CN113365213B - Underwater sensor network node positioning method - Google Patents
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Abstract
The invention belongs to the technical field of underwater wireless sensor network application. The invention provides a method for positioning nodes of an underwater sensor network, aiming at the problems of positioning precision and beacon node redundancy in a distributed method for positioning the nodes of the underwater mobile sensor network without ranging, which comprises the following two steps: firstly, a hierarchical relationship is established, wherein a single beacon node is deployed at one end of a deployment area, the beacon node broadcasts positioning information of the beacon node, a tree structure is established by taking the beacon node as a root to realize first layering, and then the beacon node sequentially moves to other boundaries of the deployment area to divide the layers for multiple times; and secondly, determining the region to which the node belongs according to the obtained hierarchical information, exchanging information with a neighbor node, further reducing the region in which the node is located, and calculating to obtain the node coordinate. The invention only uses one beacon node in the positioning process, and adopts a layered refining mode, thereby effectively solving the problems of redundancy and low precision of the beacon node.
Description
Technical Field
The invention belongs to the technical field of underwater wireless sensor network application, and particularly relates to a method for positioning nodes of an underwater sensor network.
Background
In recent years, with the continuous improvement of the utilization rate of ocean resources, the requirement on positioning information collected by underwater sensor network nodes is higher and higher. However, the disparate communication signal propagation mediums between the ocean and the land have resulted in the inability of system-matured electromagnetic signals to be used in a marine environment. In addition to the complexity and the unknownness of the underwater environment, the node location algorithm on land cannot be directly used in the underwater environment. The energy of the underwater sensor nodes is limited and not sufficient energy supply is maintained at any time as in the case of land equipment. The underwater sensor nodes are required to retain energy until the collection task required by the system is completed, and to wait for information collection equipment, such as a special node or a ship, to acquire data before the energy is exhausted. The limited energy is not enough to support the nodes to report the positions of the nodes all day long in real time, and the positions of the underwater sensor nodes can be determined by using a node positioning technology only when special nodes, ships or base stations acquire information collected by the underwater sensor nodes, so that the node positioning technology becomes a key and indispensable technology in an underwater sensor network system structure.
The accuracy of the underwater sensor network node positioning algorithm based on the distance measurement is seriously influenced by the error of the underwater distance measurement, and compared with the positioning algorithm based on the distance measurement, the positioning algorithm without the distance measurement avoids the influence of the distance measurement error, but the estimation process is too coarse, and higher positioning accuracy and positioning stability are difficult to possess. The 3D-LRLS (Low-cost Range-free Localization Scheme for Three-dimensional Underwater Sensor network) is a centralized Underwater mobile Sensor network node positioning algorithm without distance measurement, and an anchor node is used for transmitting signals with different powers to judge an area and further estimate the area. When the node to be measured is calculated, the different position conditions of the anchor node can be analyzed more finely, and a signal loss model is provided according to different underwater depths, so that the calculation model is more perfect, and the positioning accuracy is improved. But the signal loss model is to be further improved, and the influence of the signal loss model on the positioning accuracy is large. Each time a node to be tested is positioned, 2 to 4 beacon nodes are required to be matched, and with the expansion of a deployment area, the number of required beacon nodes is increased sharply, so that the redundancy of the beacon nodes and the deployment cost are increased greatly, and even the situation that the number of the beacon nodes for positioning assistance is higher than the number of the nodes to be tested may occur. Although the positioning accuracy is improved compared with other algorithms, in the case of performing auxiliary positioning by using a great number of beacon nodes, the positioning accuracy is low, and the positioning requirements of partial applications are difficult to meet.
Disclosure of Invention
Aiming at the problems of positioning accuracy and beacon node redundancy in a distributed underwater mobile sensor network node positioning method without distance measurement, the invention provides the underwater sensor network node positioning method which adopts a layered refining mode for positioning, only one beacon node is used in the positioning process, so that the error caused by the movement of the beacon node along with water flow is eliminated, and the problem of beacon node redundancy generated along with the expansion of the range of deployed sea areas is effectively solved.
