CN109587626A - Wireless sensor network neighbor node method for estimating distance towards concave domain - Google Patents
Wireless sensor network neighbor node method for estimating distance towards concave domain Download PDFInfo
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Abstract
The present invention provides a kind of wireless sensor network neighbor node method for estimating distance towards concave domain, comprising: obtain the information of neighbor nodes of each node in sensor network；According to the information of neighbor nodes that gets calculate the jump between any two neighbor node away from；Based on the jump between vector route device agreement and calculated any two neighbor node away from, obtain any two anchor node between it is most short jump away from；The Euclidean distance between any two anchor node is obtained, and according to the most short jump between the Euclidean distance and any two anchor node between any two anchor node got away from calculating the jump of each anchor node away from corrected value；It jumps from the jumps of calculated all anchor nodes away from filtering out maximum value in corrected value as target away from corrected value；Product of the jump between target correction value and any two neighbor node away between is calculated, and using the product being calculated as the distance between any two neighbor node value.
Description
Technical field
The present invention relates to wireless sensor network field of locating technology, in particular to a kind of towards concave domain
Wireless sensor network neighbor node method for estimating distance.
Background technique
Wireless sensor network is mainly used to various environmental characteristics in monitoring network deployment region, such as temperature, humidity, light
According to, chemical substance concentration etc..Sensor node mainly sends back to the physical message data of present position, these data must and position
It is significant that information mutually bundlees, or even sensor is sometimes needed to send back to simple location information.In addition to this, node location is believed
Breath can also provide help for the design of other protocol layers.Node usually comes there are two types of method obtained from oneself accurate position: one
Kind is to assemble GPS module for node；Another is human configuration.However since energy consumption is high, at high cost by GPS, so that it is uncomfortable
Conjunction is widely used in wireless sensor network, and the network being manually configuration under some catenets and adverse circumstances can not make
With.Therefore, node locating technique is one of wireless sensor network key technology.
Node locating technique point many kinds, but whether being which kind of node locating technique, to obtain the essence of unknown node
True estimated location generally requires and obtains the distance between neighbor node, more accurate, the obtained unknown section of distance by some way
The estimated location of point is more accurate.
In the prior art, the method for obtaining distance between wireless sensor network neighbor node is segmented into two classes:
1, the distance between node is obtained by certain physical measurement techniques.It can be obtained on this theoretical method more smart
Distance between true node, but the hardware or comparatively ideal communication environment that some attachmentes are added to node are generally required, increase
Add network cost and power consumption, therefore is poorly suited for the wireless sensor network of low cost, low-power consumption.Several frequently seen measurement
Technology:
(1) received signal strength indicator RSSI
Known node transmission power, the node measurement for receiving signal receive power, calculate propagation loss,
Propagation loss is converted into distance using theoretical or experience signal propagation model, which is mainly believed using radio frequency
Number RF (RF-Radio Frequency Signal).Because sensor node itself has wireless communication ability, it can also measure and connect
The power of signal strength is received, therefore RSSI is a kind of low-power, cheap measuring technique.Its main source of error is undesirable
Communication environment caused by, such as reflection in signal communication process, multipath transmisstion, non line of sight (Non-Line-of-Sight,
NLOS), the reasons such as antenna gain, temperature, weather.The path loss model parameters of different communication environments, RSSI are also different, this
It is difficult to establish a unified distance calculating method.Even if to the same communication environment, it is also desirable to first a large amount of acquisition
Some data just can determine that the parameter of path loss model, finally obtain the ranging between node.Therefore RSSI is a kind of coarse
Ranging technology, range error is bigger.
