CN117956576A - DV-Hop positioning method and system based on Hop count and Hop distance optimization - Google Patents
DV-Hop positioning method and system based on Hop count and Hop distance optimization Download PDFInfo
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Abstract
The invention discloses a DV-Hop positioning method and system based on Hop count and Hop distance optimization, and relates to the technical field of wireless sensor network positioning. The method comprises the following steps: the anchor node adopts a plurality of communication radiuses to broadcast, so as to obtain a distribution degree variable of the anchor node, and a hop count correction coefficient is determined; correcting the minimum hop count by using the hop count correction coefficient to obtain an optimized anchor node average hop distance; calculating the average jump distance of the unknown node according to the optimized average jump distance of the anchor node; calculating the estimated distance between the unknown node and the anchor node according to the calculated average hop distance of the unknown node and the corrected minimum hop number; and calculating the position coordinates of the unknown node by using a least square method based on the estimated distance. The invention can solve the problem of larger node positioning error in the network area with uneven distribution (such as irregular network area of C type or Z type, etc.), and satisfies the actual application requirement.
Description
Technical Field
The invention relates to the technical field of wireless sensor network positioning, in particular to a DV-Hop (Distance Vector-Hop) positioning method and system based on Hop count and Hop Distance optimization.
Background
Node location is one of the key support technologies for wireless sensor networks. The method is mainly divided into a positioning algorithm based on distance measurement and a positioning algorithm based on non-distance measurement according to a distance measurement mode. The positioning algorithm based on distance measurement estimates the position mainly by directly measuring the distance and angle information between nodes, and has small positioning error, but requires higher hardware cost. The positioning algorithm based on non-ranging is mainly used for estimating the position of an unknown node through network connectivity or training a matching model, and has low dependence on hardware, but low positioning accuracy. Since it is not realistic to configure a GPS positioning module for a sensor node in each wireless sensor network in consideration of the influence factors of power consumption, lifetime, line-of-sight conditions, deployment environment, etc. of the sensor node itself, many scholars propose a wireless sensor network positioning scheme based on non-ranging to solve this problem.
The DV-Hop positioning algorithm is a positioning algorithm based on vector routing, and has the advantages of low hardware cost, easiness in implementation and the like. The DV-Hop positioning algorithm mainly determines the position of an unknown node according to Hop count information and distance information among nodes.
At present, most positioning algorithms assume that nodes are deployed under a regular area, but in practical application, the node distribution area is often irregular, and a communication path between the nodes is caused to be tortuous by holes or obstacles. The conventional DV-Hop positioning algorithm adopts a simple Hop count multiplied by an average Hop distance estimation distance, so long as all nodes in the node communication radius are defined as one Hop, the fact that the one Hop distances among the nodes are not necessarily equal is not considered, and particularly when the node density is high, the generated error is larger, a certain deviation exists between the actual distance from an unknown node to an anchor node, and the larger the Hop count of the node is, the larger the error is. In addition, the unknown node selects the average each-hop distance of the anchor node closest to the unknown node as the average hop distance of the unknown node to calculate the estimated distance, the network distribution situation around the anchor node is ignored, and the positioning error of the unknown node can be influenced by the error of the average hop distance of the anchor node. In the area with uneven distribution, the distance difference of the nodes can change along with the distribution condition, so that the problem of larger multi-hop distance error is caused, and the positioning accuracy is reduced.
Disclosure of Invention
The invention aims to provide a DV-Hop positioning method and a DV-Hop positioning system based on Hop count and Hop distance optimization, which can solve the problem of large node positioning error of nodes in a network area with uneven distribution (such as an irregular network area with C type or Z type and the like) and meet the actual application requirements.
In order to achieve the above object, in a first aspect, an embodiment of the present invention provides a DV-Hop positioning method based on Hop count and Hop distance optimization, the method comprising:
The anchor node adopts a plurality of communication radiuses to broadcast, so as to obtain a distribution degree variable of the anchor node, and a hop count correction coefficient is determined; correcting the minimum hop count by using the hop count correction coefficient to obtain an optimized average hop distance of the anchor node;
calculating the average jump distance of the unknown node according to the optimized average jump distance of the anchor node;
Calculating the estimated distance between the unknown node and the anchor node according to the calculated average hop distance of the unknown node and the corrected minimum hop number; and calculating the position coordinates of the unknown node by using a least square method based on the estimated distance.
