基于归零神经动力学的水下无线传感器网络节点测距定位方法

doi:10.11959/j.issn.1000-436x.2022192

通信学报 ›› 2022, Vol. 43 ›› Issue (10): 177-185.doi: 10.11959/j.issn.1000-436x.2022192

基于归零神经动力学的水下无线传感器网络节点测距定位方法

杜秀娟¹^,²^,³^,⁴, 王丽娟¹^,², 刘静萍⁵^,⁶, 金龙⁵

¹ 青海师范大学计算机学院，青海西宁 810008
² 青海省物联网重点实验室，青海西宁 810008
³ 藏语智能信息处理及应用国家重点实验室，青海西宁 810008
⁴ 高原科学与可持续发展研究院，青海西宁 810008
⁵ 兰州大学信息科学与工程学院，甘肃兰州 730000
⁶ 青海师范大学网络信息中心，青海西宁 810016

修回日期:2022-05-02 出版日期:2022-10-25 发布日期:2022-10-01
作者简介:杜秀娟（1970− ），女，河北石家庄人，博士，青海师范大学教授、博士生导师，主要研究方向为无线网络与安全、物联网技术、神经网络等
王丽娟（1992− ），女，河北石家庄人，青海师范大学博士生，主要研究方向为无线网络与安全、神经网络
刘静萍（1982− ），女，青海西宁人，兰州大学博士生，主要研究方向为无线传感器网络、最优化理论、神经网络等
金龙（1988− ），男，甘肃榆中人，博士，兰州大学教授、博士生导师，主要研究方向为机器人控制、神经网络等
基金资助:
国家自然科学基金资助项目(61962052);青海省自然科学基金团队资助项目(2020-ZJ-903)

Ranging localization method for nodes in underwater wireless sensor network based on zeroing neural dynamics

Xiujuan DU¹^,²^,³^,⁴, Lijuan WANG¹^,², Jingping LIU⁵^,⁶, Long JIN⁵

¹ College of Computer, Qinghai Normal University, Xining 810008, China
² Qinghai Provincial Key Laboratory of IoT, Xining 810008, China
³ The State Key Laboratory of Tibetan Intelligent Information Processing and Application, Xining 810008, China
⁴ Academy of Plateau Science and Sustainability, Xining 810008, China
⁵ School of Information Science and Engineering, Lanzhou University, Lanzhou 730000, China
⁶ Network Information Center, Qinghai Normal University, Xining 810016, China

Revised:2022-05-02 Online:2022-10-25 Published:2022-10-01
Supported by:
The National Natural Science Foundation of China(61962052);The Provincial Natural Science Foundation Team of Qinghai(2020-ZJ-903)

摘要/Abstract

摘要：

摘要：从时变角度对基于到达角度（AoA）和到达时间差（TDoA）测距算法的水下无线传感器网络（UWSN）节点定位问题进行建模，提出了一种归零神经动力学模型来求解该定位问题并对所提模型进行了收敛性分析。通过对节点定位进行计算机仿真，验证了所提模型在精度和移动定位稳健性方面的有效性。此外，利用青海湖实验床在湖试过程中收集的位置坐标对节点进行定位，验证了所提模型对实际应用场景具有潜在的适用性。

关键词: 水下无线传感器网络, 节点定位, 归零神经动力学, 测距定位

Abstract:

In underwater wireless sensor network (UWSN), the AoA/TDoA-based ranging localization problem for nodes was formulated from a time-variant perspective, and a zeroing neural dynamics model was proposed to solve it.Then, the convergence of the proposed model was theoretically analyzed.Furthermore, computer simulations on UWSN localization were carried out to demonstrate the effectiveness of the proposed models in terms of accuracy and robustness to the mobile localization.Additionally, through tests performed in Qinghai lake, the coordinates of nodes of UWSN test-bed were leverage to illustrate the potential applicability of the proposed model in the true underwater environment.

Key words: underwater wireless sensor network, node localization, zeroing neural dynamics, ranging localization

中图分类号:

TP393

杜秀娟, 王丽娟, 刘静萍, 金龙. 基于归零神经动力学的水下无线传感器网络节点测距定位方法[J]. 通信学报, 2022, 43(10): 177-185.

