基于虚拟静态锚节点的加权质心定位算法术

加权质心定位算法的实施需要布置较多的锚节点，较大的硬件成本限制了该算法在实际中的应用。本文结合余弦定理，利用原有的少量锚节点定位信息构造出虚拟静态锚节点VSAN（Virtual Static Anchor Node）参与定位，降低了该定位算法所需的硬件成本；此外，对加权质心算法进行数学推导和分析，从导数的角度阐述了权重系数和RSSI测距对加权质心算法的影响。仿真结果表明，基于VSAN的加权质心算法所需布置锚节点较少、定位精度较高；并通过实际环境下测试，验证了算法的有效性和可行性。

An Improved Weighted Centroid Location Algorithm based on Virtual Static Anchor Nodes

The exorbitant hardware cost constraints the application of traditional weighted centroid localization algorithm in practice since numerous anchor nodes need to be arranged. In this paper, VSAN (Virtual Static Anchor Nodes) have been proposed to participate in the positioning, based on the combination of location information of the known anchor nodes and cosines law. Reasonable explanation has been given for the phenomena and regular pattern observed in simulation, which is derived and analysised by mathematical derivation, provided a theoretical basis for adjusting parameter of the weighted centroid localization algorithm. Simulation results show that the VSAN weighted centroid algorithm can obtain better positioning accuracy in the case of less anchor nodes arranged than the traditional weighted centroid algorithm; the effectiveness and feasibility of the algorithm has been tested and verified in the actual environment.