As a preferred embodiment, the anchor node uses multiple communication radii for broadcasting, specifically including:
dividing a node area within a maximum communication distance R into a plurality of grades p, wherein p=1, 2,3 … … N, and N is a positive integer; each grade corresponds to a communication radius of
Each anchor node corresponds to the communication radius of different gradesPerforming multiple broadcasting; when broadcasting, the anchor node carries a data packet containing own position coordinates, the current communication radius and hop count information initialized to 0, after other nodes receive the data packet, the current communication radius is recorded, neighbor nodes are marked, the number of the neighbor nodes is counted, the hop count value in the data packet is increased by 1, the content in the data packet is stored, and then the data packet is forwarded to the neighbor nodes;
if the node receives the data packet from the same anchor node, comparing and storing the hop count information with smaller hop count value as the minimum hop count from the anchor node to the node.
As a preferred embodiment, the obtaining the distribution degree variable of the anchor node, determining the hop count correction coefficient specifically includes:
After all broadcasting ends, each anchor node obtains node distribution conditions of the nodes in different communication ranges, and defines the distribution degree variable of the anchor node as
Each anchor node is according to the distribution degree variable of the anchor nodeAnd the total number of neighbor nodes C i (R) within the maximum communication distance R, calculating a hop count correction coefficient delta i, wherein the calculation formula is as follows:
and performing flooding broadcasting on the calculated hop count correction coefficient delta i.
As a preferred embodiment, the correcting the minimum hop count to obtain the optimized average hop distance of the anchor node specifically includes:
Each anchor node corrects the node hop of the corresponding anchor node contained in the data packet according to the received hop count correction coefficient delta i broadcasted by each anchor node, and corrects the corresponding minimum hop count;
And each anchor node obtains an optimized average hop distance hopsize i of the anchor node by using the position coordinates of the anchor node and the corrected minimum hop count, and broadcasts the optimized average hop distance hopsize i to other nodes.
As a preferred embodiment, hopsize i has the following formula:
Where (x i,yi),(xu,yu) is the coordinates of anchor nodes i and u, and h iu is the minimum number of hops after correction from anchor node i to anchor node u.
As a preferred embodiment, the calculating the average hop distance of the unknown node according to the optimized average hop distance of the anchor node adopts the following ways: firstly, determining a selectable anchor node set of the unknown node, and then selecting different calculation modes according to the minimum hop count segmentation to calculate the average hop distance of the unknown node.
As a preferred embodiment, the determining the optional anchor node set of the unknown node, and selecting different calculation modes according to the minimum hop count segment to calculate the average hop distance of the unknown node specifically includes:
Setting a minimum hop threshold H of the anchor node and the unknown node, and selecting the anchor nodes meeting the minimum hop threshold H to form an optional anchor node set of the unknown node;
Dividing according to the minimum hop count of the unknown node and the anchor nodes in the set; if the minimum hop count is less than or equal to 1, selecting the average hop distance of the anchor node as the average hop distance of the unknown node; and if the minimum hop count is greater than 1, calculating the average hop count of the unknown node according to the relation weighting of the distribution coefficient, the average hop count and the communication radius.
As a preferred embodiment, the following requirements are met when setting the minimum hop count threshold H for an anchor node and an unknown node:
Wherein R is the maximum communication distance, P is the anchor node proportion, L is the area side length, M is the minimum anchor node number for positioning unknown nodes, and N is the total node number in the area.
As a preferred embodiment, the calculating the average hop distance of the unknown node according to the relation weighting of the distribution coefficient, the average hop distance and the communication radius specifically includes:
Calculating the average connectivity C avg of the anchor node, wherein the calculation formula is as follows Wherein q is the total number of anchor nodes meeting the minimum hop threshold H, and C i (R) is the total number of neighbor nodes within the maximum communication distance R;
calculating distribution coefficient epsilon i, wherein the calculation formula is
The weight coefficient omega i of the anchor node is calculated, and the calculation formula is as followsWherein hopsize i is the average jump distance of the anchor node after optimization;
Calculating the average jump hopsize k of the unknown node, wherein the calculation formula is as follows
In a second aspect, an embodiment of the present invention further provides a DV-Hop positioning system based on Hop count and Hop distance optimization applying the method in the embodiment of the first aspect, including:
The broadcasting and correction coefficient determining module is used for controlling the anchor nodes to broadcast by adopting multiple communication radiuses to obtain the distribution degree variable of the anchor nodes and determining the hop count correction coefficient;
the anchor node hop count correction and hop distance optimization module is used for correcting the minimum hop count by utilizing the hop count correction coefficient to obtain an optimized anchor node average hop distance;
The unknown node average jump distance calculation module is used for calculating the average jump distance of the unknown node according to the optimized anchor node average jump distance;
The distance estimation and coordinate calculation module is used for calculating the estimated distance between the unknown node and the anchor node according to the calculated average hop distance of the unknown node and the corrected minimum hop count; and calculating the position coordinates of the unknown node by using a least square method based on the estimated distance.
