无线传感器网络TDOA定位算法研究
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摘要
在无线传感器网络系统里,其最重要的核心部位是节点传感器,应用的范围是面对广大使用用户和各种科技创新范围,其功能的关键所在是为用户提供可靠的、准确的、实时的研究数据。定位技术作为将这个“核心”和“关键”连接的纽带,在其重要性上不言而喻,纵使传感器成本低廉、功能强大,传输网络速度飞跃提升,用户界面简洁易操控,而没有合理的定位技术,无线传感器网络的广泛应用也会停止不前,所以,改进节点定位算法对于提升网络性能意义重大。
本论文首先综述无线传感器网络的发展历程,研究其能够实现的各项功能,结合国内外在传感器、组网方式、定位技术的研究现状,进行透彻的分析,在分析的过程中选择本文的研究方向,最后在节点定位算法上得到了突破口,后续的算法研究得以展开。其次给出了无线传感器的基本概念,分析WSN(Wireless Sensor Network)的各个基本单元和其在网络中实现的主要功能,在测距算法类别中,介绍了三种经典算法的理论。提出非测距算法的优越性,分析研究目前应用的三种算法,整理算法的改进方法。
通过对TDOA技术工程应用算法-查恩算法,TDOA技术数学应用算法-最小二乘法以及TDOA技术最小二乘法加权处理的分析研究,按照提高精度的设计思路,逐步把定位算法进行改进,准确有效的降低了误差,最后在上述三种算法的基础上,提出了利用质心算法和引入近似距离估计因子对实验数据进行的收敛处理。
最后利用MATLAB仿真软件对互相关函数法进行仿真,获得准确的多组信号时间延迟;将数据作为三种算法的基础数据,对三种算法进行实验仿真,对实验数据进行详细的分析比较;引入质心加权算法对上述三种算法的数据进行二次处理,改进算法的性能,大量的实验数据证明,通过质心加权处理的TDOA定位算法可以在实际网络中进行应用。
In wireless sensor network system, its most important core part is the sensor, application scope of nodes is facing the general use of users and all kinds of science and technology innovation range, the function of the key is to provide reliable and accurate, real-time data. Positioning technology, as will the "core" and "key" connection link, in its importance, even if sensor is cost, powerful, transmission network speed leap to ascend, the user interface is concise easy handling, and no reasonable positioning technology, the wide application of wireless sensor network will halt, so, improve node localization algorithm for ascension network performance is of great significance.
This paper first reviews the development of wireless sensor network, studies its can realize each function, combining domestic and foreign in sensor, network mode, positioning technology research status and thorough analysis in the process of analysis, choose this paper research direction, and finally in node localization algorithm on get breakthrough, and subsequent algorithms to unfold. Secondly gives the basic concept of wireless sensors, analyzes the basic unit and all WSN in its network of its main function, in the category of the location algorithm, this paper introduces the theory of three classical algorithm. The superiority of the proposed the location algorithm, analyze and study the current application three algorithms, sorting algorithm improving methods.
Through the engineering application algorithm TDOA technology: check grace TDOA technology application of mathematics, algorithms, least-square algorithm TDOA technology of the weighted least-square method of analysis and research, according to handle the design idea of improving precision, and gradually put localization algorithm was improved, accurate effectively reduced the error, and the last above the three algorithm was put forward on the basis of using the weighted centroid algorithm and the introduction of approximate distance estimation factors on the experimental data processing of convergence.
Finally on MATLAB cross-correlation function method, and simulation to get accurate multiple signal time delay; Will the data as three algorithm based data, to three algorithm, experimental results of experimental data carried on the detailed analysis of the comparative; Above three algorithm data algorithm, the weighted centroid algorithm processed this three kinds of algorithms,the improved algorithm of secondary processing performance, finally proposed the improvement in system design algorithm can application of conclusion.A large number of experimental data shows that the TDOA localization of weighted processing center in the actual network algorithm can be applied.
