CN115278524A - Positioning method, device, equipment and storage medium of sensor network node - Google Patents
Positioning method, device, equipment and storage medium of sensor network node Download PDFInfo
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- H04W4/02—Services making use of location information
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- H—ELECTRICITY
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Abstract
The invention discloses a positioning method, a positioning device, positioning equipment and a storage medium of a sensor network node. Determining each reference node of a node to be positioned in a region to be positioned, and acquiring a target received signal strength set of the node to be positioned and a target received signal strength set of the reference node; in the area to be positioned, determining an AOA area corresponding to the node to be positioned; calculating Euclidean distance values between the node to be positioned and each reference node in the AOA area according to the target received signal strength set of the node to be positioned and the target received signal strength set of each reference node in the AOA area; and acquiring the position data of the node to be positioned according to the Euclidean distance value between the node to be positioned and each reference node in the AOA area. The technical scheme of the embodiment of the invention greatly improves the positioning accuracy of the sensor network node.
Description
Technical Field
The present invention relates to the field of positioning technologies, and in particular, to a method, an apparatus, a device, and a storage medium for positioning a sensor network node.
Background
In a wireless network environment, sensor network nodes often need to determine their location in order to provide detection services to users. Monitoring data without node location information is not meaningful in many situations. The GPS (Global Positioning System) satellite Positioning method needs to allocate a GPS receiving module for each sensor network node, and the method is high in cost, and the GPS receiving module has high energy consumption, and is not suitable for a large-scale wireless sensor network.
In the traditional position fingerprint positioning method, the signal strength acquired in an off-line stage is easily influenced by various environmental factors, so that the constructed position fingerprint database is inaccurate, and the positioning of the sensor network nodes is inaccurate.
In the process of implementing the invention, the inventor finds that the prior art has the following defects:
the hardware equipment of the traditional GPS satellite positioning method is high in requirement and not suitable for a large-scale wireless sensor network; in the traditional position fingerprint positioning method, the collected signal strength is interfered by environmental factors, so that the position fingerprint database is inaccurate, and the positioning of the sensor network node is inaccurate.
Disclosure of Invention
The invention provides a positioning method, a positioning device, equipment and a storage medium of a sensor network node, which are used for greatly improving the positioning accuracy of the sensor network node.
According to an aspect of the present invention, a method for positioning a node in a sensor network is provided, where the method is applied to a node to be positioned in a wireless sensor network, and the method includes:
determining each reference node of the node to be positioned in the area to be positioned, and acquiring a target received signal strength set of the node to be positioned and a target received signal strength set of each reference node;
determining an arrival angle ranging AOA (automatic optical ranging) area corresponding to the node to be positioned in the area to be positioned; wherein the AOA region comprises at least one reference node; the reference nodes in the AOA region are a subset of the reference nodes in the region to be located;
calculating a Euclidean distance value between the node to be positioned and each reference node in the AOA area according to the target received signal strength set of the node to be positioned and the target received signal strength set of each reference node in the AOA area;
and acquiring the position data of the node to be positioned according to the Euclidean distance value between the node to be positioned and each reference node in the AOA region.
According to another aspect of the present invention, there is provided a positioning apparatus for a node in a sensor network, where the positioning apparatus is applied to a node to be positioned in a wireless sensor network, and the apparatus includes:
a target received signal strength set acquisition module, configured to determine each reference node of the node to be positioned in the area to be positioned, and acquire a target received signal strength set of the node to be positioned and a target received signal strength set of each reference node;
the AOA area determining module is used for determining an arrival angle ranging AOA area corresponding to the node to be positioned in the area to be positioned; wherein the AOA region comprises at least one reference node; the reference nodes in the AOA region are a subset of the reference nodes in the region to be located;
the Euclidean distance value calculating module is used for calculating Euclidean distance values between the node to be positioned and each reference node in the AOA area according to the target receiving signal strength set of the node to be positioned and the target receiving signal strength set of each reference node in the AOA area;
and the position data acquisition module of the node to be positioned is used for acquiring the position data of the node to be positioned according to the Euclidean distance value between the node to be positioned and each reference node in the AOA region.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform a method of positioning a sensor network node according to any of the embodiments of the invention.
According to another aspect of the present invention, a computer-readable storage medium is provided, which stores computer instructions for causing a processor to implement a positioning method of a sensor network node according to any one of the embodiments of the present invention when the computer instructions are executed.
