Method and device for realizing wireless sensing network node positioning

Abstract

The invention discloses a method and a device for realizing wireless sensing network node positioning. According to the invention, high-precision ranging can be realized only through three-time one-way communication in the ranging step, so that communication process is saved and ranging expense is reduced compared with a current ranging agreement; moreover, high-precision time synchronization is not required, so that the node cost is reduced. The influence of clock shift between two nodes on the ranging precision is more considered, and the ranging precision is improved as the time shift problem during the ranging calculation process is solved. In addition, compared with a common method for obtaining an average result through repeated measurement, a more precise ranging result is obtained by allowing the obtained ranging results between a goal node and an anchor node to be subjected to weighting process by utilizing a minimum optimization principle. Moreover, sensor reading can be adopted to estimate the goal node coordinates so as to correct the goal node coordinates obtained by utilizing the ranging results, and as a result, the node positioning accuracy is further improved.

Description

technical field [0001] The invention relates to the field of wireless sensing, in particular to a method and device for realizing wireless sensor network node positioning. Background technique [0002] The problem of node location in wireless sensor network is a basic problem to be solved in wireless sensor network applications. For most applications, the data obtained without knowing the location of sensor nodes is meaningless. Wireless sensor nodes are usually randomly deployed in predetermined areas to perform different monitoring tasks. Randomly deployed nodes cannot know their own positions in advance, so they must be able to locate in real time after deployment. [0003] At present, there are positioning algorithms that do not require ranging technology. This algorithm does not require distance and angle information, and is only implemented based on information such as network connectivity. Typical algorithms include DV-Hop, convex programming, MDS-MAP, APIT, etc. Alt...

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Problems solved by technology

[0007] Ranging protocol: In the TOA ranging process, strict time synchronization between the two nodes is required, so hardware support is required, which increases the node cost and production difficulty, and does not take into account the impact of the clock offset between the two nodes on the ranging , which affects the ranging accuracy; although the ranging error caused by the clock offset is reduced to a certain extent during the SDS-TWR ranging process, the communication between nodes is too frequent, and it takes five nodes to complete a ranging process. communication, the power consumption of ranging is large;

[0008] In the post-correction of ranging results: the signal propagation channel has random noise, multipath effects and other error effects, as well as delay errors such as signal reception and processing. Although the SDS-TWR ranging protocol has adopted multiple ranging The method of adding and averaging multiple ranging results is processed, but there is still a relatively large error in the final ranging result relative to the actual distance. The antennas of nodes are generally omnidirectional, and signal propagation can be through reflection, refraction, etc. This method spreads between nodes, and the ranging result is often greater than the actual distance, so only by averaging to improve the ranging accuracy, the error will still be relatively large;

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