The invention has the beneficial effects that:
(1) According to the invention, through broadcasting with different communication radiuses for a plurality of times, the anchor node can acquire node distribution conditions of other nodes (including other anchor nodes and unknown nodes) in different communication ranges, so that an anchor node distribution degree variable is obtained; the hop count correction coefficient is determined according to the distribution degree variable of the anchor node, and the minimum hop count is corrected by utilizing the hop count correction coefficient, so that the hop count error can be effectively reduced, the average hop distance of the anchor node is optimized, the positioning accuracy is improved, and the actual application requirement is met.
(2) In the invention, when calculating the average jump distance of the unknown node, a mode of firstly determining the optional anchor node set of the unknown node and then selecting different calculation modes according to the minimum jump number section to calculate the average jump distance of the unknown node is adopted. According to the calculation mode, the influence degree of the node distribution condition on the average jump distance of the unknown node is fully considered, the average jump distance of the unknown node is calculated by selecting the average jump distance of the anchor node which meets the jump number requirement and has relatively uniform node density distribution, and the positioning error of the unknown node can be effectively reduced, so that the positioning precision of the DV-Hop positioning algorithm in an irregular area is further improved.
Drawings
FIG. 1 is a flowchart of a DV-Hop positioning method based on Hop count and Hop distance optimization in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a node topology in a C-type region employed in simulation analysis;
FIG. 3 is a schematic diagram of a node topology in a Z-shaped region used in simulation analysis;
FIG. 4 is a schematic diagram of the effect of different communication radii on positioning errors in a simulation analysis;
Fig. 5 is a block diagram of a DV-Hop positioning system based on Hop count and Hop distance optimization in an embodiment of the present invention.
In the figure: 10-broadcasting and correction coefficient determining module, 20-anchor node hop count correction and hop distance optimizing module, 30-unknown node average hop distance calculating module, 40-distance estimating and coordinate calculating module.
Detailed Description
In practical application, the node distribution area is an irregular area, and the communication path between the nodes is bent due to the fact that the node distribution area is provided with holes or barriers, so that the difficulty of distance estimation is increased. The traditional DV-Hop positioning algorithm does not consider that the actual one-Hop distances between the nodes are not necessarily equal, so that a certain deviation exists between the actual distances between the unknown nodes and the anchor nodes; the average each-hop distance of the anchor node closest to the unknown node is selected as the average hop distance of the unknown node to calculate the estimated distance, so that the network distribution situation around the anchor node is ignored, the error of the average hop distance of the anchor node can influence the positioning error of the unknown node, and the problem of larger multi-hop distance error is caused, so that the positioning precision is reduced. The invention aims to provide a DV-Hop positioning method and a DV-Hop positioning system based on Hop count and Hop distance optimization, which can solve the problem of large node positioning error of nodes in a network area with uneven distribution (such as an irregular network area with C type or Z type and the like), improve positioning accuracy and meet actual application requirements.
The main design thought is as follows: the anchor node adopts a plurality of communication radiuses to broadcast, so as to obtain a distribution degree variable of the anchor node, and a hop count correction coefficient is determined; correcting the minimum hop count by using the hop count correction coefficient to obtain an optimized average hop distance of the anchor node; calculating the average jump distance of the unknown node according to the optimized average jump distance of the anchor node; calculating the estimated distance between the unknown node and the anchor node according to the calculated average hop distance of the unknown node and the corrected minimum hop number; and calculating the position coordinates of the unknown node by using a least square method based on the estimated distance.