According to the technical scheme of the embodiment of the invention, each reference node of a node to be positioned in a region to be positioned is determined, and a target received signal strength set of the node to be positioned and a target received signal strength set of the reference node are obtained; in the area to be positioned, determining an AOA area corresponding to the node to be positioned; calculating Euclidean distance values between the node to be positioned and each reference node in the AOA area according to the target received signal strength set of the node to be positioned and the target received signal strength set of each reference node in the AOA area; the method comprises the steps of obtaining position data of a node to be positioned according to an Euclidean distance value between the node to be positioned and each reference node in an AOA (automatic optical access) area, namely, determining the area to be positioned of the node to be positioned, and accurately determining the received signal strength corresponding to the node to be positioned and the reference node and the position area of the node to be positioned, so that the problems that the traditional positioning method is high in hardware equipment requirement, not suitable for a large-scale wireless sensor network and inaccurate in positioning are solved, and the positioning accuracy of the sensor network node is greatly improved.
It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present invention, nor are they intended to limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a positioning method for a sensor network node according to an embodiment of the present invention;
fig. 2 is a flowchart of another positioning method for a sensor network node according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a positioning apparatus of a sensor network node according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device implementing the method for positioning a sensor network node according to the embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "comprises" and "comprising," and any variations thereof, in the description and claims of the present invention and the above-described drawings, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
Fig. 1 is a flowchart of a positioning method for a sensor network node according to an embodiment of the present invention, where the present embodiment is applicable to a situation where a node of a wireless sensor network is positioned, and the method may be applied to a node to be positioned in the wireless sensor network, and the method may be executed by a positioning device of the sensor network node, where the device may be implemented in a form of hardware and/or software, and the device may be configured in the sensor network node. As shown in fig. 1, the method includes:
s110, determining each reference node of the node to be positioned in the area to be positioned, and acquiring a target received signal strength set of the node to be positioned and a target received signal strength set of each reference node.
The node to be positioned may be a network node in the wireless sensor network, for example, a network device such as a personal computer and a server. The area to be located may refer to a physical location area where the node to be located is located. The determination of the region to be positioned can be flexibly determined according to the environment condition of the node to be positioned. The area to be located may be a larger area, e.g. a room. A reference node may refer to a network node set in a region to be located for determining the location of the node to be located. The target received signal strength set of the node to be located and the target received signal strength set of each reference node may refer to a set of signal strengths of available signals in the signals received by the node to be located and the reference nodes.
In this embodiment, each reference node of the node to be positioned in the area to be positioned may be determined, and a target received signal strength set of the node to be positioned and a target received signal strength set of each reference node may be obtained.
In an optional implementation manner of this embodiment, determining each reference node of the node to be located in the region to be located may include:
determining the area where the node to be positioned is located to obtain the area to be positioned; acquiring the positioning precision of the node to be positioned; and dividing the area to be positioned into a plurality of grids according to the positioning precision, and taking each grid vertex of each grid as each reference node in the area to be positioned.
The positioning accuracy may refer to a positioning accuracy of the node to be positioned. For example, if the requirement on the positioning accuracy is not very high, the area to be positioned may be divided into cells in units of 10 meters, and if the requirement on the positioning accuracy is high, the area to be positioned may be divided into cells in units of 1 meter.
Specifically, an environment region where a node to be positioned is located can be determined as a region to be positioned, and then the region to be positioned is divided into a plurality of grids according to the current actual situation and the positioning accuracy requirement of the node to be positioned, so that network equipment can be set at the grid vertex of each grid to serve as a reference node in the region to be positioned.
In another optional implementation manner of this embodiment, the obtaining the target received signal strength set of the node to be located and the target received signal strength sets of the reference nodes may include:
acquiring signal strength of signals from different signal transmitting nodes received by the node to be positioned to obtain an original received signal strength set of the node to be positioned, and performing filtering processing on the original received signal strength set of the node to be positioned to obtain a target received signal strength set of the node to be positioned; and acquiring the signal intensity of signals from different signal transmitting nodes received by each reference node to obtain an original received signal intensity set of each reference node, and performing filtering processing on the original received signal intensity set of each reference node to obtain a target received signal intensity set of each reference node.
The signal transmitting node may be an AP (Access Point). The set of raw received signal strengths may be a set of raw signal strengths of signals received by the node to be located and each reference node from different APs in the area to be located.
