than or equal to 3, if not, namely is less than 3, judges whether the number of neighbor beacon nodes at the positioning time exists, if not, namely no neighbor beacon nodes exist in the communication range of the node to be positioned, and executes the step 8.1; if yes, executing the step 8.2 when one neighbor beacon node exists in the communication range of the node to be positioned, and executing the step 8.3 when two neighbor beacon nodes exist in the communication range of the node to be positioned; if three neighbor beacon nodes exist in the communication range of the node to be positioned, executing the step 8.4; if the number of the neighbor beacon nodes in the communication range of the node to be positioned is more than three, executing the step 8.5;
Step 8.1: as shown in fig. 6, when there is no neighbor beacon node in the communication range of the node to be positioned, the current coordinate of the mobile node is obtained by using the historical positioning record of the node to be positioned and an angle positioning method; the calculation formula is as follows:
in the formula (x)t，yt) Coordinates of a mobile node to be positioned at the time t; (x)t-1，yt-1) Coordinate information of a node to be positioned at the t-1 moment;
the absolute positioning angle measured at the moment t, namely the angle between the node motion displacement and the abscissa; thetat-1,tThe relative movement angle is the angle between the node movement displacement and the previous moment; st-1,tThe node relative movement displacement is obtained;
step 8.2: when a neighbor beacon node exists in the communication range of the node to be positioned, the coordinate of the node to be positioned is calculated by combining the historical positioning information of the node, and the formula is as follows:
in the formula (x)t，yt) Is a time coordinate of a node to be positioned; (x)m，ym) Coordinates of neighbor beacon nodes; d is the distance between the node to be positioned and the neighbor beacon node, (x)t-1，yt-1) Position coordinate s of t-1 moment in historical positioning record of node to be positionedt-1,tThe node relative movement displacement is obtained;
taking the average value of the two solutions in the formula (13) as the final positioning coordinate of the node to be positioned;
step 8.3: when two neighbor beacon nodes exist in the communication range of the node to be positioned, calculating a first predictive coordinate (x) of the node to be positioned according to the following formula t1，yt1)：
In the formula (x)m1，ym1)、(xm2，ym2) Respectively two beacon node coordinates; d1、d2Respectively the distance between the node to be positioned at the time t and two adjacent beacon nodes; (x)t-1，yt-1) The position coordinate of the t-1 moment in the historical positioning record of the node to be positioned at the time is obtained; st-1,tRelative movement displacement of a node to be positioned;
according to the angle positioning method, referring to the step 8.1, obtaining the position to be positionedSecond predictive coordinate (x) of the nodet2，yt2)；
The final coordinates of the mobile node are:
step 8.4: when three neighbor beacon nodes exist in the communication range of the node to be positioned, combining historical positioning information of the node and information of the neighbor beacon nodes, and calculating the coordinates of the node to be positioned by using a node coordinate calculation method for introducing a correction value, wherein the specific method refers to the node coordinate calculation method for introducing the correction value in the step 4.1;
step 8.5: when the number of neighbor beacon nodes in the communication range of the node to be positioned is more than 3, selecting the reciprocal of the RSSI value between the node to be positioned and the neighbor beacon nodes as the weight of the neighbor beacon nodes participating in positioning calculation, selecting the first three neighbor beacon nodes with the minimum weight, and setting the coordinates of the three neighbor beacon nodes as (x) respectivelym1，ym1)、(xm2，ym2) And (x)m3，ym3) At this time, a node to be positioned (x) at time t is measuredt，yt) The distances from the three neighbor beacon nodes are d respectively 1、d2、d3The coordinate of the node to be positioned at the time of t-1 is (x)t-1，yt-1) And measuring the relative motion displacement of the node to be positioned as s at the moment tt-1,t(ii) a And (4) calculating the coordinates of the node to be positioned by using a node coordinate calculation method for introducing the correction value, wherein the specific method refers to the node coordinate calculation method for introducing the correction value in the step 4.1.
Through the above process, the positioning of the mobile node in the network is completed.