In the main design scheme, through broadcasting with different communication radiuses for a plurality of times, the anchor node can acquire node distribution conditions of other nodes (including other anchor nodes and unknown nodes) in different communication ranges, so that an anchor node distribution degree variable is acquired; the hop count correction coefficient is determined according to the distribution degree variable of the anchor node, and the minimum hop count is corrected by utilizing the hop count correction coefficient, so that the hop count error can be effectively reduced, the average hop distance of the anchor node is optimized, the positioning accuracy is improved, and the actual application requirement is met.
In order to make the technical problems, technical solutions and advantages to be solved more apparent, the technical solutions of the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
However, it should be noted that: the examples to be presented below are only a few specific examples and are not intended to limit the embodiments of the present invention to the following specific steps, values, conditions, data, sequences, etc. Those skilled in the art can, upon reading the present specification, make and use the concepts of the invention to construct further embodiments not mentioned in the specification.
Example 1
Referring to fig. 1, the present embodiment provides a DV-Hop positioning method based on Hop count and Hop distance optimization, which can be applied to an irregular wireless sensor network area (such as a typical C-type or Z-type network area) where anchor nodes with known own position coordinate information and unknown nodes with own positions to be positioned are randomly deployed, and the maximum communication distance between the nodes is set as a communication radius R. The DV-Hop positioning method comprises the following steps:
Step A, broadcasting by using multiple communication radiuses by the anchor nodes to obtain a distribution degree variable of the anchor nodes, and determining a hop count correction coefficient; and correcting the minimum hop count by using the hop count correction coefficient to obtain the optimized average hop distance of the anchor node.
It will be appreciated that there is some impact on the minimum number of hops of the anchor node due to the distribution of nodes, and that the more hops, the greater the deviation. And the hop count value between the nodes has a great influence on the estimated distance. Therefore, if the number of hops can be made more accurate, the more accurate the estimated distance will be, and the lower the positioning error of the overall positioning method will be.
In this embodiment, in order to make the hop count more accurate, a hop count correction coefficient is determined according to the distribution degree of other nodes corresponding to the anchor node (i.e., according to the distribution degree variable of the anchor node), and the minimum hop count is corrected by using the hop count correction coefficient, so as to reduce the hop count error, thereby optimizing the average hop distance of the anchor node. In order to confirm the distribution condition of the nodes, in this embodiment, a mode of broadcasting with multiple communication radii is adopted, and a region dividing mechanism is introduced to divide the node region within the maximum communication distance into multiple levels, and different levels correspond to different communication radii; through broadcasting of different communication radiuses for a plurality of times, the anchor node can acquire node distribution conditions of other nodes in different communication ranges.
Illustratively, as an alternative embodiment, the anchor node uses multiple communication radii for broadcasting, specifically including:
1. Dividing a node area within the maximum communication distance into a plurality of grades p, wherein p=1, 2,3 … … N, and N is a positive integer; each grade corresponds to a communication radius of
For example, assuming that the node area is divided into three levels, i.e., p=1, 2,3, three communication radii corresponding to the three levels are R,Then, when the following anchor node uses multiple communication radii for broadcasting, the following anchor node will follow the communication radiiR are broadcast three times in sequence.
2. Each anchor node corresponds to the communication radius of different gradesPerforming multiple broadcasting; when broadcasting, the anchor node carries a data packet containing own position coordinates, the current communication radius and hop count information initialized to 0, after other nodes (including other anchor nodes and unknown nodes) receive the data packet, the current communication radius is recorded, neighbor nodes are marked, the number of the neighbor nodes is counted, the hop count value in the data packet is increased by 1, the content in the data packet is stored, and then the data packet is forwarded to the neighbor nodes; if the node receives the data packet from the same anchor node, comparing and storing the hop count information with smaller hop count value as the minimum hop count from the anchor node to the node. It can be understood that in practical application, when the number of neighboring nodes is counted after the other nodes receive the data packet, the statistics is performed according to the number of the received data packet sent by the last node. For example: and when the node C receives the data packets sent by the node A and the node B through one hop, the node A and the node B are marked as neighbor nodes, and meanwhile, the number of the neighbor nodes is counted to be 2.
