CN111082863A - Ultraviolet light mobile ad hoc network bilateral node positioning method - Google Patents
Ultraviolet light mobile ad hoc network bilateral node positioning method Download PDFInfo
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- CN111082863A CN111082863A CN201911350042.7A CN201911350042A CN111082863A CN 111082863 A CN111082863 A CN 111082863A CN 201911350042 A CN201911350042 A CN 201911350042A CN 111082863 A CN111082863 A CN 111082863A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
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- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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Abstract
The invention discloses an ultraviolet mobile ad hoc network bilateral node positioning method, which comprises the following steps: step 1: establishing an ultraviolet mobile ad hoc network node communication device model; step 2: capturing information according to the ultraviolet light mobile ad hoc network node communication device model; and step 3: direct-view communication is realized according to the captured information, and the position information of three known nodes is obtained; and 4, step 4: and obtaining the position information of the unknown node according to the position information of the three known nodes. The invention solves the problems of inaccurate positioning in ultraviolet positioning, inconvenient scheduling and commanding of a user to a node and incapability of realizing high-quality ultraviolet communication in the prior art.
Description
Technical Field
The invention belongs to the field of wireless ultraviolet light communication, and particularly relates to an ultraviolet light mobile ad hoc network bilateral node positioning method.
Background
With the development of information technology, people have increasingly high demands on wireless communication, especially on the rate of communication and the security of communication. The most common radio communication is easily interfered, has poor safety and cannot meet the radio communication with higher safety requirements. Therefore, it is an urgent task to explore a wireless communication method with high concealment and wide transmission band.
Ultraviolet light communication is wireless optical communication, and has the advantages of high confidentiality and non-direct-view communication compared with radio communication and infrared light communication. At present, ultraviolet communication is a novel communication mode researched by various countries in the world, and the ultraviolet communication is a novel communication mode which takes ultraviolet light as a carrier and takes an atmospheric channel as a transmission medium. The wavelength of the ultraviolet light is 10 nm-400 nm, wherein the ultraviolet light in a day blind zone of 200 nm-280 nm is invisible ultraviolet light, is the most common ultraviolet light working waveband, and has the advantages of low background radiation, strong anti-interference capability, high confidentiality, low resolution, non-direct vision, all-weather working and the like.
Although the ultraviolet communication has a wide application prospect, the short communication distance of the ultraviolet light limits the application of the ultraviolet communication in some aspects, and in order to meet the requirement, the ultraviolet communication is combined with the ad hoc network. The ultraviolet light ad hoc network is not influenced by node movement and topology change, and can meet the communication requirement under the complex environment. The acquisition of the node position is the key for building the ultraviolet light communication network, and the node positioning not only provides position information for a routing layer in the ultraviolet light network, but also provides convenience for a user to schedule and command the node. Therefore, the research on the node positioning method in the wireless ultraviolet communication network has certain significance.
Disclosure of Invention
The invention aims to provide a method for positioning bilateral nodes of an ultraviolet mobile ad hoc network, which solves the problems of inaccurate positioning in ultraviolet positioning, inconvenient dispatching and commanding of nodes by users and incapability of realizing high-quality ultraviolet communication in the prior art.
The technical scheme of the invention is as follows: a ultraviolet mobile ad hoc network bilateral node positioning method comprises the following steps:
step 1: establishing an ultraviolet mobile ad hoc network node communication device model;
step 2: capturing information according to the ultraviolet light mobile ad hoc network node communication device model;
and step 3: direct-view communication is realized according to the captured information, and the position information of three known nodes is obtained;
and 4, step 4: and obtaining the position information of the unknown node according to the position information of the three known nodes.
The invention is characterized in that:
the ultraviolet mobile ad hoc network node communication device model in the step 1 comprises a main node and a slave node, wherein the main node and the slave node are respectively connected with a servo motor circuit, an ultraviolet LED and a detection device PMT are respectively assembled on the adjacent surfaces of the main node and the slave node, the ultraviolet LED on the main node sends a signal, the detection device PMT on the slave node receives the signal sent by the ultraviolet LED to realize ultraviolet communication, and distance measurement modules are fixedly connected to the tops of the main node and the slave node.
