无线传感器网络的节点定位与覆盖技术研究
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摘要
无线传感器网络是随着微机电技术、传感器技术、嵌入式计算技术、现代网络、无线通信技术以及分布式信息处理技术等的发展建立起来的分布式信息感知与处理系统,在军事、医疗、商业以及环境保护等领域具有广泛的应用前景。
无线传感器网络是由具有感知、计算和通信能力的无线传感器节点组成。在其各种各样的应用研究中,节点定位与网络覆盖是无线传感器网络应用的两个主要支撑技术。节点定位是实现无线传感器网络众多应用的前提,其定位精度是无线传感器网络的关键性能指标之一;而网络覆盖则决定了无线传感器网络所能提供的服务范围,也在很大程度上影响了网络的成本和各种具体应用的性能,是网络设计时必须要考虑的首要问题。
本文主要针对无线传感器网络中的节点定位与网络覆盖技术进行深入的研究与探讨。在节点定位技术方面,分别研究了基于距离的定位算法,距离无关的定位算法以及递增式定位算法;在网络覆盖技术方面,分别对静态网络覆盖与动态网络覆盖进行了研究。
本文的主要工作可以归纳如下:
1.基于距离的定位算法与距离无关的定位算法研究
1)研究了基于距离的定位算法,提出基于UWB的TOA测距方法。UWB信号具有信号带宽大、测距精度高的特点,但在节点定位应用中,UWB直达信号难以精确检测。本文提出通过对首次到达信号时间和最强信号时间进行加权来得到直达信号到达时间,并采用模糊逻辑技术计算加权系数。实测数据仿真试验表明,基于UWB的定位技术可极大地提高定位精度。
2)研究了距离无关的定位算法,并对其中的典型DV-Hop算法提出了改进。DV-Hop算法本身是一种传统的距离无关定位算法,在各向同性的密集网络中,DV-Hop可以得到比较合理的定位精度。然而,在随机分布的网络中,节点定位误差较大。本文根据DV-Hop算法定位过程,在平均每跳距离估计、未知节点到各参考节点之间距离的计算和节点位置估计方法等3个方面进行了改进,分析和仿真了不同改进措施和综合改进的定位性能。这些改进有效的提高了传感器节点的定位精度,且无需增加网络中节点的通讯开销与硬件复杂度。
2.递增式定位算法研究
1)在对递增式定位算法进行详细分析的基础上,指出了递增式定位算法存在的累积误差和无效节点问题。
2)在对累积误差特点进行分析的基础上,提出将未知节点与其参考节点中定位精度较高的节点间的距离作为约束条件来减少定位过程中的累积误差。仿真结果表明,本文方法能够显著减小传感器节点定位过程中的传播误差,提高节点定位精度,改善了方法的适用性。
3)分析了无效节点的存在特征并对其进行分类,提出利用运动目标的位置信息以及无效节点与已知节点的连接信息对无效节点进行定位,显著提高了无线传感器网络对目标的跟踪性能。
3.网络覆盖技术研究
1)研究了静态网络覆盖,提出了新的网络静态覆盖与动态覆盖方式。在业已开展的网络静态覆盖研究中,网络1-覆盖得到深入研究。本文针对网络静态覆盖中的确定性覆盖和随机性覆盖,分别提出了新的传感器节点部署策略和调整传感器节点感知半径的方式,实现了无线传感器网络的k(≥3)-覆盖。针对网络动态覆盖,提出了能量有效的本地节点选择方案,节点根据相邻时刻接收到的目标信号能量变化独立决定其工作状态。理论分析和计算机仿真表明该方案可大大减少与相邻节点及中心节点的信息交换,减少网络的能量消耗。
2)研究了动态网络覆盖,提出一种最佳节点分布几何结构,提高了网络对目标位置的估计性能。
Wireless sensor network (WSN) is a newly-developed distributed system for information sensing and processing. The network integrates various techniques from the areas of MEMS, smart sensors, embedded computing, wirless communications and distributed information processing, and has great application potentials in military, medical treatment, business and environment monitoring and so on.
WSN consists of a large amount of sensor nodes which have sensing, computing and communication capabilities. Among various application researches, the sensor node localization and the network coverage are two support techniques. The node localization is the premiss for practical applications and its accuracy is one of important performance criteria. The network coverage defines the service area supported by WSNs and affects the network costs and application performance. In the WSN design, the network coverage problem sould be firstly involved in.
This dissertation conducts researches in the node localization and network coverage techniques. In the node localization, range-based localization, range-free localization and incremental localization techniques are deeply studied. In the network coverage, static network coverage and mobile network coverage are separately investigated.