Further, as an optional implementation manner, obtaining a node distribution degree variable, and determining a hop count correction coefficient specifically includes:
1. after all broadcasting ends, each anchor node obtains node distribution conditions of other nodes in different communication ranges, and defines node distribution degree variables as It can be understood that in practical application, when each anchor node obtains node distribution conditions of other nodes (including other anchor nodes and unknown nodes) in different communication ranges, the node distribution conditions can be obtained according to the number of the neighbor nodes counted in different communication ranges. Specifically, when acquiring the distribution situation of other nodes, each anchor node can be obtained according to the number of the neighbor nodes counted after broadcasting, and the anchor node determines according to the information of which nodes are marked as neighbor nodes when counting the neighbor nodes. For example, after the anchor node a receives the broadcast data packet, if the node B and the node C receive the broadcast data packet, the node B and the node C will mark the anchor node a as neighboring nodes after receiving the data packet and continue forwarding (flooding broadcast); and anchor node a acts as a node within the broadcast range, receives the data packets (corresponding to the packets) from node B and node C. When the anchor node a counts the neighbor nodes, the anchor node a can mark the neighbor nodes as neighbor nodes according to the data packets sent by the node B and the node C, and the number of the neighbor nodes is counted to be 2.
2. Each anchor node is according to the node distribution degree variableAnd the total number of neighbor nodes C i (R) within the maximum communication distance R, calculating a hop count correction coefficient delta i, wherein the calculation formula is/>And performing flooding broadcasting on the calculated hop count correction coefficient delta i.
Further, as an optional implementation manner, the minimum hop count is corrected to obtain an optimized average hop distance of the anchor node, which specifically includes:
1. Each anchor node corrects the node one-hop of the corresponding anchor node contained in the data packet according to the received hop count correction coefficient delta i broadcast by each anchor node, and the corresponding minimum hop count is corrected accordingly. It will be appreciated that since only the anchor node is a node whose own position coordinate information is known, this embodiment corrects only one hop of the anchor node contained therein, and does not correct one hop of an unknown node when correcting the minimum hop count.
For example, assume that the communication path of anchor node i to anchor node u is: anchor node i-unknown node a-anchor node o-anchor node u, and assuming that the communication path is the only communication path. The hop count information in the packet from anchor node i retained by anchor node u is the minimum hop count from anchor node i to anchor node u, i.e., 1+1+1=3 hops.
Suppose that at this time, the hop count correction coefficients δ i、δo broadcast by the anchor node u and the anchor node i are 0.8 and 0.6, respectively. Then, correcting the node one-hop of the anchor node i to obtain that the corrected one-hop is h i＝δi x 1=0.8; and correcting the node one-hop of the anchor node o to obtain that the corrected one-hop is h o＝δo x 1=0.6. Finally, the minimum hop count h iu＝hi+1+ho =0.8+1+0.6=2.4 hops after the correction from anchor node i to anchor node u can be obtained.
2. And each anchor node obtains an optimized average hop distance hopsize i of the anchor node by using the position coordinates of the anchor node and the corrected minimum hop count, and broadcasts the optimized average hop distance hopsize i to other nodes.
The calculation formula of the average jump distance hopsize i after anchor node optimization is as follows:
Where (x i,yi),(xu,yu) is the coordinates of anchor nodes i and u, and h iu is the minimum number of hops after correction from anchor node i to anchor node u.
And B, calculating the average jump distance of the unknown node according to the optimized average jump distance of the anchor node.
It can be appreciated that in the conventional DV-Hop positioning algorithm, the unknown node selects the average per-Hop distance of the anchor node closest to itself as the average Hop distance of itself to calculate the estimated distance. However, in an irregular network, the nodes are unevenly distributed, the average hop distance of the areas with dense node distribution is smaller, and the single selection of a certain average hop distance cannot accurately reflect the distribution condition of the whole network. And because the network distribution situation around the anchor node is ignored, the error of the average jump distance of the anchor node can influence the positioning error of the unknown node. In the area with uneven distribution, the distance difference of the nodes can change along with the distribution condition, so that the problem of larger multi-hop distance error is caused, and the positioning accuracy is reduced.
Therefore, in order to further improve the positioning accuracy of the DV-Hop positioning algorithm in the irregular area, when the average Hop distance of the unknown node is calculated, the embodiment fully considers the influence degree of the node distribution condition on the average Hop distance of the unknown node, calculates the average Hop distance of the unknown node by selecting the average Hop distance of the anchor node which meets the Hop number requirement and has relatively uniform node density distribution, and can effectively reduce the positioning error of the unknown node.
