CN113194405B - Wireless sensor network positioning method using simplified moving path and pigeon flock optimization - Google Patents

Wireless sensor network positioning method using simplified moving path and pigeon flock optimization Download PDF

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CN113194405B
CN113194405B CN202110445662.XA CN202110445662A CN113194405B CN 113194405 B CN113194405 B CN 113194405B CN 202110445662 A CN202110445662 A CN 202110445662A CN 113194405 B CN113194405 B CN 113194405B
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崔焕庆
张娜
舒明雷
徐强
赵君宜
杨君三
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Shandong Institute of Artificial Intelligence
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Abstract

A wireless sensor network positioning method using a simplified moving path and pigeon swarm optimization enables anchor nodes to move along broken lines through a positioning algorithm, ensures that positioning auxiliary information provided for blind nodes is not collinear, fully considers the coverage range of the anchor nodes, and shortens the path as much as possible. The positioning algorithm determines the position of the positioning auxiliary information broadcast by the anchor node according to the coverage condition of the deployment area, so that the full coverage of the deployment area can be realized, and the energy consumption of the anchor node can be reduced. The blind node position is calculated by using pigeon flock optimization, and the positioning precision is improved.

Description

Wireless sensor network positioning method using simplified moving path and pigeon flock optimization
Technical Field
The invention relates to the technical field of wireless sensor network positioning, in particular to a wireless sensor network positioning method using a simplified moving path and pigeon swarm optimization.
Background
The wireless sensor network consists of a large number of sensor nodes deployed in a given monitoring area, and is widely applied to the fields of military monitoring, environmental monitoring, medical care and the like. Determining location information of sensor nodes provides basic support for many location-aware protocols and applications, and therefore, node location is one of the key technologies of wireless sensor networks.
The method has the advantages of strong flexibility, high positioning accuracy and the like by using the mobile anchor node for auxiliary positioning, wherein the anchor node refers to a sensor node with a known position, and other nodes are called unknown nodes or blind nodes. The mobile anchor node assistance algorithm requires designing a moving path of an anchor node and a position estimation method of a blind node. The existing mobile anchor node path planning method is easy to have the problems of repeated coverage, redundant information, overlong path and the like, so that the energy consumption of the mobile anchor node is overhigh.
Disclosure of Invention
In order to overcome the defects of the technology, the invention provides the wireless sensor network positioning method which uses the pigeon swarm optimization to estimate the blind node position, thereby achieving the purposes of reducing the energy consumption of the anchor node and improving the positioning precision.
The technical scheme adopted by the invention for overcoming the technical problems is as follows:
a wireless sensor network positioning method using a simplified moving path and pigeon flock optimization comprises the following steps:
a) setting a deployment area of the wireless sensor as a rectangular area with the length L and the width H, dividing the deployment area into m multiplied by n square grids, wherein the side length of each square grid is d, m is the grid number in the vertical direction, n is the grid number in the horizontal direction, numbering is carried out on each grid according to the sequence from bottom to top and from left to right, and the grid number of the ith row and the jth column is Ci,j；
b) Each grid Ci,jInternally selecting 5 candidate virtual anchor nodes, respectively c0、c1、c2、c3、c4Defining the mobile anchor node of the wireless sensor network in the grid Ci,jThe virtual anchor node sequence needing to be traversed is Listi,j(ii) a c-1) if i + j is an even number, then
Figure BDA0003037255760000021
c-2) if i + j is odd and 1 <List if i < m and 1 < j < ni,jPhi, phi is the empty set, c-3) if i + j is odd and 1 < i < m
Figure BDA0003037255760000022
c-4) if i + j is odd and 1 < j < n
Figure BDA0003037255760000023
c-5) if i + j does not satisfy the conditions of c-1) to c-4), then
Figure BDA0003037255760000024
