Indoor positioning method applied to mobile sensing network

Abstract

The invention relates to an indoor positioning method applied to a mobile sensing network. The precision of the positioning method is improved by fully utilizing the mobility of nodes so as to overcome the shortcomings in the prior. The mobile node positioning method comprises the following steps of: 1) setting the position of an anchoring node; 2) setting the positions of the mobile nodes, and estimating the initial positions of the nodes; 3) forecasting; 4) filtering, and repeating the step 3) and the step 4) to reselect forecast points and to refilter till finding enough points meeting requirements if the number of samples in a filtered position sampling set meeting the requirements is less than N; and 5) correcting the positions, namely correcting the estimated positions of the nodes, to obtain the corrected estimated positions of the nodes. The method has the beneficial effects that the node mobility and the correlations among the nodes in the mobile sensing network are fully utilized to put forward the novel method which is used for determining the positions of the mobile nodes in the mobile wireless sensor network and mainly used for realizing the self-positioning of the nodes in the mobile sensing network in an indoor environment; and due to the method, extra hardware is not added to the sensor nodes, and the positioning precision and the positioning instantaneity of the sensor nodes can be improved.

Description

technical field [0001] The invention relates to an indoor positioning method applied to a mobile sensor network, in particular to a distributed positioning method for a mobile target node relative to a fixed anchor node in a wireless sensor network. Background technique [0002] Wireless sensor network has the characteristics of self-organization, low cost, low power consumption, etc. It has broad application prospects in military field, medical care, environmental detection and protection and other fields. Location information is an essential part of data collected by sensor nodes, and monitoring messages without location information are usually meaningless. Determining the location of an event or estimating the location of a node that collects data is one of the most basic functions of a sensor network, and the correct positioning of the sensor node itself is a prerequisite for providing location information for monitoring events. The current commonly used method is to us...

AI Technical Summary

Problems solved by technology

The traditional positioning method can obtain the position information of the mobile node by repeatedly running the positioning algorithm after some time intervals. However, this information is no longer the actual position of the node at the current moment, and the effect of the positioning algorithm is greatly reduced.

Therefore, the actual position of the node at the current moment cannot be obtained through traditional positioning methods

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