Illustratively, as a preferred implementation manner, in this embodiment, the average hop distance of the unknown node is calculated according to the optimized average hop distance of the anchor node, and the following manner is adopted: firstly, determining a selectable anchor node set of the unknown node, and then selecting different calculation modes according to the minimum hop count segmentation to calculate the average hop distance of the unknown node. The method specifically comprises the following steps:
1. Setting a minimum hop threshold H of the anchor node and the unknown node, and selecting the anchor nodes meeting the minimum hop threshold H to form an optional anchor node set of the unknown node.
Further, as an alternative embodiment, when the minimum hop count threshold H is set, the following requirements may be satisfied:
wherein, P is the anchor node ratio (the anchor node ratio is the ratio of the number of anchor nodes in the area to the number of all nodes in the area), L is the area side length, M is the minimum number of anchor nodes (usually 3 or more, 3 is selected in this embodiment) available for positioning unknown nodes, and N is the total number of nodes in the area.
2. Dividing according to the minimum hop count of the unknown node and the anchor nodes in the set; if the minimum hop count is less than or equal to 1, selecting the average hop distance of the anchor node as the average hop distance of the unknown node; and if the minimum hop count is greater than 1, calculating the average hop count of the unknown node according to the relation weighting of the distribution coefficient, the average hop count and the communication radius.
Further, as an optional implementation manner, in this embodiment, the calculating the average hop distance of the unknown node according to the relation weighting of the distribution coefficient, the average hop distance and the communication radius may specifically include:
2.1, calculating the average connectivity C avg of the anchor node, wherein the calculation formula is as follows:
wherein q is the total number of anchor nodes satisfying the minimum hop count threshold H.
2.2, Calculating a distribution coefficient epsilon i, wherein the calculation formula is as follows:
2.3, calculating a weight coefficient omega i of the anchor node, wherein the calculation formula is as follows:
2.4, calculating an average jump hopsize k of the unknown node, wherein the calculation formula is as follows:
Therefore, in this embodiment, different calculation modes are selected according to the minimum hop count segment to calculate the average hop distance of the unknown node, and the calculation formula can be summarized as follows:
step C, calculating the estimated distance between the unknown node and the anchor node according to the calculated average hop distance of the unknown node and the corrected minimum hop number; and calculating the position coordinates of the unknown node by using a least square method based on the estimated distance.
In order to verify the real effect of the method, the DV-Hop positioning method based on Hop count and Hop distance optimization utilizes MATLAB to carry out simulation analysis.
The simulation environment is as follows: an irregular wireless sensor network area with the size of 100 multiplied by 100 square meters, nodes (anchor nodes and unknown nodes) are randomly distributed in the network area, and the communication radius of the nodes is R. All experimental results were based on the average of 100 simulation experiments. As shown in fig. 2 and 3, which are irregular network areas (C-type and Z-type topologies), the star in the figure represents an anchor node, the circle represents an unknown node, the total number of nodes is set to 100, and the anchor node ratio is 30%. In order to examine the positioning capability of the positioning method, the positioning method (DHDV-Hop) provided by the invention and the traditional DV-Hop positioning method are subjected to simulation test under different communication radiuses by adopting a C-type and Z-type irregular topological network structure.
As can be seen from the simulation results shown in fig. 4, when the communication radius is smaller than 25m, the trend of the positioning error is more remarkable. With the increase of the communication radius, the connectivity of nodes in the network is increased, and the positioning error is smaller. The positioning error of the invention (DHDV-Hop) is smaller than that of the traditional DV-Hop under the same network topology structure, and the influence of the positioning algorithm on the positioning error is smaller for different irregular network areas.
Example two
Referring to fig. 5, based on the same inventive concept, an embodiment of the present invention further provides a DV-Hop positioning system based on Hop count and Hop distance optimization, which includes:
The broadcasting and correction coefficient determining module 10 is used for controlling the anchor node to broadcast by adopting multiple communication radiuses to obtain a distribution degree variable of the anchor node and determining a hop count correction coefficient;
The anchor node hop count correction and hop distance optimization module 20 is configured to correct the minimum hop count by using the hop count correction coefficient, so as to obtain an optimized anchor node average hop distance;
An unknown node average hop-distance calculation module 30, configured to calculate an average hop-distance of the unknown node according to the optimized average hop-distance of the anchor node;
A distance estimation and coordinate calculation module 40, configured to calculate an estimated distance between the unknown node and the anchor node according to the calculated average hop distance of the unknown node and the corrected minimum hop count; and calculating the position coordinates of the unknown node by using a least square method based on the estimated distance.