d) Defining all virtual anchor node sequences traversed by the mobile anchor node in the steps c-1) to c-5) as a VML, wherein the initial VML is an empty set and a variable i is equal to 1;
e) if i is less than or equal to m and i is an odd number, the step f) is executed after the variable j is equal to 1, if i is less than or equal to m and i is an even number, the step f) is executed after the variable j is equal to n, and if i is greater than m, the step h) is executed;
f) by the formula VML ═ U Listi,jGeneral Listi,jMerging the j into the VML, if i is an odd number and j is less than or equal to n, adding 1 to j, and if i is an even number and j is more than or equal to 1, subtracting 1 from j;
g) if j is less than 1 or j is more than n, adding 1 to i and then transferring to the step e), and if j is more than or equal to 1 and less than or equal to n, transferring to the step f);
h) the wireless sensor network mobile anchor node traverses the whole deployment area along the virtual anchor node sequence of the point given by the VML set, and broadcasts beacon information at the virtual anchor node position;
i) all blind nodes of the wireless sensor network wait for receiving the beacon information broadcast by the mobile anchor node, the blind nodes calculate the distance from the blind nodes to the virtual anchor node after receiving the beacon information of the mobile anchor node, and when the blind nodes receive the beacon information of at least 3 virtual anchor nodes, the step j) is executed, otherwise, the blind nodes continue waiting for receiving the beacon information of the mobile anchor node;
j) by the formula
Figure BDA0003037255760000031
Calculating a function F (x, y), where xkAbscissa, y, of the k-th virtual anchor node received for the blind nodekThe vertical coordinate of the kth virtual anchor node received by the blind node, x and y are both function parameters, M is the number of received beacon information,
Figure BDA0003037255760000032
the distance between the blind node and the kth virtual anchor node;
k) randomly deploying pigeons in S pigeon swarm optimization algorithms in deployment area of wireless sensor, wherein the ith pigeon PlIs in a position ofl＝(al1,al2) The first pigeon PlInitial velocity V ofl＝(vl1,vl2) Setting the maximum iteration times of the pigeon group optimization algorithm to be N1 respectivelymaxAnd N2max；
l) by the formula
Figure BDA0003037255760000033
Calculate P for each pigeonlFunction value F ofl；
m) finding F in all pigeonslThe position of the pigeon with the smallest value is recorded in the variable Gbest＝(xbest,ybest) In by formula
Figure BDA0003037255760000034
Calculating to obtain the minimum pigeon position GbestFunction value F (G)best)；
N) setting the current iteration number N of the pigeon group optimization algorithmtHas a value of 1;
o) if Nt≤N1maxThen the value of l is given as 1 and the process goes to step p), if N ist＞N1maxGo to execute s);
p) by the formula
Figure BDA0003037255760000035
Calculating to obtain pigeon PlNew velocity value Vl', wherein r1Is a random number in (0,1), Q is a predefined constant, 0 < Q < 1, and is represented by formula Al′＝Vl′+AlCalculating to obtain pigeon PlNew position A ofl', by the formula Fl′＝F(Al') calculating to obtain the pigeon PlNew function value F ofl′；
q) recording the updated velocity value Vl＝Vl', recording the updated position Al＝Al', if Fl′＜F(Gbest) Then update Gbest＝AlIf l is less than S, adding 1 to the value of l and then transferring to the step p), and if l is more than or equal to S, transferring to the step r);
r) giving the current number of iterations NtAdding 1 to the value of (b) and then transferring to the step o);
s) giving the current number of iterations NtThe value is assigned to 1;
t) if Nt≤N2maxAll pigeons are arranged according to FlSorting the values from small to large, and reserving the sorted front
Figure BDA0003037255760000041
Assigning value to pigeon
Figure BDA0003037255760000042
And go to step u), if Nt＞N2maxThen go to step y);
u) through the formula
Figure BDA0003037255760000043
Calculating a weighted mean A of pigeon positionscAccording to formula Al″＝Al+r2(Ac-Al) Calculating pigeon PlNew position A oflIn the formula r2Is a random number within (0,1) according to the formula Fl″＝F(Al") calculate Pigeon PlNew function value F ofl″；
v) recording the updated position Al＝Al", if Fl″＜F(Gbest) Then it is moreNew Gbest＝Al；
w) if l is less than S, adding 1 to the value of l and then turning to the step u), and if l is more than or equal to S, turning to the step x);
x) giving the current iteration number NtAfter the value is assigned to 1, turning to the step t);
y) take GbestIs the estimated location of the current blind node.
