A multi-hop distributed indoor localization algorithm for ultra-wide-band sensor network

摘要

This paper proposes a multi-hop distributed sensor network localization method based on UWB ranging measurements. Different from the positioning algorithm suitable for known indoor environments, this algorithm is designed for the exploration needs of unknown areas. Based on the barycentric coordinates of the tetrahedron, the expansion of the sensor network is realized through the multi-hop of the UWB sensor. The proposed algorithm can be applied for three-dimensional space. By designing time-varying weight coefficients and combining Taylor expansion, the localization performance is enhanced. Finally, a numerical simulation is given to verify the effectiveness of the proposed algorithm.