CN108903921A - The vital sign monitoring of mine servant a kind of and positioning search and rescue system - Google Patents
The vital sign monitoring of mine servant a kind of and positioning search and rescue system Download PDFInfo
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- CN108903921A CN108903921A CN201810464394.4A CN201810464394A CN108903921A CN 108903921 A CN108903921 A CN 108903921A CN 201810464394 A CN201810464394 A CN 201810464394A CN 108903921 A CN108903921 A CN 108903921A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/0205—Simultaneously evaluating both cardiovascular conditions and different types of body conditions, e.g. heart and respiratory condition
- A61B5/02055—Simultaneously evaluating both cardiovascular condition and temperature
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/01—Measuring temperature of body parts ; Diagnostic temperature sensing, e.g. for malignant or inflamed tissue
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- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1116—Determining posture transitions
- A61B5/1117—Fall detection
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Abstract
The invention discloses a kind of monitoring of the vital sign of mine servant and positioning search and rescue systems, and the system comprises wireless sensings to position network, external alert device, server end；The wireless sensing positions network, including：User terminal, coordinator and multiple beaconing nodes, user terminal are wearable devices, and beaconing nodes are sensor node known to different location but position of the regular arrangement under mine；The valid data of each node feeding back of the user terminal received are transferred to server end and handled by the coordinator；The external alert device, for receiving the warning message issued by the processor module；The server end carries out processing storage to data information, and show in the form of picture and text when needed for receiving the data information that coordinator transmits；The vital sign real-time monitoring to mine servant can be achieved in the present invention, and carries out timely positioning to the miner that emergency situations occur and search and rescue.
Description
Technical field
The present invention relates to position monitor field, in particular to system is searched and rescued in the vital sign monitoring and positioning of a kind of mine servant
System.
Background technique
In order to improve Minepit environment production security, the mine safety monitoring system in China experienced to be introduced into certainly from foreign countries
The process of main research and development.At present compared with the representative are the systems such as KJ90, KJ95, KJF2000 and KJ4/KJ2000.These peaces
Full monitoring system majority realizes that information is transmitted in a wired manner, with the needs of mine safety situation and the hair of science and technology
Advanced wireless communication technique is introduced mine safety monitoring system by exhibition, realizes positioning, tracking and the communication of mobile target, with
And the mobile detection of subsurface environment parameter has become development trend.
Although a possibility that domestic and international research worker explores wireless communication applications under a variety of mines, due to radio
It when signal is propagated in underworkings, is influenced by factors such as tunnel bending, inclination and geological conditions, it is difficult to realize remote pass
It is defeated；Although being in the prior art that application of the wireless communication technique in Minepit environment has carried out good try, certain
The demand of mine safety monitoring and speech communication is met in degree, but there are still setting accuracies in practical applications not
It is enough, and most of Minepit environment operation monitoring system function is more single, only arranges the gas sensor of limited quantity, and
Fail directly to monitor the people under mine.
Summary of the invention
In view of the above problems, the vital sign that the main object of the present invention is to provide a kind of mine servant monitors and positioning is searched
System is rescued, to realize the determination to the vital sign monitoring of mine servant and the position of mine servant.
The purpose of the present invention is realized using following technical scheme：
The vital sign for providing a kind of mine servant monitors and positioning search and rescue system, and it is fixed that the system comprises wireless sensings
Position network, external alert device, server end；
The wireless sensing positions network, including：User terminal, coordinator and multiple beaconing nodes,
User terminal is wearable device, mainly includes：Locating module, for determined to the people under mine
Position information, while location information is transmitted to processor module；Vital sign detection module is examined for the temperature check of people, blood pressure
Survey, heart rate detection, motion state monitoring, generate alarm signal to abnormal signal, while by these physiological parameters, warning message
It is transmitted to processor module, and is carried out falling down detection according to motion state；Processor module, for receive and handle location information,
Physiological parameter information, voice messaging, warning message, and treated human body every terms of information by wireless network is sent to coordination
Device；Speech communication module, people when for emergency under mine and surface personnel's voice communication, while by voice messaging
It is transmitted to processor module；
The beaconing nodes are regular arrangement sensor node known to different location but position under mine, for with
The locating module at family end communicates, and auxiliary realizes the positioning to mine servant；
The coordinator is connected by serial line interface with server end, by the effective of each node feeding back of the user terminal received
Data are transferred to server end and are handled；
The external alert device for receiving the warning message issued by the processor module, and then excites alarm sound；
The server end is used to receive the data information that coordinator transmits, and carries out processing storage to data information,
And it is shown in the form of picture and text when needed；
The server end includes database module and front end data display module；
The database module is mainly used for storing downhole personnel location information, physiological parameter information, so as to subsequent number
According to processing and analysis；The front end data display module mainly writes data with computer language and shows interface.