Preferably, in step a)
Figure BDA0003037255760000044
And R is the communication radius of the anchor node.
Preferably, step c) in step b)0Has the coordinates of
Figure BDA0003037255760000045
c1Has the coordinates of
Figure BDA0003037255760000051
c2Has the coordinates of
Figure BDA0003037255760000052
c3Has the coordinates of
Figure BDA0003037255760000053
c4Has the coordinates of
Figure BDA0003037255760000054
Preferably, the beacon information in step h) includes current coordinates of the anchor node and the strength of the transmitted signal.
The invention has the beneficial effects that: the anchor nodes move along the broken lines through a positioning algorithm, so that the positioning auxiliary information provided for the blind nodes is not collinear, the coverage range of the anchor nodes is fully considered, and the path is shortened as much as possible. The positioning algorithm determines the position of the positioning auxiliary information broadcast by the anchor node according to the coverage condition of the deployment area, so that the full coverage of the deployment area can be realized, and the energy consumption of the anchor node can be reduced. The blind node position is calculated by using pigeon flock optimization, and the positioning precision is improved.
Drawings
FIG. 1 is a diagram of the division and numbering of deployment regions in accordance with the present invention;
FIG. 2 is a schematic diagram of candidate virtual anchor nodes for each mesh of the present invention;
FIG. 3 is a schematic diagram of the 4-path of the present invention.
Detailed Description
The invention will be further explained with reference to fig. 1, fig. 2 and fig. 3.
A wireless sensor network positioning method using a simplified moving path and pigeon flock optimization comprises the following steps:
a) as shown in fig. 1, the deployment area of the wireless sensor is set to be a rectangular area with a length L and a width H, the deployment area is divided into m × n square grids, the side length of each square grid is d, m is the grid number in the vertical direction, n is the grid number in the horizontal direction, each grid is numbered from bottom to top and from left to right, the grid number of the ith row and the jth column is Ci,j。
b) Each grid Ci,jInternally selecting 5 candidate virtual anchor nodes, respectively c0、c1、c2、c3、c4Defining the mobile anchor node of the wireless sensor network in the grid Ci,jThe virtual anchor node sequence needing to be traversed is Listi,j. c-1) if i + j is an even number, then
Figure BDA0003037255760000055
c-2) List if i + j is odd and 1 < i < m and 1 < j < ni,jPhi, phi is the empty set, c-3) if i + j is odd and 1 < i < m
Figure BDA0003037255760000061
c-4) if i + j is odd and 1 < j < n
Figure BDA0003037255760000062
c-5) if i + j does not satisfy the conditions of c-1) to c-4), then
Figure BDA0003037255760000063
d) All virtual anchor node sequences traversed by the mobile anchor node in steps c-1) to c-5) are defined as VML, the initial VML is an empty set and the variable i is made 1.
e) If i is less than or equal to m and i is an odd number, the step f) is executed after the variable j is equal to 1, if i is less than or equal to m and i is an even number, the step f) is executed after the variable j is equal to n, and if i is greater than m, the step h) is executed.
f) By the formula VML ═ U Listi,jGeneral Listi,jMerging into VML, if i is odd number and j is less than or equal to n, adding 1 to j, if i is even number and j is greater than or equal to 1, subtracting 1 from j.
g) If j is less than 1 or j is more than n, the step e) is executed after 1 is added to i, and if j is more than or equal to 1 and less than or equal to n, the step f) is executed.