The filtering process may refer to a filtering process based on kalman filtering and variance filtering. In the wireless sensor network, since the signal strength is affected by the interference signal, it is necessary to perform filtering processing on each raw received signal strength in the raw received signal strength set. In the present embodiment, based on kalman filtering, the error of the signal strength can be limited to a very small range; based on the variance filtering, the anomalous signal strength that deviates furthest from the average signal strength can be filtered out.
Specifically, for a node to be located and each reference node in a region to be located, signals from different APs may be received, an original received signal strength set is obtained according to the signal strength of the received signals, and an original received signal strength set of the node to be located and each reference node in the region to be located is obtained, so that each signal strength in the original received signal strength set is subjected to filtering processing, abnormal signal strength is screened out, a target received signal strength set of the node to be located is obtained, and a target received signal strength set of each reference node is obtained.
Optionally, for the acquisition of the original Received Signal Strength set of the node to be located and each reference node in the area to be located, a gaussian distance measurement curve of RSSI (Received Signal Strength Indication) can be fitted by calculating a Signal Strength loss and a Signal Strength attenuation index when a Signal is transmitted by 1m in gaussian distribution fitting in the current environment, so as to calculate the Signal Strength of the Signal from different APs Received by the node to be located and each reference node in the area to be located. For example, the model of the attenuation of a signal propagating in free space may be based on
Calculating the signal strength, wherein PdReceived signal strength, P, for a node to be located and for each reference node in the area to be located0Is a distance d0Signal strength ofAnd n is a signal attenuation coefficient.
S120, in the area to be positioned, determining an AOA (Angle-of-Arrival) area corresponding to the node to be positioned.
Wherein, at least one reference node can be included in the AOA region; the reference nodes in the AOA region may be a subset of the reference nodes in the region to be located.
In this embodiment, the area where the node to be located is located, such as the AOA area, can be further determined more accurately in the area to be located.
In an optional implementation manner of this embodiment, determining, in the region to be located, an AOA region corresponding to the node to be located may include:
determining the minimum signal coverage overlapping area of the different signal transmitting nodes in the area to be positioned; acquiring the number of signal coverage areas where each reference node is located in the minimum signal coverage overlapping area; and determining a region formed by at least one reference node with the largest number of signal coverage regions as the AOA region corresponding to the node to be positioned.
Wherein the signal transmitting node may be a node configured with a plurality of directional antennas. The minimum signal coverage overlap region may be a region that is smaller than the region to be located and larger than a mid-range of the AOA region. The number of signal coverage areas may be the number of signal coverage areas at which each reference node in the minimum signal coverage overlap area is located.
In particular, the beacon information transmitted by the signal transmitting node through the directional antenna can be used, such as { id, X }i，Yi，θiAccording to angle information therein, e.g. thetaiDetermining a plurality of signal coverage overlapping areas corresponding to different signal transmitting nodes according to the communication radius of the signal transmitting nodes, and taking the minimum overlapping area as the minimum signal coverage overlapping area; then, the number of signal coverage areas from different signal transmitting nodes where each reference node in the minimum signal coverage overlapping area is located is counted, and at least one reference node group with the largest number of signal coverage areas is obtainedAnd determining the area to be the AOA area corresponding to the node to be positioned. For example, if the reference node m in the minimum signal coverage overlapping region is simultaneously within the sector regions A1, A2, and A3, the number of signal coverage regions where the reference node m is located is recorded as 3; if the reference node n is in the sector areas A1 and A2, but not in the sector area A3, the number of signal coverage areas where the reference node n is located is recorded as 2, and an area formed by all reference nodes recorded as 3 in the minimum signal coverage overlapping area is referred to as an AOA area.
S130, calculating a Euclidean distance value between the node to be positioned and each reference node in the AOA area according to the target received signal strength set of the node to be positioned and the target received signal strength set of each reference node in the AOA area.
Specifically, the euclidean distance value between the node to be positioned and each reference node in the AOA region may be calculated according to the signal strengths from different APs in the target received signal strength set of the node to be positioned and the signal strengths from different APs in the target received signal strength set of each reference node in the AOA region.