It can be understood that, by adopting the system of the embodiment, the anchor node can obtain node distribution conditions of other nodes in different communication ranges through broadcasting with different communication radiuses for a plurality of times; the hop count correction coefficient is determined according to the obtained anchor node distribution degree variable, and the minimum hop count is corrected by utilizing the hop count correction coefficient, so that the hop count error can be effectively reduced, the average hop distance of the anchor nodes is optimized, the positioning accuracy is improved, and the actual application requirements are met.
It should be noted that, various modifications and specific examples of the foregoing method embodiment are equally applicable to the system of the present embodiment, and those skilled in the art will be aware of the implementation method of the apparatus of the present embodiment through the foregoing detailed description of the method, so they will not be described in detail herein for brevity of description.
Note that: the foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
The terms "comprising" and "having" and any variations thereof in the description and claims of the application and in the foregoing drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus. The terms "first," "second," and "third," etc. are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order, and are not limited to the fact that "first," "second," and "third" are not identical.
In describing embodiments of the present application, "exemplary," "such as," or "for example," etc., are used to indicate by way of example, illustration, or description. Any embodiment or design described herein as "exemplary," "such as" or "for example" is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "such as" or "for example," etc., is intended to present related concepts in a concrete fashion.
In the description of the embodiments of the present application, unless otherwise indicated, "/" means or, for example, a/B may represent a or B; the text "and/or" is merely an association relation describing the associated object, and indicates that three relations may exist, for example, a and/or B may indicate: the three cases where a exists alone, a and B exist together, and B exists alone, and furthermore, in the description of the embodiments of the present application, "plural" means two or more than two.
In some of the processes described in the embodiments of the present application, a plurality of operations or steps occurring in a particular order are included, but it should be understood that the operations or steps may be performed out of the order in which they occur in the embodiments of the present application or in parallel, the sequence numbers of the operations merely serve to distinguish between the various operations, and the sequence numbers themselves do not represent any order of execution. In addition, the processes may include more or fewer operations, and the operations or steps may be performed in sequence or in parallel, and the operations or steps may be combined.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising several instructions for causing a terminal device to perform the method according to the embodiments of the present application.
The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the application, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (10)
1. The DV-Hop positioning method based on Hop count and Hop distance optimization is characterized by comprising the following steps:
The anchor node adopts a plurality of communication radiuses to broadcast, so as to obtain a distribution degree variable of the anchor node, and a hop count correction coefficient is determined; correcting the minimum hop count by using the hop count correction coefficient to obtain an optimized average hop distance of the anchor node;
calculating the average jump distance of the unknown node according to the optimized average jump distance of the anchor node;
Calculating the estimated distance between the unknown node and the anchor node according to the calculated average hop distance of the unknown node and the corrected minimum hop number; and calculating the position coordinates of the unknown node by using a least square method based on the estimated distance.
2. A DV-Hop positioning method based on Hop count and Hop distance optimization as in claim 1, wherein said anchor node uses multiple communication radii for broadcasting, comprising:
dividing a node area within a maximum communication distance R into a plurality of grades p, wherein p=1, 2,3 … … N, and N is a positive integer; each grade corresponds to a communication radius of
Each anchor node corresponds to the communication radius of different gradesPerforming multiple broadcasting; when broadcasting, the anchor node carries a data packet containing own position coordinates, the current communication radius and hop count information initialized to 0, after other nodes receive the data packet, the current communication radius is recorded, neighbor nodes are marked, the number of the neighbor nodes is counted, the hop count value in the data packet is increased by 1, the content in the data packet is stored, and then the data packet is forwarded to the neighbor nodes;
if the node receives the data packet from the same anchor node, comparing and storing the hop count information with smaller hop count value as the minimum hop count from the anchor node to the node.
