CN108513352A - Distributed localization method based on wireless sensor network and wireless sensor node - Google Patents
Distributed localization method based on wireless sensor network and wireless sensor node Download PDFInfo
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- CN108513352A CN108513352A CN201810067681.1A CN201810067681A CN108513352A CN 108513352 A CN108513352 A CN 108513352A CN 201810067681 A CN201810067681 A CN 201810067681A CN 108513352 A CN108513352 A CN 108513352A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
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- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
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Abstract
The invention discloses a kind of Distributed localization method and wireless sensor node based on WSN.The wireless sensor node includes ultra-wide band radio-frequency module, data acquisition module, data processing and control module and power module.The WSN that this method is set up based on the wireless sensor node, including：Destination node to be positioned broadcasts Location Request message, and receives location response message within the set duration；When anchor node (the positioning reference mode) quantity for responding the Location Request message is more than three and is at least not arranged on the same straight line there are three the position of anchor node, the distance between itself and each positioning reference mode are measured using ultra wide band flight time algorithm one by one；According to the location information of the positioning reference mode and the distance measured, the position of itself is estimated using particle swarm optimization algorithm, and the positioning result is reported to Monitor Computer Control System by the WSN.
Description
Technical field
The present invention relates to field of locating technology, more particularly to a kind of Distributed localization method based on wireless sensor network
And wireless sensor node.
Background technology
With the development and extensive use of technology of Internet of things, requirement of the people to location-based service is higher and higher.Currently, extensively
Positioning to mobile terminal is realized using global position system, such as (Global Position System, the whole world are fixed by GPS
Position system) and BEI-DOU position system etc..This kind of location technology depends on the communications infrastructure, in the interior that satellite-signal is blocked
Environment or shadow region can not use.Therefore, there is the location technology based on wireless sensor network, independent of communication
Infrastructure, deployment is flexible, and can be applied to indoor or underground space etc., there is no carried out in the environment of the communications infrastructure
Relative positioning.Currently, the location technology precision based on wireless sensor network is relatively low, location requirement cannot be met.
Invention content
In order to solve the problems in the prior art, an embodiment of the present invention provides a kind of dividing based on wireless sensor network
Cloth localization method and wireless sensor node.The technical solution is as follows：
An embodiment of the present invention provides a kind of Distributed localization method based on wireless sensor network, the wireless sensing
Device network is set up by multiple wireless sensor nodes, and the multiple wireless sensor node includes multiple anchor nodes and multiple targets
Node, the anchor node are stored with the location information of itself, the method includes：Destination node to be positioned broadcasts Location Request report
Text simultaneously receives location response message within the set duration, and the destination node to be positioned is arbitrary in the multiple destination node
One, the location response message includes the mark and location information for the anchor node for sending the location response message；Work as reception
To the location response message the quantity location response message that is no less than three, and receives belonging to anchor node in
At least there are three anchor node be not arranged on the same straight line when, the destination node to be positioned using ultra wide band flight time algorithm by
One measures the distance between itself and positioning reference mode, and the positioning reference mode is that the destination node to be positioned receives
Location response message belonging to anchor node；The destination node to be positioned according to it is described positioning reference mode location information with
And the distance measured, the position of the destination node to be positioned is estimated based on particle swarm optimization algorithm, obtains positioning knot
Fruit；The positioning result is reported to Monitor Computer Control System by the wireless sensor network.
In an implementation of the embodiment of the present invention, the destination node to be positioned is calculated using the ultra wide band flight time
Method measures the distance between itself and positioning reference mode one by one, including：Using the two-way flight time based on super-broadband tech
Measurement method measures itself telegram literary flight time between each positioning reference mode one by one；Described in measuring
The telegram text flight time is multiplied with the light velocity respectively, obtains between the destination node to be positioned and each positioning reference mode
Distance.