Preferably, the speech communication module includes：GPRS module is used for voice communication；Microphone, for acquiring voice
Information；Loudspeaker, for making a sound signal.
Preferably, the vital sign detection module includes：Temperature check module, for detecting body temperature；Blood pressure inspection
Module is surveyed, for detecting human blood-pressure；Heart rate detection module, for detecting human heart rate；3-axis acceleration sensor, for examining
It surveys human motion state and falls down detection.
Preferably, the beaconing nodes are disposed under mine using following placement models：Based on mine underground monitoring
Region determines network under test region, before disposing beaconing nodes, is divided into multiple adaptive choosings for region is monitored under the mine
The border circular areas of radius is taken, the radius of border circular areas is determined according to mine underground situation in actual environment come adaptive, each
The fixed beaconing nodes in 3-4 position are arranged in border circular areas at random.
Preferably, the locating module includes closest beaconing nodes selection unit, is accurately positioned unit；It is being positioned
When, user terminal can be used as the destination node of Location-Unknown；The closest beaconing nodes selection unit passes through without the first of ranging
Begin positioning determination and P adjoining beaconing nodes of destination node；The pinpoint module is used for according to P neighbouring beacon
Node is accurately positioned destination node using the location algorithm based on ranging.
Beneficial effects of the present invention are：The vital sign that the present invention provides a kind of mine servant monitors and system is searched and rescued in positioning
System carries out timely positioning to the people for sending emergency situations and searches and rescues, it can be achieved that vital sign real-time monitoring to mine servant,
And positioning accuracy is high, monitoring information is reliable, objectively reduces the management cost of mining site, improves service quality and efficiency.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings, but the embodiment in attached drawing is not constituted to any limit of the invention
System, for those of ordinary skill in the art, without creative efforts, can also obtain according to the following drawings
Other attached drawings.
Fig. 1 is the frame construction drawing of wireless sensor network in an illustrative embodiment of the invention；
Fig. 2 is the frame construction drawing of server end in an illustrative embodiment of the invention；
Fig. 3 is the frame construction drawing of positioning unit in an illustrative embodiment of the invention；
Appended drawing reference：
Wireless sensor positions network 1, server end 2, user terminal 3, coordinator 4, beaconing nodes 5, locating module 6, life
Order sign detection module 7, processor module 8, speech communication module 9, database module 201, front end data display module 202,
Closest beaconing nodes selection unit 601 and accurate positioning unit 602.
Specific embodiment
In conjunction with following application scenarios, with reference to attached drawing, embodiments of the present invention will be described.
Referring to Fig. 1, Fig. 2, the people's vital sign for present embodiments providing a kind of mine servant monitors and positioning search and rescue system,
The system comprises wireless sensings to position network 1, external alert device, server end 2；
The wireless sensing positions network, including：User terminal 3, coordinator 4 and multiple beaconing nodes 5,
User terminal is wearable device, mainly includes：Locating module 6, for carrying out positioning acquisition to the people under mine
Location information, while location information is transmitted to processor module；Vital sign detection module 7, temperature check, blood pressure for people
Detection, heart rate detection, motion state monitoring, generate alarm signal to abnormal signal, while by these physiological parameters, alarm signal
Breath is transmitted to processor module, and is carried out falling down detection according to motion state；Processor module 8, for receiving and handling positioning letter
Breath, physiological parameter information, voice messaging, warning message, and human body every terms of information is sent to by wireless network by treated
Coordinator；Speech communication module 9, people when for emergency under mine and surface personnel's voice communication, while by language
Message breath is transmitted to processor module；
The beaconing nodes 5 are regular arrangement sensor node known to different location but position under mine, for
The locating module 6 of user terminal communicates, and auxiliary realizes the positioning to mine servant；
The coordinator 4 is connected by serial line interface with server end, by having for each node feeding back of the user terminal received
Effect data are transferred to server end and are handled；
The external alert device for receiving the warning message issued by the processor module, and then excites alarm sound；
The server end is used to receive the data information that coordinator transmits, and carries out processing storage to data information,
And it is shown in the form of picture and text when needed；
The server end 2 includes database module 201 and front end data display module 202；
The database module 201 is mainly used for storing downhole personnel location information, physiological parameter information, so as to subsequent
Data processing and analysis；The front end data display module mainly writes data with computer language and shows interface.
