CN109257692B - Mobile anchor node assisted underwater wireless sensor network positioning method - Google Patents
Mobile anchor node assisted underwater wireless sensor network positioning method Download PDFInfo
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Abstract
The invention discloses a method for assisting underwater wireless sensor network positioning by a mobile anchor node, which comprises the following steps: a path planning step, namely determining the signal coverage radius R of the mobile anchor node, dividing a target area into a plurality of regular hexagonal sub-areas with the side length of R, wherein the sub-areas are sequentially and tightly arranged, adjacent sub-areas are arranged in a common side, and planning an interval moving path and an area moving path; a step of judging the sub-area where the target node is located, and a step of positioning the position in the target node area. According to the method for assisting the positioning of the underwater wireless sensor network by the mobile anchor node, the sub-regions are divided in a regular hexagon manner, the complete coverage of a target region can be ensured, the overlapping region of the coverage range between the sub-regions is minimum, the positioning precision is improved, the meter-level positioning of underwater acoustic signals with low energy consumption is realized, and the calculation amount is reduced.
Description
Technical Field
The invention belongs to the technical field of underwater wireless sensor networks, particularly relates to an acoustic signal communication technology and an underwater positioning technology, and provides a mobile anchor node assisted underwater wireless sensor network node positioning algorithm based on region judgment.
Background
With the increasing importance of oceans in countries of the world and the rapid development of Wireless Sensor network research, more and more attention is paid to the research of an Underwater Wireless Sensor network (UWSN for short), and the accurate acquisition of the position of an Underwater target is the key for Underwater research. At present, underwater positioning is performed by using acoustic signals, and since the underwater acoustic signals have the defects of high noise, low speed, limited bandwidth, multipath effect, Doppler frequency shift and the like, and anchor nodes have the characteristics of difficulty in arrangement, limited energy carried by the anchor nodes and the like, the existing underwater acoustic positioning system has the problems of low positioning precision, high energy consumption and the like, and cannot meet the requirements of people, so that a new method is needed for realizing high-precision and low-energy-consumption positioning.
Anchor nodes can be divided into fixed Anchor nodes and mobile Anchor nodes (MA) according to whether the Anchor nodes can move or not. The anchor nodes are typically deployed manually or by ships or the like, and their location is determined by the deployment apparatus and the environment, such as water density and air viscosity coefficient. The mobile anchor nodes can be underwater drift nodes, high-speed maneuvering aircrafts and the like, and can perform regular motion under the condition that the positions of the mobile anchor nodes are known. After the virtual anchor node moves to a certain planning position in the moving process and transmits a signal, the virtual anchor node continues moving to the next planning position, and all the planning positions are called virtual anchor nodes. Compared with a fixed anchor node, the method avoids the difficulty of arrangement and the waste of energy in the recovery process, and has higher position accuracy. The movable anchor node is used as one of the underwater wireless sensor network nodes and is provided with GPS navigation, so that the number of anchor nodes with higher cost can be effectively reduced, and the cost of underwater operation is greatly reduced.