In another realization method of the embodiment of the present invention, the destination node to be positioned is according to the positioning reference node
The location information of point and the distance, determine the search space of particle swarm optimization algorithm；The destination node to be positioned is described
M particle is initialized in search space and calculates the fitness value of each particle, and M is the integer more than 1；The target to be positioned
Fitness value of the node based on each particle, iteration update the position of each particle；When particle swarm optimization algorithm is searched
When the fitness value of rope to particle reaches the maximum iteration of setting less than given threshold or the newer number of the iteration, institute
Destination node to be positioned is stated using search result as the position of the destination node to be positioned.
Further, the destination node to be positioned determines described search space according to following formula (1)：
In formula (1), (xi,yi) it is i-th of coordinate for positioning reference mode, diThe destination node to be positioned that measures with
The distance between i-th of positioning reference mode, N are the quantity for positioning reference mode, and min indicates the minimum value in set, max tables
Show the maximum value in set；
The destination node to be positioned initializes M particle according to formula (2) and calculates each particle according to formula (3)
Fitness value：
In formula (2) and (3), (xi',yi') be j-th of particle coordinate, rand (1) generate obeyed on [0,1] section it is equal
The random number of even distribution, M are the particle number of population, f (xj',yj') indicate j-th of particle fitness value, (xi,yi) be
I-th positioning reference mode coordinate, diBe destination node to be positioned measure itself i-th positioning reference mode between
Distance；
The destination node to be positioned updates the position of each particle according to formula (4) and (5) iteration：
In formula (4) and (5), (vjx(k),vjy(k)) it is the current velocity vector of j-th of particle, and vjx(0)=0, vjy
(0)=0, (vjx(k+1),vjy(k+1)) it is the newer velocity vectors of particle j；(xj'(k),yj' (k)) and be j-th of particle kth
Coordinate after secondary location updating；(xj'(k+1),yj' (k+1)) it is coordinate after+1 location updating of j-th of particle kth；
(pBestjx,pBestjy) it is optimal location before j-th of particle in k iteration；(gBestx,gBesty) entire population is preceding
Optimal location in k iteration；W is inertia weight；c1And c2It is two normal numbers；K is iteration index.
In another realization method of the embodiment of the present invention, the method further includes：When the destination node to be positioned
The quantity of the location response message received in the setting duration is less than three, or when the destination node to be positioned exists
There is no at least three not in same straight line in the anchor node belonging to location response message received in the setting duration
On anchor node when, re-broadcast Location Request message.
The embodiment of the present invention additionally provides a kind of wireless sensor node, and the wireless sensor node includes：
Ultra-wide band radio-frequency module, for carrying out message between other wireless sensor nodes in wireless sensor network
Transmitting-receiving, the wireless sensor network are set up by multiple wireless sensor nodes, and the multiple wireless sensor node includes more
A anchor node, the anchor node are stored with the location information of itself；
Data acquisition module, the data for acquiring local environment；
Data processing and control module acquire the data come for handling the data acquisition module, and described in control
Ultra-wide band radio-frequency module broadcasts Location Request message and receives location response message, the location response message within the set duration
Mark and location information including the anchor node for sending the location response message；When the location response message received
Quantity is no less than three, and at least there are three anchor nodes not same in the anchor node belonging to the location response message received
When on straight line, controls the ultra-wide band radio-frequency module and itself and positioning ginseng are measured using ultra wide band flight time algorithm one by one
The distance between node is examined, the positioning reference mode is belonging to the location response message that the ultra-wide band radio-frequency module receives
Anchor node；According to the location information of the positioning reference mode and the distance measured, it is based on Particle Swarm Optimization
Method estimates the position of the destination node to be positioned, obtains positioning result；The ultra-wide band radio-frequency module is controlled by the positioning
As a result Monitor Computer Control System is reported to by the wireless sensor network；
Power module, for the ultra-wide band radio-frequency module, the data processing and control module and the data
Acquisition module is powered.
Further, the data processing and control module are used for controlling the ultra-wide band radio-frequency module based on ultra-wide
Two-way flight time measuring method with technology measures itself telegram Wen Fei between each positioning reference mode one by one
The row time；The telegram measured the literary flight time is multiplied with the light velocity respectively, obtain the destination node to be positioned with it is each
The distance between described positioning reference mode.
