CN108882198A - The mean value localization method of the unknown sensor node of wireless sensor network - Google Patents

The mean value localization method of the unknown sensor node of wireless sensor network Download PDF

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CN108882198A
CN108882198A CN201810884680.6A CN201810884680A CN108882198A CN 108882198 A CN108882198 A CN 108882198A CN 201810884680 A CN201810884680 A CN 201810884680A CN 108882198 A CN108882198 A CN 108882198A
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straight line
unknown node
region
coordinate
line
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CN108882198B (en
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乔学工
段亚青
王华倩
周文祥
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Taiyuan University of Technology
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0278—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves involving statistical or probabilistic considerations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Probability & Statistics with Applications (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The present invention relates to wireless sensor network location technologies, specially the mean value localization method of the unknown sensor node of wireless sensor network.Solve the problems, such as that the existing location algorithm positioning accuracy based on ranging is low and algorithm is complicated.The method of the invention is converted into euclidean distance between node pair value first with the signal strength indication received between node, pass through public security frontier bureau ratio theorem, utilize 3 beaconing nodes A, B, C any around unknown node, find out three possible coordinates of unknown node, and coordinate of the mean value as unknown node is calculated, complete unknown node coordinate setting.The method of the invention improves the precision of algorithm, reduces the complexity of algorithm, reduces the energy consumption of node, extends the life cycle of node.

Description

The mean value localization method of the unknown sensor node of wireless sensor network
Technical field
The present invention relates to wireless sensor network location technology, the specially unknown sensor node of wireless sensor network Mean value localization method is mainly used for obtaining the accurate location information of the unknown sensor node of wireless sensor network.
Background technique
Technology of Internet of things constantly obtains new achievement in recent years, has applied to defense military, environmental monitoring, traffic pipe Reason, health care, manufacturing industry, the fields such as provide rescue and relief for disasters and emergencies, the wireless sensor network as one of Internet of Things bottom important technology Have become research hotspot.Wherein, obtaining accurate location information by location algorithm is that wireless sensor network is very heavy The content wanted.
Location algorithm is divided into based on non-ranging location algorithm (e.g., DV-HOP algorithm) and based on the location algorithm of ranging. The positioning accuracy of location algorithm based on ranging is higher than based on non-ranging location algorithm.It is related to the location algorithm based on ranging Some algorithms have, three in location algorithm, three centroid localization algorithm, population location algorithm etc..These existing algorithms are wanted Positioning accuracy lower (e.g., centroid localization algorithm) or algorithm need to carry out a large amount of interative computation and excessively it is complicated (e.g., Population location algorithm).
Summary of the invention
The present invention solves the problems, such as that the existing location algorithm positioning accuracy based on ranging is low and algorithm is complicated, provides a kind of nothing The mean value localization method of the unknown sensor node of line sensor network.
The present invention adopts the following technical scheme that realization：The mean value of the unknown sensor node of wireless sensor network positions Method is realized by following steps：
Z1：Unknown node P receives the signal of surrounding beaconing nodes, and converts unknown section for the signal strength indication received The distance between point and beaconing nodes value；Here it converts using well known logarithm-constant wireless signal propagation model.