本论文首先综述无线传感器网络的发展历程,研究其能够实现的各项功能,结合国内外在传感器、组网方式、定位技术的研究现状,进行透彻的分析,在分析的过程中选择本文的研究方向,最后在节点定位算法上得到了突破口,后续的算法研究得以展开。其次给出了无线传感器的基本概念,分析WSN(Wireless Sensor Network)的各个基本单元和其在网络中实现的主要功能,在测距算法类别中,介绍了三种经典算法的理论。提出非测距算法的优越性,分析研究目前应用的三种算法,整理算法的改进方法。
通过对TDOA技术工程应用算法-查恩算法,TDOA技术数学应用算法-最小二乘法以及TDOA技术最小二乘法加权处理的分析研究,按照提高精度的设计思路,逐步把定位算法进行改进,准确有效的降低了误差,最后在上述三种算法的基础上,提出了利用质心算法和引入近似距离估计因子对实验数据进行的收敛处理。
最后利用MATLAB仿真软件对互相关函数法进行仿真,获得准确的多组信号时间延迟;将数据作为三种算法的基础数据,对三种算法进行实验仿真,对实验数据进行详细的分析比较;引入质心加权算法对上述三种算法的数据进行二次处理,改进算法的性能,大量的实验数据证明,通过质心加权处理的TDOA定位算法可以在实际网络中进行应用。
In wireless sensor network system, its most important core part is the sensor, application scope of nodes is facing the general use of users and all kinds of science and technology innovation range, the function of the key is to provide reliable and accurate, real-time data. Positioning technology, as will the "core" and "key" connection link, in its importance, even if sensor is cost, powerful, transmission network speed leap to ascend, the user interface is concise easy handling, and no reasonable positioning technology, the wide application of wireless sensor network will halt, so, improve node localization algorithm for ascension network performance is of great significance.
This paper first reviews the development of wireless sensor network, studies its can realize each function, combining domestic and foreign in sensor, network mode, positioning technology research status and thorough analysis in the process of analysis, choose this paper research direction, and finally in node localization algorithm on get breakthrough, and subsequent algorithms to unfold. Secondly gives the basic concept of wireless sensors, analyzes the basic unit and all WSN in its network of its main function, in the category of the location algorithm, this paper introduces the theory of three classical algorithm. The superiority of the proposed the location algorithm, analyze and study the current application three algorithms, sorting algorithm improving methods.
Through the engineering application algorithm TDOA technology: check grace TDOA technology application of mathematics, algorithms, least-square algorithm TDOA technology of the weighted least-square method of analysis and research, according to handle the design idea of improving precision, and gradually put localization algorithm was improved, accurate effectively reduced the error, and the last above the three algorithm was put forward on the basis of using the weighted centroid algorithm and the introduction of approximate distance estimation factors on the experimental data processing of convergence.
Finally on MATLAB cross-correlation function method, and simulation to get accurate multiple signal time delay; Will the data as three algorithm based data, to three algorithm, experimental results of experimental data carried on the detailed analysis of the comparative; Above three algorithm data algorithm, the weighted centroid algorithm processed this three kinds of algorithms,the improved algorithm of secondary processing performance, finally proposed the improvement in system design algorithm can application of conclusion.A large number of experimental data shows that the TDOA localization of weighted processing center in the actual network algorithm can be applied.
引文
[1]皮桂英,张维波,王春霞.浅谈无线传感器网络技术[J].仪表技术,2010 (07):39-41.
[2] Yeredor,Arie,Angel,Eyal. A Conditional Bound and Its Use for Optimally Weighted Localization[J]. IEEE Transactions on Signal Processing ,2011(04):1612-1623.
[3]王建刚.无线传感器网络分布式节点定位算法研究[D].西北工业大学硕士学位论文,2006(03):24~29.
[4]龙勇,张志利,郭晓刚.一类基于智能传感器的分布式测试体系研究[J].控制工程,2007(03):19-23.
[5]乔钢柱,曾建潮.信标节点链式部署的井下无线传感器网络定位算法[J].煤炭学报,2010(06):13-15.
[6] Le Yang,Ho K C. An Approximately Efficient TDOA Localization Algorithm in Closed-Form for Locating Multiple Disjoint Sources With Erroneous Sensor Positions [J]. IEEE Transactions on Signal Processing,2009(09):4598-4615.
[7]陈友荣,俞立,洪榛.基于近邻算法的无线传感器网络功率控制[J].浙江大学学报,2010(04):20-21.
[8] Giraudet,Pascale,Glotin. Real-time 3D tracking of whales by echo-robust precise TDOA estimates with a widely-spaced hydrophone array [J]. Applied Acoustics,2006(06):1106-1117.
[9] Huang Zhitao,Jiang Wenli,Zhou Yiyu. Application of the multi-cycle estimator of Doppler and TDOA to passively locating targets exploiting non-cooperative transmitters[J]. Progress in Natural Science,2003 (10):756.
