/// <summary>
/// 质心算法
/// </summary>
/// <param name="nodeList"></param>
/// <param name="j">质心算法中取j跳范围内的信标节点帮助计算</param>
public static void CenterOfMass_algorithm(NodeList nodeList, int j)
{
List<Node> generalNodeList = nodeList.GetAllGeneralNode();
foreach (GeneralNode gn in generalNodeList)
{
//循环，进行定位
List<Node> AssistLocateNodeList = new List<Node>();
//将信标节点加入到协助定位的节点列表中
foreach (int nodeId in gn.HopCountTable.Keys)
{
if (nodeList.GetNodeById(nodeId).IsBeaconNode && gn.HopCountTable[nodeId] <= j)
{
AssistLocateNodeList.Add(nodeList.GetNodeById(nodeId));
}
}
if (AssistLocateNodeList.Count >= 1)
{
double sumEstimatedX = 0d;
double sumEstimatedY = 0d;
foreach (BeaconNode bn in AssistLocateNodeList)
{
sumEstimatedX += bn.RealX;
sumEstimatedY += bn.RealY;
}
gn.IsLocatable = true;
gn.IsAlreadyLocated = true;
gn.EstimatedX = sumEstimatedX / AssistLocateNodeList.Count;
gn.EstimatedY = sumEstimatedY / AssistLocateNodeList.Count;
}
}
}
/// <summary>
/// 传统DV-Hop算法计算hopSize
/// </summary>
/// <param name="nodeList"></param>
public static void DV_Hop_algorithm(NodeList nodeList)
{
List<Node> generalNodeList = nodeList.GetAllGeneralNode();
foreach (GeneralNode gn in generalNodeList)
{
//遍历每个未知节点，求跳距
Dictionary<int, int> beaconNodeDic = new Dictionary<int, int>();
//取得所有与未知节点可以通信的信标节点
foreach (int key in gn.HopCountTable.Keys)
{
if (nodeList.GetNodeById(key).IsBeaconNode)
{
beaconNodeDic.Add(key, gn.HopCountTable[key]);
}
}
//找到beaconNodeDic中与未知节点跳数最小的信标节点
int shortestHop = int.MaxValue;
int shortestHopNodeId = -1;
foreach (int key in beaconNodeDic.Keys)
{
if (beaconNodeDic[key] < shortestHop)
{
shortestHop = beaconNodeDic[key];
shortestHopNodeId = key;
}
}
Node nearestBeaconNode = nodeList.GetNodeById(shortestHopNodeId);
//找出能与nearestBeaconNode信标节点通信的其他信标节点
Dictionary<int, int> assistLocateBeaconNodeDic = new Dictionary<int, int>();
if (nearestBeaconNode == null)
{
//如果没有能与其通信的信标节点
gn.IsLocatable = false;
gn.IsAlreadyLocated = false;
}
else
{
foreach (int id in nearestBeaconNode.HopCountTable.Keys)
{
if (nodeList.GetNodeById(id).IsBeaconNode)
{
assistLocateBeaconNodeDic.Add(id, nearestBeaconNode.HopCountTable[id]);
}
}
//计算hopsize
double sumDistance = 0d;
int sumHop = 0;
foreach (int nodeId in assistLocateBeaconNodeDic.Keys)
{
sumDistance += CalculateNodeDistance(nearestBeaconNode, nodeList.GetNodeById(nodeId));
sumHop += CalculateNodeHop(nearestBeaconNode, nodeList.GetNodeById(nodeId));
}
gn.DV_Hop_Hopsize = sumDistance / sumHop;
//利用三边测量法定位
List<Node> assistLocateBeaconNode = new List<Node>();
foreach (int key in gn.HopCountTable.Keys)
{
if (nodeList.GetNodeById(key).IsBeaconNode && assistLocateBeaconNode.Count < 3)
{
assistLocateBeaconNode.Add(nodeList.GetNodeById(key));
}
}
//判断信标节点数量，若小于3，则无法进行定位
if (assistLocateBeaconNode.Count < 3)
{
gn.IsLocatable = false;
}
else
{
//三边测量法定位
double[] pos = Three_edge_measurement.trilateration(assistLocateBeaconNode[0].RealX, assistLocateBeaconNode[0].RealY, nodeList.FinalHopSize * CalculateNodeHop(gn, assistLocateBeaconNode[0]), assistLocateBeaconNode[1].RealX, assistLocateBeaconNode[1].RealY, nodeList.FinalHopSize * CalculateNodeHop(gn, assistLocateBeaconNode[1]), assistLocateBeaconNode[2].RealX, assistLocateBeaconNode[2].RealY, nodeList.FinalHopSize * CalculateNodeHop(gn, assistLocateBeaconNode[2]));
gn.EstimatedX = pos[0];
gn.EstimatedY = pos[1];
if (gn.EstimatedX < 0)
{
gn.EstimatedX = 0;
