CN115103351A - Wireless sensor network distributed positioning method under privacy protection - Google Patents
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Abstract
The invention discloses a distributed positioning method of a wireless sensor network under privacy protection.A scene is assumed that all sensor nodes are positioned in a convex hull of an anchor node, and each sensor node can find three adjacent nodes as a triangular splitting set so as to be positioned in the convex hull formed by the adjacent nodes; the sensor node and the adjacent node can communicate in pairs, and meanwhile, the privacy of the node position is considered; when the sensor performs communication interaction, time-varying incremental noise is added to the node position information based on a privacy protection strategy, so that an attacker cannot steal the private position of the node, and the wireless sensor network can be accurately positioned under the condition of protecting the private position of the node.
Description
Technical Field
The invention relates to the technical field of wireless sensor network positioning, in particular to a distributed positioning method of a wireless sensor network under privacy protection.
Background
Positioning is a fundamental problem of wireless sensor networks, and has attracted extensive attention of researchers in recent years, exciting many potential applications, such as location support services, smart home systems, and target tracking. Sensor location information is critical to accurately processing sensor measurements, but in applications where sensors are deployed randomly, the exact location of the sensor is unknown. Therefore, how to design a proper positioning algorithm is the key to realize the efficient and accurate work of the sensor.
At present, a distributed iterative positioning algorithm based on barycentric coordinates becomes a widely applied high-precision distributed positioning algorithm, and the algorithm represents a positioning process as an iterative process in a matrix vector form by measuring relative distances among sensor nodes, so that the overall convergence to the precise position of a sensor can be realized. It is worth noting that although distributed framework-based sensor positioning algorithms have been proposed, most of them do not consider that information interaction between sensors causes serious privacy problem.
Information interaction in an unencrypted plaintext form is easily attacked by an external attacker, and the attacker can steal information through a communication link between the invading nodes, so that the privacy information of the sensor nodes is invaded, and the whole positioning system is damaged. In addition, the attacker can also infer the location of other non-anchor nodes by associating distance measurements with the monitored area. Therefore, it is a concern to develop a corresponding policy to protect the private location of the sensor node.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a distributed positioning method of a wireless sensor network under privacy protection.
In order to achieve the above object, the present invention provides a distributed positioning method for a wireless sensor network under privacy protection, which is characterized by comprising the following steps:
(1) setting a wireless sensor network
Setting a wireless sensor network to be positioned, wherein the wireless sensor network consists of n nodes in a two-dimensional space, and each node represents a wireless sensor;
in the wireless sensor network to be positioned, nodes with known self coordinate positions are marked as anchor nodes, nodes with unknown self coordinate positions are marked as non-anchor nodes, and therefore the nodes in the wireless sensor network are divided into anchor node sets
And a set of non-anchor nodes
Wherein the anchor node set
From s anchor nodes X i Composition of, is
Anchorage node set
From n-s non-anchor nodes Y j Composition of, is
(2) Recording the coordinates of the anchor nodes and the non-anchor nodes;
recording anchor node set
Coordinates of each anchor node in P a ＝[p 1 ,...,p i ,...,p s ] T Wherein p is i For the ith anchor node X i The coordinates of (a);
aggregating non-anchor nodes
Non-anchor inThe coordinates of the nodes are denoted as P b ＝[p s+1 ,...,p s+j ,...,p n ] T ，p s+j Representing the jth non-anchor node Y j The coordinates of (a);
(3) setting an adjacent node set of non-anchor nodes;
defining non-anchor nodes Y j Adjacent node set of
Wherein, K j Is formed by a distance non-anchor node Y j Nearest 3 nodes d j1 ,d j2 ,d j3 Forming;
(4) establishing a distributed positioning model of the non-anchor node position;
assuming a set of non-anchor nodes
Wherein all non-anchor nodes are located in the anchor node set
Within the convex hull of the anchor node, traverse through the set of non-anchor nodes
At each iteration time t, updating the non-anchor node Y j The position of (a);
wherein p is j (t) denotes the jth non-anchor node Y j Coordinate at time t, gamma is the gain factor, p k For non-anchor node Y at time t j Adjacent node d jk Position coordinates of a jk Is a non-anchor node Y j Relative to its neighboring node d jk The barycentric coordinates of (a);