The method provided by the embodiment is suitable for positioning the sensor mobile node in an indoor non-line-of-sight environment, and the positioning process comprises initial state positioning when the node to be positioned enters a monitoring area and mobile state positioning after the node to be positioned starts to move in the monitoring area. After a node to be positioned enters a network, starting an initial state positioning method, firstly broadcasting radio frequency and ultrasonic signals to beacon nodes in the network, and if the returned information of the beacon nodes is three groups, calculating the initial coordinate of the node to be positioned by using a traditional trilateration method; if the beacon node return information is larger than three groups, selecting a proper beacon node by using a non-line-of-sight inhibition factor to participate in positioning calculation, and calculating the initial coordinate of the node to be positioned by introducing a correction value node calculation method; and if the beacon nodes return less than three groups of information, acquiring more beacon node information by using an RSSI ranging technology, and calculating the initial coordinate of the node to be positioned by using a positioning algorithm based on multiple signals. And when the initial coordinates of the node to be positioned are known, recording the initial coordinates into historical information, manually setting the initial movement speed, the acceleration and the movement direction of the node to be positioned, and starting the mobile state positioning method. At the moment, the node to be positioned starts to move randomly, self information is broadcasted, the number of neighbor beacon nodes is collected, the final positioning of the mobile node is realized by using a historical state-based mobile node positioning method through judging the number of the neighbor beacon nodes of the node to be positioned at the moment, and the mobile node positioning method has good positioning applicability in an indoor non-line-of-sight environment.
The performance of the positioning method adopted in this embodiment is examined to verify the validity of the method, which is specifically as follows: 10 mobile nodes to be positioned and 3-15 beacon nodes are randomly deployed in a 30 x 30 area, and the communication radius of each node is 7.
Fig. 7 illustrates the comparison between the RSSI-constellation positioning algorithm and the positioning algorithm of the node initial state of the present embodiment (i.e. based on the multi-signal positioning algorithm, BMS for short) error with the increase of the ranging error when 10 anchor nodes are deployed in the network. It can be seen that the performance of the positioning method is affected by the distance error between the nodes, and when the distance measurement error increases, the error of the positioning method also increases, but the positioning method of the embodiment is significantly higher, so that the positioning method provided by the embodiment has good performance.
Fig. 8 illustrates a performance comparison between the positioning algorithm of the node moving State in this embodiment (i.e., the history-based mobile node positioning algorithm, abbreviated as MNHS) and the existing history Information State positioning algorithm (i.e., the HISL positioning algorithm) when the node to be positioned moves at a constant speed of 0.5m/s in the network, for different numbers of beacon nodes. When the number of the beacon nodes in the network is 3, the node to be positioned enters the network and broadcasts, at this time, it cannot be guaranteed that the position information of 3 beacon nodes can be obtained within a broadcasting range, but at least one historical information record is stored in the node to be positioned, and the HISL positioning algorithm obtains the current position information by using the record. When the number of beacons is gradually increased, the positioning method of the embodiment is obviously superior to the HISL.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions and scope of the present invention as defined in the appended claims.
Claims (5)
1. A node positioning method based on mobile node initial state and mobile state in WSN is characterized in that: the method comprises the following steps:
step 1: deploying a wireless sensor network, and manually setting coordinate information of beacon nodes in the network;
step 2: when a node to be positioned enters a network area, starting a positioning process of an initial state of the node;
and step 3: the node to be positioned is positioned based on a TDOA ranging method; the node to be positioned sends RF and US signals in a broadcasting mode; a neighbor beacon node in the communication range of the node to be positioned receives the signal, writes self information into a positioning data packet and returns the positioning data packet to the node to be positioned; the self information of the neighbor beacon node comprises: the node number of the beacon node, the time of the signal reaching the beacon node and the coordinate information of the beacon node;
And 4, step 4: judging the group number of the beacon nodes returned information received by the node to be positioned; if the node to be positioned receives the returned information of more than 3 groups of beacon nodes, executing the step 4.1; if the node to be positioned receives the returned information of the 3 groups of beacon nodes, executing the step 4.2; if the node to be positioned receives the information returned by the beacon nodes which are less than 3 groups, executing the step 4.3;
step 4.1: selecting a proper beacon node by using the NLOS (non-line of sight) inhibition factor, calculating the initial state coordinate of the node to be positioned by using a node coordinate calculation method introducing a correction value, and executing the step 6;
