无线传感器网络三维全移动节点协同定位方法研究

The node localization technology for wireless sensor networks (WSN) is extending from two-dimensional space to three-dimensional space, from static node localization to moving node localization. Most of the current localization algorithms take aim at the situation of limited moving anchor nodes and static unknown nodes in ideal environment. At the same time, these algorithms do not take the cooperated and restricted relation between nodes into account. So, the project will focus on the three-dimensional cooperated node localization in complex environment when the anchor nodes and unknown nodes are all moving. The main research includes: (1) To construct signal transmission model of three-dimensional moving node, which is closed to the actual environment, including the relation model between node location and signal strength, the signal transmission model for irregular ground, the signal transmission model for degree of irregular, and the dynamic path loss model. (2) To construct dynamic cooperated relation model for three-dimensional moving nodes, including the cooperation between anchor nodes and unknown nodes, the cooperation between unknown nodes with same anchor nodes, the cooperation between location matrix for adjacent time, and the cooperation between node movement track. (3) To research three-dimensional cooperated node localization algorithm when the anchor nodes and unknown nodes are all moving. We hope to make some breakthroughs on three-dimensional moving node localization which will help to resolve node localization in actual and complex environment.

无线传感器网络(WSN)节点定位技术正逐步从二维向三维空间扩展，从静态向动态定位过渡，现有移动节点定位方法多基于理想环境中锚节点移动，待定位节点静止条件，且没有考虑节点间的协同约束关系。本项目针对复杂三维环境中锚节点和待定位节点均处于移动状态下的节点定位问题，研究全移动节点协同定位方法，研究内容包括：(1)构建接近真实环境的WSN三维移动节点信号传播模型(包括节点位置和信号强度关系模型、不规则地面信号传播模型、三维不规则度信号传播模型、动态调整路径损耗模型)；(2)构建WSN三维移动节点动态协同关系模型(包括锚节点与待定位节点间协同、共用锚节点的待定位节点间协同、相邻时刻节点位置矩阵间协同、节点运动轨迹间协同)；(3)研究WSN三维全移动节点协同定位方法，解决锚节点和待定位节点均在移动状态下的三维节点定位问题。力争在三维移动节点定位领域取得突破，为解决真实环境中的节点定位提供有效方法。

无线传感器网络(WSN)节点定位技术正逐步从二维向三维空间扩展，从静态向动态定位过渡，现有移动节点定位方法多基于理想环境中锚节点移动、待定位节点静止的条件，且没有考虑节点间的协同约束关系。.本项目针对复杂三维环境中锚节点和待定位节点均处于移动状态下的节点定位问题，研究全移动节点协同定位方法。.(1) 构建接近真实环境的节点信号传播模型.以对数路径损耗模型为基础，完成广场、草地、树林、室内等不同环境下的信号实地测量，同时考虑节点剩余能量对传输信号的影响，构建不同环境中节点信号传播模型；其次，对传统的信号传输不规则性（DOI）模型进行改进，引入修正系数，得到改进后的DOI信号传播模型。. (2) 构建移动节点动态协同关系模型.充分挖掘锚节点与待定位节点间协同、共用锚节点的待定位节点间协同、相邻时刻节点位置矩阵间协同、节点运动轨迹间协同，以提高定位效果。.(3) 研究WSN三维全移动节点协同定位方法.针对不同环境和不同条件下的移动节点定位问题，先后提出基于协同预测的无线传感器网络全移动节点定位算法、基于多结构损耗模型的室内移动节点三维定位算法、基于马尔可夫-卡尔曼滤波的WSN室内移动目标跟踪算法，大大提高了三维移动节点定位的定位效果。.(4) 研究网络生命周期优化方法.本项目在保证定位效果的同时，从MAC层和网络层分别研究了无线传感器网络能耗优化路由算法和功率控制策略，实现了网络能量均衡，延长了网络的生命周期。.本项目解决了锚节点和待定位节点均处于移动状态下的三维节点定位问题，构建的信号传播模型更加接近真实环境，定位效果得到了显著提升，在此基础上，取得了一批科研成果，共发表学术论文16篇，授权/申请发明专利8项，为解决真实环境中的节点定位提供了有效方法和思路。