(5) synchronously and iteratively positioning the position of the non-anchor node under privacy protection;
(5.1) set maximum iteration time t * (ii) a Randomly setting anchor node X i And non-anchor node Y j In which the anchor node X i Is set to p i (0)＝p i Randomly setting non-anchor node Y j Is p as the initial position j (0)；
Setting time-varying incremental noise of each node in wireless sensor network
Wherein anchor node X i Noise parameter delta of i 1 is ═ 1; non-anchor node set Y j Noise parameter delta of j Satisfy constraints
(5.2) adding a time-varying delta noise sigma to the position estimate of each node at iteration time t w (t), further enhancing privacy protection;
wherein, zeta 0 & lt 1 is a constant parameter;
(5.3) respectively calculating anchor nodes X at iteration time t i And non-anchor node set Y j The position estimate after introducing time-varying delta noise is:
wherein,
(5.4) after the privacy protection operation of the formula (3), each node sends the position estimation of the current time of the node to the adjacent node, and further obtains the position estimation of each node at the next time;
(5.5) all non-anchor nodes relative to the adjacent node set K j The barycentric coordinates of (a) are written in a matrix-vector form:
wherein F, H are all sub-random matrices, [ F H ]]As a random matrix of rows, when adjacent nodes d jk Belonging to non-anchor nodes Y j When the triangle is split into two sets, [ F H ]] jk ＝a jk When the adjacent node d jk Not belonging to non-anchor nodes Y j When the triangle is split into two sets, [ F H ]] jk ＝0，I s And I n-s Is an identity matrix;
(5.6) when the iteration time t reaches the set maximum iteration time t * Then, a set of non-anchor nodes is calculated
Based on anchor node set
The positions indicated are:
to this end, a set of non-anchor nodes based on a privacy preserving policy
The position location of (2) is completed.
The invention aims to realize the following steps:
the invention discloses a distributed positioning method of a wireless sensor network under privacy protection.A scene is assumed that all sensor nodes are positioned in a convex hull of an anchor node, and each sensor node can find three adjacent nodes as a triangular cross section set so as to be positioned in the convex hull formed by the adjacent nodes; the sensor node and the adjacent node can communicate in pairs, and meanwhile, the privacy of the node position is considered; when the sensor performs communication interaction, time-varying incremental noise is added to the node position information based on a privacy protection strategy, so that an attacker cannot steal the private position of the node, and the wireless sensor network can be accurately positioned under the condition of protecting the private position of the node.
Meanwhile, the wireless sensor network distributed positioning method under privacy protection of the invention also has the following beneficial effects:
(1) in the distributed positioning iteration process, the noise item meeting the constraint condition is added into the position estimation of the sensor node, the method has no influence on the positioning precision of the sensor network, and the privacy of the accurate position of the node can be effectively ensured under the condition that an attacker steals the position information of the neighbor node.
(2) The invention considers that in some real sensor network environments, an attacker with remote observation capability can steal part of inbound information of the neighbor, and the classical privacy protection method is limited to the situation that the attacker can only steal outbound information of the neighbor node but cannot steal inbound information of the neighbor node. Therefore, the invention provides a privacy protection new strategy introducing time-varying incremental noise, which can still well protect the privacy of the node under the condition that an attacker steals the inbound information of the neighbor node.
Drawings
FIG. 1 is a flow chart of a distributed positioning method of a wireless sensor network under privacy protection according to the present invention;
FIG. 2 is a schematic diagram of a set of raspberry pie placements set up in an experiment;
FIG. 3 is a schematic diagram of a convex hull in which a node is located in its neighborhood in a wireless sensor network;
FIG. 4 is a topological diagram of interaction among 10 sensor nodes in a wireless sensor network;
FIG. 5 is an initial position of 7 non-anchor nodes in the wireless sensor network, which is randomly set;
fig. 6 is the exact position to which the 7 non-anchor nodes eventually converge after 40 iterations.
Detailed Description
The following description of the embodiments of the present invention is provided in order to better understand the present invention for those skilled in the art with reference to the accompanying drawings. It is to be expressly noted that in the following description, a detailed description of known functions and designs will be omitted when it may obscure the subject matter of the present invention.
Examples
Fig. 1 is a flowchart of a distributed positioning method for a wireless sensor network under privacy protection according to the present invention.
