CN108469600B - Dynamic network relative positioning method - Google Patents
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Abstract
The embodiment of the invention provides a dynamic network relative positioning method, which comprises the following steps: the current node acquires the relative positions of at least four communication nodes according to the propagation time between every two communication nodes in the at least four communication nodes of the dynamic network; and the current node acquires the relative position of the current node according to the relative positions of the at least four communication nodes and the difference between the monitoring time from each two communication nodes in the at least four communication nodes to the current node. The method provided by the embodiment of the invention obtains the relative position of any node in the dynamic network through pairwise communication among at least four communication nodes, solves the problem of low efficiency caused by the increase of the number of the nodes in a positioning system, and realizes high-efficiency and high-precision relative positioning of the dynamic network.
Description
Technical Field
The embodiment of the invention relates to the technical field of communication, in particular to a dynamic network relative positioning method.
Background
In the daily production and life processes, the geographic position information of the wireless equipment is often required to be measured, and the more accurate the measured instantaneous phase, the better the application effect is.
The existing dynamic network positioning system schemes mainly include two types: one method is that the absolute position of a positioning label carried by a dynamic node is resolved by respectively measuring the distance between a plurality of ground fixed base stations and each dynamic node; one is to carry mobile base stations on each dynamic node, measure the distance between every two mobile base stations, and then sequentially upload the distance measurement information to the server.
In the conventional positioning network, since each node is a user that actually needs to be positioned, each time a new positioning node is added, it needs to be added into an active signal alternating current timing sequence, for example: the relative positioning of 4 nodes requires measuring the propagation time between every two nodes in 6 groups, and assuming that the propagation time between every two nodes in each group requires 20ms, it takes at least 120ms for one network positioning information update. If a new node is added, in the RTLS with network nodes communicating with full links, the propagation time of the needed measurement is increased to 10 groups, and the updating time of the network positioning information is 200 ms. Meanwhile, as the number of nodes increases, the network positioning information updating delay is larger and larger, and if the full link is realized, the communication resource occupies n2The magnitude is increased, so that the updating efficiency of the ranging information in large-scale formation is low.
Disclosure of Invention
The embodiment of the invention provides a dynamic network relative positioning method, which is used for solving the problem of low updating efficiency of ranging information in the prior art and realizing high-efficiency and high-precision dynamic network relative positioning.
The embodiment of the invention provides a dynamic network relative positioning method, which comprises the following steps: the current node acquires the relative positions of at least four communication nodes according to the propagation time between every two communication nodes in the at least four communication nodes of the dynamic network; and the current node acquires the relative position of the current node according to the relative positions of the at least four communication nodes and the difference between the monitoring time from each two communication nodes in the at least four communication nodes to the current node.
According to the dynamic network relative positioning method provided by the embodiment of the invention, the relative position of any node in the dynamic network is obtained through pairwise communication among at least four communication nodes, the problem of low efficiency caused by the increase of the number of the nodes in a positioning system is solved, and the high-efficiency and high-precision dynamic network relative positioning is realized.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a flow chart of a dynamic network relative positioning method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of communications between any two communication nodes according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a relative coordinate system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the positioning of a current node x in a relative coordinate system according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a power distribution apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a flowchart of a dynamic network relative positioning method according to an embodiment of the present invention, and as shown in fig. 1, a dynamic network relative positioning method includes:
s1, the current node obtains the relative position of at least four communication nodes according to the propagation time between every two communication nodes in the at least four communication nodes of the dynamic network.
In particular, the dynamic network comprises at least four communication nodes, and can also comprise a plurality of listening nodes. The communication nodes have the functions of sending data packets to other communication nodes and all monitoring nodes and receiving the data packets sent by other communication nodes; the monitoring node has the function of receiving data packets sent by any communication node. In the embodiment of the present invention, the current node is any communication node or monitoring node.
In the dynamic network, at least four communication nodes are communicated pairwise, and the current node acquires the relative positions of the at least four communication nodes according to the propagation time between every two communication nodes acquired by pairwise communication between the at least four communication nodes.
The communication nodes in the dynamic network have no primary and secondary points, and the sequence of pairwise communication among the communication nodes is any sequence.