In an implementation of the embodiment of the present invention, the data processing and control module are used for according to described fixed
The location information of position reference mode and the distance, determine the search space of particle swarm optimization algorithm；In described search space
M particle of initialization and the fitness value for calculating each particle, M are the integer more than 1；Fitness based on each particle
Value, iteration update the position of each particle；When the fitness value that particle swarm optimization algorithm searches particle is less than setting threshold
When value or the newer number of the iteration reach the maximum iteration of setting, using search result as the target section to be positioned
The position of point.
The data processing and control module are used to determine described search space according to following formula (1)：
In formula (1), (xi,yi) it is i-th of coordinate for positioning reference mode, diThe destination node to be positioned that measures with
The distance between i-th of positioning reference mode, N are the quantity for positioning reference mode, and min indicates the minimum value in set, max tables
Show the maximum value in set；
M particle is initialized according to formula (2) and the fitness value of each particle is calculated according to formula (3)：
In formula (2) and (3), (xi',yi') be j-th of particle coordinate, rand (1) generate obeyed on [0,1] section it is equal
The random number of even distribution, M are the particle number of population, f (xj',yj') indicate j-th of particle fitness value, (xi,yi) be
I-th positioning reference mode coordinate, diBe destination node to be positioned measure itself i-th positioning reference mode between
Distance；
The position of each particle is updated according to formula (4) and (5) iteration：
In formula (4) and (5), (vjx(k),vjy(k)) it is the current velocity vector of j-th of particle, and vjx(0)=0, vjy
(0)=0, (vjx(k+1),vjy(k+1)) it is the newer velocity vectors of particle j；(xj'(k),yj' (k)) and be j-th of particle kth
Coordinate after secondary location updating；(xj'(k+1),yj' (k+1)) it is coordinate after+1 location updating of j-th of particle kth；
(pBestjx,pBestjy) it is optimal location before j-th of particle in k iteration；(gBestx,gBesty) entire population is preceding
Optimal location in k iteration；W is inertia weight；c1And c2It is two normal numbers；K is iteration index.
In another realization method of the embodiment of the present invention, the data processing and control module are additionally operable to wait for when described
The quantity for the location response message that positioning destination node receives in the setting duration is less than three, or when described undetermined
There is no at least three in the anchor node belonging to location response message that position destination node receives in the setting duration not
In the anchor node on same straight line, controls the ultra-wide band radio-frequency module and re-broadcast Location Request message.
The advantageous effect that technical solution provided in an embodiment of the present invention is brought is：
Destination node to be positioned is by broadcasting Location Request message and within the set duration reception location response message, when connecing
The quantity of the location response message received is no less than three, and the anchor node belonging to the location response message received
In at least there are three anchor node be not arranged on the same straight line when, the destination node to be positioned use ultra wide band flight time algorithm
It measures itself and positioning the distance between reference mode one by one, and according to the location information of positioning reference mode and measures
The distance determines the position of the destination node to be positioned based on particle swarm optimization algorithm, can accurately determine to be positioned
The position of destination node, positioning accuracy are higher.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is a kind of hardware architecture diagram of wireless sensor node provided in an embodiment of the present invention；
Fig. 2 is that a kind of flow of Distributed localization method based on wireless sensor network provided in an embodiment of the present invention is shown
It is intended to；
Fig. 3 is a kind of flow of position for estimating destination node to be positioned based on PSO algorithms provided in an embodiment of the present invention
Figure.
Specific implementation mode
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
To facilitate the understanding of the present invention, the wireless sensor network in the embodiment of the present invention is first simply introduced below
(Wireless Sensor Networks,WSN).The wireless sensor network is set up by multiple wireless sensor nodes.This is more
A wireless sensor node includes multiple anchor nodes and multiple destination nodes, and the anchor node is stored with the location information of itself
(i.e. coordinate), that is to say, that anchor node is wireless sensor node known to position, and destination node is the wireless of Location-Unknown
Sensor node.Destination node can move in the overlay area of wireless sensor network.