Z2：It sets unknown node P and receives the anchor node number of signal as m, m >=3 are not conllinear with wantonly 3 positions Beaconing nodes be one group, k group altogether；
Z3：From first group of beaconing nodes until kth group beaconing nodes successively calculate the coordinate of unknown node P, one be there are To k coordinate, it is expressed as (xP1,yP1) ... ... (xPk,yPk)；Wherein u group beaconing nodes are chosen, u value is 1 to k, will This group of beaconing nodes are set as A, B, C, calculate u-th of coordinate (x of unknown node PPu,yPu), it is one of above-mentioned k coordinate； Entire plane is divided into four regions by 3 beaconing nodes A, B, C：
Region 1：The region Δ ABC；
Region 2：The region ∠ BAC removes the remaining region in the region Δ ABC and its vertical angles region；
Region 3：The region ∠ ACB removes the remaining region in the region Δ ABC and its vertical angles region；
Region 4：The region ∠ ABC removes the remaining region in the region Δ ABC and its vertical angles region；
Z4：Acquire the coordinate A (x of u group three beaconing nodes A, B, CA,yA), B (xB,yB), C (xC,yC)；Calculate beacon Node A to the distance between beaconing nodes B LAB；Calculate beaconing nodes B to the distance between beaconing nodes C LBC；Calculate beacon section Point A to the distance between beaconing nodes C LAC；Remembered according to the distance between step Z1 obtained unknown node P to beaconing nodes A For LPA, the distance between unknown node P to beaconing nodes B is denoted as LPB；Unknown node P to the distance between beaconing nodes C LPC；
Z5：Judge the relative position of unknown node P, beaconing nodes A, beaconing nodes B, beaconing nodes C：
A) judge unknown node P whether on straight line AB, straight line BC, straight line AC：
Work as LAB=LPA+LPBOr LAB=| LPA-LPB| when, unknown node P is located on straight line AB,
Work as LAB=LPA+LPBWhen, unknown node P is between line segment AB
LAB=LPA-LPBWhen, unknown node P is located on line segment AB extended line
LAB=LPB-LPAWhen, unknown node P is located on line segment BA extended line
Work as LAC=LPC+LPAOr LAC=| LPC-LPA| when, unknown node P is located on straight line AC,
Work as LAC=LPC+LPAWhen, unknown node P is located on line segment AC
Work as LAC=LPC-LPAWhen, unknown node P is located at line segment CA extended line
Work as LAC=LPA-LPCWhen, unknown node P is located at line segment AC extended line
Work as LBC=LPC+LPBOr LBC=| LPC-LPB| when, unknown node P is located on straight line BC,
Work as LBC=LPC+LPBWhen, unknown node P is located on line segment BC
Work as LBC=LPC-LPBWhen, unknown node P is located on line segment CB extended line
Work as LBC=LPB-LPCWhen, unknown node P is located on line segment BC extended line
B) when P point is not on straight line AB, straight line BC, straight line AC,
Meet formula SΔABC=SΔPAB+SΔPAC+SΔPBC, unknown node P is located in the region Δ ABC, and unknown node P is in region 1；
Meet formula SΔPAB+SΔPAC=SΔABC+SΔPBCOr meet formula SΔPBC=SΔPAB+SΔABC+SΔPAC, unknown node P is located at the region ∠ BAC and removes in the remaining region in the region Δ ABC and its vertical angles region, and unknown node P is in region 2；
Meet formula SΔPAC+SΔPBC=SΔABC+SΔPABOr meet formula SΔPAB=SΔPAC+SΔABC+SΔPBC, unknown node P is located at the region ∠ ACB and removes in the remaining region in the region Δ ABC and its vertical angles region, and unknown node P is in region 3；
Meet formula SΔPBC+SΔPAB=SΔABC+SΔPACOr meet formula SΔPAC=SΔPBC+SΔABC+SΔPAB, unknown node P is located at the region ∠ ABC and removes in the remaining region in the region Δ ABC and its vertical angles region, and unknown node P is in region 4；
Wherein S is the area of the corresponding triangle calculated using Heron's formula, and three letters in S subscript are triangle Three vertex；
Z6：U-th of coordinate (x of unknown node PPu,yPu) calculation formula it is as follows：
A) when P point is on straight line AB, straight line BC, straight line AC,
Work as LAB=LPA+LPBOr LAB=| LPA-LPB| when, unknown node P is located on straight line AB,
Work as LAB=LPA+LPBWhen, unknown node P is between line segment AB, u-th of coordinate (x of unknown node PPu,yPu)
Work as LAB=LPA-LPBWhen, unknown node P is located on line segment AB extended line, u-th of coordinate (x of unknown node PPu,yPu)
Work as LAB=LPB-LPAWhen, unknown node P is located on line segment BA extended line, u-th of coordinate (x of unknown node PPu,yPu)
Work as LAC=LPC+LPAOr LAC=| LPC-LPA| when, unknown node P is located on straight line AC,
Work as LAC=LPC+LPAWhen, unknown node P is located on line segment AC, u-th of coordinate (x of unknown node PPu,yPu)
Work as LAC=LPC-LPAWhen, unknown node P is located at line segment CA extended line, u-th of coordinate (x of unknown node PPu,yPu)
Work as LAC=LPA-LPCWhen, unknown node P is located at line segment AC extended line, u-th of coordinate (x of unknown node PPu,yPu)
Work as LBC=LPC+LPBOr LBC=| LPC-LPB| when, unknown node P is located on straight line BC,
Work as LBC=LPC+LPBWhen, unknown node P is located on line segment BC, u-th of coordinate (x of unknown node PPu,yPu)
Work as LBC=LPC-LPBWhen, unknown node P is located on line segment CB extended line, u-th of coordinate (x of unknown node PPu,yPu)
Work as LBC=LPB-LPCWhen, unknown node P is located on line segment BC extended line, u-th of coordinate (x of unknown node PPu,yPu)
B) when P point is not on straight line AB, straight line BC, straight line AC,
If it be the intersection point of straight line BP and straight line AC, C' is straight line PC and straight line that A', which is the intersection point of straight line PA and straight line BC, B', The intersection point of AB；
kBCThe symbol of the slope of straight line BC is represented, if the slope of straight line BC is more than or equal to 0, kBC=1, if straight line BC Slope is less than 0, then kBC=-1；kABThe symbol of the slope of straight line AB is represented, if the slope of straight line AB is more than or equal to 0, kAB=1, If the slope of straight line AB is less than 0, kAB=-1；kACThe symbol of the slope of straight line AC is represented, if the slope of straight line AC is more than or equal to 0, then kAC=1, if the slope of straight line AC is less than 0, kAC=-1.