Illustratively, the area to be located includes M APs, the AOA area includes N reference nodes, and the target received signal strength set corresponding to the node to be located is, for example, (RSS)1，RSS2，…，RSSM) Signal strength RSS of the ith reference nodeijCan be expressed as (RSS)i1，RSSi2，…，RSSiM) Can be according to a formula
Calculating Euclidean distance values between the node to be positioned and each reference node in the AOA area, wherein diRepresenting the Euclidean distance, RSS, between the node to be positioned and the ith reference nodeijSignal strength, RSS, representing the signal from the jth (j =1,2, \ 8230;, M) AP on the ith (= 1,2,3, \8230;, N) reference nodejIndicating the signal strength of the signal from the jth AP to which the node to be located corresponds.
S140, acquiring the position data of the node to be positioned according to the Euclidean distance value between the node to be positioned and each reference node in the AOA area.
Where the position data may refer to physical coordinates, e.g., (x, y).
In this embodiment, the position data of the node to be positioned may be calculated and obtained according to the euclidean distance value between the node to be positioned and each reference node in the AOA region.
According to the technical scheme of the embodiment of the invention, each reference node of a node to be positioned in a region to be positioned is determined, and a target received signal strength set of the node to be positioned and a target received signal strength set of the reference node are obtained; in the area to be positioned, determining an AOA area corresponding to the node to be positioned; calculating an Euclidean distance value between the node to be positioned and each reference node in the AOA area according to a target receiving signal strength set of the node to be positioned and a target receiving signal strength set of each reference node in the AOA area; the method comprises the steps of obtaining position data of a node to be positioned according to Euclidean distance values between the node to be positioned and each reference node in an AOA area, namely, determining the area to be positioned of the node to be positioned, and accurately measuring the received signal strength corresponding to the node to be positioned and the reference node and the position area of the node to be positioned, so that the problems that the requirement of hardware equipment in the traditional positioning method is high, the traditional positioning method is not suitable for a large-scale wireless sensor network, the positioning is inaccurate are solved, and the positioning accuracy of the sensor network node is greatly improved.
Example two
Fig. 2 is a flowchart of another positioning method for a sensor network node according to a second embodiment of the present invention, and in this embodiment, based on the foregoing embodiments, before a euclidean distance value between a node to be positioned and each reference node in the AOA region is calculated according to a target received signal strength set of the node to be positioned and a target received signal strength set of each reference node in the AOA region, an operation is added to refine an operation of acquiring position data of the node to be positioned according to the euclidean distance value between the node to be positioned and each reference node in the AOA region. As shown in fig. 2, the method includes:
s210, determining each reference node of the node to be positioned in the area to be positioned, and acquiring a target received signal strength set of the node to be positioned and a target received signal strength set of each reference node.
S220, determining an arrival angle ranging AOA area corresponding to the node to be positioned in the area to be positioned.
Wherein the AOA region comprises at least one reference node; the reference nodes in the AOA region are a subset of the reference nodes in the region to be located.
And S230, constructing a position fingerprint database corresponding to all the reference nodes according to the target received signal strength set of each reference node and the position data of each reference node.
The position data of each reference node may refer to physical coordinates of each reference node.
Specifically, a target received signal strength set of a current processing reference node may be obtained; constructing location fingerprint data, e.g., RSS, matching the current processing reference node based on the target set of received signal strengths and the physical coordinates of the current processing reference nodeij＝{RSSIi1，RSSIi2，……，RSSIiM，xi，yi}; and then according to the position fingerprint data of each reference node, constructing a position fingerprint database corresponding to all reference nodes in the area to be positioned.
S240, querying the position fingerprint database to obtain a target received signal strength set of each reference node in the AOA area.
Specifically, the target received signal strength set of each reference node in the AOA region may be obtained by querying from the location fingerprint database according to the number of the reference node.
S250, calculating the Euclidean distance value between the node to be positioned and each reference node in the AOA area according to the target received signal strength set of the node to be positioned and the target received signal strength set of each reference node in the AOA area.
S260, determining at least one target reference node in the AOA area according to the Euclidean distance value between the node to be positioned and each reference node in the AOA area, and determining the weight coefficient corresponding to the at least one target reference node respectively.
The target reference node may refer to a part of reference nodes in the AOA region that can be used to locate a node to be located. The weight coefficient may represent a degree of contribution of the target reference node to positioning of the node to be positioned.