When the number of the communication nodes in the dynamic network is 4, the propagation time between every two communication nodes is 6, and when the dynamic network is relatively positioned once, the current node needs to acquire all 6 propagation times.
And S2, the current node acquires the relative position of the current node according to the relative positions of the at least four communication nodes and the difference between the monitoring time from each two communication nodes in the at least four communication nodes to the current node.
Specifically, in the last step, the relative positions of the at least four communication nodes need to be obtained by pairwise communication through the communication nodes in the dynamic network. When the current node performs pairwise communication between the communication nodes, the current node receives all data packets sent by the communication nodes, and acquires the difference between the monitoring time from each two communication nodes to the current node according to the time for receiving the data packets sent by the communication nodes.
And then, the current node acquires the relative position of the current node according to the relative positions of the at least four communication nodes and the difference between the monitoring time from each two communication nodes to the current node.
The dynamic network comprises at least four communication nodes and a plurality of monitoring nodes, and each communication node and each monitoring node can acquire relative positions through the method, namely when the dynamic network is relatively positioned once, the positions of each node in the dynamic network relative to the at least four communication nodes can be obtained only by means of pairwise communication of the at least four communication nodes.
In the embodiment of the invention, the relative position of any node in the dynamic network is obtained through pairwise communication among at least four communication nodes, the problem of low efficiency caused by the increase of the number of the nodes in a positioning system is solved, and the high-efficiency and high-precision relative positioning of the dynamic network is realized.
Based on the foregoing embodiment, fig. 2 is a schematic diagram of communication between any two communication nodes in the embodiment of the present invention, and as shown in fig. 2, a method for relative positioning of a dynamic network is provided, where the current node obtains relative positions of at least four communication nodes according to propagation time between every two communication nodes in the at least four communication nodes of the dynamic network, and before the method, the method further includes: the method comprises the steps that a current node receives a second response data packet sent when communication between every two communication nodes in at least four communication nodes of a dynamic network is received, and the propagation time between every two communication nodes is extracted from the second response data packet; the propagation time between every two communication nodes is obtained by any one of every two communication nodes according to the first time difference, the second time difference, the third time difference and the fourth time difference between every two communication nodes; wherein the first time difference is a time difference between the other communication node of every two communication nodes sending a first request data packet and receiving a first response data packet; the first response data packet is a response data packet sent by any communication node after receiving the first request data packet; the second time difference is the time difference between the other communication node receiving the first response packet and sending a second request packet; the second request data packet is a request data packet which is sent by the other communication node after receiving the first response data packet and contains the first time difference and the second time difference; the third time difference is the time difference between the receiving of the first request data packet and the sending of the first response data packet by any communication node; the fourth time difference is a time difference between the sending of the first response packet and the receiving of the second request packet by any of the communication nodes.
Specifically, the method for acquiring the relative positions of at least four communication nodes by the current node is based on the propagation time between every two communication nodes and the propagation time between any two communication nodes, and includes:
s01, any of the communication nodes issues a first request packet.
The two arbitrary communication nodes are respectively represented by any communication node and another communication node in the embodiment of the present invention. And each communication node and the monitoring node in the dynamic network can receive the first request data packet sent by any communication node.
s02, the other communication node sends out a first response packet after receiving the first request packet.
s03, after receiving the response corresponding to the first request packet, that is, the first response packet, the communication node reads the time difference between sending the first request packet and receiving the first response packet, that is, the first time difference, and places the first time difference and the preset time difference between sending the second request packet after receiving the response, that is, the second time difference, in the second request packet, and sends the second request packet.
s04, after receiving the second request packet, the other communication node obtains the first time difference and the second time difference in the second request packet, and calculates the propagation time between the any communication node and the other communication node according to the first time difference, the second time difference, the third time difference and the fourth time difference; wherein the third time difference is a time difference between the other communication node receiving the first request packet and sending out the first response packet, and the fourth time difference is a time difference between the other communication node sending out the first response packet and receiving the second request packet.