h) The mobile anchor node of the wireless sensor network traverses the whole deployment area along the virtual anchor node sequence of the point given by the VML set, and the beacon information is broadcast at the position of the virtual anchor node. As shown in fig. 3, the moving paths generated by the above steps have 4 cases according to the parity of the number of rows and columns of the grid obtained by dividing the deployment area.
i) And (3) all blind nodes of the wireless sensor network wait for receiving the beacon information broadcast by the mobile anchor node, the blind nodes calculate the distance from the blind nodes to the virtual anchor node after receiving the beacon information of the mobile anchor node, and when the blind nodes receive the beacon information of at least 3 virtual anchor nodes, the step j) is executed, otherwise, the blind nodes continue waiting for receiving the beacon information of the mobile anchor node.
j) By the formula
Figure BDA0003037255760000064
Calculating a function F (x, y), where xkAbscissa, y, of the k-th virtual anchor node received for the blind nodekThe vertical coordinate of the kth virtual anchor node received by the blind node, x and y are both function parameters, M is the number of received beacon information,
Figure BDA0003037255760000074
is a blind node and a k-th virtual nodeThe distance of the quasi-anchor node;
k) randomly deploying pigeons in S pigeon swarm optimization algorithms in deployment area of wireless sensor, wherein the ith pigeon PlIs in a position ofl＝(al1,al2) The first pigeon PlInitial velocity V ofl＝(vl1,vl2) Setting the maximum iteration times of the pigeon group optimization algorithm to be N1 respectivelymaxAnd N2max。
l) by the formula
Figure BDA0003037255760000071
Calculate P for each pigeonlFunction value F ofl。
m) finding F in all pigeonslThe position of the pigeon with the smallest value is recorded in the variable Gbest＝(xbest,ybest) In by formula
Figure BDA0003037255760000072
Calculating to obtain the minimum pigeon position GbestFunction value F (G)best)。
N) setting the current iteration number N of the pigeon group optimization algorithmtHas a value of 1.
o) if Nt≤N1maxThen the value of l is given as 1 and the process goes to step p), if N ist＞N1maxGo to execute s).
p) by the formula
Figure BDA0003037255760000073
Calculating to obtain pigeon PlNew velocity value Vl', wherein r1Is a random number in (0,1), Q is a predefined constant, 0 < Q < 1, and is represented by formula Al′＝Vl′+AlCalculating to obtain pigeon PlNew position A ofl', by the formula Fl′＝F(Al') calculating to obtain the pigeon PlNew function value F ofl′。
q) recording the updated velocity value Vl＝Vl′，Record the updated position Al＝Al', if Fl′＜F(Gbest) Then update Gbest＝AlIf l is less than S, the step is added with 1 and then the step is transferred to the step p), and if l is more than or equal to S, the step is transferred to the step r).
r) giving the current number of iterations NtAfter adding 1, go to step o).
s) giving the current number of iterations NtThe value is assigned to 1.
t) if Nt≤N2maxAll pigeons are arranged according to FlSorting the values from small to large, and reserving the sorted front
Figure BDA0003037255760000081
Assigning value to pigeon
Figure BDA0003037255760000082
And go to step u), if Nt＞N2maxGo to step y).
u) through the formula
Figure BDA0003037255760000083
Calculating a weighted mean A of pigeon positionscAccording to formula Al″＝Al+r2(Ac-Al) Calculating pigeon PlNew position A oflIn the formula r2Is a random number within (0,1) according to the formula Fl″＝F(Al") calculate Pigeon PlNew function value F ofl″。
v) recording the updated position Al＝Al", if Fl″＜F(Gbest) Then G is updatedbest＝Al。
w) if l < S, then the step u) is proceeded after adding 1 to the value of l), and if l ≧ S, then the step x) is proceeded.
x) giving the current iteration number NtGo to step t) after the value is 1.
y) take GbestIs the estimated location of the current blind node.