The invention is realized by the following technical scheme:
a method for positioning nodes of an underwater sensor network comprises the following steps:
(1) defining a deployment area of the underwater sensor network in a three-dimensional coordinate system and broadcast positions A, B and C of a beacon node, wherein A is located at the center position of an xy plane of the deployment area, B is located at the center position of an xz plane of the deployment area, and C is located at the center position of a yz plane of the deployment area;
(2) a single beacon node firstly broadcasts the positioning information of the single beacon node at a position A, the node receiving the information records the hierarchy of the node as M1, then the information is forwarded, the node receiving the information of the M1 layer records the hierarchy of the node as M2, and so on until all the nodes determine the hierarchy of the node; in the process of establishing the hierarchy, each node only records the information received for the first time, determines the hierarchy of the node and ignores other information, so that the hierarchy information of each node is unique when the node is positioned at the position A relative to the beacon node;
the boundary between the layers is approximated to be a plane perpendicular to the z-axis, assuming that the layers between the nodes are equidistant, taking a as a starting point, the maximum length of the deployment area is AD, and the deployment area is divided into m layers, then the length of each layer is,
the length of each layer is the same, the boundary of the layers is a concentric circle which takes the beacon node as the center of the circle and the multiple of the length of the layers as the radius, the equation of the circle is,
(x-xA)2+(y-yA)2+(z-zA)2＝(i×LM)2 (2)
wherein i is 1, 2, 3 … …. m;
(3) the beacon node moves to a position B and broadcasts the positioning information of the beacon node, the node receiving the information records that the hierarchy of the node is N1, then the node forwards the information, the node receiving the information of the N1 layer records that the hierarchy of the node is N2, and so on until all the nodes determine the hierarchy of the node;
the boundary of the layers is approximately a plane vertical to the y axis, the maximum width of the deployment region is BE and is divided into n layers by taking B as a starting point, the length of each layer is,
the equation for the boundary of the hierarchy is,
(x-xB)2+(y-yB)2+(z-zB)2＝(j×LN)2 (4)
wherein j is 1, 2, 3 … …. n;
(4) the beacon node moves to a position C and broadcasts the positioning information of the beacon node, the node receiving the information records that the hierarchy of the node is K1, then the node forwards the information, the node receiving the information of the K1 layer records that the hierarchy of the node is K2, and so on until all the nodes determine the hierarchy of the node;
approximating the junction of each layer to a plane perpendicular to the x axis, starting from C, with the maximum depth of the deployment region CF, and dividing into k layers, with the distance between the junction planes LK，
The equation for the boundary of the hierarchy is,
(x-xC)2+(y-yC)2+(z-zC)2＝(t×LK)2 (12)
wherein, t is 1, 2, 3 … …;
(5) the node to be detected determines a large area in which the node to be detected is located according to the level information, the large area is formed by surrounding of level plane intersection points adjacent to the node to be detected, and the central position O of the area is determined;
(6) the node to be tested sends information, surrounding neighbor nodes return the received signal strength to the node to be tested, the signal strength mean values received by the neighbor nodes on each interface of the large area are calculated and compared, the node is approximately considered to be located in the area formed by the plane with the maximum received signal strength mean value and the central position O, and the position of the node to be tested is calculated through a centroid method; when the signal intensity average values of two or more planes received by the node to be tested are the same, the vertex where the planes are located is adopted to calculate the centroid; when the node to be measured is positioned at the boundary of the deployment area, area refinement is not carried out, and the node coordinates are directly calculated.
Further, the node to be tested in the step (6) communicates with the neighbor node for multiple times, and the accuracy is improved by calculating the signal intensity mean value obtained by multiple communications.
Furthermore, the underwater nodes are far in communication range and sparse in deployment, the circular boundary is approximate to a straight line boundary, and the coordinates R (x) of the initial point of the deployment regionR，yR，zR) The coordinates of the intersection point of the level planes,
the term "1.... the term" m ", the term" j ", and the term" 1.. the.. n ", and the term" 1.. the.. k ", respectively.
Further, the area where the node to be detected in the step (5) is located is a hexahedron area surrounded by the intersection points of the adjacent level planes; and (6) the nodes to be tested send information, surrounding neighbor nodes return the received signal strength, the nodes to be tested respectively calculate the signal strength received by the neighbor nodes positioned outside the hexahedron area, and the signal strengths corresponding to the 6 surfaces are compared.
Further, when a new node is added, the positioning process is restarted, or the layer information of the nearest neighbor is temporarily adopted according to the signal intensity until the node is positioned again.
Further, when a new node is added and new positioning calculation is not triggered, the new node sends information to surrounding neighbors, and the surrounding neighbors return the received signal strength and the own level information; the newly added node selects the level information of the node with the strongest received signal strength as the level information of the node, and broadcasts the level information to the surrounding nodes; and the surrounding nodes judge the reliability of the position of the newly added node in a voting mode, when the reliability is lower than a preset value and higher than the preset value, the node is added into the network, and when the reliability is lower than the preset value, the node judges that the position of the newly added node is wrong and refuses to be added into the network.