For the application of mobile anchor node location, the location of the target node is estimated by using a single mobile anchor node in combination with energy Reception (RSSI) ranging in 2004, beginning with sichitu ML. For path planning of mobile anchor nodes, three path planning methods of SCAN, DOUBLESCAN and HILBERT are firstly proposed by using a space filling line theory by D.Koutsonikolas and the like. The three methods all belong to static path planning and have advantages and disadvantages in application. The SCAN path is suitable for the conditions that the node communication distance is small and the space filling linear density is large, but the co-linearity problem of the reference node is very serious; for this reason, researchers have further proposed doubllescan path planning, but this doubles the consumption in the positioning process; and the HILBERT path planning is suitable for the conditions that the node communication distance is large and the space filling line density is small. However, the three methods all have the problem of collinear reference nodes to different degrees, in order to solve the problem, two methods of circular path planning and S-shaped path planning are proposed by R.Huang and the like, and for circular path planning, if a network area needs to be completely covered, the radius of a peripheral large circle needs to be increased, so that the length of a moving path of an anchor node is increased, and the problem of collinear reference nodes in a local area can be caused due to the fact that the diameter of the circle is too large. In order to solve the problem of collinearity of the reference points, the S-shaped path planning uses an S-shaped curve to replace a straight line, and a better effect can be obtained. On the basis, Han et al introduces an equilateral triangle into a Localization with a Mobile Anchor node based on Trilateration (LMAT) algorithm to optimize the motion track of the Mobile Anchor node, thereby maximizing the target positioning coverage rate and the positioning accuracy of the target node. In the positioning algorithm based on the mobile anchor node, in order to enable the target node to receive enough virtual anchor node information and enable the number of the reference nodes to meet the requirement, the coverage area of the adjacent virtual anchor nodes has a large overlapping area, so that the moving path of the MA is lengthened, and the energy consumption of positioning is increased. However, the blind reduction of the number of virtual anchor nodes can seriously affect the positioning accuracy based on the mobile anchor nodes. Therefore, the problems of large energy consumption and low precision in node positioning of the underwater wireless sensor network need to be solved.
Disclosure of Invention
The invention provides a method for assisting underwater wireless sensor network positioning by a mobile anchor node, which aims to solve the problems of low positioning precision and high energy consumption of the existing underwater wireless sensor network node positioning technology and can solve the problems.
In order to solve the technical problems, the invention adopts the following technical scheme:
a method for assisting positioning of an underwater wireless sensor network by a mobile anchor node comprises the following steps:
a path planning step, namely determining the signal coverage radius R of the mobile anchor node, dividing a target area into a plurality of regular hexagonal sub-areas with the side length of R, wherein the sub-areas are sequentially and tightly arranged, adjacent sub-areas are arranged in a common side, and planning an interval moving path and an area moving path;
the step of judging the sub-area where the target node is located comprises the following steps:
(11) the mobile anchor node moves according to the interval moving path and moves from one sub-area to another sub-area, and the mobile anchor node transmits a request signal every time the mobile anchor node moves to one sub-area, wherein the request signal at least comprises the position information of the mobile anchor node and the time stamp information of the request signal;
(12) if the target node receives an acoustic signal sent by the mobile anchor node in the sub-region Q0, transmitting a feedback signal to the mobile anchor node, wherein the feedback signal at least comprises timestamp information of the feedback signal, and the sub-region Q0 is any planned sub-region;
(13) the mobile anchor node sends the feedback signal to a positioning center, and the positioning center calculates the propagation delay tau of the target node0And according to D0 ═ c τ0Calculating a distance D0 between the target node and the mobile anchor node, wherein c is the speed of sound;
(14) determining the radius of the inscribed circle between D0 and the sub-region
If D0 is less than
Then the target node is judged to be located in sub-region Q0;
a target node intra-area location step, comprising:
(21) the mobile anchor node moves in a sub-area Q0 according to the moving path in the area, and the mobile anchor node transmits a request signal when moving to a fixed point position;
(22) the mobile anchor node receives a feedback signal of the target node and sends the feedback signal to a positioning center, and the positioning center calculates the distance between the target node and each fixed point;
(23) and calculating the coordinates of the target node according to the distance between the target node and each fixed point position and the coordinates of each fixed point position.
Further, in step (14), if the range of D0 is greater than the range of D0
And changing the interval moving path of the mobile anchor node, wherein the changed interval moving path is as follows: the mobile anchor node sequentially moves to a plurality of sub-areas sharing the same edge with the sub-area Q0, and then the target node interval position positioning step is executed, and the method comprises the following steps:
(31) the mobile anchor node starts from the sub-region Q0 and moves according to the changed interval moving path, and the mobile anchor node transmits a request signal every time the mobile anchor node moves into one sub-region;
(32) the mobile anchor node receives a feedback signal of the target node and sends the feedback signal to a positioning center, and the positioning center calculates the distance between the target node and the sub-area;
(33) and calculating the coordinates of the target node according to the distance between the target node and each sub-region and the coordinates of each sub-region.