In this embodiment, a target reference node may be screened from all reference nodes in the AOA region according to a euclidean distance value between the node to be located and each reference node in the AOA region, and a weight coefficient corresponding to each target reference node may be determined according to a euclidean distance value corresponding to the target reference node.
In an optional implementation manner of this embodiment, at least one target reference node in the AOA region is determined according to a euclidean distance value between the node to be located and each reference node in the AOA region, and specifically, the euclidean distance values between the node to be located and each reference node in the AOA region may be sorted from small to large to obtain a sorting result; and taking the reference node corresponding to the Euclidean distance values of the number of the front targets in the sequencing result as the at least one target reference node.
Correspondingly, the weighting coefficients corresponding to the at least one target reference node are determined, and the reciprocal of the euclidean distance value corresponding to each target reference node may be used as the weighting coefficient of each target reference node.
S270, acquiring the position data of the node to be positioned according to the weight coefficient respectively corresponding to the at least one target reference node and the position data of each target reference node.
In this embodiment, the calculation formula of the position data of the node to be located may be represented as:
wherein (x)p，yp) The physical coordinates representing the p-th target reference node, which can be obtained by querying a location fingerprint database, dpAnd expressing the Euclidean distance value between the p-th target reference node and the node to be positioned.
According to the technical scheme of the embodiment of the invention, the to-be-positioned area of the to-be-positioned node is determined, the received signal strength corresponding to the to-be-positioned node and the reference node is accurate to construct the position fingerprint database and the position area of the to-be-positioned node are accurate, the problems that the traditional positioning method is high in hardware equipment requirement, not suitable for a large-scale wireless sensor network and inaccurate in positioning are solved, and the positioning accuracy of the sensor network node is greatly improved.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a positioning apparatus for a sensor network node according to a third embodiment of the present invention, which is applied to a node to be positioned in a wireless sensor network. As shown in fig. 3, the apparatus includes: a target received signal strength set acquisition module 310, an AOA region determination module 320, a euclidean distance value calculation module 330, and a location data acquisition module 340 of a node to be located. Wherein:
a target received signal strength set obtaining module 310, configured to determine each reference node of the node to be positioned in the area to be positioned, and obtain a target received signal strength set of the node to be positioned and a target received signal strength set of each reference node;
an AOA region determining module 320, configured to determine, in the region to be located, an angle-of-arrival ranging AOA region corresponding to the node to be located; wherein the AOA region comprises at least one reference node; the reference nodes in the AOA region are a subset of the reference nodes in the region to be located;
a euclidean distance value calculating module 330, configured to calculate a euclidean distance value between the node to be positioned and each reference node in the AOA region according to the target received signal strength set of the node to be positioned and the target received signal strength set of each reference node in the AOA region;
a position data obtaining module 340 of the node to be positioned, configured to obtain the position data of the node to be positioned according to the euclidean distance value between the node to be positioned and each reference node in the AOA region.
According to the technical scheme of the embodiment of the invention, each reference node of a node to be positioned in a region to be positioned is determined, and a target received signal strength set of the node to be positioned and a target received signal strength set of the reference node are obtained; in the area to be positioned, determining an AOA area corresponding to the node to be positioned; calculating an Euclidean distance value between the node to be positioned and each reference node in the AOA area according to a target receiving signal strength set of the node to be positioned and a target receiving signal strength set of each reference node in the AOA area; the method comprises the steps of obtaining position data of a node to be positioned according to an Euclidean distance value between the node to be positioned and each reference node in an AOA (automatic optical access) area, namely, determining the area to be positioned of the node to be positioned, and accurately determining the received signal strength corresponding to the node to be positioned and the reference node and the position area of the node to be positioned, so that the problems that the traditional positioning method is high in hardware equipment requirement, not suitable for a large-scale wireless sensor network and inaccurate in positioning are solved, and the positioning accuracy of the sensor network node is greatly improved.
Optionally, the positioning apparatus for a sensor network node further includes a target received signal strength set acquisition module of each reference node in the AOA region, configured to, before calculating a euclidean distance value between the node to be positioned and each reference node in the AOA region according to the target received signal strength set of the node to be positioned and the target received signal strength set of each reference node in the AOA region:
constructing a position fingerprint database corresponding to all the reference nodes according to the target received signal strength set of each reference node and the position data of each reference node;
and querying the position fingerprint database to obtain a target received signal strength set of each reference node in the AOA area.
