一种基于卡尔曼和线性插值滤波的改进三角质心定位算法

基于RSSI的目标定位技术，由于复杂度低、定位精度较高，被广泛用于无线传感网络节点定位中。为进一步提高无线移动定位精度，首先利用CC2530构成的参考节点的RSSI实测数值得到无线信道模型中优化射频参数A和传播因子n，通过卡尔曼滤波和线性插值法对随机误差进行补偿以获得较精确的定位节点与参考节点间的估计距离；然后采用一种改进的三角质心定位算法进行测试与仿真。通过仿真证明，采用的改进算法较传统的加权质心算法在定位精度上有较明显的提高，在所测试环境下平均定位精度为0.7米左右，获得了较好的效果。

An Improved Triangle Centroid Location Algorithm Based on Kalman Filtering and Linear Interpolation

The target location technology based on RSSI with the features of low complexity and high locating accu?racy has been widely applied to nodes location in WSN. For further improving moving target locating accuracy the optimized RF parameter A and signal transmission constant n in wireless channel model are calculated firstly through RSSI real values received from reference nodes made up of CC2530. Then a more precise estimated dis?tance value between reference and location nodes can be achieved via Kalman filtering and linear interpolation for compensating random errors. Finally an improved triangle centroid location algorithm was tested and simulated on basis of above-mentioned distance value. The simulation results showed that the improved algorithm used in the pa?per achieved an average about 0.7 m location precision in the testing environment,which is markedly better than that of the existing location algorithms.