Further, the method comprisesThe positioning center calculates the distance D between the target node and each subarea in turn1……DkAnd the coordinates of the target node are (x, y), and the coordinate values of the target node are solved by solving the equation set:
wherein (x)k，yk) The value of k is 1 or 2 or 3 for the coordinates of the sub-region that is co-extensive with sub-region Q0 and that transmits the feedback signal.
Furthermore, one of a least square method, a Chan algorithm and a Fang algorithm is adopted to solve the equation set.
Further, in the step (14), in the target node area determining step, the changed inter-zone moving path is: the sub-region that is co-located with sub-region Q0 and that is traversed the first time by the mobile anchor node.
Furthermore, the in-zone moving path is planned according to a Circlus path plan.
Further, the request signal is an acoustic signal transmitted in a broadcast manner.
Further, in step (13), the propagation delay τ is0Is the difference between the time carried in the timestamp information of the feedback signal and the time the feedback signal was received by the mobile anchor node.
Further, when the mobile anchor node moves from one sub-area to the next sub-area according to the interval moving path, the motion angle of the mobile anchor node is calculated according to the position relationship between the two sub-areas.
Furthermore, the sound signal is a linear frequency modulation signal, and the frequency is 200-300 Hz.
Compared with the prior art, the invention has the advantages and positive effects that: according to the method for assisting the positioning of the underwater wireless sensor network by the mobile anchor node, firstly, the coverage radius R of the mobile anchor node is selected according to the size of a target area and the performance of the mobile anchor node, the carrying energy of a water downloader is comprehensively considered, the target area is divided under the condition that the target area is completely covered, secondly, the sub-areas are divided in a regular hexagon mode, the complete coverage of the target area can be ensured, the overlapping area of the coverage range among the sub-areas is minimum, the positioning precision is improved, the meter-level positioning of underwater acoustic signals with low energy consumption is realized, and meanwhile, the calculated amount is reduced.
Other features and advantages of the present invention will become more apparent from the detailed description of the embodiments of the present invention when taken in conjunction with the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of an embodiment of a method for assisting an underwater wireless sensor network with a mobile anchor node according to the present invention;
FIG. 2 is a schematic diagram of a region being divided according to an embodiment of the positioning method of the present invention;
FIG. 3 is a schematic diagram of an inscribed circle of a sub-region in an embodiment of the positioning method according to the present invention;
FIG. 4 is a schematic diagram of a circumcircle of a sub-region in an embodiment of a positioning method according to the present invention;
fig. 5 is a schematic diagram of positioning calculation in an embodiment of the positioning method according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment provides a method for assisting positioning of an underwater wireless sensor network by a mobile anchor node, as shown in fig. 1, the method includes the following steps:
a path planning step, namely determining a signal coverage radius R of a mobile anchor node, dividing a target region into a plurality of regular hexagonal sub-regions with the side length of R, wherein the sub-regions are sequentially and tightly arranged, adjacent sub-regions are arranged in a common edge manner, and planning an interval moving path and an intra-region moving path, as shown in fig. 2, the sub-regions are sequentially and tightly arranged, and adjacent sub-regions are arranged in a common edge manner;
and selecting a coverage radius R of the mobile anchor node according to the size of the target area and the performance of the mobile anchor node, and dividing the target area under the condition of complete coverage of the target area by comprehensively considering the carrying energy of the water downloader.
The sub-regions are divided in a regular hexagon mode, complete coverage of a target region can be guaranteed, the overlapping region of the coverage range between the sub-regions is the minimum, positioning accuracy is improved, meter-level positioning of underwater acoustic signals with low energy consumption is achieved, and meanwhile the calculated amount is reduced.
The positioning center is a calculation center arranged above the sea surface, completes the search of a target area, can realize the functions of route planning, signal coverage radius R determination, updating, distance calculation and the like of the mobile anchor node, and can communicate with the mobile anchor node.
