基于球面坐标的无线传感网络三维静态定位

针对当前提出的基于球面坐标的三维动态定位机制不适用于锚节点不能移动的情况，提出了一种静态的定位方法：在锚节点和未知节点都分布好的场景中，采用PIT（Point-In-Tetrahedron）方法选取用来定位的4个锚节，并将这4个锚节点构成球体的球心坐标作为该未知节点的估计坐标。通过仿真分析，结果表明定位精度比未采用该方法的情况有明显的改进。

Three-dimensional static localization based on spherical coordinate for wireless sensor network

Aiming at the situation that the current three-dimensional dynamic positioning mechanism based on spherical coordinates is not suitable when the anchor nodes can＇t move, a positioning method in a static state was proposed： in the scene where anchor nodes and unknown nodes were already distributed, the proposed method based on PIT was used to select four anchor nodes for positioning. The estimated coordinate of the unknown node was the coordinate of the sphere center which was composed of these anchor nodes. Simulation results show that the positioning accuracy has a significant improvement compared to the previous situation where the method is not used.