CN102186242A - Method for positioning mobile node of wireless sensor network in fixed area - Google Patents
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Abstract
The invention relates to a method for positioning mobile node of wireless sensor network in a fixed area, which comprises the following steps: a, placing M anchor points in a fixed area, assigning the coordinates of an anchor point as an origin of coordinates and measuring the distance between every two of all anchor points; b, putting a mobile node in the fixed area; c, finding out N-1 anchor points nearest to the mobile node within the communication range of the mobile node; and measuring the distance between the mobile node and the selected N-1 anchor points; d, measuring the distance between the mobile node and the anchor point serving as the origin of coordinates, and constructing a distance matrix; e, transforming the distance matrix to obtain a distance transformation matrix; f, carrying out eigenvalue decomposition on the obtained distance transformation matrix, and reconstructing according to the corresponding eigenvalue and corresponding eigenvector to obtain a positioning matrix; and g, calculating based on the position matrix and the coordinates of the selected N-1 anchor points to obtain the coordinates of the mobile node. The positioning method provided by the invention is easy to operate, safe and reliable, and has strong anti-jamming capability, high positioning accuracy and good adaptability.
Description
Technical Field
The invention relates to a mobile node positioning method, in particular to a fixed area wireless sensor network mobile node positioning method, and belongs to the technical field of wireless sensor network positioning.
Background
Wireless Sensor Network (WSN) node positioning has wide application prospect in a plurality of fields such as target tracking, security protection and military reconnaissance, modern logistics, intelligent transportation, commercial shopping guide, tour guide and the like.
The research of WSN originated in the 70's of the 20 th century and was first applied to the military. After the 21 st century, with the development of sensor technology, embedded technology, distributed information processing technology, wireless communication technology and network technology, WSNs consisting of a large number of micro-sensor nodes with micro-processing capabilities have been developed further, and their technologies have begun to be applied in a large number of non-military fields such as industry and agriculture, service industry, cultural industry, commerce and the like. In 2004, Japan introduced the national information strategy U-Japan based on the internet of things, and hoped to bring forward and lead a new generation of information technology revolution. The U-Japan aims to create a new information-oriented society through the ubiquitous Internet of things, and establish Japan as a gas-filled country, so that all nations, especially children and disabled people, can actively, effectively and conveniently participate in various social activities. After the olyma president has been in the united states, the united states also actively responds to the concept of "smart earth" proposed by IBM corporation, and quickly upgrades the internet of things construction plan to the national strategy. In the 11 th world conference of internet of things in 2009, european union experts introduced the action plan of internet of things of european union, aiming to lead europe to the development of the technology and industry of internet of things of the world. Under the large background, the internet of things industry is also highly valued by the government of China and is listed as one of the new national strategic industries, and the governments at all levels develop key support for the next generation information technology including the internet of things.
The existing target positioning method of the WSN is designed for specific environment and application, and no universal target positioning method exists at present. An invention patent application (application number WO2007002286) entitled "enable Sensor Localization for Wireless Sensor Networks" disclosed by european patent office on 4/1/2007 proposes a method for WSN node location based on a rule-based adaptive method. Firstly, measuring the distance between part of unknown nodes and adjacent anchor (anchor) nodes, solving the coordinates of the part of unknown nodes by adopting a geometrical optimization algorithm-Semi-Definite Programming Model (SDP), and then determining the solved unknown nodes as anchor nodes; and repeating the process continuously until the positioning of all unknown node coordinates in the network is finally realized. The patent application No. 200810103124.7, entitled "a node positioning method for wireless sensor network" disclosed by the chinese patent office on 8/27/2008, first constructs a local relative coordinate system for each local of the WSN, then fuses the local relative coordinates to obtain global relative coordinates of all nodes, and converts the global relative coordinates into global absolute coordinates using beacon nodes whose position information is known, and finally determines final node coordinates by an iterative refinement method. The patent office of china 16/3/2011 discloses an invention patent application (application number 201010538486.6) named as a wireless sensor network positioning method, which receives information which is broadcast and sent by a mobile anchor node and contains the position of the mobile anchor node through an unknown node, establishes a two-dimensional rectangular coordinate system for a WSN area, and determines the moving path of the mobile anchor point; and when the unknown node receives the information of the three anchor nodes, calculating the distance from each received anchor node to the unknown node, and finally positioning the unknown node according to a trilateration method. Other WSN node positioning methods also include a centroid method, a maximum likelihood estimation algorithm, a Distance Vector positioning algorithm (DV-HOP) based on Hop count, a least square positioning method, a multi-scale analysis positioning (MDS-MAP) method and the like.