Further, the propagation time between any communication node and another communication node refers to a time difference between the data packet sent by any communication node and the data packet received by another communication node, that is, a time required for the data packet to propagate between the two communication nodes.
s05, the other communication node sends out a second response packet containing the propagation time between the any communication node and the other communication node.
s06, the current node receives the second response packet, and extracts the propagation time between the communication node and another communication node from the second response packet.
In the embodiment of the invention, the propagation time between any two communication nodes is acquired by performing request-response communication between any two communication nodes, and data support is provided for acquiring the relative position between the communication nodes.
Based on any of the above embodiments, referring to fig. 2, a dynamic network relative positioning method, where the current node obtains a relative position of the current node according to a relative reference position of the at least four communication nodes and a difference between monitoring times of each two communication nodes of the at least four communication nodes to the current node, where before, the method further includes: the current node receives the first request data packet and the first response data packet sent when the current node communicates between every two communication nodes in at least four communication nodes of the dynamic network, and obtains a fifth time difference between every two communication nodes; the fifth time difference is the time difference between the receipt of the first request packet and the first response packet; the current node extracts a third time difference between every two communication nodes from a second response packet sent out when the current node communicates between every two communication nodes; and the current node calculates the difference of the monitoring time from each two communication nodes to the current node according to the propagation time, the third time difference and the fifth time difference between each two communication nodes.
Specifically, the method for acquiring the relative position of the current node requires the difference between the monitoring time from each two communication nodes in at least four communication nodes to the current node, and the difference between the monitoring time from any two communication nodes to the current node, and includes:
s11, the current node receives the first request packet and the first response packet.
The acquisition of the difference between the monitoring times of any two communication nodes to the current node is based on the communication between any two communication nodes.
After any communication node sends a first request data packet, the current node receives the first request data packet; and after the other communication node receives the first request data packet and sends out a first response data packet, the current node receives the first response data packet again.
s12, the other communication node issuing a second response packet including the propagation time between the any communication node and the other communication node and the third time difference.
After receiving a second request data packet, the other communication node obtains the first time difference and the second time difference in the second request data packet, and calculates the propagation time between the any communication node and the other communication node according to the first time difference, the second time difference, the third time difference and the fourth time difference;
subsequently, the other communication node places the propagation time between the any communication node and the other communication node and the third time difference in the second response packet and transmits it.
s13, after the current node receives the second response packet, obtaining the propagation time and the third time difference between any communication node and another communication node in the second response packet, and calculating the difference between the monitoring time from any communication node and another communication node to the current node according to the propagation time, the third time difference and the fifth time difference between any communication node and another communication node; wherein the fifth time difference is a time difference between the current node receiving the first request packet and the first response packet.
The difference between the listening time of the any communication node and the listening time of the other communication node to the current node is the propagation time of the any communication node to the current node-the propagation time of the other communication node to the current node.
In the embodiment of the invention, the current node acquires the difference between the monitoring time from any two communication nodes to the current node by receiving the data packets sent by any two communication nodes in the communication process, and provides data support for acquiring the relative positioning of the current node.
Based on any of the above embodiments, a dynamic network relative positioning method, where the current node obtains a relative position of the current node according to a relative reference position of the at least four communication nodes and a difference between monitoring times of each two communication nodes of the at least four communication nodes to the current node, further includes: the current node acquires the distance between every two communication nodes based on the propagation time between every two communication nodes in at least four communication nodes of the dynamic network; and the current node establishes a relative coordinate system based on the distance between every two communication nodes and acquires the relative positions of the at least four communication nodes.
Specifically, the current node obtains the distance between any two communication nodes based on the propagation time between the any two communication nodes by the following formula:
dmn＝Tofmn×v；
in the formula (d)mnIs the distance, T, between communication node m and communication node nofmnV is the propagation time between communication node m and communication node n, and v is the speed of light.
Then, the current node establishes a relative coordinate system based on the distance between every two at least four communication nodes, and obtains the coordinates of the at least four communication nodes in the relative coordinate system, namely the relative positions of the at least four communication nodes, so as to realize the positioning of the at least four communication nodes.
In the embodiment of the invention, the relative positioning of the communication nodes is realized through the propagation time among the communication nodes, and a foundation is laid for realizing the relative positioning of the current nodes.