Further, if the newly added node is a malicious node, the newly added node attempts to impersonate a node closer to the position of the base station, other nodes are deceived to send information to the newly added node, surrounding nodes vote for the position reliability of the newly added node, because only nodes in adjacent layers can communicate, the level difference value between the adjacent nodes is less than or equal to 1, the nodes with the level difference value greater than 1 all vote against the newly added node, and the position of the newly added node is invalid.
The method provided by the invention is reliable in three aspects of accuracy, stability and practicability. The beneficial effects of the invention are as follows:
1) only one beacon node is used in the positioning process, so that errors caused by movement of the beacon node along with water flow are eliminated, the problem of beacon node redundancy caused by the expansion of the range of deployed sea areas is effectively solved, and the phenomenon that the number of beacon nodes is too large, which possibly causes the non-uniform coordinates of the nodes in positioning and the exponential rise of the number of the beacon nodes required along with the increase of the deployed areas is avoided.
2) The method introduces a layered structure, can quickly cover a deployment area for node positioning in a short time, establishes a hierarchy and divides an unknown node area to calculate the node position, does not need distance measurement, and avoids positioning errors caused by inaccurate underwater distance measurement, so that the method has higher positioning precision and algorithm stability and has the advantage of positioning algorithm without distance measurement.
3) The system has the advantages that the overall safety of the system is remarkably improved by the malicious node detection mechanism, and the invasion of malicious nodes can be effectively prevented while positioning.
Drawings
FIG. 1 is a two-dimensional hierarchy building diagram;
FIG. 2 is a simplified two-dimensional hierarchical diagram;
FIG. 3 is a two-dimensional hierarchical node region map;
FIG. 4 is a malicious node identification graph;
FIG. 5 is a three-dimensional hierarchy building diagram;
FIG. 6 is a three-dimensional region refinement diagram;
fig. 7 is a flowchart of a method for positioning nodes of an underwater sensor network.
Detailed Description
The present invention will be described in further detail with reference to the following embodiments and the accompanying drawings.
According to the method, the single underwater mobile beacon node moves to different positions of a deployment area to perform area division, and then the node positioning is realized through area refinement. The method comprises two steps: firstly, a hierarchical relationship is established, firstly, a beacon node is deployed at one end of a deployment area, the beacon node broadcasts positioning information of the beacon node, a tree structure is established by taking the beacon node as a root, first layering is realized, then, the beacon node sequentially moves to other boundaries of the deployment area, and the layers are divided for many times; and secondly, determining the region to which the node belongs according to the obtained hierarchical information, exchanging information with a neighbor node, further reducing the region in which the node is located, and calculating to obtain the node coordinate.
For convenience of description, a two-dimensional space is taken as an example to introduce a positioning method and a malicious node detection mechanism, and then the two-dimensional space is expanded to a three-dimensional area.
1) Two-dimensional algorithm design
Taking fig. 1 as an example, the area ABCD is a sensor node deployment area, and the vertex ABCD position is known. The beacon node firstly sends information at a position A, the node receiving the information records that the hierarchy is M1, then the node forwards the information, the node receiving the M1 layer information records that the hierarchy is M2, and so on until all the nodes determine the hierarchy. In the process of establishing the hierarchy, each node only records the first received information, determines the hierarchy of the node and ignores other information, so that the hierarchy information of each node is unique when the node is positioned at the position A relative to the beacon node.
Under the condition of no distance measurement, assuming that the layers among the nodes are equidistant, taking A as a starting point, the maximum length of a deployment area is AC, and the deployment area is divided into m layers in total, then the length of each layer is,
the length of each layer is the same, the boundary of the layers is a concentric circle which takes the beacon node as the center of the circle and the multiple of the length of the layers as the radius, the equation of the circle is,
(x-xA)2+(y-yA)2＝(i×LM)2 (2)
wherein, i is 1, 2, 3 … ….
Similarly, when the beacon node moves to position B, and the above process is repeated, the node can obtain the hierarchy at position B relative to the beacon node. Taking B as a starting point, the maximum length of the deployment area is BD, the deployment area is divided into n layers, the length of each layer is,
the equation for the boundary of the hierarchy is,
(x-xB)2+(y-yB)2＝(j×LN)2 (4)
wherein j is 1, 2, 3 … ….