(2) arrival time TOA
Under the premise of known signal spread speed, according to signal between two targets come the time of back propagation
Estimate the distance between sender and recipients.TOA technology measurement accuracy with higher, but it is required to more essence
The response of true acquisition sender and recipients and processing delay, it is this to require to seem particularly strong when distance is shorter.It uses
The most basic positioning system of TOA technology is exactly GPS.Due to the hardware size, price and power consumption limit of node, TOA technology is used
Locating scheme it is almost infeasible for wireless sensor network.But with the development of ultra-wide band (UWB) technology and
Application in wireless sensor network, so that TOA technology may have certain application prospect in future.
(3) reaching time-difference TDOA
TDOA ranging technology is used in the locating scheme of wireless sensor network.Wireless sensor network is utilizing
Between TDOA technology measuring node apart from when it is different from the mobile position estimation of cellular radio and robot navigation's positioning.Usually
Two kinds of transceivers: ultrasonic transmitter-receiver and radiofrequency signal RF transceiver are installed on node.When ranging, two kinds of transceivers of node
Emit signal simultaneously, using sound wave and electromagnetic wave in air spread speed greatest differences receiving end by two kinds of record not
It is different with signal arrival time difference, it is based on known signal spread speed, will directly be converted into distance the time, there are many practical TDOA
The localization method of ranging.The range accuracy of the technology is higher, can reach Centimeter Level, but it is limited to be constrained to ultrasonic wave propagation distance
(the usual propagation distance of ultrasonic signal is only 6m-9m, thus node deployment is than comparatively dense) and NLOS problem are to ultrasonic signal
Propagation effect.Although it has been found that and mitigate the technology of NLOS influence, need it is a large amount of calculate and communication overhead, add
The ability for needing node to have two kinds of unlike signals of perception, so that TDOA ranging technology is restricted.
(4) angle of arrival AOA
This is a kind of technology of estimation neighbor node transmission sense, and array antenna or multiple ultrasonic waves is utilized to receive
Device obtains the multiple directions of signal arrival.The maximum deficiency of AOA technology is, array antenna or multiple relatively high to hardware requirement
The realization of receiver and maintenance cost are higher, are also influenced by factors such as external environment and NLOS, therefore by hardware size, power consumption
With the influence of cost, AOA is not suitable for most wireless sensor network yet.
2, distance estimations between node are carried out by hop count between node and geometrical relationship.Most typical is exactly DV-HOP fixed
Position method.This method obtains the minimum hop count between unknown node and anchor node by the method for anchor node broadcast message, and counts
Single-hop correction value is calculated, using minimum hop count and the product of single-hop correction value as the estimated distance between unknown node and anchor node,
Specific step is as follows:
(1) minimum hop count between node.
Using typical distance vector route switching agreement, anchor node broadcasts anchor node information to neighbor node, includes anchor
Node ID, coordinate and hop count (initial value 0).The relevant information of the sensor node record anchor node of these information is received, and
And corresponding jumping figure value is added 1, it is then forwarded to its neighbor node, all nodes in such network are able to record each anchor
The position of node and corresponding minimum hop count.In order to reduce Internet traffic, node can abandon invalid anchor node information.Such as
Some unknown node of fruit has had recorded the relevant information of some anchor node, then carries out hop count judgement, if received in information
Hop count add 1 not less than the recorded minimum hop count of the unknown node, then it is assumed that this information be it is invalid, abandon and not
Forward this message.
(2) estimated distance between calculate node.
