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CN111447564B - A Probability-Based Base Station Location Anomaly Detection and Relocation Method - Google Patents

A Probability-Based Base Station Location Anomaly Detection and Relocation Method Download PDF

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Publication number
CN111447564B
CN111447564B CN202010229760.5A CN202010229760A CN111447564B CN 111447564 B CN111447564 B CN 111447564B CN 202010229760 A CN202010229760 A CN 202010229760A CN 111447564 B CN111447564 B CN 111447564B
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base station
packet
detection
distance
abnormal
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CN111447564A (en
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彭甫镕
逯暄
任柯舟
赵鹏
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Shanxi University
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Shanxi University
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
    • H04W16/18—Network planning tools
    • H04W16/20—Network planning tools for indoor coverage or short range network deployment
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/04—Arrangements for maintaining operational condition
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
    • H04W40/22—Communication route or path selection, e.g. power-based or shortest path routing using selective relaying for reaching a BTS [Base Transceiver Station] or an access point
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/24—Connectivity information management, e.g. connectivity discovery or connectivity update
    • H04W40/248—Connectivity information update

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Abstract

The invention relates to the technical field of indoor positioning, in particular to a base station position abnormity detection and relocation method. Aiming at all base stations of the system, the invention firstly uses a routing table and a time difference method to obtain the distance information between all base stations, then uses a probability-based method to detect the base stations, determines the base stations with abnormal positions, and finally uses the cosine law to relocate the abnormal base stations, thereby realizing the detection and relocation of the base stations with abnormal positions, which can improve the positioning accuracy of labels.

Description

Probability-based base station position anomaly detection and relocation method
Technical Field
The invention relates to the technical field of indoor positioning, in particular to a base station position abnormity detection and relocation method.
Background
With the popularization of the internet of things and mobile devices, positioning technology is applied in more and more extensive scenes. When the satellite positioning cannot be used in the indoor environment, the indoor positioning technology is used as an auxiliary tool for satellite positioning, the problems that the satellite signal is weak and cannot penetrate through a building when reaching the ground are solved, and the current position of the positioning tag is finally obtained. In the indoor positioning technology, a plurality of fixed base stations are needed to determine the coordinates of the tag to be positioned, the base stations need to work for a long time, the positions of the base stations cannot move, and otherwise, the tag positioning result can generate a great error.
However, in practical applications, the fixed base station may generate a larger or smaller displacement due to the influence of external factors, the larger displacement can be easily found by naked eyes, and the smaller displacement is not easy to be perceived. When the position of the positioning base station changes, the coordinates of the base station prestored in the host are not changed, so that the label to be positioned is positioned by using the wrong coordinates of the base station, and a large error is generated in the positioning of the positioning label.
Therefore, the abnormal detection and relocation of the position of the fixed base station are the key to solve the problem of inaccurate positioning of the tag caused by the displacement deviation of the base station.
Disclosure of Invention
The invention aims to provide a base station position abnormity detection and relocation method for improving the label positioning accuracy.