Optionally, the target received signal strength set obtaining module 310 may be specifically configured to:
determining the area where the node to be positioned is located to obtain the area to be positioned;
acquiring the positioning precision of the node to be positioned;
and dividing the area to be positioned into a plurality of grids according to the positioning precision, and taking each grid vertex of each grid as each reference node in the area to be positioned.
Optionally, the target received signal strength set obtaining module 310 may be further configured to:
acquiring signal strength of signals from different signal transmitting nodes received by the node to be positioned to obtain an original received signal strength set of the node to be positioned, and filtering the original received signal strength set of the node to be positioned to obtain a target received signal strength set of the node to be positioned;
and acquiring the signal intensity of signals from different signal transmitting nodes received by each reference node to obtain an original received signal intensity set of each reference node, and performing filtering processing on the original received signal intensity set of each reference node to obtain a target received signal intensity set of each reference node.
Optionally, the AOA region determining module 320 may be specifically configured to:
determining the minimum signal coverage overlapping area of the different signal transmitting nodes in the area to be positioned;
acquiring the number of signal coverage areas where each reference node is located in the minimum signal coverage overlapping area;
and determining an area formed by at least one reference node with the largest number of signal coverage areas as an AOA area corresponding to the node to be positioned.
Optionally, the module 340 for acquiring location data of the node to be located includes:
a weight coefficient determining unit, configured to determine at least one target reference node in the AOA region according to an euclidean distance value between the node to be located and each reference node in the AOA region, and determine weight coefficients corresponding to the at least one target reference node respectively;
and the position data acquisition unit of the node to be positioned is used for acquiring the position data of the node to be positioned according to the weight coefficient respectively corresponding to the at least one target reference node and the position data of each target reference node.
Optionally, the weight coefficient determining unit may be specifically configured to:
sorting Euclidean distance values between the node to be positioned and each reference node in the AOA region from small to large to obtain a sorting result;
and taking the reference node corresponding to the Euclidean distance values of the number of the front targets in the sequencing result as the at least one target reference node.
Optionally, the weight coefficient determining unit may be further configured to:
and taking the reciprocal of the Euclidean distance value corresponding to each target reference node as a weight coefficient of each target reference node.
The positioning device of the sensor network node provided by the embodiment of the invention can execute the positioning method of the sensor network node provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
FIG. 4 illustrates a block diagram of an electronic device 400 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 4, the electronic device 400 includes at least one processor 401, and a memory communicatively connected to the at least one processor 401, such as a Read Only Memory (ROM) 402, a Random Access Memory (RAM) 403, and so on, wherein the memory stores computer programs executable by the at least one processor, and the processor 401 may perform various suitable actions and processes according to the computer programs stored in the Read Only Memory (ROM) 402 or the computer programs loaded from the storage unit 408 into the Random Access Memory (RAM) 403. In the RAM 403, various programs and data required for the operation of the electronic device 400 can also be stored. The processor 401, ROM 402 and RAM 403 are connected to each other by a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.
A number of components in the electronic device 400 are connected to the I/O interface 405, including: an input unit 406 such as a keyboard, a mouse, or the like; an output unit 407 such as various types of displays, speakers, and the like; a storage unit 408 such as a magnetic disk, optical disk, or the like; and a communication unit 409 such as a network card, modem, wireless communication transceiver, etc. The communication unit 409 allows the electronic device 400 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
In some embodiments, the positioning method of the sensor network node may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 408. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 400 via the ROM 402 and/or the communication unit 409. When loaded into RAM 403 and executed by processor 401, may perform one or more steps of the positioning method of a sensor network node described above. Alternatively, in other embodiments, the processor 401 may be configured by any other suitable means (e.g., by means of firmware) to perform the positioning method of the sensor network node.
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the Internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired result of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A positioning method of a sensor network node is applied to a node to be positioned in a wireless sensor network, and is characterized by comprising the following steps:
determining each reference node of the node to be positioned in the area to be positioned, and acquiring a target received signal strength set of the node to be positioned and a target received signal strength set of each reference node;
determining an arrival angle ranging AOA area corresponding to the node to be positioned in the area to be positioned; wherein the AOA region comprises at least one reference node; the reference nodes in the AOA region are a subset of the reference nodes in the region to be located;
calculating a Euclidean distance value between the node to be positioned and each reference node in the AOA area according to the target received signal strength set of the node to be positioned and the target received signal strength set of each reference node in the AOA area;
and acquiring the position data of the node to be positioned according to the Euclidean distance value between the node to be positioned and each reference node in the AOA area.
