Three-anchor and four-anchor positioning method and device for sensor network considering error interference

A sensor network and positioning method technology, applied in the field of sensor network positioning, can solve the problems of target positioning area error, no consideration of measurement error, low positioning accuracy of target nodes, etc.

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A sensor network and positioning method technology, applied in the field of sensor network positioning, can solve the problems of target positioning area error, no consideration of measurement error, low positioning accuracy of target nodes, etc.

CN108989978BActive Publication Date: 2020-07-07SHANDONG UNIV

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[0067] It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0068] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinations thereof.

[0069] 1. Introduction to the positioning algorithm of the center of gravity coordinates:

[0070] 1. Center of...

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Abstract

The invention discloses a method and a device for locating three anchor points and four anchor points of a sensor network considering error interference. Three anchor location methods include: selecting three sensor nodes as an anchor point to form a triangle; Node information is communicated between any two anchor points; The distance between the three anchor points and the target node to be located is measured respectively, and the absolute values of the barycentric coordinate coefficients of the three anchor points corresponding to the target node to be located are calculated according to the geometrical relationship between the three anchor points and the target node to be located; considering the measurement error, according to the sum of all barycentric coordinate coefficients beingbetween [1-Delta 1, 1 +Delta 1], the symbols of all barycentric coordinate coefficients are solved and determined, and the positioning of the target node to be positioned according to the barycentriccoordinate algorithm is completed,wherein Delta 1 is within the range of (0,1) . This method is not affected by the shape of the triangle formed by the anchor configuration, and is more robust to theerror.

Description

technical field [0001] The invention belongs to the field of sensor network positioning, and in particular relates to a sensor network three-anchor and four-anchor positioning method and device considering error interference. Background technique [0002] In the centralized sensor network, the widely used positioning method is based on the distance sensor to measure the distance between the target positioning point and the anchor point. Using the nonlinear least squares positioning algorithm can obtain relatively accurate positioning results under the existence of measurement errors. However, with the development of the network, in the distributed sensor network, because there is no central point in the topology, the data measured by the anchor points of each sensor are not aggregated in a single computer for centralized positioning calculation, so the above is in the centralized transmission. The least squares positioning algorithm in the sensor network is difficult to be d...

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Application Information

Patent Timeline

07 Jul 2020

Publication

CN108989978B

IPC: H04W4/02; H04W64/00; H04W84/18

CPC: H04W4/023; H04W64/006; H04W84/18

Inventors: 王炳昌; 梁勇