可容忍信标误差的三维传感网节点定位方法

Beacon error-tolerable method for node localization in 3D wireless sensor networks

针对信标位置存在误差情况下的三维无线传感器网络节点定位问题,提出一种基于正交回归的多跳定位方法.同时考虑到自变量误差和因变量偏差对节点坐标估计的影响,基于约束加权正交回归参数估计准则,建立可容忍信标位置误差的三维多跳定位模型,解决了信标位置和距离估计两方面的误差并存时的节点自定位问题,并给出求解节点坐标最优值的数值方法;推导出相应的坐标估计精度评估标准3D-MCRB(3D Multi-hop Cramér-RaoBound).仿真结果表明:此方法对信标位置误差和距离估计误差都具有较好的抑制能力,在大多数实验条件下,能将定位精度提高10%以上.

For 3D wireless sensor networks（WSNs） with inaccurately positioned beacon nodes, a novel multi-hop node localization method that can tolerate beacon position errors was proposed. The influences of in- dependent variable errors and dependent variable biases on node coordinate estimation were taken into account simultaneously. Based on the principle of constrained weighted orthogonal regression, a reliable 3D multi-hop localization model was constructed, and the numerical method for calculating the optimum value of node coor- dinates was given. The 3D multi-hop Cram6r-Rao bound （3D-MCRB） for node localization under combined uncertainties in beacon positions and estimative distances was also derived. Simulation results show that the novel method is robust against beacon position errors and distance estimation errors. In most experiment condi- tions, the multi-hop localization accuracy can he improved by at least 10%.