Wherein, the establishment of ZigBee (purple honeybee) technology may be used in wireless sensor network, and anchor node is passed as wireless simultaneously
Routing node (Router) in sensor network, meanwhile, one of anchor node is as the coordinator node in ZigBee-network
(Coordinator) (it is referred to as main controlled node).Coordinator node is responsible for the establishment of ZigBee-network, and serves as ZigBee nets
Gateway between network and host computer, the environmental data that each routing node detects are sent to this by wireless sensor network
Coordinator node is sent to Monitor Computer Control System via coordinator node, and the Monitor Computer Control System is for receiving each routing section
The collected environmental data of point, to carry out environmental monitoring.Meanwhile after destination node determines the position of itself, positioning can also be tied
Fruit is sent to the coordinator node through WSN, and Monitor Computer Control System is sent to via coordinator node, to be positioned.
Wireless sensor node is the basic unit of WSN, is responsible for acquisition, processing and the transmission of sensing data, simultaneously
Has the function of high-precision range measurement.The hardware configuration of the wireless sensor node is as shown in Figure 1, include：Data acquisition module
21, data processing and control module 22 and ultra-wide band radio-frequency module 23.Wherein, data acquisition module includes 211 He of sensor
Analog-digital converter 212, for acquiring environmental data, environmental data includes but not limited to temperature, humidity, illumination etc., may include
Any of which is a variety of, and correspondingly, sensor includes but not limited to temperature sensor, humidity sensor, optical sensor
Deng.Data processing and control module 22 may include microprocessor, are acquired to data for controlling data acquisition module, and
The collected data of data acquisition module are handled, and control ultra-wide band radio-frequency module 23 and other wireless sensor nodes
Point and host computer carry out information exchange.Ultra-wide band radio-frequency module 23 may include that UWB (Ultra Wideband, ultra wide band) is penetrated
Frequency chip.
Wherein, the DW1000 chips of Irish DecWave companies may be used in radio frequency chip, which is a highly integrated
Degree, low-power consumption, IC compatibilities carry the chip of CMOS RF transceivers, meet IEEE802.15.4-2011 ultra wide band standards.Change
Module is integrated with antenna, radio circuit, power management and clock circuit, can be used for range measurement, and supports to be up to 6.8Mbps
Message transmission rate.
In order to reduce power consumption, the low-power consumption monolithic with deep sleep mode may be used with control module 22 in data processing
Machine (such as STM32F105 microcontrollers) passes through synchronous SPI (Serial Peripheral Interface, Serial Peripheral Interface (SPI))
It is communicated with ultra-wide band radio-frequency module 23, and ultra-wide band radio-frequency module 23 is carried out suspend mode or waken up to control by output pin
System.Ultra-wide band radio-frequency module 23 interrupt pin connection microcontroller input pin, generate interrupt signal when, notice microcontroller into
The corresponding interrupt processing of row.
Further, low power consumption digital sensor may be used in sensor 211, for example, humiture compound sensor
DHT11, numeric type light intensity sensor BH1750 etc., microcontroller can be read by I2C buses and handle corresponding sensor
Data, and sensing data is transmitted to by host computer by wireless sensor network.
Certainly, wireless sensor node can also include power module 24, for powering for aforementioned modules.The power supply
Battery powered may be used in module, for example, A5 type 3.6V lithium battery power supplies, the static state brought to avoid power supply chip may be used
Current drain.
Accuracy demand to meet positioning is in centered on any position in wireless sensor network overlay area
Within the scope of the UWB radio efficient communications of wireless sensor node at the center, at least it is not arranged on the same straight line in the presence of 3
Anchor node.
Based on aforementioned wireless sensor network, an embodiment of the present invention provides a kind of Distributed localization method, applied to waiting for
Position destination node, the destination node to be positioned be can be any one in aforementioned wireless sensor node.Fig. 2 is this point
The flow diagram of cloth localization method, as shown in Fig. 2, the Distributed localization method includes：
201：Destination node to be positioned judges whether destination node to be positioned has been added wireless sensor network；
If wireless sensor network is not added for destination node to be positioned, 202 are thened follow the steps；If destination node to be positioned is
Wireless sensor network is added, thens follow the steps 203.