Based on any of the above embodiments, a dynamic network relative positioning method, where the calculating a propagation time between any communication node and another communication node according to the first time difference, the second time difference, the third time difference, and the fourth time difference, further includes: acquiring a propagation time between the any communication node and another communication node by the following formula:
in the formula, TofmnA, b, c and d are a first time difference, a second time difference, a third time difference and a fourth time difference.
Based on any of the above embodiments, a dynamic network relative positioning method, where the current node calculates, according to the propagation time, the third time difference, and the fifth time difference between every two communication nodes, a difference between the listening time of each two communication nodes to the current node, further includes: the current node obtains the difference between the monitoring time from each two communication nodes to the current node according to the following formula:
Tmx-nx＝Tmx-Tnx＝e-c-Tofmn；
in the formula, Tmx-nxIs the difference between the monitoring time of the communication node m and the communication node n to the current node x, TmxFor the propagation time, T, of the communication node m to the current node xnxIs the propagation time from the communication node n to the current node, e is the fifth time difference, c is the third time difference, TofmnIs the propagation time between communication node m and communication node n.
Based on any of the above embodiments, referring to fig. 2, a dynamic network relative positioning method, where the current node obtains a relative position of the current node according to a difference between the relative positions of the at least four communication nodes and a monitoring time from each two communication nodes of the at least four communication nodes to the current node, where before, the method further includes:
the current node receives the first request data packet, the first response data packet and the second request data packet sent when the current node communicates between every two communication nodes in at least four communication nodes of the dynamic network, and obtains a fifth time difference and a sixth time difference between every two communication nodes; the fifth time difference is a time difference between the reception of the first request packet and the reception of the first response packet, and the sixth time difference is a time difference between the reception of the first response packet and the reception of the second request packet;
the current node extracts a second time difference from the second request data packet and extracts a third time difference from the second response packet;
the current node calculates the difference between the monitoring time from each two communication nodes to the current node according to the second time difference, the third time difference, the fifth time difference and the sixth time difference by the following formula:
in the formula, Tmx-nxIs the difference between the monitoring time of the communication node m and the communication node n to the current node x, Tnx-mxThe difference between the monitoring time from the communication node n and the monitoring time from the communication node m to the current node x is shown as e, the fifth time difference is shown as c, the sixth time difference is shown as f, and the second time difference is shown as b.
Wherein, Tmx-nx＝-Tnx-mx. Subtracting the above two equations to obtain the following equation:
namely, the difference between the monitoring time from each two communication nodes to the current node is obtained through the second time difference, the third time difference, the fifth time difference and the sixth time difference.
Based on any of the above embodiments, fig. 3 is a schematic diagram of a relative coordinate system according to an embodiment of the present invention, and as shown in fig. 3, a dynamic network relative positioning method is provided, where the current node obtains a relative position of the current node according to a relative reference position of the at least four communication nodes and a difference between monitoring times of each two communication nodes of the at least four communication nodes to the current node, and further includes: coordinates of the communication node 1, the communication node 2, the communication node 3, and the communication node 4 are set to (0, 0, 0), (x), respectively2，0，0)、(x3，y30) and (x)4，y4，z4) Wherein, in the step (A),
x2＝d12；
in the formula (d)mnThe distance between communication node m and communication node n is 1, 2, 3, 4, and n is 1, 2, 3, 4.
In particular, the communication nodes 1, 2, 3 and 4 are any communication nodes in a dynamic network.
There are many ways to establish the relative coordinate system, and the above is only one way to establish the relative coordinate system, and the establishment of the relative coordinate system in the embodiment of the present invention is not limited thereto.
Based on any of the above embodiments, fig. 4 is a schematic diagram of positioning a monitoring node x in a relative coordinate system according to an embodiment of the present invention, and as shown in fig. 4, a dynamic network relative positioning method is provided, where a current node obtains a current relative position according to a relative reference position of at least four communication nodes and a difference between monitoring times from each two communication nodes of the at least four communication nodes to the current node, and further includes:
s21, the current node obtains the difference between the distances from each two communication nodes to the current node based on the difference between the monitoring time from each two communication nodes to the current node.