The step of judging the sub-area where the target node is located comprises the following steps:
s11, the mobile anchor node moves according to the interval moving path and moves from one sub-area to another sub-area, and the mobile anchor node transmits a request signal every time the mobile anchor node moves to a sub-area, wherein the request signal at least comprises the position information of the mobile anchor node and the time stamp information of the request signal;
before the mobile anchor node moves according to the planned path, the mobile anchor node reaches the specified depth according to the depth information of the target node.
S12, if the target node receives the acoustic signal sent by the mobile anchor node in the sub-region Q0, the target node sends a feedback signal to the mobile anchor node, wherein the feedback signal at least comprises timestamp information of the feedback signal, and the sub-region Q0 is any planned sub-region;
s13, the mobile anchor node sends the feedback signal to a positioning center, and the positioning center calculates the propagation delay tau of the target node0And according to D0 ═ c τ0Calculating a distance D0 between the target node and the mobile anchor node, wherein c is the speed of sound; the mobile anchor node and the positioning center can communicate through optical communication, wired communication and the like.
S14, judging the radius of the inscribed circle between D0 and the sub-area
If D0 is less than
Then the target node is judged to be located in sub-region Q0; if D0 is less than D0, as shown in FIG. 3
It is determined that the target node M is located in the sub-region Q0.
Because the side length of the sub-region of the regular hexagon is R, the radius of the inscribed circle is R
R is the signal coverage radius of the mobile anchor node, so if D0 is less than √ 3/2R, it indicates that the mobile anchor node is definitely located in the sub-region, and the distance from the mobile anchor node to any other sub-region exceeds the signal coverage radius, so that the target node is determined to be located in the sub-region Q0. During path planning, the position information of each sub-area is determined, so that the position of the target node is correspondingly determined and is consistent with the position of the sub-area where the target node is located.
A target node intra-area location step, comprising:
s21, the mobile anchor node moves in the sub-area Q0 according to the moving path of the area, and the mobile anchor node transmits a request signal when moving to a fixed point position;
s22, the mobile anchor node receives the feedback signal of the target node and sends the feedback signal to a positioning center, and the positioning center calculates the distance between the target node and each fixed point;
and S23, calculating the coordinates of the target node according to the distance between the target node and each fixed point position and the coordinates of each fixed point position.
In the step of determining the target node area, if the range of D0 is larger than the range of D0
As shown in fig. 4, if the target node is located in the shadow area, it is not located in the sub-area Q0, that is, the sub-area where the target node is located is uncertain, and further confirmation is required. This corresponds to two cases, one is still in sub-region Q0. In another case, the positioning node is located in an overlapping coverage area of a plurality of sub-areas, and the plurality of sub-areas may only be sub-areas adjacent to the sub-area Q0, otherwise, the positioning node does not receive a request signal sent when the positioning node is located in the sub-area Q0, since the approximate area range is already locked, it is not necessary to continue to move according to the path just planned, and it is necessary to modify the path to reduce the calculation amount, therefore, the positioning method further includes changing the planned path of the mobile anchor node, where the changed planned path is that the mobile anchor node sequentially moves to a plurality of sub-areas sharing the same side with the sub-area Q0, then performing a signal transmission and feedback step and a target node distance determination step, and if the mobile anchor node does not receive a new feedback signal during moving according to the changed planned path, it is determined that the target node is located in the sub-area Q0, that.
In step S14, if the range of D0 is larger than
And changing the interval moving path of the mobile anchor node, wherein the changed interval moving path is as follows: the mobile anchor node sequentially moves to a plurality of sub-areas sharing the same edge with the sub-area Q0, and then the target node interval position positioning step is executed, and the method comprises the following steps:
s31, the mobile anchor node starts from the sub-area Q0 and moves according to the changed interval moving path, and the mobile anchor node transmits a request signal when moving into a sub-area;
s32, the mobile anchor node receives the feedback signal of the target node and sends the feedback signal to a positioning center, and the positioning center calculates the distance between the target node and the sub-region;
and S33, calculating the coordinates of the target node according to the distance between the target node and each sub-region and the coordinates of each sub-region.
