CN113253200A - Regular triangle motion path-based RSSI (received signal strength indicator) value positioning method for mobile anchor node - Google Patents
Regular triangle motion path-based RSSI (received signal strength indicator) value positioning method for mobile anchor node Download PDFInfo
- Publication number
- CN113253200A CN113253200A CN202110457653.2A CN202110457653A CN113253200A CN 113253200 A CN113253200 A CN 113253200A CN 202110457653 A CN202110457653 A CN 202110457653A CN 113253200 A CN113253200 A CN 113253200A
- Authority
- CN
- China
- Prior art keywords
- anchor node
- node
- rssi
- regular triangle
- mobile anchor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000012544 monitoring process Methods 0.000 claims abstract description 33
- 238000004364 calculation method Methods 0.000 claims abstract description 26
- 238000004891 communication Methods 0.000 claims abstract description 13
- 230000008569 process Effects 0.000 claims abstract description 11
- 230000003247 decreasing effect Effects 0.000 claims description 11
- 230000001419 dependent effect Effects 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 description 8
- 238000005259 measurement Methods 0.000 description 4
- 238000011160 research Methods 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000007476 Maximum Likelihood Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- 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
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
- G01S5/145—Using a supplementary range measurement, e.g. based on pseudo-range measurements
-
- G—PHYSICS
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
-
- G—PHYSICS
- 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
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a mobile anchor node RSSI value positioning method based on a regular triangle motion path, which determines the communication radius of a mobile anchor node according to a monitoring area, wherein the number of layers and the height of the monitoring area are divided into regular triangle area units which are alternately connected and are arranged in an upright manner and inverted manner; the anchor node with the GNSS positioning function continuously traverses the boundary of the regular triangle area unit of the monitoring area layer by layer and layer by layer end to end, periodically broadcasts the position information of the anchor node in the moving process, and the unknown node receives the position information broadcasted by the anchor node and the RSSI value at the position and obtains the positioning of the unknown node through calculation. The invention can position the unknown nodes in the whole monitoring area by only one mobile anchor node, has low hardware cost and high positioning precision, and is suitable for the open outdoor wireless sensor network monitoring environment; the method has the advantages of being not easily influenced by RSSI ranging errors and GNSS positioning errors, having no collinear beacon points, being capable of effectively positioning boundary points and the like.
Description
Technical Field
The invention relates to a wireless communication positioning method, in particular to an RSSI value positioning method.
Background
With the rapid development of microprocessor technology, embedded technology, sensor technology and wireless communication technology, wireless sensor networks are widely used in many fields such as military investigation, smart home, biomedicine, environmental monitoring and internet of things. The position information of the nodes is the premise and the basis for effective deployment and application of the wireless sensor network. In actual use, due to the limitations of network cost, energy consumption, node size, and other factors, a GNSS (Global Navigation Satellite System) device cannot be installed for each node in the network. Therefore, the research on the node positioning technology of the wireless sensor network realizes the positioning of the node with unknown network position by using the anchor node with the positioning function, and has important significance for promoting the further application and progress of the wireless sensor network technology.
Node location algorithms can be divided into ranging-based location algorithms and ranging-free location algorithms. The node positioning algorithm without distance measurement can only position the unknown node on the centroid of a certain area, the positioning accuracy is low, and the actual application range is limited. The positioning algorithm based on the distance measurement measures the distances from an unknown node to a plurality of (more than three) anchor nodes with known positions by a certain technical means, and then calculates the position of the unknown node by using a trilateration or maximum likelihood estimation positioning method. Node technologies based on ranging are generally classified into: based on TOA (Time of Arrival), TDOA (Time Difference of Arrival), AOA (Angle of Arrival), RSSI (Received Signal Strength index), wherein the TOA, TDOA, AOA based positioning technique requires additional measurement components, and the positioning cost is relatively high, and is not suitable for large-scale wireless sensor networks; the positioning technology based on the RSSI does not need to add extra hardware, has the advantages of small communication overhead, low hardware cost, simple realization, strong expansibility and the like, is widely applied and becomes a key point and a hotspot of research.