The detection device PMT is a photomultiplier tube.
The specific process of step 2 is as follows:
the master node and the slave node respectively rotate at different rotating speeds through a servo motor, the rotating speed of the master node is 3r/s, the rotating speed of the slave node is 1r/s, the photomultiplier of the slave node starts to capture information sent by the ultraviolet LED of the master node, the plane of the information sent by the rotary table of the master node and the plane of the information received by the rotary table of the slave node form a coplane when the rotary table on the slave node rotates for 1 circle, and the slave node captures real-time rotating speed and phase information sent by the master node in the rotating process.
The specific process of the step 3 is as follows:
step 3.1: direct-view communication between master node and slave node
When the number of times that the slave node captures the master node information in three periods reaches 3 times, the slave node is determined to complete capture, the slave node is accelerated to the same rotating speed as the master node immediately, capture alignment is completed, and direct-view communication between the master node and the slave node is realized, namely, if A, B, C known master nodes exist, P is an unknown slave node, and A, B, C is allowed to realize direct-view communication with P respectively;
step 3.2: obtaining communication distance
Obtaining a communication distance L when two nodes are in direct-view communication according to a Lambert W Function (Lambert W Function) and a distance measurement formula when UV LOS (ultraviolet direct-view) communication is carried outAP、LBPAnd LCPThe distance measurement calculation formula is as follows:
d represents the communication distance between the master and slave nodes, PtIs the emission power of ultraviolet light, ArIs the receiving aperture area, k, of the ultraviolet light receiving deviceeIs the atmospheric extinction coefficient, PrIs the optical power received by the receiving end.
The specific process of the step 4 is as follows:
suppose Q1The point is a point between node A and node B, Q2The point is a point between node A and node C, PQ1Perpendicular to AB, PQ2The distance between the node A and the node P, the distance between the node B and the node P, and the distance between the node C and the node P are obtained by a ranging module on a model turntable of the ultraviolet mobile ad hoc network node communication device, and the position information of the unknown node P can be obtained by using the position information of the known node and the distance between the nodes according to geometric knowledge.
The invention has the beneficial effects that:
the invention provides a method for positioning bilateral nodes of an ultraviolet mobile ad hoc network, wherein when beacon nodes in the maximum communication range of unknown nodes have 3 known nodes and 1 unknown node, the coordinates of the unknown nodes can be calculated as long as the relative positions of the nodes are known; the wireless ultraviolet communication comprises a main node, an atmosphere channel and a slave node; based on an ultraviolet direct-view communication model, a bilateral node positioning method is provided, and the method can solve the problems that the positioning in the existing ultraviolet positioning is not accurate, the node scheduling and commanding of a user are inconvenient, high-quality ultraviolet communication cannot be realized, and the like. The equation obtained by the bilateral node positioning method is a linear equation, and the positioning method is simpler and more convenient. The two-dimensional plane wireless ultraviolet light mobile ad hoc network bilateral node positioning is realized, the positioning precision is improved, and the wireless ultraviolet light networking communication effect is improved.
Drawings
FIG. 1 is a flow chart of a method for locating bilateral nodes in an ultraviolet mobile ad hoc network of the present invention;
FIG. 2 is a schematic diagram of a model architecture of an ultraviolet light mobile ad hoc network node communication device;
FIG. 3 is a schematic diagram of a bilateral node location method;
FIG. 4 is a graph of bilateral node location versus node reference location;
figure 5 is a graph of bilateral node positioning error.
Detailed Description
The invention is further described with reference to the following drawings and detailed description.
The invention discloses an ultraviolet light mobile ad hoc network bilateral node positioning method, as shown in figure 1, comprising the following steps:
step 1: establishing an ultraviolet mobile ad hoc network node communication device model;
the model of the ultraviolet mobile ad hoc network node communication device is established as shown in fig. 2, and comprises a main node and a slave node, wherein the main node and the slave node are respectively connected with a servo motor circuit, an ultraviolet LED and a detection device PMT are respectively assembled on the adjacent surfaces of the main node and the slave node, the ultraviolet LED on the main node sends a signal, the detection device PMT on the slave node receives the signal sent by the ultraviolet LED to realize ultraviolet communication, and the tops of the main node and the slave node are fixedly connected with a distance measurement module.