2. The method of claim 1, further comprising, prior to calculating a euclidean distance value between the node to be located and each reference node in the AOA region based on a target received signal strength set for the node to be located and a target received signal strength set for each reference node in the AOA region:
according to the target received signal strength set of each reference node and the position data of each reference node, a position fingerprint database corresponding to all the reference nodes is constructed;
and querying the location fingerprint database to obtain a target received signal strength set of each reference node in the AOA area.
3. The method of claim 1, wherein determining each reference node for which the node to be positioned is in a region to be positioned comprises:
determining the area where the node to be positioned is located to obtain the area to be positioned;
acquiring the positioning precision of the node to be positioned;
and dividing the area to be positioned into a plurality of grids according to the positioning precision, and taking each grid vertex of each grid as each reference node in the area to be positioned.
4. The method of claim 1, wherein obtaining the target set of received signal strengths for the node to be positioned and the target set of received signal strengths for the reference nodes comprises:
acquiring signal strength of signals from different signal transmitting nodes received by the node to be positioned to obtain an original received signal strength set of the node to be positioned, and performing filtering processing on the original received signal strength set of the node to be positioned to obtain a target received signal strength set of the node to be positioned;
and acquiring the signal intensity of signals from different signal transmitting nodes received by each reference node to obtain an original received signal intensity set of each reference node, and performing filtering processing on the original received signal intensity set of each reference node to obtain a target received signal intensity set of each reference node.
5. The method according to claim 4, wherein determining, in the area to be located, an AOA area corresponding to the node to be located comprises:
determining the minimum signal coverage overlapping area of the different signal transmitting nodes in the area to be positioned;
acquiring the number of signal coverage areas where each reference node is located in the minimum signal coverage overlapping area;
and determining an area formed by at least one reference node with the largest number of signal coverage areas as an AOA area corresponding to the node to be positioned.
6. The method of claim 2, wherein obtaining the position data of the node to be positioned according to the euclidean distance value between the node to be positioned and each reference node in the AOA region comprises:
determining at least one target reference node in the AOA area according to Euclidean distance values between the node to be positioned and each reference node in the AOA area, and determining weight coefficients corresponding to the at least one target reference node respectively;
and acquiring the position data of the node to be positioned according to the weight coefficient respectively corresponding to the at least one target reference node and the position data of each target reference node.
7. The method of claim 6, wherein determining at least one target reference node in the AOA region according to Euclidean distance values between the node to be located and each reference node in the AOA region comprises:
sorting Euclidean distance values between the node to be positioned and each reference node in the AOA region from small to large to obtain a sorting result;
taking the reference nodes corresponding to the Euclidean distance values of the number of front targets in the sequencing result as the at least one target reference node;
determining the weight coefficients respectively corresponding to the at least one target reference node, including:
and taking the reciprocal of the Euclidean distance value corresponding to each target reference node as a weight coefficient of each target reference node.
8. A positioning device of a sensor network node is applied to a node to be positioned in a wireless sensor network, and is characterized by comprising the following components:
a target received signal strength set acquisition module, configured to determine each reference node of the node to be positioned in the region to be positioned, and acquire a target received signal strength set of the node to be positioned and a target received signal strength set of each reference node;
the AOA area determining module is used for determining an arrival angle ranging AOA area corresponding to the node to be positioned in the area to be positioned; wherein the AOA region comprises at least one reference node; the reference nodes in the AOA region are a subset of the reference nodes in the region to be located;
a euclidean distance value calculating module, configured to calculate a euclidean distance value between the node to be positioned and each reference node in the AOA region according to the target received signal strength set of the node to be positioned and the target received signal strength set of each reference node in the AOA region;
and the position data acquisition module of the node to be positioned is used for acquiring the position data of the node to be positioned according to the Euclidean distance value between the node to be positioned and each reference node in the AOA area.
9. An electronic device, characterized in that the electronic device comprises:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of positioning of a sensor network node of any one of claims 1-7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions for causing a processor to carry out the method of positioning a sensor network node of any one of claims 1-7 when executed.
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| CN117949991A (en) * | 2024-03-27 | 2024-04-30 | 北京智芯微电子科技有限公司 | Equipment positioning method and device |
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