Anchor node has recorded the coordinate and minimum hop count of other anchor nodes in the first phase, if it is desired to obtaining unknown node
Position, we also need to estimate the average distance of every jump, also referred to as single-hop correction value, and 1,2 and 3 be anchor section as shown in Figure 1:
Point, No. 1 anchor node are calculated by the first stage, can acquire the coordinate and minimum hop count (respectively 2 of No. 2 and No. 3 anchor nodes
Jump and 6 jump), No. 1 anchor node can be obtained the distance between to No. 2 and No. 3 anchor nodes by Euclidean distance calculation method, it is assumed that
For distance shown in Fig. 1, the single-hop correction value of anchor node is calculated are as follows:
Wherein hijIt is the minimum hop count between anchor node i and j, ciRefer to
The single-hop correction value of anchor node i.Each anchor node can calculate the single-hop correction value of oneself, can calculate Fig. 1 with the method
In the single-hop correction value of 1,2, No. 3 anchor node be respectively 17.5m, 16.42m and 15.9m.Then anchor node is by the single-hop of oneself
Correction value is broadcast to the neighbor node of oneself, and neighbor node is forwarded, and final all nodes can receive anchor node
Single-hop correction value.Unknown node is corrected the single-hop correction value of nearest anchor node as its single-hop for calculating estimated distance
Value.Unknown node to the estimated distance between all anchor nodes be exactly single-hop correction value multiplied by the fewest number of hops for arriving anchor node.For
It avoids the average jump for repeating to receive same anchor node away from information, controllable Flood routing method can be used.
Carrying out method for estimating distance between node by hop count between node and geometrical relationship is that two are represented with hop count
The distance between neighbor node, and the distance between node is estimated using hop count.After obtaining single-hop correction value, rectified with single-hop
Hop count product between positive value and node is as the estimated distance between node.As long as being neighbor node between two nodes, no
Managing is actual range is how many between the two nodes, and it is all duplicate for calculating the distance obtained using hop count.Such as
Fig. 2: A, B, C, D are 4 sensor nodes in figure, and R indicates the communication radius of sensor node in figure, it can be seen that 4 nodes
All in communication radius R, can communicate directly, the hop count between them be 1 jump, using hop count estimation neighbor node between away from
From when, calculate apart from when this A to B, tri- nodes of C, D distance be the same, and in fact, as we can see from the figure
A to B, tri- nodes of C, D distance be obviously different.This has resulted in biggish error.There are one error sources, calculate
Between node when single-hop corrected value, using anchor node coordinate calculate anchor node between Euclidean distance, recycle anchor node it
Between minimum hop count calculate single-hop corrected value.However, when the region of node deployment is concave domain, between anchor node
Minimum hop count is easy to be influenced by concave boundary, such as shown in Fig. 3: assuming that i, j, s and k are 4 anchor nodes, it can be seen that s
Solid line between k is between two nodes by distance represented by multi-hop, and dotted line is the actual range between s and k,
It can be seen that essentially identical.And by distance (solid line distance between i and j) represented by multi-hop by concave boundary between i and j
Influence and actual range (dotted line distance between i and j) differ greatly, directly result in the single-hop corrected value error calculated
It is larger.Range error is also centainly very big between the neighbor node calculated with the biggish single-hop corrected value of error multiplied by hop count.
Summary of the invention
The present invention is based at least one above-mentioned technical problem, proposes a kind of new wireless biography towards concave domain
Sensor network neighbor nodes method for estimating distance does not need not only additionally to install additional firmware equipment, to sensor node hardware
It is required that it is very low, communication environment is also required without excessive, significantly reduces cost, while more smart to neighbor node distance estimations
Really, error is smaller, haves laid a good foundation for node locating, has substantive significance outstanding.
In view of this, proposing a kind of wireless sensor network neighbor node distance towards concave domain according to the present invention
Estimation method, comprising: obtain the information of neighbor nodes of each node in sensor network, wherein the information of neighbor nodes packet
Include neighbor node number in any two neighbor node intersecting area, the neighbor node number of each node；According to what is got
The information of neighbor nodes calculate the jump between any two neighbor node away from；Based on vector route device agreement and calculating
The jump between any two neighbor node out away from, obtain any two anchor node between it is most short jump away from；Described in acquisition
Euclidean distance between any two anchor node, and according to the Euclidean distance between any two anchor node got
Most short jump between any two anchor node is away from calculating the jump of each anchor node away from corrected value；Own from calculated
The jump of anchor node away from filtered out in corrected value maximum value as target jump away from corrected value；Calculate the target correction value and described
Product of the jump anticipated between two neighbor nodes away between, and using the product being calculated as any two neighbor node
The distance between value.
