基于虚拟力的无线传感器与执行器网络测距定位算法

针对无线传感器与执行器网络(WSAN)的传感器节点定位问题，提出了一种基于虚拟力的无线传感器与执行器网络测距定位算法，使用移动的执行器节点替代传统无线传感器网络(WSN)定位算法中的锚节点，并将虚拟力模型引入基于信号到达时间(TOA)的定位算法。该算法在利用虚拟力驱动执行器节点逼近提出定位请求的传感器节点的同时，根据信号传输时间计算节点间的距离完成节点定位。仿真结果表明，提出的定位算法使得节点定位成功率提高20%左右，平均定位时间以及定位开销均小于传统TOA算法，适用于实时性要求高、执行器节点数量较少的场合。

Range-based localization algorithm with virtual force in wireless sensor and actor network

To solve the sensor node localization problem of Wireless Sensor and Actor Network (WSAN), a range-based localization algorithm with virtual force in WSAN was proposed in this paper, in which mobile actor nodes were used instead of Wireless Sensor Network (WSN) anchors for localization algorithm, and Time Of Arrival (TOA) was combined with virtual force. In this algorithm, the actor nodes were driven under the action of virtual force and made themself move close to the sensor node which sent location request, and node localization was completed by the calculation of the distance between nodes according to the signal transmission time. The simulation results show that the localization success rate of the proposed algorithm can be improved by 20% and the average localization time and cost are less than the traditional TOA algorithm. It can apply to real-time field with small number of actor nodes.