The wireless sensor network positioning method using the simplified moving path and the pigeon flock optimization comprises two stages, the first stage is to plan the moving path of the anchor node and obtain a virtual anchor node list, the second stage is to move the anchor node along the planned path and broadcast beacon information, and the blind node calculates the position of the blind node by using the pigeon flock optimization. The anchor nodes move along the broken lines through a positioning algorithm, so that the positioning auxiliary information provided for the blind nodes is not collinear, the coverage range of the anchor nodes is fully considered, and the path is shortened as much as possible. The positioning algorithm determines the position of the positioning auxiliary information broadcast by the anchor node according to the coverage condition of the deployment area, so that the full coverage of the deployment area can be realized, and the energy consumption of the anchor node can be reduced. The blind node position is calculated by using pigeon flock optimization, and the positioning precision is improved.
Example 1:
in step a)
Figure BDA0003037255760000091
And R is the communication radius of the anchor node.
Example 2:
as shown in FIG. 2, c) in step b)0Has the coordinates of
Figure BDA0003037255760000092
c1Has the coordinates of
Figure BDA0003037255760000093
c2Has the coordinates of
Figure BDA0003037255760000094
c3Has the coordinates of
Figure BDA0003037255760000095
c4Has the coordinates of
Figure BDA0003037255760000096
Example 3:
and h), the beacon information in the step h) comprises the current coordinate of the anchor node and the strength of the sending signal.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (4)

1. A wireless sensor network positioning method using a simplified moving path and pigeon flock optimization is characterized by comprising the following steps:
a) setting a deployment area of the wireless sensor as a rectangular area with the length L and the width H, dividing the deployment area into m multiplied by n square grids, wherein the side length of each square grid is d, m is the grid number in the vertical direction, n is the grid number in the horizontal direction, numbering is carried out on each grid according to the sequence from bottom to top and from left to right, and the grid number of the ith row and the jth column is Ci,j；
b) Each grid Ci,jInternally selecting 5 candidate virtual anchor nodes, respectively c0、c1、c2、c3、c4Defining the mobile anchor node of the wireless sensor network in the grid Ci,jThe virtual anchor node sequence needing to be traversed is Listi,j；
c-1) if i + j is an even number, then
Figure FDA0003037255750000011
c-2) List if i + j is odd and 1 < i < m and 1 < j < ni,jPhi, phi is the empty set, c-3) if i + j is odd and 1 < i < m
Figure FDA0003037255750000012
c-4) if i + j is odd and 1 < j < n
Figure FDA0003037255750000013
c-5) if i + j does not satisfy the conditions of c-1) to c-4), then
Figure FDA0003037255750000014
d) Defining all virtual anchor node sequences traversed by the mobile anchor node in the steps c-1) to c-5) as a VML, wherein the initial VML is an empty set and a variable i is equal to 1;
e) if i is less than or equal to m and i is an odd number, the step f) is executed after the variable j is equal to 1, if i is less than or equal to m and i is an even number, the step f) is executed after the variable j is equal to n, and if i is greater than m, the step h) is executed;
f) by the formula VML ═ U Listi,jGeneral Listi,jMerging the j into the VML, if i is an odd number and j is less than or equal to n, adding 1 to j, and if i is an even number and j is more than or equal to 1, subtracting 1 from j;
g) if j is less than 1 or j is more than n, adding 1 to i and then transferring to the step e), and if j is more than or equal to 1 and less than or equal to n, transferring to the step f);
h) the wireless sensor network mobile anchor node traverses the whole deployment area along the virtual anchor node sequence of the point given by the VML set, and broadcasts beacon information at the virtual anchor node position;