In the technical scheme, when obtaining the information of neighbor nodes of each node, message is forwarded by sensor node
It can get the information of neighbor nodes of each node, the jump between any two neighbor node then calculated according to information of neighbor nodes
Away from increasing vector route device agreement to calculate the most short jump between any two anchor node away from utilizing any two anchor node
Between Euclidean distance and any two anchor node between most short jump away from calculating the jump of each anchor node away from corrected value, and select
It is maximum to jump away from corrected value as target jump away from corrected value, it is jumped using target away between corrected value and any two neighbor node
It jumps and acquires the distance between any two neighbor node value away from multiplication, whole process does not need additionally to be that sensor node installation is appointed
What optional equipment can be realized as neighbor node distance based on the communication between sensor node and calculate, to sensor node
Hardware requirement is very low, does not also require communication environment, significantly reduces cost, benefit during calculating neighbor node distance
With jump away from can be more accurate expression neighbor node between distance relationship, while considering the complexity of actual application environment
Property, it is easy to form concave domain, with anchor node calculate jump away from corrected value when, analysis concave boundary to most it is short jump away from shadow
It rings, will be filtered out by the anchor node of concave edge effect, the precision away from corrected value is jumped to ensure, so that finally accurately calculating
Distance between neighbor node.
In the above-mentioned technical solutions, it is preferable that the information of neighbor nodes that the basis is got calculates described any
Jump between two neighbor nodes away from the step of, specifically include: calculate according to the following formula any two neighbor node it
Between jump away from:
Wherein, i and j indicates that neighbor node i and neighbor node j, r indicate the communication radius of sensor node, HDijIndicate adjacent
The jump between node i and neighbor node j is occupied away from dijIndicate the distance between neighbor node i and neighbor node j, NijIndicate neighbours
Neighbor node number in node i and neighbor node j intersecting area, NiAnd NjRespectively indicate the neighbor node of neighbor node i and j
Number.
In any of the above-described technical solution, it is preferable that it is described obtain between any two anchor node it is European away from
From, and according between the Euclidean distance and any two anchor node between any two anchor node got
It is most short to jump away from calculating the step of jump of each anchor node is away from corrected value, specifically include: calculating each anchor node according to the following formula
Jump away from corrected value:
aHD=(Euclidean distance between any two anchor node) ÷ (between any two anchor node most short jump away from)；Its
In, aHDIt indicates to jump away from corrected value.
By above technical scheme, do not need not only that additional firmware equipment additionally is installed, to sensor node hardware requirement
It is very low, communication environment is also required without excessive, significantly reduces cost, while more accurate to neighbor node distance estimations, accidentally
Difference is smaller, haves laid a good foundation for node locating, has substantive significance outstanding.
Detailed description of the invention
Fig. 1 shows DV-HOP algorithm schematic diagram in the related technology；
Fig. 2 shows neighbor nodes in the related technology apart from schematic diagram；
Fig. 3 shows between the relevant technologies interior joint the shortest distance by concave edge effect schematic diagram；
Fig. 4 shows the wireless sensor network neighbor node distance towards concave domain of embodiment according to the present invention
The flow diagram of estimation method；
Fig. 5 shows the schematic diagram of the relationship of the distance between neighbor node and communication coverage；
Fig. 6 shows concave domain node distribution map；
Fig. 7 shows the corresponding mean longitudinal error comparison diagram of different anchor node quantity；
Fig. 8 shows the corresponding mean longitudinal error comparison diagram of different communication radius.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application
Feature in example and embodiment can be combined with each other.