1) when unknown node P is located at region 1, (at least it is in title using public security frontier bureau ratio theorem《Trilinear coordinates and triangle Shape characteristic point》, published by publishing house of Harbin Institute of Technology, author Wu Yuechen, the publication date be 04 month 2015 go out Have detailed disclosure on version object) it can obtain：
A' is met at by straight line PA and straight line BC, is had：
The coordinate representation of A' point is：
Straight line PB and straight line AC give B', have：
The coordinate representation of B' point is：
Straight line PC and straight line AB meet at C', have：
The coordinate representation of C' point is：
2) it when unknown node P is located at region 2, can be obtained using public security frontier bureau ratio theorem：
Straight line PA and straight line BC meet at A', have：
The coordinate representation of A' point is:
Straight line PB and straight line AC give B', have：
The coordinate representation of B' point is:
Straight line PC and straight line AB meet at C', have：
The coordinate representation of C' point is:
3) it when unknown node P is located at region 3, can be obtained using public security frontier bureau ratio theorem：
Straight line PA and straight line BC give A', have：
The coordinate representation of A' point is:
Straight line PB and straight line AC meet at B', have：
The coordinate representation of B' point is:
Straight line PC and straight line AB meet at C', have：
The coordinate representation of C' point is:
4) it when unknown node P is located at region 4, can be obtained using public security frontier bureau ratio theorem：
Straight line PA and straight line BC meet at A', have：
The coordinate representation of A' point is:
Straight line PB and straight line AC meet at B', have：
The coordinate representation of B' point is:
Straight line PC and straight line AB give C', have：
The coordinate representation of C' point is:
If the intersection point of straight line AA' and straight line BB' is (xPu1,yPu1), the intersection point of straight line AA' and straight line CC' are (xPu2, yPu2), the intersection point of straight line BB' and straight line CC' are (xPu3,yPu3)；
U-th of coordinate (x of unknown node PPu,yPu)：
Z7:Coordinate value optimization
Seek the k coordinate (x of unknown node PP1,yP1) ... ... (xPk,yPk) abscissa average value, ordinate it is average Value, the coordinate as unknown node P after optimization.
The method of the invention is converted into euclidean distance between node pair value first with the signal strength indication received between node, passes through public affairs Side ratio theorem finds out three possible coordinates of unknown node using 3 beaconing nodes A, B, C any around unknown node, And coordinate of the mean value as unknown node is calculated, complete unknown node coordinate setting.The method of the invention improves algorithm Precision reduces the complexity of algorithm, reduces the energy consumption of node, extends the life cycle of node.
Detailed description of the invention
Fig. 1 is the schematic illustration of the method for the invention.
Specific embodiment
The mean value localization method of the unknown sensor node of wireless sensor network, is realized by following steps：
Z1：Unknown node P receives the signal of surrounding beaconing nodes, and converts unknown section for the signal strength indication received The distance between point and beaconing nodes value；Here it converts using well known logarithm-constant wireless signal propagation model.