Each subregion has 6 adjacent subregions at most, therefore, the number of subregions corresponding to the changed interval moving path does not exceed 6, and therefore, the calculation amount can be greatly reduced.
Once the distance D between the mobile anchor node and the target node is measuredkAccording to the geometric principle, the node to be positioned is positioned at the position of the reference base station as the center of a circle and at the distance DkOn the circumference of a radius. If the distances between the target node and the mobile anchor node in the three sub-regions are known, the distances between the target node and the three sub-regions are taken as the radius to draw a circle, as shown in fig. 5.
If the mobile anchor node moves according to the changed interval moving path and still moves to a sub-area every time, the request signal is sent in a broadcast mode, if the mobile anchor node moves according to the changed planning path, the sent request signal is received by the target node and generates a new feedback signal, and the positioning center sequentially calculates the distance D between the target node and each sub-area1……DkAnd the coordinates of the target node are (x, y), and the coordinate values of the target node are solved by solving the equation set:
wherein (x)k，yk) The value of k is 1 or 2 or 3 for the coordinates of the sub-region that is co-extensive with sub-region Q0 and that transmits the feedback signal.
In step S23, the intra-area movement path is planned according to the Circlus path plan.
In step S23, the distance between the mobile anchor node and the target node is replaced by the distance between the mobile anchor node and the fixed point position, and the coordinates of the sub-area are replaced by the coordinates of the fixed point position.
In an ideal situation, the coordinates (x, y) of the node to be located can be obtained by solving equation 1, but the ranging result D exists due to non-line-of-sight, multipath, diffraction and reflection, etckThe solution of the equation set cannot be solved due to inevitable errors, and in the embodiment, the equation set is solved by using one of the least square method, Chan and Fang algorithms.
In step S14, the changed inter-zone moving path is the sub-zone that is co-located with the sub-zone Q0 and that the mobile anchor node first passes through. At most 6 subregions sharing the same edge with any subregion are arranged around any subregion, and in the moving process of the mobile anchor node, the first planned interval moving path is firstly installed to move, it is possible that one or more adjacent co-edge sub-regions of sub-region Q0 have been reached, and the sub-region has not received the feedback signal, which indicates that the target node is farther away from the sub-region, after receiving the feedback signal at sub-region Q0, and the distance between the target node and the sub-region Q0 is judged to be larger than the radius of the inscribed circle, the planned path needs to be changed, the mobile anchor node only needs to be moved to a plurality of sub-regions which are adjacent and share the same edge around the sub-region Q0 to transmit the request signal again, and for one or more adjacent co-located sub-areas of the sub-area Q0 that the mobile anchor node has reached, it is excluded that the computational load can be reduced and therefore the modified inter-zone movement path is the sub-zone that is co-extensive with sub-zone Q0 and that the mobile anchor node first passes through.
Because the position of the target node is unknown, the request signal is an acoustic signal sent in a broadcasting mode, and the request signal can be received as long as the target node is positioned in the signal coverage radius R when the target node is positioned in each direction.
In step S13, the propagation delay τ0Time and shift carried in time stamp information for feedback signalsThe difference between the times when the anchor node receives the feedback signal.
In this embodiment, the positions of the sub-regions are known, and when the mobile anchor node moves from one sub-region to the next sub-region according to the interval movement path, the movement angle of the mobile anchor node is calculated according to the position relationship between the two sub-regions.
Because the sea water components are very complicated, a part of sound waves are absorbed during transmission, the absorption is more severe when the frequency is higher, and the sea water is less absorbed when the frequency is lower, researches show that the transmission loss of sound signals with the frequency of about 200Hz is smaller, and in the embodiment, the sound signals are preferably chirp signals with the frequency of 200-300 Hz.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.
