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为降低无线传感器网络中锚点定位的网络成本,提高资源利用率,提出一种新的无线传感器网络定位算法,通过利用共线和非共线移动锚点来实现传感器节点定位.该方法利用相邻节点间的距离估计值以及锚点提供的关于报文传输方向的相关信息来估计节点的位置,每个节点从两个独立方向定位其位置.然后使用卡尔曼滤波器来提升每个节点的定位精度.研究结果表明:相比于单方向方法和加权平均方法,基于卡尔曼滤波器的方法估计误差分别下降31%和16%;同时,该方法还克服了使用移动锚点导致的共线性问题.
In order to reduce the network cost and improve resource utilization rate of anchor positioning in WSN, a new localization algorithm of WSN is proposed to locate sensor nodes by using collinear and non-collinear moving anchors.This method uses phase The estimated distance between adjacent nodes and the information about the direction of packet transmission provided by the anchor point to estimate the location of each node from two independent directions to locate its position and then use Kalman filter to enhance each node’s The results show that compared with the unidirectional method and the weighted average method, the estimation error based on the Kalman filter method drops by 31% and 16% respectively. At the same time, this method also overcomes the collinearity caused by using the moving anchor point problem.