Z2：It sets unknown node P and receives the anchor node number of signal as m, m >=3 are not conllinear with wantonly 3 positions Beaconing nodes be one group, k group altogether；
Z3：From first group of beaconing nodes until kth group beaconing nodes successively calculate the coordinate of unknown node P, one be there are To k coordinate, it is expressed as (xP1,yP1) ... ... (xPk,yPk)；Wherein u group beaconing nodes are chosen, u value is 1 to k, will This group of beaconing nodes are set as A, B, C, calculate u-th of coordinate (x of unknown node PPu,yPu), it is one of above-mentioned k coordinate； Entire plane is divided into four regions by 3 beaconing nodes A, B, C：
Region 1：The region Δ ABC；
Region 2：The region ∠ BAC removes the remaining region in the region Δ ABC and its vertical angles region；
Region 3：The region ∠ ACB removes the remaining region in the region Δ ABC and its vertical angles region；
Region 4：The region ∠ ABC removes the remaining region in the region Δ ABC and its vertical angles region；
Z4：Acquire the coordinate A (x of u group three beaconing nodes A, B, CA,yA), B (xB,yB), C (xC,yC)；Calculate beacon Node A to the distance between beaconing nodes B LAB；Calculate beaconing nodes B to the distance between beaconing nodes C LBC；Calculate beacon section Point A to the distance between beaconing nodes C LAC；Remembered according to the distance between step Z1 obtained unknown node P to beaconing nodes A For LPA, the distance between unknown node P to beaconing nodes B is denoted as LPB；Unknown node P to the distance between beaconing nodes C LPC；
Z5：Judge the relative position of unknown node P, beaconing nodes A, beaconing nodes B, beaconing nodes C：
A) judge unknown node P whether on straight line AB, straight line BC, straight line AC：
Work as LAB=LPA+LPBOr LAB=| LPA-LPB| when, unknown node P is located on straight line AB,
Work as LAB=LPA+LPBWhen, unknown node P is between line segment AB
LAB=LPA-LPBWhen, unknown node P is located on line segment AB extended line
LAB=LPB-LPAWhen, unknown node P is located on line segment BA extended line
Work as LAC=LPC+LPAOr LAC=| LPC-LPA| when, unknown node P is located on straight line AC,
Work as LAC=LPC+LPAWhen, unknown node P is located on line segment AC
Work as LAC=LPC-LPAWhen, unknown node P is located at line segment CA extended line
Work as LAC=LPA-LPCWhen, unknown node P is located at line segment AC extended line
Work as LBC=LPC+LPBOr LBC=| LPC-LPB| when, unknown node P is located on straight line BC,
Work as LBC=LPC+LPBWhen, unknown node P is located on line segment BC
Work as LBC=LPC-LPBWhen, unknown node P is located on line segment CB extended line
Work as LBC=LPB-LPCWhen, unknown node P is located on line segment BC extended line
B) when P point is not on straight line AB, straight line BC, straight line AC,
Meet formula SΔABC=SΔPAB+SΔPAC+SΔPBC, unknown node P is located in the region Δ ABC, and unknown node P is in region 1；
Meet formula SΔPAB+SΔPAC=SΔABC+SΔPBCOr meet formula SΔPBC=SΔPAB+SΔABC+SΔPAC, unknown node P is located at the region ∠ BAC and removes in the remaining region in the region Δ ABC and its vertical angles region, and unknown node P is in region 2；
Meet formula SΔPAC+SΔPBC=SΔABC+SΔPABOr meet formula SΔPAB=SΔPAC+SΔABC+SΔPBC, unknown node P is located at the region ∠ ACB and removes in the remaining region in the region Δ ABC and its vertical angles region, and unknown node P is in region 3；
Meet formula SΔPBC+SΔPAB=SΔABC+SΔPACOr meet formula SΔPAC=SΔPBC+SΔABC+SΔPAB, unknown node P is located at the region ∠ ABC and removes in the remaining region in the region Δ ABC and its vertical angles region, and unknown node P is in region 4；
Wherein S is the area of the corresponding triangle calculated using Heron's formula, and three letters in S subscript are triangle Three vertex；
Z6：U-th of coordinate (x of unknown node PPu,yPu) calculation formula it is as follows：
A) when P point is on straight line AB, straight line BC, straight line AC,
Work as LAB=LPA+LPBOr LAB=| LPA-LPB| when, unknown node P is located on straight line AB,
Work as LAB=LPA+LPBWhen, unknown node P is between line segment AB, u-th of coordinate (x of unknown node PPu,yPu)
Work as LAB=LPA-LPBWhen, unknown node P is located on line segment AB extended line, u-th of coordinate (x of unknown node PPu,yPu)
