A Node Self-Location Method for Underwater Sensor Networks Based on Hybrid Constraint Satisfaction

Abstract

The invention discloses an underwater sensor network node self-positioning method based on mixed constraint satisfaction and belongs to the technical field of underwater wireless sensor network positioning. The method includes the following steps that first, a positioning system is initialized, and a node positioning group is constructed; second, the constraint relations affecting positioning performance are extracted and set; third, a mathematical model of a mixed constraint satisfaction problem is constructed; fourth, the constraint satisfaction problem is solved, and the position of a node is located more precisely. According to the method, by extracting and setting multiple anisotropic constraint relations between the beacon node position coordinate accuracy constraint, the reference node trust degree constraint, the reference information interaction reliability constraint, the geometric space constraint and the like in the positioning group, the positioning solution problem under the influences of multiple factors is transformed to the mixed constraint satisfaction problem, then, a feasible set of positions of nodes to be positioned which can meet different property requirements for safety, reliability and positioning precision is obtained, the optimal estimation of the node coordinates is finally achieved, coupling influences of the anisotropic multi-constraint conditions on the node self-positioning process are effectively reduced, and the safety, the reliability and the position coordinate estimation accuracy of the self-positioning process are improved.

Description

technical field [0001] The invention belongs to the technical field of underwater wireless sensor network positioning, in particular to the self-positioning of underwater sensor network nodes under the influence of heterogeneous multi-constraint coupling in complex ocean environments, specifically a self-positioning of underwater sensor network nodes based on hybrid constraint satisfaction. positioning method. Background technique [0002] Underwater Wireless Sensor Networks (Underwater Wireless Sensor Networks) is a revolution in the field of marine information perception, collection and application. There is no doubt about the practical needs in many aspects such as national security and national economy. In today's increasingly fierce space, the rapid development of the scale and practicality of underwater sensor networks has important practical significance for safeguarding my country's marine rights and interests, developing the marine economy, and building a marine powe...

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Problems solved by technology

[0006] The purpose of the present invention is to provide a self-location method for underwater sensor network nodes based on hybrid constraint satisfaction, to solve the problem of self-location of underwater sensor network nodes under the influence of heterogeneous multi-constraint coupling in complex marine environments; The beacon node position coordinate accuracy constraints, reference node trust constraints, reference information interaction reliability constraints, geometric space constraints and other constraints of different natures in the group transform the positioning solution problem under the influence of multiple factors into hybrid constraints Satisfy the problem, and then determine a feasible set of node locations to be located that can satisfy different requirements such as safety, reliability, and positioning accuracy, and finally obtain the optimal estimation of node coordinates, thereby reducing the impact of heterogeneous multiple constraints on the node self-location process. The coupling effect of the self-positioning process improves the safety, reliability and accuracy of position coordinate estimation

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