It should be noted that for destination node to be positioned, one-time positioning can be carried out according to setting time interval,
When proceeding by positioning every time, that is, repeat flow shown in Fig. 3.When realization, a timer can be set, whenever the timing
Device reaches setting time spacing value, that is, starts to execute flow shown in Fig. 3.
The step 201 can be realized by data processing and control module.
202：The wireless sensor network is added in destination node to be positioned.
The step 202 ultra-wide band radio-frequency module can be realized with data processing and control module.
203：Destination node to be positioned broadcasts Location Request message.
Correspondingly, the anchor node within the scope of the efficient communication of destination node to be positioned can receive the Location Request report
Text, and send location response message, the location response message include the anchor node for sending the location response message mark (such as
Network ID) and location information (i.e. coordinate).
The step 203 ultra-wide band radio-frequency module can be realized with data processing and control module.
204：Destination node to be positioned receives location response message within the set duration.
When realization, another timer can be set, while sending Location Request message, destination node to be positioned opens
The timer is moved, after the timer corresponding time reaches, executes step 205.
The step 204 ultra-wide band radio-frequency module can be realized with data processing and control module.
205：Destination node to be positioned judges whether the quantity of the location response message received within the set duration is many
In three, and whether there are at least three to be not arranged on the same straight line in the anchor node belonging to the location response message received
Anchor node；When the location response message that destination node to be positioned receives within the set duration is no less than three and receives
When the anchor node for thering are at least three to be not arranged on the same straight line in the anchor node belonging to the location response message, step is executed
206；When the location response message that destination node to be positioned receives within the set duration less than three or receive it is described fixed
When there is no the anchor node that at least three are not arranged on the same straight line in the anchor node belonging to the response message of position, return to step 203.
Specifically, can to determine whether there is at least three according to the coordinate in location response message straight not in same
Anchor node on line.
When realization, the deterministic process in the step 205 can be realized by data processing and control module.
206：Destination node to be positioned using the ultra wide band flight time (Ultra WideBand Time of Flight,
UWB-TOF) algorithm measures the distance between itself and positioning reference mode one by one.
Wherein, the positioning reference mode is the corresponding anchor of location response message that the destination node to be positioned receives
Node.
The step 206 may include：Using the two-way TOF measurement methods based on super-broadband tech, measure one by one itself with
TOF between each positioning reference mode；The TOF measured is multiplied with the light velocity respectively, obtains the target to be positioned
The distance between node and each positioning reference mode.
Using super-broadband tech combine two-way TOF measurement methods determine destination node and position reference mode between away from
From precision height (can reach 15cm) can effectively improve final positioning accuracy.
When realization, which can be handled by aforementioned data and be realized with control module and ultra-wide band radio-frequency module.
207：Location information and the distance measured of the destination node to be positioned according to the positioning reference mode,
The position of the destination node to be positioned is estimated based on PSO (Particle Swarm Optimization, particle group optimizing) algorithm
It sets, obtains positioning result.
As shown in figure 3, the step 207 may include：
2071：Location information and the distance of the destination node to be positioned according to the positioning reference mode, determine that PSO is calculated
The search space of method；
2072：Destination node to be positioned initializes M particle in described search space and calculates the adaptation of each particle
Angle value, M are the integer more than 1；
2073：Fitness value of the destination node to be positioned based on each particle, iteration update each particle
Position；
2074：When the fitness value of PSO algorithm search to particle is reached less than given threshold or the newer number of the iteration
To setting maximum iteration when, destination node to be positioned is using search result as the position of the destination node to be positioned.
Wherein, given threshold could be provided as TOF measurement worst error, and maximum iteration can be according to the real-time of positioning
Property require determine, such as 10~15 times.Given threshold and maximum iteration can be according to range measurement accuracies and algorithm real-time
It is required that determining, the present invention does not limit this.