3. The DV-Hop positioning method based on Hop count and Hop distance optimization as in claim 2, wherein said obtaining the distribution degree variable of the anchor node, determining the Hop count correction coefficient, comprises:
After all broadcasting ends, each anchor node obtains node distribution conditions of the nodes in different communication ranges, and defines the distribution degree variable of the anchor node as
Each anchor node is according to the distribution degree variable of the anchor nodeAnd the total number of neighbor nodes C i (R) within the maximum communication distance R, calculating a hop count correction coefficient delta i, wherein the calculation formula is as follows:
and performing flooding broadcasting on the calculated hop count correction coefficient delta i.
4. A DV-Hop positioning method based on Hop count and Hop distance optimization as in claim 3, wherein said correcting the minimum Hop count to obtain the optimized average Hop distance of the anchor node specifically comprises:
Each anchor node corrects the node hop of the corresponding anchor node contained in the data packet according to the received hop count correction coefficient delta i broadcasted by each anchor node, and corrects the corresponding minimum hop count;
And each anchor node obtains an optimized average hop distance hopsize i of the anchor node by using the position coordinates of the anchor node and the corrected minimum hop count, and broadcasts the optimized average hop distance hopsize i to other nodes.
5. The DV-Hop positioning method based on Hop count and Hop distance optimization as in claim 4, wherein the calculation formula of hopsize i is:
Where (x i,yi),(xu,yu) is the coordinates of anchor nodes i and u, and h iu is the minimum number of hops after correction from anchor node i to anchor node u.
6. A DV-Hop positioning method based on Hop count and Hop optimization as in claim 1, wherein said calculating the average Hop of the unknown node according to the optimized average Hop of the anchor node is performed by:
firstly, determining a selectable anchor node set of the unknown node, and then selecting different calculation modes according to the minimum hop count segmentation to calculate the average hop distance of the unknown node.
7. The DV-Hop positioning method based on Hop count and Hop distance optimization as in claim 6, wherein said determining the optional anchor node set of the unknown node first, and selecting different calculation modes according to the minimum Hop count segment to calculate the average Hop distance of the unknown node comprises:
Setting a minimum hop threshold H of the anchor node and the unknown node, and selecting the anchor nodes meeting the minimum hop threshold H to form an optional anchor node set of the unknown node;
Dividing according to the minimum hop count of the unknown node and the anchor nodes in the set; if the minimum hop count is less than or equal to 1, selecting the average hop distance of the anchor node as the average hop distance of the unknown node; and if the minimum hop count is greater than 1, calculating the average hop count of the unknown node according to the relation weighting of the distribution coefficient, the average hop count and the communication radius.
8. The DV-Hop positioning method based on Hop count and Hop distance optimization as in claim 7, wherein when setting the minimum Hop count threshold H of the anchor node and the unknown node, the following requirements are satisfied:
Wherein R is the maximum communication distance, P is the anchor node proportion, L is the area side length, M is the minimum anchor node number for positioning unknown nodes, and N is the total node number in the area.
9. A DV-Hop positioning method based on Hop count and Hop optimization as in claim 7, wherein said calculating the average Hop of the unknown node according to the relation weight of the distribution coefficient, the average Hop and the communication radius comprises:
Calculating the average connectivity C avg of the anchor node, wherein the calculation formula is as follows Wherein q is the total number of anchor nodes meeting the minimum hop threshold H, and C i (R) is the total number of neighbor nodes within the maximum communication distance R;
calculating distribution coefficient epsilon i, wherein the calculation formula is
The weight coefficient omega i of the anchor node is calculated, and the calculation formula is as followsWherein hopsize i is the average jump distance of the anchor node after optimization;
Calculating the average jump hopsize k of the unknown node, wherein the calculation formula is as follows
10. A Hop count and Hop distance optimization based DV-Hop positioning system applying the method of any one of claims 1 to 9, comprising:
The broadcasting and correction coefficient determining module is used for controlling the anchor nodes to broadcast by adopting multiple communication radiuses to obtain the distribution degree variable of the anchor nodes and determining the hop count correction coefficient;
the anchor node hop count correction and hop distance optimization module is used for correcting the minimum hop count by utilizing the hop count correction coefficient to obtain an optimized anchor node average hop distance;
The unknown node average jump distance calculation module is used for calculating the average jump distance of the unknown node according to the optimized anchor node average jump distance;
The distance estimation and coordinate calculation module is used for calculating the estimated distance between the unknown node and the anchor node according to the calculated average hop distance of the unknown node and the corrected minimum hop count; and calculating the position coordinates of the unknown node by using a least square method based on the estimated distance.
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