In order to solve the above problems, the present invention provides a method for detecting and relocating the position abnormality of a base station, which includes the following steps:
step 1: setting an abnormal detection period T, wherein T is more than or equal to 2min and less than or equal to 5min, setting an abnormal detection interval T1, T1 is more than or equal to 30min and less than or equal to 60min, enabling the host to enter abnormal detection, and connecting the base station with the hostA 0Broadcasting an anomaly detection packet, wherein the content of the anomaly detection packet comprises an anomaly detection number AD and a packet sending base stationA 0Base station numbering and packet transmission time stampT 0；
Step 2: base stationA i Judging the type of the received data packet after receiving the data packet,inot equal to 0, if the data packet type is an abnormal detection packet, turning to the step 3; if the data packet type is ranging return packet, the number of the target base station and the local station in the received ranging return packet are judgedA i If yes, turning to step 5; if not, discarding the ranging feedback packet and turning to step 6;
and step 3: base stationA i Judging the abnormal detection number AD in the received abnormal detection packet and the abnormal detection number stored in the routing table of the base stationAD i If yes, entering step 4; if not, the base stationA i Modifying the abnormal detection number in the routing table of the base station to the abnormal detection number in the received abnormal detection packet, namely orderingAD i Modifying the next hop base station number in the routing table to be the sending base station number in the received abnormal detection packet, clearing the detection table of the base station, and extracting the sending base station in the received abnormal detection packetA k Base station numbering, packet transmission time stampT k (ii) a Broadcasting an anomaly detection packet and a ranging return packet of the local base station, wherein the content of the anomaly detection packet comprises anomaly detectionNumber AD, packet base stationA i Base station numbering, packet transmission time stampT i (ii) a The ranging return packet content comprises an abnormal detection number AD and a packet sending base stationA i Base station numbering and packet-sending time stampT i The destination base station is the next hop base station number in the routing table of the base station, and the base stationA i Packet transmission base station for the received anomaly detection packetA k Base station numbering and packet transmission time stampT k Go to step 6;
and 4, step 4: base stationA i Verifying a packet-sending base station in a received anomaly detection packetA k If the number does not exist in the detection table, the packet transmitting base station in the received abnormal detection packet is extractedA k Base station numbering, packet transmission time stampT k (ii) a Packet sending base station for abnormal detection packetA k The base station number of the base station is added into a detection table of the base station to broadcast a ranging return packet of the base station, the content of the ranging return packet comprises an abnormal detection number AD and a packet sending base stationA i Base station numbering and packet-sending time stampT i The base station number of the target base station is the next hop base station number in the routing table of the base station, and the base stationA i Packet transmission base station for the received anomaly detection packetA k Base station numbering and packet transmission time stampT k Go to step 6; if the base stationA i Has the packet transmitting base station in the abnormal detection packet received this timeA k If the base station numbers, the packet is discarded, and the step 6 is carried out;
and 5: base stationA i Modifying the base station number of the target base station in the received ranging return packet into the next hop base station number in the routing table of the base station, and then broadcasting the modified ranging return packet;
step 6: if the abnormality detection time does not reach the abnormality detection period T,A i go to the step of receiving the data packetStep 2; if the abnormal detection time reaches the abnormal detection period T, turning to the step 7;
and 7: base stationA 0Uploading the received data return packet to the host computer, and extracting the packet sending base station of the data return packet by the host computerA i Base station numbering and packet transmission time stampT i Base stationA i Packet transmission base station for received anomaly detection packetA k Base station numbering and packet transmission time stampT k ，Calculating to obtain the base stationA i And a base stationA k The distance betweenD ik ：
Figure DEST_PATH_IMAGE001
Wherein c represents the speed of light; the number m of system base stations, m is more than or equal to 3, orderiEntering step A if the value is 1;
step A, orderkEntering step B if the value is 1;
step B, base station obtained by calculating hostA i And a base stationA k The distance betweenD ik Stored in the distance table 2 of the host computer if the calculation result of the host computer isA i And a base stationA k The distance betweenD ik If not, then orderD ik Is 0, orderk＝k+1, go to step C;
step C, ifkEntering the step B when the m is less than or equal to m; if it iskGreater than m, orderi＝i+1, go to step D;