In this embodiment, as shown in fig. 1, a method for distributed positioning of a wireless sensor network under privacy protection according to the present invention includes the following steps:
s1, setting a wireless sensor network;
in this embodiment, as shown in fig. 2, a wireless sensor network is located in a distributed manner by a group of raspberry pies, where n is 10 total nodes in a two-dimensional space, each node represents a wireless sensor, and the nodes in the wireless sensor network are further divided into anchor node sets
And a set of non-anchor nodes
The location of the anchor node is statically known. In this embodiment, a set of anchor nodes
By 3 anchor nodes X i Composition of, is
Non-anchor node set
From 7 non-anchor nodes Y j Composition of, is
S2, recording coordinates of the anchor node and the non-anchor node;
recording anchor node set
Coordinates of each anchor node in P a ＝[p 1 ,p 2 ,p 3 ] T ；
Assembling non-anchor nodes
The coordinates of the non-anchor nodes of these unknown coordinates are denoted as P b ＝[p 4 ,...,p 3+j ,...,p 10 ] T ，p 3+j Representing the jth non-anchor node Y j The coordinates of (a);
s3, setting an adjacent node set of non-anchor nodes;
defining non-anchor nodes Y j Adjacent node set of
Wherein, K j By distance from non-anchor node Y j Nearest 3 nodes d j1 ,d j2 ,d j3 Forming;
s4, establishing a distributed positioning model of the non-anchor node position;
in this embodiment, fig. 4 is an interaction topology diagram of each sensor in the wireless sensor network. The wireless sensor network has 3 anchor nodes, which are represented by Anchori (i is 1,2, 3); there are 7 non-anchor nodes in the network, denoted by nodej (j-4, 5.., 10). Assuming a set of non-anchor nodes
Wherein all non-anchor nodes are located
Within the convex hull of the anchor node, traverse through the set of non-anchor nodes
At each iteration time t, updating the non-anchor node Y j The position of (a);
wherein p is j (t) denotes the jth non-anchor node Y j Coordinate at time t, gamma is the gain factor, p k For non-anchor node Y at time t j Adjacent node d jk Position coordinates of a jk Is a non-anchor node Y j Relative to its neighboring node d jk The barycentric coordinates of (a); .
In this embodiment, as shown in fig. 3, a non-anchor node Y in a wireless sensor network j A triangulation of the non-anchor node Y j The barycentric coordinate relative to three adjacent nodes r, s and t is a jr 、a js 、a jt Non-anchor node Y j Position coordinate p of j Satisfies the following conditions:
p j ＝a jr p r +a js p s +a jt p t (2)
wherein, a jr +a js +a jt ＝1；
Non-anchor node Y j The barycentric coordinates of (c) can be calculated by specifying the ratio of the signed areas between the triangles:
wherein S is Δjst 、S Δjrt 、S Δjrs 、S Δrst Can be obtained by measuring the relative distance between nodes, and is calculated by Cayley-Menger determinant as S Δjst For example, the following steps are carried out:
s5, synchronously and iteratively positioning the position of the non-anchor node under privacy protection;
s5.1, set maximum iteration time t * (ii) a Randomly setting anchor node X i And non-anchor node Y j Initial position of, wherein, anchor node X i Is set to p i (0)＝p i Randomly setting non-anchor node Y j Is p as the initial position j (0)；
As shown in fig. 4, there are frequent communication interactions between nodes of the wireless sensor network. In the process of information exchange of nodes, in order to prevent an attacker from stealing information, a privacy protection strategy of time-varying incremental noise is introduced.
Setting time-varying incremental noise of each node in wireless sensor network
Wherein anchor node X i Noise parameter delta of i 1 is ═ 1; set of non-anchor nodes Y j Noise parameter delta of j Satisfy constraints
S5.2, adding time-varying incremental noise to position estimation of each node
Then at iteration time t, a time-varying delta noise σ is added to the position estimate for each node w (t) is:
where 0 < ζ < 1 is a constant parameter set randomly, it can be seen that the noise added increases as the iteration time goes on.
S5.3, respectively calculating anchor nodes X at iteration time t i And a set of non-anchor nodes Y j The position estimate after introducing time-varying delta noise is:
wherein,
s5.4, after the privacy protection operation of the formula (6), each node sends the position estimation of the current time of the node to the adjacent node, and further obtains the position estimation of each node at the next time;
s5.5, in the embodiment, 7 non-anchor nodes are opposite to the adjacent node set K j The barycentric coordinates of (a) are written in a matrix-vector form:
wherein F, H are all sub-random matrices, [ F H ]]Is a row random matrix when the adjacent node d jk Belonging to non-anchor nodes Y j When the triangle is split into two sets, [ F H ]] jk ＝a jk When the adjacent node d jk Not belonging to non-anchor nodes Y j When the triangulation is divided into two sets, [ F H ]] jk ＝0，I s And I n-s Is an identity matrix;
s5.6, when the iteration time t reaches the set maximum iteration time t * Then, a set of non-anchor nodes is calculated
Based on anchor node set
The positions indicated are:
to this end, based on the non-anchor node set under the privacy protection strategy
The position location of (2) is completed.