Xiujuan DU, Lijuan WANG, Jingping LIU, Long JIN. Ranging localization method for nodes in underwater wireless sensor network based on zeroing neural dynamics[J]. Journal on Communications, 2022, 43(10): 177-185.

图/表 7

图1

图2

图3

图4

图5

表1

图6

参考文献 24

[1]	刘杨, 李崔灿, 彭木根 . 低功耗水下物联网:愿景与关键技术[J]. 物联网学报, 2022,6(2): 1-9.
	LIU Y , LI C C , PENG M G . Low-power internet of underwater things:vision and key technologies[J]. Chinese Journal on Internet of Things, 2022,6(2): 1-9.
[2]	李鑫滨, 高梦玲, 闫磊 . 一种负载均衡且能量高效的水下传感网络分簇协议[J]. 电信科学, 2016,32(11): 42-49.
	LI X B , GAO M L , YAN L . A load balanced and energy efficient un-derwater clustering protocol for UWSN[J]. Telecommunications Science, 2016,32(11): 42-49.
[4]	王兴旺 . 水下无线传感器网络中的时钟同步、定位与数据传输研究[D]. 长春:吉林大学, 2018.
	WANG X W . Research on time synchronization,localization and data transmission in underwater wireless sensor networks[D]. Changchun:Jilin University, 2018.
[5]	杨振诚 . 基于优化算法的水下无线传感器网络预测定位算法研究[D]. 南京:南京邮电大学, 2020.
	YANG Z C . Research on predictive localization algorithm of underwater wireless sensor networks based on optimization algorithm[D]. Nanjing:Nanjing University of Posts and Telecommunications, 2020.
[6]	田艺 . 水下无线传感器网络定位技术研究[D]. 桂林:桂林电子科技大学, 2020.
	TIAN Y . Research on localization of underwater wireless sensor network[D]. Guilin:Guilin University of Electronic Technology, 2020.
[7]	CHENG X Z , SHU H N , LIANG Q L ,et al. Silent positioning in underwater acoustic sensor networks[J]. IEEE Transactions on Vehicular Technology, 2008,57(3): 1756-1766.
[8]	CARROLL P , MAHMOOD K , ZHOU S L ,et al. On-demand asynchronous localization for underwater sensor networks[J]. IEEE Transactions on Signal Processing, 2014,62(13): 3337-3348.
[9]	TEYMORIAN A Y , CHENG W , MA L R ,et al. 3D underwater sensor network localization[J]. IEEE Transactions on Mobile Computing, 2009,8(12): 1610-1621.
[10]	曹俊, 郑翠娥, 孙大军 ,等. AUV直线航迹下的单信标测距定位[J]. 哈尔滨工程大学学报, 2017,38(5): 733-738.
	CAO J , ZHENG C E , SUN D J ,et al. AUV positioning based on single beacon ranging in straight-line trajectory[J]. Journal of Harbin Engineering University, 2017,38(5): 733-738.
[11]	JIN B N , XU X S , ZHU Y Y ,et al. Single-source aided semi-autonomous passive location for correcting the position of an underwater vehicle[J]. IEEE Sensors Journal, 2019,19(9): 3267-3275.
[12]	JIN L , YAN J K , DU X J ,et al. RNN for solving time-variant generalized Sylvester equation with applications to robots and acoustic source localization[J]. IEEE Transactions on Industrial Informatics, 2020,16(10): 6359-6369.
[13]	WEI L , JIN L , YANG C G ,et al. New noise-tolerant neural algorithms for future dynamic nonlinear optimization with estimation on hessian matrix inversion[J]. IEEE Transactions on Systems,Man,and Cybernetics:Systems, 2021,51(4): 2611-2623.
[14]	ZHANG J Z , JIN L , YANG C G . Distributed cooperative kinematic control of multiple robotic manipulators with an improved communication efficiency[J]. IEEE/ASME Transactions on Mechatronics, 2022,27(1): 149-158.
[15]	ASSAF A E , ZAIDI S , AFFES S ,et al. Robust ANNs-based WSN localization in the presence of anisotropic signal attenuation[J]. IEEE Wireless Communications Letters, 2016,5(5): 504-507.
[16]	LI S , QIN F . A dynamic neural network approach for solving nonlinear inequalities defined on a graph and its application to distributed,routing-free,range-free localization of WSNs[J]. Neurocomputing, 2013,117: 72-80.
[17]	QI Y M , JIN L , WANG Y N ,et al. Complex-valued discrete-time neural dynamics for perturbed time-dependent complex quadratic programming with applications[J]. IEEE Transactions on Neural Networks and Learning Systems, 2020,31(9): 3555-3569.
[18]	JIN L , YING L F , LU H Y ,et al. Saturation-allowed neural dynamics applied to perturbed time-dependent system of linear equations and robots[J]. IEEE Transactions on Industrial Electronics, 2021,68(10): 9844-9854.
[19]	QI Y M , JIN L , LI H X ,et al. Discrete computational neural dynamics models for solving time-dependent Sylvester equation with applications to robotics and MIMO systems[J]. IEEE Transactions on Industrial Informatics, 2020,16(10): 6231-6241.
[20]	XIE Z T , JIN L , DU X J ,et al. On generalized RMP scheme for redundant robot manipulators aided with dynamic neural networks and nonconvex bound constraints[J]. IEEE Transactions on Industrial Informatics, 2019,15(9): 5172-5181.
[21]	JIN L , LI S , WANG H Q ,et al. Nonconvex projection activated zeroing neurodynamic models for time-varying matrix pseudoinversion with accelerated finite-time convergence[J]. Applied Soft Computing, 2018,62: 840-850.
[22]	杜秀娟, 苏毅珊 . 水下传感器网络研究[M]. 北京: 科学出版社, 2016.
	DU X J , SU Y S . Research on underwater wireless sensor network[M]. Beijing: Science Press, 2016.
[23]	王丽娟, 杜秀娟, 李冲 . 面向水声网络可靠传输的FDR编解码算法[J]. 通信学报, 2020,41(4): 81-91.
	WANG L J , DU X J , LI C . FDR coding and decoding algorithm for reliable transmission in underwater acoustic network[J]. Journal on Communications, 2020,41(4): 81-91.
[24]	李冲, 杜秀娟, 王丽娟 ,等. 基于规则与感知的水声网络 MAC 协议[J]. 通信学报, 2022,43(2): 65-75.
	LI C , DU X J , WANG L J ,et al. Rule and perception based MAC protocol for UAN[J]. Journal on Communications, 2022,43(2): 65-75.

