Research of Localization and Tracking Algorithms Based on Wireless Sensor Network

摘要

An improved algorithm based on wireless sensor network is proposed in order to solve robot localization problem. This algorithm introduces centroid algorithm into maximum likelihood estimation, and improves prediction accuracy of target location by calculating the centroid of several predicted data. Considering the relatively poor real time property of WSN system, Extended Kalman Filter algorithm is adopted to track robot trajectory by combining WSN with DR system. The simulation shows that on condition of vary anchor nodes number and different raging error, the improved algorithm can achieve good results. The data fusion according to EKF algorithm further improves the accuracy of robot trajectory tracking.