The relevant documents currently studied for the anchor node location algorithm based on RSSI values are as follows:
1. the paper "improved weighted centroid location algorithm based on RSSI ranging" published by the dynasty, zhangqi et al in 2014 adopts a weighted value to correct the RSSI ranging value, so that the location accuracy of the traditional weighted centroid algorithm is effectively improved, and the algorithm has the defects that: (1) more than three anchor nodes are measured to solve the coordinate of the unknown node, and the three or more anchor nodes in the communication range of the unknown node are kept as small probability events at the actual using moment; (2) the positioning accuracy of the algorithm is in direct proportion to the number and distribution density of anchor nodes, and for a network with high requirement on positioning accuracy of unknown nodes, a large number of static anchor nodes need to be distributed, so that the positioning cost is high.
2. The patent of 'regular hexagon-based mobile anchor node path planning method in wireless sensor network' issued by korea, cheng language, etc. in 2016 (grant publication No. CN 1036077726B) proposes a wireless sensor network node positioning method using a single mobile anchor node, which greatly reduces the number of anchor nodes used and effectively reduces the positioning cost, and the method has the following disadvantages: (1) the trilateral positioning method based on RSSI ranging is adopted to realize the calculation of the coordinates of unknown nodes in a monitoring area, and the positioning deviation of the unknown nodes is greatly influenced due to inaccurate ranging of RSSI values; (2) the positioning of the boundary nodes of the monitoring area is realized by adopting a circular path compensation algorithm, and the prior research results show that when the network coverage area is larger, the track radius of the circle of the boundary is also quite large, several adjacent beacon points on the same local circular arc are similar to collinearity, and a larger error is introduced for the calculation of the unknown node coordinates.
3. An invention patent of Xujuan, Zhaoyun, et al, applied in 2018, discloses a sensor node positioning method based on RSSI (application publication number: CN 107770861A), wherein a positioning scheme for measuring an unknown node by using RSSI strength values is provided, the method determines the coordinates of the perpendicular points of the unknown node on at least two anchor node tracks and the equation of the corresponding track according to the variation trend of RSSI values, and realizes the solution of the coordinates of the unknown node by using a geometric relationship.
In summary, the research of the anchor node positioning algorithm based on the RSSI value has been advanced greatly, but there are still some shortages:
(1) in the traditional RSSI value ranging and positioning algorithm based on static anchor nodes, the coordinate calculation can be carried out only by obtaining the distances from unknown nodes to more than three anchor nodes in the communication range of the unknown nodes, when the number of the anchor nodes in the communication range of the unknown nodes is small (less than 3), the calculation cannot be realized, and the limitation of the algorithm is obvious; the positioning accuracy of the unknown nodes is in direct proportion to the number and distribution density of the anchor nodes, and for a large-scale wireless sensor network with high positioning accuracy requirements, the arrangement and use cost of the anchor nodes is greatly increased.
(2) The existing positioning algorithm based on the RSSI value of the mobile anchor node has the problems of collinear beacon points on a mobile path and low positioning precision of boundary points of a monitoring area.
(3) The existing positioning algorithm based on the mobile anchor node does not consider the influence of positioning errors of a GNSS system, and when the errors are large, the positioning data provided by the positioning algorithm is directly participated in the coordinate calculation of unknown nodes, so that great deviation is introduced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a wireless sensor node positioning method based on a single mobile anchor node. In order to achieve the purpose, the invention adopts the technical scheme that:
a mobile anchor node RSSI value positioning method based on a regular triangle motion path comprises the following steps:
s1, determining a suitable mobile anchor node communication radius R according to the size of the monitoring area of the wireless ad hoc network and the requirement for positioning timeliness, the number of layers n and the height h of the monitoring area, and each layer being divided into forward and reverse regular triangle area units which are alternately connected, as shown in fig. 1.
S2, the mobile anchor node with GNSS positioning function continuously traverses the boundaries of all regular triangle area units in the monitoring area layer by layer, and end to end, as shown in fig. 1, periodically broadcasts its own location information during the moving process, and the unknown node receives the location information broadcasted by the mobile anchor node and the RSSI value at the location.