}
if (gn.EstimatedY < 0)
{
gn.EstimatedY = 0;
}
if (gn.EstimatedX > 100)
{
gn.EstimatedX = 100;
}
if (gn.EstimatedY > 100)
{
gn.EstimatedY = 100;
}
gn.IsLocatable = true;
gn.IsAlreadyLocated = true;
}
}
}
}
/// <summary>
/// 定位未知节点
/// </summary>
/// <param name="nodeList"></param>
private static void LocateGeneralNode(NodeList nodeList, int k)
{
//取得所有未知节点，遍历并定位
List<Node> generalNodeList = nodeList.GetAllGeneralNode();
foreach (GeneralNode gn in generalNodeList)
{
//辅助DV-Hop算法定位节点集合
List<Node> assistLocateBeaconNode = new List<Node>();
//辅助质心算法定位节点集合
List<Node> assistCOMLocateNodeList = new List<Node>();
foreach (int key in gn.HopCountTable.Keys)
{
if (nodeList.GetNodeById(key).IsBeaconNode && assistLocateBeaconNode.Count < 3)
{
assistLocateBeaconNode.Add(nodeList.GetNodeById(key));
}
if (nodeList.GetNodeById(key).IsBeaconNode && gn.HopCountTable[key] == 1)
{
assistCOMLocateNodeList.Add(nodeList.GetNodeById(key));
}
}
if (assistCOMLocateNodeList.Count >= k)
{
//信标节点数量大于事先设定阈值，使用质心算法定位
double sumEstimatedX = 0d;
double sumEstimatedY = 0d;
foreach (BeaconNode bn in assistCOMLocateNodeList)
{
sumEstimatedX += bn.RealX;
sumEstimatedY += bn.RealY;
}
gn.IsLocatable = true;
gn.IsAlreadyLocated = true;
gn.EstimatedX = sumEstimatedX / assistCOMLocateNodeList.Count;
gn.EstimatedY = sumEstimatedY / assistCOMLocateNodeList.Count;
}
//判断信标节点数量，若小于3，则无法进行定位
else if (assistLocateBeaconNode.Count < 3)
{
gn.IsLocatable = false;
}
else
{
//三边测量法定位
double[] pos = Three_edge_measurement.trilateration(assistLocateBeaconNode[0].RealX, assistLocateBeaconNode[0].RealY, nodeList.FinalHopSize * CalculateNodeHop(gn, assistLocateBeaconNode[0]), assistLocateBeaconNode[1].RealX, assistLocateBeaconNode[1].RealY, nodeList.FinalHopSize * CalculateNodeHop(gn, assistLocateBeaconNode[1]), assistLocateBeaconNode[2].RealX, assistLocateBeaconNode[2].RealY, nodeList.FinalHopSize * CalculateNodeHop(gn, assistLocateBeaconNode[2]));
gn.EstimatedX = pos[0];
gn.EstimatedY = pos[1];
if (gn.EstimatedX < 0)
{
gn.EstimatedX = 0;
}
if (gn.EstimatedY < 0)
{
gn.EstimatedY = 0;
}
if (gn.EstimatedX > 100)
{
gn.EstimatedX = 100;
}
if (gn.EstimatedY > 100)
{
gn.EstimatedY = 100;
}
gn.IsLocatable = true;
gn.IsAlreadyLocated = true;
}
}
}
/// <summary>
/// 计算未知节点加权平均每跳距离
/// </summary>
/// <param name="nodeList"></param>
private static void CalculateNodeHopSize(NodeList nodeList)
{
List<Node> beaconNodeList = nodeList.GetAllBeaconNode();
List<Node> generalNodeList = nodeList.GetAllGeneralNode();
//对各个未知节点求加权平均每跳距离
foreach (GeneralNode gn in generalNodeList)
{
List<Node> tempBeaconNodeList = new List<Node>();
int sumHop = 0;
foreach (int beaconNodeId in gn.HopCountTable.Keys)
{
//将gn节点HopCountTable中所有beaconNode取出放入tempBeaconNodeList中,并保存gn到所有beaconNode的跳数和
if (nodeList.GetNodeById(beaconNodeId).IsBeaconNode == true)
{
tempBeaconNodeList.Add(nodeList.GetNodeById(beaconNodeId));
sumHop += gn.HopCountTable[beaconNodeId];
}
}
double temp = 0d;
int tempHop = 0;
//将tempBeaconNodeList中AvgHopDistance属性为0的节点去除
for (int i = 0; i < tempBeaconNodeList.Count; i++)
{
if (((BeaconNode)tempBeaconNodeList[i]).AvgHopSize <= 0)
{
tempBeaconNodeList.Remove(tempBeaconNodeList[i]);
}
}
foreach (BeaconNode bn in tempBeaconNodeList)
{
tempHop += sumHop - CalculateNodeHop(bn, gn);
temp += bn.AvgHopSize * (sumHop - CalculateNodeHop(bn, gn));
}
if (tempHop != 0)
{
gn.AvgHopSize = temp / tempHop;
}
}
}