Step 2: capturing information according to the ultraviolet light mobile ad hoc network node communication device model;
the master node and the slave node respectively rotate at different rotating speeds through a servo motor, the rotating speed of the master node is 3r/s, the rotating speed of the slave node is 1r/s, the photomultiplier of the slave node starts to capture information sent by the ultraviolet LED of the master node, the plane of the information sent by the rotary table of the master node and the plane of the information received by the rotary table of the slave node form a coplane when the rotary table on the slave node rotates for 1 circle, and the slave node captures real-time rotating speed and phase information sent by the master node in the rotating process.
And step 3: direct-view communication is realized according to the captured information, and the position information of three known nodes is obtained;
step 3.1: direct-view communication between master node and slave node
When the number of times that the slave node captures the master node information in three periods reaches 3 times, the slave node is determined to complete capture, the slave node is accelerated to the same rotating speed as the master node immediately, capture alignment is completed, and direct-view communication between the master node and the slave node is realized, namely, if A, B, C known master nodes exist, P is an unknown slave node, and A, B, C is allowed to realize direct-view communication with P respectively;
step 3.2: obtaining communication distance
Obtaining a communication distance L when two nodes are in direct-view communication according to a Lambert W Function (Lambert W Function) and a distance measurement formula when UV LOS (ultraviolet direct-view) communication is carried outAP、LBPAnd LCPThe distance measurement calculation formula is as follows:
d represents the communication distance between the master and slave nodes, PtIs the emission power of ultraviolet light, ArIs the receiving aperture area, k, of the ultraviolet light receiving deviceeIs the atmospheric extinction coefficient, PrIs the optical power received by the receiving end.
And 4, step 4: and obtaining the position information of the unknown node according to the position information of the three known nodes.
As shown in FIG. 3, assume Q1The point is a point between node A and node B, Q2The point is a point between node A and node C, PQ1Perpendicular to AB, PQ2The distance between the node A and the node P, the distance between the node B and the node P, and the distance between the node C and the node P are obtained by a ranging module on a model turntable of the ultraviolet mobile ad hoc network node communication device, and the position information of the unknown node P can be obtained by using the position information of the known node and the distance between the nodes according to geometric knowledge, wherein the content in brackets all represent coordinates.
The specific steps of solving the position information of the unknown node P by using the geometric knowledge are as follows:
when L isAB、LACThe distance is known, and Q is obtained according to the cosine theorem1The specific calculation formula is as follows:
q of1The coordinates of (3) can be ∠ BAP as acute angle and obtuse angle, and the basic property of cosine theorem and mathematical derivation prove that Q can be obtained no matter ∠ BAP is acute angle or obtuse angle1The coordinates of (a):
determining Q2Coordinates of (2)
According to Q1And Q2To obtain PQ1、PQ2The equation expression of the straight line;
carrying out simulation verification on the bilateral node positioning method:
simulation conditions are as follows: when the UV LED (ultraviolet LED) emission power is 0.6mW, the ultraviolet light LOS (direct view) maximum communication distance is 100 m. Assuming that nodes are distributed in a plane of 150m × 150m in simulation, coordinates of the beacon A, B, C are fixed values (10,10), (60,70) and (80,10), respectively, the unknown node P can move horizontally, the ranging error follows normal distribution with a mean value of 2m and a variance of 0.5 m; changing LAP、LBPAnd LCPSimulating the position of the unknown node P under different measuring distance conditions;
as shown in fig. 4, in the comparison graph of the bilateral node positioning and the node reference position, the bilateral node positioning track is substantially consistent with the node reference track, and the error is small.
As shown in fig. 5, in the bilateral node positioning error graph, when the distance measurement error follows normal distribution with a mean value of 2m and a variance of 0.5m, the absolute positioning error of an unknown node is 1.3m, and the maximum positioning error is 3m, which is 70% higher than the positioning accuracy in the literature, the bilateral node positioning is applicable to the ultraviolet communication system with higher distance measurement accuracy, wherein the literature is from which, koxi, zhao tao fei, etc.