step D, ifiEntering the step A when the m is less than or equal to m; if it isiIf m is larger than m, turning to the step 8;
and 8: comparing the distance table 2 storing the distance detection result of each base station with the distance table 1 storing the distance result of each base station in advance in the host computer, and enabling the distance table to be compared with the distance table 1i1 is ═ 1; entering a step M;
step M, orderkOrder the base station as 1A i The number y of the distance-measurable base stations is equal to 0, and the base stations are enabled to be in a state ofA i Entering step N if the abnormal distance statistical parameter a is 0;
step N, about base station in distance table 1 and distance table 2A i And a base stationA k A distance ofD ik ，1≤k≤m，i≠kIf in distance table 1 and distance table 2D ik If all are 0, turning to the step O; if in distance table 1 and distance table 2D ik Not all 0, base stationA i If the number y of the distance-measurable base stations is y +1, as in the distance table 1 and the distance table 2D ik Base station when they are not equalA i Go to step O if the statistical parameter a is a +1, and go to table 1 and table 2D ik And C, turning to the step O;
step O, letk＝k+1, ifkLess than or equal to m, entering the step N ifkIf m is larger than m, a is larger than or equal to 0.5y, then the base stationA i Go to step 9 if the position is abnormalkM, a is greater than 0.5y, theni＝ i + 1; if it isiLess than or equal to M, entering the step M ifiIf m is larger than m, entering the step 10;
and step 9: recalculating base stationsA i Coordinates, arbitrarily selecting base stationA i Two base stations capable of measuring distance aroundA k And base stationA h By the cosine theorem, calculateA k A h AndA k A i angle (c):
Figure DEST_PATH_IMAGE002
A i new coordinates of (A) toD ki *cos θ，D ki *sin θ) Let us orderi＝i+1, ifiLess than or equal to M, entering the step M ifiIf m is larger than m, entering the step 10;
step 10: and covering the content of the distance table 2 on the distance table 1, pre-storing the content to the host, updating new coordinates of each base station, entering an abnormal interval after the detection is finished, and entering a new round of abnormal detection by the host if the interval time reaches the abnormal interval time T1.
The invention has the beneficial effects that:
aiming at all base stations of the system, the invention firstly uses a routing table and a time difference method to obtain the distance information between all base stations, then uses a probability-based method to detect the base stations, determines the base stations with abnormal positions, and finally uses the cosine law to relocate the abnormal base stations, thereby realizing the detection and relocation of the base stations with abnormal positions, which can improve the positioning accuracy of labels.
Drawings
FIG. 1 is a schematic diagram of a base station system according to the present invention;
FIG. 2 is a data packet flow diagram of a base station location anomaly detection and relocation method;
fig. 3 is a relocation flowchart of a base station location anomaly detection and relocation method.
Detailed Description
The invention provides a method for detecting and relocating abnormal position of a base station, which comprises the following steps:
step 1: setting an abnormal detection period T, wherein T is 5min, setting an abnormal detection interval time T1, wherein T1 is 30min, entering the abnormal detection of the host, and connecting the base station with the hostA 0Broadcasting an anomaly detection packet, wherein the content of the anomaly detection packet comprises an anomaly detection number AD and a packet sending base stationA 0Base station numbering and packet transmission time stampT 0；
Step 2: base stationA i Judging the type of the received data packet after receiving the data packet,inot equal to 0, if the data packet type is an abnormal detection packet, turning to the step 3; if the data packet type is ranging return packet, the number of the target base station and the local station in the received ranging return packet are judgedA i If yes, turning to step 5; if not, discarding the ranging feedback packet and turning to step 6;
and step 3: base stationA i Judging the abnormal detection number AD in the received abnormal detection packet and the abnormal detection number stored in the routing table of the base stationAD i If yes, entering step 4; if not, the base stationA i Modifying the abnormal detection number in the routing table of the base station to the abnormal detection number in the received abnormal detection packet, namely orderingAD i Modifying the next hop base station number in the routing table to be the sending base station number in the received abnormal detection packet, clearing the detection table of the base station, and extracting the sending base station in the received abnormal detection packetA k Base station numbering, packet transmission time stampT k (ii) a Broadcasting an abnormal detection packet and a ranging return packet of the base station, wherein the content of the abnormal detection packet comprises an abnormal detection number AD and a packet sending base stationA i Base station numbering, packet transmission time stampT i (ii) a The ranging return packet content comprises an abnormal detection number AD and a packet sending base stationA i Base station numbering and packet-sending time stampT i The destination base station is the next hop base station number in the routing table of the base station, and the base stationA i Packet transmission base station for the received anomaly detection packetA k Base station numbering and packet transmission time stampT k Go to step 6;