i) all blind nodes of the wireless sensor network wait for receiving the beacon information broadcast by the mobile anchor node, the blind nodes calculate the distance from the blind nodes to the virtual anchor node after receiving the beacon information of the mobile anchor node, and when the blind nodes receive the beacon information of at least 3 virtual anchor nodes, the step j) is executed, otherwise, the blind nodes continue waiting for receiving the beacon information of the mobile anchor node;
j) by the formula
Figure FDA0003037255750000021
Calculating a function F (x, y), where xkAbscissa, y, of the k-th virtual anchor node received for the blind nodekThe vertical coordinate of the kth virtual anchor node received by the blind node, x and y are both function parameters, M is the number of received beacon information,
Figure FDA0003037255750000022
the distance between the blind node and the kth virtual anchor node;
k) randomly deploying pigeons in S pigeon swarm optimization algorithms in deployment area of wireless sensor, wherein the ith pigeon PlIs in a position ofl＝(al1,al2) The first pigeon PlInitial velocity V ofl＝(vl1,vl2) Setting the maximum iteration times of the pigeon group optimization algorithm to be N1 respectivelymaxAnd N2max；
l) by the formula
Figure FDA0003037255750000023
Calculate P for each pigeonlFunction value F ofl；
m) finding F in all pigeonslThe position of the pigeon with the smallest value is recorded in the variable Gbest＝(xbest,ybest) In by formula
Figure FDA0003037255750000024
Calculating to obtain the minimum pigeon position GbestFunction value F (G)best)；
N) setting the current iteration number N of the pigeon group optimization algorithmtHas a value of 1;
o) if Nt≤N1maxThen the value of l is given as 1 and the process goes to step p), if N ist＞N1maxGo to execute s);
p) by the formula
Figure FDA0003037255750000031
Calculating to obtain pigeon PlNew velocity value Vl', wherein r1Is a random number in (0,1), Q is a predefined constant, 0 < Q < 1, and is represented by formula Al′＝Vl′+AlCalculating to obtain pigeon PlNew position A ofl', by the formula Fl′＝F(Al') calculating to obtain the pigeon PlNew function value F ofl′；
q) recording the updated velocity value Vl＝Vl', recording the updated position Al＝Al', if Fl′＜F(Gbest) Then update Gbest＝AlIf l is less than S, adding 1 to the value of l and then transferring to the step p), and if l is more than or equal to S, transferring to the step r);
r) giving the current number of iterations NtAdding 1 to the value of (b) and then transferring to the step o);
s) giving the current number of iterations NtThe value is assigned to 1;
t) if Nt≤N2maxAll pigeons are arranged according to FlSorting the values from small to large, and reserving the sorted front
Figure FDA0003037255750000032
Assigning value to pigeon
Figure FDA0003037255750000033
And go to step u), if Nt＞N2maxThen go to step y);
u) through the formula
Figure FDA0003037255750000034
Calculating a weighted mean A of pigeon positionscAccording to formula Al″＝Al+r2(Ac-Al) Calculating pigeon PlNew position A oflIn the formula r2Is a random number within (0,1) according to the formula Fl″＝F(Al") calculate Pigeon PlNew function value F ofl″；
v) recording the updated position Al＝Al", if Fl″＜F(Gbest) Then G is updatedbest＝Al；
w) if l is less than S, adding 1 to the value of l and then turning to the step u), and if l is more than or equal to S, turning to the step x);
x) giving the current iteration number NtAfter the value is assigned to 1, turning to the step t);
y) take GbestIs the estimated location of the current blind node.
2. The method of claim 1, wherein the method comprises the steps of: in step a)
Figure FDA0003037255750000041
And R is the communication radius of the anchor node.
3. The method of claim 1, wherein the method comprises the steps of: in step b) c0Has the coordinates of
Figure FDA0003037255750000042
c1Has the coordinates of
Figure FDA0003037255750000043
c2Has the coordinates of
Figure FDA0003037255750000044
c3Has the coordinates of
Figure FDA0003037255750000045
c4Has the coordinates of
Figure FDA0003037255750000046
4. The method of claim 1, wherein the method comprises the steps of: and h), the beacon information in the step h) comprises the current coordinate of the anchor node and the strength of the sending signal.
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