In step 2071, the search space that formula (1) determines PSO algorithms may be used：
In formula (1), (xi,yi) it is i-th of coordinate for positioning reference mode, diIt is the mesh to be positioned measured in step 206
The distance between node and i-th of positioning reference mode are marked, N is the quantity for positioning reference mode.Min indicates the minimum in set
Value, max indicate the maximum value in set.
It should be noted that since destination node to be positioned is transportable, so in the positioning flow of not homogeneous,
The quantity of positioning reference mode can be the same or different, and specifically used anchor node may also be different (including whole
It is different different with part), it is specifically subject to and receives the corresponding anchor node of location response message, that is to say, that in formula (1)
Positioning reference mode refers both to the anchor node employed in this positioning flow.
In step 2072, formula (2) may be used and initialize M particle, and the suitable of each particle is calculated according to formula (3)
Answer angle value.
In formula (2) and (3), (xi',yi') be j-th of particle coordinate, rand (1) generate obeyed on [0,1] section it is equal
The random number of even distribution, M are the particle number of population, f (xj',yj') indicate j-th of particle fitness value, (xi,yi) be
I-th positioning reference mode coordinate, diBe destination node to be positioned measure itself i-th positioning reference mode between
Distance.I.e. if destination node is in the position of j-th of particle, this position and all positioning reference mode positions away from
From with measured by TOF with a distance from mean square deviation, this fitness value is smaller, and the position of particle j is destination node position
Possibility it is bigger.
In step 2073, the position of each particle can be updated according to formula (4) and (5) iteration.
In formula (4) and (5), (vjx(k),vjy(k)) it is the current velocity vector of j-th of particle, (vjx(k+1),vjy(k+
1)) it is the newer velocity vectors of particle j；(xj'(k),yj' (k)) and be j-th of particle kth time location updating after position；
(xj'(k+1),yj' (k+1)) it is position after+1 location updating of j-th of particle kth；(pBestjx,pBestjy) it is j-th
Optimal location before particle in k iteration；(gBestx,gBesty) entire optimal location of the population in preceding k iteration；W is
Inertia weight, the decimal between [0,1]；c1And c2It is two normal numbers, can use 1.49；K is iteration index, is changed for 1 to maximum
Positive integer between generation number.pBestjAnd gBestIt is chosen according to the fitness value being calculated, the smaller particle of fitness value
Position is more excellent.
It should be noted that the initial velocity vector of all particles is 0, i.e. vjx(0)=0, vjy(0)=0.
When realization, which can be handled by aforementioned data and control module is realized.
208：Positioning result is reported to Monitor Computer Control System by WSN.
Certainly, the environment that destination node to be positioned detects can also be sent to host computer while sending location information
Data.Correspondingly, after host computer receives positioning result, the mark for preserving destination node to be positioned and position can be corresponded to, and
It can also show the positioning result.
When realization, which can be handled by aforementioned data and control module control ultra-wide band radio-frequency module is realized.
One of ordinary skill in the art will appreciate that realizing that all or part of step of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can be stored in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
The foregoing is merely a prefered embodiment of the invention, is not intended to limit the invention, all in the spirit and principles in the present invention
Within, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of Distributed localization method based on wireless sensor network, which is characterized in that the wireless sensor network by
Multiple wireless sensor nodes are set up, and the multiple wireless sensor node includes multiple anchor nodes and multiple destination nodes, institute
It states anchor node and is stored with the location information of itself, the method includes：
Destination node to be positioned broadcasts Location Request message and receives location response message, the mesh to be positioned within the set duration
It is any one in the multiple destination node to mark node, and the location response message includes sending the location response message
Anchor node mark and location information；
When the quantity of the location response message received is no less than three, and belonging to the location response message received
Anchor node at least there are three anchor node be not arranged on the same straight line when, the destination node to be positioned using ultra wide band flight
Time algorithm measures the distance between itself and positioning reference mode one by one, and the positioning reference mode is the target to be positioned
The anchor node belonging to location response message that node receives；
The destination node to be positioned is based on according to the location information for positioning reference mode and the distance measured
Particle swarm optimization algorithm estimates the position of the destination node to be positioned, obtains positioning result；
The positioning result is reported to Monitor Computer Control System by the wireless sensor network.