S3, the unknown node in any regular triangle area unit receives three sets of linear position data values and RSSI value at the position, the three groups of position data values are processed by a least square method to respectively obtain linear trajectory equations of three boundaries of the regular triangle area unit, the intersection points of the linear trajectory equations, i.e., the vertices of the equilateral triangle region cells are used as reference nodes, the anchor node broadcasts the location points of the information, i.e., the relative distance d between the beacon point and the reference node, as an independent variable, the RSSI value as a dependent variable, curve fitting is carried out on the RSSI values and the relative distance d to respectively obtain a track equation of an RSSI value increasing trend section and an RSSI value decreasing trend section on each boundary of the regular triangle area unit, and solving an intersection point of the two RSSI value polynomial equations to calculate the RSSI peak point coordinates of the unknown node on the three-edge boundary of the regular triangle area unit.
And S4, obtaining the coordinates of the unknown node through mathematical calculation according to the coordinates of RSSI peak points of the unknown node on three sides of the regular triangle area unit.
Further, in order to ensure that the unknown nodes in the boundary area of the wireless sensor network can receive enough mobile anchor node information to realize the calculation of the position information of the unknown nodes, and simultaneously, in order to ensure that the unknown nodes on each layer can effectively receive the position information and the RSSI value broadcasted by the mobile anchor node, the motion area of the mobile anchor node covers and is slightly larger than the monitoring area, and the relationship between the communication radius R of the mobile anchor node and the side length L of the regular triangle area unit is as follows: r is ≧ L.
Further, the step S3 includes the following steps and calculation method,
s31, linear trajectory equations of the three boundaries of the regular triangle area unit are respectively obtained according to a least square method, and the specific calculation method is as follows:
when the mobile anchor node moves on three boundaries of the regular triangle area unit, the unknown node respectively obtains three groups of linear geographic position coordinate sets broadcasted by the mobile anchor node on the three boundaries, and the position data set received on one boundary is (x)i,yi) (i ═ 1,2,3, L, n), let its linear trajectory equation be:
y＝k1x+b1 (1)
according to the least squares criterion, parameter k1And b1The optimal estimated value of (c) can be obtained by:
wherein,
solving in the same way to obtain a linear track equation of the mobile anchor node on the other two boundaries: k is2x+b2 (3)
y＝k3x+b3 (4)
And S32, solving the intersection point of the three linear trajectory equations obtained in the step S31 to obtain the coordinates of the three vertexes of the regular triangle area unit.
S33, in the moving process of the mobile anchor node, the RSSI value of the anchor node received by the unknown node shows a gradually increasing and gradually decreasing change trend after reaching a peak point; according to the radio signal attenuation model, the RSSI value of the point closest to the unknown node is the maximum; d is used as an independent variable, the RSSI value is used as a dependent variable, and the relative distance d of the RSSI peak point of the mobile anchor node obtained by the unknown node in the movement process of each boundary of the mobile anchor node is calculatedm1,dm2And dm3(ii) a The specific calculation method comprises the following steps:
respectively performing curve fitting on the relative distances d and the RSSI values of all the beacon points of the RSSI value increasing trend section and the RSSI value decreasing trend section on the same boundary, and obtaining polynomial equations F (x) and P (x) of the RSSI value increasing trend section and the RSSI value decreasing trend section as shown in figure 3;
F(x)＝c0+c1x+c2x2+···+cjxj (5)
P(x)＝c′0+c′1x+c′2x2+···+c′jxj (6)
the intersection point of F (x) and P (x) is the peak point of the RSSI value acquired by the unknown node, namely the point of the mobile anchor node closest to the unknown node on the linear track; solving simultaneous equations F (x) and P (x) to obtain an intersection point, and obtaining a peak point M1Relative distance value d ofm1(ii) a The RSSI peak points on the other two boundaries are obtained by the same methodM2And M3Relative distance d ofm2And dm3。
S34, according to dm1,dm2And dm3The peak value M is calculated by linear algebra and trigonometric function1,M2And M3The coordinates of (a).
Further, the step S4 includes the following specific steps,
s41, calculating the peak value M by linear algebra1,M2And M3Perpendicular line L as a perpendicular point1，L2And L3The linear equation of (a); in actual use, due to the fact that a GNSS positioning system has deviation and an RSSI value received by the unknown node has a certain error due to interference of environmental factors, the three perpendicular lines obtained by the solution deviate from a theoretical value to a certain extent, that is, intersection points of two intersected three perpendicular lines do not coincide, and a specific intersection condition is shown in fig. 5.