Below in conjunction with Fig. 4 to Fig. 8, technical scheme is described further:
As shown in figure 4, the wireless sensor network neighbor node method for estimating distance towards concave domain, including following step
It is rapid:
Step 402, the information of neighbor nodes of each node in sensor network is obtained, wherein the information of neighbor nodes
Including neighbor node number, the neighbor node number of each node in any two neighbor node intersecting area.Specifically, can lead to
Crossing sensor node forwarding message can get the information of neighbor nodes of each node, additional without additionally increasing for sensor node
Hardware device.
Step 404, the jump between any two neighbor node is calculated according to the information of neighbor nodes got
Away from.
Specifically, illustrate it is lower jump away from Computing Principle:
As shown in figure 5, the communication radius of r representative sensor node, dijIt indicates between neighbor node i and neighbor node j
Distance, SijThe area of the intersecting area of two node communication coverages is represented, from figure 5 it can be seen that dijAnd SijSize
It is inversely proportional, intersecting area area is bigger, dijValue it is smaller.By the calculating of geometric figure, available area SijCalculating it is public
Formula (1):
Communication overlay area of the both sides divided by a node, available formula (2):
Assuming that y=Sij/πr2, x=dij/ (2r), available such as minor function namely formula (3):
By in formula (2) arccos (x) andFollowing equation (4) are obtained with Taylor series expansion:
Formula (3) are substituted into formula (2), and x and y are replaced, available following equation (5):
Since node is neighbor node, so dijThe value range of/r is [0,1],And its subsequent value is very
It is small, take dijThe value of/r is 1,Value be 0.027.For balancing error,And its subsequent value is with 0.02
Instead of having obtained following formula (6):
It can be seen that if it is known that SijArea, can directly calculate the estimated distance d between neighbor nodeij,
SijAlthough area can not accurately be calculated, for wireless sensor network, especially do not have to any measurement skill
The deployment density of the low-cost network of art, sensor node is relatively high, the neighbor node in each sensor node communication range
Can not there was only 1, have many sensor nodes, the number of the size neighbor node of region area is directly proportional, therefore
Region area approximately can be represented with regional nodes number, thus can be jumped with following formula approximate calculation away from:
Wherein, i and j indicates that neighbor node i and neighbor node j, r indicate the communication radius of sensor node, HDijIndicate adjacent
The jump between node i and neighbor node j is occupied away from dijIndicate the distance between neighbor node i and neighbor node j, NijIndicate neighbours
Neighbor node number in node i and neighbor node j intersecting area, NiAnd NjRespectively indicate the neighbor node of neighbor node i and j
Number.
Because of the HD of neighbor node i and jijValue should be equal, and their neighbor node number NiAnd NjIt may
It is different, therefore in order to reduce error, takes two average value.According to above-mentioned formula it is found that between two neighbor nodes
Distance is different, the HD of acquisitionijValue it is also different.
Step 406, based on the jump between vector route device agreement and the calculated any two neighbor node away from,
Obtain any two anchor node between it is most short jump away from.
Step 408, the Euclidean distance between any two anchor node is obtained, and described any according to what is got
Most short jump between Euclidean distance and any two anchor node between two anchor nodes is away from calculating the jump of each anchor node
Away from corrected value.
Specifically, the jump between any two neighbor node can be calculated away from HD by formula (7)ij, due to being to make
Region area is represented with node number, certainly exists certain error.Most short jump between two anchor nodes is away from can pass through distance
Vector route exchange agreement obtains, and the actual distance between anchor node can be obtained by Euclidean distance, the Europe between anchor node
Formula distance is jumped away from can be obtained by one away from corrected value divided by most short jump: aHD=(Euclidean distance between any two anchor node)
÷ (between any two anchor node most short jump away from)；Wherein, aHDIt indicates to jump away from corrected value.
Step 410, from the jump of calculated all anchor nodes away from filtered out in corrected value maximum value as target jump away from school
Positive value.
