Self-adapting positioning method for mobile nodes of hybrid sensor network

Abstract

The invention relates to a self-adapting positioning method for mobile nodes of a hybrid sensor network. The system mainly comprises a plurality of common static nodes, mobile nodes, convergent nodes and a background monitoring center, wherein the common static nodes and the mobile nodes are communicated by the ZigBee mesh network protocol. The positioning process for the mobile nodes are mainly divided into the following three stages including node deployment, calibration and real-time positioning; and the method is characterized by making on-line correction of the attenuation model of wireless signal prorogation in a spot monitoring environment by utilizing a method that the mobile nodes self deploy or artificially deploy new nodes, eliminating the positioning error caused by the conditions of node self energy, data loss, small measured RSSI (Received Signal Strength Indication) value and the like, and simultaneously eliminating the participation of lineal children nodes into the positioning calculation of the mobile nodes on a great attenuation communication link caused by barriers and the like, thereby improving the self adapting positioning ability and the positioning accuracy of the mobile nodes of the hybrid sensor network, and the new nodes deployed can improve the robustness and the reliability of the entire network.

Description

technical field [0001] The invention relates to the fields of wireless sensor network positioning and mobile robots, in particular to a hybrid sensor network mobile node self-adaptive positioning method. Background technique [0002] Hybrid sensor network is a mobile node with controllable mobility added on the basis of wireless sensor network. Taking advantage of the mobility advantages of hybrid sensor network can effectively solve the self-deployment, self-repair and self-maintenance requirements that are difficult to handle in static sensor networks. The mobile nodes in the hybrid sensor network are generally realized by various mobile robots in most practical applications. When an accident occurs in a certain area, it is necessary to move the node to perform monitoring tasks. In particular, mobile nodes can be used to replace people to enter the accident scene for monitoring of on-site environmental monitoring in dangerous emergency situations that are inaccessible to ...

AI Technical Summary

Problems solved by technology

When the energy of the node is too low, not only will the RSSI value returned by it be too small and serious packet loss will be caused, but also the data fluctuation will be relatively large

In addition, during the movement of the mobile node, the speed change will also affect the stability of the RSSI acquisition value. The mobile node is more affected by multipath attenuation and building reflection during high-speed operation than at low speed, or the mobile node In the variable speed stage, there will be more measurement singular values

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