Work as LAB=LPB-LPAWhen, unknown node P is located on line segment BA extended line, u-th of coordinate (x of unknown node PPu,yPu)
Work as LAC=LPC+LPAOr LAC=| LPC-LPA| when, unknown node P is located on straight line AC,
Work as LAC=LPC+LPAWhen, unknown node P is located on line segment AC, u-th of coordinate (x of unknown node PPu,yPu)
Work as LAC=LPC-LPAWhen, unknown node P is located at line segment CA extended line, u-th of coordinate (x of unknown node PPu,yPu)
Work as LAC=LPA-LPCWhen, unknown node P is located at line segment AC extended line, u-th of coordinate (x of unknown node PPu,yPu)
Work as LBC=LPC+LPBOr LBC=| LPC-LPB| when, unknown node P is located on straight line BC,
Work as LBC=LPC+LPBWhen, unknown node P is located on line segment BC, u-th of coordinate (x of unknown node PPu,yPu)
Work as LBC=LPC-LPBWhen, unknown node P is located on line segment CB extended line, u-th of coordinate (x of unknown node PPu,yPu)
Work as LBC=LPB-LPCWhen, unknown node P is located on line segment BC extended line, u-th of coordinate (x of unknown node PPu,yPu)
B) when P point is not on straight line AB, straight line BC, straight line AC,
If it be the intersection point of straight line BP and straight line AC, C' is straight line PC and straight line that A', which is the intersection point of straight line PA and straight line BC, B', The intersection point of AB；
kBCThe symbol of the slope of straight line BC is represented, if the slope of straight line BC is more than or equal to 0, kBC=1, if straight line BC Slope is less than 0, then kBC=-1；kABThe symbol of the slope of straight line AB is represented, if the slope of straight line AB is more than or equal to 0, kAB=1, If the slope of straight line AB is less than 0, kAB=-1；kACThe symbol of the slope of straight line AC is represented, if the slope of straight line AC is more than or equal to 0, then kAC=1, if the slope of straight line AC is less than 0, kAC=-1.
1) when unknown node P is located at region 1, (at least it is in title using public security frontier bureau ratio theorem《Trilinear coordinates and triangle Shape characteristic point》, published by publishing house of Harbin Institute of Technology, author Wu Yuechen, the publication date be 04 month 2015 go out Have detailed disclosure on version object) it can obtain：
A' is met at by straight line PA and straight line BC, is had：
The coordinate representation of A' point is：
Straight line PB and straight line AC give B', have：
The coordinate representation of B' point is：
Straight line PC and straight line AB meet at C', have：
The coordinate representation of C' point is：
2) it when unknown node P is located at region 2, can be obtained using public security frontier bureau ratio theorem：Straight line PA and straight line BC meet at A', Have：
The coordinate representation of A' point is:
Straight line PB and straight line AC give B', have：
The coordinate representation of B' point is:
Straight line PC and straight line AB meet at C', have：
The coordinate representation of C' point is:
3) it when unknown node P is located at region 3, can be obtained using public security frontier bureau ratio theorem：
Straight line PA and straight line BC give A', have：
The coordinate representation of A' point is:
Straight line PB and straight line AC meet at B', have：
The coordinate representation of B' point is:
Straight line PC and straight line AB meet at C', have：
The coordinate representation of C' point is:
4) it when unknown node P is located at region 4, can be obtained using public security frontier bureau ratio theorem：
Straight line PA and straight line BC meet at A', have：
The coordinate representation of A' point is:
Straight line PB and straight line AC meet at B', have：
The coordinate representation of B' point is:
Straight line PC and straight line AB give C', have：
The coordinate representation of C' point is:
If the intersection point of straight line AA' and straight line BB' is (xPu1,yPu1), the intersection point of straight line AA' and straight line CC' are (xPu2, yPu2), the intersection point of straight line BB' and straight line CC' are (xPu3,yPu3)；
U-th of coordinate (x of unknown node PPu,yPu)：
Z7:Coordinate value optimization
Seek the k coordinate (x of unknown node PP1,yP1) ... ... (xPk,yPk) abscissa average value, ordinate it is average Value, the coordinate as unknown node P after optimization.

