基于置信傳播的WSN節(jié)點(diǎn)定位方法研究
發(fā)布時(shí)間：2018-08-31 08:10
【摘要】：在商業(yè)、公共服務(wù)和軍事領(lǐng)域,定位技術(shù)是無線網(wǎng)絡(luò)應(yīng)用的重要技術(shù)之一,不含位置信息的網(wǎng)絡(luò)數(shù)據(jù)往往是沒有意義的。無線傳感器網(wǎng)絡(luò)技術(shù)(Wireless Sensor Network, WSN)作為一種具有功耗低、成本低、時(shí)延短、可靠、安全等特點(diǎn)的組網(wǎng)技術(shù),近年來得到迅猛的發(fā)展。與此同時(shí),無線傳感器網(wǎng)絡(luò)對(duì)自身節(jié)點(diǎn)的定位有著廣泛的需求,但是目前應(yīng)用最廣的全球定位系統(tǒng)因?yàn)槭覂?nèi)信號(hào)弱、定位精度低、功耗高等原因而無法完全滿足無線傳感器網(wǎng)絡(luò)技術(shù)節(jié)點(diǎn)定位的要求,因此無線傳感器網(wǎng)絡(luò)節(jié)點(diǎn)定位技術(shù)應(yīng)運(yùn)而生。為了實(shí)現(xiàn)無線傳感器網(wǎng)絡(luò)節(jié)點(diǎn)的高精度定位,本文對(duì)無線傳感器網(wǎng)絡(luò)節(jié)點(diǎn)定位方法進(jìn)行了深入的研究。目前,根據(jù)無線傳感器網(wǎng)絡(luò)節(jié)點(diǎn)定位時(shí)是否基于測(cè)量把節(jié)點(diǎn)定位方法分為基于測(cè)量的定位方法和測(cè)量無關(guān)的定位方法,因?yàn)榛跍y(cè)量的定位方法的節(jié)點(diǎn)定位精度一般高于測(cè)量無關(guān)的定位方法,所以本文主要研究基于測(cè)量的定位方法。到達(dá)時(shí)間差(Time Difference of Arrival, TDOA)測(cè)距技術(shù)無須時(shí)間同步、測(cè)距精度高,是一種無線傳感器網(wǎng)絡(luò)節(jié)點(diǎn)定位領(lǐng)域廣泛應(yīng)用的測(cè)距技術(shù)。本文提出了一種EC-TDOA (Error-Checking TDOA)測(cè)距方法,應(yīng)用實(shí)驗(yàn)測(cè)距數(shù)據(jù)和最小二乘回歸方法對(duì)TDOA測(cè)距進(jìn)行誤差校正,獲取更為精確的測(cè)距結(jié)果。采用概率圖模型對(duì)基于EC-TDOA的無線傳感器網(wǎng)絡(luò)節(jié)點(diǎn)定位進(jìn)行數(shù)學(xué)建模,并應(yīng)用置信傳播算法和非參數(shù)置信傳播算法求解概率圖模型,得到最大后驗(yàn)概率和節(jié)點(diǎn)位置信息。為了驗(yàn)證定位方法的實(shí)際效果,設(shè)計(jì)并實(shí)現(xiàn)了一個(gè)無線傳感器網(wǎng)絡(luò)節(jié)點(diǎn)定位系統(tǒng)。定位系統(tǒng)采用符合ZigBee協(xié)議標(biāo)準(zhǔn)的芯片設(shè)計(jì)節(jié)點(diǎn),應(yīng)用.NET平臺(tái)實(shí)現(xiàn)上位機(jī)軟件,可以對(duì)無線傳感器節(jié)點(diǎn)進(jìn)行實(shí)時(shí)定位。根據(jù)定位系統(tǒng)采集的節(jié)點(diǎn)定位數(shù)據(jù),對(duì)基于TDOA測(cè)距的極大似然估計(jì)定位方法、基于TDOA測(cè)距的非參數(shù)置信傳播定位方法、基于EC-TDOA測(cè)距的極大似然估計(jì)定位方法和基于EC-TDOA測(cè)距的非參數(shù)置信傳播定位方法進(jìn)行對(duì)比實(shí)驗(yàn),從節(jié)點(diǎn)定位結(jié)果的均方根誤差、累積誤差等多個(gè)指標(biāo)進(jìn)行討論與分析。結(jié)果表明,基于EC-TDOA測(cè)距的非參數(shù)置信傳播定位方法可以實(shí)現(xiàn),其最大定位誤差為4.3cm,平均定位誤差為1.64cm,定位頻率為17次/秒,其定位性能指標(biāo)優(yōu)于其他三種定位方法。與極大似然估計(jì)定位方法相比較,基于EC-TDOA測(cè)距的非參數(shù)置信傳播定位方法從測(cè)距環(huán)節(jié)開始降低測(cè)量誤差,并在基于測(cè)距的定位環(huán)節(jié)實(shí)現(xiàn)了對(duì)定位精度的二次優(yōu)化,最后達(dá)到提高定位精度的效果高�；贓C-TDOA測(cè)距的非參數(shù)置信傳播定位方法在定位系統(tǒng)上的應(yīng)用,表現(xiàn)出了良好實(shí)時(shí)性、魯棒性,明顯改善了節(jié)點(diǎn)測(cè)量位置的波動(dòng)現(xiàn)象,起到了濾波效果。
[Abstract]:In the commercial, public service and military fields, location technology is one of the most important technologies in wireless network applications, and network data without location information is often meaningless. Wireless sensor network (Wireless Sensor Network, WSN) technology, which has the characteristics of low power consumption, low cost, short delay, reliability and security, has been developed rapidly in recent years. At the same time, wireless sensor networks have a wide range of requirements for the location of their own nodes, but the most widely used global positioning system because of the weak indoor signal, low positioning accuracy, Because of the high power consumption, it can not completely meet the requirements of node localization in wireless sensor networks, so the node location technology of wireless sensor networks emerges as the times require. In order to achieve high precision location of nodes in wireless sensor networks, this