Aoa Location Method For Wireless Sensor Networks Based On Unmanned Aerial Vehicle

In recent years,more and more application fields regard wireless sensor network as their main monitoring system.In these applications,location is the most basic context information.A large number of localization algorithms have been proposed to solve the problem of node localization.However,the cost of anchor nodes is much higher than ordinary nodes.If anchor nodes are deployed in a static way,both the cost of hardware and energy consumption caused by the increase of anchor nodes and the cost of anchor node deployment will rise sharply.In order to solve this problem,this paper takes the unmanned aerial vehicle(uav)with high-precision real-time location ability and autonomous flight ability as the mobile anchor node,and uses its six degrees of freedom motion ability to put a large number of virtual anchor nodes in the three-dimensional space,and it effectively solved the problem of hardware cost and deployment of anchor nodes.On this basis,the AOA location method based on the radiation characteristics of directional antenna is proposed in this paper,which avoids the influence of ranging error caused by irregular propagation of radio frequency signals,and the problem of radiation model deviation and installation error is solved,and the location accuracy is effectively improved.The main research work and innovation points of this paper are as follows:(1)In order to verify the effectiveness of the location algorithm,this paper developed a set of wireless sensor network location system based on unmanned aerial vehicle(uav),which consists of quadrotor and wireless sensor nodes.(2)Aiming at the uncertainty of most existing design method of quadrotor controller,this article quantified the uncertainty model of quadrotor.In ordert to solve the problem that the theoretical calculation for the lift performance in power system is very complicated,this paper proposes a testing device of the lift performance for multi-rotor dynamic system.And it effectively reduced the difficulty of dynamic system modeling.(3)According to the quantitative results of uncertainty in(2),the quantitative feedback control theory is used to design the controller.The experimental results show that the controller has high control precision and strong anti-interference ability.(4)Based on the(1),(2),(3),this paper proposed AOA location method based on unmanned aerial vehicle(uav)wireless sensor network?And the principle of the algorithm is driven by the quadrotor for a directional antenna 360 ° rotation,and it rotates and broadcasts packets.Thanks to narrow vertical directional antenna radiation characteristics,the unknown node can obtain the data packet with the maximum signal strength when the direction of the maximum radiated power of the directional antenna points to the unknown node in the process of directional antenna on the broadcast packets.According to the data of this packet and the location algorithm,the unknown node can complete its own location.Simulation and experimental results show that compared with the existing wireless sensor network location algorithm based on unmanned aerial vehicles,this algorithm can reduce the influence of irregular propagation of radio frequency signals and improve location accuracy.