Arrival time-based cooperative localization method applied to wireless sensor network

A wireless sensor network and collaborative positioning technology, applied in positioning, network topology, wireless communication, etc., can solve problems such as increased convex optimization and difficulties

Active Publication Date: 2018-10-16
NINGBO UNIV
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Problems solved by technology

However, solving the maximum likelihood estimation is a very difficult task, because the maximum likelihood estimation function is nonlinear and non-convex, and there is no closed-form solution, but when the number of availabl

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  • Arrival time-based cooperative localization method applied to wireless sensor network
  • Arrival time-based cooperative localization method applied to wireless sensor network
  • Arrival time-based cooperative localization method applied to wireless sensor network

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Embodiment Construction

[0019] The present invention will be described in further detail below in conjunction with the embodiments of the drawings.

[0020] The present invention proposes a coordinated positioning method based on time of arrival applied to wireless sensor networks, and its overall implementation block diagram is as follows figure 1 As shown, it includes the following steps:

[0021] Step 1: In the wireless sensor network environment, establish a plane rectangular coordinate system or a spatial coordinate system as the reference coordinate system, and set the existence of M anchor nodes and N unknown target sources; then set the M anchor nodes in the reference coordinates Correspondence of coordinates in the system is denoted as s 1 ,s 2 ,...,S M , And mark the coordinates of N unknown target sources in the reference coordinate system as x 1 ,x 2 ,...,X N ; Among them, M≥2, in this embodiment M=4, N≥2, in this embodiment N=5, s 1 Is the coordinate of the first anchor node in the reference ...

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Abstract

The invention discloses an arrival time-based cooperative localization method applied to a wireless sensor network, which uses a second-order cone relaxation technique and a positive semi-definite relaxation technique to relax a minimization problem obtained by constructing a maximum likelihood function to obtain a description of the problem mixing positive half-definite and second-order cone programming; thus, a global optimal solution can be ensured to obtain without the influence of local convergence, and the localization accuracy is high; the influence of measurement noise error can be effectively suppressed; meanwhile, the prior art can be used for solving an estimate value of the coordinates of an unknown target source, thereby reducing the distribution density of the anchor nodes and reducing the cost.

Description

Technical field [0001] The invention relates to a target positioning method, in particular to a coordinated positioning method based on time of arrival applied to a wireless sensor network. Background technique [0002] Wireless sensor network technology has been widely used in military, industrial and commercial activities, and determining the specific location of each sensor in the wireless sensor network is one of the core problems that the technology must solve. GPS positioning is only effective in outdoor environments. In special scenes such as indoors, new positioning methods must be sought. The usual method is to first deploy nodes with known locations manually or by other means. These nodes with known locations are called anchor nodes (Anchor-Nodes), while nodes that do not know their locations in advance are located by anchor nodes. Nodes with unknown locations are called Unknown-Nodes, which are unknown target sources, and noisy measurement values ​​are usually used to...

Claims

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Application Information

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IPC IPC(8): H04W64/00H04W84/18G01S5/06
CPCG01S5/06H04W64/006H04W84/18
Inventor 卢倩倩李有明常生明李娜娜
Owner NINGBO UNIV
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