Although academia has proposed many positioning algorithms for WSN nodes, in many practical applications, many algorithms have not been practically applied due to the influence of factors such as environment, network layout, node performance, algorithm complexity, and the like.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a method for positioning a mobile node of a fixed area wireless network sensor network, which has the advantages of convenient positioning operation, strong anti-interference capability, high positioning precision, good adaptability, safety and reliability.
According to the technical scheme provided by the invention, the mobile node positioning method of the fixed area wireless sensor network comprises the following steps:
a. placing M anchor points in a fixed area, wherein each M point in the fixed area is provided with a corresponding identification number, the coordinate of one anchor point is designated as a coordinate origin, the other anchor points in the fixed area determine corresponding coordinates according to the position relation with the anchor points serving as the coordinate origins, and the distances between every two anchor points in the fixed area are measured;
b. b, placing the mobile node into the fixed area in the step a, and storing the obtained pairwise distance values between all anchor points in the fixed area into the mobile node;
c. after the mobile node is placed and determined, the mobile node ranges from corresponding anchor points in a fixed area, and N-1 anchor points which are closest to the mobile node in the communication range of the mobile node are found, wherein N is more than 3, and M is more than N; measuring the distance between the mobile node and the selected N-1 anchor points;
d. measuring the distance between the mobile node and an anchor point serving as a coordinate origin, and constructing a distance matrix by using the distance between the mobile node and the anchor point serving as the coordinate origin, the distance between the mobile node and the selected N-1 anchor points and the pairwise distance between the N-1 anchor points;
e. d, transforming the distance matrix obtained in the step d to obtain a distance transformation matrix;
f. performing eigenvalue decomposition on the obtained distance transformation matrix, and recombining according to corresponding eigenvalues and eigenvectors corresponding to the eigenvalues to obtain a positioning matrix;
g. and calculating to obtain the coordinates of the mobile node through the positioning matrix and the coordinates of the selected N-1 anchor points, and completing the positioning of the mobile node.
And g, calculating to obtain the coordinates of the mobile node through the positioning matrix and the coordinates of the selected N-1 anchor points according to a trilateral positioning algorithm and a multi-dimensional scale transformation method.
And f, obtaining the eigenvalue of the distance matrix through singular value decomposition, and selecting the eigenvalue larger than 0 and the corresponding eigenvector to recombine to obtain the positioning matrix.
In the step a, coordinates of the anchor points in the fixed area are obtained by installing a positioning device on the anchor points or calibrating the anchor points.
In step c, the distance measurement between the mobile node and the selected anchor point is obtained by a method of receiving a signal strength indication, a signal arrival time or a signal arrival time difference.
In step d, when the anchor point as the origin of coordinates is located in the communication range of the mobile node, the distance between the mobile node and the anchor point as the origin of coordinates is obtained by a method of receiving signal strength indication, signal arrival time or signal arrival time difference; when the anchor point as the origin of coordinates is located outside the communication range of the mobile node, the distance between the mobile node and the anchor point as the origin of coordinates is obtained through the distance between the mobile node and the nearest routing anchor point and the distance between the nearest routing anchor point and the anchor point as the origin of coordinates; the nearest routing anchor point refers to the anchor point which is correspondingly closest to the mobile node in the communication route between the mobile node and the anchor point serving as the origin of coordinates.
In step e, the element values in the distance transformation matrix are:
wherein, bijRepresenting the value of an element in the ith row and jth column of the distance transformation matrix, d1iRepresenting the distance between the i-th anchor point selected within the communication range of the mobile node and the anchor point as the origin of coordinates, d1jRepresenting the distance between the jth anchor point selected within the communication range of the mobile node and the anchor point as the origin of coordinates, dijIndicating the distance between the ith anchor point and the jth anchor point in the communication range of the mobile node.