and 4, step 4: base stationA i Verifying a packet-sending base station in a received anomaly detection packetA k If the number does not exist in the detection table, the packet transmitting base station in the received abnormal detection packet is extractedA k Base station numbering, packet transmission time stampT k (ii) a Packet sending base station for abnormal detection packetA k The base station number of the base station is added into a detection table of the base station to broadcast a ranging return packet of the base station, the content of the ranging return packet comprises an abnormal detection number AD and a packet sending base stationA i Base station numbering and packet-sending time stampT i The base station number of the target base station is the next hop base station number in the routing table of the base station, and the base stationA i Packet transmission base station for the received anomaly detection packetA k Base station numbering and packet transmission time stampT k Go to step 6; if the base stationA i Has the packet transmitting base station in the abnormal detection packet received this timeA k If the base station numbers, the packet is discarded, and the step 6 is carried out;
and 5: base stationA i Modifying the base station number of the target base station in the received ranging return packet into the next hop base station number in the routing table of the base station, and then broadcasting the modified ranging return packet;
step 6: if the abnormality detection time does not reach the abnormality detection period T,A i continuing to receive the data packet, turning to the step 2; if the abnormal detection time reaches the abnormal detection period T, turning to the step 7;
and 7: base stationA 0Uploading the received data return packet to the host computer, and extracting the packet sending base station of the data return packet by the host computerA i Base station numbering and packet transmission time stampT i Base stationA i Packet transmission base station for received anomaly detection packetA k Base station numbering and packet transmission time stampT k And calculating to obtain the base stationA i And a base stationA k The distance betweenD ik ：
Figure 213848DEST_PATH_IMAGE001
Wherein c represents the speed of light; the number m of system base stations, m is more than or equal to 3, orderiEntering step A if the value is 1;
step A, orderkEntering step B if the value is 1;
step B, base station obtained by calculating hostA i And a base stationA k The distance betweenD ik Stored in the distance table 2 of the host computer if the calculation result of the host computer isA i And a base stationA k The distance betweenD ik If not, then orderD ik Is 0, orderk＝k+1, go to step C;
step C, ifkEntering the step B when the m is less than or equal to m; if it iskGreater than m, orderi＝i+1, go to step D;
step D, ifiEntering the step A when the m is less than or equal to m; if it isiIf m is larger than m, turning to the step 8;
and 8: comparing the distance table 2 storing the distance detection result of each base station with the distance table 1 storing the distance result of each base station in advance in the host computer, and enabling the distance table to be compared with the distance table 1i1 is ═ 1; entering a step M;
step M, orderkOrder the base station as 1A i The number y of the distance-measurable base stations is equal to 0, and the base stations are enabled to be in a state ofA i Entering step N if the abnormal distance statistical parameter a is 0;
step N, about base station in distance table 1 and distance table 2A i And a base stationA k A distance ofD ik ，1≤k≤m，i≠kIf in distance table 1 and distance table 2D ik If all are 0, turning to the step O; if in distance table 1 and distance table 2D ik Not all 0, base stationA i If the number y of the distance-measurable base stations is y +1, as in the distance table 1 and the distance table 2D ik Base station when they are not equalA i Go to step O if the statistical parameter a is a +1, and go to table 1 and table 2D ik And C, turning to the step O;
step O, letk＝k+1, ifkLess than or equal to m, entering the step N ifkIf m is larger than m, a is larger than or equal to 0.5y, then the base stationA i Go to step 9 if the position is abnormalkM, a is greater than 0.5y, theni＝ i + 1; if it isiLess than or equal to M, entering the step M ifiIf m is larger than m, entering the step 10;
and step 9: recalculating base stationsA i Coordinates, arbitrarily selecting base stationA i Two base stations capable of measuring distance aroundA k And base stationA h By the cosine theorem, calculateA k A h AndA k A i angle (c):
Figure 396568DEST_PATH_IMAGE002
A i new coordinates of (A) toD ki *cos θ，D ki *sin θ) Let us orderi＝i+1, ifiLess than or equal to M, entering the step M ifiIf m is larger than m, entering the step 10;
step 10: and covering the content of the distance table 2 on the distance table 1, pre-storing the content to the host, updating new coordinates of each base station, entering an abnormal interval after the detection is finished, and entering a new round of abnormal detection by the host if the interval time reaches the abnormal interval time T1.