S42, calculating the vertical line L by linear algebra1，L2And L3Point of intersection C1，C2And C3The coordinates of (a).
S43, for intersection point C1，C2And C3The coordinate values of (2) are averaged, and the average value is used as the coordinate of the unknown node.
The invention has the beneficial effects that: compared with the prior art, the invention has the following advantages:
(1) aiming at the problem that GNSS positioning deviation influences unknown node coordinate calculation in a traditional anchor node positioning algorithm, a least square method is adopted to process an anchor node position data set with a linear relation, an optimal linear track equation of a mobile anchor node is obtained through calculation, the optimal linear track equation and the RSSI value variation trend of the mobile anchor node received by the unknown node are used for obtaining the vertical point coordinate of the anchor node participating in unknown node coordinate calculation through calculation, and compared with the existing mobile anchor node positioning algorithm which directly adopts position coordinates provided by a GNSS system to carry out unknown node coordinate calculation, the influence of the GNSS positioning deviation on the unknown node coordinate calculation precision is effectively reduced.
(2) The method skillfully uses the intersection point of the anchor node optimal trajectory equation as a reference node, obtains the RSSI peak point coordinate through the polynomial equation solution of the RSSI value, realizes the unknown node coordinate solution according to the relative position relation of the RSSI peak point and the unknown node, has no need of using the RSSI value for ranging in the algorithm, and effectively avoids the influence of the RSSI range measurement error on the unknown node coordinate solution precision. (3) In order to ensure that nodes in a boundary area of a wireless sensor network can obtain enough beacon node information broadcasted by a mobile anchor node, the invention adopts a track motion strategy that the coverage area of the mobile anchor node is slightly larger than the monitoring area of the wireless sensor, and the existing mobile anchor node positioning algorithm usually does not cover the boundary area of the monitoring area enough, so that the positioning precision of the boundary node is not high, and the actual use of the wireless sensor network is influenced.
(4) According to the invention, a single anchor node is adopted to do regular triangle track motion layer by layer in a monitoring area, and positioning of all nodes to be detected in the area is realized through RSSI (received signal strength indicator) peak points on three boundaries of the regular triangle area, so that the problem of co-linearity of beacon points in the traditional mobile anchor node algorithm is effectively avoided, and the algorithm does not need additional hardware, is low in positioning cost and is simple and easy to realize.
The invention can position the unknown nodes in the whole monitoring area by only one mobile anchor node, has low hardware cost and high positioning precision and is suitable for the open outdoor wireless sensor network monitoring environment. Typical application scenarios are as follows: (1) the environment monitoring system adopts unmanned aerial vehicle or ground mobile device, can fix a position the wireless sensor node in the monitoring environment, ensures real time monitoring and gathers each position point environmental data in the monitoring area. (2) In military application, the micro mobile robot or military aircraft is used as a mobile anchor node, so that own sensor nodes in a related area can be positioned, information of specified geographic position points is collected, and an interested target is monitored and tracked. The method has the advantages of low use cost, high positioning precision, insusceptibility to RSSI ranging error and GNSS positioning error, no signal point collinearity, capability of effectively positioning boundary points and the like.
Drawings
FIG. 1 is a schematic view of a regular triangular motion path;
FIG. 2 is a schematic diagram of relative distances;
FIG. 3 is a graph of RSSI variation trend;
FIG. 4 is a graph of an RSSI peak point coordinate solution model;
FIG. 5 is a schematic diagram of an unknown node coordinate solution.
Detailed Description
The present invention is further described in detail with reference to the following embodiments, and a mobile anchor node RSSI value positioning method based on a regular triangle motion path includes the following steps:
s1, determining a suitable mobile anchor node communication radius R according to the size of the monitoring area of the wireless ad hoc network and the requirement for positioning timeliness, the number of layers n and the height h of the monitoring area, and each layer being divided into forward and reverse regular triangle area units which are alternately connected, as shown in fig. 1.