Claims (1)

1. a kind of mean value localization method of the unknown sensor node of wireless sensor network, which is characterized in that be by following steps It realizes：
Z1：Unknown node P receive surrounding beaconing nodes signal, and by the signal strength indication received be converted into unknown node and The distance between beaconing nodes value；
Z2：It sets unknown node P and receives the anchor node number of signal as m, m >=3, with the not conllinear letter in wantonly 3 positions Marking node is one group, altogether k group；
Z3：From first group of beaconing nodes until kth group beaconing nodes successively calculate the coordinate of unknown node P, one is obtained k Coordinate is expressed as (xP1,yP1) ... ... (xPk,yPk)；Wherein u group beaconing nodes are chosen, u value is 1 to k, by the group Beaconing nodes are set as A, B, C, calculate u-th of coordinate (x of unknown node PPu,yPu), it is one of above-mentioned k coordinate；3 Entire plane is divided into four regions by beaconing nodes A, B, C：
Region 1：The region Δ ABC；
Region 2：The region ∠ BAC removes the remaining region in the region Δ ABC and its vertical angles region；
Region 3：The region ∠ ACB removes the remaining region in the region Δ ABC and its vertical angles region；
Region 4：The region ∠ ABC removes the remaining region in the region Δ ABC and its vertical angles region；
Z4：Acquire the coordinate A (x of u group three beaconing nodes A, B, CA,yA), B (xB,yB), C (xC,yC)；Calculate beaconing nodes A To the distance between beaconing nodes B LAB；Calculate beaconing nodes B to the distance between beaconing nodes C LBC；Beaconing nodes A is calculated to arrive The distance between beaconing nodes C LAC；It is denoted as according to the distance between step Z1 obtained unknown node P to beaconing nodes A LPA, the distance between unknown node P to beaconing nodes B is denoted as LPB；Unknown node P to the distance between beaconing nodes C LPC；
Z5：Judge the relative position of unknown node P, beaconing nodes A, beaconing nodes B, beaconing nodes C：
A) judge unknown node P whether on straight line AB, straight line BC, straight line AC：
Work as LAB=LPA+LPBOr LAB=| LPA-LPB| when, unknown node P is located on straight line AB,
Work as LAB=LPA+LPBWhen, unknown node P is between line segment AB
LAB=LPA-LPBWhen, unknown node P is located on line segment AB extended line
LAB=LPB-LPAWhen, unknown node P is located on line segment BA extended line
Work as LAC=LPC+LPAOr LAC=| LPC-LPA| when, unknown node P is located on straight line AC,
Work as LAC=LPC+LPAWhen, unknown node P is located on line segment AC
Work as LAC=LPC-LPAWhen, unknown node P is located at line segment CA extended line
Work as LAC=LPA-LPCWhen, unknown node P is located at line segment AC extended line
Work as LBC=LPC+LPBOr LBC=| LPC-LPB| when, unknown node P is located on straight line BC,
Work as LBC=LPC+LPBWhen, unknown node P is located on line segment BC
Work as LBC=LPC-LPBWhen, unknown node P is located on line segment CB extended line
Work as LBC=LPB-LPCWhen, unknown node P is located on line segment BC extended line
B) when P point is not on straight line AB, straight line BC, straight line AC,
Meet formula SΔABC=SΔPAB+SΔPAC+SΔPBC, unknown node P is located in the region Δ ABC, and unknown node P is in region 1；
Meet formula SΔPAB+SΔPAC=SΔABC+SΔPBCOr meet formula SΔPBC=SΔPAB+SΔABC+SΔPAC, unknown node P It is removed in the remaining region in the region Δ ABC and its vertical angles region in the region ∠ BAC, unknown node P is in region 2；
Meet formula SΔPAC+SΔPBC=SΔABC+SΔPABOr meet formula SΔPAB=SΔPAC+SΔABC+SΔPBC, unknown node P It is removed in the remaining region in the region Δ ABC and its vertical angles region in the region ∠ ACB, unknown node P is in region 3；
Meet formula SΔPBC+SΔPAB=SΔABC+SΔPACOr meet formula SΔPAC=SΔPBC+SΔABC+SΔPAB, unknown node P It is removed in the remaining region in the region Δ ABC and its vertical angles region in the region ∠ ABC, unknown node P is in region 4；
Wherein S is the area of the corresponding triangle calculated using Heron's formula, and three letters in S subscript are three of triangle Vertex；
Z6：U-th of coordinate (x of unknown node PPu,yPu) calculation formula it is as follows：
A) when P point is on straight line AB, straight line BC, straight line AC,
Work as LAB=LPA+LPBOr LAB=| LPA-LPB| when, unknown node P is located on straight line AB,
