基于RSSI的改进四边测距机器人定位算法

An Improved Quadrilateral Localization Algorithm of Robot Based on RSSI

基于接收信号指示强度的测距特性和三边测距定位原理,提出了应用于机器人定位的改进四边测距定位算法,引入加权质心定位算法的思想,通过距离因子控制各个锚节点对定位精度的影响,并将锚节点之间的距离和信号强度作为修正RSSI的参考值。仿真结果表明,该算法不仅可靠性高,有效避免了信息淹没现象,而且在不增加通信成本的基础上提高了机器人的定位精度。

Based on the performance of received signal strength indicator（ RSSI） and the principle of trilateration localization algorithm,an improved quadrilateral localization algorithm in robot localization is proposed. The improved algorithm,which introduced the idea of weighted centroid algorithm,affected the positioning accuracy through the control of each anchor node by the distance factor. What＇ s more,the distance between anchor nodes and signal intensity is taken as the reference of correcting RSSI. The simulation shows that not only the information drown can be effectively avoided,but also the positioning accuracy of robot localization can be improved without increasing the communication cost.