S2, continuously traversing the boundaries of all regular triangle area units of the monitoring area layer by layer, layer by layer and layer end to end by the mobile anchor node with the GNSS positioning function, periodically broadcasting the position information of the mobile anchor node in the moving process, and receiving the position information broadcasted by the mobile anchor node and the RSSI value at the position by the unknown node; as shown in fig. 1, a thick dotted line is a monitoring area of the wireless sensor network, the mobile anchor node moves from point a to point B at an angle of 120 degrees with respect to the horizontal line in the direction indicated by the arrow shown in the drawing, and after reaching point B, moves from point B to point C along the horizontal line, and after moving to point C, moves from point C to point a in an angle of-60 degrees with respect to the horizontal line in the direction indicated by the arrow shown in the drawing, and after reaching point a, moves from point a to point D in the direction indicated by the arrow shown in the drawing, and thus, the anchor node moves from left to right to point E, and the first-layer traversal of the monitoring area is completed. And after the anchor node moves to the point E, the anchor node moves from the point E to the point F along an angle of 60 degrees with the horizontal line according to the direction of the arrow shown in the figure, after the anchor node reaches the point F, the anchor node moves from the point E to the point F according to the direction of the arrow shown in the figure, and after the anchor node reaches the point G, the anchor node moves from the point E to the point F along an angle of 180 degrees with the horizontal line according to the direction of the arrow shown in the figure, and after the anchor node reaches the point E, the anchor node moves to the point E along an angle of-60 degrees with the horizontal line to move to the point H according to the direction shown in the figure, and the process is repeated until the second-layer traversal is completed. And moving the anchor node according to the walking route until the traversing coverage of the whole monitoring area is completed. In order to ensure that unknown nodes in a boundary area of a wireless sensor network can receive enough mobile anchor node information to realize the calculation of self position information, and simultaneously ensure that unknown nodes on each layer can effectively receive the position information and RSSI (received signal strength indicator) value broadcasted by the mobile anchor node, a motion area of the mobile anchor node covers and is slightly larger than a monitoring area, and the relation between the communication radius R of the mobile anchor node and the side length L of a regular triangle area unit is as follows: r is ≧ L.
S3, the unknown node in any regular triangle area unit receives three sets of linear position data values and RSSI value at the position, the three groups of position data values are processed by a least square method to respectively obtain linear trajectory equations of three boundaries of the regular triangle area unit, the intersection points of the linear trajectory equations, i.e., the vertices of the equilateral triangle region cells are used as reference nodes, the anchor node broadcasts the location points of the information, i.e., the relative distance d between the beacon point and the reference node, as an independent variable, the RSSI value as a dependent variable, curve fitting is carried out on the RSSI values and the relative distance d to respectively obtain a track equation of an RSSI value increasing trend section and an RSSI value decreasing trend section on each boundary of the regular triangle area unit, solving an intersection point of two RSSI value polynomial equations to obtain the RSSI peak point coordinates of the unknown node on the three-edge boundary of the regular triangle area unit;
s31, as shown in fig. 2, a point W is a node to be positioned in the equilateral triangle area unit EHG, and when the anchor node moves on the equilateral triangle boundaries EH, HG, and GE, the unknown node respectively obtains three sets of linear geographical position coordinate sets broadcast by the anchor node on the three boundaries; and respectively obtaining linear trajectory equations of three boundaries of the regular triangle area unit according to a least square method, wherein the specific calculation method comprises the following steps: when the mobile anchor node moves on three boundaries of the regular triangle area unit, the unknown node respectively obtains three groups of linear geographic position coordinate sets broadcasted by the mobile anchor node on the three boundaries, and the condition that the geographic position coordinate sets are on the boundary HG is assumedThe position data set received is (x)i,yi) (i ═ 1,2,3, L, n), let HG linear trajectory equation:
y＝k1x+b1 (1)
according to the least squares criterion, parameter k1And b1The optimal estimated value of (c) can be obtained by:
wherein,
solving in the same way to obtain linear track equations of the mobile anchor nodes on the boundaries GE and EH: k is2x+b2 (3)
y＝k3x+b3 (4)
