1、广 东 工 业 大 学 硕 士 学 位 论 文(工 学 硕 士 )基 于 移 动 信 标 优 化 路 径 的定 位 算 法 研 究Classified Index: School Code: 11845UDC: Security Class: Class No.:2110704294A Dissertation for Masters Degree of Guangdong University of Technology（Master of Engineering Science）Research on Localization Algorithm Based on Mobile Beaco
2、n with Optimal pathCandidate: Xie XiaosongSupervisor: Prof. Cheng LianglunMay 2010Faculty of AutomationGuangdong University of TechnologyGuangzhou, Guangdong, P.R.China, 510006摘 要I摘 要无线传感器节点定位技术是无线传感器网络的关键技术之一，是无线传感器网络大多数应用的基础。无线传感器网络应用的大多数领域, 如：目标监测与跟踪、路由位置信息的获取等，都需要知道节点的位置信息。为此我们需要研究更为有效的定位算法，降低定位
3、成本，提高定位精度。针对这种情况，本论文对基于移动信标优化路径的无线传感器网络节点算法进行了研究，该定位算法能够实现节点的高效率定位。文章在 DV-Hop 定位算法中引入移动信标节点，并研究信标节点的动态选择算法及移动路径优化算法。本文的主要完成的工作有：1、分析归纳常用的无需测距的定位算法和基于信标的定位算法，研究基于信标的定位算法的定位机制，研究利用移动信标的信息来进行定位计算。2、提出基于移动信标改进的 DV-Hop 定位算法，该算法在 DV-Hop 定位算法的基础上，利用一个移动的信标节点在网络中按预定的路径移动并不断的广播自己的位置信息，形成多个虚拟信标，研究平均跳距离的加权算法和信
4、标节点的动态选择算法，降低定位的成本和布网的复杂度，提高节点定位的精度和效率。3、结合基于移动信标改进的 DV-Hop 定位算法，提出了面向无线传感器网络的移动信标的路径规划方法，把图论引入信标移动路径规划，获取针对所处网络连通状况的优化信标移动路径，提高算法的定位精度，减少算法定位过程的通信开销，提高算法的效率。 最后在 OMNeT+仿真环境下，仿真基于移动信标的定位算法，建立包括移动智能节点和普通节点的仿真模型，通过定位过程的通信和数据处理计算未知节点的位置，仿真表明，基于移动信标优化路径的定位算法既改善了定位的精度，又减少了定位算法的通信开销，提高无线传感器网络节点定位效率。关键词：无线
5、传感器网络；移动信标；优化路径；OMNeT+；智能节点 ABSTRACTIIIABSTRACTWireless sensor node localization is one of the key technologies for wireless sensor networks. Its the foundation of most wireless sensor network applications, such as: target surveillance and tracking, routing and other location information acquiring,
6、all of these need to know the location information of the nodes. So we need more effective localization algorithm to reduce the cost and increase the precision.In response, the paper research the nodes localization algorithm for wireless sensor network base on mobile beacon with optimal path. This a
7、lgorithm can achieve high efficiency of positioning nodes. We introduced mobile beacon node into DV-Hop localization algorithm, and study the dynamic beacon node selection algorithm and moving path optimal algorithm. These major works are: 1. Summarizes common range-free localization algorithm and t
8、he algorithms base on beacon, study the positioning mechanism of localization algorithms base on beacon.2. Improving DV-Hop localization algorithm based on mobile beacon, the algorithm use a mobile beacon node to move in the network according to a predetermined path and broadcast its location inform
9、ation that create virtual beacons. We study the weighted average hop distance algorithm and the dynamic beacon node selection algorithm to reduce localization costs and complexity of distribution networks and improve accuracy and efficiency of node localization. 3. Combined with the improved DV-Hop
10、localization algorithm based on mobile beacon, we proposed mobile beacon path planning method for wireless sensor networks. Graph theory is introduced into the mobile path planning; by acquiring connectivity conditions of the network we optimize the path of mobile beacon. These make increase of posi
11、tioning accuracy of positioning algorithm and reduce communication costs, improve efficiency of the algorithm. Finally, we simulate mobile beacon base localization algorithm in OMNeT + + 广东工业大学硕士学位论文IVsimulation environment by modeling mobile intelligent nodes and ordinary nodes in the network. The
12、network computes the unknown nodes location through the positioning process of communication and data processing. The simulation results show that the algorithm base on mobile beacon with optimal path not only improves the positioning accuracy but also reduce the communication overhead of locatingm,
