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1、南京航空航天大学 硕士学位论文 无线传感器网络声学目标监测与定位关键技术研究 姓名：梁玉琴 申请学位级别：硕士 专业：精密仪器及机械 指导教师：曾庆化 2011-01 南京航空航天大学硕士学位论文 I 摘 要 无线传感器网络综合了传感器、嵌入式计算、分布式信息处理和通信等多种现代化技术， 可以实现对信息的获取与处理。无线传感器网络节点可以随机快速部署，不需要复杂的基础设 施支持，具有容错性好、可自组织、隐蔽性强等特性，在军事和民用领域具有广泛的应用潜力。 由于无线传感器网络对缺乏配合信号的非合作目标无法进行有效的定位和监测，所以需要借助 其它方式辅助定位。声音是一种常用技术媒介，可以实现无线传
2、感器网络对不易感知非合作目 标的定位。将无线传感器网络和声学定位技术相结合能够实现复杂环境下的信息捕获，有助于 提高无线传感器网络信息获取的能力。 论文首先阐述了课题相关研究背景、意义以及课题研究的国内外现状，主要介绍了无线传 感器网络和声学定位技术的发展和应用现状，并提出了一种结合无线传感器测距、声学测距、 两种传感器合作定位，并通过无线传感器传达定位信息的声源定位方案。随后开展了基于无线 传感器网络和声学定位的算法研究。在分析对比当前存在的多种无线传感器网络测距技术和定 位算法的基础上，选择基于测距的定位算法作为课题研究重点。结合 RSSI 和 TOF 这两种测距 技术的分析，实际测试比较
3、了 Jennic 无线传感器系列的两种测距技术在不同距离范围内的测距 精度。针对无线传感器网络静态和动态节点定位，分别采用传统的最小二乘法和多种滤波算法 进行仿真对比分析研究，并基于实际测试数据实现了对静态节点定位方法的验证分析。在声学 定位的技术研究中，对基于时差的声学定位方案进行研究，并对其算法进行仿真实现研究和优 化。最后设计了战场传感原理样机，完成了微型化的单片机硬件节点开发，并在节点上加载了 通用的无线传感器网络，实现了系统总体结构和测试样机的搭建，并利用样机系统进行了基本 功能测试。为了满足应用背景需求，初步完成了实际系统的研制和调试，为后继系统的应用开 发奠定了坚实的基础。 关键
4、词：关键词：无线传感器网络，声学，定位，RSSI，TOF，滤波，战场传感原理样机 无线传感器网络声学目标监测与定位关键技术研究 II Abstract Wireless sensor networks combine sensor technology, embedded computing technology, distributed information processing and communication technology, it can achieve the access and treatment of the information. WSNs node can ra
5、ndomly rapid deployment, with no complex infrastructure, and have the strong features of fault tolerant, self-organization, subtle, so WSNs have a wide range of applications in the military and civilian areas. WSNs have many advantages, but non-cooperation target can not be effective positioning and
6、 monitoring, it relies on other means to localize. Voice is a common technology medium; it can achieve localization for WSNs in the situation where non-cooperation goals are not easy perceived. The combination of WSNs and acoustic positioning technology can achieve information capture in a variety o
7、f complex environment, helping to improve the ability to obtain information. Firstly, the background and significance of the issue were introduced, and the research status at home and abroad was described. The development and application of WSNs and sound localization were introduced. The combinatio
8、n of WSNs and acoustic positioning technology programs were proposed. Secondly, the positioning algorithms based on WSNs and acoustic were studied. In WSNs technology, the localization algorithm based on distance measurement was selected as a research focus; the current existing ranging techniques a
9、nd positioning algorithms were analyzed and compared. Both RSSI and TOF ranging technology were studied, and through the actual test the range accuracy of the two technologies within range of different distances was compared. Respectively, the traditional least square method and filtering algorithm
10、were simulated and analyzed in WSNs static and dynamic nodes localization, and based on actual test data static nodes localization was analyzed to verify the method. Distributed acoustic positioning system program based on the time differences were analyzed, and the algorithm of the program was stud
11、ied. Finally, the battlefield sensors monitored system was designed, the micro hardware nodes were designed, and with universal wireless sensor network, the overall structure of the system was achieved, the hardware and software of the system was designed, and the actual test was done. Through devel
12、opment of the actual system to meet the applications needs and put it in the area of localization. Keywords: WSN, Acoustic, Localization, RSSI, TOF, Filter, Battlefield Sensors Prototype 无线传感器网络声学目标监测与定位关键技术研究 VI 图表清单 图 1.1 固定设置型声测系统.5 图 1.2 SADS 反狙击手探测系统.5 图 1.3 论文编排结构图.7 图 2.1 三边测量法示意图.9 图 2.2 三角测量法示意图.10 图 2.3 质心定位算法示意图.11 图 2.4 APIT 定位算法示意图.11 图 2.5 DV-Hop 定位算法示意图.11 图 2.6 TDOA 测距示意图.13 图 2.7 TOA 测距示意图.
