Movement path planning method assisting in positioning beacon node

Abstract

The invention discloses a movement path planning method assisting in positioning a beacon node. The method comprises the steps of 1), initializing a program; 2), calculating the column number and line number of hexagonal grids in a whole coverage monitoring area, and coding centers and vertexes of all hexagonal grids, thereby obtaining related matrix vectors; 3), establishing an optimization model; 4), calculating selectable next stay location sets for each grid center and each grid vertex; 5), initializing an initial location and a selected path of an ant; 6), establishing a new next stay location set for the ant; 7), judging whether the selected path covers all grids in the whole coverage monitoring area or not, and recording the currently selected path and length thereof if the selected path cover all grids in the whole coverage monitoring area, judging whether all ants find the paths or not, and jumping to a step 8) if all the ants find the paths; and 8), calculating the lengths of the paths found by all the ants, and updating information elements of all locations. According to the movement path planning method assisting in positioning the beacon node provided by the invention, the lengths of the moving paths and the number of the stay locations of the beacon node can be reduced.

Description

technical field [0001] The invention relates to the field of wireless sensor networks, in particular to a mobile path planning method for auxiliary positioning beacon nodes. Background technique [0002] Wireless sensor networks (WSNs) are composed of a large number of deployed sensor nodes, which can sense, collect and process information from sensor nodes within the coverage of the network. It is a multi-hop self-organizing network. In many wireless sensor network applications, the collection of all information requires the accurate location of sensor nodes, so positioning is one of the basic and core technologies of WSNs. [0003] In WSNs, some nodes are equipped with satellite positioning modules. Using the location information of these nodes, it is a common method to calculate the location coordinates of other nodes. At present, some scholars focus on the use of static nodes that can know their own positions, and propose mobile node positioning methods. However, the ...

AI Technical Summary

Problems solved by technology

However, at present, many mobile path selection methods for auxiliary positioning beacon nodes allow the beacon node to traverse the entire monitoring area. The length of the mobile path is relatively large, and it takes a long time for some sensor nodes to know their own position coordinates, which is not conducive to the wireless sensor network group. Realization of network function

[0004] The above method has defects in the length of the moving path of the beacon node and the time for the sensor node to obtain its own position, so there is an urgent need for a new mobile path planning method for auxiliary positioning of the beacon node to solve these problems

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