13、 these improve the efficiency of wireless sensor nodes localization.Key words: WSN；Mobile anchor；Optimal path ；OMNeT+；Smart node目 录V目 录摘 要 .IABSTRACT.III目 录 .VCONTENTS .VII第一章 绪 论 .11.1 本论文的研究背景及意义 .11.1.1 研究背景与意义 .11.1.2 课题来源 .31.2 国内外研究现状 .31.3 本论文的主要研究内容与结构 .5第二章 传感器网络常用节点定位算法相关研究 .72.1 无线传感器网络基于
14、信标节点的定位算法 .72.1.1 相关工作 .72.1.2 基于信标定位算法的优点 .92.2 无线传感器网络常用的定位方式的实现 .102.2.1 极大似然估计法 .102.2.2 三边测量定位法 .112.2.3 三角测量定位法 .122.3 常用的节点定位算法 .132.3.1 常用的 Range-base 节点定位算法 .132.3.2 常用的 Range-free 节点定位算法 .162.4 本章小结 .18第三章 基于移动信标的节点定位算法 .193.1 无线传感器网络基于移动信标改进的 DV-Hop 定位算法 .193.1.1 DV-Hop 定位算法 .203.1.2 移动信标
15、节点定位算法 .23广东工业大学硕士学位论文VI3.1.3 仿真分析 .263.2 基于移动信标动态选择改进 DV-Hop 定位算法 .283.2.1 DV-Hop 定位算法平均跳距离计算误差来源分析 .293.2.2 基于移动信标动态选择的改进型 DV-Hop 定位算法过程 .313.2.3 仿真分析 .343.3 本章小结 .35第四章 无线传感器网络移动信标的路径优化 .364.1 无线传感器网络移动信标的移动模型分析 .364.1.1 随机移动 RWP(Random Way Point)模型 .364.1.2 高斯马尔可夫移动 Gauss-Markov 模型 .374.1.3 螺线移动
16、模型 .384.2 面向无线传感器网络节点定位的移动信标的路径优化 .384.2.1 基于图论的信标移动路径规划方法 .394.2.2 面向传感器网络的移动信标路径规划的仿真实现 .404.3 本章小结 .42第五章 基于移动信标优化路径定位算法的仿真实现 .435.1 仿真实验工具和实验方法简述 .435.1.1 OMNeT+仿真实验平台介绍 .435.1.2 定位算法性能评价指标及分析方法 .445.2 基于移动信标的传感器网络定位算法的设计 .455.2.1 无线传感器网络仿真程序模型及程序设计 .465.2.2 定位过程仿真程序设计 .515.3 基于移动信标优化路径的定位算法性能分析
17、 .525.4 本章小结 .55结论与展望 .56参 考 文 献 .57攻读学位期间发表的学术论文 .60攻读学位期间参加的科研项目 .61独创性声明 .62致 谢 .63CONTENTSVIICONTENTSABSTRACT(Chinese).IABSTRACT(English).IIICONTENTS(Chinese).VCONTENTS(English).VIIChapter 1 Introduction.11.1 Research Background and Meaning of This Subject.11.1.1 Research Background and Meaning.
18、11.1.2 Source of This Subject .31.2 Domestic and Foreign Research Status .31.3 Main Content and Structure of This Subject .5Chapter 2 Common Nodes Localization for Sensor Network.72.1 Localization Algorithm Base on Beacon .72.1.1 Realative work.72.1.2The Advantage of Localization Algorithm Base on B
19、eacon.92.2 Implement of Common Localization Ways.102.2.1 Maximum likelihood estimation .102.2.2 Trilateration Method Localization .112.2.3 Triangulation Method Localization.122.3 Common Nodes Localization Algorithm.132.3.1 Common Range-base Nodes Localization Algorithm .132.3.2 Common Range-free Nod
20、es Localization Algorithm .162.4 Summary of This Chapter.18Chapter 3 Localization Algorithm based on Mobile Beacon .193.1 Improving DV-Hop Algorithm base on Mobile Beacon .193.1.1 DV-Hop Localization Algorithm .203.1.2 Nodes Localization Algorithm base on Mobile Beacon .233.1.3 Simulation Result .26
21、3.2 Improving DV-Hop Algorithm base on Mobile Beacon Dynamic Selection.283.2.1 Analysis the Error Resource of DV-Hop Averager Hop Distance.293.2.2 The Process of the Improving Localization Algorithm.313.2.3 Simulation Result .343.3 Summary of This Chapter.35广东工业大学硕士学位论文VIIIChapter 4 Mobile Beacon Mo
22、ving Path Optimization .364.1 Analysis the Moving Model of Mobile Beacon .364.1.1 RWP(Random Way Point) Moving Model.364.1.2 Gauss-Markov Moving Model .374.1.3 Spire Moving Model .384.2 Mobile Beacon Moving Path Optimization for WSNs.384.2.1 Mobile Beacon Path Planning base on Graph Theory .394.2.2
23、Simulation of the Mobile Beacon Path Planning .404.3 Summary of This Chapter.42Chapter 5 Simulation of Localzaition Algorithm base on Mobile Beacon.435.1 Introduction of Simulation Tools and Environment.435.1.1 Introduction of OMNeT+.435.1.2 Localization Algorithm Performance Evaluation and Analysis
24、.445.2 Localization Algorithm Design base on Mobile Beacon.455.2.1 Programming and Modeling Localization Algorithm.465.2.2 Programming the Process of the Localization Algorithm.515.3 Performance Evaluation and Analysis of the Localization Algrithm base on Optimize Path .525.4 Summary of This Chapter.55Conclusion and Prospect .56References .57Published Papers .60Participant Projects.61Original Creative Statement .62Acknowledgements.63