S32, solving an intersection point of the three linear trajectory equations obtained in the step S31 to obtain coordinates of three vertexes E, H and G of the regular triangle area unit;
s33, as shown in fig. 2, in the process that the mobile anchor node moves from the point H to the point G, the RSSI value of the mobile anchor node received by the unknown node will show a gradually increasing trend and then gradually decreasing trend after reaching the peak point, as shown in fig. 3; according to the radio signal attenuation model, the RSSI value of the point closest to the unknown node is the maximum; calculating the relative distance d of the unknown node to obtain the RSSI peak point of the mobile anchor node in the motion process of the mobile anchor node by taking the vertex H as the origin, d as the independent variable and the RSSI value as the dependent variablem1The specific calculation method comprises the following steps:
performing curve fitting on the relative distance d and the RSSI value of all the beacon points of the RSSI value increasing trend section and the RSSI value decreasing trend section on the boundary to obtain polynomial equations F (x) and P (x) of the RSSI value increasing trend section and the RSSI value decreasing trend section;
F(x)＝c0+c1x+c2x2+···+cjxj (5)
P(x)＝c′0+c′1x+c′2x2+···+c′jxj (6)
the intersection point of F (x) and P (x) is the peak point of the RSSI value acquired by the unknown node, namely the point of the mobile anchor node closest to the unknown node on the linear track; solving simultaneous equations F (x) and P (x) to obtain an intersection point, and obtaining a peak point M1Relative distance value d ofm1(ii) a Obtaining RSSI peak point M on the other two boundaries GE and EH in the same way2And M3Relative distance d ofm2And dm3。
S34, according to dm1,dm2And dm3The value of (D) and the coordinates of three vertexes E, H and G of the regular triangle area unit, and the peak point M is calculated by linear algebra and trigonometric function1,M2And M3The coordinates of (a).
And S4, obtaining the coordinates of the unknown node W through mathematical calculation according to the coordinates of RSSI peak points of the unknown node on three sides of the regular triangle area unit. The step S4 includes the following steps, S41, obtaining the peak point M by linear algebra calculation1,M2And M3Perpendicular line L as a perpendicular point1，L2And L3The linear equation of (a); s42, calculating the vertical line L by linear algebra1，L2And L3Point of intersection C1，C2And C3The coordinates of (a); s43, for intersection point C1，C2And C3The coordinate values of (a) are averaged, and the average value is used as the coordinate of the unknown node W.
The above description is only for the purpose of illustrating the technical solutions of the present invention, and those skilled in the art can make simple modifications or equivalent substitutions on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (4)
1. A mobile anchor node RSSI value positioning method based on a regular triangle motion path is characterized in that: the method comprises the following steps:
s1, determining a proper mobile anchor node communication radius R according to the size and positioning timeliness requirements of a monitoring area of the wireless ad hoc network, wherein the number n and the height h of layers of the monitoring area are divided into upright and inverted regular triangle area units which are alternately connected;
s2, continuously traversing the boundaries of all regular triangle area units of the monitoring area layer by layer, layer by layer and layer end to end by the mobile anchor node with the GNSS positioning function, periodically broadcasting the position information of the mobile anchor node in the moving process, and receiving the position information broadcasted by the mobile anchor node and the RSSI value at the position by the unknown node;
s3, the unknown node in any regular triangle area unit receives three sets of linear position data values and RSSI value at the position, the three groups of position data values are processed by a least square method to respectively obtain linear trajectory equations of three boundaries of the regular triangle area unit, the intersection points of the linear trajectory equations, i.e., the vertices of the equilateral triangle region cells are used as reference nodes, the anchor node broadcasts the location points of the information, i.e., the relative distance d between the beacon point and the reference node, as an independent variable, the RSSI value as a dependent variable, curve fitting is carried out on the RSSI values and the relative distance d to respectively obtain a track equation of an RSSI value increasing trend section and an RSSI value decreasing trend section on each boundary of the regular triangle area unit, solving an intersection point of two RSSI value polynomial equations to obtain the RSSI peak point coordinates of the unknown node on the three-edge boundary of the regular triangle area unit;
and S4, obtaining the coordinates of the unknown node through mathematical calculation according to the coordinates of RSSI peak points of the unknown node on three sides of the regular triangle area unit.