The main works in the dissertation are summarized as follows:
1. Study on the range-based localization and range-free localization techniques
(1) An UWB-based time-of-arrival (TOA) distance-measuring method is presented for the the range-based localization. The UWB signal has large bandwidth and high distance-measuring accuracy. However, in the application of the node localization, it is difficult to detect direct-path UWB signal. The dissertation proposes to calculate the TOA of the direct-path signal by weighting the TOAs of the first-path singal and the strongest-path signal. The weighting coefficients are obtained through fuzzy logic techniques. Simulation experiments with real data show the UWB-based technique can greatly enhance the localization accuracy.
(2) Typical DV-Hop algorithm is improved for the range-free localization techniques. The DV-Hop algorithm performs well in isotropic density sensor network, however, it has larger location errors in randomly distributed networks. According to the localization principle of the DV-Hop algorithm, this dissertation proposes three improvements including the estimation of average single hop distance, the calculation of distance between unknown nodes and reference nodes and the estimation of node positions. These improvements can be used independently or jointly to replace the corresponding steps in the DV-Hop algorithm. The theoretic and simulation results show that the proposed improvements can greatly enhance the localization accuracy of the unknown nodes. In addition, the proposed schemes do not change the localization process of the DV-Hop algorithm, and hence they need no further communication resource and additional hardware requirement.
2. Study on the incremental localization techniques
(1) After thorough analyses on the incremental localization techniques, it is poined out that there are the accumulative errors and inefficient sensor node (InESN) problems in the techniques.
(2) The effects of the errors on localization accuracy are firstly revealed. Then an improved incremental localization algorithm is proposed to reduce the accumulative errors. The basic idea behind the proposed algorithm is to reduce the error propagation by using the constraints on the distances between the unknown nodes and the most accurate nodes in previously known nodes. The simulation results confirm that this method can significantly reduce the accumulative errors of the incremental localization algorithm, and thus enhance the localization accuracy.
(3) The InESN is defined and its existing characteristics are analysed. The InESNs are classified into three categories. With a moving target in the WSN and the link information between the InESN and known nodes, a constrained least-squares formulation is developed for estimating the InESNs. Numerical evaluations are carried out to examine the performance of the proposed method and show that it is indeed effective for locating the InESNs. By incorporating the InESNs in the tracking applications, the performance of the target tracking can be greatly enhanced.
3. Study on the network coverage techniques
(1) For the static network coverage, the network 1-coverage has acquired wide attention. The dissertation achives the network k (≥3) -coverage with new strategies onnode deployment and on the adjustment of node sensing radii. The strategies are suitable for deterministic coverage and random coverage, separatelly. For the network dynamic coverage, an energy-efficient selection of local nodes is presented, which greatly reduces the information exchanges with the neighbor nodes and center node and saves the network energy.
(2) For the mobile network coverage, an optimal node distribution is proposed, which can enhance the performance on the target localization.
无线传感器网络是由具有感知、计算和通信能力的无线传感器节点组成。在其各种各样的应用研究中,节点定位与网络覆盖是无线传感器网络应用的两个主要支撑技术。节点定位是实现无线传感器网络众多应用的前提,其定位精度是无线传感器网络的关键性能指标之一;而网络覆盖则决定了无线传感器网络所能提供的服务范围,也在很大程度上影响了网络的成本和各种具体应用的性能,是网络设计时必须要考虑的首要问题。
本文主要针对无线传感器网络中的节点定位与网络覆盖技术进行深入的研究与探讨。在节点定位技术方面,分别研究了基于距离的定位算法,距离无关的定位算法以及递增式定位算法;在网络覆盖技术方面,分别对静态网络覆盖与动态网络覆盖进行了研究。
本文的主要工作可以归纳如下:
1.基于距离的定位算法与距离无关的定位算法研究
1)研究了基于距离的定位算法,提出基于UWB的TOA测距方法。UWB信号具有信号带宽大、测距精度高的特点,但在节点定位应用中,UWB直达信号难以精确检测。本文提出通过对首次到达信号时间和最强信号时间进行加权来得到直达信号到达时间,并采用模糊逻辑技术计算加权系数。实测数据仿真试验表明,基于UWB的定位技术可极大地提高定位精度。
2)研究了距离无关的定位算法,并对其中的典型DV-Hop算法提出了改进。DV-Hop算法本身是一种传统的距离无关定位算法,在各向同性的密集网络中,DV-Hop可以得到比较合理的定位精度。然而,在随机分布的网络中,节点定位误差较大。本文根据DV-Hop算法定位过程,在平均每跳距离估计、未知节点到各参考节点之间距离的计算和节点位置估计方法等3个方面进行了改进,分析和仿真了不同改进措施和综合改进的定位性能。这些改进有效的提高了传感器节点的定位精度,且无需增加网络中节点的通讯开销与硬件复杂度。
2.递增式定位算法研究
1)在对递增式定位算法进行详细分析的基础上,指出了递增式定位算法存在的累积误差和无效节点问题。
2)在对累积误差特点进行分析的基础上,提出将未知节点与其参考节点中定位精度较高的节点间的距离作为约束条件来减少定位过程中的累积误差。仿真结果表明,本文方法能够显著减小传感器节点定位过程中的传播误差,提高节点定位精度,改善了方法的适用性。
3)分析了无效节点的存在特征并对其进行分类,提出利用运动目标的位置信息以及无效节点与已知节点的连接信息对无效节点进行定位,显著提高了无线传感器网络对目标的跟踪性能。
3.网络覆盖技术研究
1)研究了静态网络覆盖,提出了新的网络静态覆盖与动态覆盖方式。在业已开展的网络静态覆盖研究中,网络1-覆盖得到深入研究。本文针对网络静态覆盖中的确定性覆盖和随机性覆盖,分别提出了新的传感器节点部署策略和调整传感器节点感知半径的方式,实现了无线传感器网络的k(≥3)-覆盖。针对网络动态覆盖,提出了能量有效的本地节点选择方案,节点根据相邻时刻接收到的目标信号能量变化独立决定其工作状态。理论分析和计算机仿真表明该方案可大大减少与相邻节点及中心节点的信息交换,减少网络的能量消耗。
2)研究了动态网络覆盖,提出一种最佳节点分布几何结构,提高了网络对目标位置的估计性能。
Wireless sensor network (WSN) is a newly-developed distributed system for information sensing and processing. The network integrates various techniques from the areas of MEMS, smart sensors, embedded computing, wirless communications and distributed information processing, and has great application potentials in military, medical treatment, business and environment monitoring and so on.