And obtaining a positioning matrix by selecting corresponding eigenvalue and recombining the corresponding eigenvector with the eigenvector corresponding to the eigenvalue:
wherein, V1Representing a matrix of eigenvectors corresponding to r eigenvalues greater than 0, D1Representing a diagonal matrix of r eigenvalues greater than 0.
The expression of the mobile node is
Wherein,to locate the first n elements of the n +1 th column of the matrix, XnAn N x 2 dimensional matrix of coordinates of N anchor points.
The positioning device comprises a global positioning system.
The invention has the advantages that: setting M anchor points in the fixed area, selecting one anchor point as a coordinate origin, and determining coordinates of the rest anchor points in the fixed area according to the relationship between the rest anchor points and the anchor points serving as the coordinate origin; after the mobile node is placed in the fixed area, selecting a corresponding anchor point in the communication range of the mobile node, constructing a distance matrix by using the distance relation among the mobile node, the correspondingly selected anchor point and the anchor point serving as the origin of coordinates, and obtaining a distance transformation matrix by carrying out transformation operation on the distance matrix to realize the adjustment of the element position and the relation in the distance matrix; singular value decomposition is carried out on the distance transformation matrix, and eigenvalues larger than 0 and corresponding eigenvectors are selected to construct a positioning matrix; obtaining a solving formula of the mobile node coordinate by combining a trilateral positioning algorithm and a multi-position scale transformation method, and realizing effective positioning of the mobile node coordinate; when positioning, positioning cannot be influenced due to the fault of the individual anchor point; in practical application, the influence of the barrier on the positioning precision can be effectively reduced; by decomposing the eigenvalue of the transformation matrix and selecting the eigenvector corresponding to the eigenvalue larger than 0 to reconstruct the positioning matrix, the adverse effect of the ranging error on the positioning precision can be effectively removed; the positioning method has the characteristics of clear physical meaning, correlation with network node distribution, accordance with the actual requirement of regional positioning, low involved calculation and communication overhead and high positioning precision; the method comprehensively considers the physical limitation factor of the node communication range and is adaptive to the resource limitation characteristics of positioning calculation, storage, energy and the like of the wireless sensor network node; the positioning operation is convenient, the anti-interference capability is strong, the positioning precision is high, the adaptability is good, and the safety and the reliability are realized.
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FIG. 1 is a flow chart of the present invention.
FIG. 2 is a schematic view of the positioning of the present invention.
Detailed Description
The invention is further illustrated by the following specific figures and examples.
As shown in fig. 1: in order to effectively and quickly locate a mobile node in a wireless network sensor network, the mobile node locating method comprises the following steps:
a. placing M anchor points in a fixed area, wherein each M point in the fixed area is provided with a corresponding identification number, the coordinate of one anchor point is designated as a coordinate origin, the other anchor points in the fixed area determine corresponding coordinates according to the position relation with the anchor points serving as the coordinate origins, and the distances between every two anchor points in the fixed area are measured;
the anchor point is a node with known coordinates in the wireless sensor network, and the coordinates of the anchor point in the fixed area can be obtained by installing a positioning device or manually calibrating; the positioning device can position for a Global Positioning System (GPS); a building can be arranged in the fixed area, the positioning of the mobile node cannot be influenced due to other anchor point faults after the fixed area is set, and the influence of obstacles on the positioning precision of the mobile node can be effectively reduced;
b. b, placing the mobile node into the fixed area in the step a, and storing the obtained pairwise distance values between all anchor points in the fixed area into the mobile node;
the distance between every two anchor points in the M anchor points in the fixed area can be obtained by a distance measurement technology, and the distance measurement technology can be obtained by methods such as universal Received Signal Strength Indication (RSSI), Signal Arrival Time (TOA), Signal Arrival Time difference (Time difference of Arrival) and the like;
c. after the mobile node is placed and determined, the mobile node ranges from corresponding anchor points in a fixed area, and N-1 anchor points which are closest to the mobile node in the communication range of the mobile node are found, wherein N is more than 3, and M is more than N; measuring the distance between the mobile node and the selected N-1 anchor points;