2. The positioning method according to claim 1, characterized in that: the motion area of the mobile anchor node covers and is slightly larger than the monitoring area, and the relation between the communication radius R of the mobile anchor node and the side length L of the regular triangle area unit is as follows: r is ≧ L.
3. The positioning method according to claim 1 or 2, characterized in that: the step S3 includes the following steps and calculation methods,
s31, linear trajectory equations of the three boundaries of the regular triangle area unit are respectively obtained according to a least square method, and the specific calculation method is as follows:
when the mobile anchor node moves on three boundaries of the regular triangle area unit, the unknown node respectively obtains three groups of linear geographic position coordinate sets broadcasted by the mobile anchor node on the three boundaries, and the position data set received on one boundary is (x)i,yi) (i ═ 1,2,3, L, n), let its linear trajectory equation be:
y＝k1x+b1 (1)
according to the least squares criterion, parameter k1And b1The optimal estimated value of (c) can be obtained by:
wherein,
solving in the same way to obtain a linear track equation of the mobile anchor node on the other two boundaries: k is2x+b2 (3)
y＝k3x+b3 (4)
S32, solving an intersection point of the three linear trajectory equations obtained in the step S31 to obtain the coordinates of three vertexes of the regular triangle area unit;
s33, calculating the relative distance d of the RSSI peak point of the mobile anchor node obtained by the unknown node in the process of the movement of the mobile anchor node at each boundarym1，dm2And dm3(ii) a The specific calculation method comprises the following steps:
respectively carrying out curve fitting on relative distances d and RSSI values of all beacon points of an RSSI value increasing trend section and an RSSI value decreasing trend section on the same boundary to obtain polynomial equations F (x) and P (x) of the RSSI value increasing trend section and the RSSI value decreasing trend section;
F(x)＝c0+c1x+c2x2+…+cjxj (5)
P(x)＝c′0+c′1x+c′2x2+…+c′jxj (6)
solving simultaneous equations F (x) and P (x) to obtain an intersection point, and obtaining a peak point M1Relative distance value d ofm1(ii) a The RSSI peak point M on the other two boundaries is obtained by the same method2And M3Relative distance d ofm2And dm3；
S34, according to dm1,dm2And dm3The peak value M is calculated by linear algebra and trigonometric function1,M2And M3The coordinates of (a).
4. The positioning method according to claim 3, characterized in that: the step S4 includes the following specific steps,
s41, calculating the peak value M by linear algebra1,M2And M3Perpendicular line L as a perpendicular point1，L2And L3The linear equation of (a);
s42, calculating the vertical line L by linear algebra1，L2And L3Point of intersection C1，C2And C3The coordinates of (a);
s43, for intersection point C1，C2And C3The coordinate values of (2) are averaged, and the average value is used as the coordinate of the unknown node.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110457653.2A CN113253200B (en) | 2021-04-27 | 2021-04-27 | Mobile anchor node RSSI value positioning method based on regular triangle motion path |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110457653.2A CN113253200B (en) | 2021-04-27 | 2021-04-27 | Mobile anchor node RSSI value positioning method based on regular triangle motion path |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113253200A true CN113253200A (en) | 2021-08-13 |
| CN113253200B CN113253200B (en) | 2024-05-14 |
Family
ID=77221724
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110457653.2A Active CN113253200B (en) | 2021-04-27 | 2021-04-27 | Mobile anchor node RSSI value positioning method based on regular triangle motion path |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113253200B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101986758A (en) * | 2010-11-10 | 2011-03-16 | 河海大学常州校区 | Method for positioning wireless sensor network |
| CN103607726A (en) * | 2013-11-25 | 2014-02-26 | 河海大学常州校区 | Regular-hexagon-based mobile anchor node path planning method in wireless sensor network |
| US20160187460A1 (en) * | 2014-05-14 | 2016-06-30 | Shenyang Institute Of Automation Of The Chinese Academy Of Sciences | Rssi positioning method based on frequency-hopping spread spectrum technology |