Specifically, the current node obtains the difference between the distances from each two communication nodes to the current node by the following formula:
Dmx-nx＝Tmx-nx×v；
in the formula, Dmx-nxIs the difference between the distances from the communication node m and the communication node n to the current node x, Tmx-nxV is the difference between the monitoring time from the communication node m and the communication node n to the current node x, respectively, and is the speed of light.
s22, the current node obtains the relative position of the current node through a positioning formula based on the relative coordinate system, the relative positions of at least four communication nodes and the difference between the distances from each two communication nodes to the current node, wherein the positioning formula is as follows:
in the formula, x0、y0And z0X-axis, y-axis and z-axis coordinates, D, respectively, of the relative position of the current nodemnThe distance difference between the communication node m and the communication node n to the current node is shown.
In the embodiment of the invention, a method for determining the coordinates of the current node based on the relative coordinate system determined by at least four communication nodes is provided, so that high-efficiency relative positioning is realized.
Based on any of the above embodiments, a dynamic network relative positioning method, where the third time difference is a time difference between receiving the first request packet and sending the first response packet, which is obtained after the other communication node sends the first response packet.
Specifically, the third time difference is read by the other communication node after the end of the first "request-response" type communication between the any communication node and the other communication node. Compared with the second time difference acquisition method, namely the acquisition method of directly reading the chip clock to acquire the third time difference by taking the preset value as the time difference between the reception of the first response data packet and the transmission of the second request data packet, the method is more accurate, and reduces the time difference error caused by the limitations of the chip and driving hardware (such as antenna specification) in actual operation.
Based on any of the above embodiments, a dynamic network relative positioning method, where the relative position of the current node is obtained through a positioning formula, further includes: based on a Chan algorithm, acquiring a coordinate iteration initial value of the current node through a positioning formula; and acquiring the relative position of the current node through an iterative algorithm based on the coordinate iteration initial value of the current node.
Specifically, the Chan algorithm is a positioning algorithm based on the TDOA technology and having an analytic expression solution, and has good performance when the TDOA error follows an ideal gaussian distribution. The algorithm has the characteristics of small calculation amount and high positioning precision in the environment that noise obeys Gaussian distribution. The Chan algorithm is applied to solving of the relative position of the monitoring node, so that the iteration initial value of the coordinates can be obtained, and the coordinates are guaranteed to be in a convergence domain.
The initial value of the coordinate iteration is then applied to an iterative algorithm. Here, the iterative algorithm is an iterative algorithm based on weighted descent. In an actual scene, the position credibility of the at least four communication nodes is different, and the position credibility is reduced towards a gradient direction with higher credibility through weighting priority, so that the coordinate value of the current node in a relative coordinate system, namely the relative position of the current node, can be obtained more accurately.
In practical engineering application, redundant coordinates can be solved through the algorithm, and then the solved positions are weighted respectively according to the credibility of the relative coordinate system and then averaged, so that the credibility of the actual coordinates is increased.
In the embodiment of the invention, the positioning precision is improved by applying the iterative algorithm.
Based on any of the above embodiments, a dynamic network relative positioning method, when four communication nodes are coplanar, a current node establishes an XOY plane according to planes where the four communication nodes are located, and then determines relative positions of the four communication nodes.
On the basis, the current node can determine the z-axis direction according to the user requirement, for example: the selection direction of the z axis can be determined by utilizing the property that the coordinate of the z axis cannot be suddenly changed, and because the four points are coplanar to be a very individual condition, the selection direction of the z axis can be determined by general positions obtained by the previous relative positioning in an actual scene.
Based on any one of the embodiments, a dynamic network relative positioning method provides a relative positioning method of a three-dimensional space. On the basis, the relative positioning method of the three-dimensional space is subjected to dimension reduction, and the relative positioning method suitable for the two-dimensional plane can be obtained.
