Wireless sensor positioning method, device, equipment, medium and program product

Abstract

The present disclosure provides a wireless sensor positioning method, device, equipment, medium and program product, which can be applied to the financial technology field and the sensor positioning field. The method includes: determining the area range of the wireless sensor according to the N anchor node coordinates respectively obtained from the signal sensors at the N anchor nodes; generating a group of undetermined equations according to the signal strength of the N anchor nodes received by the wireless sensor and the M undetermined coefficients; determining the initial fitting error according to the initial assigned coordinates of the wireless sensor and the group of undetermined equations; determining the parameter values ​​of the M undetermined coefficients according to the initial fitting error and the N target weights corresponding to the N anchor nodes respectively; determining the target equation group and the target node distance corresponding to each target equation in the target equation group according to the parameter values ​​of the M undetermined coefficients and the group of undetermined equations; determining the positioning coordinates of the wireless sensor according to the N anchor node coordinates and the N target node distances.

Description

Technical Field

[0001] The present disclosure relates to the field of financial technology and sensor positioning, and in particular to a wireless sensor positioning method, device, equipment, medium and program product. Background Art

[0002] Wireless sensor network is a wireless multi-hop self-organizing network. With the rapid development of wireless sensor network technology and applications, the application of node positioning using wireless sensor networks is becoming more and more widespread. Node positioning information is particularly important in the application of wireless sensor networks. Abandoning the perception data of sensor node location will lose its application value.

[0003] In the process of implementing the concept of the present disclosure, the inventors found that there are at least the following problems in the related art: the positioning accuracy of the existing wireless sensor positioning method has certain limitations and bottlenecks. Summary of the invention

[0004] In view of the above problems, the present disclosure provides a wireless sensor positioning method, apparatus, device, medium and program product for improving positioning accuracy.

[0005] According to a first aspect of the present disclosure, a wireless sensor positioning method is provided, comprising:

[0006] Determine the area range of the wireless sensor according to the N anchor node coordinates respectively obtained from the signal sensors at the N anchor nodes;

[0007] Generate a group of undetermined equations according to the signal strengths of the N anchor nodes received by the wireless sensor and the M undetermined coefficients, wherein the group of undetermined equations includes N undetermined equations, each of which is generated according to one of the anchor nodes and the M undetermined coefficients, and each of which is used to determine the initial node distance between the wireless sensor and the coordinates of one of the anchor nodes, and M is less than N and is a positive integer;

[0008] Determine an initial fitting error according to the initial valued coordinates of the wireless sensor and the undetermined set of equations, wherein the initial valued coordinates are determined according to the area range of the wireless sensor;

[0009] Determine the parameter values ​​of the M undetermined coefficients according to the initial fitting error and the N target weights respectively corresponding to the N anchor nodes, wherein the target weights are determined according to the transmission antenna gain and transmission power of the wireless sensor and the receiving antenna gain of the anchor node corresponding to the target weights;

[0010] Determine the target equation group and the target node distance corresponding to each target equation in the target equation group according to the parameter values ​​of the M undetermined coefficients and the undetermined equation group;

[0011] The positioning coordinates of the wireless sensor are determined according to the N anchor node coordinates and the N target node distances.

[0012] According to an embodiment of the present disclosure, the target weight is determined according to the transmission antenna gain and transmission power of the wireless sensor and the receiving antenna gain of the anchor node corresponding to the target weight, including:

[0013] For each of the anchor nodes, determining the signal power received at the wireless sensor according to the transmission antenna gain, the transmission power and the receiving antenna gain at the anchor node;

[0014] Determine a receiving power expression of the wireless sensor according to the signal power, the first distance, the standard distance and the signal attenuation coefficient, wherein the first distance represents the distance between the wireless sensor and the anchor node;

[0015] According to the above received power expression, the measurement variance is determined;

[0016] The target weight corresponding to the anchor node is determined according to the measurement variance.

[0017] According to an embodiment of the present disclosure, determining the measurement variance according to the above received power expression includes:

[0018] The distance in the above received power expression is subjected to partial derivative processing to obtain the first partial derivative formula;

[0019] Differentiate the first partial derivative formula to obtain a differential formula;

[0020] According to the above differential formula, determine the distance error formula;

[0021] The measurement variance is determined according to the distance error formula.

[0022] According to an embodiment of the present disclosure, determining the parameter values ​​of the M undetermined coefficients according to the initial fitting error and the N target weights corresponding to the N anchor nodes includes:

[0023] Determining a target fitting error based on the initial fitting error and the N target weights;

[0024] Determine a relational expression according to the target fitting error and the parameter set, wherein the parameter set includes the M undetermined coefficients, and the relational expression is used to determine the relationship between the parameter set and the target fitting error according to the N target weights and the N node distances;

[0025] When the target fitting error satisfies the first preset value, the parameter values ​​of the plurality of the undetermined coefficients are determined according to the relational expression.

[0026] According to an embodiment of the present disclosure, when the target fitting error satisfies the first preset value, determining the parameter values ​​of the plurality of the undetermined coefficients according to the relational expression includes:

[0027] When the target fitting error satisfies the first preset value, the partial derivative of the relational expression satisfies the second preset value;

[0028] When the partial derivative value satisfies the second preset value, the partial derivative of the relational expression is processed to obtain a second partial derivative formula;

[0029] According to the above second partial derivative formula, generate the target matrix;

[0030] Determine a target vector according to the target matrix and the distance vector, wherein the distance vector is generated according to the standard distance and the plurality of node distances;

[0031] The parameter values ​​of the plurality of the above-mentioned undetermined coefficients are determined according to the above-mentioned target vector.

[0032] According to an embodiment of the present disclosure, determining the positioning coordinates of the wireless sensor according to the N anchor node coordinates and the N target node distances determined by the target equation group includes:

[0033] Determine the initial coordinates of the wireless sensor based on the coordinates of the N anchor nodes;

[0034] Determine the transition coordinates of the wireless sensor according to the initial coordinates and the distances of the N target nodes determined by the target equation group;

[0035] The positioning coordinates of the wireless sensor are determined according to the N correction parameters corresponding to the N anchor nodes and the transition coordinates, wherein the correction parameters are used to correct the influence of the anchor nodes on the positioning of the wireless sensor, and the sum of the plurality of correction parameters is used as the third preset value.

[0036] According to an embodiment of the present disclosure, when the number of the above-mentioned anchor nodes is three, the above-mentioned determining the area range of the above-mentioned wireless sensor according to the N anchor node coordinates respectively obtained from the signal sensors at the N anchor nodes includes:

[0037] For each of the anchor nodes, determining a receiving power of a signal sent by the anchor node and received by the wireless sensor;

[0038] Determining an initial distance between the wireless sensor and the anchor node according to the received power;

[0039] According to each of the initial distances, an arc is made with the anchor node corresponding to the initial distance as the center and the length of the initial distance as the radius;

[0040] The closed area enclosed by the three arcs is determined as the area range of the wireless sensor.

[0041] According to an embodiment of the present disclosure, the initial fitting error is determined based on the initial valued coordinates of the wireless sensor and the undetermined set of equations, including:

[0042] For each of the anchor nodes corresponding to the undetermined set of equations, according to the anchor node coordinates and the initial valued coordinates, determine the sum of squares of the coordinate differences between the two;

[0043] The square sums of the plurality of coordinate differences are summed to obtain the initial fitting error.

[0044] According to an embodiment of the present disclosure, the wireless sensor positioning method further includes:

[0045] The driving state of the autonomous driving vehicle is controlled according to the positioning coordinates of the above wireless sensors.

[0046] A second aspect of the present disclosure provides a wireless sensor positioning device, comprising:

[0047] A first determination module is used to determine the area range of the wireless sensor according to N anchor node coordinates respectively obtained from signal sensors at the N anchor nodes;

[0048] A generating module, configured to generate a set of undetermined equations according to the signal strengths of the N anchor nodes received by the wireless sensor and the M undetermined coefficients, wherein the set of undetermined equations includes N undetermined equations, each of which is generated according to one of the anchor nodes and the M undetermined coefficients, and each of which is used to determine an initial node distance between the wireless sensor and the coordinates of one of the anchor nodes, and M is less than N and is a positive integer;

[0049] A second determination module is used to determine an initial fitting error according to the initial valued coordinates of the wireless sensor and the undetermined set of equations, wherein the initial valued coordinates are determined according to the area range of the wireless sensor;

[0050] A third determination module is used to determine parameter values ​​of the M undetermined coefficients according to the initial fitting error and the N target weights respectively corresponding to the N anchor nodes, wherein the target weight is determined according to the transmission antenna gain and transmission power of the wireless sensor and the receiving antenna gain of the anchor node corresponding to the target weight;

[0051] A fourth determination module, for determining a target equation group and a target node distance corresponding to each target equation in the target equation group according to the parameter values ​​of the M undetermined coefficients and the undetermined equation group;

[0052] The fifth determination module is used to determine the positioning coordinates of the wireless sensor according to the N anchor node coordinates and the N target node distances.

[0053] A third aspect of the present disclosure provides an electronic device, comprising: one or more processors; and a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors execute the above-mentioned wireless sensor positioning method.

[0054] A fourth aspect of the present disclosure further provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, causes the processor to execute the above-mentioned wireless sensor positioning method.

[0055] A fifth aspect of the present disclosure further provides a computer program product, including a computer program, which implements the above-mentioned wireless sensor positioning method when executed by a processor.

[0056] According to the embodiment of the present disclosure, the signal strength of N anchor nodes and M undetermined coefficients are used to generate an undetermined equation group, and the initial fitting error is determined according to the initial valued coordinates of the wireless sensor and the undetermined equation group. The positioning coordinates of the wireless sensor are determined according to the initial fitting error and N target weights corresponding to the N anchor nodes, the parameter values ​​of the M undetermined coefficients and the undetermined equation group, the N anchor node coordinates and the N target node distances. The error in the positioning of the wireless sensor is corrected by using the target weight, thereby improving the positioning accuracy of the wireless sensor and improving the environmental adaptability of the wireless sensor positioning method. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The above contents and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0058] Figure 1 A flowchart of a wireless sensor positioning method according to an embodiment of the present disclosure is schematically shown;

[0059] Figure 2 A flowchart of a wireless sensor positioning method according to an embodiment of the present disclosure is schematically shown;

[0060] Figure 3 A flowchart of a method for determining an area range of a wireless sensor according to an embodiment of the present disclosure is schematically shown;

[0061] Figure 4 A schematic diagram schematically shows a method for determining the area range of a wireless sensor according to an embodiment of the present disclosure;

[0062] Figure 5 A schematic diagram of a wireless sensor positioning device according to an embodiment of the present disclosure is shown; and

[0063] Figure 6 A block diagram of an electronic device suitable for implementing a wireless sensor positioning method according to an embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0064] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0065] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0066] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification, and should not be interpreted in an idealized or overly rigid manner.

[0067] When using expressions such as "at least one of A, B, and C, etc.", they should generally be interpreted according to the meaning of the expression commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0068] It should be noted that the wireless sensor positioning method and device provided in the present disclosure can be used in the financial field, such as banks and other financial institutions, and can also be used in any field other than the financial field, such as the field of resource mining technology. The application field of the wireless sensor positioning method and device provided in the present disclosure is not limited.

[0069] The embodiment of the present disclosure provides a wireless sensor positioning method, comprising: determining the area range of the wireless sensor according to N anchor node coordinates respectively obtained from signal sensors at N anchor nodes; generating a group of undetermined equations according to the signal strength of the N anchor nodes received by the wireless sensor and M undetermined coefficients, wherein the group of undetermined equations includes N undetermined equations, each of which is generated according to an anchor node and M undetermined coefficients, and each of which is used to determine the initial node distance between the wireless sensor and an anchor node coordinate, M is less than N and is a positive integer; according to the initial assigned coordinates of the wireless sensor and the undetermined equations The method comprises the steps of: determining an initial fitting error and determining an initial assignment coordinate according to the area range of the wireless sensor; determining parameter values ​​of M undetermined coefficients according to the initial fitting error and N target weights corresponding to the N anchor nodes respectively, wherein the target weight is determined according to the transmission antenna gain and transmission power of the wireless sensor and the receiving antenna gain of the anchor node corresponding to the target weight; determining a target equation group and a target node distance corresponding to each target equation in the target equation group according to the parameter values ​​of the M undetermined coefficients and the undetermined equation group; and determining the positioning coordinates of the wireless sensor according to the N anchor node coordinates and the N target node distances.

[0070] Figure 1 The flowchart of the wireless sensor positioning method according to the embodiment of the present disclosure is schematically shown.

[0071] like Figure 1 As shown, the wireless sensor positioning method of this embodiment includes operations S101 to S106.

[0072] In operation S101 , the area range of the wireless sensor is determined according to N anchor node coordinates respectively acquired from signal sensors at the N anchor nodes.

[0073] In operation S102, a group of undetermined equations is generated based on the signal strengths of N anchor nodes received by the wireless sensor and M undetermined coefficients, wherein the group of undetermined equations includes N undetermined equations, each of which is generated based on an anchor node and M undetermined coefficients, and each of which is used to determine an initial node distance between the wireless sensor and an anchor node coordinate, and M is less than N and is a positive integer.

[0074] In operation S103, an initial fitting error is determined according to the initial assigned coordinates of the wireless sensor and the undetermined equation group, wherein the initial assigned coordinates are determined according to the area range of the wireless sensor.

[0075] In operation S104, parameter values ​​of M unknown coefficients are determined based on the initial fitting error and N target weights corresponding to the N anchor nodes, respectively, wherein the target weight is determined based on the transmission antenna gain and transmission power of the wireless sensor and the receiving antenna gain of the anchor node corresponding to the target weight.

[0076] In operation S105, a target equation group and a target node distance corresponding to each target equation in the target equation group are determined according to the parameter values ​​of the M undetermined coefficients and the undetermined equation group.

[0077] In operation S106 , the positioning coordinates of the wireless sensor are determined according to the N anchor node coordinates and the N target node distances.

[0078] According to an embodiment of the present disclosure, an anchor node may refer to a node positioning technology in a wireless sensor network, in which sensor nodes are divided into anchor nodes and unknown nodes according to whether the nodes know their own positions. An anchor node is also called a beacon node, i.e., a node with known position coordinates.

[0079] According to an embodiment of the present disclosure, a wireless sensor network is a distributed sensor network whose terminals are sensors that can sense and detect the external world, and form a multi-hop self-organizing network through wireless communication.

[0080] According to an embodiment of the present disclosure, the target weight is the frequency of each anchor node in the weighted average.

[0081] According to the embodiments of the present disclosure, when determining the area range of the wireless sensor with unknown position coordinates, the centroid positioning algorithm can be used for determination. The centroid positioning algorithm is that within the positioning area where the ranging is required, the beacon node based on network connectivity periodically transmits a signal to the adjacent anchor node, and uses the required multiple anchor nodes as the center of the circle to make arc processing, and the common polygon area surrounded by the multiple arcs is used as the centroid of the polygon, and the centroid is the area range of the wireless sensor with unknown position coordinates to be solved.

[0082] According to an embodiment of the present disclosure, after determining the area range of the wireless sensor, based on the initial equation shown in equation (1), the undetermined equation group shown in equation (2) is generated according to N anchor node coordinates and M undetermined coefficients.

[0083]

[0084]

[0085] Among them, y(r N ) represents the initial node distance from the Nth anchor node to the wireless sensor, α0, α1, α2, ... α m All are undetermined coefficients.

[0086] According to the embodiment of the present disclosure, the initial fitting error is determined according to the initial valued coordinates of the wireless sensor and the undetermined equation group, and the parameter values ​​of the M undetermined coefficients are determined in combination with the N target weights corresponding to the N anchor nodes, thereby determining the target equation group and the N target node distances. The positioning coordinates of the wireless sensor are determined by the N anchor node coordinates and the N target node distances.

[0087] According to the embodiment of the present disclosure, the signal strength of N anchor nodes and M undetermined coefficients are used to generate an undetermined equation group, and the initial fitting error is determined according to the initial valued coordinates of the wireless sensor and the undetermined equation group. The positioning coordinates of the wireless sensor are determined according to the initial fitting error and N target weights corresponding to the N anchor nodes, the parameter values ​​of the M undetermined coefficients and the undetermined equation group, the N anchor node coordinates and the N target node distances. The error in the positioning of the wireless sensor is corrected by using the target weight, thereby improving the positioning accuracy of the wireless sensor and improving the environmental adaptability of the wireless sensor positioning method.

[0088] According to an embodiment of the present disclosure, the target weight is determined according to the transmission antenna gain and transmission power of the wireless sensor and the receiving antenna gain of the anchor node corresponding to the target weight, including the following operations:

[0089] For each anchor node, the signal power received at the wireless sensor is determined based on the transmit antenna gain, the transmit power, and the receive antenna gain at the anchor node.

[0090] According to the signal power, the first distance, the standard distance and the signal attenuation coefficient, a received power expression of the wireless sensor is determined, wherein the first distance represents the distance between the wireless sensor and the anchor node. According to the received power expression, a measurement variance is determined. According to the measurement variance, a target weight corresponding to the anchor node is determined.

[0091] According to an embodiment of the present disclosure, the standard distance refers to a unit distance in a wireless sensor network under the influence of obstacles and other factors.

[0092] According to an embodiment of the present disclosure, the signal power P received at the wireless sensor R As shown in formula (3).

[0093]

[0094] Where λ0 is the wavelength, P t is the transmission power, d is the distance between the anchor node and the wireless sensor, Gt is the receiving antenna gain, G R is the transmit antenna gain.

[0095] According to an embodiment of the present disclosure, the received power expression PRCV(d) of the wireless sensor as shown in formula (4) is determined according to the signal power, the first distance, the standard distance and the signal attenuation coefficient.

[0096] PRCV(d)=Prcv(d0)·(d0 / d) λ =C(1 / d) λ (4)

[0097] Wherein, Prcv(d0) is the power received by the node at the standard distance d0, C is a preset constant, λ is the signal attenuation coefficient, and the value of the signal attenuation coefficient can be the average value under different test environments.

[0098] According to an embodiment of the present disclosure, the measurement variance is determined according to the received power expression. According to the measurement variance, the target weight corresponding to the anchor node is determined, so as to solve the parameter values ​​of the M undetermined coefficients in combination with the initial fitting error, and then determine the target equation group.

[0099] According to an embodiment of the present disclosure, determining the measurement variance according to the received power expression includes the following operations:

[0100] The distance in the received power expression is subjected to partial derivative processing to obtain a first partial derivative formula. The first partial derivative formula is subjected to differential processing to obtain a differential formula. According to the differential formula, a distance error formula is determined. According to the distance error formula, a measurement variance is determined.

[0101] According to an embodiment of the present disclosure, the first partial derivative formula is shown in formula (5), the differential formula is shown in formula (6), the distance error formula is shown in formula (7), and the measurement variance is shown in formula (8):

[0102]

[0103] ΔPrcv≈-C·λ·(d) -λ-1 ·△d (6)

[0104]

[0105]

[0106] Here, i is the number of times the signal strength of the anchor node is measured, and its upper limit is equal to the number N of anchor nodes.

[0107] According to an embodiment of the present disclosure, the inverse of the measurement variance is the target weight corresponding to the anchor node, and the sum of the N target weights is 1, so the N target weights of formula (9) can be summed to obtain formula (10), thereby obtaining the final target weight expression (11).

[0108]

[0109]

[0110]

[0111] Among them, d i It represents the distance between the anchor node and the wireless sensor determined by measuring the signal strength of the i-th anchor node, and k is a preset coefficient corresponding to the weight.

[0112] According to an embodiment of the present disclosure, determining parameter values ​​of M undetermined coefficients according to an initial fitting error and N target weights corresponding to N anchor nodes includes the following operations:

[0113] A target fitting error is determined based on the initial fitting error and the N target weights.

[0114] A relational expression is determined according to the target fitting error and the parameter set, wherein the parameter set includes M undetermined coefficients, and the relational expression is used to determine the relationship between the parameter set and the target fitting error according to N target weights and N node distances.

[0115] When the target fitting error satisfies a first preset value, parameter values ​​of a plurality of undetermined coefficients are determined according to the relational expression.

[0116] According to an embodiment of the present disclosure, the first preset value may be specifically set according to actual needs, for example, it may be 0.

[0117] According to an embodiment of the present disclosure, the parameter set may be represented by I (α0, α1, α2...α m ) indicates that, in which each α in the parameter set m is an undetermined coefficient.

[0118] According to an embodiment of the present disclosure, after determining the target fitting error based on the initial fitting error and N target weights, the relationship expression between the parameter set and the target fitting error is determined in combination with the parameter set, so that when the target fitting error satisfies a first preset value, the parameter values ​​of multiple unknown coefficients are determined according to the relationship expression.

[0119] According to an embodiment of the present disclosure, the initial fitting error D1 is shown in formula (12), the target fitting error D2 is shown in formula (13), and the relationship expression is shown in formula (14).

[0120]

[0121]

[0122]

[0123] Among them, φ m (r i ) is based on y i is a variable, r i A function established for an unknown quantity.

[0124] Figure 2 The flowchart of the wireless sensor positioning method according to the embodiment of the present disclosure is schematically shown.

[0125] like Figure 2 As shown, the method for determining parameter values ​​of a plurality of undetermined coefficients includes operations S201 to S205.

[0126] Operation S201: when the target fitting error satisfies the first preset value, the partial derivative of the relational expression satisfies the second preset value.

[0127] Operation S202: When the partial derivative satisfies a second preset value, a partial derivative is calculated for the relational expression to obtain a second partial derivative formula.

[0128] Operation S203: Generate a target matrix according to the second partial derivative formula.

[0129] Operation S204: determining a target vector according to the target matrix and the distance vector, wherein the distance vector is generated according to a standard distance and a plurality of node distances.

[0130] Operation S205: determining parameter values ​​of a plurality of undetermined coefficients according to the target vector.

[0131] According to an embodiment of the present disclosure, the second preset value may be specifically set according to actual needs. In order to make the result of the target fitting error more accurate, the present disclosure may set the second preset value to 0.

[0132] According to an embodiment of the present disclosure, the distance vector can be used Indicates that, d n Represents the distance between the wireless sensor and the Nth anchor node.

[0133] According to an embodiment of the present disclosure, the relational expression shown in formula (14) is subjected to partial derivative processing to obtain an initial second partial derivative formula as shown in formula (15). Formula (15) is rearranged to obtain a final second partial derivative formula as shown in formula (16).

[0134]

[0135]

[0136]

[0137] According to an embodiment of the present disclosure, when the number of anchor nodes is three, that is, when N=3, Set it to a 3×m target matrix G, as shown in formula (17). The target vector to be solved can be Represents, where T represents the period when measuring the signal strength of the anchor node.

[0138] According to an embodiment of the present disclosure, in the second partial derivative formula It is represented by a distance vector, where middle, Finally, the second partial derivative formula can be used Represented, the target vector is obtained by solving Then determine the corresponding unknown coefficient α m Parameter value.

[0139] According to an embodiment of the present disclosure, determining the positioning coordinates of the wireless sensor according to the N anchor node coordinates and the N target node distances determined by the target equation group includes the following operations:

[0140] The initial coordinates of the wireless sensor are determined according to the coordinates of the N anchor nodes. The transition coordinates of the wireless sensor are determined according to the initial coordinates and the distances of the N target nodes determined by the target equation group. The positioning coordinates of the wireless sensor are determined according to the N correction parameters corresponding to the N anchor nodes and the transition coordinates, wherein the correction parameters are used to correct the influence of the anchor nodes on the positioning of the wireless sensor, and the sum of the multiple correction parameters is used as the third preset value.

[0141] According to an embodiment of the present disclosure, when the anchor node coordinates are (x1, y1), (x2, y2), (x3, y3)...(x n ,y n ), the initial coordinates of the wireless sensor are as shown in formula (18).

[0142]

[0143] According to an embodiment of the present disclosure, the above formula (18) is determined using an unweighted centroid algorithm. Since the unweighted centroid algorithm has certain errors, the inverse of the distance of each target node determined by the target equation group can be substituted into the above formula (18) as a correction weight. Therefore, when the number of anchor nodes is 3, the distances of the three target nodes determined by the target equation group are y(r1), y(r2), and y(r3), respectively. By combining them with formula (18), the transition coordinates of the wireless sensor shown in formula (19) can be obtained.

[0144]

[0145] According to an embodiment of the present disclosure, on the basis of the above formula (19), the weight of the weight factor of the correction weight on the influence of distance is increased, so that the weight factor has a greater influence on it, and the attenuation coefficient K is introduced again. The attenuation coefficient K is different due to the influence of the distance propagation channel and multipath reflection, so the attenuation coefficient K needs to be specifically set according to the actual situation when it is selected.

[0146] According to the embodiment of the present disclosure, based on the above, the correction weight can be use Replacement is performed, and since each anchor node has a different influence on the wireless sensor, the power values ​​a, b, and c can be introduced as correction parameters to correct the influence. The values ​​of a, b, and c change with the distance between the anchor node and the positioning node, and then the positioning coordinates of the wireless sensor can be obtained as shown in formula (20).

[0147]

[0148]

[0149] Figure 3 The flowchart of the method for determining the area range of a wireless sensor according to an embodiment of the present disclosure is schematically shown.

[0150] Figure 4 The diagram schematically shows a schematic diagram of determining the area range of a wireless sensor according to an embodiment of the present disclosure.

[0151] like Figure 3 and Figure 4 As shown, when the number of anchor nodes is three, the area range of the wireless sensor is determined according to N anchor node coordinates respectively obtained from signal sensors at the N anchor nodes, including operations S301 to S304.

[0152] In operation S301, for each anchor node, a receiving power of a signal sent by the anchor node and received by a wireless sensor is determined.

[0153] Operation S302: determining an initial distance between the wireless sensor and the anchor node according to the received power.

[0154] Operation S303 : according to each initial distance, an arc is processed with the anchor node corresponding to the initial distance as the center and the length of the initial distance as the radius.

[0155] In operation S304, a closed area enclosed by the three arcs is determined as an area range of the wireless sensor.

[0156] According to an embodiment of the present disclosure, in free space, the initial received power is as shown in formula (21). Free space refers to a propagation space without attenuation and multipath.

[0157]

[0158] Among them, P t (d) is the initial received power when the distance between the wireless sensor and the anchor node is d; P t is the transmission power of the anchor node; Gt is the gain of the transmitting antenna of the anchor node, G r is the receiving gain of the wireless sensor, λ is the wavelength; L is the loss factor of the path.

[0159] According to the embodiments of the present disclosure, an analysis of formula (21) shows that the loss value of free space propagation is related to the propagation frequency and the propagation distance, so the signal strength RSSI of the wireless sensor can be expressed by formula (22).

[0160] RSSI(d)=δ0-10ρlg d / m+Z ρ (twenty two)

[0161] Where δ0 is the loss coefficient, m is the propagation frequency determined by the wavelength, and Z ρ The mean is 0 and the variance is ρ 2 Gaussian distribution.

[0162] According to the embodiment of the present disclosure, the initial distance d between the wireless sensor and the anchor node can be determined according to the signal strength RSSI of the wireless sensor determined by formula (22). Thus, arc processing is performed according to multiple initial distances and the anchor node corresponding to each initial distance, so that the closed area enclosed by three arcs is determined as the area range of the wireless sensor, such as Figure 4 The shaded area in Figure 4 The black dots in the middle represent anchor nodes.

[0163] According to an embodiment of the present disclosure, determining an initial fitting error according to the initial valued coordinates of the wireless sensor and the undetermined equation group includes the following operations:

[0164] For each anchor node corresponding to the undetermined set of equations, the sum of the squares of the coordinate differences between the anchor node coordinates and the initial valued coordinates is determined. The sums of the squares of multiple coordinate differences are summed to obtain the initial fitting error.

[0165] According to an embodiment of the present disclosure, the sum of the squares of the coordinate differences between an anchor node coordinate and the initial assigned coordinate is as shown in formula (23).

[0166]

[0167] Among them, (x b0 ,y b0 ) represents the initial assignment coordinates, (x bn ,y bn ) is used for the anchor node coordinates, and ν refers to the measurement error of the anchor node coordinates, which does not need to be considered during fitting.

[0168] According to an embodiment of the present disclosure, the square of the difference between formula (23) and formula (2) is summed to obtain an initial fitting error as shown in formula (12).

[0169] According to an embodiment of the present disclosure, the wireless sensor positioning method also includes an operation of controlling the driving state of the autonomous driving vehicle according to the positioning coordinates of the wireless sensor.

[0170] According to the embodiments of the present disclosure, in the field of mining or docking, multiple anchor nodes can be set in the construction area, and the autonomous driving vehicle can be used as a wireless sensor with unknown coordinates. The positioning coordinates of the autonomous driving vehicle can be determined by the wireless sensor positioning method of the present disclosure, so that the driving state of the autonomous driving vehicle can be controlled according to the positioning coordinates.

[0171] It should be noted that, in addition to the above-mentioned mining or port fields, the autonomous driving vehicle controlled by the wireless sensor positioning method disclosed in the present invention can also be used in other fields that require automatic control of vehicles or equipment, as well as for locating the location of mining points during resource mining.

[0172] Figure 5 The structural block diagram of the wireless sensor positioning device according to an embodiment of the present disclosure is schematically shown.

[0173] like Figure 5 As shown, the wireless sensor positioning device 500 includes a first determination module 501 , a generation module 502 , a second determination module 503 , a third determination module 504 , a fourth determination module 505 and a fifth determination module 506 .

[0174] The first determination module 501 is configured to determine the area range of the wireless sensor according to N anchor node coordinates respectively obtained from signal sensors at the N anchor nodes.

[0175] The generation module 502 is used to generate a group of undetermined equations based on the signal strengths of the N anchor nodes received by the wireless sensor and the M undetermined coefficients, wherein the group of undetermined equations includes N undetermined equations, each of which is generated based on an anchor node and the M undetermined coefficients, and each of which is used to determine the initial node distance between the wireless sensor and an anchor node coordinate, and M is less than N and is a positive integer.

[0176] The second determination module 503 is used to determine the initial fitting error according to the initial value assignment coordinates of the wireless sensor and the undetermined equation group, wherein the initial value assignment coordinates are determined according to the area range of the wireless sensor.

[0177] The third determination module 504 is used to determine the parameter values ​​of M unknown coefficients based on the initial fitting error and N target weights corresponding to the N anchor nodes, wherein the target weight is determined based on the transmission antenna gain and transmission power of the wireless sensor and the receiving antenna gain of the anchor node corresponding to the target weight.

[0178] The fourth determination module 505 is used to determine the target equation group and the target node distance corresponding to each target equation in the target equation group according to the parameter values ​​of the M undetermined coefficients and the undetermined equation group.

[0179] The fifth determination module 506 is configured to determine the positioning coordinates of the wireless sensor according to the N anchor node coordinates and the N target node distances.

[0180] According to an embodiment of the present disclosure, a module for determining a target weight includes a first determining unit, a second determining unit, a third determining unit, and a fourth determining unit.

[0181] The first determining unit is configured to determine, for each anchor node, a signal power received at the wireless sensor according to a transmission antenna gain, a transmission power, and a receiving antenna gain at the anchor node.

[0182] The second determining unit is used to determine a receiving power expression of the wireless sensor according to the signal power, the first distance, the standard distance and the signal attenuation coefficient, wherein the first distance represents the distance between the wireless sensor and the anchor node.

[0183] The third determining unit is used to determine the measurement variance according to the received power expression.

[0184] The fourth determining unit is used to determine the target weight corresponding to the anchor node according to the measurement variance.

[0185] According to an embodiment of the present disclosure, the third determining unit includes a first partial derivative unit, a micromolecule unit, a first determining subunit, and a second determining subunit.

[0186] The first partial derivative subunit is used to perform partial derivative processing on the distance in the received power expression to obtain a first partial derivative formula.

[0187] The differential molecular unit is used to perform differentiation processing on the first partial derivative formula to obtain a differential formula.

[0188] The first determination subunit is used to determine a distance error formula according to a differential formula.

[0189] The second determining subunit is used to determine the measurement variance according to the distance error formula.

[0190] According to an embodiment of the present disclosure, the third determining module 504 includes a fifth determining unit, a sixth determining unit, and a seventh determining unit.

[0191] The fifth determining unit is used to determine a target fitting error according to the initial fitting error and the N target weights.

[0192] The sixth determination unit is used to determine a relationship expression based on the target fitting error and the parameter set, wherein the parameter set includes M unknown coefficients, and the relationship expression is used to determine the relationship between the parameter set and the target fitting error based on N target weights and N node distances.

[0193] The seventh determination unit is used to determine parameter values ​​of multiple undetermined coefficients according to the relational expression when the target fitting error satisfies the first preset value.

[0194] According to an embodiment of the present disclosure, the seventh determining unit includes a conditional subunit, a second partial derivative subunit, a generating subunit, a third determining subunit and a fourth determining subunit.

[0195] The conditional subunit is used to ensure that the partial derivative of the relational expression satisfies a second preset value when the target fitting error satisfies a first preset value.

[0196] The second partial derivative subunit is used to perform partial derivative processing on the relational expression to obtain a second partial derivative formula when the partial derivative value satisfies a second preset value.

[0197] The generating subunit is used to generate a target matrix according to the second partial derivative formula.

[0198] The third determination subunit is used to determine the target vector according to the target matrix and the distance vector, wherein the distance vector is generated according to the standard distance and multiple node distances.

[0199] The fourth determination subunit is used to determine parameter values ​​of multiple undetermined coefficients according to the target vector.

[0200] According to an embodiment of the present disclosure, the fifth determining module 506 includes an eighth determining unit, a ninth determining unit, and a tenth determining unit.

[0201] The eighth determining unit is configured to determine the initial coordinates of the wireless sensor according to the coordinates of the N anchor nodes.

[0202] The ninth determination unit is used to determine the transition coordinates of the wireless sensor according to the initial coordinates and the distances of the N target nodes determined by the target equation group.

[0203] The tenth determination unit is used to determine the positioning coordinates of the wireless sensor according to N correction parameters and transition coordinates corresponding to the N anchor nodes, wherein the correction parameters are used to correct the influence of the anchor nodes on the positioning of the wireless sensor, and the sum of multiple correction parameters is used as the third preset value.

[0204] According to an embodiment of the present disclosure, when the number of anchor nodes is three, the first determining module 501 includes an eleventh determining unit, a twelfth determining unit, a processing unit, and a thirteenth determining unit.

[0205] The eleventh determining unit is configured to determine, for each anchor node, a receiving power of a signal sent by the anchor node and received by the wireless sensor.

[0206] The twelfth determining unit is configured to determine an initial distance between the wireless sensor and the anchor node according to the received power.

[0207] The processing unit is used to perform arc processing according to each initial distance, with the anchor node corresponding to the initial distance as the center and the length of the initial distance as the radius.

[0208] The thirteenth determining unit is used to determine a closed area enclosed by the three arcs as the area range of the wireless sensor.

[0209] According to an embodiment of the present disclosure, the second determining module 503 includes a fourteenth determining unit and an obtaining unit.

[0210] The fourteenth determining unit is used to determine, for each anchor node corresponding to the undetermined equation group, the sum of squares of coordinate differences between the anchor node coordinates and the initial valued coordinates.

[0211] A unit is obtained, which is used to sum the squares of multiple coordinate differences to obtain an initial fitting error.

[0212] According to an embodiment of the present disclosure, the wireless sensor positioning device 500 further includes a control module

[0213] The control module is used to control the driving state of the autonomous driving vehicle according to the positioning coordinates of the wireless sensor.

[0214] According to an embodiment of the present disclosure, any multiple modules in the first determination module 501, the generation module 502, the second determination module 503, the third determination module 504, the fourth determination module 505 and the fifth determination module 506 can be combined in one module for implementation, or any one of the modules can be split into multiple modules. Alternatively, at least part of the functions of one or more of these modules can be combined with at least part of the functions of other modules and implemented in one module. According to an embodiment of the present disclosure, at least one of the first determination module 501, the generation module 502, the second determination module 503, the third determination module 504, the fourth determination module 505 and the fifth determination module 506 can be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, an application specific integrated circuit (ASIC), or can be implemented by hardware or firmware such as any other reasonable way of integrating or packaging the circuit, or implemented in any one of the three implementation methods of software, hardware and firmware or in an appropriate combination of any of them. Alternatively, at least one of the first determination module 501, the generation module 502, the second determination module 503, the third determination module 504, the fourth determination module 505 and the fifth determination module 506 can be at least partially implemented as a computer program module, and when the computer program module is executed, the corresponding function can be performed.

[0215] Figure 6 A block diagram of an electronic device suitable for implementing a wireless sensor positioning method according to an embodiment of the present disclosure is schematically shown.

[0216] like Figure 6 As shown, the electronic device 600 according to an embodiment of the present disclosure includes a processor 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (RON) 602 or a program loaded from a storage part 608 into a random access memory (RAN) 603. The processor 601 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or a related chipset and / or a dedicated microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 601 may also include an onboard memory for caching purposes. The processor 601 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present disclosure.

[0217] In RAN 603, various programs and data required for the operation of electronic device 600 are stored. Processor 601, RON 602 and RAN 603 are connected to each other via bus 604. Processor 601 performs various operations of the method flow according to the embodiment of the present disclosure by executing the programs in RON 602 and / or RAN 603. It should be noted that the program can also be stored in one or more memories other than RON 602 and RAN 603. Processor 601 can also perform various operations of the method flow according to the embodiment of the present disclosure by executing the programs stored in the one or more memories.

[0218] According to an embodiment of the present disclosure, the electronic device 600 may further include an input / output (I / O) interface 605, which is also connected to the bus 604. The electronic device 600 may further include one or more of the following components connected to the I / O interface 605: an input portion 606 including a keyboard, a mouse, etc.; an output portion 607 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage portion 608 including a hard disk, etc.; and a communication portion 609 including a network interface card such as a LAM card, a modem, etc. The communication portion 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as needed. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as needed, so that a computer program read therefrom is installed into the storage portion 608 as needed.

[0219] The present disclosure also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or may exist independently without being assembled into the device / apparatus / system. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the method according to the embodiment of the present disclosure is implemented.

[0220] According to an embodiment of the present disclosure, the computer-readable storage medium may be a non-volatile computer-readable storage medium, for example, may include but is not limited to: a portable computer disk, a hard disk, a random access memory (RAN), a read-only memory (RON), an erasable programmable read-only memory (EPRON or flash memory), a portable compact disk read-only memory (CD-RON), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, an apparatus or a device. For example, according to an embodiment of the present disclosure, a computer-readable storage medium may include the RON 602 and / or the RAN 603 described above and / or one or more memories other than the RON 602 and the RAN 603.

[0221] The embodiment of the present disclosure also includes a computer program product, which includes a computer program, and the computer program contains program code for executing the method shown in the flowchart. When the computer program product is run in a computer system, the program code is used to enable the computer system to implement the item recommendation method provided by the embodiment of the present disclosure.

[0222] The above functions defined in the system / device of the embodiment of the present disclosure are performed when the computer program is executed by the processor 601. According to the embodiment of the present disclosure, the system, device, module, unit, etc. described above can be implemented by a computer program module.

[0223] In one embodiment, the computer program may rely on tangible storage media such as optical storage devices, magnetic storage devices, etc. In another embodiment, the computer program may also be transmitted and distributed in the form of signals on a network medium, and downloaded and installed through the communication part 609, and / or installed from a removable medium 611. The program code contained in the computer program may be transmitted using any appropriate network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0224] In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 609, and / or installed from the removable medium 611. When the computer program is executed by the processor 601, the above functions defined in the system of the embodiment of the present disclosure are performed. According to the embodiment of the present disclosure, the system, device, apparatus, module, unit, etc. described above can be implemented by a computer program module.

[0225] According to an embodiment of the present disclosure, the program code for executing the computer program provided by the embodiment of the present disclosure can be written in any combination of one or more programming languages. Specifically, these computing programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, Java, C++, Python, "C" language, or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, partially on the remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (for example, using an Internet service provider to connect through the Internet).

[0226] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0227] It will be appreciated by those skilled in the art that the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways, even if such combinations and / or combinations are not explicitly described in the present disclosure. In particular, the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways without departing from the spirit and teachings of the present disclosure. All of these combinations and / or combinations fall within the scope of the present disclosure.

[0228] The embodiments of the present disclosure are described above. However, these embodiments are only for illustrative purposes and are not intended to limit the scope of the present disclosure. Although the embodiments are described above separately, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. The scope of the present disclosure is defined by the attached claims and their equivalents. Without departing from the scope of the present disclosure, those skilled in the art may make a variety of substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. A wireless sensor positioning method, include: Determine the area range of the wireless sensor according to N anchor node coordinates respectively obtained from signal sensors at the N anchor nodes; Generate a set of undetermined equations according to the signal strengths of the N anchor nodes received by the wireless sensor and the M undetermined coefficients, wherein the set of undetermined equations includes N undetermined equations, each of which is generated according to one anchor node and the M undetermined coefficients, and each of which is used to determine the initial node distance between the wireless sensor and the coordinates of one anchor node, and M is less than N and is a positive integer; Determining an initial fitting error according to the initial valued coordinates of the wireless sensor and the undetermined set of equations, wherein the initial valued coordinates are determined according to the area range of the wireless sensor; Determine parameter values ​​of the M undetermined coefficients according to the initial fitting error and N target weights respectively corresponding to the N anchor nodes, wherein the target weight is determined according to the transmission antenna gain and transmission power of the wireless sensor and the receiving antenna gain of the anchor node corresponding to the target weight; Determine a target equation group and a target node distance corresponding to each target equation in the target equation group according to the parameter values ​​of the M undetermined coefficients and the undetermined equation group; The positioning coordinates of the wireless sensor are determined according to the N anchor node coordinates and the N target node distances.

2. The method according to claim 1, in, The target weight is determined according to the transmission antenna gain and transmission power of the wireless sensor and the receiving antenna gain of the anchor node corresponding to the target weight, including: For each of the anchor nodes, determining a signal power received at the wireless sensor according to the transmission antenna gain, the transmission power, and the reception antenna gain at the anchor node; Determine a received power expression of the wireless sensor according to the signal power, the first distance, the standard distance and the signal attenuation coefficient, wherein the first distance represents the distance between the wireless sensor and the anchor node; Determining a measurement variance according to the received power expression; The target weight corresponding to the anchor node is determined according to the measurement variance.

3. The method according to claim 2, in, The step of determining the measurement variance according to the received power expression comprises: Performing partial derivative processing on the distance in the received power expression to obtain a first partial derivative formula; Differentiating the first partial derivative formula to obtain a differential formula; According to the differential formula, determine the distance error formula; The measurement variance is determined according to the distance error formula.

4. The method according to any one of claims 1 to 3, in, Determining parameter values ​​of the M undetermined coefficients according to the initial fitting error and the N target weights corresponding to the N anchor nodes includes: Determining a target fitting error according to the initial fitting error and the N target weights; Determine a relational expression according to the target fitting error and the parameter set, wherein the parameter set includes the M undetermined coefficients, and the relational expression is used to determine the relationship between the parameter set and the target fitting error according to the N target weights and the N node distances; When the target fitting error satisfies a first preset value, parameter values ​​of a plurality of the undetermined coefficients are determined according to the relational expression.

5. The method according to claim 4, in, When the target fitting error satisfies the first preset value, determining the parameter values ​​of the plurality of undetermined coefficients according to the relational expression comprises: When the target fitting error satisfies the first preset value, the partial derivative of the relational expression satisfies the second preset value; When the partial derivative value satisfies a second preset value, performing partial derivative processing on the relational expression to obtain a second partial derivative formula; According to the second partial derivative formula, generate a target matrix; Determine a target vector according to the target matrix and the distance vector, wherein the distance vector is generated according to a standard distance and a plurality of the node distances; Parameter values ​​of a plurality of the undetermined coefficients are determined according to the target vector.

6. The method according to claim 1, in, Determining the positioning coordinates of the wireless sensor according to the N anchor node coordinates and the N target node distances determined by the target equation group includes: Determining the initial coordinates of the wireless sensor according to the N anchor node coordinates; Determine the transition coordinates of the wireless sensor according to the initial coordinates and the N target node distances determined by the target equation group; The positioning coordinates of the wireless sensor are determined according to N correction parameters corresponding to the N anchor nodes and the transition coordinates, wherein the correction parameters are used to correct the influence of the anchor nodes on the positioning of the wireless sensor, and the sum of multiple correction parameters is used as the third preset value.

7. The method according to claim 1, in, In the case that the number of the anchor nodes is three, determining the area range of the wireless sensor according to the N anchor node coordinates respectively obtained from the signal sensors at the N anchor nodes includes: For each of the anchor nodes, determining a receiving power of a signal sent by the anchor node and received by the wireless sensor; Determining an initial distance between the wireless sensor and the anchor node according to the received power; According to each of the initial distances, an arc is processed with the anchor node corresponding to the initial distance as the center and the length of the initial distance as the radius; A closed area enclosed by the three arcs is determined as the area range of the wireless sensor.

8. The method according to claim 1, in, The step of determining the initial fitting error according to the initial assigned coordinates of the wireless sensor and the undetermined set of equations comprises: For each of the anchor nodes corresponding to the undetermined set of equations, according to the anchor node coordinates and the initial valued coordinates, determine the sum of squares of the coordinate differences between the two; The square sums of the plurality of coordinate differences are summed to obtain the initial fitting error.

9. The method according to claim 1, further comprising: include: The driving state of the autonomous driving vehicle is controlled according to the positioning coordinates of the wireless sensor.

10. A wireless sensor positioning device, include: A first determination module, configured to determine the area range of the wireless sensor according to N anchor node coordinates respectively obtained from signal sensors at the N anchor nodes; A generating module, configured to generate a set of undetermined equations according to the signal strengths of the N anchor nodes received by the wireless sensor and the M undetermined coefficients, wherein the set of undetermined equations includes N undetermined equations, each of which is generated according to one anchor node and the M undetermined coefficients, and each of which is used to determine an initial node distance between the wireless sensor and one of the anchor node coordinates, and M is less than N and is a positive integer; A second determination module is used to determine an initial fitting error according to the initial valued coordinates of the wireless sensor and the undetermined equation group, wherein the initial valued coordinates are determined according to the area range of the wireless sensor; A third determination module is used to determine parameter values ​​of the M undetermined coefficients according to the initial fitting error and N target weights corresponding to the N anchor nodes, respectively, wherein the target weight is determined according to the transmission antenna gain and transmission power of the wireless sensor and the receiving antenna gain of the anchor node corresponding to the target weight; A fourth determination module, used for determining a target equation group and a target node distance corresponding to each target equation in the target equation group according to the parameter values ​​of the M undetermined coefficients and the undetermined equation group; The fifth determination module is used to determine the positioning coordinates of the wireless sensor according to the N anchor node coordinates and the N target node distances.

11. An electronic device, include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors are enabled to execute the method according to any one of claims 1 to 9.

12. A computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, causes the processor to execute the method according to any one of claims 1 to 9.

13. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the method according to any one of claims 1 to 9 is implemented.

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