By utilizing the hierarchical division of different angles and combining the deployment areas, the intersection points of different boundary lines can be obtained. For example, point E is the intersection of M1 and N3, while point E is located in the deployment area ABCD, the location of point E can be calculated by an equation with constraints,
for the sensor node with limited energy, the quadratic equation has large calculation amount, and the calculation process can be reasonably simplified. Because the underwater node has a long communication range and is sparsely deployed, a circular boundary can be approximated to a straight line boundary, and the calculation process is simplified, as shown in fig. 2.
The boundary equation for a beacon located at location a is,
that is to say that the first and second electrodes,
y＝x-xA+yA-i×LM (7)
wherein, i 1.
Similarly, the boundary equation when the beacon node is located at position B is,
y＝x-xB+yB-j×LN (8)
wherein j is 1.
In this case, the point E can be calculated by the following formula, which greatly simplifies the calculation process,
in turn, the coordinates of the point F, G, H are obtained through calculation, so that the large area where the node 1 to be measured is located is determined to be the EFGH. To further determine the position of the node 1 to be measured, EG and FH are connected to obtain the position of the intersection O of the two diagonal lines, as shown in fig. 3.
The node 1 sends information to surrounding nodes, and after the surrounding nodes receive the information, the signal strength P of the received information is returned to the node 1. Node 1 compares the average of the signal strengths received at nodes 2, 3, 4 with the average of the signal strengths received at nodes 6, 7, 8. The closer the distance between the nodes, the smaller the signal loss, the greater the received signal strength, when
Then, it can be determined that node 1 is within the triangular EFH area.
The node 1 compares the signal strength average received by the nodes 4, 5 and 6 with the signal strength average received by the nodes 2, 9 and 8, when
It can be determined that node 1 is within the triangular EFG area. The superposed area EFO of the triangle EFH and the triangle EFG is the area of the node 1, the coordinates of the node can be obtained by a centroid method,
when the node is positioned near the boundary, namely more than one boundary is the boundary of the deployment region, the surrounding nodes are not enough for refining the node region, the region refinement is not carried out any more, and the position of the node is directly calculated through the intersection point of the region boundary and the hierarchy boundary.
2) Malicious node identification
When a new node is added, the positioning process can be restarted, or the layer information of the nearest neighbor can be temporarily adopted until positioning is carried out again.
When a new node is added and new positioning calculation is not excited, the new node sends information to surrounding neighbors, and the surrounding neighbors return the received signal strength and the own level information. And the newly added node selects the level information of the node with the strongest received signal strength as the level information of the newly added node, and broadcasts the level information to the surrounding nodes. And the surrounding nodes judge the reliability of the position of the newly added node in a voting mode, when the reliability is higher than a preset value, the node is added into the network, and when the reliability is lower than the preset value, the node judges that the position of the newly added node is wrong and refuses to be added into the network.
When the reliability is lower than the preset value.
If the newly added node is a malicious node, it attempts to impersonate a node closer to the base station location, spoofing other nodes to send information to it. As shown in fig. 4, the base station 1 is located in the area (2, 2), the newly joined node 2 is a malicious node whose actual area is (3, 5), but masquerades as being located in the area (2, 2), and transmits a broadcast to the surrounding nodes. The position credibility of the surrounding nodes is voted, because only the nodes of the adjacent layers can communicate, the level difference value between the adjacent nodes is less than or equal to 1, the nodes 3, 4, 5 and 6 all vote against the vote, the newly added node position is invalid, and the node is a malicious node. By the method, most malicious nodes can be identified, and the malicious nodes cannot be identified when the malicious nodes are located in the area of the base station (or are close to the area of the base station).
3) Three-dimensional positioning algorithm
For the convenience of calculation, in a three-dimensional space, simplified straight line boundaries are still adopted. As shown in fig. 5, the beacon node transmits positioning information at a position a, where the position a is located at the central position of the xy plane of the deployment area, and the level of the tree structure is established by using the position a as a root in the same way as the two-dimensional space. The boundary between the layers is approximated to a plane perpendicular to the z-axis, and assuming that the distances between the layer interfaces are equal, L isMThe calculation is the same as two-dimensional.