锚节点数量/个	定位误差/km
4（锚节点A₁~ A₄）	1×10^-5
5（锚节点A₁~A₅）	1.5×10^-5
6（锚节点A₁~A₆）	1×10^-5
7（锚节点A₁~A₇）	2.5×10^-6
8（锚节点A₁~A₈）	2×10^-6

[1]	赵小敏,张海洋,金言,陈庆章. 信标节点漂移情况下的无线传感器网络节点定位机制[J]. 通信学报, 2015, 36(2): 38-47.
[2]	叶阿勇,许力,林晖. 基于RSSI的传感器网络节点安全定位机制[J]. 通信学报, 2012, 33(7): 135-142.
[3]	刘林峰,刘业. 基于满Steiner树问题的水下无线传感器网络拓扑愈合算法研究[J]. 通信学报, 2010, 31(9): 31-38.
[4]	赵方,罗海勇,林权,马严. 基于核函数法及马尔可夫链的节点定位算法[J]. 通信学报, 2010, 31(11): 195-204.
[5]	周艳,李海成. 基于RSSI无线传感器网络空间定位算法[J]. 通信学报, 2009, 30(6): 75-79.
[6]	叶阿勇,马建峰,裴庆祺,许力. 无线传感器网络节点定位安全研究进展[J]. 通信学报, 2009, 30(10A): 74-84.
[7]	向满天,史浩山,李立宏,龙承志. 高精确度与高覆盖率的传感器网络定位算法[J]. 通信学报, 2008, 29(11): 19-23.
[8]	赵方,马严,罗海勇,林权. 基于顽健估计的室内节点定位算法[J]. 通信学报, 2008, 29(11): 113-120.

基于归零神经动力学的水下无线传感器网络节点测距定位方法

Ranging localization method for nodes in underwater wireless sensor network based on zeroing neural dynamics

在线阅读

PDF下载

可视化

摘要/Abstract

引用本文

使用本文

图/表 7

参考文献 24

相关文章 8

Metrics

推荐阅读 0