Fig. 5 is a schematic structural diagram of a power distribution apparatus according to an embodiment of the present invention, and as shown in fig. 5, the power distribution apparatus includes: a processor (processor)501, a communication Interface (Communications Interface)502, a memory (memory)503, and a bus 504, wherein the processor 501, the communication Interface 502, and the memory 503 are configured to communicate with each other via the bus 504. The processor 501 may call logic instructions in the memory 503 to perform the following method: the current node acquires the relative positions of at least four communication nodes according to the propagation time between every two communication nodes in the at least four communication nodes of the dynamic network; and the current node acquires the relative position of the current node according to the relative positions of the at least four communication nodes and the difference between the monitoring time from each two communication nodes in the at least four communication nodes to the current node.
An embodiment of the present invention discloses a computer program product, which includes a computer program stored on a non-transitory computer readable storage medium, the computer program including program instructions, when the program instructions are executed by a computer, the computer can execute the methods provided by the above method embodiments, for example, the method includes: the current node acquires the relative positions of at least four communication nodes according to the propagation time between every two communication nodes in the at least four communication nodes of the dynamic network; and the current node acquires the relative position of the current node according to the relative positions of the at least four communication nodes and the difference between the monitoring time from each two communication nodes in the at least four communication nodes to the current node.
The present embodiments provide a non-transitory computer-readable storage medium storing computer instructions that cause the computer to perform the methods provided by the above method embodiments, for example, including: the current node acquires the relative positions of at least four communication nodes according to the propagation time between every two communication nodes in the at least four communication nodes of the dynamic network; and the current node acquires the relative position of the current node according to the relative positions of the at least four communication nodes and the difference between the monitoring time from each two communication nodes in the at least four communication nodes to the current node.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
The above-described embodiments of the test equipment and the like of the display device are merely illustrative, wherein the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the embodiments of the present invention, and are not limited thereto; although embodiments of the present invention have been described in detail with reference to the foregoing embodiments, those skilled in the art will understand 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; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A dynamic network relative positioning method, comprising:
the current node acquires the relative positions of at least four communication nodes according to the propagation time between every two communication nodes in the at least four communication nodes of the dynamic network;
the current node acquires the relative position of the current node according to the relative positions of the at least four communication nodes and the difference between the monitoring time from each two communication nodes in the at least four communication nodes to the current node;
the current node obtains the relative positions of at least four communication nodes according to the propagation time between every two communication nodes in the at least four communication nodes of the dynamic network, and the method also comprises the following steps:
the method comprises the steps that a current node receives a second response data packet sent when communication between every two communication nodes in at least four communication nodes of a dynamic network is received, and the propagation time between every two communication nodes is extracted from the second response data packet;
the propagation time between every two communication nodes is obtained by any one of every two communication nodes according to the first time difference, the second time difference, the third time difference and the fourth time difference between every two communication nodes;
wherein the first time difference is a time difference between the other communication node of every two communication nodes sending a first request data packet and receiving a first response data packet; the first response data packet is a response data packet sent by any communication node after receiving the first request data packet;
the second time difference is the time difference between the other communication node receiving the first response packet and sending a second request packet; the second request data packet is a request data packet which is sent by the other communication node after receiving the first response data packet and contains the first time difference and the second time difference;
the third time difference is the time difference between the receiving of the first request data packet and the sending of the first response data packet by any communication node;
the fourth time difference is a time difference between the sending of the first response packet and the receiving of the second request packet by any communication node;
the propagation time between each two communication nodes is obtained by any one of the two communication nodes according to the first time difference, the second time difference, the third time difference and the fourth time difference between the two communication nodes, and further includes:
the propagation time between each two communication nodes is obtained by any one of the two communication nodes according to the following formula:
in the formula, TofmnA, b, c and d are a first time difference, a second time difference, a third time difference and a fourth time difference.
2. The dynamic network relative positioning method according to claim 1, wherein the current node obtains the relative position of the current node according to the relative positions of the at least four communication nodes and the difference between the listening time of each two communication nodes of the at least four communication nodes to the current node, and before the method further comprises:
the current node receives the first request data packet and the first response data packet sent when the current node communicates between every two communication nodes in at least four communication nodes of the dynamic network, and obtains a fifth time difference between every two communication nodes; the fifth time difference is the time difference between the receipt of the first request packet and the first response packet;
the current node extracts a third time difference between every two communication nodes from a second response packet sent out when the current node communicates between every two communication nodes;
and the current node calculates the difference of the monitoring time from each two communication nodes to the current node according to the propagation time, the third time difference and the fifth time difference between each two communication nodes.