after the mobile node is placed in the fixed area, the anchor point exceeding the communication range of the mobile node cannot communicate with the mobile node due to the fact that the mobile node has a certain communication range; in order to construct a subsequent distance matrix, N-1 anchor points are required to be selected, wherein N is more than 3, and M is more than N; because the selected N-1 anchor points are positioned in the communication range of the mobile node, the method can be adopted to carry out direct ranging acquisition;
d. measuring the distance between the mobile node and an anchor point serving as a coordinate origin, and constructing a distance matrix by using the distance between the mobile node and the anchor point serving as the coordinate origin, the distance between the mobile node and the selected N-1 anchor points and the pairwise distance between the N-1 anchor points;
to determine the distance between the mobile node and the anchor point serving as the origin of coordinates, the communication range of the mobile node needs to be considered; when the anchor point as the coordinate origin is positioned in the communication range of the mobile node, the distance between the mobile node and the anchor point as the coordinate origin is obtained by a method of receiving signal strength indication, signal arrival time or signal arrival time difference; when the anchor point as the origin of coordinates is located outside the communication range of the mobile node, the distance between the mobile node and the anchor point as the origin of coordinates is obtained through the distance between the mobile node and the nearest routing anchor point and the distance between the nearest routing anchor point and the anchor point as the origin of coordinates; the nearest routing anchor point refers to the anchor point which is correspondingly closest to the mobile node in the communication route between the mobile node and the anchor point serving as the origin of coordinates; the distance matrix is a square matrix with dimension of N +1, and the distance relation among elements in the distance matrix is a mobile node, an anchor point serving as the origin of coordinates and N-1 anchor points selected in the communication range of the mobile node;
e. d, transforming the distance matrix obtained in the step d to obtain a distance transformation matrix;
the distance transformation matrix is Bn+1The expression of the corresponding element in the distance transformation matrix is:
wherein, bijRepresenting the value of an element in the ith row and jth column of the distance transformation matrix, d1iRepresenting the distance between the i-th anchor point selected within the communication range of the mobile node and the anchor point as the origin of coordinates, d1jRepresenting the distance between the jth anchor point selected within the communication range of the mobile node and the anchor point as the origin of coordinates, dijRepresenting the distance between the ith anchor point and the jth anchor point within the communication range of the mobile node, dijThe distance between the mobile node and the anchor point serving as the coordinate origin is included;
f. performing eigenvalue decomposition on the obtained distance transformation matrix, and recombining according to corresponding eigenvalues and eigenvectors corresponding to the eigenvalues to obtain a positioning matrix;
obtaining eigenvalues of the distance matrix through singular value decomposition, selecting eigenvalues larger than 0 and corresponding eigenvectors to recombine to obtain a positioning matrix; selecting a characteristic value with the characteristic value larger than 0 and a characteristic vector corresponding to the characteristic value, so that the adverse effect of the ranging error on the positioning precision can be effectively removed;
after the distance matrix is subjected to eigenvalue decomposition and corresponding eigenvalues and corresponding eigenvectors are selected, the expression of the distance matrix can be expressed as
Defining a new transformation matrix as a positioning matrix
In the above expression, D1A diagonal matrix of r eigenvalues greater than 0, V1A matrix composed of eigenvectors corresponding to the r eigenvalues greater than 0, D2A diagonal matrix consisting of the remaining n +1-r eigenvalues, V2Is D2A matrix composed of eigenvectors corresponding to the eigenvalues of (a);
is a matrix V1The rank of the transition of (c) is,
is a matrix V2Rank of (d);
g. calculating to obtain the coordinates of the mobile node through the positioning matrix and the coordinates of the selected N-1 anchor points, and completing the positioning of the mobile node;
calculating to obtain the coordinates of the mobile node through a positioning matrix and the coordinates of the selected N-1 anchor points according to a trilateral positioning algorithm and a multi-dimensional scale transformation method; during calculation, the following calculation formula is obtained through combination of a trilateral positioning algorithm and a multi-dimensional scale transformation method,
we can calculate the coordinates of the mobile node B as:
wherein,
is B'n+1The first n elements, X, of the n +1 th column of (1)nAn Nx 2-dimensional matrix of coordinates of N anchor points, xn+1Coordinates of the mobile node.
As shown in fig. 2: a schematic diagram of mobile node location is shown. The box with the outside in fig. 2 represents a set fixed area having therein corresponding two-dimensional coordinate values, and two mobile nodes a and B within the fixed area, wherein an anchor point as the origin of coordinates is located within the communication range of the mobile node a, and an anchor point as the origin of coordinates is located outside the communication range of the mobile node B.