In the present embodiment, the speech communication module 9 includes：GPRS module is used for voice communication；Microphone, for adopting
Collect voice messaging；Loudspeaker, for making a sound signal.
In the present embodiment, the vital sign detection module 7 includes：Temperature check module, for detecting body temperature；Blood
Detection module is pressed, for detecting human blood-pressure；Heart rate detection module, for detecting human heart rate；3-axis acceleration sensor is used
In detection human motion state and fall down detection.
In the present embodiment, the beaconing nodes 5 are disposed under mine using following placement models：Based under mine
Monitoring region determine network under test region, before dispose beaconing nodes, will under the mine monitoring region be divided into it is multiple adaptive
The border circular areas of radius should be chosen, the radius of border circular areas is determined according to mine underground situation in actual environment come adaptive,
The fixed beaconing nodes in 3-4 position are arranged in each border circular areas at random.
In the present embodiment, referring to Fig. 3, the locating module 6 includes closest beaconing nodes selection unit 601, accurately determines
Bit location 602；When being positioned, user terminal can be used as the destination node of Location-Unknown；The closest beaconing nodes are chosen
Unit is determined and P adjoining beaconing nodes of destination node by the initial alignment without ranging；The pinpoint module
For being accurately positioned using the location algorithm based on ranging to destination node according to P neighbouring beaconing nodes.
The closest beaconing nodes selection unit 601 is specifically configured to：
(1) data grouping of each beaconing nodes to surrounding neighbours beaconing nodes broadcast own coordinate information, grouping under mine
In include hop count field, initial value 1；Each node calculates the data grouping received from different beacon sections in network
Point does not re-record from new then when the data grouping received is more than limit value Q from the number of different beaconing nodes
The data grouping of beaconing nodes；Wherein, the calculation formula of limit value Q is：
In formula, S is the area (m2) of wireless sensor network monitoring area, and R is node communication radius (m), and B is beacon
The ratio of node；Average degree of communication of the θ between destination node and beaconing nodes；For Dynamic gene；
Each beaconing nodes calculate the minimum hop count to Q beaconing nodes according to the packet data received, and ignore and
From the grouping of the larger hop count of the same beaconing nodes, then 1 is added to be transmitted to neighbours' beaconing nodes jumping figure value, it is so continuous to pass
It broadcasts, the beaconing nodes in sensing network can record the minimum hop count of each beaconing nodes；
The present invention is avoided when obtaining hop count information by the setting of above-mentioned limit value Q because of excessive two of apart hop count
The position error as caused by hop count information is larger between node；Accurately obtain the minimum hop count of each beaconing nodes.