[10] Le Yang,Ho K C. Alleviating Sensor Position Error in Source Localization Using Calibration Emitters at Inaccurate Locations[J]. IEEE Transactions on Signal Processing,2010(07):67-83.
[11] Yun Wang,Xiaodong Wang,Demin Wang. Range-Free Localization Using Expected Hop Progress in Wireless Sensor Networks[J]. IEEE Transactions on Parallel & Distributed Systems,2009 (10):1540-1552.
[12]于建水,陈涤.基于AOA和TDOA无线传感器网络三维联合定位算法[J].计算机应用与软件,2010(07):19-21
[13] Brown A M,Harlow S P,Costantino J P. Sentinel-lymph-node resection compared with conventional axillary-lymph-node dissection in clinically node-negative patients with breast cancer: overall survival findings from the NSABP B-32 randomised phase 3 trial[J]. The Lancet Oncology,2010(10):1474-5488.
[14] Xingzhen Bai,Shu Li,Juan Xu. Mobile Sensor Deployment Optimization for k-Coverage in Wireless Sensor Networks with a Limited Mobility Model[J]. IETE Technical Review,2010(12):124-137.
[15] Patra J C , Meher P K , Chakraborty G. Development of Laguerre Neural-Network-Based Intelligent Sensors for Wireless Sensor Networks[J]. IEEE Transactions on Instrumentation & Measurement,2011(03):725-734.
[16]王越,张宁,蔡卫明.基于遗传算法的无线传感器网络定位参数优化[J].计算机应用与软件,2010(03):05-06.
[17] Shah,Ghalib,Akan. Timing-Based Mobile Sensor Localization in Wireless Sensor and Actor Networks[J]. Mobile Networks & Applications,2010(10):664-679.
[18] Kreidl O,John N,Spyros I. On Decentralized Detection With Partial Information Sharing Among Sensors[J]. IEEE Transactions on Signal Processing,2011(11):1759-1765.
[19] Yifan Chen,Wai L W,Chengxiang Wang. Channel Modeling of Information Transmission Over Cognitive Interrogator-Sensor Networks[J]. IEEE Transactions on Vehicular Technology,2011(01):2-15.
[20]陆三兰,程铭东,胡修林.多传感器网络中目标定位的改进算法[J].华中科技大学学报(自然科学版),2008(11):27-29.
[21] Caries.Functionalized single wall carbon nanotube sensor in a perturbed microwave resonant cavity based toxin pollutant gas pressure sensor[J]. Mobile Networks & Applications,2010(21):31-37.
[22]胡炜薇,秦会斌,胡冀.传感器网络中结合分类信息的多目标关联算法[J].弹箭与制导学报,2009(02):15-16.
[23]蔡科,左宪章,方育奇.无线传感器网络测试系统数据融合研究[J].计算机仿真,2010(07):17-19.
[24] Ferrari,Flammini,Alessandra. New Architecture for a Wireless Smart Sensor Based on a Software-Defined Radio[J]. IEEE Transactions on Instrumentation & Measurement,2011(05):2133-2141.
[25]包壁祯,杨平,曹虎文.基于修订矩阵的最小二乘法多传感器融合障碍物位置估计[J].传感器与微系统,2010(05):41-43.
[26] Chen,Bo,Liu,Wenjia. Mobile Agent Computing Paradigm for Building a Flexible Structural Health Monitoring Sensor Network[J]. Computer-Aided Civil & Infrastructure Engineering,2010(10):504-516.
[27] Fanian,Ali,Berenjkoub. A high performance and intrinsically secure key establishment protocol for wireless sensor networks[J]. Computer Networks, 2011(04):1849-1863.
[28]王栋栋,孙燕.一种无线传感器网络自适应定位算法[J].计算机工程与应用,2010(18):33-36.
[29]郭亚丽,韩焱.基于传感器网络数据融合的目标定位方法[J].火力与指挥控制,2009(02):3-5.
[30]贾杰,陈剑,王兴伟.无线传感器网络中一种关键节点集轮换算法[J].系统仿真学报,2010(06):23-24.
[31] Padgett,Dan,Mulvey,Michael S. Journal of Retailing: Differentiation Via Technology[J]. Strategic Positioning of Services Following the Introduction of Disruptive Technology,2007(12):375-391.
[32] Li B,Tan Y K,Dempster A G.. Using two global positioning system satellites to improve wireless fidelity positioning accuracy in urban canyons[J]. IET Communications,2011(01):163-171.
[33]李玉山.WSN在军事领域的应用[J].射频识别与通信技术论坛,2009(05):125-127.