When the mobile node A needs to be positioned, firstly, anchor points in the communication range of the mobile node A are selected, pairwise distances of the anchor points in the fixed area are stored in the mobile node A, and the distances between the mobile node A and the anchor points serving as the origin of coordinates are obtained through a conventional distance measurement mode. After the distance measurement is obtained, a distance matrix is constructed by the distance between the mobile node A and an anchor point serving as a coordinate origin, the pairwise distance between the selected mobile node A and the anchor point in the communication range of the mobile node, and the distance between the selected mobile node A and the selected anchor point, singular value decomposition is carried out on the distance matrix, a characteristic value larger than 0 and a corresponding characteristic vector are selected, a distance transformation matrix is constructed, the distance transformation matrix is processed to obtain a positioning matrix, a calculation formula is obtained by combining a trilateral positioning algorithm and a multidimensional interpolation method, and the coordinate value of the corresponding mobile node A can be obtained.
When the mobile node B needs to be positioned, firstly, an anchor point in the communication range of the mobile node B is selected, every two distances of the anchor points in the fixed area are stored in the mobile node B, the distance between the mobile node B and the anchor point serving as the origin of coordinates is obtained through the distance between the mobile node B and the nearest routing anchor point and the distance between the mobile node B and the nearest routing anchor point, and after the nearest routing anchor point is selected, the mobile node B and the anchor point serving as the origin of coordinates are both positioned in the communication range of the nearest routing anchor point; the nearest routing anchor point is the nearest distance from the mobile node B; in a fixed area, any anchor point is likely to be the nearest routing anchor point in order to calculate the distance of the mobile node B from the anchor point as the origin of coordinates. After the distance measurement is obtained, a distance matrix is constructed by the distance between the mobile node B and an anchor point serving as a coordinate origin, the pairwise distance between the selected mobile node B and the anchor point in the communication range of the mobile node B and the distance between the selected mobile node B and the selected anchor point, singular value decomposition is carried out on the distance matrix, a characteristic value larger than 0 and a corresponding characteristic vector are selected, a distance transformation matrix is constructed, the distance transformation matrix is processed to obtain a positioning matrix, a calculation formula is obtained by combining a trilateral positioning algorithm and a multi-dimensional scale transformation method, and coordinate values of the corresponding mobile node B can be obtained.
Setting M anchor points in a fixed area, selecting one anchor point as a coordinate origin, and determining coordinates of the rest anchor points in the fixed area according to the relationship between the rest anchor points and the anchor points serving as the coordinate origin; after the mobile node is placed in the fixed area, selecting a corresponding anchor point in the communication range of the mobile node, constructing a distance matrix by using the distance relation among the mobile node, the correspondingly selected anchor point and the anchor point serving as the origin of coordinates, and obtaining a distance transformation matrix by carrying out transformation operation on the distance matrix to realize the adjustment of the element position and the relation in the distance matrix; singular value decomposition is carried out on the distance transformation matrix, and eigenvalues larger than 0 and corresponding eigenvectors are selected to construct a positioning matrix; obtaining a solving formula of the mobile node coordinate by combining a trilateral positioning algorithm and a multi-position scale transformation method, and realizing effective positioning of the mobile node coordinate; when positioning, positioning cannot be influenced due to the fault of the individual anchor point; in practical application, the influence of the barrier on the positioning precision can be effectively reduced; by decomposing the eigenvalue of the transformation matrix and selecting the eigenvector corresponding to the eigenvalue larger than 0 to reconstruct the positioning matrix, the adverse effect of the ranging error on the positioning precision can be effectively removed; the positioning method has the characteristics of clear physical meaning, correlation with network node distribution, accordance with the actual requirement of regional positioning, low involved calculation and communication overhead and high positioning precision; the method comprehensively considers the physical limitation factor of the node communication range and is adaptive to the resource limitation characteristics of positioning calculation, storage, energy and the like of the wireless sensor network node; the positioning operation is convenient, the anti-interference capability is strong, the positioning precision is high, the adaptability is good, and the safety and the reliability are realized.