2. Distributed localization method according to claim 1, which is characterized in that the destination node to be positioned uses ultra-wide
Band flight time algorithm measures the distance between itself and positioning reference mode one by one, including：
Using the two-way flight time measuring method based on super-broadband tech, itself and each positioning reference node are measured one by one
The telegram literary flight time between point；
The telegram measured the literary flight time is multiplied with the light velocity respectively, obtain the destination node to be positioned with it is each described
Position the distance between reference mode.
3. Distributed localization method according to claim 1, which is characterized in that the destination node to be positioned is according to
The distance for positioning the location information of reference mode and measuring estimates the mesh to be positioned based on particle swarm optimization algorithm
The position of node is marked, including：
Location information and the distance of the destination node to be positioned according to the positioning reference mode, determine particle group optimizing
The search space of algorithm；
The destination node to be positioned initializes M particle in described search space and calculates the fitness value of each particle, M
For the integer more than 1；
Fitness value of the destination node to be positioned based on each particle, iteration update the position of each particle；
When the fitness value that particle swarm optimization algorithm searches particle reaches less than given threshold or the newer number of the iteration
When the maximum iteration of setting, the destination node to be positioned is using search result as the position of the destination node to be positioned
It sets.
4. Distributed localization method according to claim 3, which is characterized in that the destination node to be positioned is according to following
Formula (1) determines described search space：
In formula (1), (xi,yi) it is i-th of coordinate for positioning reference mode, diIt is the destination node to be positioned measured and i-th
The distance between reference mode is positioned, N is the quantity for positioning reference mode, and min indicates that the minimum value in set, max indicate collection
Maximum value in conjunction；
The destination node to be positioned initializes M particle according to formula (2) and calculates the adaptation of each particle according to formula (3)
Angle value：
In formula (2) and (3), (xi',yi') be j-th of particle coordinate, rand (1) generate [0,1] section on obey uniformly point
The random number of cloth, M are the particle number of population, f (xj',yj') indicate j-th of particle fitness value, (xi,yi) be
The coordinate of i positioning reference mode, diBe destination node to be positioned measure itself i-th positioning reference mode between away from
From；
The destination node to be positioned updates the position of each particle according to formula (4) and (5) iteration：
In formula (4) and (5), (vjx(k),vjy(k)) it is the current velocity vector of j-th of particle, and vjx(0)=0, vjy(0)=
0, (vjx(k+1),vjy(k+1)) it is the newer velocity vectors of particle j；(xj'(k),yj' (k)) and be j-th of particle kth time position
Set updated coordinate；(xj'(k+1),yj' (k+1)) it is coordinate after+1 location updating of j-th of particle kth；(pBestjx,
pBestjy) it is optimal location before j-th of particle in k iteration；(gBestx,gBesty) entire population is in preceding k iteration
In optimal location；W is inertia weight；c1And c2It is two normal numbers；K is iteration index.
5. according to claim 1-4 any one of them Distributed localization methods, which is characterized in that the method further includes：
When the quantity of location response message that the destination node to be positioned receives in the setting duration is less than three, or
Person does not deposit when in the anchor node belonging to the location response message that the destination node to be positioned receives in the setting duration
At least three be not arranged on the same straight line anchor node when, re-broadcast Location Request message.
