WSN定位算法简介.pptVIP

Typical Self-Localization Algorithms N-hop multilateration primitive Localization Algorithm Improvement of AHLoS System Sufficient Conditions whether can be enlisted in collaborative multilateration Iterative positioning using an Extended Kalman Filter to improve positioning accuracy Three phases as Figure shows: ReTurner.D Find nodes with unique position solutions Compute Initial Position Estimates For all nodes Compute location estimates Compute estimate at each node Communicate Criteria met? YES NO Communicate results to central point Transmit estimates back to each unknown node