A wireless sensor network node localization method based on mobile robot assistance

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...

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 method, etc., but most of these positioning methods are realized based on multiple fixed anchor nodes. High-precision dynamic positioning has high requirements for the deployment and quantity of anchor nodes. The increase in the number will also increase the calculation load and affect the reliability of positioning.

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