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A mobile node formation transformation method and implementation device based on wireless sensor network

A wireless sensor and mobile node technology, applied in wireless communication, network topology, electrical components, etc., can solve the problems of poor stability and low formation speed, and achieve stability, formation speed improvement, and low energy consumption Effect

Inactive Publication Date: 2015-08-19
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problems of low formation speed and poor stability of the formation transformation method of the existing wireless sensor network mobile node, and provide a mobile node formation transformation method and implementation device based on the wireless sensor network

Method used

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  • A mobile node formation transformation method and implementation device based on wireless sensor network
  • A mobile node formation transformation method and implementation device based on wireless sensor network
  • A mobile node formation transformation method and implementation device based on wireless sensor network

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specific Embodiment approach 1

[0024] Specific implementation mode 1. Combination figure 1 Describe this embodiment mode, a mobile node formation transformation method based on a wireless sensor network described in this embodiment mode, it first forms a wireless network with N mobile nodes and M beacon nodes, and N mobile nodes form a mobile node formation , N is an integer greater than or equal to 1; M is an integer greater than or equal to 4; one of the mobile nodes is selected as the master node in the mobile node formation, and other nodes are slave nodes of the master node; in the wireless network, Each mobile node can receive location reference signals from at least 4 beacon nodes in real time;

[0025] At the Kth moment, the initial value of K is 1; the specific steps of the mobile node formation transformation method based on the wireless sensor network are as follows:

[0026] Step 1, each mobile node locates its own position coordinates through the beacon node, and the master node broadcasts its...

specific Embodiment approach 2

[0035] Specific implementation mode two, the following combination figure 2 This embodiment is described. This embodiment is a further description of a mobile node formation transformation method based on a wireless sensor network described in Embodiment 1. In step 1, each mobile node performs its own position coordinates through a beacon node. The specific steps for positioning are:

[0036] Step A, the mobile node to be positioned broadcasts a request signal for the position coordinates of the beacon node in the wireless network;

[0037] Step B, the beacon node receives the request broadcast signal of the mobile node to be located, calculates the strength value RSSI of the received request broadcast signal, and sends the calculated strength value RSSI of the broadcast signal and its own position information to the pending bit mobile node;

[0038]Step C, after the mobile node to be positioned receives the location information of the beacon node sent by the beacon node an...

specific Embodiment approach 3

[0039] Step D, using the core controller to search and locate the mobile node to be positioned according to the broadcast signal strength value RSSI information obtained in step C, determine the position coordinates of the mobile node, and send the determined position coordinates to the mobile node to be positioned, The positioning of the mobile node is completed. Specific embodiment three, this embodiment is a further description of a mobile node formation transformation method based on wireless sensor network described in embodiment two, step B calculates the strength value RSSI of the request broadcast signal received by the formula:

[0040] RSSI=-(10·N·log 10 D+A)

[0041] obtained, in the formula,

[0042] N is a propagation constant, representing the path loss index during signal transmission;

[0043] D represents the distance between the mobile node and the beacon node;

[0044] A indicates the received signal strength value when the distance to the node to be pos...

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Abstract

The invention discloses a mobile node formation change method based on wireless sensor networks and an achieving device thereof and relates to the field of cooperative control of a plurality of mobile nodes of the wireless sensor networks. The mobile node formation change method and the achieving device thereof solve the problem that a formation change method of existing wireless sensor network mobile nodes is low in formation molding speed rate and poor in stability. Each mobile node conducts positioning on self position coordinates, a distance between each slave node and each master node and deflection angles of heading directions of each master node and each slave node are calculated, an upper computer broadcasts a formation expectation matrix of the mobile nodes at the next moment in wireless networks through a coordinator, and slave mobile nodes conduct adjusting on current self heading directions and the deflection angles to complete formation conversion. The achieving device is composed of a formation control unit and the N mobile nodes, the formation control unit achieves control over the heading directions and speed of the mobile nodes through wireless transmission, and formation conversion is achieved. The mobile node formation change method and the achieving device thereof are suitable for the field of the cooperative control of the plurality of mobile nodes.

Description

technical field [0001] The invention relates to the field of cooperative control of wireless sensor networks in multiple mobile nodes. Background technique [0002] Wireless sensor network (wireless sensor network, WSN) integrates the three processes of information from acquisition to transmission to processing. It is the product of a combination of technologies in various fields. Features Widely used in environmental monitoring, medical and health, national defense and military, space exploration and anti-terrorism and disaster relief, as a new technology in today's era, it has received more and more attention. [0003] Formation control among robots is a common cooperative problem in the research field of multi-robot systems, and has become a very active direction in the research of multi-robot systems. In recent years, the formation change control between robots has become more and more widely used in military reconnaissance, aircraft formation flight, search, space dete...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H04W64/00H04W84/18
Inventor 庄丽丽丁明理杨冬梅李小兵申倩
Owner HARBIN INST OF TECH