基于虚拟力移动锚节点的3D-DVHop-ACR定位算法  

3D-DVHop-ACR localization algorithm based on virtual force moving anchor nodes

作　　者：张晶[1,2,3] 罗施章 付谱平 ZHANG Jing;LUO Shi-zhang;FU Pu-ping(School of Information Engineering and Automation,Kunming University of Science and Technology,Kunming 650500,China;Yunnan Key Laboratory of Artificial Intelligence,Kunming University of Science and Technology,Kunming 650500,China;Yunnan Xiaorun Technology Service Co.,Ltd,Kunming 650500,China)

机构地区：[1]昆明理工大学信息工程与自动化学院,昆明650500 [2]昆明理工大学云南省人工智能重点实验室,昆明650500 [3]云南枭润科技服务有限公司,昆明650500

出　　处：《控制与决策》2021年第10期2409-2417,共9页Control and Decision

基　　金：云南省技术创新人才项目(2019HB113);云南省“万人计划”产业技术领军人才项目(云发改人事[2019]1096号);云南省基础研究计划重点项目(202001AS070064)。

摘　　要：针对传统以及各种经改进的3D-DVHop算法对未知节点定位误差较大,且未对定位成本进行实质性降低的问题,提出一种基于虚拟力移动锚节点的3D-DVHop-ACR定位算法.该算法引入虚拟力移动锚节点,在降低定位成本的同时可使锚节点移动路径遍历整个网络空间且不会进入网络空洞区域;通过RSSI值辅助测距与三维跳距加权修正节点间跳数和跳距,利用所有锚节点定位误差修正各未知节点估计坐标;同时,结合最大似然估计法对邻居节点数不小于3的节点继续精化,以进一步降低定位误差.Aiming at the problem that traditional and various improved 3 D-DVHop algorithms have large positioning errors for unknown nodes and do not substantially reduce the positioning cost, a 3 D-DVHop-ACR localization algorithm based on virtual force moving anchor nodes is proposed. The algorithm introduces virtual force moving anchor nodes,which can reduce the positioning cost while enabling the anchor node moving path to traverse the entire network space and not enter the network void area. RSSI value assisted ranging and three-dimensional hop distance weighting are used to correct the hop number and hop distance between nodes. All anchor node positioning errors are used to correct the estimated coordinates of each unknown node. Combined with the maximum likelihood estimation method, nodes with neighbor nodes of not less than 3 are further refined to further reduce positioning error.

关 键 词：定位成本 移动锚节点 虚拟力 3D-DVHop-ACR 定位误差 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]