[34] Schenk,Ana Katrin,Witbrodt. Cellular Telephones Measure Activity and Lifespace in Community-Dwelling Adults[J]. Journal of the American Geriatrics Society,2009(13):345-352.
[35] Mont M A,Johnson A J,Zywiel M G. Surgeon Perceptions Regarding Custom-fit Positioning Technology for Total Knee Arthroplasty[J]. Surgical Technology International,2010(15):1090-3941.
[36] Zandbergen,Paul A. Accuracy of iPhone Locations:A Comparison of Assisted Cellular Positioning[J]. Transactions in GIS,2009(06):5-25.
[37]史龙,王福豹,段渭军.无线传感器网络Range-Free自身定位机制与算法[J].计算机工程与应用,2004(23):25~36.
[38] Kehoe C A,Yu X J. Patent Data for Technology Assessment[J]. Science & Technology Libraries,2001(11):101-116.
[39] McGrow,Kathleen M,Robert C. Using Wireless Technologies to Improve Information Flow for Interhospital Transfers of Critical Care Patients[J]. Critical Care Nurse,2004(04):66-73.
[40] Whitton,Michael J. Assessment of Driving With the Global Positioning System and Video Technology in Young, Middle-Aged, and Older Drivers[J]. Biological Sciences & Medical Sciences,2002(05):5-9.
[41]王建,王朔.用于社区电能监测系统的无线传感器网络[J].科技论坛,2010(03):42.
[2] Yeredor,Arie,Angel,Eyal. A Conditional Bound and Its Use for Optimally Weighted Localization[J]. IEEE Transactions on Signal Processing ,2011(04):1612-1623.
[3]王建刚.无线传感器网络分布式节点定位算法研究[D].西北工业大学硕士学位论文,2006(03):24~29.
[4]龙勇,张志利,郭晓刚.一类基于智能传感器的分布式测试体系研究[J].控制工程,2007(03):19-23.
[5]乔钢柱,曾建潮.信标节点链式部署的井下无线传感器网络定位算法[J].煤炭学报,2010(06):13-15.
[6] Le Yang,Ho K C. An Approximately Efficient TDOA Localization Algorithm in Closed-Form for Locating Multiple Disjoint Sources With Erroneous Sensor Positions [J]. IEEE Transactions on Signal Processing,2009(09):4598-4615.
[7]陈友荣,俞立,洪榛.基于近邻算法的无线传感器网络功率控制[J].浙江大学学报,2010(04):20-21.
[8] Giraudet,Pascale,Glotin. Real-time 3D tracking of whales by echo-robust precise TDOA estimates with a widely-spaced hydrophone array [J]. Applied Acoustics,2006(06):1106-1117.
[9] Huang Zhitao,Jiang Wenli,Zhou Yiyu. Application of the multi-cycle estimator of Doppler and TDOA to passively locating targets exploiting non-cooperative transmitters[J]. Progress in Natural Science,2003 (10):756.
[10] Le Yang,Ho K C. Alleviating Sensor Position Error in Source Localization Using Calibration Emitters at Inaccurate Locations[J]. IEEE Transactions on Signal Processing,2010(07):67-83.
[11] Yun Wang,Xiaodong Wang,Demin Wang. Range-Free Localization Using Expected Hop Progress in Wireless Sensor Networks[J]. IEEE Transactions on Parallel & Distributed Systems,2009 (10):1540-1552.
[12]于建水,陈涤.基于AOA和TDOA无线传感器网络三维联合定位算法[J].计算机应用与软件,2010(07):19-21
[13] Brown A M,Harlow S P,Costantino J P. Sentinel-lymph-node resection compared with conventional axillary-lymph-node dissection in clinically node-negative patients with breast cancer: overall survival findings from the NSABP B-32 randomised phase 3 trial[J]. The Lancet Oncology,2010(10):1474-5488.
[14] Xingzhen Bai,Shu Li,Juan Xu. Mobile Sensor Deployment Optimization for k-Coverage in Wireless Sensor Networks with a Limited Mobility Model[J]. IETE Technical Review,2010(12):124-137.
[15] Patra J C , Meher P K , Chakraborty G. Development of Laguerre Neural-Network-Based Intelligent Sensors for Wireless Sensor Networks[J]. IEEE Transactions on Instrumentation & Measurement,2011(03):725-734.
[16]王越,张宁,蔡卫明.基于遗传算法的无线传感器网络定位参数优化[J].计算机应用与软件,2010(03):05-06.