step 4.2: calculating the initial state coordinate of the node to be positioned by using a trilateration method, and executing the step 6;
step 4.3: using RSSI to measure distance to supplement the distance value between the nodes, and executing the step 5;
and 5: calculating the initial state coordinates of the node to be positioned by adopting a positioning algorithm based on multiple signals, and then executing the step 6;
step 6: recording initial state coordinate information of a node to be positioned, wherein the initial state coordinate information is used for positioning the moving state of the node;
and 7: after the node to be positioned completes initial state positioning, the node movement state including the node initial velocity, acceleration and movement angle is manually set, and then the node movement state positioning process is started;
And 8: a node to be positioned initiates broadcast in a network, and the number of neighbor beacon nodes at the positioning moment is judged; if no neighbor beacon node exists in the communication range of the node to be positioned, executing the step 8.1; if a neighbor beacon node exists in the communication range of the node to be positioned, executing the step 8.2; if two neighbor beacon nodes exist in the communication range of the node to be positioned, executing the step 8.3; if three neighbor beacon nodes exist in the communication range of the node to be positioned, executing the step 8.4; if the number of the neighbor beacon nodes in the communication range of the node to be positioned is more than three, executing the step 8.5;
step 8.1: obtaining the current coordinate of the mobile node by using the historical positioning record of the node to be positioned and an angle positioning method;
step 8.2: calculating the coordinates of the node to be positioned by combining the historical positioning information of the node;
step 8.3:calculating a first predictive coordinate (x) of a node to be located according tot1，yt1)：
In the formula (x)m1，ym1)、(xm2，ym2) Respectively two beacon node coordinates; d1、d2Respectively the distance between the node to be positioned at the time t and two adjacent beacon nodes; (x)t-1，yt-1) The position coordinate of the t-1 moment in the historical positioning record of the node to be positioned at the time is obtained; st-1,tRelative movement displacement of a node to be positioned;
Obtaining a second predictive coordinate (x) of the node to be positioned according to an angle positioning algorithmt2，yt2)；
The final coordinates of the mobile node are:
step 8.4: calculating coordinates of a node to be positioned by combining historical positioning information of the node and information of a neighbor beacon node and utilizing a node coordinate calculation method introducing a correction value;
step 8.5: and selecting the reciprocal of the RSSI value between the node to be positioned and the neighbor beacon node as the weight of the neighbor beacon node participating in positioning calculation, selecting the first three neighbor beacon nodes with the minimum weight, and calculating the coordinate of the node to be positioned by using a node coordinate calculation method introducing a correction value.
2. The node location method based on the initial state and the moving state of the mobile node in the WSN according to claim 1, wherein: the specific process of the positioning algorithm based on multiple signals in the step 5 is as follows:
step 5.1: after the node to be positioned initiates a broadcast again, judging the number of RSSI values which can receive neighbor beacon nodes, if the RSSI values of 2 neighbor beacon nodes can be received, executing step 5.2, and then executing step 6; if the RSSI values of 3 neighbor beacon nodes can be received, executing the step 5.3 and then executing the step 6; if the RSSI values of a plurality of neighbor beacon nodes can be received, executing step 5.4, and then executing step 6;
Step 5.2: the node to be positioned can receive RSSI values of the neighboring beacon nodes A and BAAnd RSSIBThen, the specific process of calculating the initial state coordinates (x, y) of the node to be positioned is as follows:
step 5.2.1: let the coordinates of the neighboring beacon nodes A and B be (x) respectivelya，ya) And (x)b，yb) Respectively using the position coordinates of A and B as the center of circle and the communication distance as the radius to make two circles OA、OBTwo circles OA、OBThe intersection points with the line segment AB are C, H, respectively;
step 5.2.2: respectively using the position coordinates of A and B as the center of a circle and RSSIAAnd RSSIBIs a radius of two circles O'A、O’BTwo circles O'A、O’BThe intersection of (A) is point E (x)e，ye) And point F (x)f，yf) (ii) a Obtain a straight line AB and an RSSI with the beacon node B as the center of a circleBTwo intersection points of circles with radii of D and D' are defined as a straight line AB and RSSI with the beacon node A as the center of a circleATwo intersection points G and G' of a circle with a radius;
step 5.2.3: respectively calculating the distances from the point A to the point D and the point D' and comparing the distances with the RSSIAComparing the distance to be less than RSSIAThe intersection of point (A) and line segment AB is point D, and the coordinate thereof is (x)d，yd)；
Step 5.2.4: respectively calculating the distances from point B to point G and point G' and comparing the distances with the RSSIBComparing the distance to be less than RSSIBThe intersection of point (A) and line segment AB is point G, and its coordinate (x)g，yg)；
Step 5.2.5: arbitrarily taking three vertexes in the quadrilateral EGFD to form four triangles delta EGF, delta EGD, delta GFD and delta EFG, and respectively calculating the mass centers of the four triangles;