6. a kind of wireless sensor node, which is characterized in that the wireless sensor node includes：
Ultra-wide band radio-frequency module, for carrying out message receipts between other wireless sensor nodes in wireless sensor network
Hair, the wireless sensor network are set up by multiple wireless sensor nodes, and the multiple wireless sensor node includes multiple
Anchor node, the anchor node are stored with the location information of itself；
Data acquisition module, the data for acquiring local environment；
Data processing and control module acquire the data come for handling the data acquisition module, and control the ultra-wide
Band radio-frequency module broadcast Location Request message simultaneously receives location response message within the set duration, and the location response message includes
Send the mark and location information of the anchor node of the location response message；When the quantity of the location response message received
No less than three, and at least there are three anchor nodes not in same in the anchor node belonging to the location response message received
When on straight line, controls the ultra-wide band radio-frequency module and itself and positioning reference node are measured using ultra wide band flight time algorithm one by one
The distance between point, the positioning reference mode are the anchor belonging to the location response message that the ultra-wide band radio-frequency module receives
Node；According to the location information of the positioning reference mode and the distance measured, estimated based on particle swarm optimization algorithm
The position for counting the destination node to be positioned, obtains positioning result；The ultra-wide band radio-frequency module is controlled by the positioning result
It is reported to Monitor Computer Control System by the wireless sensor network；
Power module, for being acquired to the ultra-wide band radio-frequency module, the data processing and control module and the data
Module for power supply.
7. wireless sensor node according to claim 6, which is characterized in that the data processing and control module are used for
Control the ultra-wide band radio-frequency module use the two-way flight time measuring method based on super-broadband tech, measure one by one itself with
The telegram literary flight time between each positioning reference mode；By the telegram measured the literary flight time respectively with the light velocity
It is multiplied, obtains the distance between the destination node to be positioned and each positioning reference mode.
8. wireless sensor node according to claim 6, which is characterized in that the data processing and control module are used for
According to the location information of the positioning reference mode and the distance, the search space of particle swarm optimization algorithm is determined；Described
M particle is initialized in search space and calculates the fitness value of each particle, and M is the integer more than 1；Based on each grain
The fitness value of son, iteration update the position of each particle；When particle swarm optimization algorithm searches the fitness value of particle
When reaching the maximum iteration of setting less than given threshold or the newer number of the iteration, by search result be used as described in wait for
Position the position of destination node.
9. wireless sensor node according to claim 8, which is characterized in that the data processing and control module are used for
Described search space is determined according to following formula (1)：
In formula (1), (xi,yi) it is i-th of coordinate for positioning reference mode, diIt is the destination node to be positioned measured and i-th
The distance between reference mode is positioned, N is the quantity for positioning reference mode, and min indicates that the minimum value in set, max indicate collection
Maximum value in conjunction；
M particle is initialized according to formula (2) and the fitness value of each particle is calculated according to formula (3)：
In formula (2) and (3), (xi',yi') be j-th of particle coordinate, rand (1) generate [0,1] section on obey uniformly point
The random number of cloth, M are the particle number of population, f (xj',yj') indicate j-th of particle fitness value, (xi,yi) be
The coordinate of i positioning reference mode, diBe destination node to be positioned measure itself i-th positioning reference mode between away from
From；
The position of each particle is updated according to formula (4) and (5) iteration：
In formula (4) and (5), (vjx(k),vjy(k)) it is the current velocity vector of j-th of particle, and vjx(0)=0, vjy(0)=
0, (vjx(k+1),vjy(k+1)) it is the newer velocity vectors of particle j；(xj'(k),yj' (k)) and be j-th of particle kth time position
Set updated coordinate；(xj'(k+1),yj' (k+1)) it is coordinate after+1 location updating of j-th of particle kth；(pBestjx,
pBestjy) it is optimal location before j-th of particle in k iteration；(gBestx,gBesty) entire population is in preceding k iteration
In optimal location；W is inertia weight；c1And c2It is two normal numbers；K is iteration index.
10. according to claim 6-9 any one of them wireless sensor nodes, which is characterized in that the data processing and control
Molding block is additionally operable to few in the quantity of the location response message for setting and being received in duration when the destination node to be positioned
In three, or the anchor section when the destination node to be positioned belonging to the location response message for setting and being received in duration
When the anchor node that at least three are not arranged on the same straight line being not present in point, controls the ultra-wide band radio-frequency module and re-broadcast and determine
Position request message.
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