[17] Shah,Ghalib,Akan. Timing-Based Mobile Sensor Localization in Wireless Sensor and Actor Networks[J]. Mobile Networks & Applications,2010(10):664-679.
[18] Kreidl O,John N,Spyros I. On Decentralized Detection With Partial Information Sharing Among Sensors[J]. IEEE Transactions on Signal Processing,2011(11):1759-1765.
[19] Yifan Chen,Wai L W,Chengxiang Wang. Channel Modeling of Information Transmission Over Cognitive Interrogator-Sensor Networks[J]. IEEE Transactions on Vehicular Technology,2011(01):2-15.
[20]陆三兰,程铭东,胡修林.多传感器网络中目标定位的改进算法[J].华中科技大学学报(自然科学版),2008(11):27-29.
[21] Caries.Functionalized single wall carbon nanotube sensor in a perturbed microwave resonant cavity based toxin pollutant gas pressure sensor[J]. Mobile Networks & Applications,2010(21):31-37.
[22]胡炜薇,秦会斌,胡冀.传感器网络中结合分类信息的多目标关联算法[J].弹箭与制导学报,2009(02):15-16.
[23]蔡科,左宪章,方育奇.无线传感器网络测试系统数据融合研究[J].计算机仿真,2010(07):17-19.
[24] Ferrari,Flammini,Alessandra. New Architecture for a Wireless Smart Sensor Based on a Software-Defined Radio[J]. IEEE Transactions on Instrumentation & Measurement,2011(05):2133-2141.
[25]包壁祯,杨平,曹虎文.基于修订矩阵的最小二乘法多传感器融合障碍物位置估计[J].传感器与微系统,2010(05):41-43.
[26] Chen,Bo,Liu,Wenjia. Mobile Agent Computing Paradigm for Building a Flexible Structural Health Monitoring Sensor Network[J]. Computer-Aided Civil & Infrastructure Engineering,2010(10):504-516.
[27] Fanian,Ali,Berenjkoub. A high performance and intrinsically secure key establishment protocol for wireless sensor networks[J]. Computer Networks, 2011(04):1849-1863.
[28]王栋栋,孙燕.一种无线传感器网络自适应定位算法[J].计算机工程与应用,2010(18):33-36.
[29]郭亚丽,韩焱.基于传感器网络数据融合的目标定位方法[J].火力与指挥控制,2009(02):3-5.
[30]贾杰,陈剑,王兴伟.无线传感器网络中一种关键节点集轮换算法[J].系统仿真学报,2010(06):23-24.
[31] Padgett,Dan,Mulvey,Michael S. Journal of Retailing: Differentiation Via Technology[J]. Strategic Positioning of Services Following the Introduction of Disruptive Technology,2007(12):375-391.
[32] Li B,Tan Y K,Dempster A G.. Using two global positioning system satellites to improve wireless fidelity positioning accuracy in urban canyons[J]. IET Communications,2011(01):163-171.
[33]李玉山.WSN在军事领域的应用[J].射频识别与通信技术论坛,2009(05):125-127.
[34] Schenk,Ana Katrin,Witbrodt. Cellular Telephones Measure Activity and Lifespace in Community-Dwelling Adults[J]. Journal of the American Geriatrics Society,2009(13):345-352.
[35] Mont M A,Johnson A J,Zywiel M G. Surgeon Perceptions Regarding Custom-fit Positioning Technology for Total Knee Arthroplasty[J]. Surgical Technology International,2010(15):1090-3941.
[36] Zandbergen,Paul A. Accuracy of iPhone Locations:A Comparison of Assisted Cellular Positioning[J]. Transactions in GIS,2009(06):5-25.
[37]史龙,王福豹,段渭军.无线传感器网络Range-Free自身定位机制与算法[J].计算机工程与应用,2004(23):25~36.
[38] Kehoe C A,Yu X J. Patent Data for Technology Assessment[J]. Science & Technology Libraries,2001(11):101-116.
[39] McGrow,Kathleen M,Robert C. Using Wireless Technologies to Improve Information Flow for Interhospital Transfers of Critical Care Patients[J]. Critical Care Nurse,2004(04):66-73.
[40] Whitton,Michael J. Assessment of Driving With the Global Positioning System and Video Technology in Young, Middle-Aged, and Older Drivers[J]. Biological Sciences & Medical Sciences,2002(05):5-9.
[41]王建,王朔.用于社区电能监测系统的无线传感器网络[J].科技论坛,2010(03):42.