(2) the beaconing nodes i in sensor network believes according to the coordinate of the Q beaconing nodes received on last stage
Breath and minimum hop count information apart, to estimate its Average hop distance Jpavei, specific formula for calculation is：
In formula, (xi, yi),(xj, yj) be respectively beaconing nodes i and j coordinate；Wherein, beaconing nodes j ∈ Q；Beacon section
Point j is that other nodes outside beaconing nodes i are removed in Q beaconing nodes；sjRepresent beaconing nodes i and beaconing nodes i (i ≠
J) hop count between；ρijThe curvature correction factor in hop count path, ρ between beaconing nodes i and jij∈ [1,3/2], and beacon section
The curvature in hop count path is bigger between point i and j, ρijAlso the larger value is chosen therewith；
(3) Average hop distance Jpave of any beaconing nodes i itself in sensor networkiWith band lifetime field
Multicasting into sensor network, the Average hop distance of all beaconing nodes that destination node record receives passes through
Stochastic averagina calculates its every hop distance of overall product, and specific formula for calculation is：In formula, ∑
i∈QRangei=1, RangeiFor generated by random matrix 0 to 1 between random quantity；
Then destination node is multiplied to the hop count between each beaconing nodes i with the every hop distance Jpall of overall average, obtains mesh
Jump distance, d of the mark node to each beaconing nodes ii；
(4) compare destination node to each beaconing nodes i jump distance, diSize, therefrom choose jump distance, diIt is smaller
P beaconing nodes, as the closest beaconing nodes of destination node；
The present invention has determined the P beaconing nodes neighbouring with destination node by the initial alignment without ranging, is next
Step target accurate positioning is prepared；And a kind of calculation method of every hop distance of overall product for calculating destination node is proposed, it adopts
Stochastic averagina calculating is carried out with the Average hop distance to each beaconing nodes, it is inclined to avoid local bigger positioning accuracy
Difference, and comprehensively consider the Average hop distance of multiple beaconing nodes near destination node, it can more accurately react target section
Network condition around point, selects the higher closest beaconing nodes set P of confidence level.Pass through closest beaconing nodes set
The selection of P reduces and carries out pinpoint calculation amount to destination node in next step.
It is described to include to the pinpoint specific steps of destination node progress based on the location algorithm of ranging：
(1) distance measuring unit：According to the closest beaconing nodes set P of acquisition, reads destination node and receive closest letter
The electromagnetic wave signal power that mark node sends over, as known to the transmission power of closest beaconing nodes；Based on radio wave
Power loss in communication process, calculate closest beaconing nodes known to the destination node to position of Location-Unknown away from
From calculation formula is：
In formula, diIndicate the distance of closest beaconing nodes i known to destination node to position, PsendiFor closest letter
Mark the transmission power of the wireless signal of node i, PreciConnecing for the wireless signal of closest beaconing nodes i is received for destination node
By power, n is signal radio propagation path fading coefficients, is determined by ambient enviroment and barrier；For shadowing factor, represent
Shadow fading effect in multi-path environment, is traditionally arranged to be the normal random variable that mean value is 0, standard deviation is σ；GSTo emit day
The gain of line, GRFor the gain of receiving antenna, λ is wavelength, and l is the system loss factor；
(2) location estimation unit：Known closest beaconing nodes (x is arrived using destination node (x, y)i, yi) distance build
Mould：(xi-x)2+(yi-y)2=di 2I ∈ P, then distance model is solved to estimate destination node by Maximum Likelihood Estimation Method
Coordinate（x0, y0), obtain the first positioning for determining the node of Location-Unknown；
(3) it is accurately positioned unit：To the destination node location estimated coordinates of above-mentioned acquisition（x0, y0) be modified, seek more
For the coordinate of accurate destination node；Wherein, correction model is：
To solve above-mentioned minimum target model, a kind of new particle swarm algorithm is proposed, specially：
1) distributed areas of the primary collection in P closest beaconing nodes regions are determined：For reducing particle distribution
Range, reduces the range of Optimizing Search, and the calculation formula of distributed areas is：
x∈[max{xi-min((error)*di, R) }, min { xi+min(di+error*di, R) }]
y∈[max{yi-min((error)*di, R) }, min { yi+min(di+error*diR)}]
In formula, (xi, yi) it is closest beaconing nodes coordinate, i ∈ P；Error is error factor；R is the logical of destination node
Believe radius；The rectangular region that (x, y) is constituted is the distributed areas of primary collection；, diIt indicates known to destination node to position
Closest beaconing nodes i distance；
2) population is initialized：The number of initializing set population be it is N number of, total number of dimensions be P；It is taken in speed and position
It is worth the initial velocity of uniformly random setting particle and position in range, the personal best particle that any particle j is arranged is wzj, it
The initial position of namely each particle；The initial velocity of any particle j is vj；If the optimal position of the position fitness of particle j
For WZg；
3) start kth wheel iteration, the speed of each particle is constantly updated by iteration, and constantly update according to particle rapidity
The particle is rejected if the position of updated particle has exceeded above-mentioned distributed areas in the position of particle；Specific iteration
Formula is：
wzjd(k+1)=wzjd(k)+vjd(k+1) j ∈ N, d ∈ P
In formula, vjd(k) speed of j-th of particle through kth wheel iteration in d dimension is represented；vjd(k+1) it represents j-th
Particle takes turns the speed of iteration in d dimension through kth+1；wjFor the inertia weight of particle, For the minimum value of inertia weight,For the maximum value of inertia weight；α, β are the random number between 0 to 1, fjdFor
The positional value that j-th of particle history optimal location is tieed up in d, WZgdIt is all particles history optimal location in the position that d is tieed up；
wzjd(k) position of j-th of particle in d dimension when iteration secondary for kth；wzjd(k+1) be+1 iteration of kth when j-th
Position of the son in d dimension.