The host prestores the distance information between the base stations of the system in a distance table 1, the distance information between the base stations of the system is acquired by using a routing table and a time difference method in the detection process, then a probability-based method is used for comparing the detected distance table 2 with the prestored distance table 1 to determine the base station with an abnormal position, and finally the cosine law is used for relocating the abnormal base station, so that the detection and relocation of the base station with the abnormal position, which can improve the positioning accuracy of the label, are realized on the basis of not consuming additional equipment and personnel.

Claims (1)

1.一种基站位置异常检测及重定位方法，其特征在于，包括如下步骤：1. a base station location anomaly detection and relocation method, is characterized in that, comprises the steps: 步骤1：设置异常检测周期T，2min≤T≤5min，设置异常检测间隔时间T1，30min≤T1≤60min，主机进入异常检测，与主机连接的基站A 0广播异常检测包，该异常检测包内容包括异常检测编号AD、发包基站A 0的基站编号和发包时间戳T 0；Step 1: Set the abnormality detection period T, 2min≤T≤5min, set the abnormality detection interval time T1, 30min≤T1≤60min, the host enters the abnormality detection, and the base station A 0 connected to the host broadcasts the abnormality detection packet, the content of the abnormality detection packet Including the abnormal detection number AD, the base station number of the base station A 0 and the time stamp T 0 of the packet sending; 步骤2：基站A i 接收到数据包后判断接收到的数据包类型，i≠0，如果数据包类型是异常检测包，则转至步骤3；若数据包类型为测距回传包，则判断接收的测距回传包中的目的基站编号与本机站A i 的基站编号是否一致，若一致，转至步骤5；若不一致，丢弃该测距回传包，转至步骤6；Step 2: After receiving the data packet, the base station A i judges the received data packet type, i ≠ 0, if the data packet type is an abnormal detection packet, then go to step 3; if the data packet type is a ranging return packet, then Determine whether the destination base station number in the received ranging return packet is consistent with the base station number of the local station A i , if they are consistent, go to step 5; if not, discard the ranging return packet, and go to step 6; 步骤3：基站A i 判断接收到的异常检测包中的异常检测编号AD与本基站路由表中存储的异常检测编号AD i 是否一致，若一致，则进入步骤4；若不一致，则基站A i 修改本基站路由表中的异常检测编号为接收到的异常检测包内的异常检测编号，即令AD i ＝AD，修改路由表中的下一跳基站编号为所接收的异常检测包中的发送基站编号，清空本基站的检测表，提取所接收的异常检测包中的发包基站A k 的基站编号，发包时间戳T k ；广播本基站的异常检测包和测距回传包，异常检测包内容包括，异常检测编号AD，发包基站A i 的基站编号，发包时间戳T i ；测距回传包内容包括，异常检测编号AD，发包基站A i 的基站编号、发包时间戳T i ，目的基站为本基站路由表中的下一跳基站编号，基站A i 此次接收的异常检测包的发包基站A k 的基站编号和发包时间戳T k ，转至步骤6；Step 3: The base station A i judges whether the anomaly detection number AD in the received anomaly detection packet is consistent with the anomaly detection number AD i stored in the routing table of the base station . Modify the anomaly detection number in the routing table of this base station to the anomaly detection number in the received anomaly detection packet, i.e. AD i = AD, and modify the next-hop base station number in the routing table to be the sending base station in the received anomaly detection packet number, clear the detection table of the base station, extract the base station number of the base station A k in the received abnormal detection packet, and send the packet time stamp T k ; broadcast the abnormal detection packet and ranging return packet of the base station, and the content of the abnormal detection packet Including, the abnormality detection number AD, the base station number of the base station A i , the time stamp Ti ; the