In concave domain, with reference to Fig. 3, the most short jump between anchor node i and j by concave boundary away from may be influenced, far
It is remote to deviate straight line, there is large error away from corrected value so as to cause the jump calculated.In order to avoid concave boundary to jump away from
The influence of correction value, observation Fig. 3 can see, if the most short jump between two nodes is not away from by the shadow on concave boundary
It rings, then the path walked between them can be approximately straight line, if influenced by concave boundary, the path meeting walked
Much deviate straight line, the most short jump calculated at this time is away from will be far longer than actual path, a calculatedHDValue will be inclined
It is small.Bigger, a by concave edge effectHDValue will be smaller, conversely, aHDValue will be bigger, illustrates smaller by concave edge effect.
Therefore it calculates and jumps away from corrected value aHDWhen, take a in all anchor nodesHDBe worth it is maximum that as whole network jump away from corrected value,
Namely target is jumped away from corrected value.
Step 412, product of the jump between the target correction value and any two neighbor node away between is calculated,
And using the product being calculated as the distance between any two neighbor node value.
In the technical scheme, when obtaining the information of neighbor nodes of each node, then according to information of neighbor nodes meter
Jump between any two neighbor node is calculated away from increasing vector route device agreement and calculate between any two anchor node most
It is short to jump away from each away from calculating using the most short jump between the Euclidean distance between any two anchor node and any two anchor node
The jump of anchor node selects maximum jump away from corrected value as target jump away from corrected value, using target jump away from correction away from corrected value
Jump between value and any two neighbor node acquires the distance between any two neighbor node value away from multiplication, and whole process is not
It needs additionally to be that sensor node installs any optional equipment, neighbours can be realized as based on the communication between sensor node
Nodal distance calculates, very low to sensor node hardware requirement, does not also require communication environment, significantly reduces cost,
Calculate neighbor node distance during using jump away from can be more accurate expression neighbor node between distance relationship, together
When consider actual application environment complexity, it is easy to form concave domain, with anchor node calculate jump away from corrected value when, point
Analyse concave boundary to most it is short jump away from influence, will be filtered out by the anchor node of concave edge effect, thus ensure jump away from corrected value
Precision so that finally accurately calculating distance between neighbor node.
Specifically, below by the application in neighbor node range estimation method and DV-HOP, DV-RND location algorithm
Neighbor node range estimation method compares:
As shown in fig. 6, illustrating the Node distribution in concave domain, the application generates 10 groups of data, node point at random
Cloth region is all the concave domain in Fig. 6, finally takes the mean longitudinal error between this 10 groups of data neighbor nodes, Lin Jujie
The distance between point error calculation method are as follows:
Comparison example 1: Fig. 7 is 10 groups of data when communication radius is 20 meters, and anchor node quantity changes, and the HD of the application is adjacent
Nodal distance evaluation method is occupied with the comparison between the neighbor node distance estimating algorithm in DV-HOP and DV-RND location algorithm
Figure, as can see from Figure 7, no matter anchor node quantity is how many, the HD neighbor node range estimation method of the application will
Better than other two kinds of algorithms.
Comparison example 2: Fig. 8 is 10 groups of data when anchor node quantity is 10, when communication radius changes, the HD of the application
Neighbor node range estimation method is the same as pair between the neighbor node distance estimating algorithm in DV-HOP and DV-RND location algorithm
Than figure, as can see from Figure 8, and though communication radius be it is how many, the HD neighbor node range estimation method of the application will be excellent
In other two kinds of algorithms.