4) current location of the particle updated by iteration is compared with above-mentioned estimation target position, if particle is opposite
It is constantly close in estimation target position, then retain the particle；If particle has been more than setting at a distance from the target position of estimation
Threshold value U then rejects the particle；Rejecting screening after continuous iteration, until all particles are all gathered to estimate mesh
Centered on cursor position, radius is the circle region of τ, then stops iteration；
5) according to the position of remaining population after iteration and the inertia weight being calculated, first inertia weight is carried out
Normalization, then the position of particle and normalized inertia weight are passed through into the accurate destination node location of weighted average calculation.
The present invention proposes a kind of Precision Orientation Algorithm based on ranging here；Road is not considered in compared with the existing technology
Shadow fading etc. in diameter decline, multi-path environment influences, it is also proposed that one kind determines destination node to position based on signal strength
The improvement calculation method of distance, above-mentioned factor is considered between known closest beaconing nodes；To realize to target
The accurate positioning of node location devises a kind of particle swarm algorithm for correction model, establishes the iteration of population iteration
More new formula, stops rule of iteration and final polymerization obtains the algorithm of destination node location, in the process, it is contemplated that each
The weighted value of particle, by the continuous amendment to parameter, so that the accuracy that particle swarm algorithm obtains destination node location improves
20%.
By above method, the vital sign state of mine servant can be monitored in time and accurately, and when transmission
When abnormal vital sign parameter signals, alarm signal can be generated at once, and accurately orients the position of special object, so as to
It is enough to exclude people in time because of security risk caused by body fortuitous event is found not in time；It and is only to show documented by specification
Example, those skilled in the art can make arbitrary combination and change on the basis of understanding the present invention.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected
The limitation of range is protected, although explaining in detail referring to preferred embodiment to the present invention, those skilled in the art are answered
Work as analysis, it can be with modification or equivalent replacement of the technical solution of the present invention are made, without departing from the reality of technical solution of the present invention
Matter and range.
Claims (7)
1. people's vital sign of mine servant a kind of monitors and positioning search and rescue system, which is characterized in that the system comprises wireless
Sensing positioning network, external alert device, server end；
The wireless sensing positions network, including：User terminal, coordinator and multiple beaconing nodes,
User terminal is wearable device, mainly includes：Locating module obtains positioning letter for carrying out positioning to the people under mine
Breath, while location information is transmitted to processor module；Vital sign detection module, for the temperature check of people, blood pressure detecting, the heart
Rate detection, motion state monitoring, generate alarm signal to abnormal signal, while these physiological parameters, warning message being transmitted to
Processor module, and carried out falling down detection according to motion state；Processor module, for receiving and handling location information, physiology
Parameter information, voice messaging, warning message, and treated human body every terms of information by wireless network is sent to coordinator；
Speech communication module, people and surface personnel's voice communication when for emergency under mine, while voice messaging being passed
To processor module；
The beaconing nodes are regular arrangement sensor node known to different location but position under mine, are used for and user terminal
Locating module communication, auxiliary realizes positioning to mine servant；
The coordinator is connected by serial line interface with server end, by the valid data of each node feeding back of the user terminal received
Server end is transferred to be handled；
The external alert device for receiving the warning message issued by the processor module, and then excites alarm sound；
The server end carries out processing storage for receiving the data information that coordinator transmits, to data information, and
It is shown in the form of picture and text when needing；
The server end includes database module and front end data display module；
The database module is mainly used for storing downhole personnel location information, physiological parameter information, at follow-up data
Reason and analysis；The front end data display module mainly writes data with computer language and shows interface.