content of the ranging return packet includes, the abnormality detection number AD, the base station number of the base station A i , the time stamp Ti , the destination base station is the base station number of the next hop in the routing table of this base station, the base station number and the packet sending time stamp T k of the sending base station A k of the abnormal detection packet received by the base station A i this time, and go to step 6; 步骤4：基站A i 核实所接收的异常检测包中的发包基站A k 的基站编号是否已存在本基站的检测表中，若检测表中不存在该编号，则提取所接收的异常检测包中的发包基站A k 的基站编号，发包时间戳T k ；将异常检测包的发包基站A k 的基站编号加入本基站的检测表中，广播本基站测距回传包，测距回传包内容包括，异常检测编号AD，发包基站A i 的基站编号、发包时间戳T i ，目的基站的基站编号为本基站路由表中的下一跳基站编号，基站A i 此次接收的异常检测包的发包基站A k 的基站编号和发包时间戳T k ，转至步骤6；若基站A i 的检测表中已存在此次所接收的异常检测包中的发包基站A k 的基站编号，则丢弃该包，转至步骤6；Step 4: The base station A i verifies whether the base station number of the sending base station A k in the received abnormality detection packet is already stored in the detection table of the base station, and if the number does not exist in the detection table, it extracts the received abnormality detection packet. The base station number of the base station A k that sends the package, and the time stamp T k for sending the packet; add the base station number of the base station A k of the abnormal detection packet to the detection table of the base station, broadcast the distance measurement return packet of the base station, and the content of the distance measurement return packet Including, the anomaly detection number AD, the base station number of the base station A i that sends the packet, the time stamp T i for sending the packet, the base station number of the destination base station is the next hop base station number in the routing table of this base station, and the anomaly detection packet received by the base station A i this time. The base station number of the base station A k and the time stamp T k for sending the packet, go to step 6; if the base station number of the base station A k in the abnormal detection packet received this time already exists in the detection table of the base station A i , then discard the package, go to step 6; 步骤5：基站A i 修改接收到测距回传包中的目的基站的基站编号为本基站路由表中下一跳基站编号，然后广播修改后的测距回传包；Step 5: base station A i modifies the base station number of the destination base station in the received ranging backhaul packet to the next hop base station number in the routing table of this base station, and then broadcasts the modified ranging backhaul packet; 步骤6：若异常检测时间未达到异常检测周期T，A i 继续接收到数据包，则转至步骤2；若异常检测时间达到异常检测周期T，则转至步骤7；Step 6: if the abnormality detection time does not reach the abnormality detection period T, and A i continues to receive data packets, then go to step 2; if the abnormality detection time reaches the abnormality detection period T, then go to step 7; 步骤7：基站A 0将接收的数据回传包上传至主机，主机提取数据回传包的发包基站A i 的基站编号和发包时间戳T i ，基站A i 接收的异常检测包的发包基站A k 的基站编号和发包时间戳T k ，计算得到基站A i 与基站A k 之间的距离D ik ：Step 7: The base station A 0 uploads the received data return packet to the host, and the host extracts the base station number and the packet sending time stamp Ti of the base station A i that sent the data return packet, and the sending base station A of the abnormal detection packet received by the base station A i . The base station number of k and the packet sending time stamp T k , the distance Di ik between the base station A i and the base station A k is calculated:
Figure 926129DEST_PATH_IMAGE002
Figure 926129DEST_PATH_IMAGE002