Similarly, the beacon node moves to a position B, the position B is located at the central position of an xz plane of the deployment area, the boundary of the layers is a plane perpendicular to the y axis, and the distance between the interfaces is LN。
The beacon node moves to a position C and broadcasts the positioning information of the beacon node, the node receiving the information records that the hierarchy of the node is K1, then the node forwards the information, the node receiving the information of the K1 layer records that the hierarchy of the node is K2, and so on until all the nodes determine the hierarchy of the node;
approximating the junction of each layer to a plane perpendicular to the x axis, starting from C, with the maximum depth of the deployment region CF, and dividing into k layers, with the distance between the junction planes LK，
The equation for the boundary of the hierarchy is,
(x-xC)2+(y-yC)2+(z-zC)2＝(t×LK)2 (12)
wherein, t is 1, 2, 3 … …;
because the underwater node has a long communication range, the nodes are deployed sparsely, the circular boundary is approximate to a straight line boundary, and the coordinate R (x) of the initial point of the deployment regionR，yR，zR) The coordinates of the intersection point of the level planes,
the term "1.... the term" m ", the term" j ", and the term" 1.. the.. n ", and the term" 1.. the.. k ", respectively.
For example, point E lies at the intersection of planes K1, N2, M2, with the coordinate (x)R+LK，yR+2LN，zR+2LM). By calculating the vertices of adjacent interfaces, the large area in which the node is located can be obtained. Node 1 is located in the area enclosed by the hexahedron DEFGHIJQ, and D, F, G, H, I, J and Q coordinates can be calculated.
Next, the area where the node is located is refined, taking fig. 6 as an example. And adopting the same method as the two-dimensional method to connect DJ, EQ and IG to obtain the central position O of the hexahedron DEFGHIJQ. The node 1 sends information, and the surrounding neighbor nodes return the received signal strength. The node 1 respectively calculates the signal intensity mean values received by neighbor nodes positioned outside planes DEFG, DEIH, EIJF, FJQG, DHGQ and HIJQ, compares the signal intensity mean values corresponding to 6 planes, and the node is positioned in a region formed by the plane with the maximum received signal intensity, namely a region DEFGO, and the position of the node 1 can be obtained by calculating through a centroid method.
When the signal intensity average values of two or more planes received by the node are the same, the node adopts the vertexes where the planes are located to calculate the centroid. The node and the neighbor can communicate for multiple times, and the accuracy is improved by calculating the signal intensity mean value obtained by the multiple communications. When the node is positioned at the boundary of the deployment area, the node coordinates are directly calculated in the same mode as the two-dimensional positioning algorithm without carrying out area refinement.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (7)
1. A method for positioning nodes of an underwater sensor network is characterized by comprising the following steps:
(1) defining a deployment area of the underwater sensor network in a three-dimensional coordinate system and broadcast positions A, B and C of a beacon node, wherein A is located at the center position of an xy plane of the deployment area, B is located at the center position of an xz plane of the deployment area, and C is located at the center position of a yz plane of the deployment area;
(2) a single beacon node firstly broadcasts the positioning information of the single beacon node at a position A, the node receiving the information records the hierarchy of the node as M1, then the information is forwarded, the node receiving the information of the M1 layer records the hierarchy of the node as M2, and so on until all the nodes determine the hierarchy of the node; in the process of establishing the hierarchy, each node only records the information received for the first time, determines the hierarchy of the node and ignores other information, so that the hierarchy information of each node is unique when the node is positioned at the position A relative to the beacon node;
the boundary between the layers is approximated to be a plane perpendicular to the z-axis, assuming that the layers between the nodes are equidistant, taking a as a starting point, the maximum length of the deployment area is AD, and the deployment area is divided into m layers, then the length of each layer is,
the length of each layer is the same, the boundary of the layers is a concentric circle which takes the beacon node as the center of the circle and the multiple of the length of the layers as the radius, the equation of the circle is,
(x-xA)2+(y-yA)2+(z-zA)2＝(i×LM)2 (2)
wherein i is 1, 2, 3 … …. m;
(3) the beacon node moves to a position B and broadcasts the positioning information of the beacon node, the node receiving the information records that the hierarchy of the node is N1, then the node forwards the information, the node receiving the information of the N1 layer records that the hierarchy of the node is N2, and so on until all the nodes determine the hierarchy of the node;
the boundary of the layers is approximately a plane vertical to the y axis, the maximum width of the deployment region is BE and is divided into n layers by taking B as a starting point, the length of each layer is,
the equation for the boundary of the hierarchy is,
(x-xB)2+(y-yB)2+(z-zB)2＝(j×LN)2 (4)
wherein j is 1, 2, 3 … …. n;