The invention provides a method for positioning bilateral nodes of an ultraviolet mobile ad hoc network, wherein when beacon nodes in the maximum communication range of unknown nodes have 3 known nodes and 1 unknown node, the coordinates of the unknown nodes can be calculated as long as the relative positions of the nodes are known; the wireless ultraviolet communication comprises a main node, an atmosphere channel and a slave node; based on an ultraviolet direct-view communication model, a bilateral node positioning method is provided, and the method can solve the problems that the positioning in the existing ultraviolet positioning is not accurate, the node scheduling and commanding of a user are inconvenient, high-quality ultraviolet communication cannot be realized, and the like. The equation obtained by the bilateral node positioning method is a linear equation, and the positioning method is simpler and more convenient. The two-dimensional plane wireless ultraviolet light mobile ad hoc network bilateral node positioning is realized, the positioning precision is improved, and the wireless ultraviolet light networking communication effect is improved.
Claims (6)
1. A method for positioning bilateral nodes of an ultraviolet mobile ad hoc network is characterized by comprising the following steps:
step 1: establishing an ultraviolet mobile ad hoc network node communication device model;
step 2: capturing information according to the ultraviolet light mobile ad hoc network node communication device model;
and step 3: direct-view communication is realized according to the captured information, and the position information of three known nodes is obtained;
and 4, step 4: and obtaining the position information of the unknown node according to the position information of the three known nodes.
2. The method as claimed in claim 1, wherein the model of the node communication device for the ad hoc network comprises a master node and a slave node, the master node and the slave node are respectively connected with a servo motor circuit, the adjacent surfaces of the master node and the slave node are respectively provided with an ultraviolet LED and a detection device PMT, the ultraviolet LED on the master node sends out a signal, the detection device PMT on the slave node receives the signal sent by the ultraviolet LED to realize ultraviolet communication, and a distance measurement module is fixedly connected to the top of each of the master node and the slave node.
3. The method as claimed in claim 2, wherein the detecting device PMT is a photomultiplier tube.
4. The method as claimed in claim 3, wherein the specific process of step 2 is as follows:
the master node and the slave node respectively rotate at different rotating speeds through a servo motor, the rotating speed of the master node is 3r/s, the rotating speed of the slave node is 1r/s, the photomultiplier of the slave node starts to capture information sent by the ultraviolet LED of the master node, the plane of the information sent by the rotary table of the master node and the plane of the information received by the rotary table of the slave node form a coplane when the rotary table on the slave node rotates for 1 circle, and the slave node captures real-time rotating speed and phase information sent by the master node in the rotating process.
5. The method as claimed in claim 3, wherein the specific process of step 3 is as follows:
step 3.1: direct-view communication between master node and slave node
When the number of times that the slave node captures the master node information in three periods reaches 3 times, the slave node is determined to complete capture, the slave node is accelerated to the same rotating speed as the master node immediately, capture alignment is completed, and direct-view communication between the master node and the slave node is realized, namely, if A, B, C known master nodes exist, P is an unknown slave node, and A, B, C is allowed to realize direct-view communication with P respectively;
step 3.2: obtaining communication distance
According to Lambert W function (Lambert W function)n) and UV LOS (ultraviolet direct-view) communication to obtain the communication distance L of two nodes in direct-view communicationAP、LBPAnd LCPThe distance measurement calculation formula is as follows:
d represents the communication distance between the master and slave nodes, PtIs the emission power of ultraviolet light, ArIs the receiving aperture area, k, of the ultraviolet light receiving deviceeIs the atmospheric extinction coefficient, PrIs the optical power received by the receiving end.
6. The method as claimed in claim 5, wherein the specific process of step 4 is as follows:
suppose Q1The point is a point between node A and node B, Q2The point is a point between node A and node C, PQ1Perpendicular to AB, PQ2The distance between the node A and the node P, the distance between the node B and the node P, and the distance between the node C and the node P are obtained by a ranging module on a model turntable of the ultraviolet mobile ad hoc network node communication device, and the position information of the unknown node P can be obtained by using the position information of the known node and the distance between the nodes according to geometric knowledge.
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