Work as LAB=LPA+LPBWhen, unknown node P is between line segment AB, u-th of coordinate (x of unknown node PPu,yPu)
Work as LAB=LPA-LPBWhen, unknown node P is located on line segment AB extended line, u-th of coordinate (x of unknown node PPu,yPu)
Work as LAB=LPB-LPAWhen, unknown node P is located on line segment BA extended line, u-th of coordinate (x of unknown node PPu,yPu)
Work as LAC=LPC+LPAOr LAC=| LPC-LPA| when, unknown node P is located on straight line AC,
Work as LAC=LPC+LPAWhen, unknown node P is located on line segment AC, u-th of coordinate (x of unknown node PPu,yPu)
Work as LAC=LPC-LPAWhen, unknown node P is located at line segment CA extended line, u-th of coordinate (x of unknown node PPu,yPu)
Work as LAC=LPA-LPCWhen, unknown node P is located at line segment AC extended line, u-th of coordinate (x of unknown node PPu,yPu)
Work as LBC=LPC+LPBOr LBC=| LPC-LPB| when, unknown node P is located on straight line BC,
Work as LBC=LPC+LPBWhen, unknown node P is located on line segment BC, u-th of coordinate (x of unknown node PPu,yPu)
Work as LBC=LPC-LPBWhen, unknown node P is located on line segment CB extended line, u-th of coordinate (x of unknown node PPu,yPu)
Work as LBC=LPB-LPCWhen, unknown node P is located on line segment BC extended line, u-th of coordinate (x of unknown node PPu,yPu)
B) when P point is not on straight line AB, straight line BC, straight line AC,
If it be the intersection point of straight line BP and straight line AC, C' is straight line PC and straight line AB that A', which is the intersection point of straight line PA and straight line BC, B', Intersection point；
kBCThe symbol of the slope of straight line BC is represented, if the slope of straight line BC is more than or equal to 0, kBC=1, if the slope of straight line BC is small In 0, then kBC=-1；kABThe symbol of the slope of straight line AB is represented, if the slope of straight line AB is more than or equal to 0, kAB=1, if straight line The slope of AB is less than 0, then kAB=-1；kACThe symbol of the slope of straight line AC is represented, if the slope of straight line AC is more than or equal to 0, kAC =1, if the slope of straight line AC is less than 0, kAC=-1；
1) it when unknown node P is located at region 1, can be obtained using public security frontier bureau ratio theorem：
A' is met at by straight line PA and straight line BC, is had：
The coordinate representation of A' point is：
Straight line PB and straight line AC give B', have：
The coordinate representation of B' point is：
Straight line PC and straight line AB meet at C', have：
The coordinate representation of C' point is：
2) it when unknown node P is located at region 2, can be obtained using public security frontier bureau ratio theorem：
Straight line PA and straight line BC meet at A', have：
The coordinate representation of A' point is:
Straight line PB and straight line AC give B', have：
The coordinate representation of B' point is:
Straight line PC and straight line AB meet at C', have：
The coordinate representation of C' point is:
3) it when unknown node P is located at region 3, can be obtained using public security frontier bureau ratio theorem：
Straight line PA and straight line BC give A', have：
The coordinate representation of A' point is:
Straight line PB and straight line AC meet at B', have：
The coordinate representation of B' point is:
Straight line PC and straight line AB meet at C', have：
The coordinate representation of C' point is:
4) it when unknown node P is located at region 4, can be obtained using public security frontier bureau ratio theorem：
Straight line PA and straight line BC meet at A', have：
The coordinate representation of A' point is:
Straight line PB and straight line AC meet at B', have：
The coordinate representation of B' point is:
Straight line PC and straight line AB give C', have：
The coordinate representation of C' point is:
If the intersection point of straight line AA' and straight line BB' is (xPu1,yPu1), the intersection point of straight line AA' and straight line CC' are (xPu2,yPu2), directly The intersection point of line BB' and straight line CC' are (xPu3,yPu3)；
U-th of coordinate (x of unknown node PPu,yPu)：
Z7:Coordinate value optimization
Seek the k coordinate (x of unknown node PP1,yP1) ... ... (xPk,yPk) abscissa average value, ordinate average value, make For the coordinate of unknown node P after optimization.
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