A method to achieve synergy targeting multiple mobile nodes based distance measurement

The present invention discloses a method for implementing a multi-cooperative target location based on the mobile node distance measurement, constructing the wireless sensor network, the sensor network comprises a wireless mobile nodes and static reference node, the mobile node and the anchor node comprises ordinary node; local coordinate system of each mobile node is calibrated, the local coordinate system of all nodes in a mobile; each mobile node at each sampling instant iteratively calculated according to a preset sampling period: determining a neighbor node of the current sampling timing, and the estimated position information of the last sampling time, sampling time and the position information of the current speed information of all neighbor nodes and determining a current estimate of the sampling timing self-position estimation. The method of the present invention positioned exponential convergence properties, and convergence speed, robustness.