WSN consists of a large amount of sensor nodes which have sensing, computing and communication capabilities. Among various application researches, the sensor node localization and the network coverage are two support techniques. The node localization is the premiss for practical applications and its accuracy is one of important performance criteria. The network coverage defines the service area supported by WSNs and affects the network costs and application performance. In the WSN design, the network coverage problem sould be firstly involved in.
This dissertation conducts researches in the node localization and network coverage techniques. In the node localization, range-based localization, range-free localization and incremental localization techniques are deeply studied. In the network coverage, static network coverage and mobile network coverage are separately investigated.
The main works in the dissertation are summarized as follows:
1. Study on the range-based localization and range-free localization techniques
(1) An UWB-based time-of-arrival (TOA) distance-measuring method is presented for the the range-based localization. The UWB signal has large bandwidth and high distance-measuring accuracy. However, in the application of the node localization, it is difficult to detect direct-path UWB signal. The dissertation proposes to calculate the TOA of the direct-path signal by weighting the TOAs of the first-path singal and the strongest-path signal. The weighting coefficients are obtained through fuzzy logic techniques. Simulation experiments with real data show the UWB-based technique can greatly enhance the localization accuracy.
(2) Typical DV-Hop algorithm is improved for the range-free localization techniques. The DV-Hop algorithm performs well in isotropic density sensor network, however, it has larger location errors in randomly distributed networks. According to the localization principle of the DV-Hop algorithm, this dissertation proposes three improvements including the estimation of average single hop distance, the calculation of distance between unknown nodes and reference nodes and the estimation of node positions. These improvements can be used independently or jointly to replace the corresponding steps in the DV-Hop algorithm. The theoretic and simulation results show that the proposed improvements can greatly enhance the localization accuracy of the unknown nodes. In addition, the proposed schemes do not change the localization process of the DV-Hop algorithm, and hence they need no further communication resource and additional hardware requirement.
2. Study on the incremental localization techniques
(1) After thorough analyses on the incremental localization techniques, it is poined out that there are the accumulative errors and inefficient sensor node (InESN) problems in the techniques.
(2) The effects of the errors on localization accuracy are firstly revealed. Then an improved incremental localization algorithm is proposed to reduce the accumulative errors. The basic idea behind the proposed algorithm is to reduce the error propagation by using the constraints on the distances between the unknown nodes and the most accurate nodes in previously known nodes. The simulation results confirm that this method can significantly reduce the accumulative errors of the incremental localization algorithm, and thus enhance the localization accuracy.
(3) The InESN is defined and its existing characteristics are analysed. The InESNs are classified into three categories. With a moving target in the WSN and the link information between the InESN and known nodes, a constrained least-squares formulation is developed for estimating the InESNs. Numerical evaluations are carried out to examine the performance of the proposed method and show that it is indeed effective for locating the InESNs. By incorporating the InESNs in the tracking applications, the performance of the target tracking can be greatly enhanced.
3. Study on the network coverage techniques
(1) For the static network coverage, the network 1-coverage has acquired wide attention. The dissertation achives the network k (≥3) -coverage with new strategies onnode deployment and on the adjustment of node sensing radii. The strategies are suitable for deterministic coverage and random coverage, separatelly. For the network dynamic coverage, an energy-efficient selection of local nodes is presented, which greatly reduces the information exchanges with the neighbor nodes and center node and saves the network energy.
(2) For the mobile network coverage, an optimal node distribution is proposed, which can enhance the performance on the target localization.
引文
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