Wireless sensor network node location method based on mobile robot assistance

A mobile robot and wireless sensor technology, applied in location information-based services, wireless communication, network topology, etc., can solve problems that affect positioning reliability, increase calculation load, increase difficulty and cost, and improve node positioning accuracy, The effect of reducing errors and overcoming adverse effects

Active Publication Date: 2016-11-16
ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE
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AI Technical Summary

Problems solved by technology

With the increasing scale of WSNs network deployment, the difficulty and cost of manual calibration are also increasing, making it unrealistic to load GPS on each sensor node
At present, the node positioning methods mainly adopt trilateral positioning method based on multiple anchor nodes, DV-HOP method, Monte Carlo m

Method used

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  • Wireless sensor network node location method based on mobile robot assistance
  • Wireless sensor network node location method based on mobile robot assistance
  • Wireless sensor network node location method based on mobile robot assistance

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Embodiment Construction

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0031] According to one embodiment of the present invention, as figure 1 Shown, a kind of wireless sensor network node localization method based on mobile robot assistance, described method comprises the following steps:

[0032] Step 1) The node communicates with some known anchor nodes for positioning, and obtains relative reference positioning information;

[0033] Step 2) The mobile robot periodically sends position information during the movement...

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Abstract

The embodiment of the invention discloses a wireless sensor network node location method based on mobile robot assistance, and belongs to the field of wireless sensor network node location. A mobile robot and a wireless sensor network are combined; a robot-node, and node-node collaborative location mode is employed, the maneuverability of the mobile robot and the computability of wireless sensor network nodes are utilized fully, a Gaussian mixture cubature Kalman filterGM-CKF algorithm is fused, and therefore, dynamic location of the nodes is realized. According to the collaborative location method provided by the embodiment of the invention, the locations of the nodes can be estimated; through adoption of the GM-CKF algorithm, the bad influence resulting from high non-linearity and anomalous errors can be effectively overcome, the errors resulting from system filtering divergence are reduced, and the node location precision is improved.

Description

technical field [0001] The invention relates to the field of wireless sensor network node positioning, in particular to a mobile robot-assisted wireless sensor network node positioning method. Background technique [0002] Wireless Sensor Networks (WSNs), as an emerging technology that integrates wireless communication and sensing detection technologies, has become an indispensable force in the fields of national defense, military, biomedicine, production and life, and traffic management. However, in many applications, the monitoring function of each node can be more effectively exerted only when the position and status of the nodes are known. How to realize node positioning more stably and accurately has become one of the basic and key technical issues of WSNs under uncertain and unknown environments. [0003] WSNs usually contain a large number of randomly scattered sensor nodes, which can be achieved by artificially calibrated positioning or by using the Global Positioni...

Claims

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Application Information

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IPC IPC(8): H04W64/00H04W4/02H04W84/18
CPCH04W4/02H04W4/025H04W64/00H04W84/18
Inventor 陈孟元
Owner ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE
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