Fig. 5 shows initial positions of 7 non-anchor nodes randomly arranged in a wireless sensor network, where Node j (j ═ 4, 5.., 10) is a given initial position estimate of the non-anchor nodes, and it can be seen that the initial estimate has a large error from an actual position. By using the iterative positioning algorithm under privacy protection, the estimated position of the non-anchor node is gradually close to the actual position. Fig. 6 shows the accurate positions of 7 non-anchor nodes in the sensor network after 40 iterations, and it can be seen that all the non-anchor nodes Node j (j is 4, 5., 10) can converge to the actual positions of the sensor nodes.
Although the illustrative embodiments of the present invention have been described in order to facilitate those skilled in the art to understand the present invention, it is to be understood that the present invention is not limited to the scope of the embodiments, and that various changes may be made apparent to those skilled in the art as long as they are within the spirit and scope of the present invention as defined and defined in the appended claims, and all matters of the invention using the inventive concepts are protected.
Claims (1)
1. A wireless sensor network distributed positioning method under privacy protection is characterized by comprising the following steps:
(1) setting a wireless sensor network;
the method comprises the steps that a wireless sensor network to be positioned is arranged and composed of n nodes in a two-dimensional space, and each node represents a wireless sensor;
in the wireless sensor network to be positioned, nodes with known self coordinate positions are marked as anchor nodes, nodes with unknown self coordinate positions are marked as non-anchor nodes, and therefore the nodes in the wireless sensor network are divided into anchor node sets
And a set of non-anchor nodes
Wherein the set of anchor nodes
By s anchor nodes X i Composition of, is
Anchorage node set
From n-s non-anchor nodes Y j Composition, as
(2) Recording the coordinates of the anchor nodes and the non-anchor nodes;
recording anchor node set
Coordinates of each anchor node in P a ＝[p 1 ,…,p i ,…,p s ] T Wherein p is i For the ith anchor node X i The coordinates of (a);
aggregating non-anchor nodes
Coordinate of the non-anchor node in (1) is expressed as P b ＝[p s+1 ,…,p s+j ,…,p n ] T ，p s+j Denotes the jth non-anchor node Y j The coordinates of (a);
(3) setting an adjacent node set of non-anchor nodes;
defining non-anchor nodes Y j Adjacent node set of
Wherein, K j Is formed by a distance non-anchor node Y j Nearest 3 nodes d j1 ,d j2 ,d j3 Forming;
(4) establishing a distributed positioning model of the non-anchor node position;
assuming a set of non-anchor nodes
Wherein all non-anchor nodes are located in the anchor node set
Within the convex hull of the anchor node, traverse through the set of non-anchor nodes
At each iteration time t, updating the non-anchor node Y j The position of (a);
wherein p is j (t) denotes the jth non-anchor node Y j Coordinate at time t, gamma is the gain factor, p k Is a non-anchor node Y at time t j Adjacent node d jk Position coordinates of (a) jk Is a non-anchor node Y j Relative to its neighboring node d jk The barycentric coordinates of (a);
(5) synchronously and iteratively positioning the position of the non-anchor node under privacy protection;
(5.1) set maximum iteration time t * (ii) a Randomly setting anchor node X i And non-anchor node Y j In which the anchor node X i Is set to p i (0)＝p i Randomly setting non-anchor node Y j Is p as the initial position j (0)；
Setting time-varying incremental noise of each node in wireless sensor network
Wherein anchor node X i Noise parameter delta of i 1 is ═ 1; set of non-anchor nodes Y j Noise parameter delta of j Satisfy constraints
(5.2) adding a time-varying delta noise sigma to the position estimate of each node at iteration time t w (t), further enhancing privacy protection;
wherein, zeta 0 & lt 1 is a constant parameter;
(5.3) respectively calculating anchor nodes X at iteration time t i And a set of non-anchor nodes Y j The position estimate after introducing time-varying delta noise is:
wherein,
(5.4) after the privacy protection operation of the formula (3), each node sends the position estimation of the current time of the node to the adjacent node, and further obtains the position estimation of each node at the next time;
(5.5) all non-anchor nodes relative to the adjacent node set K j The barycentric coordinates of (a) are written in a matrix-vector form:
wherein F, H are all sub-random matrices, [ F H ]]Is a row random matrix when the adjacent node d jk Belonging to non-anchor nodes Y j When the triangle is split into two sets, [ F H ]] jk ＝a jk When the adjacent node d jk Not belonging to non-anchor nodes Y j When the triangle is split into two sets, [ F H ]] jk ＝0，I s And I n-s Is an identity matrix;
(5.6) when the iteration time t reaches the set maximum iteration time t * Then, a set of non-anchor nodes is calculated
Based on anchor node set
The positions indicated are:
to this end, a set of non-anchor nodes based on a privacy preserving policy
The position location of (2) is completed.
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