中圖分類號(hào)：TN98 文獻(xiàn)標(biāo)志碼：A DOI: 10.16157/j.issn.0258-7998.223680 中文引用格式： 張毅,，袁玲. 一種無(wú)錨節(jié)點(diǎn)的協(xié)同定位算法[J]. 電子技術(shù)應(yīng)用，2023,，49(5)：77-81. 英文引用格式： Zhang Yi,，Yuan Ling. A cooperative localization algorithm for anchor-free nodes[J]. Application of Electronic Technique，2023,，49(5)：77-81.
A cooperative localization algorithm for anchor-free nodes
Zhang Yi,，Yuan Ling
(School of Communication and Information Engineering， Chongqing University of Posts and Telecommunications,， Chongqing 400065,， China)
Abstract： In order to solve the problem of continuous error accumulation caused by propagation in the process of anchor-free cooperative localization, an improved map-growing algorithm based on mesh network is proposed. Firstly, the geometric collinearity formula of virtual anchor node is presented by deducing the estimation value of positioning error between reference nodes and node to be tested. Then, the virtual reference nodes are selected according to the multi-condition constraints to establish the relative reference coordinate system, and the optimal node set is used to complete the cooperative localization. Finally, the node uncertainty is introduced to accomplish the node upgrading strategy, which can curb the spread of cumulative error in the iterative positioning process. Simulation results in various node distribution scenarios show that the proposed algorithm effectively alleviates the accumulated errors in the collaborative positioning process and achieves good positioning performance.
Key words : anchor-free node,；collaborative positioning；positioning algorithm,；mesh network
