无线传感器网络三维节点定位技术的研究
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摘要
无线传感器网络是继互联网之后的新一代智能网络,它集成了传感器技术、微机电系统与无线通信等技术,具备“自组织,自愈合”的特性。如果说互联网为人与人之间的信息交流奠定了基础,那么无线传感器网络则为我们提供了最真实的客观物理世界信息。
本文主要研究了无线传感器网络领域中的节点定位关键技术,其中重点研究了三维定位技术。虽然目前已经提出了众多适合无线传感器网络的定位算法,但绝大部分是针对二维平面的网络环境中,而实际应用中,三维空间更符合节点的实际部署环境。本文对传感器节点三维定位技术进行了深入的研究,,主要提出以下几种算法：
作为传感器网络的无需测距经典定位算法之一,APIT算法具有效率高、精度好、通信开销低等优点。本文对其进行了三维空间扩展,主要工作包括：其一先介绍了APIT定位原理及方法,然后针对两种误判及稀疏节点环境下的限制进行改进,并通过仿真结果表明改进算法在不同形态的网络环境下,定位误差均有所改善；其二,沿用APIT思路,将平面中的三角形测试用空间四面体测试替代,并用极限逼近的思想,将空间四面体近似为不同的单元网格组成形态,后续对其进行筛选得出最佳估算空间位置。通过上述方法不仅可以保留APIT算法所具备的无需测距优势,同时可以完成适用于多种场景的三维定位,具有较高的应用价值。
本文用网格划分空间区域的方法作为节点空间定位的基础,提出了一种三维空间单元格划分算法。本文介绍了如何从空间网格中得到节点的估算位置,并根据定位区域的期望值、定位所需的信标节点数目、单元格密度三个方面进行分析,后续工作中利用质心算法进一步提高定位精度,同时引入加权迭代算法提高定位的覆盖区域,降低无效节点带来定位误差。仿真结果表明,在信标节点固定的条件下,迭代加权质心单元格划分法算法的定位精度比空间单元格划分法有了平均20%的提高,并且该定位算法无需复杂的测距设备与昂贵的外部设施,就能获得较高的定位精度和定位比例,且通信协议相对简单,对网络拓扑具有一定的鲁棒性。
针对三维空间定位精度较低的缺点,提出了一种基于测距技术的匹配节点算法,该方法核心是通过空间位置的距离约束完成对节点对的筛选,接着利用匹配节点群完成定位,在方程求解阶段采用最小二乘法进行位置求精,并可根据定位精度需求选择不同的匹配方案,为无线传感器网络三维定位机制提供了参考。
Wireless sensor network is known as intelligent networks after computer and internet. It integrates features such as sensor technology, MEMS and wireless communication technology, which has "self-organization, self-healing" characteristics. If the internet provide an advanced platform for exchange for people, sensor network reflect a real objective world for people.
This paper studies nodes positioning technology which is the key technique of wireless sensor networks, and focusing on the three-dimensional location. A number of localization algorithms had been put forward for sensor networks, but most is used in two-dimensional space. The three-dimensional space is more in line with the actual deployment environment of the node. This paper focuses on research methods of the three-dimensional positioning at this stage, proposing the following algorithm.
As one of the classical algorithm for sensor networks, APIT algorithm has the advantage of simple, practical, highly efficient, with good accuracy and low communication overhead by range-free positioning method. It will be extended in three-dimensional space in the paper. Our major contributions are as follows: firstly introducing APIT location principles and methods, improving for two location error and constraints under sparse node environment, achieving simulation results show that the improved algorithm reduces positioning errors and is more suitable for different forms of network; Secondly, following the APIT ideas, replacing PIT test by space tetrahedron test, regarding space tetrahedron as different form by various grid for to filter obtained space location. Because the positioning method not only can be retained characteristic of range-free position method, but also can be applied to the three-dimensional positioning for a variety of scenes, it has advantage of high value.
This paper proposes a three-dimensional space location algorithm which is based on the cell division. Our major contributions are as follows:firstly making a detailed introduction to the division of the grid, carrying on the analysis from three respects that include expectations of the location area, required beacon node number of positioning and cell density; secondly introducing centroid algorithm to improve positioning accuracy, using weighted iterative method to improve the localization of the coverage area. The simulation results show that, under fixed conditions of the beacon node, the algorithm of iterative weighted centroid of the cell division method positioning accuracy of space unit meshing method has an average of20%improved, the positioning algorithm without the complexity of distance measuring equipment and expensive external facilities will be able to get high positioning accuracy and positioning ratio, and relatively simple communication protocol, network topology has a certain robustness.
Aimed at the shortcomings of low accuracy of the three-dimensional positioning, matching node algorithm which based on ranging technology is put forward. The core of this method is to complete the screening of the node with the spatial location of the distance constraints, and then use the matching node group to complete positioning. To provide a reference which is three-dimensional positioning mechanism for wireless sensor networks, the least squares method in the equation is used to solving phase position refinement, and meeting all kinds of positioning accuracy needs by selecting different matches.
