一种基于QR分解的分布式移动节点定位算法-中国科学院.doc

收稿日期：2010-04-15 ；修回日期：2010-07-05 基金项目：国家自然基金资助项目；北京自然基金资助项目（4102059） Foundation Items: the National Natural Science Foundation of China ; the Natural Science Foundation of Beijing City of China (4102059) 一种基于QR分解的分布式移动节点定位算法 刘少帅1，2，罗海勇2，邹仕洪1 ，张波2 （1.北京邮电大学 网络技术研究院，北京 100876；2.中国科学院 计算技术研究所，北京 100190） 摘要: 针对目前大多数无线传感器网络定位算法只适用于静态节点的不足，利用QR分解的思想对分布式最小二乘算法进行改进，提出了一种分布式移动节点定位算法。该算法先是对每一个信标节点的观测矩阵进行QR分解，然后移动未知节点在距离自己最近邻居信标的QR分解基础上进行更新来估计自己的位置，降低了移动节点定位阶段的计算复杂度。同时进行了参数无偏估计的Cramér-Rao下限分析来估计节点位置可能达到的误差下界。实验结果表明该定位算法在一定程度上降低了节点的计算复杂度，并且具有比较好的定位精度。 关键词: 无线传感器网络；QR 分解；定位；Givens 矩阵 中图分类号: TP393 Distributed Mobile Node Localization with QR Factorization Liu Shaoshuai1, Luo Haiyong2, Zou Shihong1, Zhang Bo2 (1.Institue of Networking Technology, Beijing University of Posts and Telecommunications, Beijing 100876; 2. Institute of Computing Technology, Chinese Academy of Sciences, Beijing 100190) Abstract: Most localization algorithms in the literature focused on static wireless sensor networks without taking mobility of sensor nodes into account. Aiming at the drawbacks, an efficient approach for localization in mobile sensor networks using QR factorization was proposed. This algorithm first used QR factorization to solve the linear equations for every beacon, and then mobile blind sensors updated the results received from the nearest beacon without computing QR factorization again to estimate the locations, which reduced the mobile blind sensors’ cost of computation in a large extent. Also the estimation lower bound ( the Cramér-Rao lower bound ) was analyzed for the location error characters in wireless sensor networks. The experimental results show this algorithm can efficiently reduce the cost of computation and perform well in locating the mobile blind sensors. Keywords: wireless sensor networks; QR factorization; localization; Givens matrix 1 引言  定位技术是无线传感器网络的关键支撑技术。目前，大部分无线传感器网络定位算法都只是适用于静态场景，因此在移动传感器网络中，部署区域内节点的