 其中，c表示光速；系统基站数量m，m≥3，令i＝1，进入步骤A；Among them, c represents the speed of light; the number of system base stations m, m≥3, let i = 1, enter step A; 步骤A，令k＝1，进入步骤B；Step A, let k = 1, enter step B; 步骤B，将主机计算得到的基站A i 与基站A k 之间的距离D ik 保存在主机的距离表2，若主机的计算结果中A i 与基站A k 之间的距离D ik 不存在，则令D ik 为0，令k＝k+1，转至步骤C；In step B, the distance D ik between the base station A i and the base station A k obtained by the host computer is stored in the distance table 2 of the host computer. If the distance D ik between the base station A i and the base station A k in the calculation result of the host computer does not exist, Then let Dik be 0, let k = k +1, go to step C ; 步骤C，若k≤m，进入步骤B；若k＞m，令i＝i+1，转至步骤D；Step C, if k ≤ m, go to step B; if k > m, let i = i +1, go to step D; 步骤D，若i≤m，进入步骤A；若i＞m，转至步骤8；Step D, if i≤m , go to step A; if i >m, go to step 8; 步骤8：将存储各基站距离检测结果的距离表2与主机预存的各基站距离结果的距离表1对比，令i＝1；进入步骤M；Step 8: compare the distance table 2 that stores the distance detection results of each base station with the distance table 1 of the distance results of each base station pre-stored by the host, let i = 1; enter step M; 步骤M，令k＝1，令基站A i 的可测距基站个数y＝0，令基站A i 的异常距离统计参数a＝0，进入步骤N；Step M, let k =1, let the number of base stations that can be measured in base station A i y=0, let the abnormal distance statistical parameter a=0 of base station A i , enter step N; 步骤N，距离表1与距离表2中关于基站A i 与基站A k 的距离为D ik ，1≤k≤m，i≠k，若距离表1与距离表2中D ik 全为0，则转至步骤O；若距离表1与距离表2中D ik 不全为0，基站A i 的可测距基站个数y＝y+1，若距离表1与距离表2中的D ik 不相等则基站A i 的异常距离统计参数a＝a+1，转至步骤O，若距离表1与距离表2中的D ik 相等，转至步骤O；Step N, the distance between base station A i and base station A k in distance table 1 and distance table 2 is Di ik , 1≤k≤m , i ≠ k , if D ik in distance table 1 and distance table 2 are all 0, Then go to step 0; If Dik in distance table 1 and distance table 2 is not all 0, the number y=y+ 1 of base stations that can be measured in base station A i , if Dik in distance table 1 and distance table 2 is not If equal, the abnormal distance statistical parameter a=a+1 of the base station A i , go to step O, if the distance table 1 is equal to the Dik in the distance table 2, go to step O; 步骤O，令k＝k+1，若k≤m，进入步骤N，若k＞m，a≥0.5y，则基站A i 位置异常，转至步骤9，若k＞m，a＜0.5y，则i＝i+1；若i≤m，进入步骤M，若i＞m，进入步骤10；Step O, let k = k +1, if k ≤ m, go to step N, if k > m, a ≥ 0.5y, the base station A i is abnormal, go to step 9, if k > m, a < 0.5y , then i = i +1; if i ≤ m, go to step M, if i > m, go to step 10; 步骤9：重新计算基站A i 坐标，任意选择基站A i 周围可测距的两个基站A k 和基站A h ，通过余弦定理，计算A k A h 与A k A i 的角度：Step 9: Recalculate the coordinates of the base station A i , arbitrarily select two base stations A k and A h that can be measured around the base station A i , and calculate the angle between A k A h and A k A i through the cosine theorem:
Figure 564308DEST_PATH_IMAGE004
Figure 564308DEST_PATH_IMAGE004
 A i 的新坐标为(D ki *cosθ，D ki *sinθ )，令i＝i+1，若i≤m，进入步骤M，若i＞m，进入步骤10；The new coordinate of A i is ( D ki *cos θ , D ki *sin θ ), let i = i +1, if i ≤ m, go to step M, if i > m, go to step 10; 步骤10：将距离表2内容覆盖距离表1，预存至主机，更新各基站的新坐标，本次检测完毕，进入异常间隔，若间隔时间达到异常间隔时间T1，主机进入新一轮异常检测。Step 10: Cover the content of distance table 2 with distance table 1, pre-store it to the host, and update the new coordinates of each base station. After the detection is completed, enter the abnormal interval. If the interval time reaches the abnormal interval time T1, the host enters a new round of abnormal detection.
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