2. the vital sign of mine servant according to claim 1 a kind of monitors and positioning search and rescue system, which is characterized in that
The speech communication module includes：GPRS module is used for voice communication；Microphone, for acquiring voice messaging；Loudspeaker is used
In making a sound signal.
3. the vital sign of mine servant according to claim 1 a kind of monitors and positioning search and rescue system, which is characterized in that
The vital sign detection module includes：Temperature check module, for detecting body temperature；Blood pressure detecting module, for detecting
Human blood-pressure；Heart rate detection module, for detecting human heart rate；3-axis acceleration sensor, for detecting human motion state
And fall down detection.
4. the vital sign of mine servant according to claim 1 a kind of monitors and positioning search and rescue system, which is characterized in that
The beaconing nodes are disposed under mine using following placement models：Network under test is determined based on region is monitored under mine
Region will monitor region and be divided into multiple adaptive border circular areas for choosing radius before disposing beaconing nodes under the mine,
The radius of border circular areas is determined according to mine underground situation in actual environment come adaptive, is arranged at random in each border circular areas
The fixed beaconing nodes in 3-4 position.
5. the vital sign of mine servant according to claim 1 a kind of monitors and positioning search and rescue system, which is characterized in that
The locating module includes closest beaconing nodes selection unit, is accurately positioned unit；When being positioned, user terminal be can be used as
The destination node of Location-Unknown；The closest beaconing nodes selection unit passes through the initial alignment determination and target without ranging
P adjoining beaconing nodes of node；The pinpoint module, which is used to use according to P neighbouring beaconing nodes, is based on ranging
Location algorithm destination node is accurately positioned.
6. the vital sign of mine servant according to claim 5 a kind of monitors and positioning search and rescue system, which is characterized in that
The closest beaconing nodes selection unit is specifically configured to：
(1) data grouping of each beaconing nodes to surrounding neighbours beaconing nodes broadcast own coordinate information under mine, is wrapped in grouping
Include hop count field, initial value 1；Each node calculates the data grouping received and comes from different beaconing nodes in network, when
When the data grouping received is more than limit value Q from the number of different beaconing nodes, then do not re-record from new beacon section
The data grouping of point；Wherein, the calculation formula of limit value Q is：
In formula, S is the area (m2) of wireless sensor network monitoring area, and R is node communication radius (m), and B is beaconing nodes
Ratio；Average degree of communication of the θ between destination node and beaconing nodes；For Dynamic gene；
Each beaconing nodes calculate the minimum hop count to Q beaconing nodes according to the packet data received, and ignore from same
Then the grouping of one larger hop count of beaconing nodes adds 1 to be transmitted to neighbours' beaconing nodes jumping figure value, so continuous to propagate,
Beaconing nodes in sensing network can record the minimum hop count of each beaconing nodes；
(2) the beaconing nodes i in sensor network according to the coordinate informations of the Q beaconing nodes received on last stage and
Minimum hop count information apart, to estimate its Average hop distance Jpavei, specific formula for calculation is：
In formula, (xi, yi),(xj, yj) be respectively beaconing nodes i and j coordinate；Wherein, beaconing nodes j ∈ Q；Beaconing nodes j is
Other nodes outside beaconing nodes i are removed in Q beaconing nodes；sjIt represents between beaconing nodes i and beaconing nodes i (i ≠ j)
Hop count；ρijThe curvature correction factor in the hop count path between beaconing nodes i and j, ρij∈ [1,3/2], and beaconing nodes i
The curvature in hop count path is bigger between j, ρijAlso the larger value is chosen therewith；
(3) Average hop distance Jpave of any beaconing nodes i itself in sensor networkiWith the grouping with lifetime field
It is broadcast in sensor network, the Average hop distance for all beaconing nodes that destination node record receives, by putting down at random
Its every hop distance of overall product is calculated, specific formula for calculation is：In formula, ∑i∈QRangei
=1, RangeiFor generated by random matrix 0 to 1 between random quantity；
Then destination node is multiplied to the hop count between each beaconing nodes i with the every hop distance Jpall of overall average, obtains target section
Point arrives the jump distance, d of each beaconing nodes ii；
(4) compare destination node to each beaconing nodes i jump distance, diSize, therefrom choose jump distance, diLesser P
Beaconing nodes, as the closest beaconing nodes of destination node.
