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

Abstract

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

Description

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

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Problems solved by technology

[0004] However, the above-mentioned positioning algorithm based on the center of gravity coordinates is very poor in robustness. When there is no measurement error, it can achieve a good positioning effect, but when the measurement error is introduced, it will cause the following problems:

[0005] (1) Since the barycentric coordinate representation is to divide the two-dimensional positioning plane into 7 regions, the unsigned barycentric coordinate coefficient is calculated by using the measurement information, and then the corresponding barycentric coordinate symbol is calculated. According to the different symbols and the signed barycentric coordinate coefficient, the The target positioning point is expressed as the relative coordinate representation of its neighbors. Due to the introduction of errors, the symbol may be calculated incorrectly, resulting in an error in the target positioning area, which will cause very inaccurate positioning results.

[0006] (2) In the algorithm without measurement error, the requirements for the placement of the anchor points of the positioning network are not high, that is, three anchor points can be placed at any angle to form a triangle, which can be obtuse, right, or acute. After the measurement error is introduced, if the algorithm is not improved, when the triangle formed by placing the anchor point is at an extreme position, such as when a certain angle is close to 0 degrees or 90 degrees, the problem caused by the target positioning will be very serious. It is better when it is an equilateral triangle, so when there is a measurement error, there is room for improvement in the configuration of the anchor point

[0007] To sum up, the traditional center-of-gravity coordinate positioning method has a large dependence on no error, and does not consider the measurement error. When the measurement error is directly introduced, there is a problem of low positioning accuracy of the target node.

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