(4) the beacon node moves to a position C and broadcasts the positioning information of the beacon node, the node receiving the information records that the hierarchy of the node is K1, then the node forwards the information, the node receiving the information of the K1 layer records that the hierarchy of the node is K2, and so on until all the nodes determine the hierarchy of the node;
the boundary of each layer is approximately a plane vertical to the x axis, C is taken as a starting point, the maximum depth of the deployment area is CF, the deployment area is divided into k layers, the length of each layer is,
the equation for the boundary of the hierarchy is,
(x-xC)2+(y-yC)2+(z-zC)2＝(t×LK)2 (12)
wherein, t is 1, 2, 3 … …;
(5) the node to be detected determines a large area where the node to be detected is located according to the level information of the node to be detected, the large area is defined by level plane intersection points adjacent to the node to be detected, and the central position O of the area is determined;
(6) the node to be tested sends information, surrounding neighbor nodes return the received signal strength to the node to be tested, the signal strength mean values received by the neighbor nodes on each interface of the large area are calculated and compared, the node is approximately considered to be located in the area formed by the plane with the maximum received signal strength mean value and the central position O, and the position of the node to be tested is calculated through a centroid method; when the signal intensity average values of two or more planes received by the node to be tested are the same, the vertex where the planes are located is adopted to calculate the centroid; when the node to be measured is positioned at the boundary of the deployment area, area thinning is not carried out, and the node coordinate is directly calculated.
2. The method for locating the nodes of the underwater sensor network according to claim 1, wherein in the step (6), the nodes to be tested are in multiple communication with the neighbor nodes, and the accuracy is improved by calculating the average value of the signal strength obtained by the multiple communication.
3. The method for locating nodes in an underwater sensor network according to claim 1, wherein the nodes are deployed sparsely due to the long communication range of the underwater nodes, the circular boundary is approximated to a straight line boundary, and the coordinates R (x) of the starting point of the deployment region areR，yR，zR) The coordinates of the intersection point of the level planes,
the term "1.... the term" m ", the term" j ", and the term" 1.. the.. n ", and the term" 1.. the.. k ", respectively.
4. The method for positioning the nodes of the underwater sensor network according to claim 1, wherein the area where the nodes to be measured in the step (5) are located is a hexahedral area surrounded by the intersection points of the adjacent level planes; and (6) the nodes to be tested send information, surrounding neighbor nodes return the received signal strength, the nodes to be tested respectively calculate the signal strength received by the neighbor nodes positioned outside the hexahedron area, and the signal strengths corresponding to the 6 surfaces are compared.
5. The method of claim 1, wherein when a new node is added, the positioning process is restarted, or the level information of the nearest neighbor is temporarily adopted according to the signal strength until the node is positioned again.
6. The method for positioning the nodes of the underwater sensor network according to claim 5, wherein when a new node is added and new positioning calculation is not triggered, the new node sends information to surrounding neighbors, and the surrounding neighbors return the received signal strength and own level information; the newly added node selects the level information of the node with the strongest received signal strength as the level information of the node, and broadcasts the level information to the surrounding nodes; and the surrounding nodes judge the reliability of the position of the newly added node in a voting mode, when the reliability is higher than a preset value, the node is added into the network, and when the reliability is lower than the preset value, the node judges that the position of the newly added node is wrong and refuses to be added into the network.
7. The method of claim 5, wherein if the newly added node is a malicious node, it attempts to impersonate a node closer to the location of the base station, deceives other nodes to send information to it, and the surrounding nodes vote for the reliability of their location, since only the nodes in adjacent layers can communicate, the level difference between adjacent nodes should be less than or equal to 1, and the nodes with level difference greater than 1 vote against the vote, and the newly added node location is invalid.
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| CN106332280A (en) * | 2016-10-26 | 2017-01-11 | 河海大学常州校区 | Single-movement beacon node auxiliary positioning method based on energy efficiency in WSNs |
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| CN101772013A (en) * | 2010-01-26 | 2010-07-07 | 哈尔滨工程大学 | Voting mechanism based WSN anti-attack node positioning method |
| CN103533652A (en) * | 2013-11-05 | 2014-01-22 | 山东省计算中心 | Method for positioning nodes of underwater sensor network |
| CN106332280A (en) * | 2016-10-26 | 2017-01-11 | 河海大学常州校区 | Single-movement beacon node auxiliary positioning method based on energy efficiency in WSNs |
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