WSNs Node Localization Algorithm Based on Mobile Robot Assistance

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 GM-CKF effectively increase the accuracy and stability.