paper makes a deep research on the localization methods of nodes in wireless sensor networks. At present, according to whether the node location of wireless sensor network is based on measurement or not, the node location method is divided into MEASURMENT based localization method and measurement independent localization method. Because the accuracy of node localization based on measurement is generally higher than that of measurement independent, this paper mainly studies the localization method based on measurement. Time difference of arrival (Time Difference of Arrival, TDOA) ranging technology is widely used in the field of node location in wireless sensor networks because it does not need time synchronization and has high ranging accuracy. In this paper, a EC-TDOA (Error-Checking TDOA) ranging method is proposed, which uses the experimental ranging data and the least square regression method to correct the error of TDOA ranging, and obtains more accurate ranging results. The probabilistic graph model is used to model the node location of wireless sensor networks based on EC-TDOA, and the confidence propagation algorithm and nonparametric confidence propagation algorithm are used to solve the probabilistic graph model. The maximum posterior probability and node location information are obtained. In order to verify the effectiveness of the localization method, a node location system for wireless sensor networks is designed and implemented. The positioning system adopts chip design nodes that conform to ZigBee protocol standard, and uses .NET platform to realize upper computer software, which can locate wireless sensor nodes in real time. According to the node location data collected by the localization system, the maximum likelihood estimation localization method based on TDOA ranging and the nonparametric confidence propagation localization method based on TDOA ranging are studied. The maximum likelihood estimation localization method based on EC-TDOA ranging and the nonparametric confidence propagation localization method based on EC-TDOA ranging are compared. The RMS root error and cumulative error of node localization results are discussed and analyzed. The results show that the nonparametric confidence propagation localization method based on EC-TDOA ranging can be realized. The maximum localization error is 4.3 cm, the average positioning error is 1.64 cm, and the localization frequency is 17 times per second. The localization performance index is superior to the other three localization methods. Compared with the maximum likelihood estimation (MLE) localization method, the nonparametric confidence propagation localization method based on EC-TDOA ranging reduces the measurement error from the ranging link, and realizes the quadratic optimization of the location accuracy in the location link based on the ranging. Finally, the effect of improving positioning accuracy is high. The application of the nonparametric confidence propagation localization method based on EC-TDOA ranging in the localization system shows good real-time robustness and obviously improves the fluctuation phenomenon of node measurement position and plays a filtering effect.