7. the vital sign of mine servant according to claim 5 a kind of monitors and positioning search and rescue system, which is characterized in that
It is described to include to the pinpoint specific steps of destination node progress based on the location algorithm of ranging：
(1) distance measuring unit：According to the set P that the closest beaconing nodes of acquisition are constituted, reading destination node receives closest
The electromagnetic wave signal power that beaconing nodes send over, as known to the transmission power of closest beaconing nodes；Based on radio
Power loss of the wave in communication process calculates closest beaconing nodes known to the destination node to position of Location-Unknown
Distance, calculation formula are：
In formula, diIndicate the distance of closest beaconing nodes i known to destination node to position, PsendiFor closest beacon section
The transmission power of the wireless signal of point i, PreciReceive function for what destination node received the wireless signal of closest beaconing nodes i
Rate, n are signal radio propagation path fading coefficients, are determined by ambient enviroment and barrier；For shadowing factor, multipath is represented
Shadow fading effect in environment, is traditionally arranged to be the normal random variable that mean value is 0, standard deviation is σ；GSFor transmitting antenna
Gain, GRFor the gain of receiving antenna, λ is wavelength, and l is the system loss factor；
(2) location estimation unit：Known closest beaconing nodes (x is arrived using destination node (x, y)i,yi) distance modeling:
(xi-x)2+(yi-y)2=di 2I ∈ P, then distance model is solved to estimate the coordinate of destination node by Maximum Likelihood Estimation Method
(x0,y0), obtain the first positioning for determining the node of Location-Unknown；
(3) it is accurately positioned unit：To the destination node location estimated coordinates (x of above-mentioned acquisition0,y0) be modified, seek more smart
The coordinate of true destination node；Wherein, correction model is：
To solve above-mentioned minimum target model, a kind of new particle swarm algorithm is proposed, specially：
(1) determine that primary collection surrounds the distributed areas in region in P closest beaconing nodes：For reducing particle distribution
Range, reduces the range of Optimizing Search, and the calculation formula of distributed areas is：
x∈[max{xi-min((error)*di, R) }, min { xi+min(di+error*di,R)}]
y∈[max{yi-min((error)*di, R) }, min { yi+min (di+error*di,R)}]
In formula, (xi,yi) it is closest beaconing nodes coordinate, i ∈ P；Error is error factor；R is the communication half of destination node
Diameter；The rectangular region that (x, y) is constituted is the distributed areas of primary collection；
(2) population is initialized：The number of initializing set population and total number of dimensions of spatial distribution；Uniformly random sets
The personal best particle of any particle, that is, the initial position of each particle is arranged in initial velocity and the position for setting particle；
(3) start continuous iteration, the speed of each particle is constantly updated by iteration, and constantly update grain according to particle rapidity
The particle is rejected if the position of updated particle has exceeded above-mentioned distributed areas in the position of son；
(4) the update position of the particle Jing Guo continuous iteration is compared with above-mentioned estimation target position, if particle relative to
Estimate that target position is constantly close, then retains the particle；If particle and estimation intended particle distance have been more than the threshold value U of setting,
Then the particle is rejected；Rejecting screening after continuous iteration, until all particles are all gathered to estimate target position
Centered on, radius is the circle region of τ, then stops iteration；
(5) according to the position of remaining population after iteration and the inertia weight being calculated, first inertia weight is returned
One changes, then the position of particle and normalized inertia weight are passed through the accurate destination node location of weighted average calculation.
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