The technical scheme of the present invention has been explained in detail above with reference to the attached drawings, and technical solution of the present invention proposes a kind of new
Wireless sensor network neighbor node method for estimating distance towards concave domain, does not need not only additionally to install additional firmware and sets
It is standby, it is very low to sensor node hardware requirement, communication environment is also required without excessive, significantly reduces cost, while to neighbour
It occupies that nodal distance estimation is more accurate, and error is smaller, haves laid a good foundation for node locating, there is substantive meaning outstanding
Justice.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (3)
1. a kind of wireless sensor network neighbor node method for estimating distance towards concave domain characterized by comprising
Obtain the information of neighbor nodes of each node in sensor network, wherein the information of neighbor nodes includes any two
Neighbor node number, the neighbor node number of each node in neighbor node intersecting area；
According to the information of neighbor nodes got calculate the jump between any two neighbor node away from；
Based on the jump between vector route device agreement and the calculated any two neighbor node away from acquisition any two
Between anchor node it is most short jump away from；
Obtain the Euclidean distance between any two anchor node, and according to any two anchor node got it
Between Euclidean distance and any two anchor node between most short jump away from calculating the jump of each anchor node away from corrected value；
It jumps from the jumps of calculated all anchor nodes away from filtering out maximum value in corrected value as target away from corrected value；
Product of the jump between the target correction value and any two neighbor node away between is calculated, and will be calculated
Product as the distance between described any two neighbor node be worth.
2. the wireless sensor network neighbor node method for estimating distance according to claim 1 towards concave domain,
Be characterized in that, the information of neighbor nodes that the basis is got calculate the jump between any two neighbor node away from
Step specifically includes:
Calculate according to the following formula jump between any two neighbor node away from:
Wherein, i and j indicates that neighbor node i and neighbor node j, r indicate the communication radius of sensor node, HDijIndicate neighbours' section
Jump between point i and neighbor node j is away from dijIndicate the distance between neighbor node i and neighbor node j, NijIndicate neighbor node
Neighbor node number in i and neighbor node j intersecting area, NiAnd NjRespectively indicate the neighbor node number of neighbor node i and j.
3. the wireless sensor network neighbor node method for estimating distance according to claim 1 towards concave domain,
It is characterized in that, the Euclidean distance obtained between any two anchor node, and according to described any two got
Most short jump between Euclidean distance and any two anchor node between a anchor node away from, calculate the jump of each anchor node away from
The step of corrected value, specifically includes:
The jump of each anchor node is calculated according to the following formula away from corrected value:
aHD=(Euclidean distance between any two anchor node) ÷ (between any two anchor node most short jump away from)；Wherein,
aHDIt indicates to jump away from corrected value.
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| CN110493717A (en) * | 2019-08-22 | 2019-11-22 | 郑州轻工业学院 | A kind of non-ranging node fusion and positioning method suitable for concave domain |
| CN111246566A (en) * | 2020-01-07 | 2020-06-05 | 北京邮电大学 | Positioning method and device based on neighbor discovery, electronic equipment and storage medium |
| CN113347565A (en) * | 2021-06-02 | 2021-09-03 | 郑州轻工业大学 | Expanded area multi-hop node ranging method of anisotropic wireless sensor network |
| CN113939015A (en) * | 2021-10-11 | 2022-01-14 | 武汉理工大学 | Non-ranging WSN node positioning method based on Jaccard similarity |
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| CN110493717A (en) * | 2019-08-22 | 2019-11-22 | 郑州轻工业学院 | A kind of non-ranging node fusion and positioning method suitable for concave domain |
| CN111246566A (en) * | 2020-01-07 | 2020-06-05 | 北京邮电大学 | Positioning method and device based on neighbor discovery, electronic equipment and storage medium |
| CN111246566B (en) * | 2020-01-07 | 2021-04-02 | 北京邮电大学 | Positioning method and device based on neighbor discovery, electronic equipment and storage medium |
| CN113347565A (en) * | 2021-06-02 | 2021-09-03 | 郑州轻工业大学 | Expanded area multi-hop node ranging method of anisotropic wireless sensor network |
| CN113939015A (en) * | 2021-10-11 | 2022-01-14 | 武汉理工大学 | Non-ranging WSN node positioning method based on Jaccard similarity |
| CN113939015B (en) * | 2021-10-11 | 2023-08-01 | 武汉理工大学 | Non-ranging WSN node positioning method based on Jaccard similarity |
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Application publication date: 20190405 |