首先,根据ROI(region of interest)面积给出了充分三重覆盖此ROI所需要的信标发射位置数量计算方法;接着,针对矩形ROI提出了一种简单的信标发射位置确定方法;之后,针对任意形状ROI提出了利用虚拟力获取信标发射位置坐标的方法;最后,利...首先,根据ROI(region of interest)面积给出了充分三重覆盖此ROI所需要的信标发射位置数量计算方法;接着,针对矩形ROI提出了一种简单的信标发射位置确定方法;之后,针对任意形状ROI提出了利用虚拟力获取信标发射位置坐标的方法;最后,利用流浪旅行商算法获取遍历这些发射位置点的最优路径,并基于多边测量方法进行传感器节点定位.仿真实验表明,采用上述方法可以对传感器节点进行高效且精度可控的定位.展开更多
In wireless sensor networks （WSNs） the position information of individual nodes is a matter of vital importance because allows the implementation of necessary network functions such as routing, querying and other ap...In wireless sensor networks （WSNs） the position information of individual nodes is a matter of vital importance because allows the implementation of necessary network functions such as routing, querying and other applications. The objective of this paper is to propose an algorithm of three-dimensional distributed range-free localization for WSNs, using a mobile beacon （MB） equipped with a rotary and tilting directional antenna. This algorithm, denominated as the three-dimensional azimuthally defined area localization algorithm （3D- ADAL）, is executed in each sensor node and is based only on the analysis of the information received from the MB, therefore is energy efficient and contributes to extend the lifetime of the sensor network. Additionally the proposed algorithm has the advantage of being simple and economical. The simulation results show that the proposed algorithm is a practical, effective and accurate method for a three-dimensional location of sensor nodes in a WSN.展开更多
根据ROI(Region of Interest)面积给出了等距三重优化覆盖此ROI所需要的信标发射位置数量计算方法;随后对矩形ROI提出了一种简单的信标发射位置确定方法;针对现有的遍历发射位置点的路径遍历算法的不足,提出了一种新的应用蚁群算法的信...根据ROI(Region of Interest)面积给出了等距三重优化覆盖此ROI所需要的信标发射位置数量计算方法;随后对矩形ROI提出了一种简单的信标发射位置确定方法;针对现有的遍历发射位置点的路径遍历算法的不足,提出了一种新的应用蚁群算法的信标发射位置点的遍历算法,并利用该算法对基于三边测量方法进行传感器节点定位。仿真实验表明,采用该文提出的方法对传感器节点进行定位,在定位的精度和定位的效率方面与现存的方法相比有明显的提高。展开更多
The alternate location method of a robot team is proposed. Three of the robots are kept still as beacon robots, not always the same ones, while the others are regarded as mobile robots. The mobile robots alternatively...The alternate location method of a robot team is proposed. Three of the robots are kept still as beacon robots, not always the same ones, while the others are regarded as mobile robots. The mobile robots alternatively measure the distance between one of them and three beacon robots with ultrasonic measurement module. The distance data are combined with its dead-reckoning information using iterated extended Kalrnan filter （IEKF） to realize the optimal estimate of its position. According to the condition the future beacon robots＇ positions should be desired ones, the target function and the nonlinear constrain equations are set up which are used by nonlinear optimization algorithm to estimate the position of the future beacon robots. By alternately changing the robots＇ roles as active beacon, the alternate location in unknown environment can＇be realized. Process and result of the simulation test are given and the position estimation error is within ＋ 10 ram, which proves the validity of this method.展开更多
基金Supported by the National Natural Science Foundation of China under Grant Nos.60402010 60573056+2 种基金 60604029 (国家自然科学基金)the National Basic Research Program of China under Grant No.2006CB303000 (国家重点基础研究发展计划(973)) the China Postdoctoral Science Foundation under Grant No.20060401039 (中国博士后科学基金)
文摘首先,根据ROI(region of interest)面积给出了充分三重覆盖此ROI所需要的信标发射位置数量计算方法;接着,针对矩形ROI提出了一种简单的信标发射位置确定方法;之后,针对任意形状ROI提出了利用虚拟力获取信标发射位置坐标的方法;最后,利用流浪旅行商算法获取遍历这些发射位置点的最优路径,并基于多边测量方法进行传感器节点定位.仿真实验表明,采用上述方法可以对传感器节点进行高效且精度可控的定位.
文摘In wireless sensor networks （WSNs） the position information of individual nodes is a matter of vital importance because allows the implementation of necessary network functions such as routing, querying and other applications. The objective of this paper is to propose an algorithm of three-dimensional distributed range-free localization for WSNs, using a mobile beacon （MB） equipped with a rotary and tilting directional antenna. This algorithm, denominated as the three-dimensional azimuthally defined area localization algorithm （3D- ADAL）, is executed in each sensor node and is based only on the analysis of the information received from the MB, therefore is energy efficient and contributes to extend the lifetime of the sensor network. Additionally the proposed algorithm has the advantage of being simple and economical. The simulation results show that the proposed algorithm is a practical, effective and accurate method for a three-dimensional location of sensor nodes in a WSN.
文摘根据ROI(Region of Interest)面积给出了等距三重优化覆盖此ROI所需要的信标发射位置数量计算方法;随后对矩形ROI提出了一种简单的信标发射位置确定方法;针对现有的遍历发射位置点的路径遍历算法的不足,提出了一种新的应用蚁群算法的信标发射位置点的遍历算法,并利用该算法对基于三边测量方法进行传感器节点定位。仿真实验表明,采用该文提出的方法对传感器节点进行定位,在定位的精度和定位的效率方面与现存的方法相比有明显的提高。
文摘The alternate location method of a robot team is proposed. Three of the robots are kept still as beacon robots, not always the same ones, while the others are regarded as mobile robots. The mobile robots alternatively measure the distance between one of them and three beacon robots with ultrasonic measurement module. The distance data are combined with its dead-reckoning information using iterated extended Kalrnan filter （IEKF） to realize the optimal estimate of its position. According to the condition the future beacon robots＇ positions should be desired ones, the target function and the nonlinear constrain equations are set up which are used by nonlinear optimization algorithm to estimate the position of the future beacon robots. By alternately changing the robots＇ roles as active beacon, the alternate location in unknown environment can＇be realized. Process and result of the simulation test are given and the position estimation error is within ＋ 10 ram, which proves the validity of this method.
