WSNs Node Localization Algorithm Based on Mobile Robot Assistance

被引：0

作者：

Chen, Xiaofei ^{[1
,2
]}

Zhang, Gang ^{[1
]}

Lu, Chengling ^{[1
]}

Cheng, Junhui ^{[1
]}

机构：

[1] West Anhui Univ, Sch Elect & Photoelect Engn, Luan, Anhui, Peoples R China

[2] Anhui Polytech Univ, Anhui Key Lab Elect Drive & Control, Luan, Anhui, Peoples R China

来源：

PROCEEDINGS OF 2018 IEEE 3RD ADVANCED INFORMATION TECHNOLOGY, ELECTRONIC AND AUTOMATION CONTROL CONFERENCE (IAEAC 2018) | 2018年

关键词：

Mobile Robots; WSNs; GM-CKF; Collaborative Localization;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Targeting node positioning of Wireless Sensor Networks(WSNs), a mobile-robots aided node positioning method is proposed. With strong calculation and motility of robots, and the transition from a traditional node-to-node communication and measurement to robot-node and node-node positioning, finally the mobile positioning is achieved. Taking the assistance of mobile robots and non-ideal Gaussian allocation noise caused by it into consideration, a modified Gaussian mixture Cubature Kalman Filter(GM-CKF) is put into practice and is used in the mixed node positioning model of mobile robots and wireless sensor network. The simulation result suggests that what we propose-a co-operational positioning method of mobile robots and WSNs makes position estimation possible, and GMCKF effectively increase the accuracy and stability.

引用

页码：1917 / 1921

页数：5

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