【學(xué)位授予單位】：沈陽(yáng)建筑大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TN929.5;TP212.9
本文編號(hào)：2214408
[Abstract]:In the commercial, public service and military fields, location technology is one of the most important technologies in wireless network applications, and network data without location information is often meaningless. Wireless sensor network (Wireless Sensor Network, WSN) technology, which has the characteristics of low power consumption, low cost, short delay, reliability and security, has been developed rapidly in recent years. At the same time, wireless sensor networks have a wide range of requirements for the location of their own nodes, but the most widely used global positioning system because of the weak indoor signal, low positioning accuracy, Because of the high power consumption, it can not completely meet the requirements of node localization in wireless sensor networks, so the node location technology of wireless sensor networks emerges as the times require. In order to achieve high precision location of nodes in wireless sensor networks, this paper makes a deep research on the localization methods of nodes in wireless sensor networks. At present, according to whether the node location of wireless sensor network is based on measurement or not, the node location method is divided into MEASURMENT based localization method and measurement independent localization method. Because the accuracy of node localization based on measurement is generally higher than that of measurement independent, this paper mainly studies the localization method based on measurement. Time difference of arrival (Time Difference of Arrival, TDOA) ranging technology is widely used in the field of node location in wireless sensor networks because it does not need time synchronization and has high ranging accuracy. In this paper, a EC-TDOA (Error-Checking TDOA) ranging method is proposed, which uses the experimental ranging data and the least square regression method to correct the error of TDOA ranging, and obtains more accurate ranging results. The probabilistic graph model is used to model the node location of wireless sensor networks based on EC-TDOA, and the confidence propagation algorithm and nonparametric confidence propagation algorithm are used to solve the probabilistic graph model. The maximum posterior probability and node location information are obtained. In order to verify the effectiveness of the localization method, a node location system for wireless sensor networks is designed and implemented. The positioning system adopts chip design nodes that conform to ZigBee protocol standard, and uses .NET platform to realize upper computer software, which can locate wireless sensor nodes in real time. According to the node location data collected by the localization system, the maximum likelihood estimation localization method based on TDOA ranging and the nonparametric confidence propagation localization method based on TDOA ranging are studied. The maximum likelihood estimation localization method based on EC-TDOA ranging and the nonparametric confidence propagation localization method based on EC-TDOA ranging are compared. The RMS root error and cumulative error of node localization results are discussed and analyzed. The results show that the nonparametric confidence propagation localization method based on EC-TDOA ranging can be realized. The maximum localization error is 4.3 cm, the average positioning error is 1.64 cm, and the localization frequency is 17 times per second. The localization performance index is superior to the other three localization methods. Compared with the maximum likelihood estimation (MLE) localization method, the nonparametric confidence propagation localization method based on EC-TDOA ranging reduces the measurement error from the ranging link, and realizes the quadratic optimization of the location accuracy in the location link based on the ranging. Finally, the effect of improving positioning accuracy is high. The application of the nonparametric confidence propagation localization method based on EC-TDOA ranging in the localization system shows good real-time robustness and obviously improves the fluctuation phenomenon of node measurement position and plays a filtering effect.
【學(xué)位授予單位】：沈陽(yáng)建筑大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TN929.5;TP212.9
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