| CN106131951A (en) * | 2016-06-29 | 2016-11-16 | 广州大学 | RSSI based on equilateral triangle model weights distance-finding method |
| CN107770861A (en) * | 2017-07-04 | 2018-03-06 | 同济大学 | A kind of sensing node localization method based on mobile anchor node R SSI |
| CN111711923A (en) * | 2020-06-30 | 2020-09-25 | 江南大学 | Wireless sensor network node positioning method based on UAV |
-
2021
- 2021-04-27 CN CN202110457653.2A patent/CN113253200B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101986758A (en) * | 2010-11-10 | 2011-03-16 | 河海大学常州校区 | Method for positioning wireless sensor network |
| CN103607726A (en) * | 2013-11-25 | 2014-02-26 | 河海大学常州校区 | Regular-hexagon-based mobile anchor node path planning method in wireless sensor network |
| US20160187460A1 (en) * | 2014-05-14 | 2016-06-30 | Shenyang Institute Of Automation Of The Chinese Academy Of Sciences | Rssi positioning method based on frequency-hopping spread spectrum technology |
| CN106131951A (en) * | 2016-06-29 | 2016-11-16 | 广州大学 | RSSI based on equilateral triangle model weights distance-finding method |
| CN107770861A (en) * | 2017-07-04 | 2018-03-06 | 同济大学 | A kind of sensing node localization method based on mobile anchor node R SSI |
| CN111711923A (en) * | 2020-06-30 | 2020-09-25 | 江南大学 | Wireless sensor network node positioning method based on UAV |
Non-Patent Citations (2)
| Title |
|---|
| SHENG FENG ET AL: ""Dynamic localization of mobile robot based on triangulation centroid estimation"", 《2017 29TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC)》, pages 3544 - 3549 * |
| 潘小琴等: ""一种改进的无线传感器网络节点室内定位方法"", 《科技视界》, no. 16, pages 33 - 34 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113253200B (en) | 2024-05-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Halder et al. | A survey on mobile anchor assisted localization techniques in wireless sensor networks | |
| Tsui et al. | Accuracy performance analysis between war driving and war walking in metropolitan Wi-Fi localization | |
| CN108375754B (en) | Node positioning method based on initial state and moving state of mobile node in WSN (Wireless sensor network) | |
| US8723730B2 (en) | System and method for direction finding and geolocation of emitters based on line-of-bearing intersections | |
| Cui et al. | Four-mobile-beacon assisted localization in three-dimensional wireless sensor networks | |
| CN102149192A (en) | Cellular network wireless positioning method based on cooperation of mobile stations | |
| CN112788533B (en) | Indoor positioning method, device and system integrating 5G communication and UWB | |
| CN102427602A (en) | Sparse-based direct position determination method | |
| CN104507097A (en) | Semi-supervised training method based on WiFi (wireless fidelity) position fingerprints | |
| CN115979256A (en) | Multi-source collaborative pose determination method, device and system based on artificial beacon | |
| CN108513353A (en) | The method for realizing localization for Mobile Robot based on double beaconing nodes | |
| US9316719B1 (en) | Power difference of arrival geolocation | |
| Cui et al. | Three-mobile-beacon assisted weighted centroid localization method in wireless sensor networks | |
| Arai et al. | Color radiomap interpolation for efficient fingerprint wifi-based indoor location estimation | |
| CN108414977A (en) | The method for realizing localization for Mobile Robot based on wireless sensor network | |
| Martins et al. | OTMCL: Orientation tracking-based Monte Carlo localization for mobile sensor networks | |
| CN113253200B (en) | Mobile anchor node RSSI value positioning method based on regular triangle motion path | |
| Kim et al. | Indoor localization system with pdr and wifi complementary integration | |
| Bingbing et al. | An indoor positioning algorithm and its experiment research based on RFID | |
| CN112954591B (en) | Cooperative distributed positioning method and system | |
| CN108225321A (en) | A kind of indoor orientation method under the auxiliary based on mobile node | |
| CN108332749A (en) | A kind of interior dynamic tracing localization method | |
| CN109889976B (en) | Wireless sensor network mobile anchor node path planning method based on circle | |
| Akshay et al. | A comparative analysis of localization techniques in wireless sensor network | |
| Amer et al. | A survey of recent indoor positioning systems using wireless networks |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |