A node positioning method and system based on wireless energy transmission and signal reception

Abstract

The present invention discloses a node positioning method and system based on wireless energy transmission and signal reception in the field of sensing node positioning, comprising: when a charging vehicle is at t j Arrival at the stop point S j When the charging vehicle is controlled, it broadcasts W times to the sensing node containing the station point S j coordinate information signal; control the charging vehicle to the sensing node n i Start to transfer energy and continue for T c Time length; after the sensing node within the upper limit of the wireless energy transmission distance of the charging vehicle completes charging, the charging vehicle is controlled to move to the next station point S along the TSP cycle path j+1 Move until the charging vehicle returns to the starting and ending point S1; the wireless energy transmission characteristics and wireless signal reception strength are combined to locate the sensing node, thereby improving the positioning accuracy of the sensing node.

Description

Technical Field

[0001] The present invention belongs to the technical field of perception node positioning, and in particular relates to a node positioning method and system based on wireless energy transmission and signal reception. Background Art

[0002] In self-organizing networks represented by wireless sensor networks (including wireless rechargeable sensor networks), the location information of nodes is not only an important characteristic value to characterize the source of data, but also greatly affects the routing selection and network topology construction during data packet transmission.

[0003] However, for nodes that have limited computing, communication, and storage capabilities and are generally unable to be equipped with positioning modules (such as Beidou modules and GPS modules), how to obtain their own location information through external auxiliary devices or collaboration between nodes has always been one of the research focuses in this field.

[0004] To address this problem, a series of positioning algorithms have emerged. These include ranging-based node positioning algorithms (such as the "positioning algorithm based on signal arrival time difference" and the "positioning algorithm based on signal strength"), non-ranging node positioning algorithms (such as the "center of mass positioning algorithm" and the "approximate triangle interior point test algorithm"), and positioning algorithms that combine the two. However, due to the inevitable loss of wireless signal transmission in free space and the limited capabilities and energy storage of nodes, the accuracy of most positioning algorithms is low and easily affected by the environment (especially in the presence of obstacles). To improve node positioning accuracy, scholars in this field have proposed numerous node positioning optimization strategies based on heuristic algorithms (such as ant colony algorithms, simulated annealing algorithms, and genetic algorithms). However, these methods have high time and space complexity and are not suitable for self-organizing networks. Summary of the Invention

[0005] The purpose of the present invention is to provide a node positioning method and system based on wireless energy transmission and signal reception, which utilizes the process characteristics of wireless energy transmission between charging vehicles passing through various parking points and nodes at fixed positions to estimate the distance between the two, and combines the perceived signal strength ranging results to achieve the final determination of the node's geographical location coordinates, thereby solving the current problems of low node positioning accuracy and high computational complexity in this field.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is:

[0007] A first aspect of the present invention provides a node positioning method based on wireless energy transmission and signal reception, comprising:

[0008] The transmission network formed by the sensing nodes is evenly divided into K sub-areas; the sensing nodes are equipped with a communication unit, a computing unit and a wireless charging coil; the transmission network is equipped with a base station for broadcasting information to the sensing nodes; the i-th sensing node in the transmission network is recorded as sensing node n i ;

[0009] A station point is set up in the center of the sub-area; a starting and ending point S1 is randomly selected from each station point; a TSP cycle path is constructed from the starting and ending point S1 through all the station points in the transmission network; the jth station point on the TSP cycle path is recorded as station point S j ;

[0010] The control base station sends a "clock synchronization" broadcast message packet to the sensing node, setting the current time of the sensing node clock to t1; at the same time, at time t1, the charging vehicle is controlled to traverse the station points in the transmission network along the TSP cycle path from the starting and ending points S1;

[0011] When the charging car is at t j Arrival at the stop point S j When the charging vehicle is controlled, it broadcasts W times to the sensing node containing the station point S j The coordinate information signal; according to the perception node n i The received power value P corresponding to the perceived signal strength sent by the charging vehicle r (n i ), estimate the perception node n i With the dwell point S j The Euclidean distance d between them;

[0012] Control perception node n i The remaining energy value E(n i ,t j ) is sent to the charging car; the charging car is controlled to send the sensing node n i Start to transfer energy and continue for T c Length of time; in T c After the length of time; according to the perception node n i The received power value P corresponding to the perceived wireless energy transmission intensity of the charging vehicle r ′(n i ) and the remaining energy value E(n i ,t j ), estimate the perception node n i With the dwell point S j The Euclidean distance d′ between them;

[0013] After the sensing node within the upper limit of the wireless energy transmission distance of the charging vehicle completes charging, the charging vehicle is controlled to move to the next station point S along the TSP cycle path. j+1Move until the charging vehicle returns to the starting and ending point S1; obtain the Euclidean distance d′ and Euclidean distance d from the sensing node to be located to the three stationary points, and use the weighted trilateral ranging positioning method to calculate the precise coordinates of the sensing node to be located.

[0014] Preferably, the charging vehicle is controlled to broadcast W times to the sensing node including the station point S j The method of signaling the coordinate information includes: controlling the charging vehicle to P t To send power, to the station point S j The sensing nodes within the radius of R are broadcast continuously W times including the residence point S j Coordinate information signal.

[0015] Preferably, the charging vehicle is controlled to move to the sensing node n i Start to transfer energy and continue for T c The time length method includes: controlling the charging vehicle to use α as the expansion angle and P t ′ is the wireless energy transmission power, R is the upper limit of the wireless energy transmission distance, and the distance to the sensing node n is i Start to transfer energy and continue for T c Length of time.

[0016] Preferably, it also includes: if the sensing node is at t j If the signal broadcast by the charging vehicle is not received at this moment, the wireless data transceiver module of its sensing node is turned off until T s +T m Turn on again after a certain time; T s It represents the length of time the charging vehicle stays at each station; T m It is the time it takes for a charging vehicle to move between two parking points.

[0017] Preferably, the method further includes: if the charging vehicle is at T c Time is not completed to the residence point S j When the sensing node within the circle with R as the radius is charged, the direction of the magnetic coupling coil of the charging vehicle is rotated clockwise. After the angle is reached, the charging vehicle is controlled again with α as the expansion angle and P t ′ is the wireless energy transmission power, R is the upper limit of the wireless energy transmission distance, and the distance to the sensing node n is i Start to transfer energy and continue for T c Time length until the distance from the stop point S j All sensing nodes with a capacity less than or equal to R have completed charging.

[0018] Preferably, according to the sensing node n i The received power value P corresponding to the perceived signal strength sent by the charging vehicle r(n i ), estimate the perception node n i With the dwell point S j Methods for calculating the Euclidean distance d between two entities include:

[0019]

[0020] In the formula, G s It is represented by the wireless signal receiving and transmitting antenna gain of the sensing node, G r It is represented by the wireless signal receiving and transmitting antenna gain of the charging vehicle, η represents the wireless signal transmission efficiency, λ is the electromagnetic wavelength during the wireless transmission of the signal, and L p is the polarization loss value of the signal receiving and transmitting antenna of the sensing node; β is an adjustable parameter related to the distance.

[0021] Preferably, according to the sensing node n i The received power value P′ corresponding to the perceived wireless energy transmission intensity of the charging vehicle r (n i ) and the remaining energy value E(n i ,t j ), estimate the perception node n i With the dwell point S j Methods for calculating the Euclidean distance d′ between two entities include:

[0022]

[0023] P r '(n i )=(E(n i ,t(n i ,S j ))-E(n i ,t j )) / T c

[0024] In the formula, G′ s Expressed as the magnetic coupling coil gain of the charged sensing node, G′ r It is represented by the magnetic coupling coil gain of the charging vehicle, η′ represents the wireless charging efficiency, λ′ is the electromagnetic wavelength during wireless energy transmission, and L′ p is the polarization loss value of the magnetic coupling coil of the charged node; β′ is an adjustable parameter related to the distance; t(n i ,S j ) represents the charging vehicle at the parking point S j For sensor node n i A moment to recharge.

[0025] Preferably, the maximum energy storage capacity of the sensing nodes is set to E, and the initial energy storage of the sensing nodes is set to E0; wherein, the initial energy storage of the sensing nodes is calculated based on the maximum energy storage capacity being E0, and the expression formula is:

[0026] E0=E-3(P r ' max ×T c )

[0027] Let d'(n i ,S j ) is equal to 0, calculate P r ' max The expression formula is:

[0028]

[0029] In the formula, P r ' max It is expressed as the maximum power that the sensing node can receive energy.

[0030] Preferably, the method of obtaining the Euclidean distance d′ and the Euclidean distance d from the sensing node to be located to the three resident points, and calculating the precise coordinates of the sensing node to be located using a weighted trilateration positioning method includes:

[0031] Get the Euclidean distance d from the sensing node to be located to the three resident points, marked as d(n i ,S a )、d(n i ,S b ) and d(n i ,S c ); obtain the Euclidean distance d′ from the sensing node to be located to the three resident points, marked as d′(n i ,S a ), d′(n i ,S b ) and d′(n i ,S c );

[0032] d(n i ,S a )、d(n i ,S b ) and d(n i ,S c ) value is substituted into the three-sided ranging positioning method to calculate the first set of coordinates of the sensing node, which is recorded as {X(n i )1,Y(n i )1};

[0033] d′(n i ,S a), d′(n i ,S b ) and d′(n i ,S c ) value is substituted into the three-sided ranging positioning method to calculate the second set of coordinates of the sensing node, which is recorded as {X(n i )2,Y(n i )2};

[0034] d′(n i ,S a )、d(n i ,S b ) and d(n i ,S c ) value into the three-sided ranging positioning method to calculate the third set of coordinates of the sensing node, which is recorded as {X(n i )3,Y(n i )3};

[0035] d(n i ,S a ), d′(n i ,S b ) and d(n i ,S c ) value into the three-sided ranging positioning method to calculate the fourth set of coordinates of the sensing node, which is recorded as {X(n i )4,Y(n i )4};

[0036] d(n i ,S a )、d(n i ,S b ) and d′(n i ,S c ) value into the three-sided ranging positioning method to calculate the fifth set of coordinates of the sensing node, which is recorded as {X(n i )5,Y(n i )5};

[0037] d(n i ,S a ), d′(n i ,S b ) and d′(n i ,S c ) value into the three-sided ranging positioning method to calculate the sixth set of coordinates of the sensing node, which is recorded as {X(n i )6,Y(n i )6};

[0038] d′(n i ,S a )、d(n i ,S b) and d′(n i ,S c ) value into the three-sided ranging positioning method to calculate the 7th set of coordinates of the sensing node, which is recorded as {X(n i )7,Y(n i )7};

[0039] d′(n i ,S a ), d′(n i ,S b ) and d(n i ,S c ) value into the three-sided ranging positioning method to calculate the 8th set of coordinates of the sensing node, which is recorded as {X(n i )8,Y(n i )8};

[0040] Calculate the precise coordinates of the sensing node, and the expression formula is:

[0041]

[0042]

[0043] In the formula, X(n i ) represents the precise horizontal coordinate of the sensing node; Y(n i ) represents the precise vertical coordinate of the sensing node.

[0044] A second aspect of the present invention provides a node positioning system based on wireless energy transmission and signal reception, comprising:

[0045] The partitioning module evenly divides the transmission network formed by the sensing nodes into K sub-areas; the sensing nodes are equipped with a communication unit, a computing unit and a wireless charging coil; the transmission network is equipped with a base station for broadcasting information to the sensing nodes; the i-th sensing node in the transmission network is recorded as sensing node n i ;

[0046] The path planning module is used to set up a residence point in the center of the sub-area; randomly select the starting and ending points S1 from each residence point; construct a TSP cycle path from the starting and ending points S1 through all the residence points in the transmission network; record the jth residence point on the TSP cycle path as residence point S j ;

[0047] The clock synchronization module is used to control the base station to send a "clock synchronization" broadcast message packet to the sensing node, setting the current time of the sensing node clock to t1; at the same time, at time t1, the charging vehicle is controlled to traverse the station points in the transmission network along the TSP loop path from the starting and ending point S1;

[0048] Signal control module, used when the charging vehicle is in tj Arrival at the stop point S j When the charging vehicle is controlled, it broadcasts W times to the sensing node containing the station point S j The coordinate information signal; according to the perception node n i The received power value P corresponding to the perceived signal strength sent by the charging vehicle r (n i ), estimate the perception node n i With the dwell point S j The Euclidean distance d between them;

[0049] Energy transmission control module, used to control the sensing node n i The remaining energy value E(n i ,t j ) is sent to the charging car; the charging car is controlled to send the sensing node n i Start to transfer energy and continue for T c Length of time; in T c After the length of time; according to the perception node n i The received power value P corresponding to the perceived wireless energy transmission intensity of the charging vehicle r ′(n i ) and the remaining energy value E(n i ,t j ), estimate the perception node n i With the dwell point S j The Euclidean distance d′ between them;

[0050] The positioning module is used to control the charging vehicle to move to the next station point S along the TSP cycle path after the sensing node within the upper limit of the wireless energy transmission distance of the charging vehicle completes charging. j+1 Move until the charging vehicle returns to the starting and ending point S1; obtain the Euclidean distance d′ and Euclidean distance d from the sensing node to be located to the three stationary points, and use the weighted trilateral ranging positioning method to calculate the precise coordinates of the sensing node to be located.

[0051] A third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the node positioning method when executed by a processor.

[0052] Compared with the prior art, the present invention has the following beneficial effects:

[0053] After the sensing node within the upper limit of the wireless energy transmission distance of the charging vehicle completes charging, the present invention controls the charging vehicle to move to the next station point S along the TSP cycle path. j+1Move until the charging vehicle returns to the starting and ending point S1; obtain the Euclidean distance d′ and Euclidean distance d from the sensing node to the three stationary points, and use the weighted trilateral ranging positioning method to calculate the precise coordinates of the sensing node to be located; by combining the wireless energy transmission characteristics and the wireless signal reception strength, the positioning accuracy of the sensing node is improved; not only is the computational complexity low, but also in the entire positioning process, no data exchange is required between nodes, which effectively reduces the communication energy consumption of the sensing node. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 This is a schematic diagram showing that the transmission network provided in the first embodiment is evenly divided into K sub-areas;

[0055] Figure 2 This is a structural diagram of the TSP cycle path provided in the first embodiment;

[0056] Figure 3 This is a flow chart of the charging vehicle transmitting energy to the sensing nodes in sequence provided in the first embodiment;

[0057] Figure 4 This is a flowchart of the positioning of the perception node provided in the first embodiment. DETAILED DESCRIPTION

[0058] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention.

[0059] Example 1

[0060] like Figures 1 to 4 As shown, the first aspect of the present invention provides a node positioning method based on wireless energy transmission and signal reception, comprising:

[0061] The transmission network formed by the sensing nodes is evenly divided into K virtual regular hexagons with a side length of l, where the side length l is 1.56 meters, which are recorded as sub-areas. In this embodiment, the value of K is 62. The sensing nodes are equipped with a communication unit, a computing unit, and a wireless charging coil. The transmission network is equipped with a base station for broadcasting information to the sensing nodes. The i-th sensing node in the transmission network is recorded as sensing node n. i ;

[0062] The maximum energy storage capacity of the sensing nodes is set to E. In this embodiment, the value of E is 2000mAH. The initial energy storage of the sensing nodes is set to E0. According to the maximum energy storage capacity E, the initial energy storage of the sensing nodes is calculated to be E0. The expression formula is:

[0063] E0=E-3(P r ' max ×Tc )

[0064] Let d'(n i ,S j ) is equal to 0, calculate P r ' max The expression formula is:

[0065]

[0066] In the formula, P r ' max It is the maximum power that the sensing node can receive energy; G′ s Expressed as the magnetic coupling coil gain of the charged sensing node, G′ r It is represented by the magnetic coupling coil gain of the charging vehicle, η′ represents the wireless charging efficiency, λ′ is the electromagnetic wavelength during wireless energy transmission, and L′ p is the polarization loss value of the magnetic coupling coil of the charged node; β′ is an adjustable parameter related to the distance.

[0067] A station point is set up in the center of the sub-area; a starting and ending point S1 is randomly selected from each station point; a TSP cycle path is constructed from the starting and ending point S1 through all the station points in the transmission network; the jth station point on the TSP cycle path is recorded as station point S j ;

[0068] The control base station sends a "clock synchronization" broadcast message packet to the sensing node, setting the current time of the sensing node clock to t1; at the same time, at time t1, the charging vehicle is controlled to traverse the station points in the transmission network along the TSP cycle path from the starting and ending points S1;

[0069] When the charging car is at t j Arrival at the stop point S j When the charging vehicle is controlled to t To send power, to the station point S j The sensing nodes within the radius of R are broadcast 100 times including the station point S j Signal of coordinate information; in this embodiment, the value of R is 2.7 meters.

[0070] Control the charging vehicle's sending power P t , the calculation formula is:

[0071]

[0072] In the formula, G s It is represented by the wireless signal receiving and transmitting antenna gain of the sensing node, G r It is represented by the wireless signal receiving and transmitting antenna gain of the charging vehicle, η represents the wireless signal transmission efficiency, λ is the electromagnetic wavelength during the wireless transmission of the signal, and Lp is the polarization loss value of the signal receiving and transmitting antenna of the sensing node; β is an adjustable parameter related to the distance; P r min It is expressed as the received power value corresponding to the signal strength at a distance of R meters from the charging vehicle; P r min The value is 10 -1 mW.

[0073] According to the perception node n i The received power value P corresponding to the perceived signal strength sent by the charging vehicle r (n i ), estimate the perception node n i With the dwell point S j Methods for calculating the Euclidean distance d between two entities include:

[0074]

[0075] If the sensing node is at t j If the signal broadcast by the charging vehicle is not received at this moment, the wireless data transceiver module of its sensing node is turned off until T s +T m Turn on again after a certain time; T s It represents the length of time the charging vehicle stays at each station; T m It is the time it takes for the charging vehicle to move between two parking points; the length of time the charging vehicle stays at each parking point T s , the calculation formula is: Where T c It is expressed as the time for the charging vehicle to transmit energy to the sensing node each time; the time T required for the charging vehicle to move between the two stationary points m , the calculation formula is: T m =R / v; v represents the moving speed of the charging vehicle, and in this embodiment, the value of v is 0.5 m / s.

[0076] Control the charging vehicle with α as the expansion angle and P′ t is the wireless energy transmission power, R is the upper limit of the wireless energy transmission distance, and the distance to the sensing node n is i Start to transfer energy and continue for T c Length of time; in T c After a certain time, according to the perception node n i The received power value P′ corresponding to the perceived wireless energy transmission intensity of the charging vehicle r (n i ) and the remaining energy value E(n i ,t j ), estimate the perception node n i With the dwell point S jMethods for calculating the Euclidean distance d′ between two entities include:

[0077]

[0078] P r '(n i )=(E(n i ,t(n i ,S j ))-E(n i ,t j )) / T c

[0079] In the formula, t(n i ,S j ) represents the charging vehicle at the parking point S j For sensor node n i A moment to recharge.

[0080] If the charging car is at T c Time is not completed to the residence point S j When the sensing node within the circle with R as the radius is charged, the direction of the magnetic coupling coil of the charging vehicle is rotated clockwise. After the angle is reached, the charging vehicle is controlled again with α as the expansion angle and P′ t is the wireless energy transmission power, R is the upper limit of the wireless energy transmission distance, and the distance to the sensing node n is i Start to transfer energy and continue for T c Time length until the distance from the stop point S j All sensing nodes less than or equal to R are fully charged; in this embodiment, T c The value is 600s; the expansion angle α is π / 2.

[0081] After the sensing node within the upper limit of the wireless energy transmission distance of the charging vehicle completes charging, the charging vehicle is controlled to move to the next station point S along the TSP cycle path. j+1 Move until the charging vehicle returns to the starting and ending point S1.

[0082] Get the Euclidean distance d from the sensing node to be located to the three resident points, marked as d(n i ,S a )、d(n i ,S b ) and d(n i ,S c ); obtain the Euclidean distance d′ from the sensing node to be located to the three resident points, marked as d′(n i ,S a )、d′(n i ,S b ) and d′(n i ,Sc );

[0083] d(n i ,S a )、d(n i ,S b ) and d(n i ,S c ) value is substituted into the three-sided ranging positioning method to calculate the first set of coordinates of the sensing node, which is recorded as {X(n i )1,Y(n i )1};

[0084] d′(n i ,S a ), d′(n i ,S b ) and d′(n i ,S c ) value is substituted into the three-sided ranging positioning method to calculate the second set of coordinates of the sensing node, which is recorded as {X(n i )2,Y(n i )2};

[0085] d′(n i ,S a )、d(n i ,S b ) and d(n i ,S c ) value into the three-sided ranging positioning method to calculate the third set of coordinates of the sensing node, which is recorded as {X(n i )3,Y(n i )3};

[0086] d(n i ,S a ), d′(n i ,S b ) and d(n i ,S c ) value into the three-sided ranging positioning method to calculate the fourth set of coordinates of the sensing node, which is recorded as {X(n i )4,Y(n i )4};

[0087] d(n i ,S a )、d(n i ,S b ) and d′(n i ,S c ) value into the three-sided ranging positioning method to calculate the fifth set of coordinates of the sensing node, which is recorded as {X(n i )5,Y(n i )5};

[0088] d(n i ,S a ), d′(n i ,S b ) and d′(n i ,S c ) value into the three-sided ranging positioning method to calculate the sixth set of coordinates of the sensing node, which is recorded as {X(n i )6,Y(n i )6};

[0089] d′(n i ,S a )、d(n i ,S b ) and d′(n i ,S c ) value into the three-sided ranging positioning method to calculate the 7th set of coordinates of the sensing node, which is recorded as {X(n i )7,Y(n i )7};

[0090] d′(n i ,S a ), d′(n i ,S b ) and d(n i ,S c ) value into the three-sided ranging positioning method to calculate the 8th set of coordinates of the sensing node, which is recorded as {X(n i )8,Y(n i )8};

[0091] Calculate the precise coordinates of the sensing node, and the expression formula is:

[0092]

[0093]

[0094] In the formula, X(n i ) represents the precise horizontal coordinate of the sensing node; Y(n i ) represents the precise vertical coordinate of the sensing node.

[0095] This implementation improves the positioning accuracy of the perception node by combining the wireless energy transmission characteristics with the wireless signal reception strength. Not only is the computational complexity low, but during the entire positioning process, there is no need for data exchange between nodes, effectively reducing the communication energy consumption of the perception node.

[0096] Example 2

[0097] A node positioning system based on wireless energy transmission and signal reception. The system provided in this embodiment can be applied to the method described in Example 1. The node positioning system includes:

[0098] The partitioning module evenly divides the transmission network formed by the sensing nodes into K sub-areas; the sensing nodes are equipped with a communication unit, a computing unit and a wireless charging coil; the transmission network is equipped with a base station for broadcasting information to the sensing nodes; the i-th sensing node in the transmission network is recorded as sensing node n i ;

[0099] The path planning module is used to set up a residence point in the center of the sub-area; randomly select the starting and ending points S1 from each residence point; construct a TSP cycle path from the starting and ending points S1 through all the residence points in the transmission network; record the jth residence point on the TSP cycle path as residence point S j ;

[0100] The clock synchronization module is used to control the base station to send a "clock synchronization" broadcast message packet to the sensing node, setting the current time of the sensing node clock to t1; at the same time, at time t1, the charging vehicle is controlled to traverse the station points in the transmission network along the TSP loop path from the starting and ending point S1;

[0101] Signal control module, used when the charging vehicle is in t j Arrival at the stop point S j When the charging vehicle is controlled, it broadcasts W times to the sensing node containing the station point S j The signal of coordinate information; according to the sensing node n i The received power value P corresponding to the perceived signal strength sent by the charging vehicle r (n i ), estimate the perception node n i With the dwell point S j The Euclidean distance d between them;

[0102] Energy transmission control module, used to control the sensing node n i The remaining energy value E(n i ,t j ) is sent to the charging car; the charging car is controlled to send the sensing node n i Start to transfer energy and continue for T c Length of time; in T c After the length of time; according to the perception node n i The received power value P corresponding to the perceived wireless energy transmission intensity of the charging vehicle r ′(n i ) and the remaining energy value E(n i ,t j ), estimate the perception node n i With the dwell point Sj The Euclidean distance d′ between them;

[0103] The positioning module is used to control the charging vehicle to move to the next station point S along the TSP cycle path after the sensing node within the upper limit of the wireless energy transmission distance of the charging vehicle completes charging. j+1 Move until the charging vehicle returns to the starting and ending point S1; obtain the Euclidean distance d′ and Euclidean distance d from the sensing node to be located to the three stationary points, and use the weighted trilateral ranging positioning method to calculate the precise coordinates of the sensing node to be located.

[0104] Example 3

[0105] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the node positioning method described in embodiment 1.

[0106] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0107] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0108] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0109] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0110] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A node positioning method based on wireless energy transmission and signal reception, characterized in that: include: The transmission network formed by the sensing nodes is evenly divided into K sub-areas; The sensing node is configured with a communication unit, a computing unit and a wireless charging coil; The transmission network is configured with a base station for broadcasting information to the sensing nodes; the i-th sensing node in the transmission network is recorded as sensing node n i ; Establishing a station in the center of the sub-region; Randomly select the starting and ending points S1 from each residence point; construct a TSP cycle path from the starting and ending point S1 through all residence points in the transmission network; The jth stay point on the TSP cycle path is recorded as stay point S j ; The control base station sends a "clock synchronization" broadcast message packet to the sensing node, setting the current time of the sensing node clock to t1; at the same time, at time t1, the charging vehicle is controlled to traverse the station points in the transmission network along the TSP loop path from the starting and ending points S1; When the charging car is at t j Arrival at the stop point S j When the charging vehicle is controlled, it broadcasts W times to the sensing node containing the station point S j The signal of coordinate information; according to the sensing node n i The received power value P corresponding to the perceived signal strength sent by the charging vehicle r (n i ), estimate the perception node n i With the dwell point S j The Euclidean distance d between them; Control perception node n i The remaining energy value E(n i ,t j ) is sent to the charging car; the charging car is controlled to send the sensing node n i Start to transfer energy and continue for T c Length of time; in T c After the length of time; according to the perception node n i The received power value P corresponding to the perceived wireless energy transmission intensity of the charging vehicle r ′(n i ) and the remaining energy value E(n i ,t j ), estimate the perception node n i With the dwell point S j The Euclidean distance d′ between them; After the sensing node within the upper limit of the wireless energy transmission distance of the charging vehicle completes charging, the charging vehicle is controlled to move to the next station point S along the TSP cycle path. j+1 Move until the charging vehicle returns to the starting and ending point S1; obtain the Euclidean distance d′ and Euclidean distance d from the sensing node to be located to the three stationary points, and use the weighted trilateral ranging positioning method to calculate the precise coordinates of the sensing node to be located.

2. A node positioning method based on wireless energy transmission and signal reception according to claim 1, characterized in that: Control the charging vehicle to broadcast W times to the sensing node including the station point S j The method of signaling the coordinate information includes: controlling the charging vehicle to P t To send power, to the station point S j The sensing nodes within the radius of R are broadcast continuously W times including the residence point S j Coordinate information signal.

3. A node positioning method based on wireless energy transmission and signal reception according to claim 1, characterized in that: Control the charging vehicle to the sensing node n i Start to transfer energy and continue for T c The time length method includes: controlling the charging vehicle to use α as the expansion angle and P t ′ is the wireless energy transmission power, R is the upper limit of the wireless energy transmission distance, and the distance to the sensing node n is i Start to transfer energy and continue for T c Length of time.

4. A node positioning method based on wireless energy transmission and signal reception according to claim 1, characterized in that: Also includes: If the sensing node is at t j If the signal broadcast by the charging vehicle is not received at this moment, the wireless data transceiver module of its sensing node is turned off until T s +T m After a certain time, it will be turned on again; T s It represents the length of time the charging vehicle stays at each stop; T m It is the time it takes for a charging vehicle to move between two parking points.

5. The node positioning method based on wireless energy transmission and signal reception according to claim 1, characterized in that: Also includes: If the charging car is at T c Time is not completed to stay at point S j When the sensing node within the circle with R as the radius is charged, the direction of the magnetic coupling coil of the charging vehicle is rotated clockwise. After the angle is reached, the charging vehicle is controlled again with α as the expansion angle and P t ′ is the wireless energy transmission power, R is the upper limit of the wireless energy transmission distance, and the distance to the sensing node n is i Start to transfer energy and continue for T c Time length until the distance from the stop point S j All sensing nodes with a capacity less than or equal to R have completed charging.

6. A node positioning method based on wireless energy transmission and signal reception according to claim 2, characterized in that: According to the perception node n i The received power value P corresponding to the perceived signal strength sent by the charging vehicle r (n i ), estimate the perception node n i With the dwell point S j Methods for calculating the Euclidean distance d between two entities include: In the formula, G s It is represented by the wireless signal receiving and transmitting antenna gain of the sensing node, G r It is represented by the wireless signal receiving and transmitting antenna gain of the charging vehicle, η represents the wireless signal transmission efficiency, λ is the electromagnetic wavelength during the wireless transmission of the signal, and L p is the polarization loss value of the signal receiving and transmitting antenna of the sensing node; β is an adjustable parameter related to the distance.

7. A node positioning method based on wireless energy transmission and signal reception according to claim 3, characterized in that: According to the perception node n i The received power value P′ corresponding to the perceived wireless energy transmission intensity of the charging vehicle r (n i ) and the remaining energy value E(n i ,t j ), estimate the perception node n i With the dwell point S j Methods for calculating the Euclidean distance d′ between two entities include: P r '(n i )=(E(n i ,t(n i ,S j ))-E(n i ,t j )) / T c In the formula, G′ s Expressed as the magnetic coupling coil gain of the charged sensing node, G′ r It is represented by the magnetic coupling coil gain of the charging vehicle, η′ represents the wireless charging efficiency, λ′ is the electromagnetic wavelength during wireless energy transmission, and L′ p is the polarization loss value of the magnetic coupling coil of the charged node; β′ is an adjustable parameter related to the distance; t(n i ,S j ) represents the charging vehicle at the parking point S j For sensor node n i A moment to recharge.

8. The node positioning method based on wireless energy transmission and signal reception according to claim 1, characterized in that: The method of obtaining the Euclidean distance d′ and the Euclidean distance d from the sensing node to be located to the three resident points, and calculating the precise coordinates of the sensing node to be located using a weighted trilateration positioning method includes: Get the Euclidean distance d from the sensing node to be located to the three resident points, marked as d(n i , S a )、d(n i , S b ) and d(n i , S c ); obtain the Euclidean distance d′ from the sensing node to be located to the three resident points, marked as d′(n i , S a )、d′(n i , S b ) and d′(n i , S c ); d(n i , S a )、d(n i , S b ) and d(n i , S c ) value is substituted into the three-sided ranging positioning method to calculate the first set of coordinates of the sensing node, which is recorded as {X(n i )1,Y(n i )1); d′(n i , S a )、d′(n i , S b ) and d′(n i , S c ) value is substituted into the three-sided ranging positioning method to calculate the second set of coordinates of the sensing node, which is recorded as {X(n i )2,Y(n i )2}; d′(n i , S a )、d(n i , S b ) and d(n i , S c ) value into the three-sided ranging positioning method to calculate the third set of coordinates of the sensing node, which is recorded as {X(n i )3,Y(n i )3}; d(n i , S a )、d′(n i , S b ) and d(n i , S c ) value into the three-sided ranging positioning method to calculate the fourth set of coordinates of the sensing node, which is recorded as {X(n i )4,Y(n i )4}; d(n i , S a )、d(n i , S b ) and d′(n i , S c ) value into the three-sided ranging positioning method to calculate the fifth set of coordinates of the sensing node, which is recorded as {X(n i )5,Y(n i )5}; d(n i , S a )、d′(n i , S b ) and d′(n i , S c ) value is substituted into the three-sided ranging positioning method to calculate the sixth set of coordinates of the sensing node, which is recorded as {X(n i )6,Y(n i )6}; d′(n i , S a )、d(n i , S b ) and d′(n i , S c ) value into the three-sided ranging positioning method to calculate the 7th set of coordinates of the sensing node, which is recorded as {X(n i )7,Y(n i )7}; d′(n i , S a )、d′(n i , S b ) and d(n i , S c ) value into the three-sided ranging positioning method to calculate the 8th set of coordinates of the sensing node, which is recorded as {X(n i )8,Y(n i )8}; Calculate the precise coordinates of the sensing node, and the expression formula is: In the formula, X(n i ) represents the precise horizontal coordinate of the sensing node; Y(n i ) represents the precise vertical coordinate of the sensing node.

9. A node positioning system based on wireless energy transmission and signal reception, characterized in that: include: The partitioning module evenly divides the transmission network formed by the sensing nodes into K sub-areas; The sensing node is configured with a communication unit, a computing unit and a wireless charging coil; The transmission network is configured with a base station for broadcasting information to the sensing nodes; The i-th sensor node in the transmission network is denoted as sensor node n i ; A path planning module, configured to establish a station point at the center of the sub-area; Randomly select the starting and ending points S1 from each residence point; construct a TSP cycle path from the starting and ending point S1 through all residence points in the transmission network; The jth stay point on the TSP cycle path is recorded as stay point S j ; The clock synchronization module is used to control the base station to send a "clock synchronization" broadcast message packet to the sensing node, setting the current time of the sensing node clock to t1; at the same time, at time t1, the charging vehicle is controlled to traverse the station points in the transmission network along the TSP loop path from the starting and ending point S1; Signal control module, used when the charging vehicle is in t j Arrival at the stop point S j When the charging vehicle is controlled, it broadcasts W times to the sensing node containing the station point S j The signal of coordinate information; according to the sensing node n i The received power value P corresponding to the perceived signal strength sent by the charging vehicle r (n i ), estimate the perception node n i With the dwell point S j The Euclidean distance d between them; Energy transmission control module, used to control the sensing node n i The remaining energy value E(n i ,t j ) is sent to the charging car; the charging car is controlled to send the sensing node n i Start to transfer energy and continue for T c Length of time; in T c After the length of time; according to the perception node n i The received power value P corresponding to the perceived wireless energy transmission intensity of the charging vehicle r ′(n i ) and the remaining energy value E(n i ,t j ), estimate the perception node n i With the dwell point S j The Euclidean distance d′ between them; The positioning module is used to control the charging vehicle to move to the next station point S along the TSP cycle path after the sensing node within the upper limit of the wireless energy transmission distance of the charging vehicle completes charging. j+1 Move until the charging vehicle returns to the starting and ending point S1; obtain the Euclidean distance d′ and Euclidean distance d from the sensing node to be located to the three stationary points, and use the weighted trilateral ranging positioning method to calculate the precise coordinates of the sensing node to be located.

10. A computer-readable storage medium, characterized in that A computer program is stored thereon, and when the program is executed by a processor, the steps of the node positioning method according to any one of claims 1 to 8 are implemented.

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