Step 5.2.6: the initial state coordinate of the node to be positioned is the average value of the coordinates of the four centroids;
step 5.3: the node to be positioned can receive RSSI values RSSI of 3 neighbor beacon nodes A, B, CA、RSSIB、RSSICAnd RSSIA>RSSIB>RSSICThen, the specific process of calculating the initial state coordinates (x, y) of the node to be positioned is as follows:
step 5.3.1: obtaining a minimum overlap area delta DEF by an RSSI-Convex positioning algorithm;
step 5.3.2: a, B, C as the center of circle and RSSI as the center of circleA、RSSIB、RSSICMaking a circle for the radius, and taking three vertexes G, H, I of the overlapping area to obtain delta GHI;
step 5.3.3: the intersection point of the two triangles DeltaDEF and DeltaGHI is G, F, J, the distance from the three intersection points to each neighbor beacon node is respectively calculated, and the neighbor beacon node with the closest intersection point distance is the neighbor beacon node area to which the intersection point belongs; the three intersection points are respectively divided into areas where the three neighbor beacon nodes are located;
step 5.3.4: selecting the reciprocal of the RSSI value between the node to be positioned and the neighbor beacon node as a weight w when the intersection point belonging to the range of the neighbor beacon node participates in positioning calculation, wherein the weight w is 1/RSSI;
step 5.3.5: calculating the initial state coordinate of the node to be positioned according to the following formula;
in the formula (x)g，yg) Is the coordinate of intersection G, (x)f，yf) Is the coordinate of the intersection point F, (x) j，yj) Is the coordinate of intersection point J; w is aAWeight when participating in the location calculation for intersection J, wA＝1/RSSIA；wBWeight when participating in the location calculation for the intersection G, wB＝1/RSSIB；wCWeight when participating in the location calculation for the intersection F, wC＝1/RSSIC；
Step 5.4: if the node to be positioned can receive RSSI values of a plurality of neighbor beacon nodes, the specific process of calculating the initial state coordinates (x, y) of the node to be positioned is as follows:
step 5.4.1: according to the convex planning positioning principle, the RSSI values of any three beacon nodes are selected, and an initial state coordinate of the node to be positioned is obtained according to the method in the step 5.3;
step 5.4.2: traversing all RSSI values received by the node to be positioned to obtain a plurality of initial state coordinates of the node to be positioned;
step 5.4.3: and 5.4.2, calculating the average value of the initial state coordinates of all the nodes to be positioned obtained in the step 5.4.2, and taking the average value as the final initial state coordinate of the nodes to be positioned.
3. The node location method based on the initial state and the moving state of the mobile node in the WSN according to claim 1, wherein: the specific method for calculating the coordinates of the node to be positioned by the node coordinate calculation method introducing the correction value comprises the following steps:
step 01: the difference value between the actual distance d and the measured distance d' between the node to be positioned and the neighbor beacon node is the corrected distance:
P＝d-d'；
Step 02: node to be positioned and beacon node (x)1，y1) Corrected distance dv between1Is defined as
Wherein, (x, y) is the real coordinate of the node to be positioned; (x ', y') is the measurement coordinate of the node to be positioned; x is the number ofvAnd yvCorrection values for x 'and y', respectively;
step 03: corrected distances d between the node to be positioned and all neighbor beacon nodesvComprises the following steps:
wherein n is the total number of neighbor beacon nodes; (x)i，yi) Coordinates of the ith neighbor beacon node;
step 04: the formula of the correction value obtained in step 01 and step 03 is:
V＝(QTQ)-1QTP (15)
wherein:
in the formula, d is the actual distance between the node to be positioned and the neighbor beacon node; d' is the measurement distance between the node to be positioned and the beacon node;
step 05: solving for x using standard least mean square error estimation methodvAnd yvAnd the final coordinate of the node to be positioned is (x' + x)v，y’+yv)。
4. The node location method based on the initial state and the moving state of the mobile node in the WSN according to claim 1, wherein: the calculation formula for obtaining the current coordinate of the mobile node through the angle positioning method in step 8.1 is as follows:
in the formula (x)t，yt) Coordinates of a mobile node to be positioned at the time t; (x)t-1，yt-1) Coordinate information of a node to be positioned at the t-1 moment; 
The absolute positioning angle measured at the moment t, namely the angle between the node motion displacement and the abscissa; thetat-1,tThe relative movement angle is the angle between the node movement displacement and the previous moment.
5. The node location method based on the initial state and the moving state of the mobile node in the WSN according to claim 1, wherein: the formula for calculating the coordinates of the node to be positioned in the step 8.2 by combining the historical positioning information of the node is as follows:
in the formula (x)t，yt) Is a time coordinate of a node to be positioned; (x)m，ym) Coordinates of neighbor beacon nodes; d is the distance between the node to be positioned and the neighbor beacon node, (x)t-1，yt-1) The position coordinate of the t-1 moment in the historical positioning record of the node to be positioned is obtained;
and taking the average value of the two solutions in the formula (13) as the final positioning coordinate of the node to be positioned.
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