本文主要研究了无线传感器网络领域中的节点定位关键技术,其中重点研究了三维定位技术。虽然目前已经提出了众多适合无线传感器网络的定位算法,但绝大部分是针对二维平面的网络环境中,而实际应用中,三维空间更符合节点的实际部署环境。本文对传感器节点三维定位技术进行了深入的研究,,主要提出以下几种算法：
作为传感器网络的无需测距经典定位算法之一,APIT算法具有效率高、精度好、通信开销低等优点。本文对其进行了三维空间扩展,主要工作包括：其一先介绍了APIT定位原理及方法,然后针对两种误判及稀疏节点环境下的限制进行改进,并通过仿真结果表明改进算法在不同形态的网络环境下,定位误差均有所改善；其二,沿用APIT思路,将平面中的三角形测试用空间四面体测试替代,并用极限逼近的思想,将空间四面体近似为不同的单元网格组成形态,后续对其进行筛选得出最佳估算空间位置。通过上述方法不仅可以保留APIT算法所具备的无需测距优势,同时可以完成适用于多种场景的三维定位,具有较高的应用价值。
本文用网格划分空间区域的方法作为节点空间定位的基础,提出了一种三维空间单元格划分算法。本文介绍了如何从空间网格中得到节点的估算位置,并根据定位区域的期望值、定位所需的信标节点数目、单元格密度三个方面进行分析,后续工作中利用质心算法进一步提高定位精度,同时引入加权迭代算法提高定位的覆盖区域,降低无效节点带来定位误差。仿真结果表明,在信标节点固定的条件下,迭代加权质心单元格划分法算法的定位精度比空间单元格划分法有了平均20%的提高,并且该定位算法无需复杂的测距设备与昂贵的外部设施,就能获得较高的定位精度和定位比例,且通信协议相对简单,对网络拓扑具有一定的鲁棒性。
针对三维空间定位精度较低的缺点,提出了一种基于测距技术的匹配节点算法,该方法核心是通过空间位置的距离约束完成对节点对的筛选,接着利用匹配节点群完成定位,在方程求解阶段采用最小二乘法进行位置求精,并可根据定位精度需求选择不同的匹配方案,为无线传感器网络三维定位机制提供了参考。
Wireless sensor network is known as intelligent networks after computer and internet. It integrates features such as sensor technology, MEMS and wireless communication technology, which has "self-organization, self-healing" characteristics. If the internet provide an advanced platform for exchange for people, sensor network reflect a real objective world for people.
This paper studies nodes positioning technology which is the key technique of wireless sensor networks, and focusing on the three-dimensional location. A number of localization algorithms had been put forward for sensor networks, but most is used in two-dimensional space. The three-dimensional space is more in line with the actual deployment environment of the node. This paper focuses on research methods of the three-dimensional positioning at this stage, proposing the following algorithm.
As one of the classical algorithm for sensor networks, APIT algorithm has the advantage of simple, practical, highly efficient, with good accuracy and low communication overhead by range-free positioning method. It will be extended in three-dimensional space in the paper. Our major contributions are as follows: firstly introducing APIT location principles and methods, improving for two location error and constraints under sparse node environment, achieving simulation results show that the improved algorithm reduces positioning errors and is more suitable for different forms of network; Secondly, following the APIT ideas, replacing PIT test by space tetrahedron test, regarding space tetrahedron as different form by various grid for to filter obtained space location. Because the positioning method not only can be retained characteristic of range-free position method, but also can be applied to the three-dimensional positioning for a variety of scenes, it has advantage of high value.
This paper proposes a three-dimensional space location algorithm which is based on the cell division. Our major contributions are as follows:firstly making a detailed introduction to the division of the grid, carrying on the analysis from three respects that include expectations of the location area, required beacon node number of positioning and cell density; secondly introducing centroid algorithm to improve positioning accuracy, using weighted iterative method to improve the localization of the coverage area. The simulation results show that, under fixed conditions of the beacon node, the algorithm of iterative weighted centroid of the cell division method positioning accuracy of space unit meshing method has an average of20%improved, the positioning algorithm without the complexity of distance measuring equipment and expensive external facilities will be able to get high positioning accuracy and positioning ratio, and relatively simple communication protocol, network topology has a certain robustness.
Aimed at the shortcomings of low accuracy of the three-dimensional positioning, matching node algorithm which based on ranging technology is put forward. The core of this method is to complete the screening of the node with the spatial location of the distance constraints, and then use the matching node group to complete positioning. To provide a reference which is three-dimensional positioning mechanism for wireless sensor networks, the least squares method in the equation is used to solving phase position refinement, and meeting all kinds of positioning accuracy needs by selecting different matches.
引文
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