3. The dynamic network relative positioning method according to claim 1, wherein the current node obtains the relative position of the current node according to the relative positions of the at least four communication nodes and the difference between the listening time of each two communication nodes of the at least four communication nodes to the current node, further comprising:
the current node acquires the distance between every two communication nodes based on the propagation time between every two communication nodes in at least four communication nodes of the dynamic network;
and the current node establishes a relative coordinate system based on the distance between every two communication nodes and acquires the relative positions of the at least four communication nodes.
4. The dynamic network relative positioning method according to claim 2, wherein the current node calculates a difference between the listening times of each two communication nodes to the current node according to the propagation time, the third time difference and the fifth time difference between each two communication nodes, further comprising:
the current node obtains the difference between the monitoring time from each two communication nodes to the current node according to the following formula:
Tmx-nx＝Tmx-Tnx＝e-c-Tofmn；
in the formula, Tmx-nxIs the difference between the monitoring time of the communication node m and the communication node n to the current node x, TmxFor the listening time, T, from the communication node m to the current node xnxFor the listening time of the communication node n to the current node x,e is the fifth time difference, c is the third time difference, TofmnIs the propagation time between communication node m and communication node n.
5. The dynamic network relative positioning method according to claim 1, wherein the current node obtains the relative position of the current node according to the relative positions of the at least four communication nodes and the difference between the listening time of each two communication nodes of the at least four communication nodes to the current node, and before the method further comprises:
the current node receives the first request data packet, the first response data packet and the second request data packet sent when the current node communicates between every two communication nodes in at least four communication nodes of the dynamic network, and obtains a fifth time difference and a sixth time difference between every two communication nodes; the fifth time difference is a time difference between the reception of the first request packet and the reception of the first response packet, and the sixth time difference is a time difference between the reception of the first response packet and the reception of the second request packet;
the current node extracts a second time difference from the second request data packet and extracts a third time difference from the second response packet;
the current node calculates the difference between the monitoring time from each two communication nodes to the current node according to the second time difference, the third time difference, the fifth time difference and the sixth time difference by the following formula:
in the formula, Tmx-nxThe difference between the monitoring time from the communication node m and the monitoring time from the communication node n to the current node x is shown as e, the fifth time difference is shown as c, the sixth time difference is shown as f, and the second time difference is shown as b.
6. The dynamic network relative positioning method according to claim 3, wherein the current node obtains the relative position of the current node according to the relative positions of the at least four communication nodes and the difference between the listening time of each two communication nodes of the at least four communication nodes to the current node, further comprising:
the relative positions of the communication node 1, the communication node 2, the communication node 3, and the communication node 4 are set to (0, 0, 0), (x), respectively2，0，0)、(x3，y30) and (x)4，y4，z4) Wherein, in the step (A),
x2＝d12；
in the formula (d)mnThe distance between the communication node m and the communication node n is m equal to 1, 2, 3, 4, and n equal to 1, 2, 3, 4.
7. The dynamic network relative positioning method according to claim 6, wherein the current node obtains the current relative position according to the relative position of the at least four communication nodes and the difference between the listening time of each two communication nodes of the at least four communication nodes to the current node, further comprising:
the current node acquires the difference between the distances from each two communication nodes to the current node based on the difference between the monitoring time from each two communication nodes to the current node;
the current node obtains the relative position of the current node through a positioning formula based on the relative coordinate system, the relative positions of at least four communication nodes and the difference between the monitoring time from each two communication nodes to the current node, wherein the positioning formula is as follows:
in the formula, x0、y0And z0X-axis, y-axis and z-axis coordinates, D, respectively, of the relative position of the current nodemnThe distance difference between the communication node m and the communication node n to the current node is (x)0，y0，z0)。
8. A dynamic network relative positioning method as claimed in claim 1, wherein said third time difference is a time difference between receiving said first request packet and sending said first response packet, which is obtained by said another communication node after sending said first response packet.
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