Claims (10)
1. A method for positioning a mobile node of a wireless sensor network in a fixed area is characterized by comprising the following steps:
(a) placing M anchor points in a fixed area, wherein each M point in the fixed area is provided with a corresponding identification number, the coordinate of one anchor point is designated as a coordinate origin, the other anchor points in the fixed area determine corresponding coordinates according to the position relation with the anchor points serving as the coordinate origins, and the distances between every two anchor points in the fixed area are measured;
(b) placing the mobile node into the fixed area in the step (a), and storing the obtained pairwise distance values between all anchor points in the fixed area into the mobile node;
(c) after the mobile node is placed and determined, the mobile node ranges from corresponding anchor points in a fixed area, and N-1 anchor points which are closest to the mobile node in the communication range of the mobile node are found, wherein N is more than 3, and M is more than N; measuring the distance between the mobile node and the selected N-1 anchor points;
(d) measuring the distance between the mobile node and an anchor point serving as a coordinate origin, and constructing a distance matrix by using the distance between the mobile node and the anchor point serving as the coordinate origin, the distance between the mobile node and the selected N-1 anchor points and the pairwise distance between the N-1 anchor points;
(e) transforming the distance matrix obtained in the step (d) to obtain a distance transformation matrix;
(f) performing eigenvalue decomposition on the obtained distance transformation matrix, and recombining according to corresponding eigenvalues and eigenvectors corresponding to the eigenvalues to obtain a positioning matrix;
(g) and calculating to obtain the coordinates of the mobile node through the positioning matrix and the coordinates of the selected N-1 anchor points, and completing the positioning of the mobile node.
2. The method of claim 1, wherein the method comprises: and (g) calculating to obtain the coordinates of the mobile node through the positioning matrix and the coordinates of the selected N-1 anchor points according to a trilateral positioning algorithm and a multi-dimensional scale transformation method.
3. The method of claim 1, wherein the method comprises: in the step (f), the eigenvalue of the distance matrix is obtained through singular value decomposition, and the eigenvalue larger than 0 and the corresponding eigenvector are selected for recombination to obtain the positioning matrix.
4. The method of claim 1, wherein the method comprises: in the step (a), the coordinates of the anchor point in the fixed area are obtained by installing a positioning device on the anchor point or calibrating the anchor point.
5. The method of claim 1, wherein the method comprises: in the step (c), the distance measurement between the mobile node and the selected anchor point is obtained by a method of receiving a signal strength indication, a signal arrival time or a signal arrival time difference.
6. The method of claim 1, wherein the method comprises: in the step (d), when the anchor point as the origin of coordinates is located within the communication range of the mobile node, the distance between the mobile node and the anchor point as the origin of coordinates is obtained by a method of receiving a signal strength indication, a signal arrival time or a signal arrival time difference; when the anchor point as the origin of coordinates is located outside the communication range of the mobile node, the distance between the mobile node and the anchor point as the origin of coordinates is obtained through the distance between the mobile node and the nearest routing anchor point and the distance between the nearest routing anchor point and the anchor point as the origin of coordinates; the nearest routing anchor point refers to the anchor point which is correspondingly closest to the mobile node in the communication route between the mobile node and the anchor point serving as the origin of coordinates.
7. The method of claim 1, wherein the method comprises: in the step (e), the element values in the distance transformation matrix are:
wherein, bijRepresenting the value of an element in the ith row and jth column of the distance transformation matrix, d1iRepresenting the distance between the i-th anchor point selected within the communication range of the mobile node and the anchor point as the origin of coordinates, d1jRepresenting the distance between the jth anchor point selected within the communication range of the mobile node and the anchor point as the origin of coordinates, dijIndicating the distance between the ith anchor point and the jth anchor point in the communication range of the mobile node.
8. The method of claim 3, wherein the method comprises: and obtaining a positioning matrix by selecting corresponding eigenvalue and recombining the corresponding eigenvector with the eigenvector corresponding to the eigenvalue:
wherein, V1Representing a matrix of eigenvectors corresponding to r eigenvalues greater than 0, D1Representing a diagonal matrix of r eigenvalues greater than 0.
9. The method of claim 2, wherein the method comprises: the expression of the mobile node isWherein,
to locate the first n elements of the n +1 th column of the matrix, XnAn N x 2 dimensional matrix of coordinates of N anchor points.
10. The method of claim 4, wherein the method comprises: the positioning device comprises a global positioning system.
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