Claims (9)
1. A mobile anchor node assisted underwater wireless sensor network positioning method is characterized by comprising the following steps:
a path planning step, namely determining the signal coverage radius R of the mobile anchor node, dividing a target area into a plurality of regular hexagonal sub-areas with the side length of R, wherein the sub-areas are sequentially and tightly arranged, adjacent sub-areas are arranged in a common side, and planning an interval moving path and an area moving path; the in-area moving path is planned according to a Circlus path plan;
the step of judging the sub-area where the target node is located comprises the following steps:
(11) the mobile anchor node moves according to the interval moving path and moves from one sub-area to another sub-area, and the mobile anchor node transmits a request signal every time the mobile anchor node moves to one sub-area, wherein the request signal at least comprises the position information of the mobile anchor node and the time stamp information of the request signal;
(12) if the target node receives an acoustic signal sent by the mobile anchor node in the sub-region Q0, transmitting a feedback signal to the mobile anchor node, wherein the feedback signal at least comprises timestamp information of the feedback signal, and the sub-region Q0 is any planned sub-region;
(13) the mobile anchor node sends the feedback signal to a positioning center, and the positioning center calculates the propagation delay tau of the target node0And according to D0 ═ c τ0Calculating a distance D0 between the target node and the mobile anchor node, wherein c is the speed of sound;
(14) determining the radius of the inscribed circle between D0 and the sub-region
If D0 is less than
Judging that the target node is positioned in the sub-region Q0, if the range of D0 is larger than that
Changing an interval moving path of the mobile anchor node;
a target node intra-area location step, comprising:
(21) the mobile anchor node moves in a sub-area Q0 according to the moving path in the area, and the mobile anchor node transmits a request signal when moving to a fixed point position;
(22) the mobile anchor node receives a feedback signal of the target node and sends the feedback signal to a positioning center, and the positioning center calculates the distance between the target node and each fixed point;
(23) and calculating the coordinates of the target node according to the distance between the target node and each fixed point position and the coordinates of each fixed point position.
2. The positioning method according to claim 1, wherein in step (14), the modified inter-zone moving path is: the mobile anchor node sequentially moves to a plurality of sub-areas sharing the same edge with the sub-area Q0, and then the target node interval position positioning step is executed, and the method comprises the following steps:
(31) the mobile anchor node starts from the sub-region Q0 and moves according to the changed interval moving path, and the mobile anchor node transmits a request signal every time the mobile anchor node moves into one sub-region;
(32) the mobile anchor node receives a feedback signal of the target node and sends the feedback signal to a positioning center, and the positioning center calculates the distance between the target node and the sub-area;
(33) and calculating the coordinates of the target node according to the distance between the target node and each sub-region and the coordinates of each sub-region.
3. The positioning method according to claim 2, wherein the positioning center calculates the distance D1 … … Dk between the target node and each sub-area in turn, the coordinates of the target node are (x, y), and the coordinate values of the target node are solved by solving a set of equations:
wherein (x)k，yk) The value of k is 1 or 2 or 3 for the coordinates of the sub-region that is co-extensive with sub-region Q0 and that transmits the feedback signal.
4. The method of claim 3, wherein the system of equations is solved using one of least squares, Chan, and Fang algorithms.
5. The positioning method according to claim 2, wherein in the step (14), in the target node area determination step, the changed inter-zone moving path is: the sub-region that is co-located with sub-region Q0 and that is traversed the first time by the mobile anchor node.
6. The positioning method according to any one of claims 1-5, wherein the request signal is an acoustic signal transmitted by broadcasting.
7. According to claims 1-5The positioning method according to any one of the preceding claims, wherein in step (13) the propagation delay τ is0Is the difference between the time carried in the timestamp information of the feedback signal and the time the feedback signal was received by the mobile anchor node.
8. The positioning method according to any one of claims 1 to 5, wherein when the mobile anchor node moves from one sub-area to the next sub-area according to the interval movement path, the movement angle of the mobile anchor node is calculated according to the position relationship between the two sub-areas.
9. The method according to claim 6, wherein the acoustic signal is a chirp signal having a frequency of 200Hz to 300 Hz.
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| CN111132003B (en) * | 2019-11-27 | 2020-11-24 | 桂林电子科技大学 | UWSN sensor node positioning method based on dynamic path planning |
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